Test Robot System For Parts Under Test

Abstract

A test robot system for a part under test comprises a communication unit that communicates with an external device, a tester that tests the part under test, a robot body, a robot arm connected to and supported by the robot body and having multiple joints, and a gripping unit supported at the end region of the robot arm that grips the tester, a sensor unit including a vision camera supported by the robot body that captures the movements of the robot arm and the tester, and a control unit that uses an artificial intelligence model to learn and analyze the movements of the robot arm and the tester from images captured by the vision camera to store multiple movement paths of the robot arm in response to control commands, and when a test command for the part under test is input by a user, controls the robot arm and the gripping unit to grip the tester and move the tester to the test position of the part under test, and controls the communication unit to transmit the test results of the tester to a preset external device.

Description

Technology Field

[0001] The present invention relates to a test robot system for a part under test, and more specifically, to a test robot system for a part under test that moves accurately to the location of the part under test and performs the test. Background Technology

[0003] With the advent of a division of labor society following the Industrial Revolution, robots have been widely used across various industrial sectors to handle tasks that are difficult or dangerous for humans. Furthermore, robots that were primarily used in industrial settings, such as welding robots, are now becoming increasingly integrated into people's daily lives in diverse fields, including cleaning robots, guide robots, and medical robots.

[0004] Industrial robots are general-purpose computer-controlled manipulators composed of links in which joints capable of rotational or linear motion are connected in a continuous sequence. To perform desired tasks using such general multi-jointed robots, the robot's arms must be able to be moved at various angles and accurately positioned at any arbitrary location desired by the user.

[0005] However, even if the program to move the robot arm is accurately entered, there is a problem in that accurate testing of the workpiece cannot be performed automatically because the reliability value of the movement path of the robot arm actually moving according to the control command is not satisfactory. Prior art literature

[0007] Korean Registered Patent No. 10-2112836 Robot Arm Control System The problem to be solved

[0008] Therefore, the objective of the present invention is to provide a test robot system for a part under test that uses an artificial intelligence model to store the movement path of a robot arm according to control commands, thereby enabling the robot to move accurately to the location of the part under test and perform the test. means of solving the problem

[0010] A test robot system for a part under test according to the present invention for achieving the above objective comprises: a communication unit communicating with an external device; a tester for testing the part under test; a robot having a robot body, a robot arm connected to and supported by the robot body and having a plurality of joints, and a gripping unit supported at the end region of the robot arm for gripping the tester; a sensor unit including a vision camera supported by the robot body for capturing the movement of the robot arm and the tester; and a control unit that uses an artificial intelligence model to learn and analyze the movement of the robot arm and the tester from an image captured by the vision camera, stores a plurality of movement paths of the robot arm in response to a control command, and when a test command for the part under test is input from a user, controls the robot arm and the gripping unit to grip the tester and move the tester to a test position of the part under test, and controls the communication unit to transmit the test result of the tester to a preset external device. By inputting control commands for the movement of the robot arm and learning and storing the robot arm's movements using an artificial intelligence model, the robot arm can accurately move to the test position of the part under test when a test command is input, thereby enabling the test to be performed and improving the accuracy and efficiency of the test operation.

[0011] Here, the test device comprises: a test body; a test unit supported by the test body that supplies current to the component under test and tests the condition including defects and abnormalities of the component under test using the returned current; and a display unit disposed on the outside of the test body to indicate the movement of the test device. Since position information can be accurately calculated using the display unit as a reference in an image captured by a vision camera, it is desirable that the movement accuracy of the robot arm can be improved.

[0012] In addition, it is desirable that the above-mentioned display unit be composed of at least one LED that outputs at least one colored light, so that the display unit can be clearly identified in the image captured by the vision camera.

[0013] Here, the control unit learns the movements of the robot arm and the tester from an image captured by the vision camera using an artificial intelligence model, stores multiple different positions of the tester regarding the movement of the robot arm, and when a test command for the part to be tested is input from a user, identifies the position of the part to be tested in the image captured by the vision camera, and controls the robot arm so that the tester moves to the test position based on the identified position of the part to be tested, thereby enabling the test of the part to be tested to be performed by using the vision camera to identify the position of the part to be tested and moving automatically.

