KR102491326B1 - Teaching jig and robot control device including the same - Google Patents

Abstract

The teaching jig according to an embodiment of the present invention includes a base detachably provided in the head part on which the working head of the robot is mounted, a rail disposed in a circumferential direction from the center on the base, and a rail disposed in a vertical direction on the base. It is movable along, includes a plurality of contact sensors for detecting contact with the target object, and detects the target object by contacting the plurality of contact sensors with the target object.

Description

Teaching jig and robot control device including the same {TEACHING JIG AND ROBOT CONTROL DEVICE INCLUDING THE SAME}

The present invention relates to a teaching jig and a robot control device including the same, and relates to a teaching jig capable of easily detecting a target object at a plurality of teaching points and a robot control device including the same.

When a conventional calibration tool is used for a robot having a plurality of joint structures, it is difficult to determine the shape of the target object because it is difficult to precisely teach the head unit to the target object.

In particular, since each target object has a different shape and position, it is necessary to designate a plurality of teaching points and detect the target object multiple times, which is cumbersome and takes a long time.

Therefore, the need for a control technology suitable for use in an articulated robot and capable of more easily detecting a target object at a plurality of teaching points has been raised.

Republic of Korea Patent Publication No. 10-2007-0096232

An object of the present invention is to provide a teaching jig capable of easily detecting a target object at a plurality of teaching points and a robot control device including the teaching jig.

The technical problems to be achieved in the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art from the description below. You will be able to.

In order to solve the above problems, the teaching jig of the present invention is a base provided detachably to the head part on which the working head of the robot is mounted, a rail disposed in a circumferential direction from the center on the base, and a vertical direction on the base. It is disposed and movable along the rail, includes a plurality of contact sensors for detecting contact with the target object, and senses the target object by contacting the plurality of contact sensors with the target object.

In addition, the contact sensor is composed of a plurality of joint members to be able to expand and contract, and when the contact sensor is brought close to the target object, as some of the joint members are pushed away from the target object and inserted into the remaining joint members, the contact sensor length is adjustable.

Also, the movement of the plurality of contact sensors on the rail is independently controlled.

Further, the rail is provided rotatably around the center of the base as an axis.

In addition, the teaching jig of the present invention further includes a level sensor provided inside or on the base to detect whether the base is level.

In addition, the robot control device of the present invention, the above-described teaching jig, a measuring unit for measuring the error between the tilt of the target object detected from the teaching jig and the tilt of the teaching jig, and the head of the robot and the target object to maintain equilibrium , and a control unit for controlling the angle of the head unit based on the error calculated from the measurement unit.

In addition, the control unit adjusts the arrangement position of the rail and the position of the contact sensor on the rail to correspond to the shape information of the target object based on the previously secured shape information of the target object.

Further, the control unit causes the teaching jig to approach the target object until all of the plurality of contact sensors come into contact with the target object, and among the plurality of contact sensors, the contact sensor in line contact with the target object is the contact sensor that does not contact the target object. The length is adjusted until contact is made, and the measurement unit measures the error using length information of each of the plurality of contact sensors.

If the teaching jig according to an embodiment of the present invention and the robot control device including the same are used, there is an effect of easily detecting a target object at a plurality of teaching points.

The effects obtainable in the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description below. will be.

1 and 2 are perspective views of a teaching jig according to an embodiment of the present invention.
3 is a side view showing a joint member of a teaching jig according to an embodiment of the present invention.
4 is a plan view of a teaching jig according to another embodiment of the present invention.
5 is a block diagram showing a robot control device according to an embodiment of the present invention.
6 and 7 illustrate a method of detecting a target object using a teaching jig according to an embodiment of the present invention.

Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the accompanying drawings.

The detailed description set forth below in conjunction with the accompanying drawings is intended to describe exemplary embodiments of the present invention and is not intended to represent the only embodiments in which the present invention may be practiced.

In order to clearly describe the present invention in the drawings, parts irrelevant to the description may be omitted, and the same reference numerals may be used for the same or similar components throughout the specification.

In embodiments of the present invention, expressions such as “or” and “at least one” may represent one of the words listed together, or a combination of two or more.

