KR20210102778A - Robot safety testing apparatus using dummy for contact force valuation of robot - Google Patents

Abstract

The present invention relates to a dummy for evaluating a robot contact force and a robot safety testing apparatus using the same. The robot safety testing apparatus according to one embodiment of the present invention comprises: a pedestal divided into a first section and a second section based on the longitudinal direction; a fixation table disposed on the upper surface of the first section of the pedestal; a removable rail on the upper surface of the fixation table; the dummy which slides on a rail by collision with a target and measures a contact force with the target; a fixation frame having a vertical frame protruding upward on the upper surface of the second section of the pedestal and a horizontal frame connecting an upper end of the vertical frame; and a pendulum arm which is rotationally fastened to a partial section of the horizontal frame, and in a state where a robot unit to be tested is attached to a lower end, moves a pendulum under a preset condition and induces the robot unit to hit the dummy. An object of the present invention is to provide the dummy for evaluating the robot contact force capable of evaluating safety of a robot finished product and unit parts at a relatively low cost.

Description

Dummy for robot contact force evaluation and robot safety test device using the same

The present invention relates to a dummy for evaluating robot contact force that can evaluate safety even to unit parts of a robot at a relatively low cost, and a robot safety test apparatus using the same.

Collaborative robots, which are premised on sharing work space with humans, are essential to designing mechanisms and control systems that consider the safety of human workers. In particular, for safety, a system that can evaluate the safety of a robot is required.

The conventional robot safety evaluation system used a dummy that senses contact force and acceleration, but there was a limit to being applied only to the robot finished product. That is, in the conventional method, it was difficult to evaluate the safety of unit parts of the robot.

In addition, the conventional method has a problem in that a large amount of budget is required because the test is carried out by manufacturing a dummy simulating a human.

An object of the present invention is to provide a dummy for evaluating robot contact force, which has been proposed to solve the above-described problems, and can evaluate the safety of finished products and unit parts of the robot at a relatively low cost.

In addition, an object of the present invention is to provide a robot safety test apparatus using a dummy for evaluating robot contact force, which can evaluate the safety of developing parts in the entire process of robot development.

The problem to be solved by the present invention is not limited to the problems mentioned above, and other problems not mentioned here will be clearly understood by those skilled in the art from the following description.

Robot safety test apparatus according to an embodiment of the present invention is a pedestal divided into a first section and a second section based on the longitudinal direction, a fixed table disposed on the upper surface of the first section of the pedestal, and an upper surface of the fixed table A rail that can be detached from a rail, a dummy that slides on the rail by collision with an object and measures the contact force with the object, a vertical frame protruding upward from the upper surface of the second section of the pedestal, and the upper end of the vertical frame a fixed frame having a horizontal frame connecting

Here, the pendulum arm is connected to a part of the lower part of the horizontal frame, and a 'C'-shaped holder with an open lower surface in the longitudinal direction, a disk rotor that stops or rotates the rotation shaft passing through both ends in the width direction of the holder, and the rotation shaft It includes an arm rod connected to the, and an attachment piece formed at the lower end of the arm rod to which the robot part is attached.

The dummy includes a base plate slidably connected to the rail, a lower joint connected to an upper end of the base plate, a link rod connected to an upper end of the lower joint, and a link rod attached on an outer peripheral surface of the link rod, the length of the link rod A weight member capable of adjusting a position along a direction, an upper joint connected to an upper end of the link rod, and a friction pad connected to an upper end of the upper joint and collided with the robot part by a pendulum arm.

The friction pad is hingedly connected to the upper end of the upper joint to enable normal force adjustment, and is preferably fixed by a fixing member while the angle on the hinge axis is adjusted to a set striking position.

The friction pad includes a load cell for measuring a contact force with the robot part, a pressure sensor array having a plurality of pressure sensors disposed at intervals on the surface, and an acceleration sensor for measuring acceleration after contact with the robot part.

Here, data values of the load cell, the pressure sensor array, and the acceleration sensor are transmitted to the control unit, and the control unit compares the data values with a preset reference value and then analyzes and stores the result values.

