KR100246523B1 - A robot hand for trimming and a device for exchanging automatically cutter - Google Patents

Abstract

It is possible to build an automated system in the process of removing unnecessary residual film of safety glass, to solve the problem of manual operation by switching to trimming process using robot, and to be applied to a variety of small quantity production or mass production. The robot hand and cutter automatic exchange device for film trimming of safety glass can be connected to the automation system before and after trimming to greatly improve workability and productivity. A hand bracket connected to a flange and a hand frame fixed to the hand bracket, a clamp bracket respectively installed through an insulating plate as a fixing means above and below the hand frame, a clamp for clamping a cutter therethrough, and an actuator for operating the clamp; Hand on one side of the clamp bracket Terminal block is installed to be insulated from the frame to detect the damage of the cutter by voltage, proximity sensor is installed on the clamp bracket to check the clamp / unclamp state of the clamp, rollers installed as fixing means on the upper and lower sides of the hand frame It is characterized in that the cylinder for the glass clamp having a roller for releasing the cylinder, the roller for releasing the cylinder, the roller for releasing the roller.

Description

Robot hand and cutter automatic change device for film trimming of safety glass

The present invention automates the trimming process of cutting the remaining film generated during the production of safety glass, and also trims the film of the safety glass so that the cutter can be automatically replaced when the cutter is broken in the process of cutting the film. Robot hand and cutter automatic changer.

Safety glass means that a film layer is formed. In other words, a film layer is placed between the upper glass and the lower glass.

In the safety glass (bonded glass) as described above, the production process of the vehicle safety glass, the film is inserted and bonded between the upper and lower glass, and then cut to meet the basic glass form and undergoes a heat treatment process. At this time, the film remaining during the film cutting in the previous process has a slight hardness due to heat, and the film remains large in the bonded state of the upper and lower glass (about 2 to 3 mm).

Therefore, it is necessary to remove the film remaining in the safety glass bar, the cutting process for removing the remaining film in the conventional safety glass production process was made by manual operation, thereby the operator using the tool knife blade safety Special attention has to be paid to accidents, and because it is a cutting work that depends on manpower, it is difficult to continuously work, leading to a decrease in work efficiency.

And in the case of vehicle safety glass, in the case of a large vehicle, in addition to the general trapezoidal shape, if the lower side has irregular curvature for assembly reasons, it becomes more difficult to cut by manual work, thereby greatly reducing workability.

The present invention has been made to solve the problems of the prior art as described above, enabling the construction of an automated system in the process of removing the unnecessary residual film of the safety glass, and switching to trimming processing using a robot for manual operation Film trimming of safety glass to solve the problem, to be applied to small quantity production or mass production of various kinds of products, and to greatly improve workability and productivity by connecting the process before and after trimming to an automated system. The purpose is to provide a robot hand and a cutter automatic changer.

In order to achieve the above object, the present invention provides a hand bracket connected to the shaft flange of the articulated robot, a hand frame fixed to the hand bracket, a clamp bracket respectively installed through an insulating plate as a fixing means above and below the hand frame, and The clamp clamping the cutter and the actuator for operating the clamp, the terminal block is installed insulated from the hand frame on one side of the clamp bracket to detect whether the cutter is damaged by voltage, the clamp is installed in the clamp bracket / Cylinder for glass clamp having a proximity sensor for checking the state of the unclamping, roller release cylinders respectively installed as fixing means on the upper and lower sides of the hand frame, the roller is connected to the rod of the roller release cylinder and the roller to clamp the glass Robot hand for trimming film of safety glass And that is characterized.

