KR20200023019A - Apparatus and method for multi-layer component alignment - Google Patents

Abstract

Disclosed are a multi-layer component alignment apparatus and a method thereof. According to an embodiment of the present invention, the multi-layer component alignment apparatus aligning a stacking state for assembling a multi-layer component comprises: a multi-joint robot; a bracket mounted on an end effector of the robot through a mount formed at one side surface; a gripper fastened onto a lower surface of the bracket; a pin jig inserted into an alignment hole of the multi-layer component in a state of being gripped by fingers of the gripper; and a controller positioning the pin jig at a fastening work point, where an alignment hole formed at the multi-layer component is positioned, via kinematic posture control of the robot, performing force control for applying a set amount of force in the vertical direction that the pin jig is inserted into the alignment hole and, if a vertical load applied to the pin jig due to an external force is sensed, detecting the alignment hole via rotational motion control of the robot. The present invention can automate a process for assembling the multi-layer component using the robot, thereby reducing manufacturing costs.

Description

Multi-layered parts aligning device and its method {APPARATUS AND METHOD FOR MULTI-LAYER COMPONENT ALIGNMENT}

The present invention relates to a multilayer component alignment apparatus and a method thereof, and more particularly, to a multilayer component alignment apparatus and method for automating the alignment of the multilayer component through the pin insertion using a robot.

In general, in an industrial site or a production process of an automobile, a plurality of parts or materials are stacked and arranged side by side as needed.

For example, FIG. 1 shows a conventional method of multilayer-aligning parts.

Referring to FIG. 1 (A), a hydraulic control component such as a valve body applied to a vehicle includes a plurality of submodules, and the assembly pins are arranged in an alignment hole H through each layer of the submodules. The jig P is manually inserted to perform multilayer alignment of the parts.

This is done by the manual operation of pushing the pin jig (P) into the alignment hole (H) with a constant force, depending on the operator's sense of touch. At this time, if the through-holes of the alignment holes H of the sub-modules do not coincide with each other exactly, the operator senses the load coming into contact with the component when inserting the pin jig P and adjusts the position of the pin jig P. Is inserted.

Meanwhile, in order to automate such simple manual operation, a method of inserting the pin jig P into the alignment hole H by using a robot (or actuator) of a position control method has been proposed.

However, the robot-based method has difficulty in automation because it is impossible to cope with inserting the pin jig P when the through holes of the alignment holes H do not exactly coincide with each other.

For example, referring to FIG. 1 (B), in the multi-layered alignment method using a conventional position control robot, the through hole coincides exactly with the date when the robot inserts the pin jig P into the alignment hole H with a constant force. If not, there is a problem that the pin jig (P) is damaged because the front end of the pin jig (P) is caught in the middle, it does not detect the vertical load generated external force.

In addition, if the alignment operation is continued due to the problem that the load control of the robot is not possible, the parts may be broken, and seriously, there is a problem that a failure or error occurs in the expensive robot.

Matters described in this Background section are intended to enhance the understanding of the background of the invention, and may include matters other than the prior art already known to those skilled in the art.

An embodiment of the present invention is to detect the contact load between the pin jig and the part through the force control of the robot and to detect the alignment hole (H) through the motion control of the pin jig when contacting the part to insert the pin jig stably An object of the present invention is to provide a multi-layer component alignment apparatus and a method for automating a multi-layer component alignment process.

According to one aspect of the invention, the multi-layer component alignment device for aligning the stacked state for the assembly of the multi-layer component, a multi-joint robot; Bracket mounted to the end effector of the robot through a mount formed on one side; A gripper coupled to a bottom surface of the bracket; A pin jig inserted into an alignment hole of the multilayer component in a state of being gripped by a finger of the gripper; And through the kinematic attitude control of the robot to position the pin jig to the fastening work point is located in the alignment hole formed in the multi-layer component, the force control to apply a certain amount of force in the vertical direction in which the pin jig is inserted into the alignment hole And a controller for searching for the alignment hole through the rotational motion control of the robot when a vertical load is detected by the external force on the pin jig.

In addition, the robot may form a three-dimensional coordinate system of the area where the end effector is movable, and may detect the position of the fastening work point where the alignment holes of the multi-layer component are located.

