KR20140044462A - Robot system - Google Patents

Abstract

The present invention relates to a mobile robot system capable of moving a robot to a work area by spaced apart from the robot and the teaching manipulator by connecting a teaching manipulator connected to a controller with a robot in a system in which a lightweight robot is placed close to a work member. A robot is provided that is movable and is used for welding of a ship, a controller connected to the robot, and a teaching manipulator connected to the robot to direct the operation of the robot.
By using the mobile robot system as described above, the robot can be operated through the teaching manipulator even when the robot is positioned near the work member and the distance from the controller is far.

Description

Mobile robot system {Robot system}

The present invention relates to a mobile robot system that breaks the connection structure of a robot-controller-teaching manipulator fixed to a conventional position, and is particularly connected to a controller physically in a system in which a lightweight robot is located close to a work member. The present invention relates to a mobile robot system capable of moving a robot to a work area by spaced apart from the robot and the teaching manipulator by connecting the teaching manipulator with a robot.

Currently, robots play an important role as tools for performing tasks on behalf of humans. Robots are mainly used for the automation of logistics, assembly, welding, painting and other forms of work in the manufacturing production line on behalf of human arms, which not only contributes to productivity but also protects humans from inhuman work. They are performing various tasks on behalf of humans in extreme environments that cannot be done, for example, in nuclear contaminated areas of nuclear power plants, poisoned areas, seabeds, and space operations.

Meanwhile, there are two types of methods for allowing a robot to perform a desired task in a human being. For example, the robot can be classified into two types. One is a teaching exercise method in which a robot instructs a desired position or motion, And an autonomous workout method in which the work environment is determined by the robot itself to generate the required workout by instructing the work target.

In general, the teaching manipulator is used as a means for transmitting information in serial communication with the main control unit in various automation equipments or robots, and has a human / machine interface function for inputting information and displaying feedback information between the operator and the machine, The operator can access the apparatus to be operated by holding the teaching manipulator and can precisely control the teaching operation while observing the operation end of the apparatus.

In other words, the existing robot system was located at a distance not far between the robot and the controller, so that the operator could operate the robot while watching the robot through the teaching controller connected to the controller.

Examples of such techniques are described in documents 1 and 2 below.

For example, in Patent Document 1, as shown in FIG. 1, the robot body 10, the robot controller 20, and the teaching operator 30 are configured, and the teaching operator 30 includes the robot controller 20. Removably connected to the connector 40 of the), the connector 40 is provided with two pins shorted as a means for informing the robot controller 20 of the connection of the teaching operator 30, the teaching manipulator 30 Is connected to the connector 40, a robot control system is disclosed in which the robot controller 20 senses the connection of the teaching manipulator 30 by two promised pins of the connector 40.

In addition, Patent Document 2 discloses a plurality of processors disposed along one side of a processor for displaying information in the form of icons representing at least selectively operable machine functions, a controllable touch-sensitive display screen, and the touch-sensitive display screen. An application specific control function button, a plurality of basic control function buttons disposed along one side of the touch-sensitive display screen, and a teaching manipulator configured to control information displayed on the touch-sensitive display screen and control machine operation. Is disclosed.

Republic of Korea Patent Publication No. 2000-0051053 (released Aug. 16, 2000) Korean Registered Patent No. 10-0522077 (registered October 10, 2005)

However, in the conventional technology as described above, the robot and the controller are connected to the existing robot system, and the controller is connected to the teaching operator so that when the user operates through the teaching operator, it is transmitted through the controller and the controller operates the robot again. It is a structure. Such a robotic system is a system in which the distance between the controller and the robot is not far, that is, a system where the robot can be manipulated while looking at the robot through the teaching controller, but the teaching controller can be used in connection with the controller. In the case where the distance between the controller and the controller is far, for example, about 100 m, there is a problem that the user is inconvenient to use the teaching controller.

In addition, as the conventional teaching manipulator as described above, a full LCD having a touch function or an LCD and an operation button is used. However, in a shipyard's welding shop, a thick welding glove is used to operate the function key. Since it is not precisely realized to operate a button, a button is required, and a large display unit of the LCD is required for diversification and precision of an operation function.

An object of the present invention is to solve the problems as described above, by connecting the teaching controller physically connected to the controller with the robot to move the robot to the work area to move the robot to the work area far away from the robot To provide.

Another object of the present invention is to provide a mobile robot system that can be moved to the robot body alone by embedding the teaching operator in the base position of the robot in order to maximize the mobility of the robot and the teaching manipulator.

In order to achieve the above object, the robot system according to the present invention is movable and includes a robot used for welding of a ship, a controller connected to the robot, and a teaching manipulator connected to the robot to instruct the operation of the robot. It is done.

In the robot system according to the present invention, the controller is connected to the robot by a first cable.

In the robot system according to the present invention, the teaching operator is connected to the robot by a second cable.

In the robot system according to the present invention, the first cable is a first communication line for controlling the operation of the robot, a second communication line connected to the second cable for controlling the operation of the teaching operator, the operation of the robot A first power supply line for supplying power and a second power supply line connected to the second cable for supplying the operating power of the teaching manipulator.

