KR102641963B1 - A device for optimizing and processing the post-processing path performed by the robot, and a method for optimizing and processing the post-processing path performed by the robot using the same - Google Patents

Abstract

One embodiment of the present invention provides a technology to correct the machining path for the machining object after measuring and analyzing the actual position of the machining object and the shape of the machining object. A post-processing path optimization processing device for a robot according to an embodiment of the present invention includes a robot having a plurality of links and driving with multiple degrees of freedom; A processing unit that combines with the end of the robot and performs post-processing on the processing object; A vision department that performs imaging of the processing object; and a control module that generates a basic movement path of the processing unit and generates a corrected movement path of the processing unit by receiving a signal from the vision unit and correcting the basic movement path of the processing unit.

Description

Robot post-processing path optimization processing device and robot post-processing path optimization processing method using the same USING THE SAME}

The present invention relates to a post-processing path optimization processing device for a robot and a post-processing path optimization processing method for a robot using the same. More specifically, the present invention relates to the location of the actual processing target and the shape of the processing target, and then measuring and analyzing the processing target. It is about technology to correct processing paths.

Recently, manufacturing systems using multiple robots have been increasing, and in the production of products such as automobiles and aircraft, robots are also used in the process of performing post-processing (deburring, polishing, etc.) on objects such as machined parts. We are improving the efficiency of automated manufacturing.

In particular, in the processing target as described above, a post-processing target area such as a burr may be formed, and when deburring such a post-processing target area, a path is created along the position of each post-processing target area, Post-processing may be performed on the area subject to post-processing while the tool 312 of the processing unit follows the corresponding path.

At this time, methods such as a method in which the user manually teaches thousands of points on the processing object for the post-processing path or a method of forming the post-processing path using a CAM program, etc. are used.

However, the manual teaching method requires a new teaching operation every time the processing object changes, which increases work time, and has the problem of causing machining defects when a basic position error occurs even for the same processing object.

In addition, the method of using CAM programs increases costs because the equipment using CAM programs is expensive, processing precision is lowered compared to the manual teaching method as described above, and it is not easy for non-experts to access. , there is a problem that there is no basic error correction function.

The present invention was created to solve the above problems.

In Korean Patent Publication No. 10-2015-0116626 (title of the invention: Deburring robot system using vision sensing and its control method), a deburring robot; A vision sensing unit that acquires vision information about the deburring object; a correction value determination unit that determines a correction value for the master product using the vision information obtained from the vision sensing unit; And a control unit that controls the driving of the deburring robot using the correction value obtained from the correction value determination unit. A device including a is disclosed.

Republic of Korea Patent Publication No. 10-2015-0116626

The purpose of the present invention to solve the above problems is to measure and analyze the location of the actual processing target and the shape of the processing target and then correct the processing path for the processing target.

And, the purpose of the present invention is to control the load on the processing unit according to the corrected processing path.

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

The configuration of the present invention for achieving the above object includes a robot having a plurality of links and operating in multiple degrees of freedom; a processing unit that is coupled to the end of the robot and performs post-processing on the processing object; A vision unit that performs imaging of the processing object; and a control module that generates a basic movement path of the processing unit and generates a corrected movement path of the processing unit by receiving a signal from the vision unit and correcting the basic movement path of the processing unit. The control module includes the processing unit, A control signal for the correction movement path of the unit is transmitted to the robot, and a control signal for the load of the processing unit is transmitted to the processing unit.

In an embodiment of the present invention, the control module includes a basic path generator that receives basic information about the processing object and generates a basic movement path of the processing unit; and a processing object analysis unit that receives signals from the vision unit and analyzes the shape and position of the processing object.

In an embodiment of the present invention, the control module receives information about the shape and position of the processing object from the processing object analysis unit, corrects the basic movement path of the processing unit, and generates a corrected movement path of the processing unit. A path optimization unit may be further provided.

In an embodiment of the present invention, a control signal for the correction movement path of the processing unit may be transmitted from the path optimization unit to the robot.

