KR100879205B1 - Servo hand of robot - Google Patents

Abstract

The present invention relates to a robot servo hand for tire handling, and its purpose is to pick up several semi-finished tires transported through a conveyor at a time and transport them to transport carts of various specifications in a tire seating position having different pitch intervals in each truck. By automatically aligning and matching the existing manual hand-cart equipment, the initial investment cost can be reduced, and the manual work-out method by the worker can be completely eliminated to prevent the musculoskeletal disease of the worker. Further improvement is to provide a steering robot servo hand.

The present invention is connected to the hand of the multi-axis robot and the main frame formed in a shape extending in the left and right direction, and installed to be located on the lower portion of the main frame, two to move in a direction opposite to each other in the left and right direction to fix the semi-finished tire Arms are provided, and the first, second, and third working parts provided to maintain a predetermined distance from each other, and the main frame and the second, third and third working parts, and the second and third reference parts based on the first working part for the central part. The technical gist of the robot servohand for tire handling, which is composed of a position adjusting unit for moving a work unit in a direction opposite to each other, is considered.

Mainframe, working part, positioning part, semi-finished tire, servo hand

Description

Robot Servo Hand for Tire Handling {SERVO HAND OF ROBOT}             

1 is a front view showing the configuration of the present invention

Figure 2 is a plan view showing the configuration of the present invention

Figure 3 is a side view showing the configuration of the present invention

Figure 4 is a plan view showing the configuration of a working part according to the present invention

5 is a state diagram showing an installation state of the servo hand according to the present invention;

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

(1): Servo Hand (2): Robot

(3): conveyor (4): semi-finished tire

10: mainframe 21: the first working part

22: the second working part 23: the third working part

(31): auxiliary frame (32): guide rail

33: first arm 33a: guide block

(34); 2nd arm 34a: guide block

35: Encounter (35a): Home                 

36: drive cylinder 37: drive rack

(38): Pinion Gear (39): Driven Rack

(40): Position adjusting unit 41: Drive motor

(42): Timing belt (43): First lead screw

(43a): screw bracket 44: connecting shaft

(45): second lead screw (45a): screw bracket

46: fixing bracket 47: first shaft bracket

48: second shaft bracket 49: first guide shaft

50: second guide shaft 51: guide bracket

The present invention relates to a robot servo hand for handling a tire, and more particularly, a plurality of semi-finished tires, which are installed in a multi-axis robot provided in a tire manufacturing line and carried by a conveyor through a predetermined processing process, are picked up several times at a time. The present invention relates to a robot servo hand for handling a tire configured to be transported by a transport cart and automatically aligned to a tire seating position having a different pitch interval in each truck.

In general, tires used in various vehicles are made of rubber material and are sequentially processed through several stages of processing, and are produced through automated production lines to improve productivity and quality.

This automated production line is a way to gradually complete the product through each processing step from the rubber material, the material passed through the predetermined processing step is conveyed through the conveyor and the transfer bogie is put into the workshop for the next processing step. .

On the other hand, the semi-finished tire before being put into the molding machine is transferred through a conveyor, and then transferred to a separate transport truck to be transported to the workshop where the molding machine is installed.In this case, the worker proceeds by manual method of lifting the semi-finished tire directly to the transport truck. As a result, the incidence of musculoskeletal disorders of the worker is high due to the repetitive work of lifting and removing the tire, which is heavy, and the work efficiency is lowered, resulting in a problem of lowering productivity.

The present invention is devised to solve the conventional problems as described above, the object of which is to pick up a number of semi-finished tires transported through a conveyor at a time using an industrial multi-axis robot and transport them in a transport bogie of various specifications within each bogie By automatically aligning to the fixed position according to the tire seating position having a different pitch interval, it is possible to completely prevent the musculoskeletal disease of the operator by completely eliminating the manual method by the operator, and to further improve the productivity To provide tire handling robot servo hand.

The present invention to achieve the object as described above and to perform the task for eliminating the conventional drawback is connected to the hand of the multi-axis robot and formed in a long shape extending in the left and right direction, so as to be located below the main frame A first work part provided with two arms fixed to the semi-finished tires by moving in opposite left and right directions, and positioned below the main frame, wherein the first work part is disposed at either the left or right side of the first work part. A second working part which is installed to maintain a predetermined distance from the first working part, and which has two arms fixed to the semi-finished tires by moving in the left and right directions facing each other; Installed so as to maintain a predetermined distance from the first working part from the left side or the right side of the first working part where the second working part is not installed. And a third working part provided with two arms which move in the left and right directions opposite to each other to fix the semi-finished tire, and a driving motor which is connected to the main frame and the first and second working parts and installed on the main frame. To the second and third working parts through the timing belt and the first and second lead screws, so that the second and third working parts move in opposite directions with respect to the first working part fixed to the center part. It is configured to be configured to adjust the interval between working parts.

