KR101069381B1 - Unmanned system for a machine tool using a mobile robot - Google Patents

Abstract

The present invention relates to a robot, and more particularly, to an unmanned system for operating a machine tool, comprising: a plurality of machine tools of the same kind or different types; Self-driving with driving wheels, a robot arm is provided in the body, and a microprocessor and a communication device are built in the body, and the traveling robot moves to the designated machine tool according to the priority by communicating with the machine tools to perform the designated work. It is configured to include a machine tool unmanned system using a traveling robot, characterized in that the loading and unloading of the product by the traveling robot is made.

Robot, Driving Robot, Unmanned System, Position Recognition, Machine Tool, Loading, Unloading, Robot Arm

Description

Unmanned system for a machine tool using a mobile robot}

The present invention relates to a robot, and more particularly, to a technology for an unmanned system configured to load a workpiece into a machine tool or to unload a finished product while autonomous driving in association with an industrial machine tool.

The robotics sector is regarded as a future growth engine, and active research and investment are being conducted in many countries such as Japan and the United States. Of course, a variety of robots are still used in industrial sites and homes, for example, cleaning robots are commercially available, and helper robots are also known, and fixed robots that perform repetitive tasks such as assembly are also used in factory automation lines.

In recent years, robots capable of bipedal walking have been released, and robots that run based on external commands or autonomous judgment within a limited space have been commercialized. Positioning technology must be followed to implement a mobile robot, which can be roughly classified into a vision based position recognition system and an artificial landmark based position recognition system.

Vision-based position recognition system is a technology to identify the position by analyzing the image information of the camera mounted on the robot, artificial index-based position recognition system by placing a mark indicating the position value in advance in the limited space where the robot will be used Representative artificial indicators include infrared, ultrasonic, and radio wave (RF) technology.

Representative position recognition technology using artificial indicators is a technology named "Ninety iGS" of Ninety System. The Ninety iGS is a system for recognizing and controlling the position and azimuth of a moving object such as a mobile robot so that the position of the robot can be recognized using RF technology and ultrasonic technology.

As the position recognition technology of the moving vehicle is developed, commercialization of robots that can autonomously drive and act as basic tasks or guide assistants on behalf of humans is being actively performed. However, in the field of operating machine tools in the industrial field, the technology using a traveling robot is not considered yet.

This is because the operation of expensive machine tools requires precise manipulation, for example, the loading and unloading of accurate products, and the need for periodic replacement of cutting tips or countermeasures against defective products. It was perceived as difficult to do. In particular, in order for the robot to pick up the product freely and to be bitten by the machine tool, the robot arm with high payload and many degrees of freedom must be premised.Simple serial link robot like the conventional articulated robot Cancer could not meet these requirements.

Therefore, in the present invention, in order to enable unmanned operation of machine tools in the industrial field, each robot arm has one left and right and each robot arm has six degrees of freedom to provide an unmanned system capable of stably loading and unloading products. do.

In addition, by adopting a traveling part having an omnidirectional wheel to move freely to provide an unmanned system that can reduce the cycle time by having a traveling robot in charge of a number of machine tools to have a minimum number of copper wire.

The present invention for achieving the problem as described, the unmanned system for operating a machine tool, a plurality of machine tools (100) consisting of the same or different types; And a body 220 having a microprocessor and a communication device embedded therein, and an upper arm that is coupled to the body so as to rotate up and down with respect to the horizontal axis HA and with two degrees of freedom to rotate left and right with respect to the vertical axis VA. It is provided with a finger 230b-4 connected to the upper portion 230a and the upper and lower portions to rotate up and down with respect to the horizontal axis, to the left and right with respect to the vertical axis, and to pick up the product by rotating about the center axis CA at the tip. Robot arm 230 made of a lower portion 230b to be, and a plurality of dogs are arranged at equal intervals in the lower portion of the body to be rotatably mounted in all directions independently by a plurality of motors 216 connected separately to each other A traveling robot (200) consisting of a driving wheel (210); It is configured to include, the traveling robot moves to a designated machine tool according to the priority by the communication with the machine tools to perform the loading and unloading of the product for the machine tool A machine tool unmanned system is proposed.

Preferably the machine tool unmanned system using the traveling robot proposes a machine tool unmanned system using a traveling robot, characterized in that the communication between the machine tool and the traveling robot by wireless communication.

