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WO2018105770A1 - Chargeur à bras - Google Patents

Chargeur à bras Download PDF

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Publication number
WO2018105770A1
WO2018105770A1 PCT/KR2016/014256 KR2016014256W WO2018105770A1 WO 2018105770 A1 WO2018105770 A1 WO 2018105770A1 KR 2016014256 W KR2016014256 W KR 2016014256W WO 2018105770 A1 WO2018105770 A1 WO 2018105770A1
Authority
WO
WIPO (PCT)
Prior art keywords
arm
cylinder
workpiece
loader
motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2016/014256
Other languages
English (en)
Korean (ko)
Inventor
배금미
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Haesung Robotics Co Ltd
Original Assignee
Haesung Robotics Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Haesung Robotics Co Ltd filed Critical Haesung Robotics Co Ltd
Publication of WO2018105770A1 publication Critical patent/WO2018105770A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B13/00—Arrangements for automatically conveying or chucking or guiding stock
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/14—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/04—Arms extensible rotatable

Definitions

  • the present invention relates to an arm loader for supplying and withdrawing a workpiece, and more particularly to an arm loader for continuously and automatically supplying and withdrawing a workpiece.
  • the operation of supplying and withdrawing the workpiece into a device for processing a workpiece such as a CNC lathe was generally performed by a worker by hand, which has a problem of unnecessary waste of manpower and deterioration of reliability of the product due to manual work.
  • the CNC lathe has developed and used a device that can automatically supply and take out workpieces.
  • Typical examples are GENTRY ROBOT, horizontal feeder, ARM ROBOT, mechanical arm loader, etc. There is this.
  • the gantry robot has advantages of positioning, multi-positioning, and speeding up the cycle time, it is disadvantageous in the place condition when installing the equipment, high cost of cost, and acquisition of expertise in operation. .
  • the horizontal feeder can be installed at a low cost, and the size of the parts is simple, so that there is an advantage of convenience of installation and construction. There is a problem.
  • the arm robot has advantages of positioning, multi-positioning, high speed cycle time, and common use of machined parts.
  • the arm robot has disadvantages of high cost and acquisition of expertise in operation.
  • the mechanical arm loader can be installed at low cost, and it has the advantages of simple size of parts, convenient installation and construction, high speed of cycle time, common use of machined parts, and convenience when replacing rolls. And the need to install safety fences within the working radius.
  • the present invention provides an arm loader which enables the supply and withdrawal of a workpiece to be continuously and automatically performed.
  • the present invention provides an arm loader in which the supply and withdrawal of the work is made in one device.
  • the present invention provides an arm loader in which a rotational movement of an arm equipped with a gripper for holding a workpiece is made through a roller gear index consisting of a cam and a splitter plate.
  • the present invention provides an arm loader for minimizing the installation space by miniaturizing the volume of the device through the roller gear index.
  • the present invention provides an arm loader that can be installed at low cost, the size of parts is simple, positioning and multi-positioning are possible, and the cycle time can be increased and the convenience of installation can be achieved.
  • the present invention provides an arm loader for variably controlling the left and right movement of a slider using a servomotor and a ball screw, so that supply and withdrawal control can be performed at a more precise position of a workpiece.
  • Arm loader in the arm loader for supplying and withdrawing the workpiece, the slider 18 for reciprocating left and right in the left and right directions by the power of the cylinder 16,
  • the rotating unit 20 and the rotating unit (20) comprising a rotating shaft (28) connected to the cylinder (22), the rack (24) and the pinion (26), and a turntable (30) installed at the tip of the rotating shaft (28).
  • the exchange unit 32 provided at the upper end of the rotating unit 20 to rotate in the horizontal direction in accordance with the operation of the rotation unit 20, and transfers the workpiece in accordance with the operation of the arm 50 is tilted in the vertical direction by the power of the motor 34
  • the cylinder 16 has a variable pull-in length and draw-out length by a servomotor 17 provided on one side of the cylinder 16 and a ball screw 19 provided on the other side of the cylinder 16. Can be controlled.