Hereinafter, in the embodiments of the present invention, the size, thickness, and shape of each component are exaggeratedly illustrated for convenience of description, and the actual teaching jig and the robot control device including the same may have a different size and shape. .

In addition, the connection structure of the illustrated wiring is briefly shown for convenience, and other connection forms may be applied, and the upper, lower, and side parts are indicated based on predetermined components, but this is for convenience of explanation. For this purpose, it may be interpreted in a direction different from the indicated direction according to the rotation or arrangement of the device.

1 and 2 are perspective views of a teaching jig according to an embodiment of the present invention.

Referring to FIGS. 1 and 2 , the teaching jig 100 of the present invention may include a base 110 , a rail 120 and a contact sensor 130 .

First, the base 110 is detachably provided to the head part to which the working head of the robot is mounted, and a rail 120 and a contact sensor 130 to be described later are disposed on one surface, and the other surface is attached to the head part. .

The shape of the base 110 may be provided in the form of a plate-like member having a circular shape, but is not limited thereto, and may be provided in a shape corresponding to the shape of the head of the robot.

Here, as the type of work head, in particular, a transport arm capable of vertical and horizontal movement for lifting and transporting an object on a work table may be applied, but is not limited thereto, and the purpose of use of a robot such as a heating torch, welding and cutting device, etc. Depending on this, a head having various functions may be applied.

By detaching the working head from the head and attaching the base 110 to the head, the teaching jig 100 of the present invention can be mounted on the robot.

Subsequently, the rail 120 is a component for smooth movement of the contact sensor 130 to be described later, and may be disposed on the base 110 from the center to the circumferential direction.

At this time, the rail 120 may extend outwardly of the base 110, and as a result, a movement range of the contact sensor 130 moving along the rail 120, which will be described later, is further expanded.

In the drawing, two rails 120 are shown as being disposed to intersect at the center of the base 110, but in addition to this, an odd number of rails 120 may be provided to be independently disposed in the circumferential direction from the center of the base 110. may be

The number and shape of the rail 120 is not limited to the drawings, and may be provided in various forms.

As the teaching jig 100 of the present invention includes the rail 120, the contact sensor 130 can be moved on the base 110 and the range of selection of teaching points is expanded. It has an effect that is easy to select.

Subsequently, the contact sensor 130 is disposed in a vertical direction on the base 110 to be movable along the rail 120 and functions to detect contact with a target object.

Here, as the type of target object, any object having a flat work surface such as a work table or work table may be applied.

Although the drawing shows an embodiment in which four contact sensors 130 are provided in a pin shape having a predetermined length on one base 110, the number and shape of the contact sensors 130 are not limited to the drawings, and various can be provided in the form

The contact sensor 130 may be provided in the form of a physical contact sensor 130 to sense a target object by bringing the plurality of contact sensors 130 into contact with the target object.

The contact sensor 130 may be provided to automatically control movement on the rail 120 by applying a hydraulic drive method, or may be provided to be manually controlled by an operator.

Referring to FIG. 2 , the position of the contact sensor 130 may be moved so that all of the plurality of contact sensors 130 are gathered at the center of the base 110 .

When the contact sensor 130 of the present invention is arranged as above, the present invention can be used in all fields where the conventional teaching jig is used as it has a shape similar to the conventional pin shape, so the scope of application of the present invention It has the advantage of being very scalable.

Such a contact sensor 130, according to an embodiment of the present invention, may be provided to be able to stretch.

3 is a side view showing a joint member of a teaching jig according to an embodiment of the present invention.

Referring to FIG. 3 , the contact sensor 130 may be formed of a plurality of joint members 131 so as to be stretchable like a telescopic type.

Accordingly, when the contact sensor 130 approaches the target object, some of the joint members 131 are pushed away from the target object and inserted into the remaining joint members 131 to adjust the length of the contact sensor 130. can

That is, when the teaching jig is brought closer to the target object until all of the plurality of contact sensors 130 come into contact with the target object, the contact sensor 130 in line contact with the target object is the contact sensor 130 in non-contact with the target object. ) is adjusted in length until it touches.

In addition, in one embodiment of the present invention, the plurality of contact sensors 130 may be provided so that the movement on the rail 120 can be independently controlled.

