KR0139907Y1 - Error compensation apparatus of robot arm - Google Patents

Abstract

The present invention relates to an error compensator for a robot arm, and more particularly, to an error compensator for a robot arm having a correction function for correcting an error when assembling. In assembling mechanical parts, a correction unit is installed between the floating unit and the chuck unit mounted on the arm of the robot to provide a lightweight error correction device for a small assembly tolerance and a high function error correction device. A flexible connecting mechanism is provided at the center of the correction unit, and a support fixed to the lower portion of the connecting mechanism is provided, and a plurality of elastic members are provided between the inner circumference of the support and the upper outer circumference of the connecting mechanism. Therefore, when assembling the parts, the flexible connecting mechanism can be bent, thereby reducing the assembly failure rate, preventing damage to the robot arm and the product, and especially when assembling precise parts, the effect of correction is high.

Description

Error Compensator of Robot Arm

1 is a schematic cross-sectional view of the error correction device of the robot arm according to the present invention.

Figure 2 is a side view showing a part assembly process of the robot with an error correction device according to the present invention.

* Explanation of symbols for main parts of the drawings

101: first spring 102: axis

103: sensor 104: dog

105: second spring 106: cover

1071: Coupling 1072: Ball Joint

1073 Universal Joint 108 Chuck

109: finger 110: parts

111: support

The present invention relates to an assembly robot, and more particularly to an error correction device of the robot arm having a correction function for correcting the assembly error.

In general, in the assembly of the mechanical boom, when the basic conditions for assembling the mechanical parts can compensate for the error occurring in each element, the insertion of the parts is possible.

Inserted and assembled by correcting the generated errors, for example, drawing tolerances, positioning errors, component seating errors, and errors in the robot itself with assembly tolerances such as chamfering of the shaft, chamfering of the component, and clearance between the shaft and the part hole. . However, in recent years, as the precision of mechanical parts is gradually miniaturized, the assembly tolerances tend to be smaller, and thus, the assembly tolerances are reduced to the occurrence errors. When the assembling tolerance of the correction function is small, the parts are broken, adversely affect the hand of the robot, or cause a defect of the product, and in the worst case, the non-assembly state is reached. In order to compensate for this, a correction device for each axis is required on the X, Y, and Z axes.

Therefore, SCARA robots in the industrial robots have compensation functions for the X and Y axes, but their functions are weak, and robots with other compensation functions make a spring-type material by combining metal and rubber layers. A device that implements the correction function by placing six positions on the axis of the arm or the hand portion of the robot, the correction device is heavy and complex device. In addition, the robot for assembling mechanical parts requires six robot hands for each part, and thus, many problems arise in use because of the size and weight of the device.

Accordingly, an object of the present invention is to provide a light weight error correction device for correcting an error for a small assembly tolerance, and a light weight high performance error correction device for precise assembly of parts.

The error correction device of the robot arm according to the present invention for achieving the above object is a vertically flexible floating to accommodate the vertical error of the assembly working position of the assembly parts, the pick-up means for picking up the assembly, the pick-up means An error correction apparatus for a robot arm provided with means for assembling an assembly part, characterized in that it comprises a correction means that can be interlocked horizontally to accommodate a horizontal error with respect to an assembly work position of the assembly part.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a cross-sectional view showing the main part of the error correction device of the robot arm according to the present invention. As shown, the floating unit is provided with a first spring 101 outside the vertically moving shaft 102, and the first spring 101 serves to return the shaft 102 descending in the axial direction. . A sensor 103 is installed above the floating unit, and a dog 104 is installed below the floating unit so that the dog 104 is inserted into the sensor 103 when the robot completes inserting the part 110 into the hole. Sensor 103 senses dog 104.

A correction unit is provided between the floating unit and the chuck unit, and a bendable connection mechanism (coupling 1071, ball joint 1072, universal joint 1073) is shown in the center of the correction unit as shown in FIG. Is installed. A cover 106 is provided outside the connecting device to protect the connecting device, and a support 111 fixed to the lower side of the connecting device is installed to surround the connecting device in a cylindrical shape. A second spring 105 is provided between the inner circumference of the support 111 and the upper connection portion of the connecting mechanism. The chuck unit is provided with a chuck 108 for pinching a finger 109 for holding a part.

Figure 2 is a side view showing a part assembly process of the robot with an error correction device according to the present invention. Looking at the reference numerals of Figure 1, when the component 110 of Figure (a) is assembled in the F direction, the component is out of the correct position and correction is required. At this time, the end portion of the component 110 and the corner portion 10 of the hole is hit, the force is generated in the F 'direction, as shown in (b), the bendable connecting mechanism (1071, 1072, 1073) is It is bent under the force of the F 'direction and the component 110 is assembled with the error correction to the assembly position. Then, as shown in (c), the arm (not shown) of the robot continues to descend so that the parts are correctly assembled. At this time, as the coupling mechanisms 1071, 1072, and 1073 are bent and the horizontal error is corrected, a vertical error occurs. This vertical error is corrected by contraction of the first spring 101 of the floating unit and reduction of the shaft 102. When the dog 104 installed below the floating unit rises and is inserted into the sensor 103, the sensor is attached to the dog 103. Detect 104 and check the completion of work.

According to the signal of the sensor, the finger puts the component and the robot arm is raised. As the first spring 101 installed around the shaft 102 is returned, the shaft 102 returns to its original position, and the bent ball joint 1072 is The elastic force of the second spring 105 is returned to the home position.

As described above, by introducing the correction unit, it is possible to lower the assembly failure rate when assembling mechanical parts, to prevent damage to the chuck unit of the robot hand and the product, and to correct errors when assembling precise parts. Damage to the product can be prevented. In addition, it is possible to provide a light weight error correction device for correcting an error for a small assembly tolerance, and a light weight high function error correction device.

Claims (1)

A pick-up means for picking up an assembly, a floating means vertically stretchable to be connected to the pick-up means to accommodate a vertical error with respect to an assembly position of the assembly, and installed between the pick-up means and the protruding means, An error correction apparatus for a robot arm having a horizontally interlockable correction means for accommodating a horizontal error of the robot arm, wherein the correction means is connected between the floating means and the picking means and is bent at a predetermined angle; An elastic member installed around the connecting member to return the connecting member bent at a predetermined angle to its original position, and a supporting member fixed to the lower side of the connecting member to support the elastic member. Error correction device.