Two-stage hand-off end effector apparatus, robot apparatus and method for automatic buckle fastening in narrow space

Abstract

According to one embodiment of the present disclosure, an end-effector device for fastening an insert member of a fastening structure to a receiving member of the fastening structure is disclosed. The device may include: an axial restraining member that deforms after entering a slot of the insert member to restrain the insert member, and releases the restraint of the insert member after the insert member is moved to the receiving member; and a pressing member that presses the body of the insert member to fasten the insert member and the receiving member after the insert member is released from the restraint of the axial restraining member.

Description

Technology Field

[0001] The present disclosure relates to a technology for automatic assembly and fastening of parts using a robot, and more specifically, to an end-effector device for automatically fastening an insert member of a fastening structure, such as a seat belt, to a receiving member, a robot device including the same, and a fastening method. Background Technology

[0002] As industrial automation advances, there are ongoing attempts to automate tasks in the automotive manufacturing process using robots, including parts assembly, end-of-line (EOL) inspection, and tens of thousands of durability tests. In particular, the task of fastening the tongue of a vehicle seat belt to the buckle is used in vehicle assembly and quality inspection.

[0003] Conventional seatbelt fastening durability and inspection equipment primarily utilized a dedicated testing method that linearly inserted and extracted a fixed-position deadbolt using a linear actuator. However, since this method operates only when the component's position and orientation are mechanically fixed, its rigidity has been pointed out as a limitation, as it cannot flexibly respond to vehicle types, seat positions, or minute changes in the component's posture.

[0004] Furthermore, in a confined environment where the outer grip is blocked, the only place where the tongue can be grasped is through a slot (window) drilled inside the tongue. However, a geometric conflict (dilemma) arises here. This slot corresponds to the critical area where the tongue must enter the buckle completely and engage with the buckle's internal latch. If the robot's gripper tightly grasps the slot and proceeds with insertion into the buckle, the gripper's hardware collides with the buckle housing (ceiling) before full insertion is achieved. In other words, since the feature to be grasped and the entry point to be inserted into the buckle are the same, it becomes impossible to push the tongue all the way in to achieve a complete engagement.

[0005] Therefore, there is an urgent technical need for a single end-effector device and control method of a new structure that can be used for standard mass-produced products without modifying the buckle, overcome narrow spaces and webbing interference, fully insert the insertion member to the end of the receiving member without geometric collision, and verify the success of the fastening.

[0006] In this regard, Chinese Published Patent No. 105319061 (February 10, 2016) discloses a buckle durability test device. The problem to be solved

[0007] The present disclosure aims to provide an end effector device capable of resolving geometric collision problems and achieving complete fastening, and a fastening method using the same. For example, the present disclosure aims to provide an end effector device capable of resolving geometric collision problems that occur when a gripping portion (slot) acts as an insertion portion in an environment where external gripping of a part is impossible due to a narrow space or interference, and a fastening method using the same that achieves complete fastening into the interior of a receiving member.

[0008] In addition, the present disclosure aims to provide a technology that can flexibly respond to various vehicle types and part pose variations using only a single end effector, without the need to use a separate trajectory-fixed dedicated tester or modify electromagnets, etc., inside a mass-produced receiving member.

[0009] Furthermore, the present disclosure aims to provide a technology that quantitatively determines and guarantees the success of a latch connection in an assembly line or during a durability test process.

[0010] Meanwhile, the technical problem that the present disclosure aims to solve is not limited to the technical problem mentioned above, and various technical problems may be included within the scope obvious to a person skilled in the art from the contents described below. means of solving the problem

[0011] According to one embodiment of the present disclosure for realizing the aforementioned objectives, an end-effector device for fastening an insert member of a fastening structure to a receiving member of the fastening structure is disclosed. The device may include: an axial restraining member that deforms after entering a slot of the insert member to restrain the insert member, and releases the restraint of the insert member after the insert member is moved to the receiving member; and a pressing member that presses the body of the insert member to fasten the insert member and the receiving member after the insert member is released from the restraint of the axial restraining member.

[0012] In one embodiment, the shaft-shaped restraining member includes an expansion mandrel having a square cross-section corresponding to the cross-sectional shape of the slot of the insertion member, and the deformation after entering the slot of the insertion member may include entering the slot of the insertion member in a contracted state and then expanding.

[0013] In one embodiment, restraining the insertion member may include constraining the rotational and lateral orientation of the insertion member by contacting the inner wall of the slot of the insertion member in a form-fit or frictional manner.

[0014] In one embodiment, releasing the restraint of the insertion member after the insertion member has been moved to the receiving member may include the expansion mandrel contracting and retracting back to its original state to release the restraint of the insertion member just before the slot of the insertion member is inserted into the entrance of the receiving member.

[0015] In one embodiment, the end effector device may further include a restraint auxiliary member disposed coaxially around the circumference of the axially shaped restraint member.

[0016] In one embodiment, the restraint assist member may include a coaxial spring pusher foot that prevents the opening deformation of the slot of the insert member when the insert member is moved to the receiving member by the axially shaped restraint member.

[0017] In one embodiment, the pressing member includes a body pusher formed in a fork or U-shape with the webbing in between to avoid interference with the webbing connected to the main body of the insertion member, and pressing the main body of the insertion member to fasten the insertion member and the receiving member may include the body pusher pressing the rear surface of the main body of the insertion member to completely insert the insertion member into the receiving member.

[0018] In one embodiment, the end effector device may further include a tension member formed to be caught on the rear corner of the main body of the insertion member.

[0019] In one embodiment, the tension member may include a retaining lip that verifies whether a connection has been made between the slot of the insert member and the internal latch of the receiving member by pulling the main body of the insert member to a specified load after the insert member and the receiving member are fastened.

[0020] In one embodiment, the fastening structure includes a fastening structure of a seat belt, the insertion member includes a tongue of the seat belt, the main body of the insertion member includes a stopper of the seat belt, and the receiving member may include a buckle of the seat belt.

[0021] In one embodiment, the end effector device further includes a visual perception module for estimating the position or orientation of an object, and the visual perception module may be configured to estimate the position or orientation of the insertion member before the axially shaped restraining member is inserted into the slot of the insertion member, or to estimate the position or orientation of the entrance of the receiving member when the insertion member is moved to the receiving member.

[0022] In one embodiment, the end effector device may further include a physical quantity measuring member that measures one or more mechanical quantities.

[0023] In one embodiment, the physical quantity measuring member can detect that the insertion member and the receiving member come into contact when the axially shaped restraining member moves the insertion member to the receiving member, and output a measurement value that causes the axially shaped restraining member to align the end of the insertion member with the entrance of the receiving member after the insertion member and the receiving member come into contact.

[0024] In one embodiment, the physical quantity measuring member can detect a change in insertion force when the internal latch of the receiving member engages with the slot of the insertion member when the pressing member presses the insertion member to connect the insertion member and the receiving member, and output a measurement value for determining whether the connection is made.

[0025] According to another embodiment of the present disclosure for realizing the aforementioned objectives, a robot device for fastening an insert member of a fastening structure to a receiving member of the fastening structure is disclosed. The device comprises: a robot arm; an end effector coupled to the end of the robot arm; and a processor for controlling the robot arm and the end effector. The end effector may include: an axially shaped restraining member that deforms after entering a slot of the insert member to restrain the insert member, and releases the restraint of the insert member after the insert member is moved to the receiving member; and a pressing member that presses the body of the insert member to fasten the insert member and the receiving member after the insert member is released from the restraint of the axially shaped restraining member.

[0026] According to another embodiment of the present disclosure for realizing the aforementioned objectives, a method is disclosed for fastening an insert member of a fastening structure to a receiving member of the fastening structure by means of an end effector coupled to a robot arm. The method may include the steps of: a step in which an axially shaped restraining member provided in the end effector enters a slot of the insert member and then deforms to restrain the insert member; a step in which the axially shaped restraining member moves the insert member to the receiving member and then releases the restraint on the insert member; and a step in which a pressing member provided in the end effector presses the main body of the insert member to fasten the insert member and the receiving member.

[0027] In one embodiment, the step of fastening may include a step of detecting a change in insertion force that occurs when an internal latch of the receiving member is coupled to a slot of the insertion member by a physical quantity measuring member provided in the end effector, and outputting a measurement value for determining whether fastening has occurred.