In an embodiment of the present invention, the path optimization unit measures the area of each of a plurality of processing sites on the compensation movement path of the processing unit, and determines the area of the processing target to pass through the one processing site according to the area of one processing site. A control signal that controls the feed speed of the tool can be transmitted to the robot.

In an embodiment of the present invention, the processing unit may be provided with a force-torque sensor that measures force and torque generated by a tool provided in the processing unit.

In an embodiment of the present invention, the control module receives and analyzes information about the force and torque generated by the tool from the force-torque sensor, and transmits a control signal for controlling the load of the processing unit to the processing unit. A processing control unit may be further provided.

In an embodiment of the present invention, the machining control unit may store a machining database containing information on force and torque generated by the tool for each machining portion on the machining object.

In an embodiment of the present invention, the processing control unit has a built-in artificial intelligence program, and the artificial intelligence program can control the processing unit according to the force and torque generated in the tool.

In an embodiment of the present invention, an input unit that transmits basic information about the processing object to the basic path creation unit may be further included.

The configuration of the present invention to achieve the above object includes: a first step in which basic information about the processing object is transmitted to the control module; A second step in which a basic movement path of the processing unit is generated in the control module; A third step in which the shape and position of the processing target captured by the vision unit are transmitted to the control module; A fourth step in which a correction movement path of the processing unit is generated in the control module; And a fifth step in which a control signal for the correction movement path of the processing unit is transmitted from the control module to the robot.

In an embodiment of the present invention, in the fifth step, information about the force and torque generated by the tool provided in the processing unit is transmitted to the control module, and the load of the processing unit is transmitted from the control module to the processing unit. A control signal may be transmitted.

The effect of the present invention according to the above configuration is that the compensation movement path of the processing unit is created by correcting some of the basic movement paths of the processing unit that are preset, thereby reducing the creation time of the compensation movement path of the processing unit, thereby reducing the robot's work time. By shortening the length, the robot's work efficiency can be improved.

And, the effect of the present invention is that by controlling the load on the processing section, the load on the processing section can be easily maintained, preventing damage to the processing section, and improving the quality of the processing object.

The effects of the present invention are not limited to the effects described above, and should be understood to include all effects that can be inferred from the configuration of the invention described in the detailed description or claims of the present invention.

1 is a schematic diagram of a processing device according to an embodiment of the present invention.
Figure 2 is a configuration diagram of a processing device according to an embodiment of the present invention.
Figure 3 is an image showing the details of creating a basic movement path in the basic path creation unit according to an embodiment of the present invention.
Figure 4 is an image for analysis of a processing object imaged by a vision unit according to an embodiment of the present invention.

Hereinafter, the present invention will be described with reference to the attached drawings. However, the present invention may be implemented in various different forms and, therefore, is not limited to the embodiments described herein. In order to clearly explain the present invention in the drawings, parts that are not related to the description are omitted, and similar parts are given similar reference numerals throughout the specification.

Throughout the specification, when a part is said to be "connected (connected, contacted, combined)" with another part, this means not only "directly connected" but also "indirectly connected" with another member in between. "Includes cases where it is. Additionally, when a part is said to “include” a certain component, this does not mean that other components are excluded, but that other components can be added, unless specifically stated to the contrary.

The terms used in this specification are merely used to describe specific embodiments and are not intended to limit the present invention. 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.

Hereinafter, the present invention will be described in detail with reference to the attached drawings.

Figure 1 is a schematic diagram of a processing device according to an embodiment of the present invention, and Figure 2 is a configuration diagram of a processing device according to an embodiment of the present invention.

As shown in Figures 1 and 2, the processing device of the present invention includes a robot 320 that has a plurality of links and operates in multiple degrees of freedom; A processing unit 310 that is coupled to the end of the robot 320 and performs post-processing on the processing object 10; A vision unit 200 that performs imaging of the processing object 10; and a control module that generates a basic movement path of the processing unit 310 and generates a corrected movement path of the processing unit 310 by receiving a signal from the vision unit 200 and correcting the basic movement path of the processing unit 310. Includes (100).

