KR102634959B1 - Cooperative robot having complex vision inspection fuction - Google Patents

Abstract

The present invention relates to a collaborative robot including a camera for photographing an object to be inspected transported by a transport means, wherein the camera, a head portion provided with a brush unit for sweeping the surface of the object, and the head portion are provided at a distal end, The camera controls the operation of the robot arm according to a multi-joint robot arm with a degree of freedom to photograph the subject from two or more different directions, and two or more preset postures, and operates the camera with respect to the subject. Determining whether the object to be inspected is good or not based on an image captured through the camera, and including a control unit that sweeps the surface of the object to be inspected in at least one direction using the brush unit before photographing the object through the camera A collaborative robot with a complex vision inspection function is provided.

Description

Collaborative robot with complex vision inspection function {COOPERATIVE ROBOT HAVING COMPLEX VISION INSPECTION FUCTION}

The present invention relates to a collaborative robot, and more specifically, to a collaborative robot with a complex vision inspection function for inspecting whether an object to be inspected is good or not.

In general, a robot is a machine that automatically processes or operates a given task based on its own abilities, and its application fields are very diverse, including industrial, medical, space, and undersea applications.

Recently, as factory automation equipment has been established and high-speed and mass production systems for products have been established, collaborative robots that perform various movements are being used for various purposes.

Meanwhile, conventionally, images captured using a camera fixedly installed on a conveyor transporting products are used to compare images of the subject and a good product to determine whether the subject, the subject of inspection, is normal.

However, there are limitations in determining whether an inspected object is a good product or not on a two-dimensional basis using only a two-dimensional image of the inspected object.

As consumer tastes become increasingly diverse, the types of products automatically produced in factory automation equipment become increasingly complex, making it possible to accurately determine whether or not a good product is good only by checking the inspection object from multiple directions.

In order to solve this problem, we would like to present a technology for collaborative robots to determine whether an inspection subject is good or bad.

KR 10-1161056 B1

The present invention seeks to provide a collaborative robot with a complex vision inspection function for accurately determining whether an inspected object is good or not based on images taken of the inspected object from various directions.

In order to solve the above problem, the present invention is a collaborative robot including a camera for photographing an object to be inspected transported by a transport means, the camera, a head portion provided with a brush unit for sweeping the surface of the object, and an end portion. The head part is provided in the multi-joint robot arm having a degree of freedom so that the camera can photograph the object to be inspected from two or more different directions, and the operation of the robot arm is controlled according to two or more preset postures, It is determined whether the object to be inspected is good or not based on the image captured through the camera, and before photographing the object to be inspected through the camera, the surface of the object to be inspected is brushed in at least one direction using the brush unit. A collaborative robot with a complex vision inspection function is provided, which includes a control unit that sweeps.

According to one embodiment, the brush unit includes first and second brush units having a support bar electrically connected to ground, and a plurality of metal fiber groups provided on one side of the support bar, the metal fiber group and the Static electricity generated when friction occurs between surfaces of an object to be inspected can be induced to the ground and removed.

According to one embodiment, the head portion includes a base and a brush driving device, and each of the first and second brush units arranged to face each other includes first and second brush units coupled to the drive shaft of the brush driving device. Including a rack gear and first and second support bars vertically coupled to the first and second rack gears, the first and second brush units move in conjunction with each other when the brush driving device is driven, thereby forming a plurality of brush units. The object to be inspected can be swept at once.

According to one embodiment, the control unit may drive the brush driving device so that the brush unit moves away from the photographing direction of the camera before photographing the object to be inspected through the camera.

According to one embodiment, the object to be inspected is a board on which electrical components are mounted, and the control unit connects wires of different colors in the plurality of objects to be inspected using images taken of the plurality of objects to be inspected. By determining whether there is a coincidence, the number of intersections of wires of different colors in the plurality of inspected objects, or whether one wire is disconnected in the plurality of inspected objects, it is possible to determine whether the corresponding inspected object is a good product.