  • the exchange unit 32 is installed on the turntable 30 is tilted in the horizontal direction and is rotated by the power of the motor 34, the spindle 42, the spindle 42 Is coupled to the tip of the housing and tilted in the vertical direction, and therein is a housing 44 having a shaft 46 rotating therein with the power of the motor 48 therein, which is installed on the housing 44 and tilted in the vertical direction.
  • 46 and a plurality of grippers 52a and 52b respectively installed at the tip of the arm 50 and the arm 50 which rotate in connection with each other and supply and withdraw the workpiece to the shelf 60 according to the operation of the arm 50. ) May be included.
  • the slider 16 may be moved left and right by controlling the cylinder 16 to be included.
  • an arm loader is provided so that supply and withdrawal of a work can be continuously and automatically performed.
  • an arm loader in which supply and withdrawal of a workpiece is made in one apparatus.
  • an arm loader is provided so that a rotational motion of an arm equipped with a gripper for holding a workpiece is made through a roller gear index consisting of a cam and a splitter plate.
  • an arm loader is provided so as not to be limited by the installation space by miniaturizing the volume of the device through the roller gear index.
  • an arm loader that can be installed at low cost, the size of parts is simple, positioning and multi-positioning are possible, and the cycle time can be increased and the convenience of installation can be provided.
  • an arm loader to control the supply and withdrawal at a more precise position of the workpiece.
  • FIG. 1 is a diagram three-dimensionally showing the arm loader according to an embodiment of the present invention.
  • FIG. 2 is a view showing the internal configuration of the arm loader shown in FIG.
  • FIG. 3 is a view showing the side of FIG.
  • 4 to 9 are diagrams sequentially showing the operation of the arm loader according to an embodiment of the present invention.
  • 1 to 3 are views showing the configuration of the arm loader for automatic supply and withdrawal of the workpiece to be implemented in the present invention.
  • the arm loader 100 includes a left and right moving unit 10, a rotation unit 20, and an exchange unit 32.
  • the left and right moving unit 10 is a means for moving the rotation unit 20 and the exchange unit 32 in the left and right directions, a plurality of guide rails 14 which are horizontally installed on the support 12, and It is installed on the guide rail 14 and consists of a slider 18 reciprocating in the left and right directions by the guide rail 14 in accordance with the operation of the cylinder 16.
  • a servo motor 17 is provided on one side of the cylinder 16, and a ball screw on the other side of the cylinder 16. 19) it is possible to variably control the withdrawal and withdrawal of the cylinder.
  • the arm loader can be more precisely controlled according to the position at which the workpiece is to be supplied, so that the efficiency of automatic automatic feeding and withdrawing of the workpiece can be improved.
  • the rotation unit 20 is installed on the slider 18 which is the configuration of the left and right movement unit 10 to move left and right reciprocally, and tilt the exchange unit 32 in the horizontal direction according to the operation of the cylinder 22.
  • the rotating unit 20 has a base 21 installed on the slider 18, a rotating shaft 28 that vertically penetrates the base 21 and rotates by the operation of the cylinder 22, and the rotating shaft 28. ) Is installed on the turntable 30 is rotated according to the operation of the rotary shaft 28.
  • the power transmission structure of the rotating shaft 28 and the cylinder 22 is composed of a combination of the rack 24 and the pinion 26.
  • the rack 24 is coupled to the end of the rod 22a of the cylinder 22, and the pinion 26 engaged with the rack 24 is coupled to the circumferential surface of the rotating shaft 28 to allow the cylinder 22 to be engaged.
  • the rack 24 moves forward and backward by the operation of the pinion 26 which is engaged with the rack 24 is rotated to operate the rotating shaft 28.
  • the exchange unit 32 is rotated in the horizontal direction in accordance with the operation of the rotation unit 20, and the workpiece before processing in accordance with the operation of the arm 50 is tilted in the vertical direction by the power of the motor 34 to be described later ( Motor (34), roller gear index (36), spindle (42) as a means for supplying 1a) to the chuck 62 in the lathe 60 or for drawing the finished workpiece 1b out of the lathe 60. And a housing 44, an arm 50, and a plurality of grippers 52a and 52b.