Preferably, the machine tool unmanned system using the traveling robot is connected to the manager computer of the control room can be turned on / off of the whole system, the traveling robot, characterized in that configured to be able to give a work command to the traveling robot We propose a machine tool unmanned system.

Preferably the upper portion 230a, and the fixing bracket 230a-1 fixedly connected to the body 220; A connector (230a-2) having one end connected to the lower portion (230b) and the other end connected to the fixing bracket and the cross joint (J); A pair of first actuators 230a-3 which are installed to be parallel to each other, one end of which is coupled to the fixing bracket and the other end of which is connected to the connector so that the connector can be moved up and down or left and right with respect to the fixing bracket; And a second actuator 230a-4 connected to the connector at one end thereof and connected to the first elbow 230b-1 forming the lower part to rotate the first elbow with respect to the upper part. The thin portion 230b includes: a first elbow 230b-1 connected to the connector and pivoted up and down on the horizontal axis HA; A second elbow 230b-2 connected to the first elbow to rotate up and down with respect to a horizontal axis; A third elbow (230b-3) connected to the second elbow and pivoted left and right with respect to a vertical axis (VA); It is connected to the third elbow is rotated with respect to the center axis (CA) and the finger 230b-4 that can pick up the object; proposes a machine tool unmanned system using a traveling robot, characterized in that consisting of.

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Preferably the machine tool unmanned system using the traveling robot proposes a machine tool unmanned system using a traveling robot, characterized in that the position recognition module is provided in the traveling robot.

Preferably, the machine tool unmanned system using the traveling robot is put into a standby state when the traveling robot is in the non-driving mode, and further includes a station for automatically charging the battery of the traveling robot. We propose a mechanical unmanned system.

Preferably, the station proposes a machine tool unmanned system using a traveling robot, characterized in that a finger washing unit capable of removing cutting chips, cutting oil, etc. adhered to a finger of the traveling robot is provided.

Preferably, the machine tool unmanned system using the traveling robot is equipped with two or more traveling robots, and when one is working in conjunction with the machine tool, the other is configured to be able to be charged at the station. We propose a mechanical unmanned system.

Preferably, the machine tool unmanned system using the traveling robot is configured so that the traveling robot can move and wait toward the corresponding machine tool after completion of the ongoing work according to the priority determination information received from the plurality of machine tools. A machine tool unmanned system is proposed.

Preferably, the machine tool unmanned system using the traveling robot proposes a machine tool unmanned system using a traveling robot, wherein an omnidirectional wheel is used as the driving wheel so that the traveling robot can change directions in any direction.

The machine tool unmanned system using the traveling robot according to the present invention has an effect of providing an infrastructure for unmanned machine tools. The application of the system of the present invention to machine tool operation can significantly reduce labor costs and achieve the effect of increasing productivity.

A more detailed description of the machine tool unmanned system using the traveling robot will be developed, and reference will be made to related drawings as a means to help understanding the technical spirit of the present invention. In the following description of the present invention, a well-known technology is omitted, and detailed descriptions thereof are pointed out that the accompanying drawings correspond to one embodiment.

The unmanned system in the present invention is a technology for utilizing a traveling robot as the operation of a machine tool, and is provided with a plurality of machine tools of the same or different types as basic components, and a traveling robot that performs specific operations on the machine tools. It will be included. The traveling robot is a self-driving robot equipped with a driving wheel, the body of the traveling robot is equipped with a multi-joint robot arm, and a microprocessor and a communication device are built into the body to control the movement of the traveling robot and machine tools. The robot is moved to the designated machine tool according to the priority while communicating with each other to perform a specific task. The specific work that the traveling robot performs by the communication between the traveling robot and the machine tool is typical such as loading a product to be machined into a machine tool or unloading a product after processing is completed.

Hereinafter, a detailed description of a machine tool unmanned system (hereinafter, referred to as an unmanned system) using a traveling robot as a preferred embodiment, Figure 1 is a schematic configuration diagram of the unmanned system, Figure 2 is used in the unmanned system 3 is a perspective view of a traveling robot, and FIG. 3 corresponds to a schematic perspective view showing a state in which work is performed by the traveling robot.