In addition, the first, second, third working part has the same configuration, the auxiliary frame connected to the position adjusting unit, a pair of guide rails installed in a shape extending in the left and right direction from the bottom of the auxiliary frame, coupled to the guide rail The first and second arms extending from the left and right along the guide rail and moving forward and backward along the guide rails, and the jaws are provided at the tip of the arm and provided with grooves into which beads of semi-finished tires are inserted. A driving cylinder installed in the auxiliary frame to be connected to the first arm to move the first arm in a left and right direction, a driving rack installed in the first arm and moving to the left and right along the first arm, and the driving rack A pinion gear installed in the auxiliary frame to rotate in engagement with the wheel, and a driven rack mounted to the second arm to rotate in engagement with the pinion gear. Characterized in that a.                     

In addition, the position adjusting unit is connected to the drive motor installed on the upper end of the main frame, a fixed bracket connecting the first work unit located in the lower center of the main frame, the drive motor is connected to the shaft and the timing belt to rotate The first lead screw installed in the lower portion of the main frame by the one shaft bracket, and the connecting shaft is installed to penetrate the fixed bracket in the left and right direction and connected to the first lead screw to rotate, and the connecting shaft and one side end is connected. The second lead screw is installed in the lower part of the main frame by the second shaft bracket so as to rotate, and has a spiral groove in a direction different from the first lead screw, and parallel to the first and second lead screws. The first and second guide shafts supported by the first and second shaft brackets so as to be located at both sides of the second lead screw, and the first and second lead screws and the second and third operations. The first and second screw brackets connecting the parts to move the work part when the lead screw is rotated, and the guide brackets for guiding the horizontal movement of the work part by connecting the first and second guide shafts and the second and third work parts, respectively. It features.

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

Figure 1 is a front view showing the configuration of the present invention, Figure 2 is a plan view showing the configuration of the present invention, Figure 3 is a side view showing the configuration of the present invention, Figure 3 is a side view showing the configuration of the present invention, Figure 4 5 is a plan view showing the configuration of a working part according to the present invention, Figure 5 shows a state diagram showing the installation state of the servo hand according to the present invention.
The servo hand 1 of the present invention is attached to the multi-axis robot 2, and after carrying out the preceding process, the semi-finished tire 4, which is conveyed by the conveyor 3, is picked up at a time and transported and aligned automatically on the transport cart. It is configured to be.

That is, the present invention is provided with a position adjusting portion 40 in the lower portion of the main frame 10 attached to the robot hand, the first and second fixing the semi-finished tire at the same time the interval is adjusted by the position adjusting portion 40 And 3 working parts 21, 22, and 23.

The main frame 10 is formed of a block extending in the left and right directions so as to secure a space in which the first, second, and third working parts can be arranged in the same line in a horizontal line, and the center of the upper surface is detachable from the robot hand. It is configured to.

The position adjusting unit 40 is to adjust the interval between the first, second, third working part according to the specifications of the semi-finished tire conveyed by the conveyor, the drive motor 41 installed on the upper portion of the main frame 10 The first and second lead screws 43 and 45 are rotated by using the power of the second and third work units 22 and 23 to move in the mutually opposite directions.

That is, the drive motor 41 is installed on the upper part of the main frame 10, and the first lead screw 43 connected and rotated by the shaft and the timing belt 42 of the drive motor 41 is the main frame ( While both ends are supported by the first shaft bracket 47 installed at the bottom of 10), one end is connected to the first lead screw 43 so that the connecting shaft 44 is installed to rotate. The second lead screw 45, one end of which is connected to the connecting shaft 44 and rotates, is installed in a state where both ends are supported by a second shaft bracket 48 installed below the main frame 10. At this time, the first and second lead screws 43 and 45 are formed to have spiral grooves in different directions so that the second and third working parts 22 and 23 move in opposite directions when rotating in the same direction. have.

In addition, the first and second lead screws 43 and 45 are provided with first and second screw brackets 43a and 45a which are moved by the rotation of the lead screws, respectively, and the first and second screw brackets 43a and 45a. ) Is connected to the second and third working parts 22 and 23, respectively, and is configured to move the working part when the lead screw is rotated.

On the other hand, the first and second shaft brackets (47, 48) and the fixing bracket 46 is composed of a pair of two brackets are fixed to the upper end on the bottom surface of the main frame 10 in a state of maintaining a constant distance from each other Both ends of the lead screw are fixed therebetween.

As described above, in parallel with the first and second lead screws 43 and 45 supported by the first and second shaft brackets 447 and 48, the first and second lead screws 43 and 45 are located at both sides thereof. First and second guide shafts 49 and 50 for guiding movement of the second and third working parts 22 and 23 are installed in the first and second shaft brackets 47 and 48. Guide brackets 51 moving along the shafts 49 and 50 are installed on the first and second guide shafts 49 and 50, respectively, while the bottom surfaces of the guide brackets 51 are the second and third working parts 22. , 23).

