Title:
ROBOT FOR ASSEMBLING FURNITURE
Document Type and Number:
WIPO Patent Application WO/2023/211007
Kind Code:
A1
Abstract:
A robot for assembling furniture according to one embodiment of the present invention assembles furniture by assembling a plurality of frames and connection parts for connecting each of the plurality of frames, and comprises: a base stand which forms a working space in which the plurality of frames are assembled; a plurality of robot arms installed on the base stand; gripping parts which are installed on the robot arms and grip at least a portion of the plurality of frames; and a controller which controls the operations of the plurality of robot arms and the gripping parts installed on each of the plurality of robot arms, wherein the controller can control the operations of the plurality of robot arms and the gripping parts to assemble the frames according to a work template including assembly sequence information and motion information about the plurality of robot arms for assembling the furniture.
Inventors:
PARK JAE HEUNG (KR)
PARK SU HAN (KR)
LEE HAE SEONG (KR)
PARK SU HAN (KR)
LEE HAE SEONG (KR)
Application Number:
PCT/KR2023/004789
Publication Date:
November 02, 2023
Filing Date:
April 10, 2023
Export Citation:
Assignee:
SEOUL NATIONAL UNIV R&BD FOUNDATION (KR)
International Classes:
B25J9/16; B25J9/00; B25J9/06; B25J15/00
Foreign References:
| JP2018144223A | 2018-09-20 | |||
| JP2008207262A | 2008-09-11 |
Other References:
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
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
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
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
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
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
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
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
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
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
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
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
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
Attorney, Agent or Firm:
SUK, Sang Yong (KR)
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