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US 11,014,244 B2Granted
Robot system for assembling component and control method thereof
AssigneeSungwoo Hitech Co., Ltd.
InventorsJaekyun Kim, Kwang Wook Jeong, Byung Hag Park
Life of this patent
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Abstract
Disclosed are a robot system for assembling components and a control method thereof. The control method compares location coordinates of a robot in a vision coordinate system with location coordinates in a robot coordinate system and calculates a first correction value, calculates a second correction value from a difference between location coordinates of a correction tool and a component, and calculates a third correction value from location coordinates of components located at predetermined spaced locations and spacing coordinates, thereby precisely assembling components and performing inspection of the assembling.
Claims19
A robot system for assembling components, the robot system comprising:
- a vision unit, which includes a frame installed in an operation space, in which components are assembled, a reference pin installed on the frame and serving as a coordinate reference, a plurality of linear rails installed on the frame, and a camera moving in six-axis directions including up, down, left, right, front, and rear directions and rotating through the plurality of linear rails, and scans the operation space by using the camera and transmits image information;
- one or more hanger robots, each of which includes an arm and a hanger mounted to a leading end of the arm and restricting a component, and is formed in a front side of the vision unit in the operation space;
- one or more welding robots, each of which includes an arm and a welding machine mounted to a leading end of the arm and welding components, and is formed in a rear side of the vision unit in the operation space;
- a vision controller, which sets the operation space as a virtual vision coordinate system based on the reference pin as the coordinate reference by using the image information received from the vision unit, performs calibration for correcting positions based on location coordinate values of the plurality of hanger robots and components in the vision coordinate system, and controls a location, a movement, and a posture of the camera;
- and
- a robot controller, which performs calibration for controlling behavior and postures of the one or more hanger robots and welding robots in the operation space based on a robot coordinate system set in the robot controller, and controls locations, movements, and postures of the one or more hanger robots and welding robots.
3 more elements
A method of controlling a robot system for assembling components, the robot system including a vision unit including a camera, one or more hanger robots, each of which includes a hanger, one or more welding robots, each of which includes a welding machine, a vision controller, and a robot controller, the method comprising:
- a first correction operation of generating three-point location coordinates in a vision coordinate system by scanning a location of a correction tool in a hanger robot according to three or more point behavior of the hanger robot by using the camera, comparing the three-point location coordinates in the vision coordinate system and corresponding three-point location coordinates in a robot coordinate system and calculating a correction value, and correcting the robot coordinate system with the correction value and matching the vision coordinate system and the robot coordinate system;
- a component restriction operation of gripping a component to be assembled through the hanger of the hanger robot and restricting the component to the hanger;
- a second correction operation of generating location coordinates of the correction tool and the component in the vision coordinate system by scanning the correction tool in the hanger robot and the component restricted by the hanger by using the camera of the vision unit, calculating a correction value calculated by a difference value between the location coordinates of the correction tool and the component, correcting the robot coordinate system corrected in the first correction operation again, and setting the robot coordinate system based on the component;
- a component spacing operation of applying a spacing coordinate value to another component assembled with one component among matched components and moving the one component and another component to locations, at which the one component is spaced apart from another component by a predetermined distance in the operation space by controlling the hanger robot;
- a third correction operation of scanning the one component and another component, which are spaced apart from each other by a predetermined distance in the operation space, by using the camera and generating location coordinates of the one component and another component in the vision coordinate system, comparing and analyzing the location coordinates of the one component and another component with the spacing coordinate value and predicting interference between the one component and another component, and matching the coordinates of the components in the vision coordinate system and the model coordinate system through the correction of the locations of the one component and another component;
- a component matching operation of inversely moving another component with respect to the one component by the spacing coordinate value in the operation space by controlling the hanger robot restricting another component and matching the one component and another component;
- a welding operation of welding welded parts of the one component and another component, which are matched to each other, by controlling the one or more welding robots and welding machines;
- and
- an inspection operation of comparing location coordinates in the vision coordinate system generated by scanning the product, in which the welded part is welded, by using the camera with model data coordinates in the model coordinate system and determining whether a difference between the location coordinates in the vision coordinate system and the model data coordinates is within an allowance error range, and inspecting a defect.
6 more elements
Dependencies are inferred from the claim text.