KR20120072834A - Method of controlling working robot and working robot system - Google Patents

Abstract

PURPOSE: A control method of a work robot and a work robot system are provided to efficiently perform a work by applying 5-axis kinematics to a work on a floor surface and 6-axis kinematics to a work on a girder surface. CONSTITUTION: A control method of a work robot is as follows. A robot mechanism unit(100) has four rotary shafts(1,5), a linear shaft, and a traveling shaft. The traveling shaft of the robot mechanism unit is installed in front of a work surface in parallel to a second surface(420). A work on a first surface(410) is performed by applying 5-axis kinematics to the robot mechanism unit. A work on the second surface is performed by applying 6-axis kinematics to the robot mechanism unit.

Description

Control Method of Work Robot and Work Robot System {METHOD OF CONTROLLING WORKING ROBOT AND WORKING ROBOT SYSTEM}

The present invention relates to a control method of a work robot and a work robot system.

When painting in hull blocks or other unfavorable working conditions, it is common to work with a painting robot. Such a painting robot may be a five-axis robot having four rotational axes and one linear axis, or a six-axis robot further having a travel axis in addition to the four rotational axes and one linear axis.

In the case of a five-axis painting robot, it is inconvenient to perform painting work only by rotating the rotation around the rotating shaft when painting a long girder surface because the driving shaft cannot be interlocked.

In the case of a six-axis painting robot, it is possible to move in conjunction with the travel shaft, but the use of the posture for painting can be restricted in a large part of the work area when working with a short floor surface.

One embodiment of the present invention is to provide a control method and system for a work robot that can easily perform the work on the work surface irrespective of whether the work surface is a gird surface or floor surface.

A control method of a work robot according to an embodiment of the present invention is a control method of a work robot that performs work on a work surface including a first surface and a second surface perpendicular to each other, and includes four rotating shafts and one straight line. Installing a robot mechanism having an axis and one travel shaft in front of the working surface such that the travel shaft is parallel to the second surface, and applying the 5-axis robot kinematics except for the travel shaft to the robot mechanism with respect to the first surface. Performing the work, and applying the six-axis robot kinematics to the robot mechanism to perform the work on the second surface.

The first surface may have a shorter horizontal length than the second surface.

The first surface may be a floor surface, and the second surface may be a girder surface.

The four rotary shafts include first to fourth rotary shafts, and when the driving shaft, the first rotary shaft, the second rotary shaft, the linear shaft, the third rotary shaft and the fourth rotary shaft are sequentially arranged, the Four rotary shafts, the linear shaft and the traveling shaft may be perpendicular to each other adjacent axes.

The control method may include receiving a work command, and determining whether a face to be worked from the coordinates of the work command is the first face, and if it is determined that the face to be worked is the first face, The first surface work step may be performed, or the second surface work step may be performed.

The work performed by the work robot may be a painting work.

A work robot system according to an embodiment of the present invention includes a robot mechanism part including a moving device and a work robot mounted thereon, and a robot controller for controlling the robot mechanism part, wherein the moving device is guided extending in a travel axis direction. And a rail, wherein the work robot is mounted on the mounting table which is slidable in the traveling axis direction along the guide rail of the moving device, and is mounted on the mounting table, and is centered on a first rotating shaft perpendicular to the traveling axis. A rotary pedestal coupled to the mount so as to be rotatable, a dual link coupled to the rotatable pedestal so as to be rotatable about a second axis of rotation perpendicular to the first axis of rotation, the length of which may be adjusted in a linear axis direction; It is coupled with the double link to be rotatable about a third axis of rotation perpendicular to the linear axis. Includes a cradle and a work tool coupled to the cradle to be rotatable about a fourth rotation shaft perpendicular to the third rotation shaft, wherein the robot controller works on a floor surface perpendicular to the travel shaft. 5 axis kinematics including the first to fourth rotational axis and the linear axis is applied to the robot mechanism, and the first to fourth rotational axis is performed when working on the girder surface parallel to the travel axis. And six-axis kinematics including the linear axis and the travel axis.

In the control method of the work robot according to an exemplary embodiment of the present invention, the work may be efficiently performed regardless of whether the work surface is a floor surface or a girder surface.

1 is a block diagram of a work robot system according to an embodiment of the present invention.
2 is a perspective view of a working robot mechanism part according to an embodiment of the present invention.
3 is a plan view showing the operation of the floor surface by applying 5-axis robot kinematics to the robot system according to the present embodiment.
4 is a plan view showing the operation of the girder surface by applying the six-axis robot kinematics to the robot system according to the present embodiment.
5 is a schematic diagram of the robot system according to the present embodiment analyzed by 5-axis robot kinematics.
6 is a schematic diagram of a six-axis robot kinematics analysis of the robot system according to the present embodiment.
7 is a front view of a working surface showing a procedure of working on the working surface.