According to one embodiment, the head portion further includes a plurality of holders capable of holding the inspection object, and the control unit uses the holders to hold the inspection object determined to be a good product or a defective product and classifies adjacent objects. It can be classified as:

According to one embodiment, the base includes a plurality of holder installation holes formed through the thickness direction so that the plurality of holders are inserted and installed, and the plurality of holder installation holes are formed in a group based on an imaginary center line on the base. It is divided into a first holder installation unit and another group of second holder installation units, and the first and second holder installation units may be formed to be inverted and symmetrical to each other with respect to the center line.

According to one embodiment, the head unit may further include a holder driving device that provides driving force so that the plurality of holders can move in the front and rear directions toward the object to be inspected.

According to an embodiment of the present invention, it is possible to accurately determine whether an inspected object is a good product based on images taken of the inspected object from various directions.

Figure 1 is a diagram showing the appearance of a collaborative robot according to an embodiment of the present invention.
Figure 2 is a configuration diagram of a collaborative robot according to an embodiment of the present invention.
Figures 3 and 4 are diagrams showing a collaborative robot inspecting an object to be inspected according to an embodiment of the present invention.
Figure 5 is a diagram showing a head portion coupled to a collaborative robot according to an embodiment of the present invention.
6 and 7 are views showing the upper and lower parts of the head portion according to an embodiment of the present invention.
Figure 8 is a plan view of the head portion according to an embodiment of the present invention.
Figure 9 is a diagram showing a holder provided in the head portion according to an embodiment of the present invention.

Hereinafter, embodiments disclosed in the present specification will be described in detail with reference to the attached drawings. However, identical or similar components will be assigned the same reference numbers regardless of reference numerals, and duplicate descriptions thereof will be omitted. The suffixes “module” and “part” for the components used in the following description are given or used interchangeably only for the ease of preparing the specification, and do not have distinct meanings or roles in themselves. Additionally, in describing the embodiments disclosed in this specification, if it is determined that detailed descriptions of related known technologies may obscure the gist of the embodiments disclosed in this specification, the detailed descriptions will be omitted. In addition, the attached drawings are only for easy understanding of the embodiments disclosed in this specification, and the technical idea disclosed in this specification is not limited by the attached drawings, and all changes included in the spirit and technical scope of the present invention are not limited. , should be understood to include equivalents or substitutes.

When a component is said to be "connected" or "connected" to another component, it is understood that it may be directly connected to or connected to the other component, but that other components may exist in between. It should be. On the other hand, when it is mentioned that a component is “directly connected” or “directly connected” to another component, it should be understood that there are no other components in between.

Singular expressions include plural expressions unless the context clearly dictates otherwise.

In this specification, terms such as “comprise” or “have” are intended to indicate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof.

Figure 1 is a diagram showing the appearance of a collaborative robot according to an embodiment of the present invention, and Figure 2 is a configuration diagram of a collaborative robot according to an embodiment of the present invention.

As shown in FIGS. 1 and 2, the collaborative robot according to an embodiment of the present invention has at least one arm (for example, 5-axis, 6-axis, 7-axis, 8-axis, etc.) centered on a plurality of axes. arm) rotates in the up and down and/or left and right directions, so that the distal end 13 of the collaborative robot arm 10 has a degree of freedom to move in any direction and/or any point, etc., and at this time, the robot arm 10 The distal end 13 includes a head portion 50 having a holder 510 capable of holding or adsorbing the object 21 and/or cameras 54a, 54b capable of photographing a subject including the object 21. Can be demounted or demounted as needed.

In addition, the collaborative robot 1 according to an embodiment of the present invention controls the operation of the robot arm 10 according to two or more preset postures, and the object to be inspected (21) based on the image of the object to be inspected (21). 21) may include a control unit 110 that determines whether the product is good or not.

The control unit 110 is a means of controlling the overall operation of the collaborative robot 1, and can execute various application programs in conjunction with each component of the collaborative robot 1 and perform operations related thereto. That is, the control unit 110 can control the operation of the collaborative robot 1 by processing signals or data input and output through the components of the collaborative robot 1, or by running an application program stored in the storage unit 140. there is.

