KR101469204B1 - Worktable fixation device for robot - Google Patents

Worktable fixation device for robot Download PDF

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Publication number
KR101469204B1
KR101469204B1 KR1020140013650A KR20140013650A KR101469204B1 KR 101469204 B1 KR101469204 B1 KR 101469204B1 KR 1020140013650 A KR1020140013650 A KR 1020140013650A KR 20140013650 A KR20140013650 A KR 20140013650A KR 101469204 B1 KR101469204 B1 KR 101469204B1
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KR
South Korea
Prior art keywords
robot
guide member
work
worktable
working position
Prior art date
Application number
KR1020140013650A
Other languages
Korean (ko)
Inventor
도현민
경진호
박찬훈
최태용
박동일
Original Assignee
한국기계연구원
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Publication date
Application filed by 한국기계연구원 filed Critical 한국기계연구원
Priority to KR1020140013650A priority Critical patent/KR101469204B1/en
Application granted granted Critical
Publication of KR101469204B1 publication Critical patent/KR101469204B1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0091—Shock absorbers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0096—Programme-controlled manipulators co-operating with a working support, e.g. work-table
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/01—Mobile robot

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The present invention relates to a worktable fixing device for a robot that fixes the robot to an operation position on a worktable so that the operation precision of a mobile robot system can be improved. The worktable fixing device for a robot includes elastic deformation members that are mounted on both respective sides of the robot; and a guide member that is mounted on a worktable and moves and fixes the robot to the operation position by slide-guiding the elastic deformation members during the movement of the robot to the operation position.

Description

[0001] The present invention relates to a worktable fixation device for robot,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a workbench fixing device for a robot, which is configured to move and fix a robot to a work position of a workbench.

Generally, robots are developed to maximize work efficiency by promoting human safety through industrial development and being put into hard work such as human being. In particular, robots are widely used in fields requiring high precision and high risk, and can be classified into a robot that operates in a fixed state and a robot that moves in accordance with a working position.

The fixed robot has a function similar to that of a human upper limb as described above, and works to move an object by holding it by means of a mechanical hand corresponding to the distal end of the robot. Thus, the robot is also referred to as a manipulator .

Such a manipulator is usually fixed on the floor and performs work on objects on the workbench. Since the robot can not move after installation, it is possible to work within the precision range of the robot manipulator by matching the coordinate system between the robot and the workbench. However, there is a problem that the working radius is limited because the manipulator is fixed.

On the other hand, the mobile robot can solve the problem that the operation radius is limited because the manipulator is installed on the moving platform and moved.

However, when the mobile robot is relocated on the workbench, there is no separate guiding device for guiding the manipulator to the initial working position, and there is a problem that it takes a long time to fix the manipulator to the working position. In addition, if the manipulator can not be fixed to the working position, since the reference coordinate system of the manipulator changes every time the robot moves, there is a problem that the precision of the robot system is lowered due to the low precision of the moving platform.

Patent Publication No. 10-0777114 (published Nov. 19, 2007)

An object of the present invention is to provide an apparatus and a method for fixing a robot to a working position on a work table without requiring a separate sensor or electric power by forming an elastic deformable member mounted on a side surface of the robot so as to be movable in a state of being inserted into a guide groove of a guide member The present invention provides a work table fixing device for a robot.

According to an aspect of the present invention, there is provided an apparatus for fixing a robot to a work station, the apparatus comprising: elastic deforming members mounted on both sides of the robot; And a guide member mounted on the workbench and guiding the robot to the work position and fixing the robot when sliding the elastic deformable members in a process of moving the robot to the work position.

According to the present invention, the resiliently deformable member mounted on the side surface of the robot is formed to be movable in a state of being inserted into the guide groove of the guide member, thereby fixing the robot to the working position on the workbench without requiring a separate sensor or electric power. .

Accordingly, when the mobile robot performs work, it is possible to easily fix the mobile robot to the work position, so that the work precision of the robot system can be improved.

BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a view of a worktable securing apparatus for a robot according to one embodiment of the present invention.
Fig. 2 is a view showing a state in which the robot is fixed to a working position of a workbench in Fig. 1;

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a view showing a work station fixing device for a robot according to an embodiment of the present invention, and FIG. 2 is a view showing a state where the robot is fixed to a work position of a work platform. Here, the worktable securing apparatus 100 for a robot guides the robot 10 to be fixed to the work position on the worktable 20, thereby improving the working accuracy of the robot system.

As shown in Fig. 1, the worktable securing apparatus 100 for a robot includes elastic deformable members 110 and a guide member 120. As shown in Fig.

Here, the robot 10 may be a movable manipulator robot configured to grip and move articles on the work table 20. A manipulator is a robot that has a function similar to that of a human upper limb and that moves the object by gripping the object by means of a mechanical hand corresponding to the tip of the robot.

The elastic deformable members 110 may be mounted on both sides of the robot 10, respectively. At this time, the elastic deformable members 110 can be made of leaf springs, which are used for easily inserting the robot 10 into the guide member 120 using the elastic force of the leaf spring. And a detailed description will be given later.