Post-processing may refer to processing processes such as deburring and polishing. However, in the present invention, the description is mainly based on post-processing, but it is natural that the process using the processing device of the present invention is not limited to post-processing, and the same process can also be used in processing processes such as drilling or milling. .

And, the control module 100 transmits a control signal for the corrected movement path of the processing unit 310 to the robot 320 and transmits a control signal for the load of the processing unit 310 to the processing unit 310. You can. This will be explained in detail below.

The processing unit 310 may be equipped with a force-torque sensor 311 that measures the force and torque generated by the tool 312 provided in the processing unit 310. And, the control module 100 receives and analyzes information about the force and torque generated by the tool 312 from the force torque sensor 311, and sends a control signal to control the load on the processing unit 310 to the processing unit 310. It may be provided with a processing control unit 140 that transmits to (310).

The processing unit 310 is equipped with a tool 312 that performs post-processing on the processing object 10, and the processing unit 310 is equipped with a motor that is connected to the tool 312 and provides power to the tool 312. can do. The force-torque sensor 311 may be formed inside or outside the processing unit 310. When the motor operates and the tool 312 operates, the force-torque sensor 311 detects the force generated in the tool 312. The force torque value, which is the overtorque value, can be measured and transmitted to the processing control unit 140.

Here, the processing control unit 140 determines that the load on the processing unit 310 increases when the force torque value increases, and determines that the load on the processing unit 310 decreases when the force torque value decreases. You can.

The machining control unit 140 may store a machining database 340 containing information on the force and torque generated by the tool 312 for each machining area on the machining object 10. In addition, the processing control unit 140 has a built-in artificial intelligence program, and the artificial intelligence program can control the processing unit 310 according to the force and torque generated in the tool 312.

Specifically, when the tool 312 is performing post-processing on one of the machining parts after the machining unit 310 moves along the movement path, the signal is transmitted from the force torque sensor 311 to the machining control unit 140 in real time. Force and torque values generated by the tool 312 may be transmitted.

Next, the machining control unit 140 can use the data of the machining database 340 to derive a reference force torque value, which is the standard force torque value at the corresponding machining area, and the machining control unit 140 measures in real time. You can compare the force torque value and the reference force torque value.

In addition, when the processing control unit 140 analyzes that the force torque value is greater than the reference force torque value, the processing control unit 140 transmits a control signal to the above-mentioned motor to reduce the feed speed of the tool 312. , when the processing control unit 140 analyzes the force torque value as being smaller than the reference force torque value, the processing control unit 140 may increase the transfer speed of the tool 312 by transmitting a control signal to the above-described motor.

Additionally, the rotational speed of the tool 312 can be controlled by comparing the force torque value and the reference force torque value.

As described above, by controlling the load on the processing unit 310 using the force torque value, the load on the processing unit 310 is maintained appropriately for a predetermined processing area, thereby preventing damage to the processing unit 310. At the same time, the force and torque of the tool 312 are appropriately maintained for the processing area, thereby improving the quality of the processing area.

And, Figure 3 is an image showing the details of creating a basic movement path in the basic path creation unit 130 according to an embodiment of the present invention.

The control module 100 includes a basic path generator 130 that receives basic information about the processing object 10 and generates a basic movement path of the processing unit 310; and a processing object analysis unit 120 that receives signals from the vision unit 200 and analyzes the shape and position of the processing object 10.

In addition, the control module 100 receives information about the shape and position of the processing object 10 from the processing object analysis unit 120, and corrects the basic movement path of the processing unit 310 to A path optimization unit 110 that generates a corrected movement path may be further provided. In addition, a control signal for the corrected movement path of the processing unit 310 may be transmitted from the path optimization unit 110 to the robot 320.

The processing device of the present invention may further include an input unit 330 that transmits basic information about the processing object 10 to the basic path creation unit 130. The user can select the processing object 10 that is the subject of post-processing from the plurality of processing objects 10 through the input unit 330. When the processing object 10 is selected in this way, basic information about the processing object 10 is provided. may be transmitted to the basic path creation unit 130.