[0028] In one embodiment, the method may further include, after the step of fastening, a step of verifying whether a connection has been made between the slot of the insertion member and the internal latch of the receiving member by pulling the main body of the insertion member with a specified load by a tension member provided in the end effector. Effects of the invention

[0029] The present disclosure can provide a technology capable of solving conventional geometric collision problems and achieving complete fastening. For example, according to the present disclosure, by applying a two-stage hand-off method in which an axially shaped restraining member grips the inside of a slot of an insertion member, moves to a receiving member, and then retracts, and a pressing member (body pusher) subsequently performs complete insertion, the conventional geometric collision problem that occurred because the gripping part and the insertion part were the same is solved, thereby achieving complete fastening.

[0030] In addition, according to the present disclosure, there is an advantage in that an insert member can be stably gripped, transported, and aligned through a slot internal gripping method without an external footprint and a fork-shaped pressure member that avoids webbing, even in narrow depressions and webbing interference environments that were inaccessible to conventional external parallel grippers. Furthermore, by dispersing the axial force when the insert member moves to the receiving member through a restraining auxiliary member (spring pusher foot) arranged coaxially around an axial restraining member, prying deformation of the slot can be prevented in advance.

[0031] Furthermore, during the fastening process, a force drop is detected at the moment when the internal latch of the receiving member and the slot of the inserting member engage through a physical quantity measuring member (force / torque sensor), and immediately after fastening, the main body of the inserting member is tensioned to a specified load using a tensioning member (retaining lip), thereby allowing for quantitative determination and traceability of whether the fastening was successful, which can maximize the reliability and quality of the automated process.

[0032] In addition, the entire process can be integrated and performed using only a single end-of-arm tooling (EOAT), which can significantly simplify the robot cell configuration. In particular, since standard mass-produced parts can be attached externally without the need for modifications to add separate mechanisms inside the receiving member, it provides industrial versatility that allows for flexible response to various vehicle types, seat positions, and component orientation variations when combined with articulated robots and visual perception modules.

[0033] Meanwhile, the effects of the present disclosure are not limited to those mentioned above, and may include various effects that are obvious to a person skilled in the art from the contents described in the specification below. Brief explanation of the drawing

[0034] FIG. 1 is a block diagram of a computing device that fastens an insert member of a fastening structure to a receiving member in conjunction with a robot arm and an end effector device according to one embodiment of the present disclosure. FIG. 2 illustrates an exemplary structure of an artificial intelligence-based model according to one embodiment of the present disclosure. FIG. 3 is a conceptual diagram showing the environment in which an end effector device (300) according to one embodiment of the present disclosure operates and the structure of the end effector device (300). FIGS. 4a and 4b are conceptual diagrams showing a connection by two-stage hand-off according to one embodiment of the present disclosure, phase by phase, FIG. 4a is a conceptual diagram schematically illustrating a restraint and movement step corresponding to a first phase (phase 1) when an end effector device (300) according to one embodiment of the present disclosure fastens an insertion member (310) to a receiving member (320), and FIG. 4b is a conceptual diagram schematically illustrating the release of restraint and completion of fastening corresponding to the second phase (phase 2) when the end effector device (300) according to one embodiment of the present disclosure fastens the insertion member (310) to the receiving member (320). FIG. 5 is a flowchart illustrating a two-stage handoff method for automatic buckle fastening according to one embodiment of the present disclosure. FIG. 6 is a brief and general schematic diagram of an exemplary computing environment in which embodiments of the present disclosure may be implemented. Specific details for implementing the invention

[0035] Various embodiments are now described with reference to the drawings. In this specification, various descriptions are provided to provide an understanding of the present disclosure. However, it is evident that these embodiments can be practiced without such specific descriptions.

[0036] As used herein, terms such as “component,” “module,” “system,” etc. refer to computer-related entities, hardware, firmware, software, combinations of software and hardware, or executions of software. For example, a component may be, but is not limited to, a procedure executed on a processor, a processor, an object, an execution thread, a program, and / or a computer. For example, both an application executed on a computing device and the computing device itself may be a component. One or more components may reside within a processor and / or an execution thread. A component may be localized within a single computer. A component may be distributed among two or more computers. Additionally, these components may be executed from various computer-readable media having various data structures stored therein. Components may communicate through local and / or remote processes, for example, according to signals having one or more data packets (e.g., data from a component interacting with another component in a local system or distributed system, and / or data transmitted through signals to other systems and networks such as the Internet).

[0037] Furthermore, the term "or" is intended to mean an implicit "or" rather than an exclusive "or." That is, unless otherwise specified or evident from the context, "X uses A or B" is intended to mean one of the natural implicit substitutions. In other words, if X uses A; if X uses B; or if X uses both A and B, "X uses A or B" may apply to any of these cases. Additionally, the term "and / or" as used herein should be understood to refer to and include all possible combinations of one or more of the enumerated related items.

[0038] Additionally, the terms “comprising” and / or “comprising” should be understood to mean that such features and / or components are present. However, the terms “comprising” and / or “comprising” should be understood not to exclude the presence or addition of one or more other features, components and / or groups thereof. Furthermore, unless otherwise specified or clearly evident from the context to indicate a singular form, the singular in this specification and claims should generally be interpreted to mean “one or more.”

[0039] And, the term "at least one of A or B" should be interpreted to mean "a case including only A," "a case including only B," or "a combination of A and B."

[0040] Those skilled in the art should recognize that the various exemplary logical blocks, configurations, modules, circuits, means, logics, and algorithmic steps described in connection with the embodiments disclosed herein may be implemented in electronic hardware, computer software, or a combination of both. To clearly exemplify the interchangeability of hardware and software, various exemplary components, blocks, configurations, means, logics, modules, circuits, and steps have been generally described above in terms of their functionality. Whether such functionality is implemented in hardware or software depends on the specific application and design constraints imposed on the overall system. Skilled technicians may implement the described functionality in various ways for each specific application. However, such decisions regarding implementation should not be construed as going beyond the scope of this disclosure.

[0041] Description of the presented embodiments is provided to enable those skilled in the art to use or practice the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art. The general principles defined herein may be applied to other embodiments without departing from the scope of the present disclosure. Thus, the present disclosure is not limited to the embodiments presented herein. The present disclosure should be interpreted in the broadest possible scope consistent with the principles and novel features presented herein.

[0042] In the present disclosure, network functions, artificial neural networks, and neural networks can be used interchangeably.

[0043] FIG. 1 is a block diagram of a computing device that fastens an insert member of a fastening structure to a receiving member in conjunction with a robot arm and an end effector device according to one embodiment of the present disclosure.

[0044] The configuration of the computing device (100) illustrated in FIG. 1 is merely a simplified example. In one embodiment of the present disclosure, the computing device (100) may include other configurations for performing the computing environment of the computing device (100), and only some of the disclosed configurations may constitute the computing device (100).

[0045] The computing device (100) may include a processor (110), memory (130), and a network unit (150).

[0046] The processor (110) may be composed of one or more cores and may include processors for data analysis and deep learning, such as a central processing unit (CPU), a general purpose graphics processing unit (GPGPU), and a tensor processing unit (TPU) of a computing device. The processor (110) may read a computer program stored in memory (130) and perform data processing for machine learning according to one embodiment of the present disclosure. According to one embodiment of the present disclosure, the processor (110) may perform operations for learning a neural network. The processor (110) may perform calculations for learning a neural network, such as processing input data for learning in deep learning (DL), extracting features from input data, calculating errors, and updating the weights of the neural network using backpropagation. At least one of the CPU, GPGPU, and TPU of the processor (110) may process the learning of a network function. For example, a CPU and a GPGPU can work together to process the learning of a network function and data classification using the network function. Additionally, in one embodiment of the present disclosure, processors of a plurality of computing devices can be used together to process the learning of a network function and data classification using the network function. Furthermore, a computer program executed on a computing device according to one embodiment of the present disclosure may be a CPU, GPGPU, or TPU executable program.

[0047] According to one embodiment of the present disclosure, the memory (130) can store any form of information generated or determined by the processor (110) and any form of information received by the network unit (150).

[0048] According to one embodiment of the present disclosure, the memory (130) may include at least one type of storage medium among a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (e.g., SD or XD memory), RAM (Random Access Memory), SRAM (Static Random Access Memory), ROM (Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), PROM (Programmable Read-Only Memory), magnetic memory, a magnetic disk, and an optical disk. The computing device (100) may operate in conjunction with web storage that performs the storage function of the memory (130) on the internet. The description of the memory described above is merely an example and the present disclosure is not limited thereto.