The unmanned system of the present invention includes a machine tool 100, a traveling robot 200, a station 300 and a position recognition module 400 as a major component, which are driven by the traveling robot by mutual interaction. Allow repetitive work to be achieved.

In constructing the system of the present invention, the machine tool 100 may have a plurality of machine tools, as necessary, may be arranged with only one type of machine tool, or may be configured by properly arranging various types of machine tools. . Regarding the machining, representative machine tools include NC, CNC, milling machines, etc., and these machines are distributed in the workplace. In the case of constituting a plurality of different kinds of machine tools, it may be desirable to arrange the machine tools in order in a certain direction according to the work process, so that the loading table 10 on which the material or semi-finished product to be processed is loaded is placed in a boundary. . On the other hand, it is to be equipped with a carrying out table 20 for carrying out the finished product to the outside.

When a plurality of machine tools 100 are placed in a limited boundary, the operation of loading or unloading materials or semi-finished products for machining is performed by the traveling robot 200. That is, the traveling robot 200 is to operate a plurality of machine tools 100 on behalf of the operator, the work such as maintenance of the basic machine tool is to be made by the operator.

The traveling robot 200 has a traveling wheel for movement, but preferably has an omnidirectional wheel 210 so as to be able to move freely and quickly in any direction. That is, the omnidirectional wheel 210 for driving on the bottom of the driving robot 200 is formed and the body 220 forming the overall appearance of the robot is coupled to the omnidirectional wheel 210. One robot arm 230 is coupled to both left and right sides of the body 220, and each robot arm 230 is composed of an upper and lower portions 230a and a lower portion 230b to have six degrees of freedom. On the other hand, a microprocessor is built in the body 220, a transmitter and a receiver for wireless communication are installed, and other batteries are built.

The omnidirectional wheel is disclosed in Korean Patent Registration No. 418427. Other known omnidirectional wheels include universal wheel mechanism, mecanum wheel, double wheel, and alternator. Alternate wheels, half wheels, and the like. Therefore, the omnidirectional wheel of the traveling robot applied to the unmanned system of the present invention may utilize these known techniques.

The omnidirectional wheel 210 of the traveling robot used in the unmanned system of the present invention, three omnidirectional wheels 210 are used as shown, while maintaining the angle of 120 degrees on the lower side of the triangular plate 215 Four omnidirectional wheels 210 are installed, and each omnidirectional wheel is equipped with a motor 216 to be driven independently. By properly driving three omnidirectional wheels arranged in a triangular shape, it is possible to move freely in any direction.

The traveling robot 200 is configured to communicate with the machine tool 100 and also communicate with the station 300, and in particular, the traveling robot 200 can recognize its position in the workplace 400 Have). Here, the position recognition module 400 is based on a known position recognition technology, and means a means for determining the current position of the driving robot itself and controlling it to travel the shortest distance to the destination to be moved. As already mentioned, there are many methods for the position recognition technology of a moving object such as a traveling robot, so it is sufficient to select one suitable method in consideration of various conditions.

As an example, in this embodiment, a position recognition technique using an artificial landmark is applied. More specifically, a plurality of transmitters are installed on a wall or a ceiling of a space, and a receiver is installed on a traveling robot. The position recognition controller calculates the current position of the robot by automatic calculation. That is, the absolute coordinates of the traveling robot are recognized by the ultrasonic signal transmitted from the transmitter and the RF signal requested by the receiver, and the exact position and azimuth of the driving robot are calculated by calculation by trilateration. The position recognition module basically includes a transmitter, a receiver, a position recognition controller, and the like.

When the position of the traveling robot 200 in the workplace is determined, the traveling robot can be moved to any point in the workplace, the traveling robot 200 is in communication with the machine tools 100 and the station 300 and The operating operation of the machine tool can be performed while also performing wireless communication with the control room 500.

When a plurality of machine tools 100 are installed in the workplace to perform continuous or identical machining, the traveling robot 200 receives information about the progress of the work by wireless communication with each of the machine tools 100, and travels. The microprocessor of the robot 200 compares the inputted information with each other to determine the priority of the machine tool in which the next work is to be performed.

Assuming a total of five machine tools are operated, numbers 1, 2, 3, 4, and 5 in order. If the traveling robot 200 picks up the material from the loading table 10 and puts it down to the final unloading table 20, a total of two machinings are performed. The same first turning operation is performed in the first and fifth machine tools. In the second, third and fourth machine tools, the second turning operation is assumed.