Here, the basic information about the processing object 10 may include information about the shape of the processing object 10, a plurality of processing areas in the processing object 10 that require post-processing, etc. In addition, the above-mentioned processing database 340 may include reference force torque values corresponding to each processing portion on the selected processing object 10. Basic information about the processing object 10 may be stored as three-dimensional shape information such as a 3D CAD file.

The basic path creation unit 130, which has received basic information about the processing object 10 as described above, performs analysis on the location of each of the plurality of processing parts, and the processing unit 310 connects each of the plurality of processing parts. ) can create a basic movement path. At this time, the basic path creation unit 130 may generate a plurality of paths connecting each of the plurality of machining parts, and then select the path with the shortest length as the basic movement path of the machining part 310.

Accordingly, the processing unit 310 moves along the shortest path and performs post-processing on each processed part, thereby reducing the post-processing time by the processing unit 310, thereby reducing the post-processing efficiency when using the processing device of the present invention. This may increase.

Figure 4 is an image for analysis of the processing object 10 imaged by the vision unit 200 according to an embodiment of the present invention. Here, (a) of Figure 4 is an image of the first processing object captured by the vision unit 200, and (d) of Figure 4 shows the details from which the outline (L) is derived from the image of the first processing object. It is an image for

In addition, Figure 4 (b) is an image of the second processing object captured by the vision unit 200, and Figure 4 (e) shows the details from which the outline L is derived from the image of the second processing object. It is an image for

In addition, (c) in Figure 4 is an image of the third processing object captured by the vision unit 200, and (f) in Figure 4 shows the details from which the outline (L) is derived from the image of the third processing object. It is an image for

The vision unit 200 may be equipped with a 3D vision sensor. Specifically, the vision unit 200 may be equipped with a 3D vision sensor, and when the vision unit 200 performs imaging of the processing unit 310, a 3D stereoscopic image of the processing object 10 can be obtained. You can. And, the vision unit 200 can transmit this information to the processing object analysis unit 120.

The processing object analysis unit 120 may analyze the actual position of the processing object 10 and the shape of the processing object 10 fixed and supported at the position using a 3D stereoscopic image of the processing object 10. In addition, the processing object analysis unit 120 can measure each of the plurality of processing areas formed on the processing object 10. In this way, the information generated by the analysis of the processing object analysis unit 120 may be transmitted to the path optimization unit 110.

Here, the processing object analysis unit 120 acquires the outline line of the processing object 10 from the 3D stereoscopic image of the processing object 10, as shown in (b) of FIG. 4, and then ( As shown in c), the obtained contour line can be simplified to analyze the shape of the processing object 10 and measure each of the plurality of processing parts.

The path optimization unit 110 includes the shape of the processing object 10 initially set as information based on basic information about the processing object 10 from the basic path creation unit 130, and a plurality of pieces that require post-processing on the processing object 10. You can receive information about processing areas and basic movement routes. In addition, the path optimization unit 110 receives information about the 3D stereoscopic image of the actually located processing object 10 and the positions of a plurality of processing parts formed on the processing object 10 from the processing object analysis unit 120. You can.

The path optimization unit 110 may generate a corrected movement path of the processing unit 310 by comparing the information received from the basic path generating unit 130 with the information received from the processing object analysis unit 120.

Specifically, in the path optimization unit 110, the initial setting position and posture of the processing object 10 on the base 340 derived from basic information about the processing object 10 and the information of the processing object analysis unit 120 The actual position and posture of the processing object 10 on the base 340 derived by are compared, and the coordinates of each position of the plurality of initially set processing parts and the coordinates of each position of the plurality of processing parts by the captured image are calculated. You can compare.

In the path optimization unit 110, the three-dimensional coordinates of an existing machining part, which is one of a plurality of initially set machining parts, correspond to the corresponding one machining part on the 3D stereoscopic image of the actually located machining object 10. You can compare the 3D coordinates of the actual processing area, which is the processing area.

