KR100588721B1 - Setting method of orientation links for palletizing robot - Google Patents

Abstract

The present invention relates to a method for setting a posture link of a palletizing robot for moving an arbitrary object to a selected place, and an object thereof is to set a posture link for maintaining a tool axis of a palletizing robot hand at all times in a vertical state. The present invention provides a method of setting a posture link of a palletizing robot, which can be more easily performed, thereby improving assembly performance and operation rate of the robot, and increasing the reliability of the robot.

The present invention provides a first step of assembling and forming a robot body consisting of a base frame, a swing frame, and a lower arm, and a second step of installing a reference pin in a reference pin hole formed at an appropriate position near a connection portion between the upper arm and the hand; A third step of assembling an upper assembly composed of an arm, a hand, and a center link from the ground and mounting the upper assembly on an upper end of the lower arm; and a fourth step of connecting the hand and the center link to the upper link; It is fixed by connecting the rear link brackets, by inserting a height gauge corresponding to the separation distance between the rear link bracket and the contact surface of the swing frame to fix the rear link brackets, the fifth step of completing the setting of the posture link, characterized in that The technical gist of the method for setting the palletizing robot posture link is described.

Reference pin, rear link bracket, upper link, center link, rear link

Description

Setting method of orientation links for palletizing robot}             

1 is a side view of a palletizing robot according to the present invention;

2 is a principle diagram showing the principle of the present invention

Figure 3 is a detailed view showing the connection structure of the rear link bracket and the swing frame in accordance with the present invention

4 is a schematic diagram of formation of a reference pin hole according to the present invention;

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

(A): Reference pin (B): Reference pin hole

(L): Connecting axis (X): Reference angle

(Y): correction angle

(1): Upper link (2): Center link

(3): Back link (4): Back link bracket

(5): hand (6): upper arm

(7): lower arm (8): swing frame

(9): base frame 10: gauge

(11): tool axis (12): connection

(13): first parallelogram (14): second parallelogram

(15): first connecting side (16): second connecting side

(17): third connecting side (18): fourth connecting side

(19): Assembly plane (20) (20 '): Insertion hole

100: upper assembly 200: robot body

The present invention relates to a method for setting a posture link of a palletizing robot for moving an arbitrary object to a selected place, and more particularly, processing of a posture link for maintaining a hand posture of a palletizing robot at all times horizontally. And a reference pin hole penetrating the hand and the upper arm so as to easily compensate for the assembly deviation, and inserting the reference pin into the reference pin hole thus formed to facilitate the setting of the posture link. It is about.

Palletizing robot is to move the specified goods to the pallet to load, the palletizing robot's hand is always perpendicular to the ground, regardless of the position of the goods so that the hand tool can pick up close to the goods, The posture link was installed to allow the item to be loaded in a uniform pattern so that the hand's tool was always perpendicular to the ground.

The posture link is composed of an upper link, a center link, and a lower link, and the upper link and the lower link are made of a turnbuckle type in which adjustment bolts and nuts are formed, and are configured to correct processing deviation and assembly deviation deviation. A palletizing robot consisting of a swing frame, a lower arm and an upper arm was installed on an absolute horizontal plane, and the posture link was set using an assembly jig.

However, such setting method is difficult to manufacture and control the assembly jig, and if the adjustment bolt and nut are loosened during use, it is difficult to set the correct link distance, so that smooth loading operation cannot be performed. When the upper link is deformed due to the collision, it is impossible to immediately correct the work in the field, and after the replacement of the upper link, the normal operation is possible, which lowers the operation rate.

The present invention has been made to solve the conventional problems as described above, the object of which is to make the setting of the posture link for the tool axis of the palletizing robot hand to always maintain a vertical state, and thus It is to provide a method of setting the linkage of the palletizing robot, which can improve the assembly and operation rate of the robot, and improve the reliability of the robot.

The present invention for achieving the above object is to extract the set compensation value of the posture link by suppressing the movement of the connecting portion connecting the upper arm and the hand when assembling the palletizing robot, the rear link to the gauge corresponding to the compensation value It is composed of the posture link setting method inserted in the bottom of the bracket so that the hand is always vertical.

Referring to the configuration of the present invention in conjunction with the accompanying drawings as follows.

