KR100406291B1 - Automatic Bit Change Device for Robot Automated System - Google Patents

Abstract

The present invention is a device for performing a predetermined task by mounting a selected bit (tool) to a rotary tool mounted on the arm of the articulated robot (10) operated by the robot controller 12: An automatic bit changer 20 which releasably receives the bit on the arm and transmits rotational and forward and backward motion to the bit; A bit rotator (30) for receiving a plurality of tools for feeding into the automatic bit changer (20) and rotating by a predetermined angle in accordance with a predetermined signal; A pneumatic generator (40) connected through a flow path switching valve (44) to provide pneumatic pressure to the automatic bit changer (20) to advance and reverse the bit; And generating control outputs of the automatic bit changer 20, the bit rotator 30, and the pneumatic generator 40, respectively, according to the operation of the robot controller 12 to perform the grinding operation by rotating the bit or before and after the bit. It characterized in that it comprises a controller 50 for performing the exchange by the binary.

Accordingly, by changing the bit automatically, the bit replacement time can be shortened and the unmanned work can be performed, thereby maximizing the efficiency of the robotic unmanned automation work.

Description

Automatic Bit Change Device for Robot Tool Automation System {Automatic Bit Change Device for Robot Automated System}

The present invention relates to an automatic bit change mechanism of a robot automation system, and more particularly, a bit that has been manually replaced by a rotary tool mounted on the arm of a six-axis articulated robot during robot automation operation using a rotary tool such as mold grinding. The present invention relates to an automatic bit change mechanism of a robot that can be changed automatically to reduce bit change time and maximize work efficiency.

In general, finishing operations using rotating tools, such as polishing after mold processing, are time consuming, simple and boring, and the working environment is poor and the worker is reluctant. Therefore, automation is desperate, but in most cases, it is difficult to automate as small quantity batch production. In the automation of small quantity batch production by rotary tools, the bits must be replaced periodically due to wear of rotary tool bits and changes of specifications during long periods of work. Bit replacement is a major obstacle to unattended automation. The automatic tool change method currently used to change tools in robot automation is to replace the spindle and all the bits at the end by mounting an automatic changer at the end of the robot arm. This system is applied to systems equipped with most rotary tools, including arc welding and spot welding. In most cases, however, the spindle is expensive and there is an irrationality that requires more than necessary budget if the spindle is replaced to change the tool.

Accordingly, in order to enable unmanned automation of long-running evasion work such as grinding of molds and to improve work quality, the system of exchanging the whole tool is unreasonable and the whole new concept of exchanging bits only. Need development

Therefore, an object of the present invention is to solve the above problems, by automatically replacing the bit was manually replaced on the six-axis articulated robot with a rotating tool consisting of a spindle and a bit, to reduce the bit replacement time and work It maximizes the efficiency and solves the expensive problem of changing the whole tool including the spindle like some automatic tool change, enabling the practical unmanned automation.

1 is a block diagram showing the main configuration of the entire system according to the present invention;

2 is a block diagram showing in detail the automatic bit exchanger (A.B.C.) according to the present invention;

3 is a perspective view showing in detail the bit rotor (B.R.D.) according to the present invention,

4 is a perspective view showing a state in which a bit is mounted on B.R.D. of FIG.

5 is a configuration diagram for explaining the operation according to the present invention.

Explanation of symbols on the main parts of the drawings

10: robot 12: robot controller

14: main PC 20: automatic bit changer

22: air cylinder 24: spindle

26, 28: collet chuck 30: bit rotator

40: pneumatic generator 42: proportional pressure valve

44: flow path switching valve 50: controller

In order to achieve the above object, the present invention is a device for mounting a selected bit (tool) on the articulated robot (10) operated by the robot controller 12 to perform a predetermined task: of the robot (10) An automatic bit changer 20 which releasably receives the bit on the arm and transmits rotational and forward and backward motion to the bit; A bit rotator (30) for receiving a plurality of tools for feeding into the automatic bit changer (20) and rotating by a predetermined angle in accordance with a predetermined signal; A pneumatic generator (40) connected through a flow path switching valve (44) to provide pneumatic pressure to the automatic bit changer (20) to advance and reverse the bit; And generating control outputs of the automatic bit changer 20, the bit rotator 30, and the pneumatic generator 40, respectively, according to the operation of the robot controller 12 to perform the grinding operation by rotating the bit or before and after the bit. It characterized in that it comprises a controller 50 for performing the exchange by the binary.

