WO2023054748A1

WO2023054748A1 - Post-processing-path-optimized processing device of robot, and post-processing-path-optimized processing method of robot using same

Info

Publication number: WO2023054748A1
Application number: PCT/KR2021/013381
Authority: WO
Inventors: 김성현; 김태곤; 남정수; 이석우; 신강우
Original assignee: 한국생산기술연구원
Priority date: 2021-09-28
Filing date: 2021-09-29
Publication date: 2023-04-06
Also published as: KR102641963B1; KR20230045731A

Abstract

An embodiment of the present invention provides a technique of measuring and analyzing a position in which an object to be actually processed is positioned and the shape of the object to be processed and then correcting a processing path with respect to the object to be processed. A post-processing-path-optimized processing device of a robot according to an embodiment of the present invention includes: a robot which is provided with multiple links and drives with multiple degrees of freedom; a processing part which is coupled to an end of the robot and performs a post-processing on an object to be processed; a vision part for performing image capturing of the object to be processed; and a control module which generates a basic movement path of the processing part, and receives a signal from the vision part and then corrects the basic movement path of the processing part to generate a correction movement path of the processing part.

Description

Robot's post-processing path optimization processing device and robot's post-processing path optimization processing method using the same

The present invention relates to a post-processing path optimization processing device of a robot and a method for optimizing a post-processing path of a robot using the same, and more particularly, after measuring and analyzing the position where an actual processing target is located and the shape of the processing target, It is about the technology to correct the machining path.

Recently, manufacturing systems using a plurality of robots are increasing, and in the production of products such as automobiles and aircraft, robots are used in the process of performing post-processing (deburring, polishing, etc.) on processing objects such as processed parts. It is improving the efficiency of automated manufacturing.

In particular, in the subject to be processed as described above, a post-processing target area such as a burr may be formed, and when deburring is performed on such a post-processing target area, a path is created along the position of each post-processing target area, Post-processing of the post-processing target area may be performed while the tool 312 of the processing unit follows the corresponding path.

At this time, a method in which a user manually teaches thousands of points on a processing target for a post-processing path or a method in which a post-processing path is formed using a CAM program or the like is used.

However, the manual teaching method has problems in that a new teaching operation is required every time the processing target is changed, which increases working time, and in case of an error in the basic position of the processing target, even if the processing target is the same, machining defects occur.

In addition, the method using the CAM program, etc., increases the cost because the equipment using the CAM program is formed at a high price, and the processing precision is lowered compared to the method of manually teaching as described above, and it is not easy to access when using it by non-experts. , there is a problem that there is no basic error correction function.

The present invention has been made to solve the above problems.

In Republic of Korea Patent Publication No. 10-2015-0116626 (title of invention: deburring robot system using vision sensing and its control method), the deburring robot; Vision sensing unit for obtaining vision information on the deburring object; a correction value determining unit for determining a correction value for the master product using the vision information obtained from the vision sensing unit; A device including a; and a control unit for controlling the driving of the deburring robot using the correction value obtained from the correction value determination unit is disclosed.

Republic of Korea Patent Publication No. 10-2015-0116626

An object of the present invention to solve the above problems is to measure and analyze the location and shape of the actual processing target, and then correct the machining path for the processing target.

And, an object of the present invention is to control the load of the machining unit according to the corrected machining path.

The technical problem to be achieved by the present invention is not limited to the above-mentioned technical problem, and other technical problems not mentioned can be clearly understood by those skilled in the art from the description below. There will be.

Configuration of the present invention for achieving the above object, a robot equipped with a plurality of links and driven with multiple degrees of freedom; A processing unit coupled to the end of the robot and performing post-processing on the processing target; a vision unit that takes an image of the object to be processed; and a control module generating a basic movement path of the processing unit and generating a corrected movement path of the processing unit by receiving a signal from the vision unit and correcting the basic movement path of the processing unit. It is characterized in that a control signal for a negative correction movement path is transmitted to the robot, and a control signal for a load of the processing unit is transmitted to the processing unit.