In addition, the controller is a vertical control due to the external force generated by the contact control of the descending control and the falling of the pin jig in the direction of the pin jig is inserted into the alignment hole through the force control and the pin jig lowered. Detect function can be performed.

In addition, when the controller detects a horizontal load in which the robot moves in a horizontal direction by an external force in the force control state, the controller adjusts a target position of the fastening work point and an insertion direction of the pin jig in proportion to the displacement moved in the horizontal direction. The elastic force control can be performed so that the restoring force to the target target axis acts.

In addition, the controller is connected to the control line and the robot and the gripper, respectively, the interface for transmitting and receiving a control signal for the alignment of the multilayer component; A gripper control module which grips the pin jig by controlling a finger of the gripper; A robot control module for storing kinematic attitude control information for aligning multi-layer parts of the robot and tracking the position of the pin jig moved according to the attitude control of the robot; A load sensing module configured to detect vertical loads and horizontal loads due to external force when the pin jig descends through the force control; A storage module for storing various programs, data, and setting information for aligning multilayer parts; And a job control module for controlling the gripper and the robot through the gripper control module and the robot control module according to a multi-layered part alignment algorithm to match the position of the alignment hole according to the insertion of the target position of the pin jig.

In addition, the posture control may include a motion control for the position control, the movement direction and the search for the alignment hole of the pin jig to be tracked in the movable three-dimensional coordinate system of the robot.

In addition, the gripper may be coupled to the two brackets in a dual mode at a position corresponding to a plurality of alignment hole spacing formed in the plane of the multilayer component.

In addition, the pin jig may be coupled to the ball caster to reduce the friction with the parts by rotating the ball to the front end extending in the longitudinal direction.

In addition, the pin jig is formed in a cylindrical shape to form a gripper grip portion formed concave along the circumference of the outer peripheral surface and the through-hole formed in the inner space at the bottom center; A pin having a smaller diameter than the body and having a disk-shaped pin head formed at one end in a longitudinal direction in the inner space of the body; And it may include an elastic body formed between the upper surface of the inner space and the pin head.

On the other hand, according to an aspect of the present invention, the multi-layer component alignment method in which the controller of the multi-layer component control device to arrange the stacked state for the assembly of the multi-layer component, a) gripping the pin jig through the gripper mounted on the robot and the multi-layer Waiting for the part to load; b) moving the pin jig to a fastening work point at which the alignment holes of the multi-layer parts are located by controlling the attitude of the robot when the multi-layer parts are loaded; c) lowering the pin jig at a constant speed and a constant magnitude in the vertical direction through force control of the robot; d) searching for the alignment hole through the rotation motion control of the robot when a vertical load is detected by the external force due to the pin jig; And e) separating the pin jig from the alignment hole by raising the pin jig when the tip of the pin jig reaches a target position.

In addition, the step a) may include calculating a relative coordinate corresponding to the tip of the pin jig mounted through the gripper from the coordinates of the end effector of the robot and tracking the movement state.

In addition, step d) may include the step of limiting not exceeding a predetermined magnitude of force according to the force control when the vertical load is detected.

In addition, the step d) may include the step of controlling the pin jig to move only within the set rotation radius in consideration of the assembly tolerance of the multi-layer component during the rotation motion control.

In addition, the step d) may include performing a spiral rotation motion control combined with the force control in the vertical direction and the rotation motion control.

In addition, after the step c), the pin jig to be lowered to detect a horizontal load due to the external force in contact with the inner surface of the part of the alignment hole; And performing elastic force control so that the restoring force of the fastening work point to the target position and the target axis acts in proportion to the displacement of the pin jig in the horizontal direction.

According to an embodiment of the present invention, the force control of the robot is detected through motion control to detect the contact load of the pin jig and actively search for the alignment hole H to insert stably to automate the assembly process of the multilayer parts using the robot. This can reduce production costs.

In addition, by inserting the pin into the alignment hole (H), by implementing a pin jig that can absorb the impact of contact with the parts and reduce the friction during the alignment of the multi-layer parts to improve the durability of the assembly parts and multi-layer parts It can solve the problem of damage.

In addition, since all operations are controlled within the robot controller without a separate sensor interlocked with a separate robot, the operation speed can be improved by minimizing the internal calculation time, and the effect that can be adapted to various conditions regardless of the number of parts stacked or shape is expected. Can be.