According to one specific embodiment, the control unit 110 may control the operation of the robot arm 10 according to a preset sequence consisting of predetermined steps stored in the storage unit 140. Here, each step may include the position and direction of the robot arm end portion 13 in the surrounding space of the collaborative robot 1, and the posture and various movements of the head portion 50.

Accordingly, when the collaborative robot 1 is provided around the transport means 2 so as to look at the object 21 being transported along the transport means 2 such as a conveyor, the collaborative robot 1 has a head. The inspection object 21 can be photographed from various directions using the cameras 54a and 54b provided in the unit 50, and then it can be determined whether the inspection object 21 is good or not based on the captured images.

At this time, the collaborative robot 1 according to an embodiment of the present invention may be fixedly installed or movably installed at any point around the transport means 2, and the present invention is not particularly limited in this regard.

In addition, the collaborative robot 1 according to an embodiment of the present invention can determine whether the inspected object 21 is a good product and then divide the good product and the defective product according to the determination result and transport them separately. For example, as shown in FIG. 4, the collaborative robot 1 according to an embodiment of the present invention can classify the inspected object 21 determined as a defective product by holding it and placing it in an adjacent sorting box 3. there is.

In addition, the collaborative robot 1 according to an embodiment of the present invention can determine whether the object 21 to be inspected is good or not and then output the determination result to the output module 130. At this time, the output module 130 may output images captured by the cameras 54a and 54b on the screen as a judgment process, in addition to the judgment result of the inspection object 21.

Meanwhile, the object 21 inspected by the collaborative robot 1 according to an embodiment of the present invention may be a board on which electrical components, that is, electrical device components, are mounted.

When the object to be inspected (21), which is a board, includes wires and electronic devices, the control unit 110 uses a plurality of images taken of the object to be inspected (21) from two or more different directions to determine the object to be inspected (21). You can check whether the wires provided on one side of the are each connected to the intended location.

In order for the control unit 110 to identify the wire and easily check whether the wire is connected to the intended location or wired to properly cross, the wire of the object 21 according to an embodiment of the present invention is used. It is desirable that they have different colors.

Accordingly, the control unit 110 recognizes the color of the wire, checks whether wires of different colors are connected without omission, checks whether a wire is disconnected in the object 21, or inspects the test object 21. By checking the number of intersections between wires of different colors in the body 21 and checking whether the wires of different colors are twisted, it is possible to determine whether the subject 21 is a good product.

Of course, it is possible to determine whether the inspection object 21 on which the electrical components are mounted is good or not using various other methods.

To this end, according to an embodiment of the present invention, the head portion 50 provided at the distal end 13 of the robot arm 10 may include cameras 54a and 54b capable of photographing the subject 21, , In addition to this, according to a preferred embodiment, brush units 52 and 53 for sweeping the surface of the object 21 may be further included.

Figure 5 is a view showing a head portion coupled to a collaborative robot according to an embodiment of the present invention, Figures 6 and 7 are views showing the upper and lower parts of the head portion according to an embodiment of the present invention, and Figure 8 is a view showing the head portion coupled to the collaborative robot according to an embodiment of the present invention. This is a top view of the head portion according to an embodiment of the invention.

As shown in FIGS. 5 to 8, the head portion 50 according to an embodiment of the present invention can be coupled to the distal end 13 of the robot arm 10, and includes a base 50a having a substantially plate shape and , It may include brush units 52 and 53 provided to be movable on the base 50a.

The brush units 52 and 53 are for sweeping the surface of the board on which the electrical components are mounted, to remove foreign substances attached to the object to be inspected (21) or to check the connection state of components or wires coupled to the board. You can.

In other words, various components or wires are connected to the surface of the test object 21, which is a board, but the connection is poor, so even if there is no visual abnormality, there is a problem that the parts or wires can be separated from the board with only a weak external force. Therefore, the collaborative robot 1 according to an embodiment of the present invention uses the brush units 52 and 53 to clean the surface of the inspected object 21 in at least one direction before the vision inspection of the inspected object 21. You can sweep.