The guide member 120 is installed on one side of the work table 20 and guides the elastic deformable members 110 on the outer side of the elastic deformable members 110 in the process of moving the robot 10 to the working position The robot 10 is moved into the working position and fixed. That is, the elastic deformable members 110 mounted on both sides of the robot 10 are inserted between the guide members 120 and slide to move the robots 10 to the working position of the work table 20.

At this time, the guide member 120 may be mounted on one side of the work table 20 so as to have a certain angle. That is, the guide member 120 is formed so that its width gradually increases as it moves away from the work table 20, and is mounted on one side of the work table 20. Accordingly, the entrance where the robot 10 enters becomes larger, and the robot 10 can be moved easily by arranging the robot 10 between the guide members 120.

The guide member 120 may be formed with a step protruding from the surface of the work table 20 which abuts the working position. The width of the step may be the same as the width of the body into which the robot 10 is inserted, for inserting and fixing the body of the robot 10 between the steps.

If there is no step on the guide member 120, the left and right sides of the robot 10 are shaken due to the inclined surfaces of the guide member 120 when the robot 10 is fixed to the working position, so that it can not be stably fixed to the working position When the step is formed on the surface abutting the work table 20 as described above, both side surfaces of the robot 10 are inserted between the step edges, so that the body of the robot 10 can be fixed without shaking.

That is, the step serves as a support for supporting both sides of the robot body 10 so that the robot 10 can be fixed to the work position. At this time, magnets 130 may be mounted on the work platform 20 positioned between the step and the body of the robot 10 contacting the work platform 20, respectively.

As the magnets 130 are mounted on the worktable 20 and the robot 10, gravitational force acts on the robot 10 when the robot 10 is moved into the working position. Also, it is possible to prevent the robot 10 from moving back and forth by the magnet 130 even after the robot 10 is fixed to the working position of the work table 20, thereby improving the working accuracy of the robot system.

1, a guide groove 121 may be formed in the guide member 120 in a longitudinal direction on a surface contacting with the elastic deforming members 110. As shown in FIG. Therefore, the elastic deformable members 110 slide in the guide groove 121 formed in the guide member 120, so that the robot 10 can be more stably moved to the work position and fixed .

Here, the elastic deformable members 110 may be leaf springs. Accordingly, even if the interval between the guide members 120 to which the robot 10 is fixed is wide or narrow, the clearance between the guide members can be adjusted by the elastic force of the elastic deformable members 110, So that it can be inserted between the guide members 120.

As described above, the worktable securing apparatus 100 for a robot is configured such that the elastic deformable member 110 mounted on the side surface of the robot 10 can be moved in a state of being inserted into the guide grooves 121 of the guide member 120 It is possible to fix the robot 10 to the working position on the workbench 20 without requiring a separate sensor or electric power.

Accordingly, when the mobile robot 10 performs the work, the mobile robot 10 can be easily fixed to the work position, thereby improving the work accuracy of the robot system.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be taken by way of limitation and that those skilled in the art will recognize that various modifications and equivalent arrangements may be made therein. It will be possible. Accordingly, the true scope of protection of the present invention should be determined only by the appended claims.

10 .. Robot 20 .. Workbench
100 .. Work table fixing device for robot 110 .. Elastic deformation member
120 .. Guide member 121 .. Guide groove
130 .. magnets

Claims (5)

By fixing the robot to the working position of the workbench,
Elastically deformable members mounted on both sides of the robot and formed of leaf springs; And
A guide member mounted on the workbench and guiding the robot to the work position by sliding the elastic deformable members in a process of moving the robot to the work position,
And a work table fixing device for fixing the work table. The method according to claim 1,
Wherein the guide member is formed with a guide groove in the longitudinal direction on the surface where the elastically deformable members abut. 3. The method according to claim 1 or 2,
Wherein the guide member is formed with a stepped portion protruding from a surface of the guide member which is in contact with a working position of the workpiece. delete The method according to claim 1,
Wherein the guide member is inclinedly mounted on one side of the work table so as to have a predetermined angle.
KR1020140013650A 2014-02-06 2014-02-06 Worktable fixation device for robot KR101469204B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020140013650A KR101469204B1 (en) 2014-02-06 2014-02-06 Worktable fixation device for robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020140013650A KR101469204B1 (en) 2014-02-06 2014-02-06 Worktable fixation device for robot

Publications (1)

Publication Number Publication Date
KR101469204B1 true KR101469204B1 (en) 2014-12-09

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KR1020140013650A KR101469204B1 (en) 2014-02-06 2014-02-06 Worktable fixation device for robot

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KR (1) KR101469204B1 (en)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007245332A (en) * 2006-02-14 2007-09-27 Honda Motor Co Ltd Charging system of legged mobile robot
JP2012056044A (en) * 2010-09-10 2012-03-22 Toyota Motor Corp Robot and method for controlling the same

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007245332A (en) * 2006-02-14 2007-09-27 Honda Motor Co Ltd Charging system of legged mobile robot
JP2012056044A (en) * 2010-09-10 2012-03-22 Toyota Motor Corp Robot and method for controlling the same

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