[0014] Furthermore, the sensor unit further includes an inertial measurement sensor that measures the movement speed, movement direction, gravity, and acceleration of the robot arm; a tilt detection sensor that detects the tilt of the robot arm; and an illuminance sensor that detects illuminance. It is preferable that the control unit calculates the movement value of the robot arm based on the movement speed, movement direction, gravity, acceleration, tilt, and illuminance of the robot arm detected by the inertial measurement sensor, the tilt detection sensor, and the illuminance detection sensor, thereby enabling more precise calculation of the movement value of the robot arm using a plurality of sensors in conjunction with a vision camera.

[0015] Herein, the system further includes a display unit for displaying the status of the robot, and the control unit stores the normal movement speed range, normal movement direction range, normal gravity range, normal acceleration range, normal inclination range, and normal illumination range of the robot arm, controls the robot arm to operate at preset movement values, and controls the display unit to display at least one of an inspection required mode and a defective state mode when it is determined that the movement speed, movement direction, gravity, acceleration, inclination, and illumination of the robot detected by the inertial measurement sensor, the inclination detection sensor, and the illumination sensor deviate from the normal movement speed range, normal movement direction range, normal gravity range, normal acceleration range, normal inclination range, and normal illumination range. This allows for identifying whether there is a defect regarding the speed, direction, gravity, acceleration, and illumination of the robot arm, thereby identifying defects in various functions of the robot arm, and enables immediate identification of defects in the robot arm and rapid corrective measures, which is desirable for improving the defect rate.

[0016] Furthermore, the gripping portion comprises: a gripping body; a plurality of grippers each having a gripping receiving portion formed to accommodate the largest of the plurality of testers having different sizes; and a gripping fixing portion supported by the gripping body and for fixing the tester received and gripped in the gripping receiving portion. This allows the tester to be gripped accurately and prevents the tester from moving after being gripped, thereby preventing test defects from occurring, which is desirable.

[0017] Here, it is preferable that the gripping fixing part comprises a gripping fixing body coupled to the gripping body so as to be reciprocally movable; and a gripping fixing driving part that drives the gripping fixing body to move, so that the tester can be securely fixed while being received in the gripping receiving part of the gripper. Effects of the invention

[0019] According to the present invention, by inputting a control command for the movement of a robot arm and learning and storing the movement of the robot arm using an artificial intelligence model, when a test command for a part under test is input, the robot arm can accurately move to the test position of the part under test to perform the test, thereby improving the accuracy and efficiency of the test operation.

[0020] In addition, since position information can be accurately calculated using the display unit as a reference in the image captured by the vision camera, there is an effect of improving the movement accuracy of the robot arm.

[0021] In addition, it has the effect of clearly and accurately identifying the display area in the video captured by the vision camera.

[0022] In addition, it has the effect of using a vision camera to identify the location of the part under test and automatically move it to perform testing on the part under test.

[0023] In addition, by using multiple sensors along with a vision camera, it is possible to calculate the movement value of the robot arm more precisely.

[0024] In addition, since it is possible to determine whether there are defects regarding the speed, direction, gravity, acceleration, and illumination of the robot arm, defects can be identified in various functions of the robot arm. This allows for the immediate identification of defects and rapid corrective measures, thereby having the effect of improving the defect rate.

[0025] In addition, it allows for accurate gripping of the testing machine and prevents it from moving after gripping, thereby effectively preventing test defects.

[0026] In addition, it has the effect of ensuring that the testing device is securely fixed while being received in the gripping receiving part of the gripper. Brief explanation of the drawing

[0028] FIG. 1 is a test operation diagram of a test part of a test robot system according to the present invention. Figure 2 is a detailed view of the test machine. Figure 3 is a diagram of the gripper's gripping motion of the test device. Figure 4 is a control block diagram of a test robot system for a part under test. FIG. 5 is a flowchart of a first embodiment of a test method for a test part using a test robot system for a test part according to the present invention. FIG. 6 is a flowchart of a second embodiment of a test method for a test part using a test robot system for a test part. Figure 7 is an example of a deformation of the test robot system of a part under test. Specific details for implementing the invention

[0029] Hereinafter, a test robot system (1) for a test part according to a preferred embodiment of the present invention will be described in detail with reference to the attached drawings.