A robot safety test apparatus according to another embodiment of the present invention includes a vibration-proof table, a manipulator rotating in a horizontal direction from a reference position of the vibration-proof table, a pedestal disposed around the vibration-proof table, and a pedestal by collision with an object It includes a dummy that slides on the upper part of the pedestal and measures the contact force with the object, a fixed frame that protrudes upward in a portion of the upper surface of the pedestal, and a pendulum arm that moves pendulum in a portion of the upper portion of the fixed frame.

In this case, it is preferable that the position of the dummy can be changed between the manipulator and the robot part so as to selectively measure the contact force between the manipulator and the robot part under a preset condition.

The dummy is attached to the outer peripheral surface of the link rod disposed on the top of the pedestal, upper and lower joints respectively connected to the upper and lower ends of the link rod, and the position can be adjusted along the length direction of the link rod. It includes a weight member and a friction pad connected to the upper end of the upper joint to collide with the manipulator or robot part.

At this time, it is preferable that the upper and lower joints are provided with replaceable springs to damp the impact.

The surface of the friction pad may be provided with a detachable shell.

A dummy for evaluating robot contact force according to an embodiment of the present invention used in a robot safety test apparatus includes a base plate, a lower joint connected to the upper end of the base plate, a link rod connected to the upper end of the lower joint, and a link rod an upper joint connected to the upper end of the , and a friction pad connected to the upper end of the upper joint to measure a contact force with an object.

A dummy for evaluating robot contact force according to an embodiment of the present invention used in a robot safety test apparatus for measuring contact force with a robot part attached to a simple pendulum includes a base plate sliding on the floor by an external force, and an upper portion of the base plate and a link rod to which the upper and lower joints are respectively connected to both ends in the longitudinal direction, and a friction pad connected to the upper end of the upper joint to measure a contact force with the robot part.

Here, the link rod may be provided with a weight member capable of position adjustment along the longitudinal direction, so that conditions can be set for each body part to be tested.

The friction pad includes a load cell for measuring a contact force with the robot part, a pressure sensor array having a plurality of pressure sensors disposed at intervals on the surface, and an acceleration sensor for measuring acceleration after contact with the robot part. At this time, the load cell, the pressure sensor array, and the acceleration sensor transmit the measured data value to the control unit of the robot safety test device, and the control unit compares the received data value with a preset reference value and analyzes and stores the result value. have.

According to the present invention, although the dummy for evaluating the robot contact force has a relatively simple structure, there is an advantage in that the safety of the robot can be evaluated. Accordingly, the present invention can evaluate the safety of robot parts at a relatively low cost.

In addition, the present invention has an effect that can evaluate the safety of contact not only the finished product of the robot, but also the unit parts of the robot in the entire process of robot development.

1 is a perspective view schematically showing a robot safety testing apparatus according to an embodiment of the present invention.
Figure 2 is a plan view schematically showing a robot safety test apparatus according to an embodiment of the present invention.
Figure 3 is a bottom view schematically showing a robot safety testing apparatus according to an embodiment of the present invention.
Figure 4 is a front view schematically showing a robot safety test apparatus according to an embodiment of the present invention.
Figure 5 is a rear view schematically showing a robot safety test apparatus according to an embodiment of the present invention.
Figure 6 is a side view schematically showing the operating relationship between the components of the robot safety test apparatus according to an embodiment of the present invention.
Figure 7 is a perspective view schematically showing a robot safety test apparatus according to another embodiment of the present invention.
8 is a plan view schematically showing a robot safety test apparatus according to another embodiment of the present invention.
Figure 9 is a side view schematically showing the operational relationship between the components of the robot safety test apparatus according to another embodiment of the present invention.