In an embodiment of the present invention, the control module may include: a basic path generating unit receiving basic information about the processing target and generating a basic movement path of the processing unit; and a processing target analysis unit receiving signals from the vision unit and analyzing the shape and position of the processing target.

In an embodiment of the present invention, the control module receives information about the shape and position of the processing object from the processing object analysis unit, corrects the basic movement path of the processing unit, and generates a corrected movement path of the processing unit. A path optimizing unit may be further provided.

In an embodiment of the present invention, a control signal for a correction movement path of the processing unit may be transmitted from the path optimizing unit to the robot.

In an embodiment of the present invention, the path optimization unit measures the area of each of a plurality of processing parts on the correction movement path of the processing unit, and passes through the one processing part according to the area of one processing part in the processing target. A control signal for controlling the feed speed of the tool may be transmitted to the robot.

In an embodiment of the present invention, the processing unit may include a force torque sensor for measuring force and torque generated by a tool provided in the processing unit.

In an embodiment of the present invention, the control module receives and analyzes information on the force and torque generated by the tool from the force torque sensor, and transmits a control signal for controlling the load of the processing unit to the processing unit. A processing control unit may be further provided.

In an embodiment of the present invention, the machining control unit may store a machining database including information on force and torque generated by the tool for each machining part on the machining target.

In an embodiment of the present invention, the processing control unit may include an artificial intelligence program, and the artificial intelligence program may control the processing unit according to the force and torque generated by the tool.

In an embodiment of the present invention, an input unit for transmitting basic information on the processing target to the basic path generation unit may be further included.

The configuration of the present invention for achieving the above object is a first step of transmitting basic information on the processing target to the control module; a second step of generating a basic movement path of the processing unit in the control module; a third step of transmitting the shape and position of the processing target imaged by the vision unit to the control module; A fourth step of generating a correction movement path of the processing unit in the control module; and a fifth step of transmitting a control signal for a correction movement path of the processing unit from the control module to the robot.

In an embodiment of the present invention, in the fifth step, information on the force and torque generated by the tool provided in the processing unit is transmitted to the processing module, and the load of the processing unit is transmitted from the control module to the processing unit. A control signal may be transmitted.

The effect of the present invention according to the configuration as described above is to generate a correction movement path of the processing unit by correcting some of the preset basic movement paths of the processing unit, thereby reducing the time for generating the correction movement path of the processing unit and reducing the robot's working time. As a result, it is possible to improve the work efficiency of the robot.

And, the effect of the present invention is that the load of the processing unit is easily maintained by controlling the load of the processing unit, thereby preventing damage to the processing unit and improving the quality of the processing target.

The effects of the present invention are not limited to the above effects, and should be understood to include all effects that can be inferred from the detailed description of the present invention or the configuration of the invention described in the claims.

1 is a schematic diagram of a processing device according to an embodiment of the present invention.

2 is a configuration diagram of a processing device according to an embodiment of the present invention.

3 is an image of items for generating a basic movement path in the basic path generator according to an embodiment of the present invention.

4 is an image of an analysis of a processing target imaged by a vision unit according to an embodiment of the present invention.

One most preferred embodiment according to the present invention, a robot equipped with a plurality of links and driven with multiple degrees of freedom; A processing unit coupled to the end of the robot and performing post-processing on the processing target; a vision unit that takes an image of the object to be processed; and a control module generating a basic movement path of the processing unit and generating a corrected movement path of the processing unit by receiving a signal from the vision unit and correcting the basic movement path of the processing unit. It is characterized in that a control signal for a negative correction movement path is transmitted to the robot, and a control signal for a load of the processing unit is transmitted to the processing unit.

Hereinafter, the present invention will be described with reference to the accompanying drawings. However, the present invention can be implemented in many different forms, and therefore is not limited to the embodiments described herein. And in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

Throughout the specification, when a part is said to be "connected (connected, contacted, combined)" with another part, this is not only "directly connected", but also "indirectly connected" with another member in between. "Including cases where In addition, when a part "includes" a certain component, it means that it may further include other components without excluding other components unless otherwise stated.

