KR20230038850A - Cooperative robot - Google Patents

Abstract

The present invention provides a cooperative robot including a camera for photographing an inspection object being transported by a transport means, wherein the cooperative robot comprises a head part provided with the camera, a multi-joint robot arm provided with the head part at the distal end and having a degree of freedom for the camera to photograph the inspection object in two or more different directions, and a control unit for controlling the operation of the robot arm according to preset two or more teaching postures and determining whether the inspection object is good or not based on an image of the inspection object.

Description

Collaborative robot {COOPERATIVE ROBOT}

The present invention relates to a collaborative robot, and more particularly, to a collaborative robot for inspecting whether an inspected object is good or not.

Recently, with the establishment of factory automation facilities and high-speed and mass production systems for products, the importance of a device for inspecting whether a product is good or not has been highlighted.

Accordingly, in the related art, by using an image captured using a camera fixed on a conveyor for transporting a product, images of a subject and a good product are compared with each other to determine whether the inspected object, which is the subject, is normal.

However, there is a limit to flatly determining whether an inspected object is a good product only with a two-dimensional image of the inspected object.

This is because, as consumers' tastes become more diversified, the shapes of products automatically produced in factory automation equipment become more and more complicated, and it is necessary to check the inspected object from various directions to accurately determine whether it is a good product or not.

In order to solve this problem, a technique for a cooperative robot for determining whether an inspected object is good or not is proposed.

KR 10-0944094 B1

An object of the present invention is to provide a collaborative robot for accurately determining whether an inspected object is good or not on the basis of images taken from various directions.

In order to solve the above problems, the present invention is a collaborative robot including a camera for photographing an inspection object transported by a transfer means, wherein the head unit provided with the camera and the head unit are provided at the distal end, and the cameras are two different A multi-joint robot arm having degrees of freedom so as to photograph the object in the above directions, and controlling the operation of the robot arm according to two or more preset teaching postures, Provided is a cooperative robot characterized in that it includes a control unit for determining whether the product is good or not.

According to an embodiment, the head unit may further include a chucking unit capable of holding the inspected object, and the control unit may hold the inspected object determined to be defective and classify the inspected object into adjacent sorting boxes.

According to an embodiment, the test subject is an electric component, and the control unit checks whether or not the wiring of wires having different colors in the test object match by using images taken of the test object in two or more different directions. , the number of crossings of wires having different colors in the inspected object, or whether any one wire is disconnected in the inspected object can be determined to determine whether the corresponding inspected object is good or not.

According to an embodiment, the inspected object is an electric component, and the control unit determines whether a plurality of parts are at preset positions in the inspected object using images of the inspected object in two or more different directions, Alternatively, it is possible to determine whether the corresponding inspected object is a good product by determining whether or not at least one of the plurality of components is missing from the inspected object.

According to an embodiment, the head unit further includes a chucking unit capable of gripping the object to be inspected, and the control unit determines that all of the plurality of parts exist in the object to be inspected, but the direction of the plurality of parts is determined. When the direction is different from the set direction, the chucking unit grips the object to be inspected, rotates the corresponding object to be inspected, and retests the object.

According to an embodiment of the present invention, it is possible to accurately determine whether or not the inspected object is a good product based on images taken from various directions.

1 is a diagram showing a robot arm according to an embodiment of the present invention.
2 is a view showing a transfer device according to an embodiment of the present invention.
3 and 4 are diagrams illustrating a state in which a collaborative robot according to an embodiment of the present invention inspects an object to be inspected.

Hereinafter, the embodiments disclosed in this specification will be described in detail with reference to the accompanying drawings, but the same or similar elements are given the same reference numerals regardless of reference numerals, and redundant description thereof will be omitted. The suffixes "module" and "unit" for components used in the following description are given or used together in consideration of ease of writing the specification, and do not have meanings or roles that are distinct from each other by themselves. In addition, in describing the embodiments disclosed in this specification, if it is determined that a detailed description of a related known technology may obscure the gist of the embodiment disclosed in this specification, the detailed description thereof will be omitted. In addition, the accompanying drawings are only for easy understanding of the embodiments disclosed in this specification, the technical idea disclosed in this specification is not limited by the accompanying drawings, and all changes included in the spirit and technical scope of the present invention , it should be understood to include equivalents or substitutes.

It is understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, but other elements may exist in the middle. It should be. On the other hand, when an element is referred to as “directly connected” or “directly connected” to another element, it should be understood that no other element exists in the middle.

Singular expressions include plural expressions unless the context clearly dictates otherwise.

In this specification, terms such as "comprise" or "having" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, but one or more other features It should be understood that the presence or addition of numbers, steps, operations, components, parts, or combinations thereof is not precluded.

1 is a diagram showing a robot arm according to an embodiment of the present invention, FIG. 2 is a diagram showing a transfer device according to an embodiment of the present invention, and FIGS. 3 and 4 are cooperation according to an embodiment of the present invention. It is a drawing showing how the robot inspects the object to be inspected.