[0049] A network unit (150) according to one embodiment of the present disclosure can use various wired communication systems such as a public switched telephone network (PSTN), xDSL (x Digital Subscriber Line), RADSL (Rate Adaptive DSL), MDSL (Multi Rate DSL), VDSL (Very High Speed ​​DSL), UADSL (Universal Asymmetric DSL), HDSL (High Bit Rate DSL), and a local area network (LAN).

[0050] In addition, the network unit (150) presented in this specification may use various wireless communication systems such as CDMA (Code Division Multi Access), TDMA (Time Division Multi Access), FDMA (Frequency Division Multi Access), OFDMA (Orthogonal Frequency Division Multi Access), SC-FDMA (Single Carrier-FDMA), and other systems.

[0051] In the present disclosure, the network unit (150) can be configured regardless of the communication mode, such as wired and wireless, and can be configured as various communication networks such as a Local Area Network (LAN), a Personal Area Network (PAN), and a Wide Area Network (WAN). In addition, the network may be a known World Wide Web (WWW) and may utilize wireless transmission technology used for short-range communication, such as Infrared Data Association (IrDA) or Bluetooth.

[0052] The technologies described in this specification can be used not only in the networks mentioned above but also in other networks.

[0053] FIG. 2 illustrates an exemplary structure of an artificial intelligence-based model according to one embodiment of the present disclosure.

[0054] Throughout this specification, artificial intelligence model, artificial intelligence-based model, computational model, neural network, network function, and neural network may be used interchangeably.

[0055] A neural network can be composed of a set of interconnected computational units that may generally be referred to as nodes. These nodes may also be referred to as neurons. A neural network is composed of at least one node. The nodes (or neurons) constituting neural networks may be interconnected by one or more links.

[0056] In a neural network, one or more nodes connected via links can form relative input and output node relationships. The concepts of input and output nodes are relative; any node in an output node relationship with respect to one node may be in an input node relationship with respect to another node, and vice versa. As described above, the input node versus output node relationship can be generated based on links. One or more output nodes may be connected to a single input node via links, and vice versa.

[0057] In a relationship between an input node and an output node connected through a single link, the value of the output node's data can be determined based on the data input to the input node. Here, the link interconnecting the input node and the output node may have a weight. The weight can be variable and can be varied by the user or an algorithm to enable the neural network to perform the desired function. For example, if one or more input nodes are interconnected to a single output node by respective links, the output node's value can be determined based on the values ​​input to the input nodes connected to the output node and the weights set on the links corresponding to each input node.

[0058] As described above, a neural network consists of one or more nodes interconnected through one or more links, forming input-output node relationships within the network. The characteristics of a neural network can be determined by the number of nodes and links within the network, the relationships between the nodes and links, and the weight values ​​assigned to each link. For example, if two neural networks exist with the same number of nodes and links but different weight values ​​for the links, the two neural networks may be recognized as different from each other.

[0059] A neural network can be composed of a set of one or more nodes. A subset of nodes constituting a neural network can form a layer. Some of the nodes constituting a neural network can form a layer based on their distances from an initial input node. For example, a set of nodes with a distance of n from an initial input node can form n layers. The distance from the initial input node can be defined by the minimum number of links that must be traversed to reach that node from the initial input node. However, this definition of a layer is arbitrary for illustrative purposes, and the degree of a layer within a neural network can be defined in a way different from that described above. For example, a layer of nodes may be defined by its distance from a final output node.

[0060] In one embodiment of the present disclosure, a set of neurons or nodes may be defined by the expression a layer.

[0061] Initial input nodes may refer to one or more nodes within a neural network to which data is directly input without passing through links in their relationships with other nodes. Alternatively, in terms of link-based relationships between nodes within the neural network, they may refer to nodes that do not have other input nodes connected by links. Similarly, final output nodes may refer to one or more nodes within a neural network that do not have output nodes in their relationships with other nodes. Furthermore, hidden nodes may refer to nodes constituting the neural network that are neither initial input nodes nor final output nodes.

[0062] A neural network according to one embodiment of the present disclosure may have the number of nodes in the input layer equal to the number of nodes in the output layer, and may be a neural network in which the number of nodes decreases and then increases again as it progresses from the input layer to the hidden layer. Additionally, a neural network according to another embodiment of the present disclosure may have the number of nodes in the input layer less than the number of nodes in the output layer, and may be a neural network in which the number of nodes decreases as it progresses from the input layer to the hidden layer. Additionally, a neural network according to yet another embodiment of the present disclosure may have the number of nodes in the input layer greater than the number of nodes in the output layer, and may be a neural network in which the number of nodes increases as it progresses from the input layer to the hidden layer. A neural network according to yet another embodiment of the present disclosure may be a neural network in which the above-described neural networks are combined.

[0063] An artificial intelligence-based model according to one embodiment of the present disclosure may include a deep neural network (DNN). A deep neural network may refer to a neural network that includes a plurality of hidden layers in addition to an input layer and an output layer. By using a deep neural network, latent structures of data can be identified. That is, latent structures of photos, text, video, voice, protein sequence structures, gene sequence structures, peptide sequence structures, music (e.g., what objects are in the photo, what is the content and emotion of the text, what is the content and emotion of the voice, etc.), and / or binding affinity between peptides and MHCs can be identified. Deep neural networks may include convolutional neural networks (CNN), recurrent neural networks (RNN), autoencoders, restricted Boltzmann machines (RBM), deep belief networks (DBN), Q networks, U networks, Siamese networks, Generative Adversarial Networks (GAN), Transformers, etc. The description of deep neural networks described above is merely illustrative and the present disclosure is not limited thereto.

[0064] The artificial intelligence-based model of the present disclosure may be represented by a network structure of any structure described above, including an input layer, a hidden layer, and an output layer.

[0065] A neural network that can be used in an artificial intelligence-based model of the present disclosure may be trained in at least one of supervised learning, unsupervised learning, semi-supervised learning, transfer learning, active learning, or reinforcement learning. Training of a neural network may be a process of applying knowledge to the neural network to perform a specific operation.

[0066] Neural networks can be trained to minimize the error in their output. The training process involves repeatedly inputting training data into the network, calculating the error between the network's output and the target for the training data, and updating the weights of each node by backpropagating the error from the output layer to the input layer in a direction that reduces the error. In supervised learning, training data is used where the correct answer is labeled for each data point (i.e., labeled training data), whereas in unsupervised learning, the correct answer may not be labeled for each training data point. For instance, in the case of supervised learning for data classification, the training data may consist of data where each training point is labeled with a category. Labeled training data is input into the neural network, and the error can be calculated by comparing the network's output (category) with the labels of the training data. As another example, in the case of unsupervised learning for data classification, the error can be calculated by comparing the input training data with the neural network's output. The calculated error is backpropagated in the neural network (i.e., from the output layer to the input layer), and through backpropagation, the connection weights of each node in each layer of the neural network can be updated. The amount of change in the connection weights of each node being updated can be determined by the learning rate. The neural network's calculation of the input data and the backpropagation of the error can constitute a learning cycle (epoch). The learning rate can be applied differently depending on the number of iterations of the neural network's learning cycle. For example, a high learning rate can be used in the early stages of training to quickly achieve a certain level of performance and increase efficiency, while a low learning rate can be used in the later stages to improve accuracy.

[0067] In the training of neural networks, the training data is generally a subset of the real-world data (i.e., the data intended to be processed using the trained neural network). Consequently, a training cycle may exist where errors decrease on the training data but increase on the real-world data. Overfitting is a phenomenon where the network learns excessively on the training data, leading to increased errors on the real-world data. For example, a neural network trained on yellow cats might fail to recognize cats when seeing anything other than yellow, which can be considered a type of overfitting. Overfitting can act as a cause for increased errors in machine learning algorithms. Various optimization methods can be used to prevent this overfitting. To prevent overfitting, methods such as increasing the training data, regularization, dropout (which disables some nodes in the network during training), and the use of batch normalization layers can be applied.

[0069] FIG. 3 is a conceptual diagram showing the environment in which an end effector device (300) according to one embodiment of the present disclosure operates and the structure of the end effector device (300).

[0070] The concept of the present disclosure is to eliminate the problem of geometric collision that inevitably occurs when the gripping portion and the insertion portion are identical. To this end, a hand-off method is applied in which the agent transmitting force between the axially shaped restraining member (330) and the pressing member (470b) is sequentially switched. The specific operating principle of the fastening by the two-stage hand-off regarding this will be described later with reference to FIGS. 4a and 4b.

