WO2023211007A1 - Robot pour monter des meubles - Google Patents

Robot pour monter des meubles Download PDF

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Publication number
WO2023211007A1
WO2023211007A1 PCT/KR2023/004789 KR2023004789W WO2023211007A1 WO 2023211007 A1 WO2023211007 A1 WO 2023211007A1 KR 2023004789 W KR2023004789 W KR 2023004789W WO 2023211007 A1 WO2023211007 A1 WO 2023211007A1
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WO
WIPO (PCT)
Prior art keywords
robot
assembly
furniture
controller
frames
Prior art date
Application number
PCT/KR2023/004789
Other languages
English (en)
Korean (ko)
Inventor
박재흥
박수한
이해성
Original Assignee
서울대학교산학협력단
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from KR1020230042190A external-priority patent/KR20230151462A/ko
Application filed by 서울대학교산학협력단 filed Critical 서울대학교산학협력단
Publication of WO2023211007A1 publication Critical patent/WO2023211007A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls

Abstract

Un robot destiné à monter des meubles, selon un mode de réalisation de la présente invention, monte des meubles par montage d'une pluralité de cadres et de parties de liaison pour relier chaque cadre de la pluralité de cadres, et comprend : un support de base qui forme un espace de travail dans lequel sont montés la pluralité de cadres; une pluralité de bras de robot installés sur le support de base ; des parties de préhension qui sont installées sur les bras de robot et saisissent au moins une partie de la pluralité de cadres ; et un dispositif de commande qui commande les opérations de la pluralité de bras de robot et des parties de préhension installées sur chaque bras de robot de la pluralité de bras de robot, le dispositif de commande pouvant commander les opérations de la pluralité de bras de robot et des parties de préhension pour monter les cadres selon un modèle de travail comprenant des informations de séquence de montage et des informations de mouvement concernant la pluralité de bras de robot pour monter le meuble.
PCT/KR2023/004789 2022-04-25 2023-04-10 Robot pour monter des meubles WO2023211007A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR10-2022-0050579 2022-04-25
KR20220050579 2022-04-25
KR10-2023-0042190 2023-03-30
KR1020230042190A KR20230151462A (ko) 2022-04-25 2023-03-30 가구 조립 로봇

Publications (1)

Publication Number Publication Date
WO2023211007A1 true WO2023211007A1 (fr) 2023-11-02

Family

ID=88519293

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2023/004789 WO2023211007A1 (fr) 2022-04-25 2023-04-10 Robot pour monter des meubles

Country Status (1)

Country Link
WO (1) WO2023211007A1 (fr)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008207262A (ja) * 2007-02-23 2008-09-11 Matsushita Electric Works Ltd マニピュレータシステム
JP2018144223A (ja) * 2017-03-06 2018-09-20 キヤノン株式会社 複数のロボットに動作を教示する教示方法、およびそれに用いる教示装置

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008207262A (ja) * 2007-02-23 2008-09-11 Matsushita Electric Works Ltd マニピュレータシステム
JP2018144223A (ja) * 2017-03-06 2018-09-20 キヤノン株式会社 複数のロボットに動作を教示する教示方法、およびそれに用いる教示装置

Non-Patent Citations (7)

* Cited by examiner, † Cited by third party
Title
BAEK SEUNG-HYEOK, SEONGHO SHIN, RAE- YOUNG KANG, SEONGJU LEE, JOO SOON LEE: "Item assembly AI - Robot work plan creation system based on assembly instructions", JOURNAL OF ROBOTS AND HUMANS, KOREAN SOCIETY OF ROBOTICS., KOREA, vol. 18, no. 1, 1 January 2021 (2021-01-01), Korea, pages 3 - 15, XP093009202, ISSN: 1738-4796 *
HAESEONG LEE, SEUNGYEON KIM, SUHAN PARK, KEUNWOO JANG, JAEHEUNG PARK: "Control Strategy to Overcome Jamming in Bolt Fastening", THE 16TH KOREA ROBOTICS SOCIETY ANNUAL CONFERENCE; MAY 19-22, 2021, KOREA ROBOTICS SOCIETY, KOREA, 20 May 2021 (2021-05-20) - 22 May 2021 (2021-05-22), Korea, pages 1 - 2, XP009550532 *
JEONG HYEON-CHEOL: "Verification and optimization of assembly sequence for IKEA furniture assembled by combining holes and pins", THESIS HANYANG UNIVERSITY, 1 February 2021 (2021-02-01), pages 1 - 36, XP093104364 *
KIM, MYEONGSOO ET AL.: "Static Equilibrium Verification Algorithm for Detachable Object about Multiple Grasp Points", THE 16TH KOREA ROBOTICS SOCIETY ANNUAL CONFERENCE; MAY 19-22, 2021, KOREA ROBOTICS SOCIETY, KOREA, 20 May 2021 (2021-05-20) - 22 May 2021 (2021-05-22), Korea, pages 1 - 2, XP009550531 *
LEE HAESEONG, PARK SUHAN, JANG KEUNWOO, KIM SEUNGYEON, PARK JAEHEUNG: "Contact State Estimation for Peg-in-Hole Assembly Using Gaussian Mixture Model", IEEE ROBOTICS AND AUTOMATION LETTERS, vol. 7, no. 2, 1 April 2022 (2022-04-01), pages 3349 - 3356, XP093104376, DOI: 10.1109/LRA.2022.3146949 *
LEE HAESEONG; LEE SANG YUP; JANG KEUNWOO; KIM SEUNGYEON; KO JONGSEONG; PARK JAEHEUNG: "Search trajectory with twisting motion for dual peg-in-hole assembly", INTELLIGENT SERVICE ROBOTICS, SPRINGER BERLIN HEIDELBERG, BERLIN/HEIDELBERG, vol. 14, no. 4, 1 September 2021 (2021-09-01), Berlin/Heidelberg , pages 597 - 609, XP037583505, ISSN: 1861-2776, DOI: 10.1007/s11370-021-00382-7 *
SU-HAN ET AL.: "Furniture Assembly Robot - Flexible Assembly System Using Multi-Robots", KOREA ROBOTICS SOCIETY REVIEW, vol. 18, no. 1, January 2021 (2021-01-01), pages 16 - 25 *

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