DETAILED DESCRIPTION Embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present invention. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. In order to clearly illustrate the present invention, parts not related to the description are omitted, and the same or similar components are denoted by the same reference numerals throughout the specification.

First, a working robot system according to an exemplary embodiment of the present invention will be described in detail with reference to FIGS. 1 and 2.

1 is a block diagram of a work robot system according to an embodiment of the present invention, Figure 2 is a perspective view of a work robot mechanism according to an embodiment of the present invention.

Referring to FIG. 1, the work robot system according to the present embodiment includes a robot mechanism unit 100 and a robot controller 200 for controlling the robot mechanism unit 100.

Referring to FIG. 2, the robot mechanism unit 100 includes a work robot 10 performing a work on a work surface and a mobile device 20 that is movable by mounting the work robot 10.

The moving device 20 has a wheel 22, for example, can move to a desired place, and is provided with the guide rail so that the work robot 10 can move linearly.

The work robot 10 includes a mount 11, a pedestal 12, dual links 13 and 14, a cradle 17, a nebulizer 18, and the like.

The mounting table 11 is coupled to the moving device 20 so as to be able to slide in a straight line along the guide rail of the moving device 20.

The rotary pedestal 12 is mounted on the mounting table 11 and coupled to the mounting table 11 so as to be rotatable about the first rotating shaft 1.

The dual links 13, 14 comprise lower and upper links 13, 14 joined in a row. The lower link 13 is coupled to the rotary pedestal 12 so as to be rotatable about the second rotary shaft 2, and by the two-section driving unit 19 fixed at both ends to the pedestal 12 and the lower link 13. Rotate The upper link 14 is coupled to the lower link 13 so that the length can be adjusted by hydraulic or pneumatic pressure, and the lower part 15 and the upper part 16 fixed thereto to move the lower link 13 inside. It includes. Therefore, the length from the bottom of the lower link 13 to the top of the upper link 14 may be adjusted by approximately the length of the lower portion 15 of the upper link 14.

The cradle 17 is coupled to the upper link 14 so as to be rotatable about the third axis of rotation 4, and the nebulizer 18 is rotatable about the fourth axis of rotation (not shown). Combined with.

FIG. 2 shows that the work robot 10 is equipped with a sprayer 18 for spraying paint to perform a painting work, but other work tools such as a blasting gun or a heater instead of the sprayer. You can also attach a tool to perform other tasks, such as blasting or drying.

The robot controller 200 includes a robot process 210 and an application program 220.

The robot process 210 is connected to the robot mechanism unit 100, and the robot type setting unit 211, the path generation unit 212, the robot kinematics analysis unit 213, the servo control and tracking unit 214, and the output Part 215 is included.

The application process 220 is connected to the operating software 300 of the computer instructing the work area, and determines the type of the working surface (221) and selects 5 degrees of freedom robot kinematics according to the determination result (222) 6 The degree of freedom robot kinematics is selected (223) and the result is transmitted to the robot type setting unit 211 of the robot process 210.

Next, the operation of the robot system will be described in detail with reference to FIGS. 3 to 7.

3 is a plan view showing the operation of the floor (floor) by applying the 5-axis robot kinematics to the robot system according to the present embodiment, Figure 4 is a six-axis robot kinematics to the robot system according to this embodiment FIG. 5 is a schematic diagram showing the operation of the girder surface by applying, FIG. 5 is a schematic diagram of the robot system according to the present embodiment as a 5-axis robot kinematics, and FIG. 6 is a robot system according to the present embodiment. Is a schematic diagram of 6-axis robot kinematics analysis, and FIG. 7 is a front view of the working surface showing the procedure of working on the working surface.

Referring to FIGS. 3 and 4, in the working method using the working robot according to the present embodiment, the robot is different from the floor surface 410 having a relatively short length and the girder surface 420 having a long length. The kinematics is applied to control the robot mechanism part 100. That is, 5-axis kinematics is applied to the floor surface 410 and 6-axis kinematics is applied to the girder surface 420.

Referring to FIG. 5, the 5-axis kinematics considers the robot mechanism part 100 to be composed of one linear shaft 3 and four rotary shafts 1, 2, 4, and 5. The first rotary shaft 1, the second rotary shaft 2, the linear shaft 3, the third rotary shaft 4, and the fourth rotary shaft 5 are arranged in a row in this order. The angle between adjacent rotational axes 1, 2, 4, 5 is substantially perpendicular, and the angle between the linear axis 3 and the adjacent rotational axes 2, 4 is also substantially perpendicular. That is, the first rotary shaft 1 and the second rotary shaft 2 are perpendicular to each other, the second rotary shaft 2 and the linear shaft 3 are perpendicular to each other, and the linear shaft 3 and the third rotary shaft 4 are perpendicular to each other. ) Are perpendicular to each other, and the third and fourth rotational shafts 4 and 5 are perpendicular to each other.