Accordingly, it is possible to select the position of various contact sensors 130 corresponding to target objects having various shapes, thereby significantly expanding the workable area and more easily detecting target objects having various shapes and sizes. There are effects that can be done.

In addition, in one embodiment of the present invention, it may be provided to enable adjustment of the arrangement position of the rail on the base.

4 is a plan view of a teaching jig according to another embodiment of the present invention.

Referring to FIG. 4 , the rails 120 may be independently rotatably provided around the center of the base 110 as an axis.

For example, when a target object has a rectangular shape, by adjusting the angle of each rail 120 on the base 110, it is possible to select a teaching point near the edge where the vertex of the rectangle is located.

That is, by setting the distance between the teaching points as large as possible within the range corresponding to the rectangular shape, there is an advantage in that the tilt error of the target object can be minimized and the tilt can be more accurately measured.

Accordingly, it is possible to adjust the distance between the rails 120 and the rails 120, and there is an effect that the movement path of the contact sensor can be freely changed according to the shape of various target objects.

Furthermore, in one embodiment of the present invention, the teaching jig may further include a level sensor provided inside or on the base to detect whether the base is level.

Referring back to FIG. 3 , the level sensor 140 may include a level containing air bubbles and a sensor capable of measuring air bubbles. It may be provided to detect horizontality by distinguishing the difference.

As the teaching jig of the present invention is provided with the level sensor 140, it has an advantage that the calibration work to balance by calculating the tilt error with the target object becomes easier by keeping the teaching jig horizontal at all times.

In the above, the teaching jig according to an embodiment of the present invention has been examined.

Hereinafter, a robot control device including the aforementioned teaching jig will be described.

Contents overlapping with those described with reference to FIGS. 1 to 4 are omitted or simply described, and FIGS. 1 to 4 are referred to together to help understanding of the description.

5 is a block diagram showing a robot control device according to an embodiment of the present invention.

Referring to FIG. 5 , the robot control device 10 according to an embodiment of the present invention may include the above-described teaching jig 100, a measuring unit 200, and a control unit 300.

First, as described above, the teaching jig 100 senses a target object by bringing a plurality of contact sensors into contact with the target object.

Next, the measuring unit 200 functions to measure an error between the tilt of the target object detected by the teaching jig 100 and the tilt of the teaching jig 100 .

The measurement unit 200 may derive a tilt value of the target object by measuring a length change of each of the plurality of contact sensors and calculating a relative distance value.

Subsequently, the control unit 300 functions to control the angle of the head unit based on the error calculated from the measurement unit 200 so that the balance between the head unit of the robot and the target object is maintained.

The controller 300 may adjust the arrangement position of the rail and the position of the contact sensor on the rail to correspond to the shape information of the target object based on the previously secured shape information of the target object.

As described above, when adjusting the arrangement position of the rail and the contact sensor based on the shape information of the target object, it is possible to select the most suitable position for teaching, thereby minimizing the error by detecting the target object more accurately. there is

Here, the shape information of the target object may be provided in a pre-stored form in the storage DB 400 .

The storage DB 400 may be provided inside the robot or may be provided in the form of a separate external storage device or server, and may be stored, classified, and managed by converting shape information into a database (DB) for each target object.

For example, the storage DB 400 is a relational database management system (RDBMS) such as Oracle, Informix, Sybase, DB2, or MySQL, a non-relational database management system (NoSQL), or a game It may be implemented according to the purpose of the present application using an object-oriented database management system (OODBMS) such as Gemston, Orion, or O2, and may have appropriate fields to achieve its function. there is.

Accordingly, the robot control device 10 of the present invention automatically moves the contact sensor on the base based on the shape information of the target object received through the above-described storage DB 400 and the positional information of the contact sensor preset therefor. it becomes possible to do

In addition, the robot control device 10 according to an embodiment of the present invention may further include an input unit 500.

The input unit 500 may be provided in the form of a button, a remote control, or a portable terminal provided to control the control unit 300 so that an operator can select an operation of the robot control device 10, and communicates wirelessly with the control unit 300. It may be arranged to make this possible.

For example, the control unit 300 and the input unit 500 are centrally configured to support WPAN, WiFi, 3G/4G/LTE, Bluetooth, Ethernet, BcN, satellite communication, Microware, serial communication, PLC local ad hoc network, and the Internet. It may be provided to include a communication module embedded in, or controlled by, a processing unit (CPU), microprocessor, ASIC, or the like.