[0071] First, the working environment of the end effector device (300) of the present disclosure is described. The working environment of the end effector may be the interior of the recess (350), and may be a space where external gripping is physically restricted because the webbing (340) is connected to the outside of the insertion member (310).

[0072] Specifically, the insertion member (310) may include a slot (314) of the insertion member formed through the central portion and may be connected to the main body (312) of the insertion member on the lower side connected to the webbing (340). Correspondingly, the receiving member (320) is provided with an inlet (324) of the receiving member into which the insertion member (310) is inserted, and may include an internal latch (322) of the receiving member (320) inside which is coupled to the slot (314) of the insertion member upon completion of insertion to maintain a coupled state.

[0073] In the present disclosure, the insertion member (310) may be, for example, a tongue part of a seat belt, and the receiving member (320) may be a buckle into which the tongue is inserted.

[0074] Next, an end effector device (300) according to one embodiment of the present disclosure will be described. The end effector device (300) may be a device for precisely fastening an insertion member (310) of a fastening structure to a receiving member (320) in an automated manner within a confined space and an environment of interference caused by surrounding structures.

[0075] To overcome the previously described narrow space and webbing (340) interference constraint environment, the end effector device (300) of the present disclosure may be configured as follows, including an axial restraining member (330) responsible for gripping and initial transporting an insertion member (310), a restraining auxiliary member (332) that supplements the stability of the restraining member, and a pressing member (470b) that transmits force for complete fastening. Hereinafter, each component and their organic combination relationship can be described in detail with reference to the drawings.

[0076] First, the axially shaped restraining member (330) included in the end effector device (300) may include an expanding mandrel that enters from the top into the slot (314) of the insertion member and performs a gripping function. The axially shaped restraining member (330) enters the slot (314) of the insertion member in a contracted state and then expands to correspond to the cross-sectional shape (e.g., rectangular) of the slot (314) of the insertion member. By gripping the inner wall of the slot (314) of the insertion member in a form-fit or frictional manner, the rotation in the circumferential direction and the variation in the lateral posture relative to the insertion axis of the insertion member (310) can be stably restrained without external interference with the webbing (340) or the recess (350).

[0077] Additionally, a restraining auxiliary member (332) arranged coaxially around the circumference of the axially shaped restraining member (330) may be provided. The restraining auxiliary member (332) may include a coaxial spring pusher foot and can elastically press the upper surface of the insertion member (310) when the axially shaped restraining member (330) grips the insertion member (310). This prevents the axial force from being concentrated solely on the mandrel during movement and ensures that the axial force is evenly transmitted through the upper surface of the insertion member (310), thereby having the effect of suppressing prying deformation in which the slot (314) of the insertion member opens.

[0078] Additionally, the end effector device (300) may include a pressure member (470b). The pressure member (470b) may include a body pusher and operates after the axially shaped restraining member (330) contracts and retracts upward near the entrance (324) of the receiving member to release the restraint, and performs the function of pushing the insertion member (310) all the way into the receiving member (320). At this time, the pressure member (470b) may be provided in a fork or U-shape so as to press both rear sides with the webbing (340) in between, in order to avoid physical collision with the webbing (340) attached to the main body (312) of the insertion member.

[0079] Additionally, the end effector device (300) may be provided with a tension member (not shown) for verifying the connection, along with a pressure member (470b). The tension member may include a retaining lip. The tension member is provided in a shape that allows it to be caught on the rear corner of the main body (312) of the insert member. Accordingly, the pressure member (470b) can perform not only an insertion operation of pushing the insert member (310) in, but also a tension operation of pulling the insert member (310) with a specified load to physically verify the connection between the slot (314) of the insert member and the internal latch (322) of the receiving member through the provided tension member.

[0080] Additionally, the end effector device (300) may include a mandrel drive / retraction actuator (not shown). The mandrel drive / retraction actuator can drive the physical deformation of the axially shaped restraining member (330), that is, the expansion and contraction movements within the slot (314) of the insertion member. Furthermore, when transitioning to the handoff stage after the insertion member (310) has been moved to the receiving member (320), the mandrel drive / retraction actuator can perform a vertical drive to retract the contracted restraining member (330) upward from the insertion member (310), thereby physically clearing the path required for subsequent movements.

[0081] In addition, the end effector device (300) according to one embodiment of the present disclosure may further include a visual recognition module (not shown) and a physical quantity measuring member (360) to increase the precision and reliability of the automated assembly process. Below, the visual recognition module (not shown) and the physical quantity measuring member (360) and their organic combination relationship will be described in more detail.

[0082] The above visual perception module (not shown) may include an eye-in-hand type vision module (e.g., a 2D camera and a ToF (time of flight) sensor, a structured light sensor, etc.). The above visual perception module (not shown) may estimate the initial posture of the insertion member (310) before the restraining member (330) grasps the insertion member (310), or may precisely estimate the position or angle of the entrance (324) of the receiving member when moving after grasping. The above visual perception module (not shown) may use oblique illumination or an angle to correspond to the shading of the recess (350).

[0083] The physical quantity measuring member (360) may include a 6-axis force / torque sensor. i) The physical quantity measuring member (360) detects contact between objects when the restraining member (330) guides the insertion member (310) toward the receiving member (320), ii) performs a search for the inlet (324) of the receiving member by performing a spiral search or a Lissajous search, etc., iii) provides data to determine the primary success of the fastening by detecting a change in force at the moment when the internal latch (322) of the receiving member engages with the slot (314) of the insertion member when the pressing member (470b) fully inserts the insertion member (310), and iv) finally, performs a final verification of the fastening using tension with a specified load. (This is explained in more detail in FIG. 4b.)

[0084] The end effector device (300) may be equipped with a compliance module (not shown) as a correction mechanism for precise insertion induction. The compliance module may be implemented as a remote center of compliance (RCC) device or an active impedance control unit on the robot side. The compliance module may cooperate with the induction of the lead-in of a funnel having a concave shape at the entrance (324) of the receiving member and a chamfer having a narrowing shape at the end of the insertion member (310).

[0085] Additionally, the robot device combined with the end effector device (300) may include a processor (110) that performs state machine-based sequence control to govern the overall operation. The processor (110) can manage sequences and state transitions that integrate visual data from the visual perception module (not shown), the movement of the robot device, the operation of the end effector device (300), and the judgment signal of the physical quantity measuring member (360), going beyond simply operating the robot device or the end effector device (300). Through this, state transitions between each assembly step can be automatically controlled without error.

[0086] Finally, the end effector device (300) may optionally include an auxiliary fixture to mechanically correct initial uncertainty in the assembly environment. For example, a presenter nest may be provided in the work area to align an insert member (310) that is suspended from the webbing (340) and has an initial poor orientation so that the robot can pick it up easily. Additionally, a floating nest may be provided to absorb minute lateral errors of the receiving member (320) with a fine spring to further improve the assembly success rate.

[0087] FIG. 4a is a conceptual diagram schematically illustrating the restraint and movement steps corresponding to the first phase (phase 1) when the end effector device (300) according to one embodiment of the present disclosure fastens the insertion member (310) to the receiving member (320).

[0088] According to one embodiment of the present disclosure, a fastening method utilizing an end effector device (300) adopts a two-stage hand-off insertion method that changes the subject transmitting the force, and FIG. 4a specifically illustrates a restraint and movement step through an axially shaped restraining member (330) which is a first phase (phase 1).

[0089] First, since the insertion member (310) is suspended from the webbing (340) and its initial position or orientation may be indeterminate, a visual perception module (not shown) can estimate the position and orientation of the insertion member (310) and, based on the estimation, guide the axially shaped restraining member (330) to accurately enter the upper part of the slot (314) of the insertion member.

[0090] Subsequently, the entry of the axial-shaped restraining member (330) and the restraint of the insertion member (310) by the axial-shaped restraining member (330) may follow. The axial-shaped restraining member (330) may enter vertically through the upper part of the slot (314) of the insertion member in a contracted state to avoid interference with the surrounding webbing (340) or the recess (350). Immediately after reaching the inside of the slot (314) of the insertion member, the axial-shaped restraining member (330) may be mechanically deformed to correspond to the cross-sectional shape of the slot (314). The deformation may be expansion. Through this, the restraining member (330) forms a form-fit or frictional connection with the inner wall of the slot (314) of the insertion member, and as a result, the insertion member (310) can be firmly restrained so as not to rotate or oscillate in the lateral direction. At this time, a restraining auxiliary member (332) arranged coaxially with the above-mentioned shaft-shaped restraining member (330) can elastically press the upper surface of the insertion member (310). The specific behavior of the restraining auxiliary member (332) is as described above in FIG. 3.