In addition, when a difference occurs in both coordinates by comparing the 3D coordinates of the existing processing area and the 3D coordinates of the current processing area, the path optimization unit 110 calculates the current 3D coordinates of the existing processing area reflected in the basic movement path. By changing the three-dimensional coordinates of the processing area, the basic movement path of the processing unit 310 can be corrected to create a corrected movement path of the processing unit 310.

Information on the compensation movement path of the processing unit 310 can be transmitted to the robot 320, and the robot 320 performs operations by reflecting the information on the compensation movement path of the processing unit 310, Post-processing precision for the object 10 can be improved, and the corrected movement path of the processing unit 310 is created by correcting some of the basic movement paths of the processing unit 310 preset as described above. By reducing the correction movement path creation time of 310, the work time of the robot 320 can be shortened, and as a result, the work efficiency of the robot 320 can be improved.

The path optimization unit 110 measures the area of each of a plurality of machining areas on the corrected movement path of the machining unit 310, and passes one machining area according to the area of one machining area in the machining object 10. A control signal that controls the feed speed of the tool 312 can be transmitted to the robot 320.

As shown in FIG. 4, when a contour line (L) is derived from each processing object in the processing object analysis unit 120, the path optimization unit 110 analyzes such a contour line (L) and determines a contour line (L) for each processing object. It is possible to analyze the positions of each of the plurality of processing areas and simultaneously measure the area of each of the plurality of processing areas.

Here, as shown in FIG. 4, when analysis is performed on a two-dimensional planar image, the path optimization unit 110 can classify the size (volume) of the processing area according to the two-dimensional area value, and the two-dimensional area value is If it is relatively large, the size of the processed area can be judged to be large, and if the 2D area value is relatively small, the size of the processed area can be judged to be small.

In addition, data on the feed speed of the tool 312 passing through the processing area according to the size of the processing area as described above is classified for each processing object and stored in the path optimization unit 110. Can transmit a control signal to the robot 320 so that the feed speed of the tool 312 is controlled using data on the feed speed of the tool 312. Additionally, in a path where there is no machining area on the compensation movement path, the tool 312 can be transported by maximizing the transport speed of the tool 312.

Specifically, when the tool passes through the machining area, that is, a burr, if the size of the machining area is relatively small, the feed speed of the tool 312 increases, and if the size of the machining area is relatively large, the tool 312 increases. The feed speed is reduced, and by maximizing the feed speed of the tool 312 in the path where there is no machining part in the compensation movement path for the machining target, not only can the machining time be shortened, but the cutting time for each machining part can also be reduced. By adjusting , the effect of reducing the cutting force on the machined area can also be realized.

Processing device of the present invention; And a robot ( 320) can be used to form a post-processing system.

By performing a defect analysis on the post-processed object 10 as described above using a quality analysis device, the defect rate of the processed object 10 can be significantly reduced.

Hereinafter, the processing method of the present invention using the processing device of the present invention will be described.

First, in the first step, basic information about the processing object 10 may be transmitted to the control module 100. And, in the second step, the basic movement path of the processing unit 310 may be generated in the control module 100.

Next, in the third step, the shape and position of the processing object 10 captured by the vision unit 200 may be transmitted to the control module 100. And, in the fourth step, a corrected movement path of the processing unit 310 may be generated in the control module 100. Then, in the fifth step, a control signal for the corrected movement path of the processing unit 310 may be transmitted from the control module 100 to the robot 320.

And, in the fifth step, information about the force and torque generated by the tool 312 provided in the processing unit 310 is transmitted to the control module 100, and from the control module 100 to the processing unit 310. A control signal for the load of the processing unit 310 may be transmitted.

The remaining details of the processing method of the present invention are the same as those of the processing device of the present invention described above.

The description of the present invention described above 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 the technical idea or essential features of the present invention. will be. Therefore, the embodiments described above should be understood in all respects as illustrative and not restrictive. For example, each component described as unitary may be implemented in a distributed manner, and similarly, components described as distributed may also be implemented in a combined form.