As the robot control device 10 of the present invention further includes the input unit 500, since wireless communication with the control unit 300 is possible, manual control of the robot control device 10 is possible, and a signal is sent to the input unit 500 in case of emergency. It has the advantage of being able to send an alarm to a worker by sending a

The following calibration work can be performed by using the teaching jig described above and the robot control device including the same.

6 and 7 illustrate a method of detecting a target object using a teaching jig according to an embodiment of the present invention.

Referring to FIGS. 5 to 7 , first, the control unit 300 controls the teaching jig 100 to be horizontal.

At this time, a level sensor or a tilt sensor may be provided on the teaching jig 100, and through this, the tilt of the teaching jig 100 may be measured and controlled to be horizontal.

Subsequently, the controller 300 receives shape information of the target object from the storage DB 400 .

In one embodiment, a camera or image sensor may be provided on one side of the teaching jig 100 of the present invention to detect the overall shape of the target object 70, and the control unit 300 may detect the detected image from the image sensor. Based on the image data of the target object 70, the corresponding shape information of the target object 70 among the shape information previously stored in the storage DB 400 may be selected and transmitted to the controller 300.

In another embodiment, it may be provided so that a worker selects shape information corresponding to the target object 70 from among shape information previously stored in the storage DB 400 and transmits the selected shape information to the control unit 300 .

Then, the controller 300 selects a teaching point based on the shape information of the target object 70 and moves the contact sensors 130 on the base 110 to positions corresponding to the selected teaching point.

At this time, the teaching point may be selected to be located in the outer region of the target object 70, particularly near the vertex when the target object 70 is polygonal, and thus, the contact sensors 130 on the target object 70 By making the distance between them as far as possible, more accurate measurement of the inclination of the target object 70 is possible.

In one embodiment, the teaching jig 100 may be provided to be rotatable on the head part 60 of the robot, and thus the contact sensor 130 is positioned more freely on the base 110 of the teaching jig 100. has the advantage of being able to move to

Thereafter, an operation of bringing the teaching jig 100 closer to the target object 70 is performed until all of the plurality of contact sensors 130 come into contact with the target object 70 .

In this step, the contact sensor 130 in line contact with the target object 70 among the plurality of contact sensors 130 is adjusted in length until the contact sensor 130 without contact with the target object 70 comes into contact. Accordingly, the measuring unit 200 can measure the error using length information of each of the plurality of contact sensors 130 .

More specifically, the measurement unit 200 may derive a relative distance value of the contact sensors 130 by measuring each length change value of the contact sensors 130 on each teaching point, and each It is possible to calculate the inclination of the target object 70 based on the relative distance value derived from the teaching point.

It is possible to calculate an error at each teaching point by comparing the calculated inclination of the target object 70 with the teaching jig 100 in a horizontal state.

Thereafter, the controller 300 determines whether the calculated error satisfies a preset error range, and if the error range is not satisfied, the tilt of the head unit 60 is adjusted to the target object 70 based on the calculated error. ) to be in equilibrium with

At this time, the robot control device 10 of the present invention may be provided with a tilt sensor capable of measuring the tilt of the head unit 60, and accordingly, the tilt of the robot to have the same tilt as the tilt of the target object 70. It may be provided to easily control the head part 60.

In one embodiment, the measuring unit 200 may be provided to check whether an error occurs by measuring an error with the target object 70 once again after controlling the head unit 60, and when the error satisfies a preset range. It may be controlled to repeat the above-described processes a plurality of times.

If the error is out of the preset range for more than a preset number of consecutive times, it is determined as an error or failure of the robot control device 10, the operation of the robot control device 10 is stopped, and the input unit 500 including the worker terminal It may be arranged to send an alarm.

As has been reviewed so far, using the teaching jig according to an embodiment of the present invention and the robot control device including the same can have the following advantages.

In the case of using the conventional calibration tool for a robot with multiple joints, it is difficult to teach the target object, and it takes a lot of time to detect the target object by teaching several points to detect one target object. and has a disadvantage of low work efficiency.