[0091] Afterward, while the insertion member (310) is stably restrained, the shaft-shaped restraining member (330) can move the insertion member (310) toward the receiving member (320).

[0092] In the above movement, the position and orientation of the inlet (324) of the receiving member are estimated through a visual perception module (not shown), and based on the estimation result, the axially shaped restraining member (330) can perform a first alignment until the tip of the inserting member (310) comes into contact with the inlet (324) of the receiving member. The first alignment may be a coarse alignment. When the tip of the inserting member (310) comes into contact with the inlet (324) of the receiving member as a result of the first alignment, the physical quantity measuring member (360) can detect the contact between the tip of the inserting member (310) and the inlet (324) of the receiving member. Next, the processor (110) can perform spiral search control based on the force / torque (F / T) value output from the physical quantity measuring member (360) to secondarily align the tip of the insertion member (310) with the inlet (324) of the receiving member. The second alignment may be a fine alignment.

[0093] Afterward, once the second alignment is completed, movement is performed by the axial-shaped restraining member (330). At this time, the axial-shaped restraining member (330) can push the insertion member (310) into the receiving member (320) until just before the housing of the axial-shaped restraining member (330) or the end effector device (300) collides with the housing of the receiving member (320). That is, at the point when the movement by the axial-shaped restraining member (330) is completed, the slot (314) of the insertion member may still be located outside the receiving member (320).

[0094] Meanwhile, during the first phase, the pressure member (470b) may remain in a standby state without applying physical force to or contacting the rear surface of the main body (312) of the insertion member or the webbing (340). This may be a process to resolve a geometric conflict where the place where the shaft-shaped restraining member (330) restrains the slot (314) of the insertion member during the first phase is the place to be inserted by the second phase described later.

[0095] Next, the specific principle of releasing the constraint that the shaft-shaped restraining member (330) applied to the slot (314) of the insertion member, and the pressure member (470b) taking over the role of force transmission to achieve complete connection between the insertion member (310) and the receiving member (320), will be described later in the following description related to FIG. 4b.

[0096] FIG. 4b is a conceptual diagram schematically illustrating the release of restraint and completion of fastening corresponding to the second phase when the end effector device (300) according to one embodiment of the present disclosure fastens the insertion member (310) to the receiving member (320).

[0097] As described above in relation to FIG. 4a, at the point where the insertion member (310) is moved to the receiving member (320) by the axial-shaped restraining member (330), the slot (314) of the insertion member may still be located outside the receiving member (320). Since the slot (314) of the insertion member, which is the target of the gripping of the axial-shaped restraining member (330), is the part that must be inserted to complete the fastening, if the axial-shaped restraining member (330) advances all the way toward the receiving member (320) while maintaining the grip in this state, an inevitable geometric collision may occur between the axial-shaped restraining member (330) and the outer housing of the receiving member (320). The present disclosure can resolve the limitations of the prior art through a two-stage handoff (switching of the force transmission subject).

[0098] First, just before the slot (314) of the insertion member is inserted into the interior of the receiving member (320), the axial restraining member (330) can preemptively release the restraint on the insertion member (310). The restraining member (330), which had expanded and was gripping the inner wall of the slot (314) of the insertion member, returns to its original contracted state and can retract upward to completely exit the slot (314) of the insertion member. Through this, a physical trajectory is secured through which the slot (314) of the insertion member can be inserted into the receiving member (320) without obstruction, and geometric interference can be avoided.

[0099] Subsequently, the axially shaped restraining member (330) retracts, and the initiative for power transmission, which has been emptied, is immediately transferred (handed off) to the pressing member (470b). The pressing member (470b), which was in a standby state while the insertion member (310) was moving to the receiving member (320), can directly press the rear side of the main body (312) of the insertion member to perform insertion that pushes the insertion member (310) all the way into the receiving member (320). Here, the structural feature of the pressing member (470b) adopting a fork or U-shape, etc., to avoid geometric interference with the webbing (340) and the recess (350) and stably press both rear sides of the main body (312) of the insertion member, is as previously described in FIG. 3, etc.

[0100] Next, as the pressure member (470b) advances, the slot (314) of the insertion member reaches deep inside the receiving member (320), and the internal latch (322) of the receiving member can be mechanically coupled with the slot (314) of the insertion member.

[0101] Here, the end effector device (300) can perform a connection determination step through the physical quantity measuring member (360). Specifically, at the moment when the internal latch (322) of the receiving member and the slot (314) of the insertion member are coupled, the insertion force acting in the pressure direction may change. The change may be a force drop in the insertion force, and the physical quantity measuring member (360) can detect the force drop in the insertion force as a signature. If necessary, the impact force may be reduced by an event trigger impedance that immediately lowers only the rigidity toward the insertion axis at the moment when the slot (314) of the insertion member and the internal latch (322) of the receiving member are coupled. The processor (110) can primarily determine whether the coupling of the slot (314) of the insertion member and the internal latch (322) of the receiving member is successful.

[0102] Furthermore, the present disclosure may not stop at completing the connection between the slot (314) of the insert member and the internal latch (322) of the receiving member, but may additionally perform a connection verification step to quantitatively guarantee the reliability of the connection between the insert member (310) and the receiving member (320). After the connection is completed, a tension verification may be performed by pulling the main body (312) of the insert member in the reverse direction of insertion using a tension member (not shown) provided in the end effector device (300). The processor (110) can verify that the complete connection between the insert member (310) and the receiving member (320) is finally maintained by confirming that the insert member (310) does not detach even though the tension force has reached a specified load.

[0103] Meanwhile, to verify that the connection is maintained, tensioning can be performed by pulling the webbing (340) connected to the main body (312) of the insert member.

[0104] Next, the end effector device (300) can return to the next cycle after disengagement.

[0105] The end effector device (300) according to one embodiment of the present disclosure described above and the fastening method utilizing it are not limited to the aforementioned disclosure and can be widely applied and modified to suit various industrial fields and work environments. The present disclosure basically has the potential to be applied throughout the entire latch-type or snap-fit ​​connector assembly process, in which the insertion member (310) must be inserted all the way into the receiving member (320).

[0106] According to one embodiment of the present disclosure, the present disclosure can be primarily utilized to assemble an insertion member (310) and a receiving member (320) of a vehicle seat belt, or to automate end-of-line (EOL) inspection and durability testing requiring tens of thousands of repeated insertions and releases.

[0107] Furthermore, the technical concept of the present disclosure is not limited to the automotive industry and can be flexibly applied to assembly processes for seat belts in aircraft and railway seats, or to special buckle fastening processes using tie-down, quick release, and side release methods used to secure cargo in the military and logistics fields.

[0108] In addition, it can be widely applied to automated processes for fixing pallet packaging materials, as well as to processes for inserting electrical connectors and industrial fasteners that have a hole-shaped gripping feature such as a slot (314) of an insertion member and must be fully inserted into the interior of a receiving member (320).

[0109] In one embodiment of the present disclosure, the cross-sectional shape of the axial restraint member (330) that enters the slot (314) of the insertion member to form a form-fit may be varied. For example, depending on the geometric characteristics of the insertion member (310), the expansion of the axial restraint member (330) may be selectively configured to be in the long side direction or the short side direction. Additionally, to maximize gripping stability, the physical expansion structure of the axial restraint member (330) may be modified into a hybrid form that combines a vacuum suction method or a magnetic auxiliary means using an electromagnet, and a pin-shaped insertion structure may be combined with a surface pad to increase gripping force while minimizing interference.

[0110] In one embodiment of the present disclosure, the method of force transmission for pushing the insertion member (310) through the inlet (324) of the receiving member to the end can also be varied. In one embodiment, the pressurizing member (470b) may be configured to be driven by a separate independent actuator that is controlled independently of the drive of the robot arm. Conversely, for the simplification of hardware, the structure may be modified so that after the axially shaped restraining member (330) contracts and retracts to clear the insertion path, the retaining lip of the pressurizing member (470b) directly pushes the rear surface of the main body (312) of the insertion member using the axial force of the robot arm itself without a separate drive device.