Base bracket is installed to be rotated left and right through the joint shaft fixed to the main body of the cutter changer, the tilting frame is installed as a joint shaft on both sides of the base bracket so as to be tilted before and after the base bracket, the tilting frame A plurality of guide shafts slidably assembled through a plurality of linear motion bushes fixed to the springs and interposed with springs, a cutter magazine mounting plate and handles connected to an upper portion of the guide shaft to accommodate cutter magazines, and the cutter magazine plates Cutter magazine in which a plurality of cutters are stacked on the cutter magazine, a cutter supply actuator installed on an upper rear surface of the tilting frame, and a cutter supply roller which is directly connected to the actuator and transfers the cutters in the cutter magazine one by one, and the upper one side of the tilting frame. Formed in the feed from the roller A slide plate for guiding the slide cutter, a proximity sensor installed at one side lower portion of the slide plate to check whether the cutter is supplied, a cylinder for cutter catch installed at the rear side of the slide plate, and a rod of the cylinder For film trimming of safety glass consisting of an electromagnet holder for catching a cutter and a cylinder bracket installed on the back of the slide plate, and a cutter supply cylinder for supplying the cutter to the robot hand by operating the cutter catch cylinder before and after. It is characterized in that the cutter automatic exchange device of the robot hand.

1 is a layout view of the robot hand for trimming the film of the safety glass of the present invention.

Figure 2 is a block diagram of a robot hand for trimming the film of the safety glass of the present invention.

3 is a clamped state diagram of the cutter seen in the direction A of FIG.

Figure 4 is a front view of the cutter automatic exchange device of the present invention.

5 is a plan view of FIG. 4.

<Explanation of symbols for the main parts of the drawings>

10: shaft flange 12: hand bracket

16: hand frame 18: insulation plate

20: clamp bracket 22: clamp

24: Clamp Actuator 26: Terminal Block

28, 76: proximity sensor 30: roller ejection cylinder

32: cylinder for glass clamp 34: roller

36: box 50, 54: joint axis

52: base bracket 56: tilting frame

58: linear motion bush 60: spring

62: guide shaft 64: handle

66: magazine mounting plate 68: cutter magazine

70: actuator for cutter supply 72: roller for cutter supply

74: slide plate 78: cylinder for catching the cutter

80: electromagnet holder 82: cylinder bracket

84: cylinder for cutter supply 100: articulated robot

102: trimming hand 104: safety glass

106: trimming station 108: vacuum cup

110: support 200: cutter

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

First, Figure 2 is a block diagram of the robot hand for trimming the film of the safety glass of the present invention, Figure 3 shows a clamp state of the cutter shown in the direction A of FIG.

As shown in FIGS. 2 and 3, the shaft flange 10 of the articulated robot and the hand bracket 12 are connected by fixing means of the bolt 14, and the hand bracket 12 has a substantially c-shaped hand frame. (16) is installed as a fixing means of the bolt.

The clamp bracket 20 is installed through the insulating plate 18 as a fixing means for bolts above and below the hand frame 16, and the clamp 22 clamps the cutter 200 through the clamp bracket 20. And a clamp actuator 24 for operating the clamp 22 is provided.

One side of the upper and lower clamp brackets 20 is installed to be insulated from the hand frame 16 and a terminal block 26 is installed to detect when the cutter 200 is damaged during the operation by the voltage 24V. Around the clamp 22 of the bracket 20, a plurality of proximity sensors 28 for checking the clamp / unclamp state of the clamp 22 are provided.

The upper and lower portions of the hand frame 16 are provided with roller release cylinders 30 as bolt fixing means, and the glass clamp cylinders 32 are provided on the rod 30a of the roller release cylinder 30. Is operated in connection with the rod 32a of the glass clamp cylinder 32, and a roller 34 for clamping the glass is installed. Reference numeral 36 in the drawings shows a box attached to the bottom of the hand frame 16 to collect the trimmed film pieces.

Figure 4 is a front view of the cutter automatic changer of the present invention, Figure 5 shows a plan view of Figure 4.

As shown in FIGS. 4 and 5, the base bracket 52 is installed through the joint shaft 50 fixed to the cutter changer main body (not shown), and the base bracket 52 is centered on the joint shaft 50. It is installed so as to rotate left and right.

The joint shaft 54 is connected to both upper sides of the base bracket 52, and the tilting frame 56 is installed therethrough. Accordingly, the tilting frame 56 is installed to be tilted before and after the joint shaft 54 with respect to the base bracket 52.

The tilting frame 56 is provided with a plurality of linear motion bushes 58, through which the guide shaft 62 with the spring 60 is assembled to slide.