Terms used in this specification are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, terms such as "include" or "have" 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.

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

1 is a schematic diagram of a processing device according to an embodiment of the present invention, and FIG. 2 is a configuration diagram of a processing device according to an embodiment of the present invention.

As shown in FIGS. 1 and 2, the processing apparatus of the present invention includes a robot 320 having a plurality of links and driving with multiple degrees of freedom; A processing unit 310 coupled to the end of the robot 320 and performing post-processing on the processing target 10; a vision unit 200 that performs imaging of the processing target 10; and a control module generating a basic movement path of the processing unit 310 and generating a corrected movement path of the processing unit 310 by receiving a signal from the vision unit 200 and correcting the basic movement path of the processing unit 310. (100).

Post-processing may refer to processing processes such as deburring and polishing. However, in the present invention, although the description is mainly based on post-processing, the process using the processing device of the present invention is not limited to post-processing, and it is natural that the same can be used for processing processes such as drilling or milling. .

Then, the control module 100 transmits a control signal for the correction movement path of the processing unit 310 to the robot 320 and transmits a control signal for the load of the processing unit 310 to the processing unit 310. can This will be described in detail below.

The processing unit 310 may include a force torque sensor 311 that measures force and torque generated by the tool 312 provided in the processing unit 310 . In addition, the control module 100 receives and analyzes information on the force and torque generated by the tool 312 from the force torque sensor 311, and transmits a control signal for controlling the load of the processing unit 310 to the processing unit It may be provided with a processing control unit 140 to transmit to (310).

The processing unit 310 includes a tool 312 that performs post-processing on the processing target 10, and the processing unit 310 is connected to the tool 312 to provide power to the tool 312. can do. The force torque sensor 311 may be formed inside or outside the processing unit 310, and when the tool 312 operates by operating the motor, the force torque sensor 311 measures the force generated by the tool 312. A force-torque value, which is an over-torque value, may be measured and transmitted to the processing control unit 140.

Here, the processing controller 140 determines that the load of the processing unit 310 increases when the force torque value increases, and determines that the load on the processing unit 310 decreases when the force torque value decreases. can

The processing control unit 140 may store a processing database 340 including information on force and torque generated by the tool 312 for each processing portion on the processing target 10 . Then, the processing control unit 140, the built-in artificial intelligence program, the artificial intelligence program can control the processing unit 310 according to the force and torque generated in the tool (312).

Specifically, when the tool 312 is performing post-processing on any one machining part after the machining unit 310 moves along the movement path, from the force torque sensor 311 to the machining controller 140 in real time Values of force and torque generated by the tool 312 may be transmitted.

Next, the processing control unit 140 may derive a reference force torque value, which is a reference force torque value at the corresponding processing part, using the data of the processing database 340, and the processing control unit 140 measures it in real time. It is possible to compare the force-torque value and the reference force-torque value.

In addition, when the force torque value is analyzed to be greater than the reference force torque value in the processing control unit 140, the processing control unit 140 transmits a control signal to the motor to reduce the feed speed of the tool 312, , When the force torque value is analyzed to be smaller than the reference force torque value in the processing controller 140, the processing controller 140 may increase the feed speed of the tool 312 by transmitting a control signal to the motor.

In addition, the rotational speed of the tool 312 may be controlled by comparing the force torque value with the reference force torque value.

As described above, by controlling the load of the processing unit 310 using the force torque value, the load of the processing unit 310 is appropriately maintained for a predetermined processing portion, thereby preventing damage to the processing unit 310 At the same time, the force and torque of the tool 312 are appropriately maintained for the processing portion, thereby improving the quality of the processing portion.

And, FIG. 3 is an image of items for generating a basic movement path in the basic path generator 130 according to an embodiment of the present invention.

The control module 100 includes a basic path generator 130 that receives basic information about the processing target 10 and generates a basic movement path of the processing unit 310; and a processing target analysis unit 120 that receives signals from the vision unit 200 and analyzes the shape and position of the processing target 10 .