[0030] FIG. 1 is a test operation diagram of a test part (2) of a test robot system (1) of a test part according to the present invention, FIG. 2 is a detailed diagram of a test machine (20), FIG. 3 is a gripping operation diagram of a gripper of a test machine (20), and FIG. 4 is a control block diagram of a test robot system (1) of a test part.

[0031] The configuration of the test robot system (1) for the test part to be tested is explained with reference to FIGS. 1 to 5.

[0032] The test robot system (1) of the test part includes a communication unit (10), a tester (20), a robot (30), a display unit (40), a user input unit (50), a sensor unit (60), and a control unit (70).

[0033] The communication unit (10) communicates with an external device. The communication unit (10) can perform wireless communication, and the wireless communication includes at least one of infrared communication, RF, Zigbee, and Bluetooth. The communication unit (10) receives a video signal and transmits it to the control unit (70) to be described later, and can be implemented in various ways corresponding to the specifications of the received video signal and the implementation form of the user terminal. For example, the communication unit (10) can wirelessly receive an RF (radio frequency) signal transmitted from a broadcasting station (not shown), or receive a video signal according to composite video, component video, super video, SCART, HDMI (high definition multimedia interface) specifications, etc. via a wired connection. If the video signal is a broadcast signal, the communication unit (10) may include a tuner that tunes the broadcast signal by channel.

[0034] The tester (20) tests the part to be tested (2). The tester (20) includes a test body (21), a test section (22), and a display section (23).

[0035] The test body (21) supports the test section (22) by being held by the gripper (332).

[0036] The test unit (22) is supported by the test body (21) and can supply current to the part to be tested (2) and test the condition including defects and abnormalities of the part to be tested (2) using the returned current.

[0037] The display unit (23) is positioned on the outside of the test body (21) and can display the movement of the test device (20). The display unit (23) may be composed of at least one LED that outputs at least one colored light.

[0038] Here, the test device (20) may be powered by a built-in battery. Additionally, it may include a communication module to transmit test results to the control unit (70).

[0039] The robot (30) includes a robot body (31), a robot arm (32), a gripping part (33), and a robot arm driving part (34).

[0040] The robot body (31) can support the robot arm (32) and can be formed to be fixed or movable.

[0041] The robot arm (32) is connected to and supported by the robot body (31) and has multiple joints. The robot arm (32) can be configured so that multiple joints rotate and move by means of a servo motor and hydraulics, etc.

[0042] The gripping part (33) is supported at the end region of the robot arm (32) and grips the tester (20). The gripping part (33) includes a gripping body (331), a gripper (332), a gripping fixing part (333), and a gripping driving part (334).

[0043] The gripping body (331) is connected to the end of the robot arm (32) and supports the gripper (332).

[0044] The gripper (332) is formed in multiple portions and is shaped similarly to a human hand, and multiple grippers (331) can approach and separate to grip the test device (20). The gripper (332) includes a gripping receiving portion (332-1).

[0045] The receiving portion (332-1) can be formed by being recessed to accommodate the largest tester (20) among a plurality of testers (20) having different sizes.

[0046] The gripping fixing part (333) is supported by the gripping body (331) and is configured to fix the tester (20) received and gripped in the gripping receiving part (332-1). The gripping fixing part (333) includes a gripping fixing body (333-1) and a gripping fixing driving part (333-2).

[0047] The gripping fixing body (333-1) can be coupled to the gripping body (331) so as to be able to move back and forth.

[0048] The gripping fixing drive unit (333-2) can move the gripping fixing main body (333-1).

[0049] The gripping drive unit (334) can be driven so that a plurality of grippers (331) approach and move apart.