At this time, the automatic bit changer 20 is mounted on an air cylinder 22, a spindle 24 mounted on the air cylinder 22 so as to rotate and move forward and backward, and a tip of the spindle 24. Collet chucks 26 and 28 for biting and releasing bits.

In addition, the bit rotator 30 is provided with a plurality of mounting grooves 30a at uniform intervals on the circumference so as to be engaged with the bits, and is rotatably mounted at a uniform angle via a stepping motor.

In addition, the pneumatic generator 40 is further provided with a proportional pressure valve 42 upstream of the flow path switching valve 44 to prevent the impact force generated in the automatic bit changer (20).

Hereinafter, with reference to the accompanying drawings will be described in detail a preferred embodiment of the present invention.

1 is a block diagram showing the main configuration of the entire system according to the present invention, Figure 2 is a block diagram showing in detail the automatic bit exchanger (ABC) according to the present invention, Figure 3 is a bit rotator (BRD) according to the present invention It is a perspective view showing in detail.

The present invention relates to an apparatus for performing a predetermined task by mounting a selected bit (tool) on an articulated robot (10) operated by a robot controller (12), and directing of a tool by an operator pointed out as a conventional problem. In order to exclude the exchange method, an automatic exchange by the Automatic Bit Change System (ABC), which is one of the methods of the Automatic Tool Change System (ATC), is implemented.

In FIG. 1, according to the present invention, an automatic bit changer 20 which transmits rotational and forward and backward movements to the bit is removably received on the arm of the robot 10. In the embodiment of the present invention, the robot 10 used for polishing uses ABB's IRB-2000 6-axis vertical articulated robot in consideration of continuous reaction force, dust, and durability of a wrist part. The carrying weight is 10 kg and the specifications of the drive unit, controller, control software, and the like are shown in Table 1.

Here, ADLP-10 (ABB Data Link Protocol) is a communication method with a robot, and ARAP (ABB Robot Application Protocol) is a data transmission method with a robot.

division Contents Driving part Gear reducer DIN 1 class High precision and strong Controller Offline program Serial Asynchronous RS-232 Communication 9600 bits per second 8-bit word even parity 1-bit stop S / W Communication protocol ADLP-10 Send message ARAP Message Format Message Exchange

2, the automatic bit changer 20 includes an air cylinder 22, a spindle 24 mounted on the air cylinder 22 so as to rotate and move forward and backward, and the spindle. It is provided with a collet chuck 26, 28 mounted to the tip of 24 to perform bit biting and releasing of the bit. The air cylinder 22 uses a double-acting type that moves reciprocally by pneumatic pressure. As shown in Table 2, the polishing spindle 24 uses a low-speed pneumatic type used for deburring in the hole or polishing a mold surface. The inner collet chuck 26 is connected to the spindle 24 by fixing with a nut 27 mounted through a bearing, and the outer collet chuck 28 which receives the bit is connected to the collet chuck 26. .

Manufacturer form Revolutions Output Torque Length weight Nakanishi MST2302R 2000 RPM 108 W 20.3kgf-cm 160.1 mm 405 g

A port 22a of the air cylinder 22 of the grinding | polishing tool is a pneumatic inlet for tightening the collet chuck 26, and B port 22b is a pneumatic inlet for loosening the collet chuck 26. As shown in FIG. Injecting air into the A port 22a causes the air cylinder 22 to retreat backward. At this time, the external collet chuck 28 is in a state of entering the internal collet chuck 26. Due to the backward of the air cylinder 22, the nut 27 may tighten the internal collet chuck 26 to fix the external collet chuck 28. If the rotary unit is rotated by applying air pressure to the spindle 24, the nut 27 is fixed to the air cylinder 22 through the bearing, so that the rotational force can be transmitted to the collet chuck 28.