To this end, the brush units 52 and 53 according to an embodiment of the present invention include a plurality of metal fiber groups (f) with a predetermined elasticity provided to be in contact with the inspection object 21, and a plurality of metal fiber groups ( f) may be fixed to one side and include support bars 52a and 53a to support it.

According to one specific embodiment, as shown in Figure 5 (c), a plurality of metal fiber groups (f) may be provided to be fixed to the lower side of the approximately rod-shaped support bars (52a, 53a), and the brush drive By moving the support bars 52a and 53a along the surface direction of the base 50a by the device 55, the metal fiber group f can sweep one surface of the object 21 to be inspected.

However, when the metal fiber group (f) rubs against the surface of the inspection object 21, static electricity may be generated, and the generated static electricity may have a negative effect on the board on which the electrical components of the inspection object 21 are mounted. In order to remove generated static electricity, it is preferable that the support bars 52a and 53a according to an embodiment of the present invention are electrically connected to ground. In other words, the static electricity generated by friction between the metal fiber group (f) and the object to be inspected (21) can be removed by being guided to the ground via the metal fiber group (f) and the metal support bars (52a, 53a) in that order. .

Meanwhile, the support bars 52a and 53a, which are provided with a group of metal fibers (f) on one side, may include rack gears 52b and 53b having a toothed shape on some portions to engage with the drive shaft of the brush drive device 55. , In addition, the head portion 50, specifically the base 50a, may include a brush drive device 55 that provides driving force for movement of the brush units 52 and 53 with rack gears 52b and 53b. .

The brush driving device 55 and the brush units 52 and 53 may be combined in various ways so that the brush units 52 and 53 can be moved by driving the brush driving device 55 provided on the base 50a. According to one embodiment of the invention, the brush driving device 55 and the brush units 52 and 53 may be combined with a rack and pinion (see FIG. 5(b)).

Specifically, the rack gears (52b, 53b) according to an embodiment of the present invention have a plurality of teeth on one side of the roughly rod-shaped body to enable engagement with the drive shaft of the brush drive device 55 along the length of the body. A circular pinion gear 55a with teeth formed on the outer peripheral surface is provided on the drive shaft of the brush drive device 55 so that it can be interlocked with the rack gears 52b and 53b, and is provided at least partially along the direction, so that the brush drive device Due to the driving of (55), the circular pinion gear (55a) provided on the drive shaft rotates clockwise or counterclockwise, and the rack gears (52b, 53b) can move linearly in the longitudinal direction.

These rack gears (52b, 53b) can be cross-coupled, for example, orthogonally coupled with the support bars (52a, 53a) that fix the metal fiber group (f) (see FIG. 5(a)), and thus the brush unit ( 52, 53) may have the overall shape of 'ㅓ' or 'ㅏ'.

Accordingly, the brush units 52 and 53 move in a direction parallel to the surface of the flat base 50a according to the driving of the brush driving device 55, but are ultimately connected to the rack gears 52b and 53b that move in a straight line. The combined support bars 52a and 53a may move closer to or away from the brush drive device 55 depending on the rotation direction of the drive shaft of the brush drive device 55.

The head portion 50 according to an embodiment of the present invention may be provided with a plurality of brush units 52 and 53, specifically first and second brush units 52 and 53, wherein the first and second brush units 52 and 53 may be provided. The brush units 52 and 53 may be coupled to face each other with the brush driving device 55 interposed therebetween. Specifically, as shown in FIG. 5, the 'ㅓ' shaped first brush unit 52 and the 'ㅏ' shaped second brush unit 53 may be arranged to face each other with the brush driving device 55 in between. Accordingly, depending on the rotation direction of the drive shaft of the brush drive device 55, the first and second brush units 52 and 53 are interlocked together and move to gather toward the brush drive device 55, or the brush drive device ( 55) can be moved away from it.

In this way, by driving the brush driving device 55, the first and second brush units 52 and 53 interlock with each other and move along the plane of the base 50a, and move the surface of the inspection object 21 in different directions. Because it can sweep, the collaborative robot 1 according to an embodiment of the present invention can simultaneously sweep the surface or perform a vision inspection on a plurality of inspection objects 21 arranged side by side.