[0050] The robot arm drive unit (34) can drive the rotation and movement of the robot arm (32).

[0051] The display unit (40) can display the status of the robot. The display unit (40) displays an image based on an image signal processed by image processing. The implementation method of the display unit (40) is not limited and can be implemented in various display methods such as liquid crystal, plasma, light-emitting diode, organic light-emitting diode, surface conduction electron-emitter, carbon nanotube, nanocrystal, etc.

[0052] The display unit (40) may additionally include additional configurations depending on the implementation method. For example, if the display unit (40) is a liquid crystal type, the display unit (40) includes a liquid crystal display panel (not shown), a backlight unit (not shown) that supplies light thereto, and a panel driving board (not shown) that drives the panel (not shown). The display unit (40) may display a voice recognition result as information regarding the recognized voice. Here, the voice recognition result can be displayed in various forms such as text, graphics, and icons, and the text includes characters and numbers. The display unit (40) may further display candidate commands and application information based on the voice recognition result. The user can check whether the voice has been correctly recognized by the voice recognition result displayed on the display unit (40), and can select a command corresponding to the voice spoken by the user from among the displayed candidate commands by operating the user input unit (50) provided on the remote control, or select and check information related to the voice recognition result.

[0053] The user input unit (50) may be composed of an input means that allows a user to input user commands. The user input unit (50) may receive a user's touch input or a user's remote input using a remote controller and transmit it to the corresponding control unit (70). Additionally, the user input unit (50) may receive voice input spoken by the user and transmit the voice signal to the control unit (70). In that case, the user input unit (50) may be implemented, for example, as a microphone. The user input unit (50) may also perform signal processing on the received voice signal itself. However, the form of user input that the user input unit (50) can receive is not limited to this, and user input such as motion recognition may also be received.

[0054] The sensor unit (60) includes a vision camera (61), an inertial measurement sensor (62), an inclination detection sensor (63), and an illuminance detection sensor (64).

[0055] The vision camera (61) is supported on the robot body (31) and captures the movement of the robot arm (32) and the tester (20).

[0056] The inertial measurement sensor (62) can measure the movement speed, direction of movement, gravity, and acceleration of the robot arm (32).

[0057] The inclination detection sensor (63) can detect the inclination of the robot arm (32).

[0058] The light intensity sensor (64) can detect light intensity.

[0059] The control unit (70) learns and analyzes the movement of the robot arm (32) and the tester (20) in the image captured by the vision camera (61) using an artificial intelligence model, stores multiple movement paths of the robot arm (32) for control commands, and when a test command for the part to be tested (2) is input from a user, controls the robot arm (32) and the gripping unit (33) to grip the tester (20) and move the tester (20) to the test position of the part to be tested (2), and controls the communication unit (10) to transmit the test results of the tester (20) to a preset external device.

[0060] The control unit (70) learns the movement of the robot arm (32) and the tester (20) in the image captured by the vision camera (61) using an artificial intelligence model, stores the positions of multiple different testers (20) for the movement of the robot arm (32), and when a test command for the part to be tested (2) is input from a user, identifies the position of the part to be tested (2) in the image captured by the vision camera (61), and can control the robot arm (32) so that the corresponding tester (20) moves to the test position based on the identified position of the part to be tested (2).

[0061] The control unit (70) can calculate the movement value of the robot arm (32) based on the movement speed and direction of movement of the robot arm (32), gravity, acceleration, inclination, and illuminance detected by the inertial measurement sensor (62), the inclination detection sensor (63), and the illuminance detection sensor (64).

[0062] The control unit (70) stores the normal movement speed range, normal movement direction range, normal gravity range, normal acceleration range, normal inclination range, and normal illumination range of the robot arm (32), controls the robot arm (32) to operate at preset movement values, and can control the display unit (40) to display at least one of an inspection required mode and a defective state mode when it is determined that the movement speed, movement direction, gravity, acceleration, inclination, and illumination of the robot detected by the inertial measurement sensor (62), the inclination detection sensor (63), and the illumination sensor (64) deviate from the normal movement speed range, normal movement direction range, normal gravity range, normal acceleration range, normal inclination range, and normal illumination range.

