KR101666197B1 - Double-hand robot for trimming of tracklink and automation process using the double-hand robot - Google Patents

Abstract

The present invention relates to a double-handed robot for trimming a track link and an automation process using the same, and more specifically, to a double-handed robot for trimming a track link and an automation process using the same, which make a trimming process and a discharge process performed continuously and rapidly by using a double-handed robot (1), whose first hand unit and second hand unit are vertically piled up and driven by a separate cylinder, in a process for molding a track link used for a caterpillar. That is, the present invention can prevent an accident and reduce production costs when compared with the conventional processes, where workers or a separate handling robot (A) handle burr after trimming, and greatly reduce production time by almost simultaneously clamping and discharging forging and burr by the double-handed robot (1). The double-handed robot for trimming a track link comprises: an installation plate (2); a first hand unit (10); and a second hand unit (20).

Description

TECHNICAL FIELD [0001] The present invention relates to a double-handed robot for track link trimming and an automation process using the same.

The present invention relates to a dual hand robot and a track link trimming automation process using the same. More specifically, in a process for forging a track link used in an endless track vehicle, The present invention relates to a dual hand robot for track link trimming and an automation process using the same.

An endless track is widely used as a traveling device of a heavy equipment. The endless track has a plurality of track links connected to each other through a shoe. These track links are primarily molded by forging to a state close to that of the final product, and after the trimming process, they are finished as a finished product through post-processes such as milling, drilling, and cutting.

The present invention aims at improving the productivity while reducing the production cost of the product by automating the forging process by making the trimming process more quickly and accurately using the double hand robot in the process of manufacturing the track link. have.

Conventionally, when a worker completes the first type forging, the worker places the workpiece on the trimming die, and after the trimming is completed, the worker takes out the trimming product and the barley in the order of the tongs and discharges them as a product conveying conveyor. However, In recent years, Korean Patent Laid-open Publication No. 10-2013-0072636 discloses a method and apparatus for combining a transfer using a robot in a press process of a forging product. As shown in the figure, instead of the worker, the trimmed product and the trimmed burr are sequentially taken out and processed by the general-purpose robot, or the two robots are used to take out the products and the burrs alternately. And there was a limit in reducing the cost per unit time remarkably.

KR 10-2013-0072636E 2013.07.02

The present invention has been made to solve the above-mentioned problems of the prior art, and it is an object of the present invention to provide a method of manufacturing a forklift which is capable of extracting a forged product and a barrel from a mold at a time after the trimming operation, By proposing a hand robot, it is possible to prevent a safety accident of a worker such as an image injury accident and to make it possible to work more quickly, and the grip tool of the second hand part can be stably picked up The present invention provides a dual hand robot for track link trimming which is capable of reducing the production cost by increasing the productivity of the truck link and discharging it, and an automation process using the same.

On the other hand, other unspecified objects of the present invention may be further considered within the scope of the following detailed description and easily deduced from the effects thereof.

In order to achieve the above object, according to the present invention, first and second robot arms (11) and (21) having first and second cylinders (12, 22) And a pair of first and second actuating openings 13 and 14 which are respectively coupled to the ends of the rods 12a and 22a of the two cylinders 12 and 22 and in which the first and second outer links 15 and 25 are engaged, The first and second hinge shafts 15a and 15b which are located above and below the first and second actuating members 13 and 23 and rotate with the first and second outer links 15 and 25, And the first and second hand bodies 14 and 24 formed with the first and second main body hinges 16a and 26a on which the first and second inner links 16 and 26 rotate, One end is hooked into the groove of the first and second actuating openings 13 and 23 and the first and second hinge axes 15a and 25a are moved by the linear motion of the first and second cylinder rods 12a and 22a The first and second outer links 15 and 25 constitute a pair of first and second outer links 15 and 25 facing each other and one end of the first and second outer links 15 and 25 is connected to the first and second hand bodies 14, The first and second main body hinges 24, 26 and a pair of first and second inner links 16 and 26 formed to be pivotally coupled to the first and second inner links 16a and 26a, A pair of first and second tongues 17 and 27 are formed to be connected to the ends of the first and second tongues 16 and 27 and are coupled to the first and second tongues 17 and 27 to be directly engaged with the forgings The first and second hand robots 10 and 20 constituted by a pair of first and second clamping tools 18 and 28 are vertically attached and fixed to a mounting plate 2 provided at the end of the handling robot A Prepare a dual hand robot.