Advantages and features of the present invention and methods of achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in a variety of different forms, and only these embodiments allow the disclosure of the present invention to be complete, and common knowledge in the technical field to which the present invention belongs It is provided to fully inform the possessor of the scope of the invention, and the present invention is defined by the description of the claims. On the other hand, the terms used herein are for the purpose of describing the embodiments and are not intended to limit the present invention. As used herein, the singular also includes the plural unless specifically stated otherwise in the phrase. As used herein, "comprises" or "comprising" refers to the presence or addition is not excluded.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

first embodiment

Figure 1 is a perspective view schematically showing a robot safety testing apparatus according to an embodiment of the present invention, Figure 2 is a plan view, Figure 3 is a bottom view, Figure 4 is a front view, Figure 5 is a rear view.

1 to 5 , the robot safety testing apparatus 100 includes a pedestal 110 , a fixed table 120 , a rail 130 , a dummy 140 , a fixed frame 113 and a pendulum arm 150 . ) is included.

The pedestal 110 is divided into a first section 111 and a second section 112 in the longitudinal direction. A plurality of ball casters 114 are installed on the lower edge of the pedestal 110 .

The ball caster 114 is a movable means of the pedestal 110 . The ball caster 114 may have a structure detachable from the pedestal 110 .

The fixed table 120 is disposed on the upper surface of the first section 111 of the pedestal 110 . In this case, the fixed table 120 is formed with a plurality of fastening holes 121 forming a grid. The inner diameter of the fastening hole 121 is threaded so that a bolt may be inserted thereinto.

The rail 130 is installed on the upper surface of the fixed table 120 , and has a structure detachable from the fixed table 120 .

The dummy 140 is disposed on the rail 130 . The dummy 140 is slidable on the rail 130 .

Although the dummy 140 has a shape simulating a human, it can be manufactured at a relatively low cost by simplifying the structure. The dummy 140 is slidably moved on the rail 130 by collision with the target, and a contact force with the target is measured.

Here, the target means a robot to be measured or a single part of the robot. The dummy 140 measures the contact force with the robot or a single part of the robot.

The contact force is the force acting on each other at the point of contact (plane) of two objects. In addition to the general dictionary meaning of 'contacting each other', the contact expressed in the present invention encompasses the concept of collision.

The dummy 140 includes a base plate 141 , a lower joint 142 , a link rod 143 , an upper joint 144 , and a friction pad 145 .

The base plate 141 is slidably connected to the rail 130 .

The lower joint 142 is connected to the upper end of the base plate 141 . The lower joint 142 is provided with a spring 142a for damping an external shock. The spring 142a is inserted on the body of the lower joint 142 . The spring 142a may have a detachable structure that is replaceable with the lower joint 142 .

The link rod 143 is connected to the upper end of the lower joint 142 . A weight member 143a capable of position adjustment along the longitudinal direction of the link rod 143 is attached to the outer circumferential surface of the link rod 143 .

In general, the load and related characteristics are different for each person or body part. Accordingly, the weight member 143a may adjust the position along the longitudinal direction of the link rod 143 and set conditions for each body part to be tested through the dummy 140 .

The upper joint 144 is connected to the upper end of the link rod 143 . The upper joint 144 is provided with a spring 144a for damping an external shock. The spring 144a is inserted on the body of the upper joint 144 . The spring 144a may have a detachable structure that is replaceable with the upper joint 144 .

The friction pad 145 is connected to the top of the upper joint 144 . The friction pad 145 collides with the robot part by the pendulum arm 150 .

The friction pad 145 is hingedly connected to the upper end of the upper joint 144 to enable normal force control, and a fixing member (not shown) in a state in which the angle on the hinge shaft 146 is adjusted to a set striking position. can be fixed by

Here, the set hitting position refers to a preset position according to the part or shape of the human body to be tested, and the angle is diversified through the hinge shaft 146 .

The fixing member has a meaning encompassing all objects capable of fixing an object, such as a bolt. Therefore, the fixing member of the present invention is not limited in shape and structure.

The fixed frame 113 has a vertical frame 113a protruding upward from the upper surface of the second section 112 of the pedestal 110 and a horizontal frame 113b connecting the upper end of the vertical frame 113a.

The pendulum arm 150 is fastened to a portion of the horizontal frame 113b. The pendulum arm 150 moves the pendulum under a preset condition while the robot part to be tested is attached, and induces the robot part to hit the dummy 140 .