The traveling robot 200 receives information on whether the turning work is completed, expected processing completion time, normal operation, etc. by wireless communication from each machine tool 100, and the microprocessor calculates the most urgent work. The machine will be selected.

For example, when the traveling robot 200 is loading the machine tool 1, when the second turning operation of the machine tool 3 is completed first among the other machine tools, the traveling robot 200 is the machine tool 1 After completion of the loading operation to move to the third machine tool is configured to perform the unloading operation for the finished product of the second turning operation. The traveling robot moves to the unloading place after unloading the 3rd machine tool and puts down the finished product. In this case, the third machine tool is temporarily suspended, and when the first turning operation is completed on the fifth machine tool, the traveling robot moves to the fifth machine tool, unloads the product, and moves to the third machine tool. Product loading for 2 turning operations. In this way, the traveling robot can autonomously determine the priority of work based on various information through wireless communication with the machine tools.

More preferably, the traveling robot 200 determines the priority of the job based on various information received from each machine tool 100, but the driving robot 200 is selected prior to the completion of the ongoing work. It is more suitable to move toward the machine tool according to the rank so that it is in the standby state. That is, even if the selected machine tool 100 is in operation, the traveling robot 200 moves to the machine tool 100 corresponding to the selected priority in advance, waits for the completion of the work, and promptly loads or unloads the product. Do it.

In the present invention, the station 300 is to be placed in the workplace, and the station 300 also wirelessly communicates with the traveling robot 200, and basically, the station 300 wears when the traveling robot 200 is in the non-driving mode. It is used as a place to be kept. On the other hand, when the driving robot 200 is received in the station 300 is supposed to be able to automatically charge the battery. The driving robot 200 returns to the station 300 to charge the battery even when the battery level is insufficient while the driving robot 200 is working.

More preferably, in constructing the system of the present invention, two or more traveling robots 200 are held so that the other traveling robots are in the standby state at the station 300 while one is working in the interaction with the machine tool 100. It is suitable to ensure that the continuity of the work is ensured by allowing the battery to be charged to the maximum value.

The driving robot 200 is provided with a memory means to include data that is activated when the power of the driving robot is turned on, such data can be re-entered or changed by the operator. In particular, the unmanned system of the present invention is preferably configured to be connected to the manager computer of the control room 500, and can be configured to enable the on / off of the entire system as a manager computer and to give work commands to the traveling robot by wireless communication. It is preferable to.

The traveling robot 200 for the operation of the machine tool should be able to lift heavy objects and maintain a stable gripping state when moving, and the robot arm 230 may be fine for loading or unloading products in the machine tool 100. Should be able to move.

Therefore, in constructing the unmanned system of the present invention, the robot arm 230 provided in the traveling robot 200 is configured to have six degrees of freedom, and is composed of the upper and lower portions 230a and 230b. The upper portion 230a is configured to support a large force and the lower portion 230b is configured so that free movement can be achieved.

4 is a schematic perspective view showing a configuration of a robot arm applied to an unmanned system of the present invention, and FIG. 5 is a partial perspective view showing a coupling relationship between a cross joint connecting a fixing bracket and a connector. do. The robot arm 230 provided in the traveling robot 200 consists of a combination of the upper and lower portions 230a and the lower portion 230b. Two degrees of freedom are realized in the upper portion 230a and the lower portion 230b. Four degrees of freedom are implemented to provide a robot arm 230 having a total of six degrees of freedom. In particular, the upper arm 230a is equipped with two actuators arranged in parallel form a closed link to be able to move up, down, left and right to exert a great force. In the lower part connected to the upper part, a combination of a plurality of elbows and fingers allows more complex and precise movements to be obtained.

More specific components of the upper portion 230a includes a fixing bracket 230a-1, a connector 230a-2, a first actuator 230a-3 and a second actuator 230a-4. The bracket 230a-1 is a portion that is fixedly connected to the body 220 and may correspond to a shoulder portion of the overall shape of the traveling robot 200. As shown in the drawing, the fixing bracket 230a-1 has a substantially C shape, and the connector 230a-2 is further connected to the fixing bracket 230a-1.