In the 5-axis kinematics, the z-axis is held in the axial directions of the rotational axes (1, 2, 4, 5) and the linear axis (3), and five x and z coordinates are required. Two coordinates (x ₀ , z ₀ ) with respect to the first axis of rotation (1), Three coordinates (x ₁ , x ₂ , z ₁ ) with respect to the second axis of rotation (2), based on the linear axis (3) One coordinate (z ₂ ), two coordinates (x ₃ , z ₃ ) based on the third axis of rotation (4), four coordinates (x ₄ , x ₅ , z ₄ based on the fourth axis of rotation (5) , z ₅ ) applies. Other values required for kinematic applications include the distance d ₁ between the _first and second rotational axes ₁ , 2, and the distance d ₃ between the second and second rotational axes 2, 4, And the distance d ₄ between the third rotational axis 4 and the fourth rotational axis 5.

In the robot mechanism part 100 of FIG. 2, the first, second and third rotational axes 1, 2, 4 are shown with the same reference numerals as in FIG. 5, and the links 13, 14 are connected to the linear axis 3. Correspondingly, the fourth axis of rotation 5 is not shown separately as the axis of rotation of the nebulizer 18.

Referring to FIG. 6, the six-axis kinematics is regarded as the robot mechanism 100 made by adding a travel shaft 6 in addition to one linear shaft 3 and four rotation shafts 1, 2, 4, and 5. The travel shaft 6 is perpendicular to the first rotation shaft 1 and corresponds to the longitudinal direction of the guide rail in FIG. 2.

In the six-axis kinematics application, three coordinates (x ₀ , y ₀ , z ₀ ) based on the driving axis 6 are required in addition to the five pairs of x and z coordinates used in the five-axis kinematics application. In FIG. 6, the subscript of each coordinate is equal to 1 plus the subscript of the corresponding coordinate of FIG. 5 except for 0. FIG. For example, coordinates x ₁ and z ₁ in FIG. 6 correspond to coordinates x ₀ and z ₀ in FIG. 5. In addition to the distances d ₂ , d ₄ , d ₅ between the adjacent rotating shafts 1, 2, 4, 5, the length d ₁ of the travel shaft 6 is also required.

1 again, the working process will be described in detail. First, the moving device 20 of the robot mechanism part 100 is moved to a position to work. When the operating software 300 issues a work command to the application process 220 of the robot controller 200, the application process 220 analyzes the coordinates of the work command to determine whether the work plane is the floor plane 410. (221). For example, assume that the longitudinal direction 430 of the guide rail of the moving device in FIGS. 3 and 4 is parallel to the y axis. In this case, when the x coordinate of the work command is changed, the operation is performed on the floor surface 410, and when the y coordinate is changed, the operation is performed on the girder surface 420.

The application process 220 selects 5 axis robot kinematics if the working surface is a floor surface 410 (222), otherwise selects 6 axis robot kinematics (223) and passes it to the robot process 210.

The robot type setting unit 211 of the robot process 210 sets the type of robot kinematics according to the robot kinematics selected by the application program 220, and the path generator 212 sets a path to which the work robot 10 will move. Create The robot kinematics analysis unit 213 controls each part of the work robot 10 with respect to the rotary shafts 1, 2, 4, 5, the linear shaft 3, and the travel shaft 6 according to the set robot kinematics and the movement path. Decide if you need to drive it. That is, the robot kinematics analysis unit 213 determines the rotation angle around the rotation shafts 1, 2, 4, 5, the movement distance in the direction of the linear axis 3, the movement distance in the direction of the travel axis 6, and the like. . The servo control and tracking unit 214 drives the robot mechanism unit 100 according to the driving amount determined by the robot kinematics analysis unit 212 to perform a task. The output unit 215 is displayed on a monitor so that the user can check the control status of the robot.

Referring to FIG. 7, which schematically illustrates the work surface 400 of one of the floor surface 410 and the girder surface 420, the work, for example, the painting work, is such that the sprayer 18 is horizontal on the work surface 400. Spraying the paint while moving along a straight line in the direction, and descending vertically down or up, and then spraying the paint while moving in the opposite direction, where the specific movement of the work robot 10 is performed with the floor surface 410 and the girder. Vary in face 420. The case of FIGS. 3 and 4 will be described in detail as an example.