As shown in FIGS. 1 to 4, a collaborative robot according to an embodiment of the present invention includes a camera for photographing an inspected object transported by a transfer means, and includes a head unit equipped with a camera and a distal end. A multi-joint robot arm having a head unit provided with a degree of freedom so that the camera can photograph the subject in two or more different directions, and controlling the operation of the robot arm according to two or more preset teaching postures, and the subject being inspected It may include a control unit for determining whether the inspected object is good or not on the basis of the image for .

Here, the multi-joint robot arm may preferably have six drive shafts so as to acquire imaging images of the subject in at least three directions.

The controller may control the operation of the robot arm, but may receive an input of a teaching posture from an operator so that the robot arm may operate according to two or more preset teaching postures.

For example, as shown in FIG. 4, a worker may set two or more teaching postures by repeating a series of processes of freely moving the robot arm and releasing the input button while pressing the input button provided at the distal end of the robot arm, , Accordingly, the control unit can control the operation of the robot arm to sequentially have two or more preset teaching postures.

Here, the teaching posture may include the location and direction of the distal end of the robot arm in space.

Accordingly, the collaborative robot can accurately determine whether or not the inspected object is a good product based on images taken from various directions of the inspected object that has been transported along a transport means such as a conveyor.

According to a preferred embodiment of the present invention, the head unit may further include a chucking unit capable of gripping an object to be inspected, in addition to a camera capable of photographing the object to be inspected.

Accordingly, the control unit may hold the inspected object determined to be defective using the chucking unit and classify it into an adjacent sorting bin (see FIG. 4 ).

Specifically, when the inspected object is an electrical component, that is, an electric device component, and includes wires and electronic devices, the control unit photographs an image of the inspected object in two or more different directions and two or more pre-stored good products. By comparing one reference image with each other, in order to check whether the wires of different colors are wired at the intended location so that the wires of different colors do not cross each other in the test object, It is possible to check whether the wiring matches or not, and to check whether the wires having different colors are not twisted, it is possible to check the number of crossings between the wires having different colors, and to check the number of wires having different colors in the subject. By checking whether or not the wire is disconnected, it is possible to determine whether or not the corresponding inspected object is a good product.

If the position and/or direction of the subject seated on the transportation means may be different based on the position of the current collaborative robot, and the position and/or direction of the subject may be aligned in order to photograph the subject from various directions. need this

Therefore, in order to determine whether the collaborative robot according to an embodiment of the present invention is a good product for the inspected object, the control unit may check the position and/or direction of the inspected object in advance to determine whether alignment is necessary, and the control unit If all of the plurality of parts are present in the object to be inspected, but the direction of the plurality of parts is different from the preset direction, the chucking unit grips the object to be inspected, rotates the object by an angle different from the preset direction, and then In this case, the test subject may be re-examined.

In addition, in order to determine whether the control unit according to an embodiment of the present invention needs to align the position of the inspected object seated on the transport means, it may be determined based on the direction of a plurality of parts in the inspected object, but the inspected object Of course, it is also possible to use the standard identification mark printed on the exposed side of the .

In the above, preferred embodiments of the present invention have been described in detail with reference to the drawings. The description of the present invention is for illustrative purposes, and those skilled in the art will understand that it can be easily modified into other specific forms without changing the technical spirit or essential features of the present invention.

Therefore, the scope of the present invention is indicated by the following claims rather than the above detailed description, and all changes or modifications derived from the meaning, scope and equivalent concept of the claims are included in the scope of the present invention. should be interpreted

Claims (5)

In a collaborative robot including a camera for photographing an inspected object transported by a transport means,
a head unit provided with the camera;
A multi-joint robot arm having a degree of freedom so that the head part is provided at the distal end, and the camera can photograph the subject in two or more different directions; and
a controller for controlling the operation of the robot arm according to two or more predetermined teaching postures and determining whether the test object is good or not based on an image of the test object;
A collaborative robot comprising a. According to claim 1,
The head unit includes a chucking unit capable of gripping the object to be inspected;
Including more,
The control unit grips the inspected object determined to be defective and classifies it into an adjacent sorting box. According to claim 1,
The test subject is an electric component,
The control unit, using images of the test object from two or more different directions, whether or not the wiring of wires having different colors in the test object matches, the number of crossing wires having different colors in the test object, Alternatively, the collaborative robot characterized in that it determines whether or not any wire is disconnected in the subject to be inspected, and determines whether or not the corresponding subject to be inspected is a good product. According to claim 1,
The test subject is an electric component,
The control unit determines whether a plurality of parts in the object to be inspected are at preset positions or whether at least one of the plurality of parts in the object to be inspected is missing, by using images taken of the object in two or more different directions. A collaborative robot characterized in that it determines whether the inspected object is a good product or not. According to claim 4,
The head unit includes a chucking unit capable of gripping the object to be inspected;
Including more,
The control unit grips the test object with the chucking unit when all of the plurality of components exist in the test object, but the direction of the plurality of components is different from a preset direction, rotates the corresponding test object, and , A collaborative robot characterized in that for re-examination of the inspected object.

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