The second clamping tool 28 of the second hand unit 20 is provided with a lower step 28a at the lower end thereof to stably lift up the thin barb B2.

The trimming process of the track link (B1) using the double hand robot (1)

A material placing step for placing the forged product on the trimming die (3);

Trimming step;

A forging product clamping step of holding the forged product with the first hand part (10);

The rising step of the barriers 5;

A bar clamping step of holding the barb B2 with the second hand 20;

A step of discharging the double hand robot (1) to a position above the bar conveying conveyor (7) and dropping the barrel (B2);

A step for discharging the forged article by placing the double hand robot (1) on the forged product conveying conveyor (8);

The track link trimming automation process is configured in the order of.

According to the concrete means for solving the above-mentioned problems,

It is possible to reduce the production cost while blocking the occurrence of safety accidents in comparison with the conventional one in which the operator or the separate handling robot performs the processing of the barriers generated after the trimming.

In addition, the forged product and barrel are clamped and discharged almost simultaneously by a double hand robot, thereby remarkably reducing the number of production time.

In addition, since the first hand portion and the second hand portion are almost identical in configuration and operation, they can be easily manufactured, thereby reducing the manufacturing cost, and the frequency of maintenance is low.

In addition, since the second tongue tool of the second hand unit can be stably disposed at the bottom of the second tongue tool, the thin tie bar can be stably processed, thereby contributing to the reduction of the malfunction rate in the process of manufacturing a forging product. .

1 is a perspective view showing a preferred embodiment of a dual hand robot for track link trimming according to the present invention.
FIG. 2A is a plan view showing the operating state of the first hand part in the present invention. FIG.
FIG. 2B is a plan view showing the operating state of the second hand part in the present invention. FIG.
3A is a front view showing a flowchart of an automated process using a dual hand robot for track link trimming provided in the present invention.
FIG. 3B is a plan view showing a flowchart of an automated process using a dual hand robot for track link trimming provided by the present invention.
4 is a block flow diagram of a track link trimming automation process

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may obscure the subject matter of the present invention.

FIG. 1 is a perspective view showing a preferred embodiment of a dual hand robot for trimming track links according to the present invention. FIGS. 2a and 2b are plan views showing the operating states of the first and second hand robots in the present invention. FIG.

The present invention relates to a dual hand robot (1) installed at the end of a handling robot (A) used for handling a material or a product in a forging product production line, The first hand portion 10 is formed on the mounting plate 2 and the second hand portion 20 is installed so as to be positioned adjacent to the lower portion of the first hand portion 10, And is attached to the plate (2).

The first hand part 10 formed on the upper part forms a first robot arm 11 in which the first cylinder 12 is installed inwardly in front of the mounting plate 2, The rod end is provided with a first operating member (13) formed with a pair of grooves which are opened to both sides so that the outer link is engaged.

The first operating member 13 constitutes a first hand body 14 having a hinge shaft on which a link rotates. The first operating member 13 is engaged with a groove of the first operating member 13, And a pair of first outer links 15 configured to be angularly moved about the hinge axis of the first hand body 14 by linear motion of the rod 12, And a pair of first inner links 16 each of which is configured so that one end of the first inner link 16 faces the first main body hinge 16a of the first hand main body 14 so as to rotate about the first main body hinge 16a.

The first tongue 17 is coupled to the end of the first outer link 15 and the first inner link 16 so that the first outer link 15 is opened when the first cylinder 12a is drawn out, By pulling the first clamping hinge 16b on the inner side of the clamp which is pin-coupled to the other end of the outer link 15, a pair of mutually opposing clamps are always arranged in parallel.