[0111] In one embodiment of the present disclosure, the present disclosure can be extended to a dual-arm system using a plurality of multi-joint robots. For example, the roles can be divided such that the first robot arm elastically holds and aligns the receiving member (320) through a floating nest, and the end effector device (300) mounted on the second robot arm grasps and inserts the insertion member (310).

[0112] In one embodiment of the present disclosure, the control logic for searching the entrance (324) of a receiving member and controlling the latch coupling using a force / torque (F / T) signal obtained from a physical quantity measuring member (360) can be replaced with an artificial intelligence-based method. That is, instead of the alignment determination and fastening completion determination using the aforementioned spiral search, by installing a reinforcement learning (RL) and imitation learning (IL) policy model trained based on the signal of the physical quantity measuring member (360) into the processor (110), it is possible to perform a flexible and intelligent alignment determination and fastening success determination, similar to a human hand, even within a narrow recess (350).

[0113] Furthermore, variations in the verification process confirming the success of the connection are also possible. In addition to the method of applying tensile force using the aforementioned pressure member (470b), the accuracy of the verification can be maximized by fusing an acoustic signal that captures an auditory signal (click sound) generated at the moment the slot (314) of the insertion member engages with the internal latch (322) of the receiving member, or a vibration signal that detects a change in the speed of the robot joint due to the impact force of the connection.

[0114] In addition, the visual perception module (not shown) can also be flexibly changed according to the shading conditions of the object or work environment. In addition to the combination of a 2D camera and a ToF (time of flight) sensor, a structured light method may be selectively applied, and to ensure visibility inside the recess (350), the lighting angle may be varied or a method of combining multi-view images may be applied.

[0115] Meanwhile, a computer-readable medium storing a data structure is disclosed according to an embodiment of the present disclosure.

[0116] A computer-readable medium storing a data structure according to one embodiment of the present disclosure is disclosed. The aforementioned data structure may be stored in a storage unit in the present disclosure, executed by a processor, and transmitted and received by a communication unit.

[0117] A data structure can refer to the organization, management, and storage of data that enables efficient access and modification of data. A data structure can refer to the organization of data for solving specific problems (e.g., data analysis, data retrieval, data storage, data modification). A data structure may also be defined by physical or logical relationships between data elements designed to support specific data processing functions. Logical relationships between data elements may include connections between user-defined data elements. Physical relationships between data elements may include actual relationships between data elements physically stored on a computer-readable storage medium (e.g., a permanent storage device). Specifically, a data structure may include sets of data, relationships between data, and functions or instructions applicable to the data. Through an effectively designed data structure, a computing device can perform operations while minimizing the use of the device's resources. Specifically, through an effectively designed data structure, a computing device can increase the efficiency of operations, reading, insertion, deletion, comparison, exchange, and retrieval.

[0118] Data structures can be classified into linear and non-linear data structures based on their form. A linear data structure is one where only one piece of data is connected to the next. Linear data structures can include lists, stacks, queues, and deques. A list can refer to a set of data that maintains an internal order. Lists can include linked lists. A linked list is a data structure where data is connected in a line, with each piece of data possessing a pointer. In a linked list, the pointer can contain information regarding the connection to the next or previous data. Depending on its form, a linked list can be represented as a singly linked list, a doubly linked list, or a circular linked list. A stack is a data arrangement structure that allows for restricted access to data. A stack can be a linear data structure where data can be processed (e.g., insertion or deletion) only at one end. Data stored in a stack can be a Last-In, First-Out (LIFO) data structure, meaning that the later an item is entered, the sooner it is retrieved. A queue is a data sequence structure that allows for limited access to data; unlike a stack, it can be a FIFO (First in First Out) data structure where data stored later is retrieved later. A deque is a data structure that can process data at both ends.

[0119] Non-linear data structures can be structures where multiple data are connected after a single piece of data. Non-linear data structures may include graph data structures. A graph data structure can be defined by vertices and edges, and an edge may include a line connecting two different vertices. Graph data structures may include tree data structures. A tree data structure may be a data structure where there is only one path connecting two different vertices among the multiple vertices included in the tree. In other words, it may be a data structure that does not form a loop in a graph data structure.

[0120] Throughout this specification, the terms artificial intelligence-based model, computational model, neural network, network function, and neural network may be used interchangeably. Hereinafter, they will be described uniformly as neural network. A data structure may include a neural network. Furthermore, a data structure including a neural network may be stored on a computer-readable medium. A data structure including a neural network may also include data preprocessed for processing by the neural network, data input to the neural network, weights of the neural network, hyperparameters of the neural network, data obtained from the neural network, activation functions associated with each node or layer of the neural network, loss functions for learning the neural network, etc. A data structure including a neural network may include any of the components disclosed above. That is, a data structure including a neural network may be configured to include all or any combination thereof, such as data preprocessed for processing by the neural network, data input to the neural network, weights of the neural network, hyperparameters of the neural network, data obtained from the neural network, activation functions associated with each node or layer of the neural network, and loss functions for learning the neural network. In addition to the configurations described above, a data structure including a neural network may include any other information that determines the characteristics of the neural network. Furthermore, the data structure may include any form of data used or generated during the computational process of the neural network, and is not limited to the foregoing. A computer-readable medium may include a computer-readable recording medium and / or a computer-readable transmission medium. A neural network may be composed of a set of interconnected computational units that may generally be referred to as nodes. These nodes may also be referred to as neurons. A neural network is composed of at least one node.

[0121] A data structure may include data input to a neural network. A data structure including data input to a neural network may be stored on a computer-readable medium. Data input to a neural network may include training data input during the neural network learning process and / or input data input to a neural network after training is complete. Data input to a neural network may include pre-processed data and / or data subject to pre-processing. Pre-processing may include a data processing process for inputting data into a neural network. Accordingly, a data structure may include data subject to pre-processing and data generated by pre-processing. The aforementioned data structure is merely an example, and the present disclosure is not limited thereto.

[0122] The data structure may include weights of the neural network. (In this specification, weights and parameters may be used interchangeably.) The data structure including the weights of the neural network may be stored on a computer-readable medium. The neural network may include multiple weights. The weights may be variable and may be varied by a user or an algorithm to enable the neural network to perform a desired function. For example, if one or more input nodes are interconnected to a single output node by respective links, the output node may determine the data value output from the output node based on values ​​input to the input nodes connected to the output node and weights set on the links corresponding to each input node. The aforementioned data structure is merely an example and the present disclosure is not limited thereto.

[0123] As an example rather than a limitation, weights may include weights that vary during the neural network learning process and / or weights for which neural network learning is completed. Weights that vary during the neural network learning process may include weights at the start of the learning cycle and / or weights that vary during the learning cycle. Weights for which neural network learning is completed may include weights for which the learning cycle is completed. Accordingly, a data structure containing the weights of a neural network may include a data structure containing weights that vary during the neural network learning process and / or weights for which neural network learning is completed. Therefore, the weights and / or combinations of each weight described above are included in the data structure containing the weights of a neural network. The aforementioned data structure is merely an example and the present disclosure is not limited thereto.

[0124] Data structures containing the weights of a neural network may be stored on a computer-readable storage medium (e.g., memory, hard disk) after undergoing a serialization process. Serialization may be a process of converting a data structure into a form that can be stored on the same or different computing devices and later reconstructed for use. A computing device may serialize the data structure to transmit and receive data over a network. A serialized data structure containing the weights of a neural network may be reconstructed on the same or different computing devices through deserialization. Data structures containing the weights of a neural network are not limited to serialization. Furthermore, data structures containing the weights of a neural network may include data structures designed to increase computational efficiency while minimizing the use of computing device resources (e.g., B-Tree, R-Tree, Trie, m-way search tree, AVL tree, Red-Black Tree in non-linear data structures). The foregoing is merely an example and the present disclosure is not limited thereto.

[0125] The data structure may include hyperparameters of the neural network. The data structure including the neural network hyperparameters may be stored on a computer-readable medium. The hyperparameters may be variables that are varied by the user. The hyperparameters may include, for example, a learning rate, a cost function, the number of learning cycle iterations, weight initialization (e.g., setting the range of weight values ​​subject to weight initialization), and the number of hidden units (e.g., the number of hidden layers, the number of nodes in the hidden layers). The aforementioned data structure is merely an example, and the present disclosure is not limited thereto.