1 shows a conventional method of multilayer sorting of parts.
2 shows a process in which a multilayer component alignment device according to an embodiment of the present invention is applied.
3 shows a configuration of a multilayer component alignment device according to an embodiment of the present invention.
4 shows a coupling structure of a gripper and a pin jig according to an embodiment of the present invention.
5 is a cross-sectional view showing the configuration of a pin jig according to an embodiment of the present invention.
6 is a block diagram schematically illustrating a configuration of a controller according to an exemplary embodiment of the present invention.
7 is a flowchart schematically illustrating a method of aligning a multilayer component according to an exemplary embodiment of the present invention.
8 and 9 illustrate a process for explaining rotation motion control and elastic force control in a multilayer component alignment method according to an exemplary embodiment of the present invention.

Hereinafter, exemplary 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 the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention, and like reference numerals designate like parts throughout the specification.

Throughout the specification, when a part is said to "include" a certain component, it means that it can further include other components, except to exclude other components unless specifically stated otherwise. In addition, the terms “… unit”, “… unit”, “module”, etc. described in the specification mean a unit that processes at least one function or operation, which may be implemented by hardware or software or a combination of hardware and software. have.

Now, a multilayer component alignment apparatus and a method thereof according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

There is an increasing number of processes in which multiple parts are combined and used in a vehicle. First, the concept of a multilayer part manufacturing process for automating them is briefly explained.

2 shows a process in which a multilayer component alignment device according to an embodiment of the present invention is applied.

Referring to FIG. 2, in the multilayer part setting process of step S1, a plurality of parts 1a to 1c are set as stacked multilayer parts. At this time, the multi-layered part 1 including the first part 1a, the second part 1b, and the third part 1c has an alignment hole H formed in each for a subsequent process in which the fastening member is fastened. Although it is preferable to align with the date, in the setting process, each alignment hole H may be set to be offset from each other.

Therefore, in the multilayer component alignment process of step S2, the multilayer component alignment apparatus 100 according to the embodiment of the present invention is installed, and the pin jig 140 held by the gripper 130 is fastened by the posture control (position control) of the robot. It is located at the work point (Tool Center Point, TCP) and inserted into the alignment hole (H) formed in the multi-layer component (1) to perform the work to align.

At this time, the multi-layer component alignment device 100 according to an embodiment of the present invention detects the contact load between the pin jig and the component through the force control of the robot, and the alignment hole (H) through the motion control of the pin jig when contacting the component ) And the pin jig is inserted stably to automate the multi-layer alignment process using a robot.

Subsequently, in the multi-part coupling process of step S3, the fastening members B are inserted into the aligned fastening holes H, respectively, so that the multi-layer parts 1 may be integrally coupled.

In the above description for convenience, the alignment hole H into which the pin jig is inserted and the fastening hole H into which the fastening members 2a and 2b are inserted are described in the same manner, but embodiments of the present invention are not limited thereto. May be configured separately. That is, the alignment hole (H) into which the pin jig is inserted and the coupling hole (H) into which the fastening members 2a and 2b are inserted may be formed separately, and the fastening hole (H) may be used to align the alignment hole (H). Can be aligned at the same time.

On the other hand, Figure 3 shows the configuration of a multi-layer component alignment device according to an embodiment of the present invention.

Referring to FIG. 3, the multilayer component alignment apparatus 100 according to an exemplary embodiment of the present invention includes a robot 110, a bracket 120, a gripper 130, a pin jig 140, and a controller 150. do.

The robot 110 may be configured as a six-manipulator manipulator with six or more axes. The robot 110 may form a three-dimensional coordinate system 3d (x, y, z) in a region in which the end effector 111 may move. The position of the fastening work point TCP where the alignment hole H is located can be detected.

When the multi-layer component 1 is set on the workbench, the robot 110 places the pin jig 140 fixedly mounted on the end effector 111 as a fastening work point (TCP) through posture control and pins in the alignment hole (H). The jig 140 performs a force control function for applying a certain amount of force in the vertical direction into which the jig 140 is inserted and an elastic force control function for applying a restoring force in the horizontal direction.

Here, the force control is a pin jig 140 based on a fastening work point (TCP) corresponding to the alignment hole (H) of the multi-layered part using the force sensor or torque sensor applied to the robot 110. ) Means to apply a constant speed and magnitude of force in the direction of insertion. In addition, the force control means a robot control method including a function of detecting the insertion load (vertical load) by the external force when the pin jig 140 is inserted.

