KR0126130Y1 - Tool exchanger's location control device for automatic assemblage line - Google Patents

Tool exchanger's location control device for automatic assemblage line Download PDF

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Publication number
KR0126130Y1
KR0126130Y1 KR2019930009813U KR930009813U KR0126130Y1 KR 0126130 Y1 KR0126130 Y1 KR 0126130Y1 KR 2019930009813 U KR2019930009813 U KR 2019930009813U KR 930009813 U KR930009813 U KR 930009813U KR 0126130 Y1 KR0126130 Y1 KR 0126130Y1
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KR
South Korea
Prior art keywords
tool
tool changer
work area
motor
robot
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KR2019930009813U
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Korean (ko)
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KR950000639U (en
Inventor
정상헌
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김광호
삼성전자주식회사
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Priority to KR2019930009813U priority Critical patent/KR0126130Y1/en
Publication of KR950000639U publication Critical patent/KR950000639U/en
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Publication of KR0126130Y1 publication Critical patent/KR0126130Y1/en

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    • 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
    • B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
    • B23Q15/20—Automatic control or regulation of feed movement, cutting velocity or position of tool or work before or after the tool acts upon the workpiece
    • B23Q15/22—Control or regulation of position of tool or workpiece
    • B23Q15/225—Control or regulation of position of tool or workpiece in feed control, i.e. approaching of tool or work in successive decreasing velocity steps
    • 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
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
    • 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
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/16—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine controlled in conjunction with the operation of the tool

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Assembly (AREA)

Abstract

이 고안은 로봇트의 작업영역밖에 복수개의 공구교환기를 설치하여 로봇트의 공구교환시 해당공구교환기를 작업영역내의 교환위치로 위치하게 함에 따라 로봇트의 작업영역을 최대한 넓게 사용할 수 있게 한 자동조립라인용 공구교환기의 위치제어장치에 관한 것으로서, 특히 복수개의 공구교환기(T1)(T2)를 장착한 기판(10)과, 상기 기판(10)을 구동하여 각 공구교환기(T1)(T2)를 교환위치(C)로 위치하는 구동부(1)와, 각 공구교환기(T1)(T2)를 교환위치(C)로 정위치 안내하는 위치제어부(2)로 구성한 특징이 있다.This design makes it possible to install a plurality of tool changers outside the work area of the robot so that the tool changer can be placed at the exchange position within the work area when the tool change of the robot makes the robot work area as wide as possible. In particular, the position control apparatus of the exchanger, in particular, the substrate 10 equipped with a plurality of tool changers (T1) (T2) and the substrate 10 is driven to replace each tool changer (T1) (T2) with an exchange position ( The driving unit 1 positioned at C) and the position control unit 2 for guiding the tool changers T1 and T2 to the exchange position C in the fixed position are featured.

Description

자동조립라인용 공구교환기의 위치제어장치Position control device of tool changer for automatic assembly line

제1도는 종래 공구교환기의 배치도.1 is a layout view of a conventional tool changer.

제2도는 본 고안의 개략배치도.2 is a schematic layout of the present invention.

제3도는 본 고안의 평면도.3 is a plan view of the present invention.

제4도는 본 고안의 정면도.4 is a front view of the present invention.

제5도는 본 고안의 요부발췌 측단면도.Figure 5 is a side cross-sectional view of the main portion of the present invention.

제6도는 본 고안의 블럭도.6 is a block diagram of the present invention.

제7도는 본 고안의 동작흐름도.7 is a flow chart of the present invention.

* 도면의 주요부분에 대한 부호의 설명* Explanation of symbols for main parts of the drawings

1 : 구동부 2 : 위치제어부1: drive unit 2: position control unit

10 : 기판 20 : 회전축10 substrate 20 rotation axis

30 : 지주 33 : 감지판30: prop 33: detection plate

40 : 모터 R : 로봇트40: Motor R: Robot

W : 작업영역 C : 교환위치W: Work area C: Exchange position

T1,T2 : 공구교환기 S : 감지센서T1, T2: Tool changer S: Sensor

F1 : 원동풀리 F2 : 종동풀리F1: driven pulley F2: driven pulley

본 고안은 자동조립라인용 공구교환기의 위치제어장치에 관한 것으로서, 특히 로봇트의 작업영역밖에 복수개의 공구교환기를 설치하여 공구교환시마다 필요한 공구교환기를 작업영역내로 위치변환시킴으로서 로봇트의 유효작업영역을 최대한 효율적으로 사용할 수 있게 한 자동조립라인용 공구교환기의 위치제어장치에 관한 것이다.The present invention relates to a position control device of a tool changer for an automatic assembly line, and in particular, by installing a plurality of tool changers outside the work area of the robot and converting the necessary tool changer into the work area for every tool change, the effective work area of the robot is maximized. The position control apparatus of the tool changer for automatic assembly lines which can be used efficiently.