The first, second, third working parts 21, 22, and 23 fix the semi-finished tires carried by the conveyor, and the first working part 21 is fixed to the main frame 10 by the fixing bracket 46. The second and third working parts 22 and 23 are installed at both sides of the first working part 21, respectively.

On the other hand, since the first, second, third working parts 21, 22, 23 are configured in the same structure, the first, second, third working parts 21, 22, 23) will be described.

The first working part 21 is fixed to the upper surface of the auxiliary frame 31 is fixed to the fixing bracket 46 of the position adjusting unit 40, the guide extending in the left and right in the left and right in the longitudinal direction of the auxiliary frame 31 The rail 32 is installed, and the guide blocks 33a and 34a coupled to the guide rail 32 are moved along the guide rail 32 in the lateral direction and at the same time extended in front of the auxiliary frame 31. The protruding first and second arms 33 and 34 are provided, while the jaws 35 are provided at the ends of the first and second arms 33 and 34 so as to fix the semi-finished tires.

In addition, as a means for moving the first and second arms 33 and 34 to the left and right, a driving cylinder 36 is installed on the bottom of the auxiliary frame 31, and the rod of the driving cylinder 36 is provided as a first. A drive rack 37 connected to the arm 33 and moving left and right in association with the first arm 33 as a straight bar having a plurality of teeth is fixedly installed on the first arm 33, and the drive rack A pinion gear 38 rotatably engaged with the teeth formed in the 37 is rotatably installed in the auxiliary frame 31, and the rotational force of the pinion gear 38 is a straight bar formed with a plurality of teeth engaged with the pinion gear 38. The driven rack 39 which moves the 2nd arm 34 to the left-right direction using this is fixed to the 2nd arm 34. As shown in FIG.

On the other hand, the groove 35a is formed at the outside of the jaw 35 to insert the beads of the semi-finished tire, and is configured to fix the semi-finished tire as the first and second arms 33 and 34 open. That is, the jaw installed in the arm located on the left side has a groove formed on the left side, and the jaw installed in the arm located on the right side has a groove formed on the right side, and the first and second arms are formed to fix the semi-finished tire as the left and right sides are opened. have.

As described above, the first and second arms 33 and 34 are connected by the driving rack 37-the pinion gear 38-the driven rack 39, so that the driving force of the driving cylinder 36 is increased by the first arm ( 33, the first and second arms 33, 34 are configured to move in opposite directions.

The second working part 22 has the same configuration as the first working part 21, and includes an auxiliary frame, a guide rail, first and second arms, jaws, a driving cylinder, a pinion gear, and a driven rack. Likewise, the guide block 51 installed on the first guide shaft 49 and the first screw bracket 43a installed on the first lead screw 43 are fixedly installed on the upper surface of the auxiliary frame 31 so that the first lead screw 43 It is configured to move in the left or right direction according to the rotation direction of the.

The third working part 23 has the same configuration as the first working part 21, and includes an auxiliary frame, a guide rail, first and second arms, a jaw, a driving cylinder, a pinion gear, and a driven rack. Likewise, the guide block 51 installed on the second guide shaft 50 and the second screw bracket 45a installed on the second lead screw 45 are fixedly installed on the upper surface of the auxiliary frame 31 so that the second lead screw 45 It is configured to move in the left or right direction according to the rotation direction of the.

Referring to the operation of the present invention configured as described above are as follows.

When the semifinished tire 4 is conveyed by the conveyor 1 as shown in FIG. 5 and the semifinished tires transferred are sequentially aligned, the robot 2 moves the servo hand 1 of the aligned semifinished tire 4. In the upper part, the servo hand adjusts the interval between the first, second and third working parts 21, 22 and 23 according to the specifications of the semi-finished tires to be produced.

That is, since the alignment positions of the tires are changed according to the specifications of the semi-finished tires produced, when producing semi-finished tires of a new standard, the positions of the second and third working parts 22 and 23 should be adjusted. The motor 41 is operated, and the connecting shaft 44 connected to the first lead screw 43 while rotating the first lead screw 43 connected by the driving motor 41 and the timing belt 42 and The second lead screw 45 connected to the connecting shaft 44 rotates in the same direction.

At this time, since the first and second lead screws 43 and 45 are formed with spiral grooves in different directions, even if the first and second lead screws rotate in the same direction, the first and second screw brackets 43a and 45a. Is moved in mutually opposite directions, and the distance between the second and third working parts 22 and 23 is widened or narrowed by the movement of the first and second screw brackets 43a and 45a.

On the other hand, after the servo hand is positioned on the upper part of the semi-finished tire as described above, the servo hand is lowered by the robot, where the grooves of the jaws 35 provided on the first and second arms and the beads of the semi-finished tire are on the same horizontal line. The servo hand is lowered until it is at.