[0126] FIG. 5 is a flowchart illustrating a two-stage handoff method for automatic buckle fastening according to one embodiment of the present disclosure.

[0127] Referring to FIG. 5, a method for fastening an insert member (310) of a fastening structure to a receiving member (320) of the fastening structure, performed by an end effector (300) according to one embodiment of the present disclosure, comprises: a step (S510) in which an axially shaped restraining member (330) provided in the end effector (300) enters a slot (314) of the insert member and is deformed to restrain the insert member (310); a step (S520) in which the axially shaped restraining member (330) moves the insert member (310) to the receiving member (320) and then releases the restraint on the insert member (310); and a step (S530) in which a pressing member (470b) provided in the end effector (300) presses the main body of the insert member (310) to fasten the insert member (310) and the receiving member (320). and may include a step (S540) of verifying whether the slot (314) of the insertion member and the internal latch (322) of the receiving member are coupled by the tension member provided in the end effector (300) pulling the main body (312) of the insertion member to a specified load.

[0128] FIG. 6 is a brief and general schematic diagram of an exemplary computing environment in which embodiments of the present disclosure may be implemented.

[0129] Although the present disclosure has been described as generally being implementable by a computing device, a person skilled in the art will be well aware that the present disclosure may be implemented in combination with computer-executable instructions and / or other program modules that can be executed on one or more computers and / or as a combination of hardware and software.

[0130] Generally, a program module includes routines, programs, components, data structures, etc., that perform a specific task or implement a specific abstract data type. Furthermore, a person skilled in the art will be well aware that the method of the present disclosure can be implemented in other computer system configurations, including single-processor or multi-processor computer systems, minicomputers, mainframe computers, as well as personal computers, handheld computing devices, microprocessor-based or programmable consumer electronics, etc. (each of which may be connected to and operated with one or more associated devices).

[0131] The embodiments described in this disclosure may also be implemented in a distributed computing environment in which tasks are performed by remote processing devices connected via a communication network. In a distributed computing environment, program modules may be located in both local and remote memory storage devices.

[0132] Computers typically include various computer-readable media. Any medium accessible by a computer may be a computer-readable medium, and such computer-readable media include volatile and non-volatile media, transitory and non-transitory media, and removable and non-removable media. By example, but not limiting, computer-readable media may include computer-readable storage media and computer-readable transmission media. Computer-readable storage media include volatile and non-volatile media, transitory and non-transitory media, and removable and non-removable media implemented by any method or technique for storing information such as computer-readable instructions, data structures, program modules, or other data. Computer-readable storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, DVD (digital video disk) or other optical disk storage devices, magnetic cassettes, magnetic tapes, magnetic disk storage devices or other magnetic storage devices, or any other media that can be accessed by a computer and used to store desired information.

[0133] Computer-readable transmission media typically include all information transmission media that implement computer-readable instructions, data structures, program modules, or other data, etc., on a modulated data signal, such as a carrier wave or other transport mechanism. The term modulated data signal means a signal in which one or more of the characteristics of the signal are set or modified to encode information within the signal. By example, not limiting, computer-readable transmission media include wired media, such as wired networks or direct-wired connections, and wireless media, such as acoustic, RF, infrared, and other wireless media. Any combination of the media described above is also considered to be within the scope of computer-readable transmission media.

[0134] An exemplary environment for implementing various aspects of the present disclosure, including a computer (1102), is shown, wherein the computer (1102) includes a processing unit (1104), system memory (1106), and a system bus (1108). The system bus (1108) connects system components, including system memory (1106) (but not limited thereto), to the processing unit (1104). The processing unit (1104) may be any processor among various commercial processors. Dual processors and other multiprocessor architectures may also be used as the processing unit (1104).

[0135] The system bus (1108) may be any of several types of bus structures that can be additionally interconnected to a local bus using any of the memory bus, peripheral bus, and various commercial bus architectures. System memory (1106) includes read-only memory (ROM) (1110) and random access memory (RAM) (1112). The basic input / output system (BIOS) is stored in non-volatile memory (1110), such as ROM, EPROM, EEPROM, etc., and this BIOS includes basic routines that help transfer information between components within the computer (1102) at times such as during startup. The RAM (1112) may also include high-speed RAM, such as static RAM, for caching data.

[0136] The computer (1102) also includes an internal hard disk drive (HDD) (1114) (e.g., EIDE, SATA)—this internal hard disk drive (1114) may also be configured for external use within a suitable chassis (not shown)—a magnetic floppy disk drive (FDD) (1116) (e.g., for reading from or writing to a removable diskette (1118)), and an optical disk drive (1120) (e.g., for reading from a CD-ROM disk (1122) or reading from or writing to other high-capacity optical media such as a DVD). The hard disk drive (1114), the magnetic disk drive (1116), and the optical disk drive (1120) may each be connected to the system bus (1108) by a hard disk drive interface (1124), a magnetic disk drive interface (1126), and an optical drive interface (1128). The interface (1124) for implementing an external drive includes at least one or both of USB (Universal Serial Bus) and IEEE 1394 interface technologies.

[0137] These drives and associated computer-readable media provide non-volatile storage of data, data structures, computer-executable instructions, etc. In the case of a computer (1102), the drives and media correspond to storing any data in a suitable digital format. Although the description of computer-readable media above refers to HDDs, removable magnetic disks, and removable optical media such as CDs or DVDs, a person skilled in the art will know that other types of computer-readable media, such as zip drives, magnetic cassettes, flash memory cards, cartridges, etc., may also be used in exemplary operating environments and that any of these media may contain computer-executable instructions for performing the methods of the present disclosure.

[0138] A number of program modules, including an operating system (1130), one or more application programs (1132), other program modules (1134), and program data (1136), may be stored in the drive and RAM (1112). All or part of the operating system, application, module and / or data may also be cached in RAM (1112). It will be well known that the present disclosure may be implemented in various commercially available operating systems or combinations of operating systems.

[0139] The user can input commands and information into the computer (1102) through one or more wired / wireless input devices, such as a pointing device like a keyboard (1138) and a mouse (1140). Other input devices (not shown) may include a microphone, an IR remote control, a joystick, a game pad, a stylus pen, a touch screen, etc. These and other input devices are often connected to the processing unit (1104) via an input device interface (1142) connected to the system bus (1108), but may also be connected via other interfaces such as a parallel port, an IEEE 1394 serial port, a game port, a USB port, an IR interface, etc.

[0140] A monitor (1144) or other type of display device is also connected to the system bus (1108) via an interface such as a video adapter (1146). In addition to the monitor (1144), the computer generally includes other peripheral output devices (not shown), such as speakers, a printer, and so on.

[0141] The computer (1102) may operate in a networked environment using a logical connection to one or more remote computers, such as remote computer(s) (1148), via wired and / or wireless communication. The remote computer(s) (1148) may be a workstation, a computing device computer, a router, a personal computer, a portable computer, a microprocessor-based entertainment device, a peer device, or other conventional network node, and generally include many or all of the components described for the computer (1102), but for brevity, only the memory storage device (1150) is illustrated. The illustrated logical connection includes a wired / wireless connection to a local area network (LAN) (1152) and / or a larger network, e.g., a wide area network (WAN) (1154). Such LAN and WAN networking environments are common in offices and companies and facilitate enterprise-wide computer networks, such as intranets, all of which can be connected to a global computer network, e.g., the Internet.

[0142] When used in a LAN networking environment, the computer (1102) is connected to a local network (1152) via a wired and / or wireless communication network interface or adapter (1156). The adapter (1156) may facilitate wired or wireless communication to the LAN (1152), and the LAN (1152) may also include a wireless access point installed therein to communicate with the wireless adapter (1156). When used in a WAN networking environment, the computer (1102) may include a modem (1158), be connected to a communication computing device on the WAN (1154), or have other means to establish communication through the WAN (1154), such as through the Internet. The modem (1158), which may be an internal or external and a wired or wireless device, is connected to the system bus (1108) via a serial port interface (1142). In a networked environment, the program modules described for the computer (1102) or parts thereof may be stored in a remote memory / storage device (1150). It will be well known that the illustrated network connection is exemplary and that other means of establishing a communication link between computers may be used.

[0143] The computer (1102) operates to communicate with any wireless device or object that is deployed and operated via wireless communication, for example, a printer, scanner, desktop and / or portable computer, PDA (portable data assistant), communication satellite, any equipment or place associated with a wireless detectable tag, and a telephone. This includes at least Wi-Fi and Bluetooth wireless technologies. Accordingly, the communication may be a predefined structure as in a conventional network, or simply ad hoc communication between at least two devices.