일반적으로 자동조립라인에서 로봇트를 이용하여 다품종 소량생산을 하는 공정에서는 생산기종의 변경회수가 많아지므로 조립로봇트에 부착되는 공구의 종류가 많아지게 된다.In general, in the process of producing small quantity of various kinds of products using the robot in the automatic assembly line, the number of changes of the production type increases, so the type of tools attached to the assembly robot increases.

따라서 공구를 자동으로 교환해주는 공구교환기를 로봇트의 작업영역내에 설치하여 필요할 때마다 로봇트의 터릿헤드에 장착된 공구를 교환해주었다. 상기에서 종래의 공구교환기(T1)(T2)는 제1도에서처럼 로봇트(R)의 작업영역(W)내의 일측에 필요한 개수로 고정설치 되었다.Therefore, a tool changer that automatically exchanges tools was installed in the robot's work area to replace the tool mounted on the robot's turret head whenever necessary. In the above, the conventional tool changer (T1) (T2) is fixed to the required number on one side in the working area (W) of the robot (R) as shown in FIG.

그러나 로봇트(R)의 작업영역(W)내에 복수개의 공구교환기(T1)(T2)가 설치되 있어 로봇트(R)의 유효작업영역이 줄어드는 단점이 있었다.However, since a plurality of tool changers T1 and T2 are installed in the work area W of the robot R, the effective work area of the robot R is reduced.

그리고 공구교환기(T1)(T2)의 개수가 제한되는데 이는 작업영역(W)을 너무 많이 차지하면 로봇트(R)의 조립작업에 지장을 초래하기 때문이다.And the number of tool changers (T1) (T2) is limited, because occupying too much work area (W) causes a problem in the assembly work of the robot (R).

본 고안은 상기의 점을 감안하여 안출한 것으로서, 그 목적은 로봇트의 작업영역밖에 복수개의 공구교환기를 설치하여 공구교환시마다 필요한 공구교환기를 작업영역내로 위치변환시킴으로서 로봇트의 유효작업영역을 최대한 효율적으로 사용할 수 있게 한 자동조립라인용 공구교환기의 위치제어장치를 제공함에 있다.The present invention has been devised in view of the above point, and its purpose is to install a plurality of tool changers outside the work area of the robot and to convert the necessary tool changers into the work area for each tool change. An object of the present invention is to provide a position control device for a tool changer for an automatic assembly line.

상기의 목적을 달성하기 위한 본 고안은 조립로봇트의 작업영역내에 복수개의 공구교환기를 위치시킴에 있어서, 복수개의 공구교환기를 서로 대향토록 설치한 기판과, 상기 기판을 정·역회전시켜 각 공구교환기를 선택적으로 작업영역내의 교환위치로 안내하는 구동부와, 상기 모터의 회전을 제어하여 각 공구교환기가 상기 교환위치에 정위치하는 위치제어부로 구성한 특징이 있다.The present invention for achieving the above object in the positioning of the plurality of tool changer in the work area of the assembly robot, a substrate having a plurality of tool exchanger is installed to face each other, and each tool changer by rotating the substrate forward and reverse And a drive unit for selectively guiding the to an exchange position in the work area, and a position control unit for controlling each rotation of the motor so that each tool changer is positioned at the exchange position.

이하 본 고안의 바람직한 실시예를 첨부도면에 따라 상세히 설명하면 다음과 같다.Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

제2도는 본 고안의 개략배치도로서, 공구를 잡는 터릿헤드(H)가 장착된 로봇트(R)의 작업영역(W)내에 공구교환기를 배치함에 있어서, 본 고안은 상기 작업영역(W)의 상부 외측에 좌·우측 방향으로 공구교환기(T1)(T2)를 설치한 기판(10)을 배치한다.2 is a schematic layout view of the present invention, in which a tool changer is disposed in a work area W of a robot R equipped with a turret head H for holding a tool, the present invention has an upper portion of the work area W; The board | substrate 10 with which the tool changer T1 (T2) was provided in the left and right direction is arrange | positioned outside.