1 is a side view of a palletizing robot according to the present invention, Figure 2 is a principle diagram showing the principle of the present invention, Figure 3 is a detailed view showing the connection structure of the rear link bracket and the swing frame according to the present invention, Figure 4 shows a schematic view of the formation of the reference pin hole according to the present invention, the present invention is a first frame for assembling the robot body 200 consisting of the base frame 9, the swing frame 8 and the lower arm (7) And a second step of inserting the reference pin A into the reference pin hole B formed through the connection portion 12 of the upper arm 6 and the hand 5, and the upper arm 6 and the hand 5. And a third step of assembling the upper assembly 100 including the center link 2 from the ground and mounting the upper assembly 100 on the upper end of the lower arm 7, and the upper part of the hand 5 and the center link 2. The fourth step of connecting to the link (1), and the center link (2) and the rear link bracket (4) by the rear link (3) to be fixed, but the rear Greater bracket consisted of a fifth step of (4) and by inserting a height gauge (10) corresponding to the separation distance between the contact surface of the swing frame 8 is completed, the setting of the position linked by fixing the rear link bracket (4).

Referring to the configuration as described above the operation of the present invention.

As shown in FIG. 2, the palletizing robot includes a first parallelogram 13 formed of an upper arm 6 / a first connection side 15 / an upper link 1 / a second connection side 16. It is possible to create a second parallelogram 14 consisting of the lower arm 7 / third link 17 / backlink / fourth link 18 and the tool axis 11 of the hand 5 is grounded. If only the rear link 3 is not connected under the condition of maintaining the state perpendicular to the third connection side 17 and the assembly plane 19 (for assembling the rear link bracket (4) formed on the swing frame (8) The reference angle X formed by the machining plane) and the correction angle Y formed by the fourth connection side 18 and the assembly plane 19 must be the same (X = Y), but the reference value is based on the accumulation of machining and assembly errors. The angle X and the correction angle Y do not become the same. Therefore, the compensation value for the rear link of the second parallelogram 14 can be easily extracted by restraining the first parallelogram 13 to easily extract the compensation value for the cumulative value of the machining error and the assembly error. It can be.

That is, the reference pin A is inserted into the reference pin hole B formed through the connecting portion 12 of the upper arm 6 and the hand 5 to fix the hand 5 and the upper arm 6, and then the upper link ( When the hand 5 and the center link 2 are connected by 1), the four-section link consisting of the upper arm 6 / hand 5 / upper link 1 / center link 2 is restrained in a constant position. . In this state, when the center link (2) and the rear link bracket (4) are connected by using the rear link (3), the cumulative value of machining and assembly errors between the rear link (3) and the rear link bracket (4). There is a gap corresponding to the, by inserting and fixing the gauge 10 to the lower end of the rear link bracket (4) according to the height of the gap to compensate the cumulative value of the assembly and processing errors.

At this time, the reference pin hole (B) is a state in which the upper assembly 100 is mounted on the robot body 200 as shown in Figure 1 and 4 and the connecting axis (L) between the upper and lower joint centers of the lower arm (7) Insertion holes 20 and 20 'formed in the upper arm 6 and the hand 5 are formed in communication with each other in a position where the tool shaft 11 is parallel.

Therefore, when the reference pin A is inserted into the reference pin hole B, the upper arm 6 and the hand 5 are fixed, and then the upper assembly 100 is mounted on the robot main body 200 to assemble the tool shaft 11. ) And the posture link can be set with the connecting axis (L) in parallel.

The present invention is not limited to the above-described specific preferred embodiments, and various modifications can be made by any person having ordinary skill in the art without departing from the gist of the present invention claimed in the claims. Of course, such changes will fall within the scope of the claims.

As described above, the present invention uses one reference pin to compensate for assembly and processing errors of the posture link, which allows the tool axis posture of the palletizing robot hand to always be perpendicular to the ground. It is configured to easily extract the posture link setting compensation value by fixing the pressure, which can improve the assembly and reliability of the palletizing robot, and the gauge is located on the fixed part instead of the operating part, so that the quick action is possible. will be.

Claims (1)

A first step of assembling and forming the robot body 200 including the base frame 9, the swing frame 8, and the lower arm 7, A second step of inserting the reference pin A into the reference pin hole B formed through the connecting portion 12 of the upper arm 6 and the hand 5, A third step of assembling the upper assembly 100 including the upper arm 6, the hand 5, and the center link 2 from the ground to be mounted on the upper end of the lower arm 7; A fourth step of connecting the hand 5 and the center link 2 to the upper link 1; The center link 2 and the rear link bracket 4 are fixed by connecting the rear link 3, but the height gauge 10 corresponding to the separation distance between the rear link bracket 4 and the contact surface of the swing frame 8 is fixed. Inserting a method for setting a palletizing robot posture link, characterized in that the fifth step of completing the setting of the posture link by fixing the rear link bracket (4).

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