Meanwhile, as described above, according to an embodiment of the present invention, a brush driving device 55, brush units 52 and 53, and cameras 54a and 54b may be provided on the base 50a.

At this time, the first and second brush units 52 and 53 are provided to face each other on both sides around the pinion gear 55a coupled to the drive shaft of the brush drive device 55, and are arranged along the plane of the base 50a. It may be provided to enable linear movement, and in this case, the brush drive device 55 and the pinion gear 55a coupled to the drive shaft are opposed to each other with the base 50a in between, as shown in FIGS. 6 and 7. direction and the drive shaft of the brush driving device 55 may be provided to penetrate the base 50a in the thickness direction, but the present invention is not particularly limited in this regard.

In addition, the cameras 54a and 54b provided on the base 50a are provided in the same direction as the brush units 52 and 53, so that the photographing direction of the cameras 54a and 54b and the metal fiber group of the brush units 52 and 53 (f) may be arranged in an orientation so that it faces the object to be inspected (21).

At this time, there may be one or more cameras (54a, 54b), but preferably, a plurality of cameras (54a, 54b) are provided so that each of the plurality of cameras (54a, 54b) photographs a plurality of objects 21 arranged side by side, or one Alternatively, two or more objects 21 can be photographed from multiple angles in a single shot.

In addition, a plurality of cameras (54a, 54b) may be arranged around the pinion gear (55a) according to an embodiment of the present invention, but the brush units (52, 53) that move horizontally around the pinion gear (55a) There is a problem that at least part of the shooting range of the cameras 54a and 54b may be obscured.

Therefore, the control unit 110 according to an embodiment of the present invention rotates the pinion gear 55a in a predetermined direction before photographing the object 21 through the cameras 54a and 54b to rotate the brush unit 52. , 53) is preferably driven away from the cameras 54a, 54b or their photographing directions so that at least part of the photographing range of the cameras 54a, 54b is not obscured by the brush units 52, 53.

Meanwhile, in the collaborative robot 1 according to an embodiment of the present invention, as described above, the control unit 110, which photographs the object 21 using the cameras 54a and 54b, inspects the object 21 using the captured image. To determine whether the carcass 21 is a good product, and to classify the determined good product or defective product into the classification box 3, the head portion 50 includes at least one holder 510 capable of holding the inspected object 21. may include.

The type of the holder 510 is not particularly limited as long as it is capable of holding the object 21 to be inspected. However, if the object 21 to be inspected is a board on which electrical components are mounted, etc., according to an embodiment of the present invention. The holder 510 may be a means for holding the object 21 to be inspected 21 by adsorbing and fixing one surface of the object 21 using negative pressure using a suction method.

Figure 9 is a diagram showing a holder provided in the head portion according to an embodiment of the present invention.

As shown in FIG. 9, the holder 510 according to an embodiment of the present invention includes a holder bar 510b and an adsorption portion provided at one end of the holder bar 510b and in contact with the surface of the object 21 to be inspected. It may include (510a).

At this time, the adsorption portion 510a is a flexible material so as to be in close contact with the surface of the object 21, and is preferably an insulating material that is not electrically connected to the object 21. As a specific example, the adsorption unit 510a may be approximately bowl-shaped or cup-shaped and made of silicone material.

In addition, when the adsorption unit 510a is in contact with the surface of the inspection object 21, a negative pressure is formed inside the adsorption unit 510a to adsorb and hold the inspection object 21. The adsorption unit 510a is operated by a vacuum pump. It may be connected to (150) and a tube (510c). That is, the vacuum pump 150 can be driven according to the control command of the control unit 110, and a negative pressure atmosphere can be formed inside the adsorption unit 510a due to the operation of the vacuum pump 150, and accordingly, the adsorption unit 510a can be operated. (510a) may be fixed in close contact with the surface of the object 21 to be inspected.

Of course, on the contrary, according to the control command of the control unit 110, the vacuum pump 150 stops driving and injects air into the inside of the adsorption unit 510a using an air injector (not shown), thereby causing the inspection object to be lifted by its own weight. (21) can be separated from the adsorption unit (510a).