  • the motor 34 is placed on the turntable 30, which is the aforementioned rotation unit 20, and a spindle 42 is installed beside the motor 34, and the spindle 42 is the motor 34. And it is rotated by receiving the power of the motor 34 through the Laura gear index 36 which is a power transmission means.
  • the roller gear index 36 is composed of a cam 38 connected to and rotated by the motor 34 and a belt 35, and a split plate 40 that rotates in engagement with the cam 38.
  • the spindle 42 is connected to the 40 so that the spindle 42 can rotate with the power of the motor 34.
  • the means for transmitting the power to the spindle 42 in the present invention has been described on behalf of the roller gear index 36, in addition, it can be used by combining a variety of index drives using a cam method such as barrel index, pararell index,
  • the use of the Laura Gear index 36 in the present invention can smoothly perform the tilting operation of the arm with only a minimum of components, and thus has the advantage of minimizing the volume of the device, and for other power transmission methods such as excellent positioning. This is because more precise motion transmission can be achieved.
  • the housing 44 is vertically coupled to the front end of the spindle 42 is tilted in the vertical direction in accordance with the rotation of the spindle 42.
  • a shaft 46 which is coupled to the motor 48 provided on the bottom to rotate.
  • an arm 50 is installed at the upper end of the housing 44 to tilt in the vertical direction in conjunction with the operation of the housing 44.
  • the arm 50 is configured to be connected to the shaft 46 in the housing 44 to be tilted in the vertical direction and to rotate in conjunction with the shaft 46.
  • a plurality of grippers 52a and 52b are provided at both ends of the tip of the arm 50, and the grippers 52a and 52b grip the workpiece 1a before processing to allow the chuck 62 in the lathe 60.
  • the workpiece 1b, which is passed to or processed, is taken out of the chuck 62.
  • the servomotor 17 calculates the supply position of the workpiece and the reach of the grippers 52a and 52b to be within the reach of the grippers 52a and 52b.
  • the slider 18 may be moved left and right by controlling the cylinder 16 to include a supply position of a workpiece.
  • the left and right moving units 10 are operated to move the rotation unit 20 and the exchange unit 32 to the left direction.
  • the gripper 52a of any one of the grippers 52a and 52b provided at the tip of the tip 50 grips the workpiece 1a before processing, which is placed on the feed table 70. (FIG. 4)
  • the shaft 46 in the housing 44 rotates and rotates the arm 50.
  • the grippers 52a and 52b are formed of the arm 50. It will lie down according to the rotation.
  • the motor 34 which is a component of the exchange unit 32, is driven to rotate the spindle 42 through the roller gear index 36, which is a power transmission means, and thus is coupled to the spindle 42.
  • the housing 44 and the arm 50 installed on the upper end of the housing 44 are erected vertically (Fig. 5).
  • the rotation unit 20 is operated to tilt the exchange unit 32 in the horizontal direction. That is, when the rack 24 coupled to the rod 22a of the cylinder 22, which is the rotation unit 20, moves forward by the operation of the cylinder 22, the pinion 26 engaged with the rack 24 rotates. The rotary shaft 28 is rotated, and the turntable 30 installed at the tip of the rotary shaft 28 is rotated, thereby tilting the exchange unit 32 in the horizontal direction, and thus the exchange unit 32.
  • the in housing 44 and the arm 50 are in the state located on the right side of the workpiece supply and take-out apparatus 100 (FIG. 6).
  • the motor 34 which is the exchange unit 32, is operated again and the housing 44 is tilted in the horizontal direction. Accordingly, the arm 50 installed in the housing 44 is moved from the housing 44. By operation, it is tilted horizontally and lying down, and thus grippers 52a and 52b installed at the tip of the arm 50 are drawn into the shelf 60 (FIG. 7).
  • the grippers 52a and 52b rotate according to the rotational motion of the arm 50, draw out the finished work 1b in the shelf 60, and also move the work 1a of the shelf 60 into the shelf 60. It is fed to the chuck 62. That is, after one gripper 52b grips the finished work 1b in the lathe 60 according to the rotation of the arm 50, it is located on the opposite side of the gripper 52b.
  • the gripper 52a grasping the workpiece 1a before the processing is located in front of the chuck 62 of the lathe 60 so as to feed the workpiece 1a before the machining to the chuck 62. ( Figure 8)
  • the other work 1a can also be continuously fed into the lathe 60 in the same manner as mentioned above, and the finished work 1b can be automatically withdrawn from the lathe 60.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Feeding Of Workpieces (AREA)