[0063] FIG. 1 is a test operation diagram of a test part (2) of a test robot system (1) of a test part according to the present invention.

[0064] Fig. 1 (a) A robot (30) is positioned on the left side, and a tester (20) is positioned on the right side.

[0065] FIG. 1 (b) When a user inputs a test command for a part to be tested, the control unit (70) operates the robot arm (32) to grasp the test device (20) on the right. In this case, the position of the test device (20) is identified from the image captured by the vision camera (61), and the position where the test device (2) at the identified position can be grasped is calculated, and the robot arm (32) can be operated so that the gripper (332) moves to the calculated position.

[0066] Fig. 1 (c) After this, the test part (2) is placed on the right.

[0067] Fig. 1 (d) The position of the part to be tested (2) is calculated from the image captured by the vision camera (61), and the robot arm (32) is operated so that the test part (22) of the grasped test device (20) is moved to the test part of the part to be tested. When the test part (22) is positioned at the test part of the part to be tested, the test is performed immediately, and when the test is completed, the test result is transmitted to the control unit (70), and the control unit (70) transmits the test result to a preset external device using the communication unit (10).

[0068] Figure 2 is a detailed view of the tester (20).

[0069] A test section (22) is formed by extending from the right side of the test body (21) to the right, and a display section (23) is formed in the middle.

[0070] Figure 3 is a diagram of the gripping operation of the tester (20) of the gripper (332).

[0071] Fig. 3 (a) A plurality of grippers (332) are spaced apart and positioned on the right side so that a tester (20) can be accommodated.

[0072] Fig. 3 (b) When the test device (20) is received into the gripping position, the gripper (332) approaches and grips the test body (21) while receiving it in the gripping receiving part (332-1).

[0073] FIG. 3 (c) As the grip fixing main body (333-1) moves to the right by driving the grip fixing drive unit (333-2), the test main body (21) is fixed by being caught on the right edge of the grip receiving part (332-1). This allows for stable fixation.

[0074] FIG. 5 is a flowchart of a first embodiment of a test method for a test part using a test robot system (1) for a test part according to the present invention.

[0075] Using an artificial intelligence model, the movement of the robot arm (32) and the tester (20) is learned and analyzed from the image captured by the vision camera (61), and multiple movement paths of the robot arm (32) for control commands are stored (S1).

[0076] When a test command for the part to be tested (2) is input from the user, the test device (20) is grasped (S2).

[0077] The tester (20) moves to the test position of the part to be tested (2) (S3).

[0078] The test result of the test device (20) is transmitted to a preset external device (S4).

[0079] FIG. 6 is a flowchart of a second embodiment of a test method for a test part using a test robot system (1) for a test part.

[0080] Using an artificial intelligence model, the movement of the robot arm (32) and the tester (20) is learned from the image captured by the vision camera (61) (S11).

[0081] The positions of multiple different testers (20) regarding the movement of the robot arm (32) are stored (S12).

[0082] A test command for the part to be tested (2) is entered from the user (S13).

[0083] The location of the epithelial test part is identified in the image captured by the vision camera (61) (S14).

[0084] Based on the identified location of the part to be tested (2), the corresponding test machine (20) is moved to the test location (S15).

[0085] The test part (2) is tested with a tester (20) (S16).

[0086] The test result of the test device (20) is transmitted to a preset external device (S17).

[0087] Figure 7 is an example of a deformation of the test robot system of a part under test.

[0088] Fig. 7 (a) is a modified overall example of a test robot system for a part under test.

[0089] Figure 7 (b) shows an example of a modified robot and test machine.

[0090] Fig. 7 (c) is an enlarged example of the tester part.

[0091] Fig. 7 (d) is a drawing showing various modified forms of the testing machine.

[0092] Modifiable embodiments other than the above embodiments are described.