In the elastic force control, when the robot 110 moves in the horizontal direction by the external force in the force control state, the target position and the pin jig 140 of the fastening work point TCP are proportional to the displacement moved in the horizontal direction. It means a robot control method that acts on the restoring force to the target axis in the direction of insertion.

The bracket 120 is mounted to the end effector 111 of the robot 110 through a mount 121 formed on one side.

The gripper 130 is coupled to the bottom surface of the bracket 120, and the end of the robot is mounted on the fact 111, and the pin jig 140 inserted into the alignment hole H of the multi-layered part has a finger-type finger 131. Gripping through).

4 shows a coupling structure of a gripper and a pin jig according to an embodiment of the present invention.

Referring to FIG. 4, the gripper 130 may grip the pin jig 140 or release the gripping by adjusting the play of the finger 131. The pin jig according to the attitude control of the robot 110 may be used. To regulate movement.

In the gripper 130, two brackets 120 at positions corresponding to a plurality of alignment holes H formed on a plane of the multilayer part 1 may be coupled in a dual mode (see FIG. 2). Through this, the dual mode gripper 130 grips the pin jig 140, respectively, to complete hole alignment in the plane of the multilayer part 1 having two or more alignment holes H formed in one multilayer alignment operation. It can be effective.

The pin jig 140 is moved in a state of being gripped by the gripper 130 mounted on the end effector 111 of the robot 110 and inserted into the plurality of alignment holes H formed in the multilayer component 1.

On the other hand, the pin jig 140 according to an embodiment of the present invention may be configured as follows in consideration of safety in the characteristic that is inserted into the alignment hole (H) by the robot 110 rather than the operator.

5 is a cross-sectional view showing the configuration of a pin jig according to an embodiment of the present invention.

Referring to FIG. 5, the pin jig 140 according to the embodiment of the present invention includes a body 141, a gripper gripping part 142, a pin 143, a through hole 144, an inner space 145, A pin head 146, an elastic body 147 and a ball caster 148.

The body 141 is formed in a cylindrical shape to form a gripper gripping portion 142 concave along a circumference of a portion of the outer circumferential surface, and a through hole 144 through which the pin 143 penetrates is formed at the center of the lower surface.

The pin 143 has a smaller diameter than the body 141, and a disk-shaped pin head 146 formed at one end thereof is accommodated in the inner space 145 formed below the body 141, and penetrates the through hole 144. The ball caster 148 is coupled to the front end extending in the longitudinal direction.

At this time, an elastic body 147 is formed between the upper surface of the inner space 145 and the pin head 146 so that the pin 143, which is lowered due to the force control of the robot 110, may be caused by external force during physical contact with the component. At the same time absorbing the shock serves to transfer the insertion load by the external force to the robot (110).

The ball caster 148 may be rotated in the motion direction when the pin jig 140 is in contact with the component to control the motion, thereby reducing friction with the component and improving durability.

The controller 150 is composed of a computer device that controls the overall operation for aligning a multilayer component according to an embodiment of the present invention.

6 is a block diagram schematically illustrating a configuration of a controller according to an exemplary embodiment of the present invention.

Referring to FIG. 6, the controller 150 according to an embodiment of the present invention includes an interface 151, a gripper control module 152, a robot control module 153, a load sensing module 154, and a storage module 155. And a job control module 156.

The interface 151 connects the control line with the robot 110 and the gripper 130 to transmit and receive a control signal for aligning the multilayer parts.

In addition, the interface 151 may connect to an external server (not shown) to collect component design information and setting information for aligning multilayer parts.

The gripper control module 152 controls the finger 131 of the gripper 130 to grip the gripper holding part 142 of the pin jig 140.

The robot control module 153 stores kinematic posture control information for aligning multi-layer parts of the robot 110 and tracks the position of the pin jig 140 which is moved according to the posture control of the robot 110. Here, the posture control includes a motion for searching the alignment position, the moving direction, and the alignment hole H of the pin jig 140 tracked in the movable stereoscopic coordinate system of the robot 110.

The robot control module 153 lowers the pin jig 140 with a constant force of the robot 110 through a force control command during the lowering control to insert the pin jig 140 into the alignment hole H of the multilayer component. do.