3 and 4 schematically show the top of the U-shaped member to perform the work on the inner surface of the upper part of the floor, the short portion in the middle of the letter C is the floor surface 410 and both sides The long side becomes girders 420.

In the case of painting the floor surface 410 as in the case of FIG. 3, when the sprayer 18 moves horizontally along a straight line, the first rotating shaft is fixed in a state where the work robot 10 is fixed at a specific position of the moving device 20. Spray the paint while rotating around (1). In this case, the sprayer 18 may rotate about the fourth rotational axis 5 so that the sprayer 18 is always at the same angle as the working surface, and the length of the links 13 and 14 so that the distance between the sprayer 18 and the working surface is constant. Is adjusted.

When the sprayer 18 descends vertically to paint the next line, the height of the sprayer 18 can be adjusted by moving the work robot 10 along the guide rail of the moving device 20.

In the case of painting the girder surface 420 as in the case of FIG. 4, when the sprayer 18 moves horizontally along a straight line, the entire work robot 10 is moved by the moving device (with all the parts of the work robot 10 fixed). Spray the paint while moving along the guide rail (20). When the sprayer 18 descends vertically to paint the next line, the lengths of the links 13 and 14 of the work robot 10 are adjusted.

In the case of performing other operations such as a blasting operation or a drying operation, the operations may be performed in the same order. Here, the blasting operation is to hit the working surface 400 such as the floor surface 410 or the girder surface 420 with a blasting grit, for example, before painting, and an example of the drying operation is painting after finishing the painting. The completed working surface 400 is heated by a heater and dried.

As described above, according to the present embodiment, the work robot can efficiently perform work by applying 5-axis kinematics when working on the floor surface and applying 6-axis kinematics when working on the girder surface. .

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, Of the right.

1, 2, 4, 5: axis of rotation
3: linear axis
6: driving shaft
10: working robot
11: mounting table
12: rotating pedestal
13, 14, 15, 16: link
17: stand
18: atomizer
19: drive section
20: shifting device
22: wheels
100: robot mechanism part
200: robot controller
210: robot process
211: robot type setting unit
212: route setting section
213: robot kinematics analysis unit
214: servo control and follower
215: output unit
220: application process
300: operating software
400: working surface
410: floor surface
420: Girdle
430: longitudinal direction of the moving device guide rail

Claims (7)

A control method of a work robot performing a work on a work surface including a first surface and a second surface perpendicular to each other,
Installing a robot mechanism having four rotary shafts, one linear shaft and one traveling shaft in front of the working surface such that the traveling shaft is parallel to the second surface,
Applying the 5-axis robot kinematics except for the traveling shaft to the robot mechanism to perform work on the first surface; and
Applying a six-axis robot kinematics to the robot mechanism to perform work on the second surface. In claim 1,
And said first surface is shorter in horizontal length than said second surface. In claim 2,
The first surface is a floor surface, the second surface is a girder surface control method. 4. The method of claim 3,
The four rotary shafts include first to fourth rotary shafts,
When the running shaft, the first rotating shaft, the second rotating shaft, the linear shaft, the third rotating shaft and the fourth rotating shaft are arranged in sequence,
And said four rotary shafts, said linear shaft and said traveling shaft are perpendicular to each other adjacent axes. 5. The method of claim 4,
Receiving a work order, and
Determining whether the plane to be worked from the coordinates of the work command is the first plane or not;
If it is determined that the surface to be worked is the first surface, the first surface work step is performed; otherwise, the second surface work step is performed.
Control method of working robot. 6. The method according to any one of claims 1 to 5,
The work performed by the work robot is a control method of the work robot. A robot mechanism part including a moving device and a working robot mounted thereon, and
Robot controller for controlling the robot mechanism
Including,
The moving device includes a guide rail extending in the travel axis direction,
The work robot,
Mounting table that can slide in the direction of the travel axis along the guide rail of the moving device,
A rotating pedestal mounted on the mounting table so as to be rotatable about a first rotating shaft perpendicular to the traveling shaft;
A dual link coupled to the rotating pedestal so as to be rotatable about a second rotational axis perpendicular to the first rotational axis, the length of which can be adjusted in a linear axis direction,
A cradle coupled with the dual link so as to be rotatable about a third rotational axis perpendicular to the linear axis, and
A work tool coupled with the holder to be rotatable about a fourth axis of rotation perpendicular to the third axis of rotation;
Including;
The robot controller,
When performing work on the floor surface perpendicular to the traveling shaft, the 5-axis kinematics including the first to fourth rotating shafts and the linear shaft is applied to the robot mechanism portion.
When carrying out work on the girder plane parallel to the traveling shaft, six-axis kinematics including the first to fourth rotary shafts, the linear shaft, and the traveling shaft are applied to the robot mechanism.
Working robot system.

Images