[0093] The control unit controls the robot to operate and can calculate the movement value of the robot arm, including the movement rotation angle, angular velocity, and acceleration, based on the image of the robot arm captured by the vision camera and the image of the display unit.

[0094] The control unit can classify the robot arm into a normal state mode when the movement value is within a preset range, an inspection required mode when the movement value is within a preset range, and a defective state mode when the movement value is greater than or equal to a preset range.

[0095] The control unit stores the normal image range for absolute fixed object images captured from multiple preset angles, classifies the normal image range into a safe range and a critical range formed to be larger than the safe range, and determines the state as normal mode if the image captured by the vision camera is within the safe range, and determines the state as inspection required mode if it is within the critical range.

[0096] The sensor unit may further include a speed sensing sensor that detects the movement speed of the robot and the movement speed of the joint. The control unit stores a preset range for the movement speed of the robot arm and the movement speed of the joint, controls the robot arm to operate at a preset movement value, determines whether the movement speed value of the robot arm detected by the sensor unit is within the preset range, and can control the display unit to display the operating status of the robot arm based on the determination result.

[0097] The sensor unit may further include a trajectory detection sensor that detects the movement trajectory of the robot arm. The control unit stores a preset trajectory range for the movement trajectory of the robot arm, controls the robot arm to operate according to the preset trajectory value, determines whether the movement trajectory value of the robot arm detected by the sensor unit is within the preset trajectory range, and can control the display unit to display the operating status of the robot arm based on the determination result.

[0098] The sensor unit may further include a temperature sensing sensor that detects the temperature of multiple parts of the robot arm. The control unit stores a preset temperature range for multiple parts of the robot arm, controls the robot arm to operate at a preset movement value, determines whether the temperature value of multiple parts of the robot arm detected by the sensor unit is within the preset temperature range, and can control the display unit to display the operating status of the robot arm based on the determination result.

[0099] The sensor unit may further include a voice detection sensor that detects voice regarding the movement of the robot arm. The control unit stores a preset voice range for the movement of the robot arm, controls the robot arm to operate at a preset movement value, determines whether the voice value regarding the movement of the robot arm detected by the sensor unit is within the preset voice range, and can control the display unit to display the operating status of the robot arm based on the determination result.

[0100] The sensor unit may further include a vibration detection sensor that detects vibrations related to the movement of the robot arm. The control unit stores a preset vibration range for the movement of the robot arm, controls the robot arm to operate at a preset movement value, determines whether the vibration value related to the movement of the robot arm detected by the sensor unit is within the preset vibration range, and can control the display unit to display the operating status of the robot arm based on the determination result.

[0101] Due to the above-described test robot system (1) for the test part and the test method for the test part using the test robot system (1), a control command for the movement of the robot arm is input, and the movement of the robot arm is learned and stored using an artificial intelligence model. When a test command for the test part is input, the robot arm can move accurately to the test position of the test part to perform the test, thereby improving the accuracy and efficiency of the test operation.

[0102] In addition, since position information can be accurately calculated based on the display unit in the image captured by the vision camera, the movement accuracy of the robot arm can be improved.

[0103] In addition, the display area can be clearly and accurately identified from the video captured by the vision camera.

[0104] In addition, a vision camera can be used to identify the location of the part under test and automatically move to perform testing on the part under test.

[0105] In addition, the movement value of the robot arm can be calculated more precisely by using multiple sensors along with a vision camera.

[0106] In addition, since it is possible to determine whether there are defects regarding the speed, direction, gravity, acceleration, and illumination of the robot arm, defects can be identified in various functions of the robot arm. By immediately identifying defects and taking prompt corrective measures, the defect rate can be improved.

[0107] In addition, the tester can be accurately gripped, and since it can be prevented from moving after gripping, test defects can be prevented.