In addition, the control module 100 receives information about the shape and position of the processing target 10 from the processing object analysis unit 120, corrects the basic movement path of the processing unit 310, and A path optimizing unit 110 generating a corrected movement path of may be further provided. Also, a control signal for a correction movement path of the processing unit 310 may be transmitted from the path optimizing unit 110 to the robot 320 .

The processing apparatus of the present invention may further include an input unit 330 that transmits basic information about the processing target 10 to the basic path generation unit 130 . The user can select a processing target 10 to be subjected to post-processing among a plurality of processing targets 10 through the input unit 330, and when the processing target 10 is selected in this way, basic information on the corresponding processing target 10 may be transmitted to the basic path generator 130.

Here, the basic information on the processing target 10 may include information about the shape of the processing target 10 and a plurality of processing parts requiring post-processing in the processing target 10 . In addition, the above-described processing database 340 may include reference force torque values corresponding to respective processing portions on the selected processing target 10 . Basic information on the object to be processed 10 may be stored as 3D shape information such as a 3D CAD file.

In the basic path generation unit 130 receiving the basic information on the processing target 10 as described above, the processing unit 310 that analyzes the position of each of the plurality of processing parts and connects each of the plurality of processing parts ) can create a basic movement path. At this time, the basic path generating unit 130 may generate a plurality of paths connecting each of the plurality of processing parts, and then select a path having the shortest length as the basic movement path of the processing unit 310 .

Accordingly, the post-processing time by the processing unit 310 is reduced by performing post-processing on each processing part while the processing unit 310 moves along the shortest path, thereby reducing the post-processing efficiency when using the processing device of the present invention. this can be increased.

4 is an image of an analysis of an object to be processed 10 captured by the vision unit 200 according to an embodiment of the present invention. Here, (a) of FIG. 4 is an image of the first processing target imaged by the vision unit 200, and (d) of FIG. It is an image for

In addition, (b) of FIG. 4 is an image of the second processing target captured by the vision unit 200, and (e) of FIG. 4 relates to the derivation of the contour line L from the image of the second processing target It is an image for

And, FIG. 4(c) is an image of the third processing target imaged by the vision unit 200, and FIG. It is an image for

The vision unit 200 may include a 3D vision sensor. Specifically, the vision unit 200 may include a 3D vision sensor, and when the vision unit 200 captures an image of the processing unit 310, a 3D stereoscopic image of the processing target 10 may be acquired. can In addition, the vision unit 200 may transmit this information to the processing object analysis unit 120 .

The processing object analysis unit 120 may analyze the actual position of the processing object 10 and the shape of the processing object 10 fixedly supported at the corresponding location by using a 3D stereoscopic image of the processing object 10 . Also, the processing object analysis unit 120 may measure each of a plurality of processing parts formed on the processing object 10 . In this way, information generated by the analysis of the processing object analysis unit 120 may be transmitted to the path optimization unit 110 .

As shown in FIG. As shown in c), it is possible to analyze the shape of the processing object 10 by simplifying the obtained contour line, and measure each of a plurality of processing areas.

The path optimization unit 110 includes the basic path generation unit 130 as information based on the basic information on the processing target 10, the shape of the processing target 10 initially set, and a plurality of data requiring post-processing in the processing target 10. Information on processing parts and basic movement routes can be delivered. Then, the path optimization unit 110 receives information about a 3D stereoscopic image of the processing target 10 that is actually located from the processing target analysis unit 120 and the location of a plurality of processing parts formed on the corresponding processing target 10. can

The path optimization unit 110 may generate a corrected movement path of the processing unit 310 by comparing information received from the basic path creation unit 130 with information received from the processing object analysis unit 120 .

Specifically, in the path optimization unit 110, the initial setting position and posture of the processing target 10 on the base 340 derived by basic information on the processing target 10 and the information of the processing target analysis unit 120 Compare the actual position and posture of the processing target 10 on the base 340 derived by can be compared

In the path optimization unit 110, the three-dimensional coordinates of the existing processing part, which is any one processing part among a plurality of initially set processing parts, correspond to the corresponding one processing part on the 3D stereoscopic image of the processing target 10 that is actually located It is possible to compare the 3D coordinates of the actual processing area, which is the processing area to be processed.