The connector 230a-2 corresponds to a basic skeleton constituting the upper thin portion 230a, one end of which is connected to the lower thin portion 230b to be described later, and the other end of which is connected to the fixing bracket 230a-1. Connection of the 230a-1 and the connector 230a-2 is connected to the cross joint J to form a structure in which the connector 230a-2 can move up, down, left, and right with respect to the fixing bracket 230a-1. .

As shown in FIG. 5, the connector 230a-2 connected to the fixing bracket 230a-1 through the cross joint J rotates up and down with respect to the horizontal axis HA direction, and about the vertical axis VA direction. Rotate left and right to have two degrees of freedom. A first actuator 230a-3 is provided as a driving source for the rotation of the connector 230a-2, and two first actuators 230a-3 may be installed in a pair and stretched in parallel. Preferably, the motor is built-in to operate to increase or decrease the length according to the driving of the motor. More specifically, one end of each of the first actuators 230a-3 is coupled to the upper portion of the fixing bracket 230a-1, and the other end thereof is connected to the connector 230a-2. The connection point between the first actuator 230a-3, the fixing bracket 230a-1, and the connector 230a-2 is suitably constrained by the pin P to enable rotation.

Meanwhile, two pairs of first actuators 230a-3 operate independently of each other, and when the two are simultaneously extended or shortened in the same direction, the connector 230a-2 is based on the horizontal axis HA. Will move up and down. When the length of any one of the pair of first actuators 230a-3 increases and the other length thereof decreases, the connector 230a-2 moves in the horizontal direction based on the vertical axis VA. In the manner described above, two degrees of freedom may be implemented in the upper arm portion 230a, and the two pairs of first actuators 230a-3 each share an even load so that the payload of the robot arm 230 is achieved. The robot arm can be configured to enlarge the work area similar to the human arm movement.

The second actuator 230a-4 is further installed at the lower portion of the connector 230a-2, the second actuator 230a-4 is formed in one, one end thereof is connected to the connector 230a-2, and the other end thereof is The first elbow 230b-1 is connected to the first elbow 230b-1, which constitutes the lower portion 230b, so that the first elbow 230b-1 rotates with respect to the connector 230a-2. That is, another degree of freedom is obtained between the connector 230a-2 and the first elbow 230b-1 by the second actuator 230a-4.

Next, the lower portion 230b constituting the robot arm will be described. The first elbow 230b-1, the second elbow 230b-2, the third elbow 230b-3, and the finger 230b- will be described. 4) consists of. Two degrees of freedom are obtained in the upper thin portion 230a, and four degrees of freedom are obtained in the lower thin portion 230b, thereby providing a robot arm 230 having a total of six degrees of freedom.

The lower portion 230b is to load the object to the machine tool 100 or unload the finished product in a more precise and detailed operation, it requires more freedom than the upper portion 230a.

First, the first elbow 230b-1 is a portion that is connected to the connector 230a-2 and rotates up and down with respect to the horizontal axis HA. The first elbow 230b-1 is driven by the aforementioned second actuator 230a-. The first elbow 230b-1 moves. When one end of the second actuator 230a-4 is connected to the lower side of the first elbow 230b-1 and the length of the second actuator 230a-4 is operated to be longer, the first elbow 230b-1 is The rotation is made up to a maximum angle of 90 degrees.

The second elbow 230b-2 is pivotally connected to the distal end of the first elbow 230b-1 and allows the second elbow 230b-2 to move up and down based on the horizontal axis HA. Preferably, the second elbow 230b-2 may rotate up and down in the range of 100 ° to -100 ° based on the horizontal axis HA connected to the first elbow 230b-1. It is assumed that a motor is used as the driving source for the rotation of 230b-2). In particular, the connection portion between the second elbow 230b-2 and the first elbow 230b-1 has a linear link structure, and more specifically, the end portion of the first elbow 230b-1 is recessed in a c-shape. In this configuration, the second elbow 230b-2 may be inserted to straighten it.

Next, a third elbow 230b-3 connected to the second elbow 230b-2 and rotated left and right is provided, and the third elbow 230b-3 and the second elbow 230b-2 have a vertical axis ( It is connected so that it can rotate based on VA). Preferably, the third elbow 230b-3 may rotate in a range of 90 ° to −90 ° from side to side based on the vertical axis VA.