In addition, a plurality of holders 510 are provided on the base 50a, so that the plurality of holders 510 can hold one or more inspection objects 21 by adsorbing and fixing them.

As described above, according to an embodiment of the present invention, the head unit 50 can simultaneously sweep the surfaces of a plurality of inspection objects 21 in one direction and determine whether they are good or defective.

At this time, a plurality of objects to be inspected (21a, 21b) are arranged side by side on a plane at the lower part of the head part 50 of the robot arm 10, and each of them may be arranged to be inverted and symmetrical to each other. That is, the plane directions of the two inspected objects 21a and 21b may be the same when one of the inspected objects 21a and 21b rotates half a turn (180°) around the rotation axis in the normal direction.

When it is necessary to sweep in only one direction with respect to the objects 21 arranged side by side, the plurality of brush units 52 and 53 according to an embodiment of the present invention can inspect a plurality of objects with just one stroke of gathering or moving away in one direction. Sweeping of the carcasses 21a and 21b may be possible.

Additionally, according to this, a plurality of holders 510 may be arranged in a predetermined pattern on the base 50a.

Figure 8 is a plan view of the head portion according to an embodiment of the present invention.

As shown in FIG. 8, a plurality of holders 510 may be provided on the base 50a, where reference numerals 511a to 511d and 512a to 512d are holder installation tools, and holders provided on the base 50a ( 510).

According to a specific embodiment, as shown in FIG. 9, the base 50a may include holder installation holes 511a to 511d, 512a to 512d formed through the base 50a in the thickness direction, and holder installation holes 511a to 511d. , 512a to 512d), a holder bar 510b may be inserted and installed.

A plurality of holders 510 may be provided on the base 50a, where the holder installation units 511a to 511d and 512a to 512d are a group of first holder installation units based on the virtual center line s. It can be divided into (511a ~ 511d) and another group of second holder installation ports (512a ~ 512d).

The holder installation tools (511a to 511d, 512a to 512d) forming a group correspond to one object to be inspected (21), and are installed arbitrarily to prevent interference with components or wires mounted on the object to be inspected (21), which is a board. It may be the location of a plurality of holders 510 arranged according to a pattern. That is, a group of first holder installation tools 511a to 511d may correspond to the first object 21, and another group of second holder installation tools 512a to 512d may correspond to the second object 21 ( 22).

At this time, each group of the first and second holder installation units (511a to 511d, 512a to 512d) is arranged adjacent to each other with an imaginary center line (s) in between, and the first and second holder installation units (511a to 511d, 512a to 512d) are disposed in each of the two groups. 2 It is preferable that the holder installation holes 511a to 511d and 512a to 512d are formed to be inverted and symmetrical to each other.

In this way, the first and second holder installation units 511a to 511d and 512a to 512d are inverted and symmetrical to each other, so that the holder installation units belonging to each group are paired to correspond to each other, and each holder installation unit forming the pair has a base ( It may be located diagonally based on the center point of 50a). For example, as shown in Figure 8, (511a, 512d), (511b, 512c), (511c, 512b), (511d, 512a)) each form a corresponding pair, and the holder installation of each pair is They may be positioned diagonally from each other based on the center point of the base 50a.

Accordingly, when the head portion 50 of the collaborative robot 1 rotates the base 50a around an axis provided in the normal direction of the base 50a, a plurality of devices are arranged side by side in one plane direction of the base 50a. Even if only one of the two directions (for example, the first and second directions in FIG. 8) of the objects to be inspected (21a, 21b) coincides, there is no interference with components or wires mounted on the object to be inspected (21), which is a board. It can be grasped.

Meanwhile, the holder 510 according to an embodiment of the present invention is installed by inserting into the holder installation holes 511a to 511d, 512a to 512d formed through the base 50a in the thickness direction, as described above, and the base ( It can be arranged to be able to move up and down in the normal direction of 50a). That is, the holder 510 provided on the base 50a may be provided to be movable in the front-back direction toward the object 21 to be inspected, and for this purpose, the head portion 50 according to an embodiment of the present invention has a plurality of A holder driving device (not shown) that provides driving force so that the holder 510 can move may be further included.