And, when a difference occurs in both coordinates by comparison between the 3D coordinates of the existing machining part and the 3D coordinates of the current machining part, the path optimization unit 110 converts the 3D coordinates of the existing machining part reflected in the basic movement path to the current one. By changing the three-dimensional coordinates of the processing part, the basic movement path of the processing unit 310 may be corrected to generate a corrected movement path of the processing unit 310 .

Information on the corrected movement path of the processing unit 310 may be transmitted to the robot 320, and the robot 320 reflects the information on the corrected movement path of the processing unit 310 and performs an operation, It is possible to improve the precision of post-processing of the object 10, and since the corrected movement path of the processing unit 310 is generated by correcting some of the preset basic movement paths of the processing unit 310 as described above, the processing unit The work time of the robot 320 can be shortened by reducing the time required to generate the corrected movement path of the robot 310, and consequently, the work efficiency of the robot 320 can be improved.

The path optimization unit 110 measures the area for each of a plurality of processing parts on the correction movement path of the processing unit 310, and passes through one processing part according to the area of one processing part in the processing target 10 A control signal for controlling the feed speed of the tool 312 may be transmitted to the robot 320 .

As shown in FIG. 4, when the contour line (L) is derived from each processing object in the processing object analysis unit 120, the path optimization unit 110 analyzes the contour line (L) and selects one processing object. It is possible to measure the area of each of the plurality of processed parts while analyzing the respective positions of the plurality of processed parts.

Here, as shown in FIG. 4, when analysis is performed on a 2-dimensional flat image, the path optimization unit 110 may classify the size (volume) of the processing part according to the 2-dimensional area value, and the 2-dimensional area value is If the size is relatively large, it is determined that the size of the processed area is large, and if the 2D area value is relatively small, it can be determined that the size of the processed area is small.

In addition, data on the feed speed of the tool 312 passing through the processing area according to the size of the processing area as described above is classified for each processing target and stored in the path optimization unit 110, and the path optimization unit 110 may transfer a control signal to the robot 320 so that the feed rate of the tool 312 is controlled using data on the feed rate of the tool 312 . In addition, the tool 312 may be transported by maximizing the feed speed of the tool 312 in a path where there is no machining part on the correction movement path.

Specifically, when the tool passes through a processing area, that is, a burr, the feed speed of the tool 312 increases when the size of the processing area is relatively small, and the tool 312 increases when the size of the processing area is relatively large. The feed rate of is reduced, and the feed rate of the tool 312 is maximized in the path where there is no processing part in the correction movement path on the processing target, so that not only can the processing time be shortened, but also the cutting time for each processing part. It is also possible to realize the effect of reducing the cutting force on the machined part by adjusting the .

The processing apparatus of the present invention; And a robot including a quality analysis device for analyzing whether or not the processing target 10 is defective by analyzing the image of the processing target 10 captured by the vision unit 200 after processing of the processing target 10 is finished ( 320) can be used to form a post-processing system.

By performing a quality analysis device on the post-processed object 10 as described above to determine if the object to be processed 10 is defective, the defect rate of the object to be processed 10 can be significantly reduced.

Hereinafter, the processing method of the present invention using the processing device of the present invention will be described.

First, in the first step, basic information on the object to be processed 10 may be transmitted to the control module 100 . In the second step, a basic movement path of the processing unit 310 may be generated in the control module 100 .

Next, in the third step, the shape and position of the object to be processed 10 captured by the vision unit 200 may be transmitted to the control module 100 . Then, in the fourth step, the control module 100 may generate a correction movement path of the processing unit 310 . After that, in the fifth step, a control signal for a correction movement path of the processing unit 310 may be transmitted from the control module 100 to the robot 320 .

And, in the fifth step, information on the force and torque generated by the tool 312 provided in the processing unit 310 is transmitted to the processing module, and from the control module 100 to the processing unit 310, the processing unit ( A control signal for the load of 310) may be transmitted.