In addition, the robot control module 153 performs the elastic force control to apply a restoring force in the horizontal direction when a horizontal load is generated by external force when the pin jig 140 is inserted into the force control, so that the pin jig 140 is applied. Is returned to the target axis of the fastening work point TCP.

The load sensing module 154 detects a vertical load (eg, z-axis direction) due to external force when the pin jig 140 descends through the force control.

In addition, the load sensing module 154 detects a horizontal load (eg, x-axis / y-axis direction) due to an external force applied by contacting one side surface of the alignment hole H when the pin jig 140 descends.

The storage module 155 stores various programs, data, and setting information for aligning a multilayer component according to an exemplary embodiment of the present invention.

The job control module 156 is a central processing unit that controls the overall operation of each part for aligning multilayer parts according to an embodiment of the present invention.

The job control module 156 controls the gripper 130 and the robot 110 through the gripper control module 152 and the robot control module 153 according to the multilayer component alignment algorithm, and thus, the multi-layer according to the insertion of the pin jig 140. The alignment holes H formed in the component 1 are aligned to coincide with each other.

Here, the gripper control module 152, the robot control module 153, and the job control module 156 may be collectively referred to as one controller 150 because they are a control configuration for driving the multilayer component alignment device 100.

Therefore, in the following description of the multilayer component alignment method according to the embodiment of the present invention based on the configuration of the multilayer component alignment apparatus 100 described above, the main body of the method will be described as the controller 150.

7 is a flowchart schematically illustrating a method of aligning a multilayer component according to an exemplary embodiment of the present invention.

8 and 9 illustrate a process for explaining rotation motion control and elastic force control in a multilayer component alignment method according to an exemplary embodiment of the present invention.

7 to 9, the multi-layer component alignment method according to the embodiment of the present invention shows a specific flow of the multi-layer component alignment process of the step S2 of FIG.

The controller 150 waits for the loading of the multilayer component 1 in which a plurality of components are set to multilayer in a state in which the pin jig 140 is gripped through the gripper 130 (S21). At this time, the controller 150 receives the design information and the setting information of the multilayer component 1 from an external control server to locate the alignment hole H on the multilayer component 1 on the three-dimensional coordinate system of the robot 110. A target position perpendicular to the fastening work point TCP, the fastening work point TCP, and the insertion end point of the pin jig 140 may be set.

When the multi-layer component 1 is loaded, the controller 150 moves the pin jig 140 to a fastening work point TCP where the alignment hole H is located through the posture control of the robot 110 (S22). At this time, the controller 150 calculates the relative coordinates corresponding to the tip of the pin jig 140 mounted through the bracket 120 and the gripper 130 from the coordinates of the end effector 111 of the robot 110 and the You can track the movement.

When the front end of the pin jig 140 is positioned at the fastening work point TCP, the controller 150 descends the pin jig 140 at a constant speed and a predetermined magnitude in the vertical direction through the force control of the robot 110. (S23).

At this time, assuming that the alignment holes H of the multilayer component 1 are normally set in a straight line, the pin jig 140 has a target in the vertical direction (that is, the insertion direction) relative to the fastening work point TCP. Down along the axis, there is no physical contact with the part, so no vertical load is detected (S24; no), and no horizontal load is detected (S26; no). When the tip of the pin jig 140 reaches the target position (S28; YES), the controller 150 determines that the multi-layer alignment is completed and lifts the pin jig 140 to separate it from the alignment hole H. (S9).

Meanwhile, a method of aligning multilayer parts when assuming that the alignment holes H of the multilayer parts 1 are set inconsistently in step S23 is described below.

On the other hand, with reference to Figures 7 and 8 will be described a method of aligning the multi-layer component according to the spiral rotation motion control of the robot (110).

When the vertical load is sensed by external force when the pin jig 140 is lowered in the vertical direction through the force control (S24; YES), the controller 150 determines that the tip of the pin jig 140 is in contact with the pin. The alignment hole H is searched through the rotation motion control of the jig 140 (S25).

At this time, when the vertical load is sensed, the controller 150 may prevent the pin jig 140 or the member from being damaged by limiting not to exceed a predetermined magnitude of force set according to the force control.

In addition, the elastic body 147 formed in the pin jig 140 absorbs the impact of the external force, and during the rotational motion of the pin jig 140 to reduce the friction with the parts through the ball caster 148.