The pair of first clamps 17 are bolted to a first clamping tool 18 for directly clamping and picking up the object to be conveyed, so that the clamping tool 18 due to frequent contact with the high- It is possible to replace only the clamping tool 18 and reuse it.

The second hand portion 20 having the same structure is disposed adjacent to the first hand portion 10 constructed as described above and the first hand portion 10 and the second hand portion 20 are separated from each other by a trimming die 3, it is natural to adjust the clamping of the barier B2, which has fallen to the forgings and the bar dies 5, to an optimum position for stable stitching. In the present invention, And the inner and outer links of the unit 10 are inclined toward the second hand 20.

On the other hand, on the second gripping tool 28 of the second hand 20, a positioning jaw 28a is formed at the lower end of the gripping tool 28 so as to stably lift the thin barrel B2. This is because, unlike the first hand unit 10, which is required to clamp heavy and heavy track links with strong gripping force, when the gripping force of the second hand unit 20 is strong, the barb B2 is bent or twisted, The second clamping tool 28 is provided at the lower end of the second clamping tool 28 so as to support the bolt B2 from the lower side in order to prevent the bolt B2 from falling down with a weak holding force instead of designing the gripping force weakly, ).

Hereinafter, the sequence of the track link trimming automation process using the above-described dual hand robot 1 will be described with reference to FIGS. 3A to 4B.

FIG. 3A is a front view of a procedure of a track link trimming automation process using a dual hand robot 1 according to the present invention. FIG. 3B is a flowchart of a track link trimming automation process using a dual hand robot 1 according to the present invention Fig. 4 is a flowchart showing the entire sequence of the track link trimming automation process. Fig.

In order to facilitate understanding of the process sequence, FIG. 3A shows the steps 1) to 5) in the following steps, and FIG. 3B shows the steps 5) to 7) in the plan view.

The track link trimming automation process comprises: (1) the step of placing the material, (2) the trimming step, (3) the forging clamping step, (4) the elevating step of the barriers, (5) the clamping step, , And each process will be described in detail below.

Although the track link B1, which is a typical forgings product, is exemplified in the present invention, it is obvious that the present invention can be applied to the production of forgings other than the track link B1.

1) Step of placing material

The primary forged product B having completed the entire die forging is fastened onto the trimming die 3 in the step.

2) Trimming step

When the upper press is operated and the trimming upper die 4 is lowered, the inner and outer barbs B2 of the forged product are cut. At this time, the inner barrel is discharged through a die outlet provided inside the trimming die 3, and the barrel B2 on the outer side is dropped to the upper portion of the barrel die 5.

3) Forging product clamping step

If the first cylinder 12a is pulled in by the operation of the first cylinder 12 of the first hand unit 10 and the first operating member 13 is pulled toward the cylinder together with the first cylinder 12a, And the first inner link 16 and the first inner link 16 are engaged with the first inner link 16 and the tie hinge 15 while the first inner link 16 and the first inner link 16 are pivotally moved inward about the first hinge axis 15a, The first clamping tool 18 coupled to the first clamp 17 stably clamps the side of the track link B1 placed on the trimming die 3 in an interview.

4) Barriers (5) The ascending phase

The cylinder 6 provided on the bar dies 5 is operated to raise the barbs B2 cut by the upper die 4 to a position where the second hand 20 can clamp.

5) Bar clamping step

And the barb (B2) located above the bar die (5) is clamped by the second hand part (20). The second tongue tool 28 is provided at the lower end thereof with the protrusion 28a so that the tongue B2 can be stably discharged to a desired position without falling down.

6) Bari emission stage

The handling robot A clamped at the same time with the track links B1 and B2 is moved to the top of the bar conveying conveyor 7 for discharging only the barb B2 and then the second cylinder rod 22a is pushed 2 links are opened to the outside, the bari B2 is dropped onto the bari transport conveyor 7 and the bari B2 is gathered at one place through the conveyor.

7) Forging step

The handling robot A having dropped the barb B2 moves over the forgings conveying conveyor 8 and the forward movement of the rod 12a of the first cylinder 12 causes the first links 15, The track link B1 is dropped and gathered through the forging conveying conveyor 8 into one place.