The remaining details of the processing method of the present invention are the same as those of the processing device of the present invention described above.

The above description of the present invention is for illustrative purposes, and those skilled in the art can understand that it can be easily modified into other specific forms without changing the technical spirit or essential features of the present invention. will be. Therefore, the embodiments described above should be understood as illustrative in all respects and not limiting. For example, each component described as a single type may be implemented in a distributed manner, and similarly, components described as distributed may be implemented in a combined form.

The scope of the present invention is indicated by the following claims, and all changes or modifications derived from the meaning and scope of the claims and equivalent concepts should be interpreted as being included in the scope of the present invention.

10: processing target

100: control module

110: path optimization unit

120: processing target analysis unit

130: basic route creation unit

140: processing control unit

200: vision department

310: processing unit

311: force torque sensor

312: tool

320: robot

330: input unit

340: base

Claims

A robot equipped with a plurality of links and driven with multiple degrees of freedom;

A processing unit coupled to the end of the robot and performing post-processing on the processing target;

a vision unit that takes an image of the object to be processed; and

A control module generating a basic movement path of the processing unit and generating a corrected movement path of the processing unit by receiving a signal from the vision unit and correcting the basic movement path of the processing unit;

The control module transmits a control signal for a correction movement path of the processing unit to the robot, and transmits a control signal for a load of the processing unit to the processing unit.
The method of claim 1,

The control module,

a basic path creation unit receiving basic information about the processing target and generating a basic movement path of the processing unit; and

A processing apparatus for optimizing a post-processing path of a robot, characterized in that it comprises a processing target analysis unit for receiving a signal from the vision unit and analyzing the shape and position of the processing target.
The method of claim 2,

The control module further includes a path optimization unit that receives information about the shape and position of the processing object from the processing object analysis unit and corrects a basic movement path of the processing unit to generate a corrected movement path of the processing unit. Robot's post-processing path optimization processing device.
The method of claim 3,

The post-processing path optimization processing apparatus of the robot, characterized in that the control signal for the correction movement path of the processing unit is transmitted from the path optimization unit to the robot.
The method of claim 3,

The path optimization unit measures the area for each of a plurality of processing parts on the correcting movement path of the processing unit, and controls the feed speed of the tool passing through the one processing part according to the area of one processing part in the processing target A post-processing path optimization processing device for a robot, characterized in that for transmitting a control signal to the robot.
The method of claim 2,

The processing unit includes a force-torque sensor for measuring force and torque generated by a tool provided in the processing unit.
The method of claim 6,

The control module further includes a processing control unit that receives and analyzes information on force and torque generated by the tool from the force torque sensor and transmits a control signal for controlling a load of the processing unit to the processing unit. Robot's post-processing path optimization processing device.
The method of claim 7,

The processing control unit stores a processing database including information on force and torque generated by the tool for each processing part on the processing target.
The method of claim 8,

The processing control unit contains an artificial intelligence program, and the artificial intelligence program controls the processing unit according to the force and torque generated by the tool.
The method of claim 2,

The robot post-processing path optimization processing apparatus further comprising an input unit for transmitting basic information on the processing target to the basic path generation unit.
A post-processing path optimization processing device for a robot according to claim 1; and

A post-processing system using a robot, characterized in that it comprises a quality analysis device for analyzing the image of the processing target captured by the vision unit after processing of the processing target is finished to analyze whether or not the processing target is defective.
The post-processing path optimization processing method of the robot using the robot post-processing path optimization processing device of claim 1,

A first step of transmitting basic information about the processing target to the control module;

a second step of generating a basic movement path of the processing unit in the control module;

a third step of transmitting the shape and position of the processing target imaged by the vision unit to the control module;

A fourth step of generating a correction movement path of the processing unit in the control module; and

and a fifth step of transmitting a control signal for a correction movement path of the processing unit from the control module to the robot.
The method of claim 12,

In the fifth step, information on the force and torque generated by the tool provided in the processing unit is transmitted to the processing module, and a control signal for the load of the processing unit is transmitted from the control module to the processing unit. Characterized in that Robot's post-processing path optimization processing method.