Here, the preset condition refers to a database planned in advance when testing robot parts, and may be changed according to the conditions of the test. In this case, the preset condition encompasses a condition in which the robot part can be fixed at a desired position or dropped at a desired time.

The pendulum arm 150 includes a cradle 151 , a disk rotor 152 , an arm rod 154 , and an attachment piece 155 .

The cradle 151 is connected to a lower portion of the horizontal frame 113b. The holder 151 is formed in a 'C' shape with an open lower surface in the longitudinal direction.

The disk rotor 152 stops or rotates the rotation shaft 153 passing through both ends of the cradle 151 in the width direction.

The arm rod 154 is made in the form of a long rod, and the upper end in the longitudinal direction is connected to the rotation shaft 153 .

The attachment piece 155 is formed at the lower end of the arm rod 154 in the longitudinal direction, and is a portion to which the robot part is attached. The attachment piece 155 can be assembled by bolting so that unspecified robot parts can be attached, or the robot parts can be fixed by a separate fixing means (not shown).

The drive mechanism of the first embodiment

6 is a side view schematically illustrating an operational relationship between components of a robot safety testing apparatus according to an embodiment of the present invention.

Referring to FIG. 6 , the robot safety testing apparatus 100 attaches the robot part 10 to be tested to the pendulum arm 150 , and then a dummy 140 simulating a human through the pendulum movement of the pendulum arm 150 . ) to measure the contact force between the robot part 10 and the dummy 140 .

Through this, the robot safety test apparatus 100 may add and store the data value newly obtained by the test to the database related to the human safety tolerance.

The attachment piece 155 of the pendulum arm 150 and the robot part 10 to be tested serve as a weight. When the attachment piece 155 and the robot part 10 acting as a weight perform pendulum motion under preset conditions, potential energy and kinetic energy are generated according to the position of the robot part 10 attached to the attachment piece 155. is converted

Prior to examining the driving mechanism of the robot safety testing apparatus 100 according to the first embodiment, a configuration that has not yet been described will be described.

The friction pad 145 includes a load cell 145a, a pressure sensor array 145b, and an acceleration sensor 145c.

The load cell 145a is provided on the friction pad 145 to measure the contact force with the robot part 10 .

The pressure sensor array 145b has a form in which a plurality of pressure sensors are disposed on the surface of the friction pad 145 at intervals.

The acceleration sensor 145c measures the acceleration after the friction pad 145 and the robot part 10 come into contact with each other.

Here, the load cell 145a, the pressure sensor array 145b, and the acceleration sensor 145c transmit the measured data value to the controller 160 included in the robot safety testing apparatus 100 .

The control unit 160 compares the data value with a preset reference value, and then analyzes and stores the result value. Here, the preset reference value means a data value stored on a database of a cloud (not shown) associated with the robot safety testing apparatus 100, and this data value includes a contact force, a contact pressure distribution, an acceleration sensing value, etc. .

Next, looking at the driving mechanism of the robot safety testing apparatus 100 , the robot part 10 to be tested is fixed to the attachment piece 155 of the pendulum arm 150 . When the robot part 10 is attached to the attachment piece 155 , the pendulum arm 150 pendulum moves by the control unit 160 and induces the dummy 140 to strike the robot part 10 .

At this time, the control unit 160 collects the position and strike data values of the robot parts 10 in real time, compares them with the data values stored in the cloud, and then analyzes and stores the result values.

The dummy 140 hit by the robot part 10 attached to the pendulum arm 150 is pushed back on the rail 130 . At this time, the dummy 140 basically moves passively on the rail 130 , but may be actively moved or fixed in some cases.

second embodiment

7 is a perspective view schematically showing a robot safety test apparatus according to another embodiment of the present invention, and FIG. 8 is a plan view.

7 and 8, the robot safety testing apparatus 100 includes a vibration-proof table 180, a manipulator 170, a pedestal 110, a dummy 140, a fixed frame 113, a pendulum arm 150, and and a control unit 160 .