In the robot system according to the present invention, the first communication line and the second communication line are characterized in that the communication line for the CAN network and EtherCAT network.

In the robot system according to the present invention, the teaching manipulator is embedded in the robot.

In the robot system according to the present invention, the teaching manipulator is

And a display unit slidably mounted to the main body provided with a plurality of operation buttons and having a display screen of a size corresponding to the main body.

In the robot system according to the present invention, the display unit may slide in a diagonal direction of the main body.

In the robot system according to the present invention, the apparatus further comprises a main body plate coupled to the main body and a display unit plate coupled to the display unit, and guide rails are provided at both sides of the display unit plate, and the guide rail is connected to the main body plate. It is characterized in that the slide along the guide slit formed.

In the robot system according to the present invention, each of the plurality of operation buttons is formed on an upper portion or a side portion of the main body.

As described above, according to the mobile robot system according to the present invention, the robot can be operated through the teaching manipulator even when the robot is positioned at a position close to the work member and the distance from the controller is far.

In addition, according to the mobile robot system according to the present invention, the effect of increasing the size of the display screen and providing a plurality of operation buttons also enables precise control and operation of the robot.

In addition, according to the mobile robot system according to the present invention, since a plurality of operation buttons are protected by the display unit and are used only when necessary, the operation buttons can be protected in a harsh environment such as welding work of the robot, thereby increasing durability of the teaching manipulator. The effect is also obtained.

1 is a block diagram of a conventional robot system,
2 is a block diagram of a robot system according to a first embodiment of the present invention.
3 is a perspective view of a robot system according to a second embodiment of the present invention;
4 is a view showing a state in which the display unit of the teaching operation shown in FIG.
FIG. 5 shows a slide module of the teaching machine shown in FIG. 3; FIG.

These and other objects and novel features of the present invention will become more apparent from the description of the present specification and the accompanying drawings.

In the present invention, when the distance between the robot and the controller is usually 30 to 100m, in order to solve the problem that it is inconvenient to use the teaching manipulator, the teaching member is physically connected to the robot to connect the robot to the working member through the teaching manipulator connected to the robot. Can be operated from Furthermore, when the robot and the controller are held together and moved to the work member, it is inconvenient to maximize the mobility of the robot by burying the teaching operator inside the robot and manipulating the teaching operator attached to the robot.

Hereinafter, the configuration of the present invention will be described with reference to the drawings.

≪ Embodiment 1 >

First, a first embodiment of the present invention will be described with reference to FIG.

2 is a block diagram of a robot system according to a first embodiment of the present invention.

As shown in Figure 2, the robot system according to the first embodiment of the present invention is movable, the robot 10 used for welding of the vessel, the controller 20 connected to the robot 10 and the robot It is configured to include a teaching operator 30 connected to the robot 10 to indicate the operation of the.

The controller 20 includes a central processing unit 201 for controlling the operation of the robot 10 and the teaching manipulator 30, a robot power supply unit 202 for supplying a power supply for a robot, for example, 220V, and a teaching. A teaching manipulator power supply unit 203 for supplying a manipulator power supply, for example, a 12V power supply, is provided.

The CPU 201 includes a system such as a CAN network and an EtherCAT network for communication with the robot 10, the teaching operator 30, and the outside.

In addition, the controller 20 is connected to the robot 10 by first cables 21 to 24, and the teaching operator 30 is connected to the robot 10 by second cables 32 and 34. Connected. That is, the present invention is characterized in that the teaching operator 30 is directly connected to the robot 10 as compared to FIG. 1, which is a conventional structure.

To this end, the first cable controls the operation of the teaching unit 30 and the first communication line 21 connecting the central processing unit 201 and the robot 10 to control the operation of the robot 10. The second communication line 22 connecting the central processing unit 201 and the second cable, the first power supply line connecting the robot power supply unit 202 and the robot 10 to supply the operating power of the robot And a second power supply line 24 connected to the teaching operator power supply unit 203 and the second cable for supplying operating power of the teaching operator 30. The two communication lines 22, the first power supply line 23 and the second power supply line 24 are integrally provided in one cable.

In addition, the second cable includes a third communication line 32 and a third power supply line 34 connected to the second communication line 22 and the second power supply line 24, respectively, and the third communication line 32 and the third communication line 32. The power supply line 34 is also provided integrally in one cable.

The connection of the first cable and the second cable as described above can be easily performed by inserting into the respective connectors provided in the robot 10.

Preferably, the first to third communication lines use communication for a CAN network and an EtherCAT network.

Thus, the user carries the teaching operator 30 in the pocket of the user's clothing or the like, and moves the robot 10 and the first cable to the welding site regardless of the distance between the robot 10 and the controller 20. It can be easily moved to the welding work site.

That is, the first cable is not limited to the conventional distance of 30 to 100m, and may be provided to be used over a long distance.

≪ Embodiment 2 >

Next, a second embodiment of the present invention will be described with reference to Figs.