Although not shown in the drawing, a holder driving device is provided on the base 50a, and the driving shaft of the holder driving device is directly or indirectly connected to at least one holder bar 510b, so that the holder 510 moves according to the driving of the holder driving device. It can be moved up and down in the normal direction of the base 50a.

Above, preferred embodiments of the present invention have been described in detail with reference to the drawings. The description of the present invention is for illustrative purposes, and those skilled in the art will understand that the present invention can be easily modified into other specific forms without changing its technical idea or essential features.

Accordingly, the scope of the present invention is indicated by the claims described later rather than the detailed description above, and all changes or modified forms derived from the meaning and scope of the claims and their equivalent concepts are included in the scope of the present invention. must be interpreted.

1: Collaborative robot 2: Transportation means
3: Defective product storage box 10: Robot arm
13: End part of robot arm 21: Test object
50: head 50a: base
510: Holder 510a: Adsorption unit
510b: Holder bar 511, 512: Holder installation port
511a~511d: 1st holder installation port 512a~512d: 2nd holder installation port
52, 53: Brush unit 52a, 53a: Support bar
54a, 54b: Camera 55a: Pinion Gear
110: Control unit 130: Output module
140: storage unit 150: vacuum pump
f: Metal fiber group

Claims (8)

In a collaborative robot including a camera for photographing an object to be inspected transported by a transport means,
A head unit provided with the camera and a brush unit for sweeping the surface of the object to be inspected;
A multi-joint robot arm provided with the head portion at a distal end and having a degree of freedom so that the camera can photograph the subject from two or more different directions; and
The operation of the robot arm is controlled according to two or more preset postures, and the quality of the inspection object is determined based on the image captured through the camera. A control unit that sweeps the surface of the object to be inspected in at least one direction using the brush unit before shooting;
Including,
The brush unit includes first and second brush units having a support bar electrically connected to the ground, and a plurality of metal fiber groups provided on one side of the support bar, to prevent friction between the metal fiber group and the surface of the object to be inspected. A collaborative robot with a complex vision inspection function, wherein the static electricity generated during operation is guided to the ground and eliminated. delete According to claim 1,
The head part includes a base and a brush driving device,
Each of the first and second brush units arranged to face each other includes first and second rack gears coupled to the drive shaft of the brush drive device, and first and second rack gears vertically coupled to the first and second rack gears. And a complex vision inspection function, including a second support bar, wherein the first and second brush units move in conjunction with each other when the brush driving device is driven, thereby enabling the plurality of inspection objects to be swept at the same time. A collaborative robot with According to claim 3,
The control unit is a collaborative robot with a complex vision inspection function, characterized in that, before photographing the object to be inspected through the camera, the brush driving device is driven so that the brush unit moves away from the photographing direction of the camera. According to claim 3,
The object to be inspected is a board on which electrical components are mounted,
The control unit uses images taken of the plurality of test objects to determine whether the wiring of wires of different colors in the plurality of test objects match, the number of intersections of wires of different colors in the plurality of test objects, Or, a collaborative robot with a complex vision inspection function, characterized in that it determines whether a wire is disconnected in the plurality of objects to be inspected and determines whether the corresponding object to be inspected is a good product. According to claim 5,
The head portion includes a plurality of holders capable of holding the object to be inspected;
It further includes,
The control unit is a collaborative robot with a complex vision inspection function, wherein the control unit holds the inspection object determined as a good product or a defective product using the holder and sorts it into an adjacent sorting box. According to claim 6,
The base includes a plurality of holder installation holes formed through a thickness direction so that the plurality of holders are inserted and installed,
The plurality of holder installation units are divided into a first group of holder installation units and another group of second holder installation units based on an imaginary center line on the base,
A collaborative robot with a complex vision inspection function, wherein the first and second holder installation units are formed to be inverted and symmetrical to each other with respect to the center line. According to claim 6,
The head unit is a collaborative robot with a complex vision inspection function, characterized in that it further includes a holder driving device that provides a driving force so that the plurality of holders can move in the front and rear direction toward the inspection object.

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