Next, when pneumatic pressure is injected into the B port 22b, the air cylinder 22 advances. At this time, the internal collet chuck 26 fixing the external collet chuck 28 moves forward like the nut 27 together with the advance of the air cylinder 22, so that the internal collet chuck 26 is released and the external The collet chuck 28 is disengaged.

On the other hand, since the spindle 24, which is the main body of the automatic bit changer 20, rotates the collet chucks 26 and 28 portions, it is difficult to handle the bits using a solenoid method or a starvation method.

In addition, according to the present invention, the bit rotator 30 rotating by a predetermined angle in accordance with a predetermined signal accommodates a plurality of tools for feeding into the automatic bit changer 20. In FIG. 3, the bit rotator 30 includes a plurality of mounting grooves 30a at uniform intervals on the circumference to enable bit engagement, and is rotatably mounted at a uniform angle via a stepping motor. In the embodiment of the present invention to manufacture a bit rotator 30 formed with twelve mounting grooves (30a) at equal intervals so that 12 bits can be automatically replaced. The stepping motor selects a method of rotating at an angle that is exactly 12 equals to select a desired bit in the automatic bit changer 20 in conjunction with the IRB-2000, which is a 6-axis articulated robot.

In addition, according to the present invention, the pneumatic generator 40 is connected through the flow path switching valve 44 to provide the pneumatic pressure to the automatic bit changer 20 to advance the bit back and forth. Pneumatic generator 40 may use a pneumatic line on site instead of a separate device. The flow path switching valve 44 uses a 5/2 way solenoid valve.

At this time, the pneumatic generator 40 is further provided with a proportional pressure valve 42 upstream of the flow path switching valve 44 to prevent the impact force generated in the automatic bit changer (20). Considering that the effective travel distance for the outer collet chuck 28 to enter the inner collet chuck 26 is only 6 mm, the collet chuck 28 mounted to the bit rotator 30 when the pneumatic pressure is suddenly injected. There is a fear that you can not catch exactly. As a result, the air cylinder 22 and the spindle 24 are impacted to prevent the accuracy of the position control from being lowered. When the initial air pressure is injected, a low pressure air pressure is injected through the proportional pressure valve 42 and gradually increased to a high pressure to smoothly move forward and backward of the air cylinder 22.

Further, according to the present invention, the control outputs of the automatic bit changer 20, the bit rotator 30, and the pneumatic generator 40 are respectively generated in accordance with the operation of the robot controller 12 to perform polishing operations by rotating the bit. A controller 50 is applied which performs or exchanges by forward and backward of the bits. The controller 50 uses a control kit for the interface (for example, 80C196 ONE CHIP MICRO-PROCESSOR) and peripheral devices such as the main PC 14, the bit rotor 30, the proportional pressure valve 42, the flow path switching valve 44, and the like. Connected with The air cylinder 22 attached to the rear end of the spindle 24 by the control algorithm on the main PC 14 is advanced back and forth by the flow control through the proportional pressure valve 42 and in this process the automatic bit changer 20 An operation of selecting and replacing a bit on the rotor 30 is performed.

1 to 5, the operation according to the present invention will be described.

First, the air cylinder 22 uses the outer diameter Ø 16 and the supply air pressure is 5 kPa. The controller 50 uses the bipolar driving chips L297 and L298, and the minimum driving signal uses two signal lines, HSO.0 and HSO.1. The diode is used to improve the switching element protection circuit function and drive power, and a dedicated chip is used to drive a stepper motor of about 12V 0.8A. Accordingly, an electric signal (DC 24V) is provided to the flow path switching valve 44 that is a 5 / 2-way solenoid valve to control the flow of pneumatic pressure.