A cutter magazine mounting plate 66 having a handle 64 is connected to an upper portion of the guide shaft 62, and a cutter magazine in which a plurality of cutters 200 are stacked on the upper portion of the cutter magazine mounting plate 66. 68) is accepted.

And the cutter supply actuator 70 is installed on the upper rear surface of the tilting frame 56, the cutter supply for feeding the cutter 200 in the cutter magazine 68 directly connected to the actuator 70 by one The roller 72 is installed.

The surface of the cutter supply roller 72 is coated with urethane to improve adhesion to the cutter 200, and one cutter 200 is supplied by one rotation of the cutter supply roller 72.

On the upper side of the tilting frame 56, a slide plate 74 is formed to slide guide the cutter 200 supplied from the cutter supply roller 72.

The slide plate 74 is inclined so that the cutter 200 slides, which is caused by the rotation angle of the base bracket 52 connected to the joint shaft 50 described above.

A proximity sensor 76 for checking whether the cutter 200 is supplied is installed at one lower side of the slide plate 74, and a cutter catch cylinder 78 is fixed to the back of the slide plate 74 to fix the bolt. An electromagnet holder 80 is installed by means and catches the cutter 200 via the rod 78a of the cylinder 78.

And a cylinder bracket 82 is installed on the rear surface of the slide plate 74, through which the cutter supply cylinder 84 is installed and through the rod 84a of the cylinder 84, the cutter catch cylinder 78 ) Is connected so that the cutter 200 caught through the electromagnet holder 80 is supplied to the robot hand by the forward operation of the cutter supply cylinder 84.

According to the present invention configured as described above, first, the articulated robot 100 is connected to the trimming hand 102 of the present invention as shown in FIG. 1. A 104 is positioned at the trimming station 106 so that a plurality of vacuum cups 108 fix the safety glass 104, and support the safety glass 104 upward with a plurality of supports 110 to smooth the glass curvature. The trimming working surface is always aligned at a certain position according to the type of glass.

In the hand frame 16 of the trimming hand 102, a box 36 for collecting a piece of film is provided, and the clamp 22 clamps the cutter 200 as shown in FIG.

The cutter 200 is in close contact with the surface to be trimmed of the safety glass 104 in the prepared state, and then the cutting is performed along the glass surface. As illustrated in FIG. 2, the cutter 200 clamps the clamp 22. By advancing the glass clamp cylinder 32 in a state where it is mounted by clamping the edge of the glass to trim the roller 34 connected thereto to proceed in accordance with the glass shape.

The role of the roller 34 is to hold the glass safely while the cutter 200 is cutting the film to minimize the impact of external impact to reduce the damage of the cutter 200 and induce a stable operation to increase the quality. .

When the cutter 200 is broken while the remaining film is being cut as described above, the terminal block 26 detects whether the cutter 200 is damaged as a current, and the cylinder for the glass clamp 32 moves backward to the roller ( 34 is unclamped away from the safety glass 104 and returned to its original position.

Since the articulated robot 100 is moved to a certain place, as shown in FIG. 3 by the operation of the actuator 24, the clamp 22 is opened as a virtual line to discard the broken cutter 200.

In addition, the articulated robot 100 moves to a place where the cutter exchange device is located and waits in a posture to receive the cutter 200.

As described above, when the articulated robot 100 is in the stand-by position, the roller ejection cylinder 30 moves forward to remove the interference when the cutter 200 is replaced, and the glass clamp cylinder 32 moves as shown in FIG. 2. Done. This is to ensure the space required when replacing the cutter (200).

In the above state, when the cutter automatic changer checks a signal that the cutter 200 is not present by the proximity sensor 76 that checks whether the cutter 200 is damaged when the cutter 200 is broken as shown in FIGS. The supply actuator 70 is operated to rotate the cutter supply roller 72 directly connected thereto.

Therefore, one cutter 200 in the cutter magazine 68 is slip-moved from the cutter magazine 68 by the cutter supply roller 72 which is rotated, and is sent to the slide plate 74 so that the cutter 200 continues to approach the proximity sensor. It moves to the position where 76 is installed. At this time, when one cutter 200 is pulled out of the cutter magazine 68, the magazine mounting plate 66 slightly rises by the repulsive force of the spring 60 to wait for the next cutter supply.