A finger 230b-4 is installed at an end of the third elbow 230b-3, and the finger 230b-4 may be rotated based on the center axis CA and configured to pick up an object. That is, the object to be processed is picked up by the finger 230b-4, and the picked object is rotated to come to a suitable position to be bitten at a place such as a chuck of the machine tool 100.

The robot arm 230 having the components as described above and the coupling relationship therebetween is made of a combination of the upper and lower portions 230a and 230b, and two degrees of freedom are obtained from the upper and lower portions 230a. In the lower portion 230b, four degrees of freedom may be implemented. In particular, the upper arm 230a has a pair of two first actuators 230a-3 arranged in parallel to increase the payload to form a closed link, and each of the first actuators 230a-3 independently. Driven is configured to be able to rotate in the vertical direction or left and right directions with respect to the fixing bracket (230a-1).

Two first actuators 230a-3 form a closed link and are connected to the fixing bracket 230a-1 with a cross joint J to make a connector 230a-2 that forms a basic skeleton of the upper arm 230a. Make it free to move around. For example, when the length of two first actuators 230a-3 is stretched to the maximum, the connector 230a-2 may move up to 25 ° in the vertical direction with respect to the horizontal axis HA. If the connector 230a-2 can be moved from 20 ° to -20 ° with respect to the vertical axis VA, the upper and lower portions 230a may be freely positioned in a suitable space within a range of 25 ° up and down and 40 ° left and right. It becomes possible.

The lower thin portion 230b is connected to the upper thin portion 230a constituting the closed link structure, and the lower thin portion 230b has a first elbow 230b-1, a second elbow 230b-2, and a third in series. The elbows 230b-3 and the fingers 230b-4 are continuously connected to secure four additional degrees of freedom. That is, in the robot arm 230 of the present invention, the closed upper type upper portion 230a and the serial lower portion 230b are connected to have six degrees of freedom.

On the other hand, in constructing the robot arm 230 of the present invention uses a plurality of motors for the operation of each joint portion, other known power transmission means, such as gears or winding transmission means to receive the rotational motion of the motor other than It is enough to use it properly.

As described above, the traveling robot 200 applied to the unmanned system of the present invention includes two robot arms 230, and fingers 230b-4 are formed at the lower portion 230b of each robot arm 230. . The finger 230b-4 is a portion where the product is picked up and becomes a portion where direct contact with the product is made before or after processing. In general, in the case of a product that is turned, when the finger 230b-4 picks up the product to load the machine tool 100, various foreign substances on the surface of the product may damage the finger 230b-4. In addition, even after lubricating oil or cutting chips are on the surface of the product after processing, such foreign matter will be attached to the finger (230b-4). Foreign substances attached to the finger may damage the surface of the product, it is necessary to periodically wash the robot arm finger 230b-4 of the traveling robot to prevent this.

To this end, in the unmanned system of the present invention, the station 300 further includes a finger washing unit 310. That is, the foreign material attached to the finger 230b-4 can be removed by spraying it with a high-pressure air, leaving a space in which the finger 230b-4 of the robot arm 230 can be inserted in the station 300. To ensure that The driving robot 200 may be periodically returned to the station 300 so that the cleaning of the finger 230b-4 may be performed in the finger washing unit 310, thereby minimizing surface damage of the product.

Furthermore, the unmanned system according to the present invention is provided with two robot arms 230 in the traveling robot 200, so that one of both robot arms is used only when the product is loaded and the other is only when the product is unloaded. It is preferable to use. If the two robot arms are used separately, the surface damage of the product can be more surely prevented.

The unmanned system according to the present invention is a technology that is expected to be widely applied to industrial sites on behalf of a serious machine tool operator because the human machine can automate the operation of a large number of machine tools.

1 is a schematic configuration diagram of an unmanned system.

2 is a perspective view of a traveling robot used in an unmanned system.

3 is a schematic perspective view showing a state in which work is performed by a traveling robot;

Figure 4 is a schematic perspective view showing the configuration of a robot arm applied to the unmanned system of the present invention.

Figure 5 is a partial perspective view showing the coupling relationship between the cross bracket connecting the fixing bracket and the connector.