In addition, the rotation motion control may be controlled such that the pin jig 140 moves only within the set rotation radius in consideration of the assembly tolerance of the multilayer component 1.

In addition, the controller 150 may perform spiral rotation motion control in which the force control in the vertical direction and the rotation motion control are combined.

In addition, if the contact of the pin jig 140 is not detected, the controller 150 determines that the alignment between parts is correct, and thus, the rotation motion control may be stopped and the falling of the pin jig 140 may be continuously controlled through the force control.

After that, when the front end of the pin jig 140 reaches the target position (S28; YES), the controller 150 determines that the multi-layer alignment is completed and lifts the pin jig 140 to separate it from the alignment hole H. (S9).

Next, referring to FIGS. 7 and 9, a method of aligning multilayer parts according to the elastic force control function of the robot 110 will be described.

The controller 150 continues to descend the pin jig 140 when the vertical load is not sensed by external force when the pin jig 140 is lowered in the vertical direction through the force control (S24; No).

When the controller 150 detects a horizontal load in which the pin jig 140 which is lowered is in contact with a part of the inner surface of the alignment hole H (S26; YES), the pin jig 140 moves horizontally by an external force. The elastic force control is performed so that the restoring force to the target position and the target axis of the fastening work point TCP is applied in proportion to the displacement (S27). At this time, the alignment hole (H) in contact with the pin jig 140 through the elastic force control is aligned in the target axis by moving in the horizontal direction.

When the controller 150 continues to descend the pin jig 140 and the tip reaches the target position (S28; YES), the controller 150 determines that the multi-layer alignment is completed and raises the pin jig 140 to align the hole H. Separate (S9).

On the other hand, after the step S9, if the next multi-layer component (1) further exists, it returns to repeat the multi-layer sorting operation, and if it no longer exists, the operation is terminated.

7 through 9 illustrate the flow of rotational motion control according to vertical load sensing and elastic force control according to horizontal load sensing, respectively, for convenience of description, but the multilayer component 1 has several layers. Obviously, it can be controlled in a complex manner depending on the sensing condition of the load.

As such, according to an embodiment of the present invention, the process of assembling the multilayer parts using the robot by detecting the contact load of the pin jig through the motion control and actively detecting and aligning the alignment holes H is inserted into the robot. Can be automated, thereby reducing the production cost.

In addition, by inserting the pin into the alignment hole (H), by implementing a pin jig that can absorb the impact of contact with the parts and reduce the friction during the alignment of the multi-layer parts to improve the durability of the assembly parts and multi-layer parts This can solve the problem of damage.

In addition, since all operations are controlled within the robot controller without a separate sensor interlocked with a separate robot, the operation speed can be improved by minimizing the internal calculation time, and there is an effect that can be adapted to various conditions regardless of the number of parts stacked or shape. .

An embodiment of the present invention is not implemented only through the above-described apparatus and / or method, but may be implemented through a program for realizing a function corresponding to the configuration of the embodiment of the present invention, a recording medium on which the program is recorded, and the like. In addition, such an implementation may be easily implemented by those skilled in the art from the description of the above-described embodiments.

Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements of those skilled in the art using the basic concepts of the present invention defined in the following claims are also provided. It belongs to the scope of rights.

100: multi-layer component alignment device 110: robot
111: end effector 120: bracket
121: mount 130: gripper
131: finger 140: pin jig
141: body 142: gripper grip portion
143: pin 144: through hole
145: inner space 146: pin head
147: elastomer 148: ball caster
150: controller 151: interface
152: gripper control module 153: robot control module
154: load sensing module 155: storage module
156: job control module

Claims (15)