Accordingly, when the confirmation of the proximity sensor 76 is completed, the cutter catch cylinder 78 is advanced, and as the power is applied to the electromagnet holder 80 connected thereto, the supplied cutter 200 is attached to the electronic holder 80. .

In the state where the cutter 200 is attached to the electromagnet holder 80 as described above, the cutter is supplied to the clamp 22 which is the cutter mounting position of the articulated robot 100 which is waiting for the cutter supply cylinder 84 to move forward. 200 will be supplied.

Next, when the clamp 22 clamps the cutter 200 and the terminal block 26 for detecting the proximity sensor 28 and detecting whether the cutter is damaged is not abnormal, the roller discharge cylinder 30 that has been advanced is advanced. And the glass clamp cylinder 32 is returned to the initial position to perform the trimming operation again.

Although it is described that the cutter automatic exchanger is installed separately in the above, it may be installed through a stand installed around the articulated robot 100, of course.

As described above, the present invention enables the construction of an automated system in the process of removing the unnecessary residual film of the safety glass, and solves the problem of manual work by switching to the trimming process using a robot, and producing a large quantity or small quantity of various products. It can be applied to production methods, and it is possible to connect the process before and after trimming to the automation system, which will greatly improve workability and productivity.

Claims (4)

A hand bracket 12 connected to the shaft flange 10 of the articulated robot 100 and a hand frame 16 fixed to the hand bracket 12, The clamp bracket 20 and the clamp 22 for clamping the cutter 200 through the insulating plate 18 and fixing the upper and lower portions of the hand frame 16 through the insulating plate 18 to operate the clamp 22 Actuator (24), A terminal block 26 installed on one side of the clamp bracket 20 to be insulated from the hand frame 16 to detect whether the cutter 200 is damaged by a voltage; Proximity sensor 28 installed on the clamp bracket 20 to check the clamp / unclamp state of the clamp 22, Roller discharge cylinders 30, respectively installed as a fixing means up and down the hand frame 16, Robotic hand for film trimming the safety glass, characterized in that made of a glass clamp cylinder (32) having a roller (34) which is connected to the rod (30a) of the roller discharge cylinder (30) and clamps the glass. The robot hand for film trimming of safety glass according to claim 1, wherein a box (36) for collecting the trimmed film pieces is provided at the bottom of the hand frame (16). Base bracket 52 is installed to be rotated left and right through a joint shaft 50 fixed to the cutter changer body, A tilting frame 56 installed at both sides of the base bracket 52 as a joint shaft 54 so as to be tilted before and after the base bracket 52; A plurality of guide shafts 62 slidably assembled through a plurality of linear motion bushes 58 fixed to the tilting frame 56 and having springs 60 interposed therebetween; Cutter magazine mounting plate 66 and handle 64, which is connected to the upper portion of the guide shaft 62 to receive the cutter magazine 68, Cutter supply roller 72 which is directly connected to the cutter supply actuator 70 installed on the upper rear surface of the tilting frame 56 and the cutter 200 in the cutter magazine 68 to transfer one by one. ), A slide plate 74 formed at an upper side of the tilting frame 56 to slide guide the cutter 200 supplied from the roller 72, Proximity sensor 78 is installed on the lower side of the one side of the slide plate 74 to check the supply of the cutter 200, Electromagnet holder 80 for catching the cutter 200 is connected to the cutter catch cylinder 78 installed on one side rear surface of the slide plate 74 and the rod 78a of the cylinder 78, Cutter supply cylinder 84 for supplying the cutter 200 to the robot hand by operating the cutter catch cylinder 78 before and after the cylinder bracket 82 installed on the rear surface of the slide plate 74. Cutter automatic exchange device of the robot hand for trimming the film of the safety glass. 4. The cutter automatic replacing apparatus of claim 3, wherein the surface of the cutter supplying roller (72) is coated with urethane to improve adhesion to the cutter (200).

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