In particular, in the case of conventional calibration tools, the purpose of zero point adjustment in the robot itself is common. As a result, even if there is no problem in zero point adjustment of the robot itself, there is an error between the work table and the head of the robot. There have been problems that have arisen.

A teaching jig and a robot control device including the teaching jig of the present invention are designed to solve the above problems, and are characterized in that they include a plurality of contact sensors capable of position movement on the base of the teaching jig.

In the present invention, a plurality of contact sensors are provided in one jig to detect target objects at a plurality of teaching points at once, and the working environment, that is, the target object is first sensed in order to maintain a balance between the working environment and the robot. A method of controlling the robot to be in equilibrium with respect to the detected target object is applied.

At this time, the present invention receives pre-stored shape information of the target object and independently and automatically adjusts the arrangement position of the contact sensor and the angle of the rail, so that it is possible to freely select a teaching point, and at a plurality of teaching points It becomes possible to measure the tilt information of the target object at once.

That is, it is possible to easily measure the descriptor of the target object with one-time teaching, and by controlling the tilt of the head of the robot to correspond to the detected target object, accurate zero-point adjustment between the target object and the robot head is achieved. There are possible effects.

The teaching jig and the robot control device including the teaching jig of the present invention described above relate to a technology capable of detecting the inclination of a target object at a plurality of teaching points at once.

The teaching jig of the present invention is most suitable to be mounted on the head of a transfer arm that lifts and transports an object on a work table, but is not limited thereto, and is not limited to any field in which a target object must be sensed using a plurality of teaching points. application will be possible.

In addition, the embodiment of the present invention is not implemented only through the device described above, but may be implemented through a program for realizing functions corresponding to the configuration of the embodiment of the present invention, a recording medium on which the program is recorded, etc. , Such an implementation can be easily implemented by an expert in the technical field to which the present invention belongs from the description of the above-described embodiment.

In addition, the above-described working method and sequence are described as an embodiment of the present invention for convenience of understanding, and various modifications and changes are possible by those skilled in the art.

Embodiments of the present invention disclosed in this specification and drawings are only presented as specific examples to easily explain the technical content of the present invention and help understanding of the present invention, and are not intended to limit the scope of the present invention.

Therefore, the scope of the present invention should be construed as including all changes or modifications derived based on the technical idea of the present invention in addition to the embodiments disclosed herein.

10: robot control device
100: teaching jig
110: base
120: rail
130: contact sensor
131: joint member
140: level sensor
200: measurement unit
300: control unit
400: storage DB
500: input unit
60: head part
70: target object

Claims (8)

A base detachably provided to the head part on which the working head of the robot is mounted;
a rail disposed on the base in a circumferential direction from the center; and
A plurality of contact sensors disposed on the base in a vertical direction, movable along the rail, and detecting contact with a target object;
A teaching jig for sensing the target object by bringing a plurality of contact sensors into contact with the target object. According to claim 1,
The contact sensor,
Consisting of a plurality of joint members to enable expansion and contraction,
When the contact sensor approaches the target object, the length of the contact sensor is adjusted as some of the joint members are pushed away from the target object and inserted into the remaining joint members. According to claim 1,
The plurality of contact sensors are teaching jig in which movement on the rail is independently controlled. According to claim 1,
The rail is a teaching jig provided rotatably around the center of the base as an axis. According to claim 1,
Teaching jig further comprising a level sensor provided inside or on the base to detect whether the base is level. The teaching jig of claims 1 to 5;
a measurement unit for measuring an error between an inclination of the target object detected by the teaching jig and an inclination of the teaching jig; and
A robot control device comprising a control unit for controlling an angle of the head unit based on the error calculated from the measurement unit so that the equilibrium of the head unit and the target object of the robot is maintained. According to claim 6,
The control unit,
Based on previously secured shape information of the target object, the robot control device for adjusting the arrangement position of the rail and the position of the contact sensor on the rail to correspond to the shape information of the target object. According to claim 6,
The control unit,
The teaching jig approaches the target object until all of the plurality of contact sensors contact the target object,
Among the plurality of contact sensors, the length of the contact sensor in line contact with the target object is adjusted until the contact sensor in non-contact with the target object comes into contact,
The measuring unit, the robot control device for measuring the error using the length information of each of the plurality of contact sensors.

Images