제3도는 본 고안의 평면도이고, 제4도는 본 고안의 정면도로서, 상기 기판(10)을 모터(40)로 정·역회전시켜 각 공구교환기(T1)(T2)를 선택적으로 작업영역(W)내의 교환위치(C)로 안내하는 구동부(1)를 마련하고, 상기 모터(40)의 회전을 제어하여 각 공구교환기(T1)(T2)가 상기 교환위치(C)에 정위치하는 위치제어부(2)를 마련하였다.FIG. 3 is a plan view of the present invention, and FIG. 4 is a front view of the present invention, wherein each tool changer T1 and T2 are selectively rotated by rotating the substrate 10 forward and backward with the motor 40. A driving unit 1 for guiding to the exchange position C in the center) and controlling the rotation of the motor 40 so that each tool changer T1 (T2) is positioned at the exchange position C. (2) was prepared.

제5도는 본 고안의 요부발췌 측단면도로서, 상기 구동부(1)는 상기 기판(10) 저부 중앙에 고정형상한 회전축(20)과, 회전축(20)을 회전지지하는 지주(30)와, 상기 회전축(20)을 구동하는 모터(40)로 구성한다.5 is a side cross-sectional view of the main portion of the present invention, wherein the driving unit 1 has a rotation shaft 20 fixed to the center of the bottom of the substrate 10, a support 30 for supporting the rotation shaft 20, and the rotation shaft. It consists of the motor 40 which drives the 20.

한편 상기 지주(30)는 그 하단을 작업영역(W)밖에 고정하고 상단의 내부에는 베어링(B)을 설치하여 상기 회전축(20)을 베어링(B)에 축설한다.On the other hand, the support 30 is fixed to the lower end of the work area (W) outside the upper end of the bearing (B) to install the rotating shaft 20 in the bearing (B).

또한 회전축(20)의 상부에 종동풀리(F2)를 결합하고, 지주(30) 상단의 후방으로 브래킷(41)을 설치한다.In addition, the driven pulley (F2) is coupled to the upper portion of the rotation shaft 20, the bracket 41 is installed to the rear of the upper end of the support (30).

상기 브래킷에는 모터(40)를 설치하고, 모터(40)의 축과 결합한 원동풀리(F1)를 마련하여 상기 종동풀리(F2)와 벨트(V)로 결합한다.The bracket 40 is provided with a motor 40, and a driving pulley F1 coupled with the shaft of the motor 40 is coupled to the driven pulley F2 and the belt V.

상기 위치제어부(2)는 각 공구교환기(T1)(T2) 직하방의 기판(10) 저부에 설치한 감지판(33)과, 상기 감지판(33)의 근접하면 모터(40)를 OFF시키는 감지센서(S)로 구성한다.The position control unit 2 detects that the sensing plate 33 provided at the bottom of the substrate 10 directly below each tool changer T1 and T2 and the motor 40 are turned off when the sensing plate 33 is in close proximity. It consists of a sensor (S).

한편 상기 감지센서(S)는 교환위치(C)와 일치하는 지주(30) 상단의 전방쪽에 배치한다.On the other hand, the detection sensor (S) is disposed on the front side of the upper end of the strut 30 corresponding to the exchange position (C).

또한 상기 감지센서(S) 직후방의 지주(30) 상단에 멈춤구(31)를 설치하고, 상기 멈춤구(31)와 대향하는 각 공구교환기(T1)(T2) 직하방의 기판(10) 저부에 걸림봉(32)을 형성한다.In addition, the stopper 31 is installed on the upper end of the support 30 immediately after the detection sensor S, and the bottom of the substrate 10 directly below each tool changer T1 and T2 facing the stopper 31. The catching rod 32 is formed.

제6도는 본 고안의 블럭도로서, 로봇트(R)의 공구를 교환할 때 위치제어신호 입력부(51)로부터 교환신호가 마이콤(50)으로 입력됨과 동시에 적재감지신호부(52)에서 로봇트(R)의 공구를 반납받을 빈공구교환기(T1)와 공구를 교환해줄 공구교환기(T2)에 대한 정보가 마이콤(50)에 입력된다.6 is a block diagram of the present invention, when the tool of the robot R is exchanged, the exchange signal is input from the position control signal input unit 51 to the microcomputer 50 and at the same time the robot R is loaded from the load detection signal unit 52. Information about the empty tool changer (T1) to return the tool of) and the tool changer (T2) for exchanging the tool is input to the microcomputer (50).

한편 상기 마이콤(50)은 위치제어신호입력부(51)와 적재감지신호부(52)의 신호입력에 따라 구동부(1)의 모터(40)를 구동한다.Meanwhile, the microcomputer 50 drives the motor 40 of the driving unit 1 according to the signal input of the position control signal input unit 51 and the load detection signal unit 52.