The total number of output terminals built in the robot controller 12 is 16, and eight of them are connected to the controller 50 and used. Since two outputs, 1 and 0, are output from one output terminal, a total of eight combinations can produce {2} ^ {8} = 256 cases.

In addition to the data for grinding the mold, the main PC 14 loads a program of a path through which the automatic bit changer 20 handles the collet chuck 28. Accordingly, when the robot 10 commands a bit replacement from the main PC 14 while performing the polishing operation, the robot 10 transmits a signal to the controller 50 at an output terminal of the robot controller 12. At this time, the controller 50 controls the automatic bit changer 20 and the bit rotator 30 by executing a command corresponding to the number of each case.

Fixing the collet chuck 28 is coupled to the bit and output to the step motor of the bit rotor 30 according to the control signal to rotate the rotating plate to align the desired bit in the replacement position, the automatic bit changer of the robot 10 ( 20) moves to that position. When the bit rotor 30 sets the desired bit in the replacement position by the signal of the controller 50, the automatic bit changer 20 handles the following path. That is, as shown in FIG. 5, the automatic bit changer 20 attached to the robot 10 moves to the position of ① and then moves to ② to handle the bit, and then moves to the position of ① to perform polishing work. When the bit is to be replaced, the above-mentioned repetitive work is performed, and the used bit is mounted at an empty place in the bit rotor 30.

More specifically, by sending a signal to the bit rotator 30 to align the desired bit in the replacement position, the robot 10 pauses the polishing operation, and moves the automatic bit changer 20 to the replacement position. The controller 50 then operates the air cylinder 22 of the automatic bit changer 20 to exchange the bit and continue the polishing operation that was paused.

By developing A.B.C. (Automatic Bit Change System) that automatically exchanges only low-cost bits, it enables automation at low cost, reduces bit change time, maximizes work efficiency, and improves continuity and efficiency of work.

According to the above configuration and operation, the present invention has an effect of shortening the bit replacement time and maximizing the work efficiency by allowing the bits to be automatically exchanged.

It is apparent to those skilled in the art that the present invention is not limited to the described embodiments, and that various modifications and changes can be made without departing from the spirit and scope of the present invention. Therefore, such modifications or variations will have to belong to the claims of the present invention.

Claims (4)

In the apparatus for mounting a selected bit (tool) on the articulated robot (10) operated by the robot controller 12 to perform a predetermined task: An automatic bit changer (20) for removably accommodating the bit on the arm of the robot (10) and transferring the rotation and the forward and backward motion to the bit; A bit rotator (30) for receiving a plurality of tools for feeding into the automatic bit changer (20) and rotating by a predetermined angle in accordance with a predetermined signal; A pneumatic generator (40) connected through a flow path switching valve (44) to provide pneumatic pressure to the automatic bit changer (20) to advance and reverse the bit; And According to the operation of the robot controller 12, the control outputs of the automatic bit changer 20, the bit rotator 30, and the pneumatic generator 40 are respectively generated to perform polishing operations by rotating the bit or to advance and / or forward the bit. It comprises a controller 50 to perform the exchange by, From here, The automatic bit changer (20) is an air cylinder (22), a spindle (24) mounted on the air cylinder (22) in such a way as to rotate and move forward and backward, and mounted at the tip of the spindle (24) to An automatic bit change mechanism for a mold polishing robot, comprising: a collet chuck (26) (28) for biting and releasing. delete The method of claim 1, The bit rotator 30 is provided with a plurality of mounting grooves (30a) at a uniform interval on the circumference so that the bit can be engaged, the mold polishing, characterized in that rotatably mounted at a uniform angle via a stepping motor. Robot automatic bit change mechanism. The method of claim 1, The pneumatic generator 40 is automatically provided with a proportional pressure valve 42 upstream of the flow path switching valve 44 to prevent the impact force generated in the automatic bit changer 20, automatic Bit exchange mechanism.