In the multilayer component alignment device for aligning the laminated state for the assembly of the multilayer component,
Articulated robot;
Bracket mounted to the end effector of the robot through a mount formed on one side;
A gripper coupled to a bottom surface of the bracket;
A pin jig inserted into an alignment hole of the multilayer component in a state of being gripped by a finger of the gripper; And
Through the kinematic posture control of the robot, the pin jig is positioned at a fastening work point at which the alignment holes formed in the multilayer parts are located, and a force control is applied to the alignment hole in a vertical direction in which the pin jig is inserted. And a controller configured to search for the alignment hole through the rotational motion control of the robot when a vertical load is detected by the external force on the pin jig;
Multi-layer component alignment device comprising a. The method of claim 1,
The robot
And an end effector forming a three-dimensional coordinate system of an area in which the end effector is movable, and sensing the position of the fastening work point at which the alignment holes of the multilayer part are located. The method of claim 1,
The controller
The force control performs a lowering control to apply a force of a constant speed and magnitude in the direction in which the pin jig is inserted into the alignment hole and a vertical load sensing function by external force generated by contact with the component when the pin jig descends. Multi-layer component alignment device. The method of claim 3,
The controller
When the horizontal load is moved in the horizontal direction by the external force in the force control state is detected, the target position of the fastening work point and the insertion direction of the pin jig to the target axis in proportion to the displacement moved in the horizontal direction Multi-layered component alignment device that performs elastic force control so that restoring force is applied. The method according to any one of claims 1 to 4,
The controller
An interface for transmitting and receiving a control signal for aligning multilayer parts by connecting a control line with the robot and the gripper, respectively;
A gripper control module which grips the pin jig by controlling a finger of the gripper;
A robot control module for storing kinematic attitude control information for aligning multi-layer parts of the robot and tracking the position of the pin jig moved according to the attitude control of the robot;
A load sensing module configured to detect vertical loads and horizontal loads due to external force when the pin jig descends through the force control;
A storage module for storing various programs, data, and setting information for aligning multilayer parts; And
A job control module for controlling the gripper and the robot through the gripper control module and the robot control module according to a multi-layered part alignment algorithm to match the positions of the alignment holes according to the target position insertion of the pin jig;
Multi-layer component alignment device comprising a. The method of claim 5,
The posture control
Multi-layered component alignment device including a motion control for the position control, the movement direction and the alignment hole of the pin jig to be tracked in the robot's movable three-dimensional coordinate system. The method of claim 1,
The gripper is
And two brackets coupled in a dual mode at a position corresponding to a plurality of alignment hole intervals formed in a plane of the multilayer component. The method of claim 1,
The pin jig is a multi-layered component alignment device is coupled to the ball caster to reduce the friction with the parts by rotating the ball to the front end extending in the longitudinal direction. The method according to claim 1 or 8,
The pin jig
A body having a cylindrical shape and having a gripper gripping portion formed concave along a circumference of a portion of the outer circumferential surface thereof, and having a through hole penetrating into an inner space at a center thereof;
A pin having a smaller diameter than the body and having a disk-shaped pin head formed at one end in a longitudinal direction in the inner space of the body; And
An elastic body formed between the upper surface of the inner space and the pin head;
Multi-layer component alignment device comprising a. In the multilayer component alignment method in which the controller of the multilayer component control device aligns the stacked state for the assembly of the multilayer component,
a) holding a pin jig through a gripper mounted on a robot and waiting for loading of the multilayer component;
b) moving the pin jig to a fastening work point at which the alignment holes of the multi-layer parts are located by controlling the attitude of the robot when the multi-layer parts are loaded;
c) lowering the pin jig at a constant speed and a constant magnitude in the vertical direction through force control of the robot;
d) searching for the alignment hole through the rotation motion control of the robot when a vertical load is detected by the external force due to the pin jig; And
e) lifting the pin jig and separating the pin jig from the alignment hole when the tip of the pin jig reaches a target position;
Multilayer component alignment method comprising a. The method of claim 10,
Step a) is
And calculating a relative coordinate corresponding to the tip of the pin jig mounted through the gripper from the coordinates of the end effector of the robot and tracking the movement state. The method of claim 10,
Step d),
And limiting not to exceed a predetermined magnitude of force set according to the force control when the vertical load is sensed. The method of claim 10 or 12,
Step d),
And controlling the pin jig to move only within a predetermined rotation radius in consideration of the assembly tolerance of the multilayer parts during the rotation motion control. The method of claim 13,
Step d),
And performing spiral rotation motion control in which the force control in the vertical direction and the rotation motion control are combined. The method of claim 13,
After step c),
Detecting a horizontal load caused by an external force of the pin jig to be lowered and in contact with some inner surfaces of the alignment holes; And
Performing elastic force control such that a restoring force acts on a target position and a target axis of the fastening work point in proportion to the displacement of the pin jig in a horizontal direction;
Multilayer component alignment method further comprising.

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