그리고 모터(40)의 회전을 제어하여 교환위치(C)에 각 공구교환기(T1)(T2)가 위치하게 하는 회전센서감지부(53)를 마련하여 이의 신호가 마이콤(50)에 입력된다.Then, the rotation of the motor 40 is controlled to provide a rotation sensor detecting unit 53 for placing each tool changer T1 and T2 at the exchange position C, and a signal thereof is input to the microcomputer 50.

제7도는 본 고안의 위치제어 동작흐름도로서, 예컨데 빈공구교환기(T1)와 공구를 있는 공구교환기(T2)를 초기위치로 하는 단계(60)와, 마이콤(50)으로 위치제어신호입력부(51)의 신호가 입력되는 (61)단계와, 상기 신호입력단계(61)에 의해 구동부(1)의 모터(40)가 정회전하는 단계(62)와, 상기 모터(40)의 정회전단계(62)에 의해 빈공구교환기(T1)가 교환위치(C)로 이동하는 단계(63)와, 모터(40)의 정회전이 정지하는 단계(64)와, 로봇트(R)가 공구를 반납하는 단계(65)와, 모터(40)가 역회전하는 단계(66)와, 공구가 있는 공구교환기(T2)가 교환위치(C)로 이동하는 단계(67)와, 모터(40)의 역회전이 정지하는 단계(68)와, 로봇트(R)의 터릿헤드(H)에 공구가 장착되는 단계(69)와, 모터(40)가 구동하여 각 공구교환기(T1)(T2)가 초기위치로 복귀하는 단계(70)로 이루어진 것이다.7 is a position control operation flow diagram of the present invention, for example, the step 60 of setting the empty tool changer T1 and the tool changer T2 having a tool as an initial position, and the position control signal input unit 51 by the microcomputer 50. (61) step of inputting the signal of), the step (62) in which the motor 40 of the drive unit 1 forward rotation by the signal input step 61, and the forward rotation step 62 of the motor 40 (63) to move the empty tool changer (T1) to the exchange position (C) by the step, the step (64) where the forward rotation of the motor 40 is stopped, and the robot (R) to return the tool ( 65, the step of rotating the motor 40 in reverse 66, the step 67 in which the tool changer T2 with the tool moves to the exchange position C, and the reverse rotation of the motor 40 stops. Step 68, the tool 69 is mounted on the turret head H of the robot R, and the motor 40 is driven to return the tool changers T1 and T2 to their initial positions. Step 70 is made.

상기와 같이 구성한 본 고안에 공구교환 과정을 설명하면, 로봇트(R)가 작업영역(W)내에서 조립작업을 하다 공구를 교환할 필요가 있을 때 위치제어신호입력부(51)와 적재감지신호부(52)로부터 마이콤(50)으로 교환신호가 입력된다.When the tool replacement process is described in the present invention configured as described above, the robot R performs assembly work in the work area W, and when the tool needs to be replaced, the position control signal input unit 51 and the load detection signal unit The exchange signal is input from the 52 to the microcomputer 50.

이때 마이콤(50)이 구동부(1)의 모터(40)를 정회전시켜 원동풀리(F1)와 벨트(V)로 결합된 종동풀리(F2)가 정회전됨에 따라 빈공구교환기(T1)가 교환위치(C)에 위치한다.At this time, as the microcomputer 50 rotates the motor 40 of the driving unit 1 forward, the driven pulley F1 coupled with the motive pulley F1 and the belt V rotates forward, and the empty tool changer T1 is replaced. It is located at position (C).

한편 로봇트(R)의 터릿헤드(H)에 있던 공구를 빈공구교환기(T1)에 반납하면 적재감지신호부(52)가 이를 감지하여 마이콤(50)에 적재완료신호를 입력한다.On the other hand, when returning the tool in the turret head (H) of the robot (R) to the empty tool changer (T1), the load detection signal unit 52 detects this and inputs the loading completion signal to the microcomputer 50.

적재완료신호를 입력받은 마이콤(50)은 모터(40)를 역회전하여 공구가 있는 공구교환기(T2)를 교환위치(C)로 위치시킨다.The microcomputer 50 receiving the loading completion signal rotates the motor 40 to reverse the tool changer T2 with the tool to the exchange position C.