Among the above configurations, configurations overlapping those of the first embodiment will be omitted.

The robot safety test apparatus 100 in the second embodiment has a configuration in which the anti-vibration table 180 and the manipulator 170 are added in the first embodiment.

The anti-vibration table 180 has a structure in which the floor can isolate vibration using air pressure, and holes into which a bolt can be inserted are regularly drilled. Therefore, the manipulator 170 can be fixed at a desired position.

The manipulator 170 refers to a kind of robot arm, and has a function similar to that of a human arm. Since these manipulators 170 are frequently used in industrial sites shared with humans, it is important to check their safety.

Driving mechanism of the second embodiment

9 is a side view schematically showing an operating relationship between the components of a robot safety testing apparatus according to another embodiment of the present invention.

Referring to FIG. 9 , the robot safety testing apparatus 100 enables repeated testing of the robot part 10 through the structure of the pendulum arm 150 including a simple pendulum and a brake.

The position of the dummy 140 in the second embodiment can be changed between the manipulator 170 and the robot part so as to selectively measure the contact force between the manipulator 170 and the robot part under a preset condition.

In this case, the dummy 140 may be horizontally converted by itself by the control unit 160 or may have a structure that is rotatable due to a fastening structure with the rail 130 . Alternatively, the friction pad 145 may have a structure that is convertible by 180 degrees with respect to the hinge shaft 146 .

The friction pad 145 includes a load cell 145a, a pressure sensor array 145b, and an acceleration sensor 145c.

The load cell 145a is provided on the friction pad 145 to measure the contact force with the robot part 10 .

The pressure sensor array 145b has a form in which a plurality of pressure sensors are disposed on the surface of the friction pad 145 at intervals.

The acceleration sensor 145c measures the acceleration after the friction pad 145 and the robot part 10 come into contact with each other.

In this case, a detachable outer shell (not shown) may be provided on the surface of the friction pad 145 . Here, the load cell 145a, the pressure sensor array 145b, and the acceleration sensor 145c transmit the measured data value to the control unit 160 included in the robot safety testing apparatus 100 as in the first embodiment.

The control unit 160 compares the data value with a preset reference value, and then analyzes and stores the result value.

The data values stored in this way can be monitored and analyzed, which can help extract necessary data from related test conditions in the future.

The robot safety testing apparatus 100 of the second embodiment may independently evaluate robot parts together with the robot finished product.

In addition, although the dummy 140 for evaluating the robot contact force used in the first and second embodiments has a relatively simple structure, it has the advantage of evaluating the safety of the robot. Accordingly, the present invention can evaluate the safety of robot parts at a relatively low cost.

The present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the technical spirit of the present invention.

10: Robot parts
100: robot safety test device
110: pedestal 111: first section of the pedestal
112: second section of the pedestal 113: fixed frame
113a: vertical frame 113b: horizontal frame
114: ball caster 120: fixed table
121: fastening hole 130: rail
140: dummy 141: base plate
142: lower joint 142a: spring
143: link rod 143a: weight member
144: upper joint 144a: spring
145: friction pad 145a: load cell
145b: pressure sensor array 145c: acceleration sensor
146: hinge axis 150: pendulum arm
151: cradle 152: disk rotor
153: rotation shaft 154: arm rod
155: attachment piece 160: control unit
170: manipulator 180: anti-vibration table
181: ball caster

Claims (12)