                  <Description of Major Symbols Used in Drawings>

100: machine tool 200: traveling robot

210: omnidirectional wheel 215: triangular plate

220: body 230: robot arm

230a: upper arm 230b: lower arm

230a-1: fixing bracket 230a-2: connector

230a-3: 1st actuator 230a-4: 2nd actuator

230b-1: First Elbow 230b-2: Second Elbow

230b-3: third elbow 230b-4: finger

300: station 310: finger cleaning

400: position recognition module 500: control room

10: loading table 20: carrying out

J: Cross joint HA: Horizontal axis

VA: Vertical axis CA: Center axis

P: pin

Claims (10)

As an unmanned system for machine tool operation, A plurality of machine tools 100 composed of the same kind or different kinds; And A body 220 having a microprocessor and a communication device therein and an upper arm that is coupled to the body and driven with two degrees of freedom to rotate up and down with respect to the horizontal axis HA and to rotate from side to side with respect to the vertical axis VA. 230a and a finger 230b-4 which is connected to the upper and lower parts and rotates up and down with respect to a horizontal axis, rotates from side to side with respect to a vertical axis, and is capable of picking up a product by rotating about a center axis CA at its tip. It is independently driven by a robot arm 230 made of a lower portion 230b and a plurality of motors 216 separately arranged at lower portions of the body and rotatably mounted in all directions at equal intervals. A traveling robot (200) consisting of an omnidirectional wheel (210); It is configured to include, the traveling robot moves to a designated machine tool according to the priority by the communication with the machine tools to perform the loading and unloading of the product for the machine tool Machine tool unmanned system. The method of claim 1, Machine tool unmanned system using the traveling robot, Machine tool unmanned system using a traveling robot, characterized in that the communication between the machine tool and the traveling robot by wireless communication. The method of claim 1, Machine tool unmanned system using the traveling robot, Connected to the administrator computer of the control room can be turned on / off the whole system, the machine tool unmanned system using a traveling robot, characterized in that configured to issue a work command to the traveling robot. The method of claim 1, The upper arm portion 230a includes: a fixing bracket 230a-1 fixedly connected to the body 220; A connector (230a-2) having one end connected to the lower portion (230b) and the other end connected to the fixing bracket and the cross joint (J); A pair of first actuators 230a-3 which are installed to be parallel to each other, one end of which is coupled to the fixing bracket and the other end of which is connected to the connector so that the connector can be moved up and down or left and right with respect to the fixing bracket; A second actuator 230a-4 connected to the connector at one end thereof and connected to the first elbow 230b-1 forming the lower part to rotate the first elbow with respect to the upper part. The lower thin portion 230b includes: a first elbow 230b-1 connected to a connector and pivoted up and down based on a horizontal axis HA; A second elbow 230b-2 connected to the first elbow to rotate up and down with respect to a horizontal axis; A third elbow (230b-3) connected to the second elbow and pivoted left and right with respect to a vertical axis (VA); And a finger (230b-4) connected to the third elbow to rotate about the center axis (CA) and pick up the object. The machine tool unmanned system using a traveling robot, characterized in that the configuration. The method of claim 1, Machine tool unmanned system using the traveling robot, Machine tool unmanned system using a traveling robot, characterized in that the position recognition module is provided in the traveling robot. The method according to any one of claims 1 to 5, Machine tool unmanned system using the traveling robot, When the running robot is in the non-driving mode, the machine tool unmanned system using a running robot, characterized in that the standby robot, and further comprising a station for the automatic charging of the battery of the driving robot. The method of claim 6, The station, Machine tool unmanned system using a traveling robot, characterized in that the finger washing unit for removing the cutting chips, cutting oil, etc. adhered to the finger of the traveling robot. The method of claim 6, Machine tool unmanned system using the traveling robot, A machine tool unmanned system using a travel robot, characterized in that two or more traveling robots are provided and one of them is linked to the machine tool and the other is configured to be charged at the station. The method according to any one of claims 1 to 5, Machine tool unmanned system using the traveling robot, The traveling robot unmanned system using a traveling robot, characterized in that configured to be moved to the waiting for the machine tool after the completion of the ongoing work in accordance with the priority information received from the plurality of machine tools. The method according to any one of claims 1 to 5, Machine tool unmanned system using the traveling robot, A machine tool unmanned system using a traveling robot, wherein the traveling wheel is used as a traveling wheel so that the traveling robot can change directions in any direction.

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