In the above state, when the driving cylinders 36 installed on the first, second, and third working parts 21, 22, and 23 operate to push the first arm 33, the first arm 33 and The second arm 34 connected by the driving rack 37-the pinion gear 38-the driven rack 39 moves in a direction opposite to the moving direction of the first arm 33, so that the first and second arms 33 and 34 are opened, and the bead of the semi-finished tire is inserted into the groove of the jaws 35 provided at the tips of the first and second arms 33 and 34 to fix the semi-finished tire.

Subsequently, when the servo hand is fixed at the predetermined position of the transport cart, that is, the tire is aligned, by the operation of the robot, the drive cylinder 36 of the first, second, and third working parts is The first arm 33 is pulled to return to the original position, where the first and second arms are gathered to release the fixing force of the semifinished tire fixed to each work part to complete the transfer and alignment of the semifinished tire.

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 is simple and repeatable, it is possible to automate the work to improve the productivity, it is possible to adjust the interval between the first, second, third working part is flexible and quick to change the specification of the tire produced Correspondingly, there is an effect that can prevent musculoskeletal diseases caused by the operator directly transports the heavy semi-finished tire.

Claims (3)

A main frame 10 connected to the hand of the multi-axis robot and formed in a shape extending in a left and right direction, A first work part 121 installed to be positioned below the main frame 10 and having two arms for moving semi-finished tires by moving in a horizontal direction facing each other; Is installed to be located below the main frame 10, it is installed so as to maintain a predetermined distance from the first working part 121 on either side of the left or right of the first working part 121, facing each other A second working part 122 having two arms for moving the left and right tires in a horizontal direction; It is installed to be located below the main frame 10, a predetermined distance from the first working part 121 from the left or right side of the first working part 121 is not installed side A third working part 123 which is installed to maintain the second arm and which has two arms fixed to the semi-finished tires by moving in the left and right directions facing each other; Simultaneously connecting the main frame 10 and the first, second, and third working units 21, 22, and 23 to control the power of the driving motor 41 installed in the main frame, the timing belt 42 and the first, 2nd and 3rd working parts 22 and 23 are transmitted to the 2nd and 3rd working parts 22 and 23 through 2 lead screws 43 and 45, based on the 1st working part 21 fixed to the center part. Robot servo hand for handling a tire, characterized in that configured to adjust the distance between the working portion is composed of a position adjusting unit 40 to move in the mutually opposite direction. The method of claim 1, The first, second, and third working parts have the same configuration, and the auxiliary frame 31 connected to the position adjusting part 40 and a pair of guide rails extending in a left and right direction from the bottom of the auxiliary frame 31. (32) and the first and second arms extending to the front of the auxiliary frame 31 is provided with a guide block (33a) coupled to the guide rail 32 to move left and right along the guide rail (32) And a jaw (35) having grooves into which the beads of semi-finished tires are inserted, respectively installed at the tip of the arm, and installed on the auxiliary frame (31) so as to be connected to the first arm (33). Drive cylinder 36 for moving the left and right directions, a drive rack 37 mounted to the first arm 33 and moving left and right along the first arm 33, and the drive rack 37 And a pinion gear 38 installed in the auxiliary frame 31 to rotate in engagement with the pinion gear 38, and to rotate in engagement with the pinion gear 38. A robot servohand for tire handling, comprising: a driven rack (39) mounted on a second arm (34) to move the second arm (34). The method of claim 1, The position adjusting unit 40 is a fixed bracket 46 for connecting the drive motor 41 installed on one side top of the main frame 10 and the first work unit 21 located in the lower center of the main frame 10. And a first lead screw 43 installed under the main frame 10 by the first shaft bracket 47 so as to be connected and rotated by the shaft and the timing belt 42 of the drive motor 41, It is installed to penetrate the fixing bracket 46 in the left and right direction, the connecting shaft 44 is connected to the first lead screw 43 and rotated, and the second shaft bracket so that the one end is connected to the connecting shaft 44 and rotated. A second lead screw 45 installed in a lower portion of the main frame 10 by a 48 and having a spiral groove in a direction different from that of the first lead screw 43, and the first and second lead screws 43; By the first and second shaft brackets 47 and 48 so as to be located on both sides of the first and second lead screws 43 and 45 in parallel with The first and second guide shafts 49 and 50 supported, and the first and second lead screws 43 and 45 and the second and third working parts 22 and 23 are respectively connected to each other to rotate the work piece when the lead screw is rotated. Connecting the first and second screw brackets 43a and 45a, the first and second guide shafts 49 and 50 and the second and third working parts 22 and 23, respectively, to guide the horizontal movement of the working part. A robot servo hand for tire handling, characterized in that it is composed of a guide bracket (51).

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