[0144] Wi-Fi (Wireless Fidelity) enables connectivity to the Internet and other sources without wires. Wi-Fi is a wireless technology, similar to a cell phone, that allows devices, such as computers, to transmit and receive data indoors and outdoors—that is, anywhere within the coverage area of ​​a base station. Wi-Fi networks use a wireless technology called IEEE 802.11 (a, b, g, etc.) to provide secure, reliable, and high-speed wireless connections. Wi-Fi can be used to connect computers to each other, to the Internet, and to wired networks (using IEEE 802.3 or Ethernet). Wi-Fi networks can operate in unlicensed 2.4 and 5 GHz wireless bands, for example, at data rates of 11 Mbps (802.11a) or 54 Mbps (802.11b), or in products that include both bands (dual band).

[0145] Those skilled in the art of the present disclosure will understand that information and signals may be represented using any various different technologies and techniques. For example, data, instructions, commands, information, signals, bits, symbols, and chips that may be referenced in the above description may be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.

[0146] Those skilled in the art will understand that the various exemplary logic blocks, modules, processors, means, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented by electronic hardware, various forms of programs or design code (referred to herein as software for convenience), or a combination of all such. To clearly illustrate this interoperability between hardware and software, various exemplary components, blocks, modules, circuits, and steps have been generally described above in relation to their functions. Whether such functions are implemented as hardware or software depends on the design constraints imposed on the specific application and the overall system. Those skilled in the art may implement the functions described in various ways for each specific application, but such implementation decisions should not be interpreted as being outside the scope of this disclosure.

[0147] The various embodiments presented herein may be implemented as methods, devices, or articles manufactured using standard programming and / or engineering techniques. The term "article manufactured" includes a computer program, a carrier, or a medium accessible from any computer-readable storage device. For example, computer-readable storage media include, but are not limited to, magnetic storage devices (e.g., hard disks, floppy disks, magnetic strips, etc.), optical discs (e.g., CDs, DVDs, etc.), smart cards, and flash memory devices (e.g., EEPROMs, cards, sticks, key drives, etc.). Additionally, the various storage media presented herein include one or more devices and / or other machine-readable media for storing information.

[0148] It should be understood that the specific order or hierarchy of steps in the presented processes is an example of exemplary approaches. It should be understood that the specific order or hierarchy of steps in the processes may be rearranged within the scope of this disclosure based on design priorities. The appended method claims provide elements of various steps in a sample order, but do not imply being limited to the specific order or hierarchy presented.

[0149] Description of the presented embodiments is provided so that a person skilled in the art may use or practice the present disclosure. Various modifications to these embodiments will be apparent to a person skilled in the art, and the general principles defined herein may be applied to other embodiments without departing from the scope of the present disclosure. Thus, the present disclosure is not limited to the embodiments presented herein, but should be interpreted in the broadest possible scope consistent with the principles and novel features presented herein. Explanation of the symbols

[0150] 300: End effector device 310: Insertion part 312: Body of the insertion member 314: Slot of insertion member 320: Absence of reception 322: Internal latch of the receiving absence 324: Entrance to the Absence of Reception 330: Constraint member of the axial shape 332: Absence of restraint assistance 340: Webbing 350: Depression 360: Physical quantity measurement absence 470b: Pressurizing member

Claims

Claim 1 An end-effector device for fastening an insert member of a fastening structure to a receiving member of the fastening structure, comprising: an axial restraining member that deforms after entering a slot of the insert member to restrain the insert member, and releases the restraint of the insert member after the insert member is moved to the receiving member; and a pressing member that presses the body of the insert member to fasten the insert member and the receiving member after the insert member is released from the restraint of the axial restraining member. Claim 2 An end effector device according to claim 1, wherein the shaft-shaped restraining member comprises an expansion mandrel having a square cross-section corresponding to the cross-sectional shape of the slot of the insertion member, and the deformation after entering the slot of the insertion member comprises the expansion after entering the slot of the insertion member in a contracted state. Claim 3 An end effector device according to paragraph 2, wherein restraining the insertion member comprises constraining the rotational and lateral orientation of the insertion member by contacting the inner wall of the slot of the insertion member in a form-fit or frictional manner. Claim 4 An end effector device according to paragraph 2, wherein releasing the restraint of the insertion member after the insertion member has been moved to the receiving member comprises the expansion mandrel contracting and retracting to its original state to release the restraint of the insertion member just before the slot of the insertion member is inserted into the entrance of the receiving member. Claim 5 The end effector device according to claim 1, the end effector device further comprises a restraining auxiliary member disposed coaxially around the circumference of the axially shaped restraining member. Claim 6 An end effector device according to claim 5, wherein the restraining auxiliary member comprises a coaxial spring pusher foot that prevents the opening deformation of the slot of the insertion member when the insertion member is moved to the receiving member by the axially shaped restraining member. Claim 7 An end effector device according to claim 1, wherein the pressing member comprises a body pusher formed in a fork or U-shape with the webbing in between to avoid interference with the webbing connected to the main body of the insertion member, and the act of pressing the main body of the insertion member to fasten the insertion member and the receiving member comprises the body pusher pressing the rear surface of the main body of the insertion member to completely insert the insertion member into the receiving member. Claim 8 In claim 1, the end effector device further comprises a tension member formed to be caught on the rear corner of the main body of the insertion member. Claim 9 An end effector device according to claim 8, wherein the tension member includes a retaining lip that verifies whether a connection has been made between the slot of the insert member and the internal latch of the receiving member by pulling the main body of the insert member to a specified load after the insert member and the receiving member are fastened. Claim 10 An end effector device according to claim 1, wherein the fastening structure includes a fastening structure of a seat belt, the insertion member includes a tongue of the seat belt, the main body of the insertion member includes a stopper of the seat belt, and the receiving member includes a buckle of the seat belt. Claim 11 The end effector device according to claim 1 further comprises a visual perception module for estimating the position or orientation of an object, wherein the visual perception module is configured to estimate the position or orientation of the insertion member before the axially shaped restraining member is inserted into the slot of the insertion member, or to estimate the position or orientation of the entrance of the receiving member when the insertion member is moved to the receiving member. Claim 12 In claim 1, the end effector device further comprises a physical quantity measuring member having one or more mechanical quantities as a measurement target. Claim 13 In claim 12, the physical quantity measuring member detects that the insertion member and the receiving member come into contact when the axially shaped restraining member moves the insertion member to the receiving member, and outputs a measurement value that causes the axially shaped restraining member to align the end of the insertion member with the entrance of the receiving member after the insertion member and the receiving member come into contact. Claim 14 In claim 12, the physical quantity measuring member is an end effector device that detects a change in insertion force when the internal latch of the receiving member is coupled to the slot of the insertion member when the pressing member presses the insertion member to connect the insertion member and the receiving member, and outputs a measurement value for determining whether the connection is made. Claim 15 A robot device for fastening an insert member of a fastening structure to a receiving member of the fastening structure, comprising: a robot arm; an end effector coupled to the end of the robot arm; and a processor for controlling the robot arm and the end effector, wherein the end effector comprises: an axially shaped restraining member that deforms after entering a slot of the insert member to restrain the insert member, and releases the restraint of the insert member after the insert member is moved to the receiving member; and a pressing member that presses the body of the insert member to fasten the insert member and the receiving member after the insert member is released from the restraint of the axially shaped restraining member. Claim 16 A method for fastening an insert member of a fastening structure to a receiving member of the fastening structure by means of an end effector coupled to a robot arm, comprising: a step in which an axially shaped restraining member provided in the end effector enters a slot of the insert member and is deformed to restrain the insert member; a step in which the axially shaped restraining member moves the insert member to the receiving member and then releases the restraint on the insert member; and a step in which a pressing member provided in the end effector presses the main body of the insert member to fasten the insert member and the receiving member. Claim 17 In claim 16, the step of connecting comprises a step of detecting a change in insertion force that occurs when an internal latch of a receiving member is connected to a slot of an insertion member provided in the end effector, and outputting a measurement value for determining whether to connect. Claim 18 In claim 16, the method further comprises, after the step of fastening, a step of verifying whether a connection has been made between the slot of the insertion member and the internal latch of the receiving member by pulling the main body of the insertion member with a specified load by a tension member provided in the end effector.

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