The scope of the present invention is indicated by the patent claims described below, and all changes or modified forms derived from the meaning and scope of the claims and their equivalent concepts should be construed as being included in the scope of the present invention.

10: Processing target
100: Control module
110: Path optimization unit
120: Processing object analysis unit
130: Basic path creation unit
140: Processing control unit
200: vision department
310: processing unit
311: Force torque sensor
312: tools
320: robot
330: input unit
340: base

Claims (13)

A robot equipped with a plurality of links and driven with multiple degrees of freedom;
A processing unit equipped with a tool, coupled to the end of the robot, performing post-processing on the processing object, and equipped with a force torque sensor that measures the torque value generated by the tool;
A vision unit that performs imaging of the processing object; and
It includes a control module that generates a basic movement path of the processing unit and generates a corrected movement path of the processing unit by receiving a signal from the vision unit and correcting the basic movement path of the processing unit,
The control module, which transmits a control signal for the compensation movement path of the processing unit to the robot, receives and analyzes information about the torque generated by the tool from the force torque sensor and sends a control signal to control the load of the processing unit. a processing control unit transmitting the information to the processing unit; a basic path generator that receives basic information about the processing object and generates a basic movement path of the processing unit; a processing object analysis unit that receives signals from the vision unit and analyzes the shape and position of the processing object; And a path optimization unit that receives information about the shape and position of the processing object from the processing object analysis unit and corrects the basic movement path of the processing unit to generate a corrected movement path of the processing unit;
The processing control unit stores a reference torque value at one processing part of the processing object,
The machining control unit compares the real-time torque value of the tool with the reference torque value and transmits a control signal for the moving speed or rotation speed of the tool to the machining unit, thereby controlling the load on the machining unit,
When analysis is performed on the two-dimensional planar image acquired in the vision unit, when the outline of the processing object is derived from the processing object analysis unit, the path optimization unit analyzes the outline to determine a plurality of objects in the processing object. Analyzing the location of each processing area and simultaneously measuring the two-dimensional area value of each of the plurality of processing areas,
The path optimization unit classifies the processing area according to the two-dimensional area value in the image,
The path optimization unit stores data on the feed speed of the tool corresponding to the two-dimensional area value of the processing area,
Post-processing of the robot, wherein the path optimization unit transmits a control signal for controlling the feed speed of the tool to the robot using the two-dimensional area value of each of the plurality of processing parts and data on the feed speed of the tool. Path optimization machining equipment.
delete delete In claim 1,
A post-processing path optimization processing device for a robot, characterized in that a control signal for the correction movement path of the processing unit is transmitted from the path optimization unit to the robot.
delete delete delete In claim 1,
The processing control unit is a post-processing path optimization processing device for a robot, characterized in that it stores a processing database containing information on the force and torque generated by the tool for each processing area on the processing object.
In claim 8,
The processing control unit includes an artificial intelligence program, and the artificial intelligence program controls the processing unit according to the force and torque generated by the tool. A post-processing path optimization processing device for a robot.
In claim 1,
A post-processing path optimization processing device for a robot, further comprising an input unit that transmits basic information about the processing object to the basic path creation unit.
Robot post-processing path optimization processing device according to claim 1; and
A post-processing system using a robot, comprising a quality analysis device that analyzes the image of the processing object captured by the vision unit after completion of processing of the processing object to determine whether the processing object is defective.
The robot post-processing path optimization processing method using the robot post-processing path optimization processing device of claim 1,
A first step in which basic information about the processing object is transmitted to the control module;
A second step in which a basic movement path of the processing unit is generated in the control module;
A third step in which the shape and position of the processing target captured by the vision unit are transmitted to the control module;
A fourth step in which a correction movement path of the processing unit is generated in the control module; and
A fifth step in which a control signal for the correction movement path of the processing unit is transmitted from the control module to the robot.
In claim 12,
In the fifth step, information about the force and torque generated by the tool provided in the processing unit is transmitted to the control module, and a control signal for the load of the processing unit is transmitted from the control module to the processing unit. A robot post-processing path optimization processing method.