그리고 로봇트(R)는 공구를 터릿헤드(H)에 장착하며 이때 적재감지신호부(52)가 이를 감지하여 마이콤(50)에 공구교환기(T2)의 공구가 교환됐음을 알려준다.And the robot (R) is mounted on the turret head (H) a tool at this time the load detection signal unit 52 detects this to inform the microcomputer 50 that the tool of the tool changer (T2) has been replaced.

한편 마이콤(50)은 이를 인식하여 각 공구교환기(T1)(T2)를 작업영역(W)밖의 초기위치로 위치변환시킨다.On the other hand, the microcomputer 50 recognizes this and positions each tool changer (T1) (T2) to the initial position outside the work area (W).

상기에서 모터(40)가 정·역회전되면 각 감지판(33)이 감지센서(S)를 동작시켜 모터(40)의 구동을 OFF시킴과 동시에 걸림봉(32)이 멈춤구(31)에 접하면서 각 공구교환기(T1)(T2)는 교환위치(C)에 정위치한다.In the above, when the motor 40 is rotated forward and reverse, each detection plate 33 operates the detection sensor S to turn off the driving of the motor 40 and at the same time the catching rod 32 stops at the stopper 31. While contacting, each tool changer (T1) (T2) is fixed at the exchange position (C).

이상에서와 같이 본 고안에 따르면 복수개의 공구교환기가 작업영역(W)밖에 위하고, 로봇트(R)의 공구교환시 해당공구교환기가 작업영역(W)내의 교환위치(C)에 정위치함에 따라 로봇트의 작업영역을 최대한 넓게 사용할 수 있는 효과가 있다.As described above, according to the present invention, a plurality of tool changers are located outside the work area W, and when the tool of the robot R is replaced, the corresponding tool changers are positioned at the exchange position C in the work area W. There is an effect that can use the working area of the robot as wide as possible.

Claims (3)

조립로봇트의 작업영역내에 복수개의 공구교환기를 배치함에 있어서, 복수개의 공구교환기를 서로 대향토록 설치한 기판과, 상기 기판을 모터로 정·역회전시켜 각 공구교환기를 선택적으로 작업영역내의 교환위치로 안내하는 구동부와, 상기 모터의 회전을 제어하여 각 공구교환기가 상기 교환위치에 정위치하는 위치제어부로 구성함을 특징으로 하는 자동조립라인용 공구교환기의 위치제어장치.In arranging a plurality of tool changers in the work area of the assembling robot, a board in which a plurality of tool changers are installed to face each other, and the boards are rotated forward and backward with a motor to selectively change each tool changer to an exchange position in the work area. And a driving control unit for guiding, and a position control unit for controlling the rotation of the motor so that each tool changer is positioned at the exchange position. 제1항에 있어서, 상기 구동부는 상기 기판 저부 중앙에 고정 형성하고 종동풀리를 구비하는 회전축과, 상부는 상기 회전축을 회전지지하고 하부는 작업영역밖에 설치한 지주와, 상기 지주일측에 고정하여 상기 종동풀리와 벨트로 결합한 원동풀리를 구동하는 모터로 구성함을 특징으로 하는 자동조립라인용 공구교환기의 위치제어장치.The method of claim 1, wherein the driving unit is fixed to the center of the bottom of the substrate and the rotating shaft having a driven pulley, the upper portion of the support supporting the rotation axis and the lower portion is installed outside the working area, and fixed to one side of the support A position control device for a tool changer for an automatic assembly line, comprising a motor for driving a driven pulley combined with a driven pulley and a belt. 제1항에 있어서, 상기 위치제어부는 상기 각 공구교환기 직하방의 기판저부에 형성한 감지판과, 상기 지주상단의 상기 교환위치쪽에 설치하고 각 감지판이 근접하면 모터를 OFF하는 감지센서로 구성함을 특징으로 하는 자동조립라인용 공구교환기의 위치제어장치.The method of claim 1, wherein the position control unit comprises a sensing plate formed on the bottom of the substrate directly below the tool changer, and a sensing sensor which is installed on the side of the exchange position of the upper end of the support and the sensor is turned off when each sensing plate is close. A position control device for a tool changer for an automatic assembly line.
KR2019930009813U 1993-06-07 1993-06-07 Tool exchanger's location control device for automatic assemblage line KR0126130Y1 (en)

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US10213920B2 (en) 2013-07-26 2019-02-26 Kuka Deutschland Gmbh Apparatus and method for monitoring a payload handling robot assembly

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10213920B2 (en) 2013-07-26 2019-02-26 Kuka Deutschland Gmbh Apparatus and method for monitoring a payload handling robot assembly

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