[0108] In addition, the test device can be securely fixed while being received in the gripping receiving part of the gripper. Explanation of the symbols

[0110] 1: Test robot system for the part under test 2: Part under test 10: Communications Department 20: Test device 21: Test main body 22: Test section 23: Display section 30: Robot 31: Robot body 32: Robot arm 33: Grasping unit 331: Grip body 332: Gripper 332-1: Waste Paper Reception Department 333: Waste Paper Fixed Government 333-1: Grip-fixing main body 333-2: Grip-fixing drive unit 334: Grasp drive unit 34: Robot arm drive unit 40: Display section 50: User Input Section 60: Sensor section 61: Vision Camera 62: Inertial Measurement Sensor 63: Tilt detection sensor 64: Illumination detection sensor 70: Control unit

Claims

Claim 1 A test robot system for a part under test comprises: a communication unit communicating with an external device; a test unit including a test body, a test unit supported by the test body that supplies current to the part under test and tests the state including defects and abnormalities of the part under test using the returned current, and a display unit disposed on the outside of the test body to indicate the movement of the test unit; a robot having a robot body, a robot arm connected and supported to the robot body and having a plurality of joints, and a gripping unit supported at the end region of the robot arm and gripping the test unit; and a sensor unit including a vision camera supported by the robot body and capturing the movement of the robot arm and the test unit. A test robot system for a test part, characterized by comprising a control unit that calculates position information of the test device based on the display unit in an image captured by the vision camera using an artificial intelligence model, learns and analyzes the movement of the robot arm and the test device to store multiple movement paths of the robot arm in response to a control command and multiple different positions of the test device in response to the movement of the robot arm, and when a test command for the test part is input from a user, identifies the position of the test part in the image captured by the vision camera, controls the robot arm and the gripping unit so that the test part of the test device is positioned at the test portion of the test part based on at least one of the identified position of the test part, the stored multiple movement paths, and the multiple positions of the test device, controls the test part to supply current to the test part through the test part when the test part is positioned at the test portion of the test part, and controls the communication unit to generate a test result using the returned current, and controls the test result of the test device to be transmitted to a preset external device. Claim 2 A test robot system for a test part according to claim 1, wherein the display unit comprises at least one LED that outputs at least one colored light so as to be recognized as a standard for calculating position information of the test device in an image captured by the vision camera. Claim 3 A test robot system for a part under test according to claim 1, wherein the control unit calculates a movement value of a robot arm including one or more of a movement rotation angle, angular velocity, and acceleration of the robot arm based on an image of the robot arm captured by the vision camera and an image of the display unit. Claim 4 A test robot system for a test part according to claim 1, wherein the sensor unit further comprises an inertial measurement sensor for measuring the movement speed, movement direction, gravity, and acceleration of the robot arm, a tilt detection sensor for detecting the tilt of the robot arm, and a light sensor for detecting light intensity, and the control unit calculates a movement value of the robot arm based on the movement speed, movement direction, gravity, acceleration, tilt, and light intensity of the robot arm detected by the inertial measurement sensor, the tilt detection sensor, and the light sensor. Claim 5 A test robot system for a part to be tested according to claim 4, further comprising a display unit for displaying the state of the robot, wherein the control unit stores the normal movement speed range, normal movement direction range, normal gravity range, normal acceleration range, normal inclination range, and normal illumination range of the robot arm, controls the robot arm to operate at preset movement values, and controls the display unit to display at least one of an inspection required mode and a defective state mode when it is determined that the movement speed, movement direction, gravity, acceleration, inclination, and illumination of the robot detected by the inertial measurement sensor, the inclination detection sensor, and the illumination sensor deviate from the normal movement speed range, the normal movement direction range, the normal gravity range, the normal acceleration range, the normal inclination range, and the normal illumination range. Claim 6 A test robot system for a test part according to claim 1, wherein the gripping part comprises: a gripping body; a plurality of grippers having a gripping receiving part formed therein for accommodating the largest tester among a plurality of testers having different sizes; and a gripping fixing part supported by the gripping body and for fixing the tester accommodating and gripped in the gripping receiving part. Claim 7 A test robot system for a test part according to claim 6, wherein the gripping fixing part comprises: a gripping fixing body coupled to the gripping body so as to be reciprocally movable; and a gripping fixing driving part that drives the gripping fixing body to move. Claim 8 delete

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