3 is a perspective view of a robot system according to a second exemplary embodiment of the present invention, and FIG. 4 is a view illustrating a slide state of a display unit of the teaching operator illustrated in FIG. 3, and FIG. 5 is a view illustrating the teaching apparatus illustrated in FIG. It is a figure which shows a slide module.

In the robot system according to the second embodiment of the present invention, as shown in FIG. 3, the teaching operator 30 is embedded in the upper portion of the robot 10.

By adopting such a configuration, the freedom of movement of the robot is increased. That is, in the first embodiment, the user had to carry the teaching operation device 30 to the pocket of the user's clothing for the movement of the robot 10. However, according to the second embodiment, the movement of the robot 10 is sufficient. As compared with the first embodiment, the degree of freedom of movement is increased.

In addition, in the second embodiment, since the teaching operation device 30 is embedded in the robot 10 and mounted, the size of the display portion of the teaching operation device 30 may be limited according to the size of the upper portion of the robot 10. have.

In order to solve this problem, in the second embodiment of the present invention, the teaching operator 30 is slidably mounted on the upper portion of the robot 10.

That is, as illustrated in FIG. 4, the teaching operator 30 is slidably mounted to the main body 31 provided with a plurality of operation buttons 33 and the main body 31, and corresponds to the main body 31. And a display unit 35 having a display screen having a size, wherein the display unit 35 slides in a diagonal direction of the main body 31.

As shown in FIG. 4, each of the plurality of operation buttons 33 is formed in the upper and side portions of the main body 10. The display unit 35 is formed of a liquid crystal display (LCD) or a light emitting diode (LED), but is not limited thereto. In addition, although the display part 35 slides in the outward direction of the robot 10 in FIG. 4, many operation buttons 33 are shown by the structure formed in the upper part and the left side part of the main body 31, but the structure of FIG. On the other side, that is, the display portion 35 slides to the left side in FIG. 4, and a structure in which a plurality of operation buttons 33 are formed on the lower and right side portions of the main body 31 may be adopted.

Therefore, regardless of the size of the upper surface of the robot 10, the screen of the display unit 35 can be enlarged, and the size of the teaching operator 30 can be reduced while providing a plurality of operation buttons.

In addition, since the user wears thick gloves and manipulates the teaching operation device 30 during the welding process of the shipyard, which is a technical field applied to the present invention, the display unit 35 recognizes pre-stored execution commands and positions, and the like. Since only the operation of the button 33 is necessary, the display unit 35 is moved to operate the operation button 33, thereby preventing malfunction of the operation button 33.

Next, the movement structure of the display unit in the teaching operation apparatus according to the present invention will be described with reference to FIG.

5 is a view showing a slide module of the teaching operator 30 shown in FIG.

As shown in FIG. 5, the slide module applied to the present invention includes movement of the display plate 321 and the display plate 321 coupled to the main body plate 311 and the display unit 35 coupled to the main body 31. Coil spring 312 is provided to assist in return.

In addition, guide rails 322 are provided at both sides of the display plate 321, and the guide rails 322 slide along guide slits formed in the body plate 311.

Since the guide rail 322 is formed to be inclined to the left side as shown in FIG. 5, the display unit 35 slides to the right side as shown in FIG. 4.

As described above, in the robot system according to the present invention, the robot can be easily operated regardless of the distance between the controller and the robot.

Although the present invention has been described in detail with reference to the above embodiments, it is needless to say that the present invention is not limited to the above-described embodiments, and various modifications may be made without departing from the spirit of the present invention.

By using the mobile robot system according to the present invention it is possible to improve the mobility of the robot, it is possible to move the robot to the work area by spaced apart from the robot and the teaching manipulator.

10: Robot
20: controller
30: Teaching Manipulator

Claims (10)

A robot which is movable and used for welding of a ship,
A controller connected to the robot and
And a teaching manipulator connected to the robot to direct the work of the robot. The method of claim 1,
And the controller is connected to the robot by a first cable. 3. The method of claim 2,
And the teaching manipulator is connected to the robot by a second cable. The method of claim 3,
The first cable is
A first communication line for controlling the operation of the robot,
A second communication line connected to said second cable for controlling operation of said teaching operator,
A first power supply line for supplying operation power of the robot;
And a second power supply line connected to said second cable for supplying operation power of said teaching manipulator. 5. The method of claim 4,
The first communication line and the second communication line is a robot system, characterized in that the communication line for CAN network and EtherCAT network. The method of claim 1,
And the teaching operator is embedded in the robot. The method according to claim 6,
The teaching manipulator
Main body provided with a plurality of operation buttons and
And a display unit slidably mounted to the main body and having a display screen having a size corresponding to the main body. 8. The method of claim 7,
And the display unit slides in a diagonal direction of the main body. 9. The method of claim 8,
A body plate coupled to the body and
Further comprising a display plate coupled to the display unit,
Guide rails are provided on both sides of the display plate, and the guide rail slides along guide slits formed in the body plate. 10. The method of claim 9,
Each of the plurality of operation buttons is formed on the upper or side portion of the main body robot system.

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