On the other hand, the handling robot A which has discharged the forgings returns to the initial position until the next material is seated and trimmed, and the work is continuously performed.

In the case of using the double hand robot 1 configured as described above, the first hand portion 10 and the second hand portion 20 are individually operated by the first and second cylinders operated by pneumatic or hydraulic pressure The trimming forged product and the barie B2 are clamped and discharged at substantially the same time so that the forging trimming automation process is stably continuous and quick so that the barie B2 is conventionally handled by the operator or one robot is used for forging and barie B2 ) Compared to the case where two robots are sequentially executing the process, the number of production and manufacturing cost can be remarkably reduced at the same time.

The embodiments of the present invention described above and shown in the drawings should not be construed as limiting the technical idea of the present invention. The scope of protection of the present invention is limited only by the matters described in the claims, and those skilled in the art will be able to modify the technical idea of the present invention in various forms. Accordingly, such improvements and modifications will fall within the scope of the present invention if they are apparent to those skilled in the art.

1: 2 hand robot 2: Mounting plate
3: trimming die 4: upper die
5: Balliday 6: Balliday cylinder
7: Bari conveying conveyor 8: Forgings conveying conveyor
10: first hand part 11: first robot arm
12: first cylinder 12a: first cylinder rod
13: first operating member 14: first hand body
15: first outer link 15a: first hinge axis
16: first inner link 16a: first main body hinge
16b: first tongue hinge 17: first tongue
18: 1st clamping tool
20: second hand part 21: second robot arm
22: second cylinder 22a: second cylinder rod
23: second operating member 24: second hand body
25: second outer link 25a: second hinge axis
26: second inner link 26a: second body hinge
26b: second tongue hinge 27: second tongue
28: second clamping tool 28a:
A: Handling robot B: Forged primary
B1: track link B2: burr

Claims (4)

A mounting plate (2) installed at the arm end of the handling robot (A);
A first hand portion 10 coupled to the mounting plate 2 to clamp the track link B1 in the trimming die 3;
And a second hand 20 coupled to the lower side of the mounting plate 2 and clamping the barb B2 on the barb die 5,
The first and second hand units 10 and 20
First and second robot arms 11 and 21 having first and second cylinders 12 and 22 installed inside thereof;
The first and second outer links 15 and 25 are coupled to the ends of the rods 12a and 22a of the first and second cylinders 12 and 22, Operating ports 13 and 23;
The first and second hinge shafts 15a and 25a are located above and below the first and second operating members 13 and 23 and rotate with the first and second outer links 15 and 25, First and second hand bodies 14 and 24 having first and second main body hinges 16a and 26a on which the two inner links 16 and 26 rotate;
One end of the hinge shaft 15a is engaged with the groove of the first and second actuators 13 and 23 and the first and second hinge axes 15a and 25a A pair of first and second outer links 15 and 25 formed to face each other in an angular motion;
One end of the first and second hand links 14 and 24 is rotatably coupled to the first and second main body hinges 16a and 26a of the first and second outer links 15 and 25, A pair of first and second inner links 16 and 26;
A pair of first and second tongues 17 and 27 pin-coupled to the ends of the first and second outer links 15 and 25 and the first and second inner links 16 and 26;
A pair of first and second clamping tools (18) (28) coupled to the first and second clamps (17) and (27) for directly clamping the forged product;
And a second link mechanism for linking the first link and the second link.
delete The method of claim 1,
And a second tongue tool (28) of the second hand part (20) is provided with a lower step (28a) at the lower end thereof to stably lift the thin barb (B2) Double handed robot.
The trimming process of the track link (B1) using the double hand robot (1)
A material placing step for placing the forged product on the trimming die (3);
Trimming step;
A forging product clamping step of holding the forged product with the first hand part (10);
The rising step of the barriers 5;
A bar clamping step of holding the barb B2 with the second hand 20;
A step of discharging the double hand robot (1) to a position above the bar conveying conveyor (7) and dropping the barrel (B2);
And a step for discharging the forged product by placing the double hand robot (1) on the forging conveyor (8) and forging the forged product.

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