Abstract

L'invention concerne un chargeur à bras pour charger et décharger des pièces pouvant comprendre : un coulisseau (18) qui effectue un mouvement de va-et-vient dans la direction gauche et droite sur des rails de guidage (14) en étant entraîné par la puissance d'un cylindre (16) ; une unité de rotation (20) comprenant un arbre de rotation (28) qui est entraîné en rotation en étant relié à un cylindre (22) par l'intermédiaire d'une crémaillère (24) et d'un pignon (26), et un plateau tournant (30) installé à l'extrémité de l'arbre de rotation (28) ; et une unité de remplacement (32) qui est disposée sur le dessus de l'unité de rotation (20) de manière à être entraînée en rotation dans la direction horizontale selon une manœuvre de l'unité de rotation (20), et transfère une pièce en fonction d'une manœuvre d'un bras (50) incliné verticalement par la puissance d'un moteur (34), les longueurs sur lesquelles le cylindre (16) est étendu et rétracté étant commandées variablement par un servomoteur (17) disposé sur un côté du cylindre (16) et une vis à billes (19) disposée de l'autre côté du cylindre (16).
PCT/KR2016/014256 2016-12-06 2016-12-06 Chargeur à bras Ceased WO2018105770A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR20160165363 2016-12-06
KR10-2016-0165363 2016-12-06

Publications (1)

Publication Number Publication Date
WO2018105770A1 true WO2018105770A1 (fr) 2018-06-14

Family

ID=62491058

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2016/014256 Ceased WO2018105770A1 (fr) 2016-12-06 2016-12-06 Chargeur à bras

Country Status (1)

Country Link
WO (1) WO2018105770A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108972524A (zh) * 2018-07-25 2018-12-11 高梓祺 基于液电控制的自动搬运机械手操作系统及操作方法
CN112091958A (zh) * 2020-09-09 2020-12-18 深圳市智美高科技有限公司 一种智能机器人传动机构

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR200385943Y1 (ko) * 2005-03-24 2005-06-03 정강현 씨앤씨선반의 공작물 자동 공급 및 인출장치
JP2005193347A (ja) * 2004-01-09 2005-07-21 Seiko Epson Corp 水平多関節型ロボット
KR200393854Y1 (ko) * 2005-06-07 2005-08-25 윤지용 시앤씨선반의 공작물 공급 및 인출장치
KR20060073720A (ko) * 2004-12-24 2006-06-29 두산인프라코어 주식회사 자체 이송 및 위치결정이 가능한 서보 구동 방진구
KR101341118B1 (ko) * 2012-09-24 2013-12-12 정강현 씨앤씨 선반의 공작물 자동 공급 및 인출 기계장치

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005193347A (ja) * 2004-01-09 2005-07-21 Seiko Epson Corp 水平多関節型ロボット
KR20060073720A (ko) * 2004-12-24 2006-06-29 두산인프라코어 주식회사 자체 이송 및 위치결정이 가능한 서보 구동 방진구
KR200385943Y1 (ko) * 2005-03-24 2005-06-03 정강현 씨앤씨선반의 공작물 자동 공급 및 인출장치
KR200393854Y1 (ko) * 2005-06-07 2005-08-25 윤지용 시앤씨선반의 공작물 공급 및 인출장치
KR101341118B1 (ko) * 2012-09-24 2013-12-12 정강현 씨앤씨 선반의 공작물 자동 공급 및 인출 기계장치

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108972524A (zh) * 2018-07-25 2018-12-11 高梓祺 基于液电控制的自动搬运机械手操作系统及操作方法
CN112091958A (zh) * 2020-09-09 2020-12-18 深圳市智美高科技有限公司 一种智能机器人传动机构
CN112091958B (zh) * 2020-09-09 2021-07-27 深圳市智美高科技有限公司 一种智能机器人传动机构

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