a pedestal divided into a first section and a second section based on the longitudinal direction;
a fixed table disposed on the upper surface of the first section of the pedestal;
a rail detachable from the upper surface of the fixed table;
a dummy that slides on the rail by collision with the target and measures a contact force with the target;
a fixed frame having a vertical frame protruding upwardly from the upper surface of the second section of the pedestal, and a horizontal frame connecting an upper end of the vertical frame; and
and a pendulum arm fastened to a portion of the horizontal frame and pendulum motion under a preset condition in a state in which the robot part to be tested is attached, and a pendulum arm guiding the robot part to hit the dummy. According to claim 1,
The pendulum arm is
a 'C'-shaped holder connected to a portion of the lower portion of the horizontal frame and having an open lower surface in the longitudinal direction;
a disk rotor for stopping or rotating a rotation shaft passing through both ends in the width direction of the holder;
an arm rod connected to the rotation shaft; and
The robot safety test device is formed at the lower end of the arm rod and includes an attachment piece to which robot parts are attached. According to claim 1,
the pile is
a base plate slidably connected to the rail;
a lower joint connected to an upper end of the base plate;
a link rod connected to an upper end of the lower joint;
a weight member attached to the outer circumferential surface of the link rod and adjustable in position along the length direction of the link rod;
an upper joint connected to an upper end of the link rod; and
and a friction pad connected to the upper end of the upper joint and collided with the robot part by the pendulum arm. 4. The method of claim 3,
the friction pad
A robot safety test device that is hinged to the upper end of the upper joint to enable normal force control, and is fixed by a fixing member in a state in which the angle on the hinge axis is adjusted to a set striking position. 4. The method of claim 3,
the friction pad
a load cell that measures the contact force with the robot part;
a pressure sensor array in which a plurality of pressure sensors are disposed on the surface at intervals; and
An accelerometer for measuring the acceleration after contact with the robot part,
The data values of the load cell, the pressure sensor array, and the acceleration sensor are transmitted to a control unit, and the control unit compares the data values with a preset reference value, and then analyzes and stores the result values. anti-vibration table;
a manipulator rotating in a horizontal direction from a reference position of the anti-vibration table;
a pedestal disposed around the anti-vibration table;
a dummy that slides on the top of the pedestal by collision with the target and measures the contact force with the target;
a fixing frame protruding upward in a portion of the upper surface of the pedestal; and
and a pendulum arm that pendulum moves in a portion of the upper portion of the fixed frame,
The dummy is a robot safety test apparatus that allows a position change between the manipulator and the robot part so as to selectively measure the contact force between the manipulator and the robot part under a preset condition. 7. The method of claim 6,
the pile is
a link rod disposed on the pedestal;
upper and lower joints respectively connected to the upper and lower ends of the link rod;
a weight member attached to the outer circumferential surface of the link rod and adjustable in position along the length direction of the link rod; and
a friction pad connected to the upper end of the upper joint to collide with the manipulator or robot part;
The upper and lower joints are
A robot safety test device that has a replaceable spring to damp the impact. 8. The method of claim 7,
The surface of the friction pad is
Robot safety testing device that is provided with a detachable shell. A dummy used in a robot safety test apparatus, comprising:
base plate;
a lower joint connected to an upper end of the base plate;
a link rod connected to an upper end of the lower joint;
an upper joint connected to an upper end of the link rod; and
a friction pad connected to the upper end of the upper joint to measure a contact force with an object;
the friction pad
A dummy for evaluating robot contact force that is hingedly connected to the upper end of the upper joint to enable normal force adjustment, and is fixed by a fixing member in a state in which the angle on the hinge axis is adjusted to a set striking position. 10. The method of claim 9,
The upper and lower joints are
A dummy for evaluating robot contact force that has a replaceable spring to damp the impact. In a dummy used for a robot safety test device that measures a contact force with a robot part attached to a simple pendulum,
a base plate sliding on the floor by an external force;
a link rod disposed on the base plate and having upper and lower joints respectively connected to both ends in the longitudinal direction; and
It includes a friction pad connected to the upper end of the upper joint to measure the contact force with the robot part,
The link load is
A dummy for evaluating robot contact force that includes a weight member that can be positioned along the longitudinal direction so that conditions can be set for each part of the human body to be tested. 12. The method of claim 11,
the friction pad
a load cell that measures the contact force with the robot part;
a pressure sensor array in which a plurality of pressure sensors are disposed on the surface at intervals; and
An accelerometer for measuring the acceleration after contact with the robot part,
The load cell, the pressure sensor array and the acceleration sensor transmit the measured data value to the control unit of the robot safety test device,
The control unit compares the data value with a preset reference value, and then analyzes and stores the result value for evaluating robot contact force.

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