KR101909973B1 - A robotic system capable of loading and unloading processing equipment in a two-story storage space - Google Patents

Abstract

The present invention relates to a robot system capable of loading and unloading a material of a machining apparatus of a two-story structure which automatically loads, transports, and unloads a part sequentially machined in a machining center by an articulated robot. The robot system capable of loading and unloading a material of a machining apparatus of a two-story structure comprises: a base frame having a moving passage of a worker formed on a lower portion thereof by a plurality of vertical frames and a horizontal frame connecting upper ends of the vertical frames; a plurality of machining units which are separated and installed on both sides of the base frame at regular intervals, and sequentially machine a workpiece; a fence installed on an edge of the horizontal frame; a plurality of safety sensors which are installed on one side of the plurality of machining units, and check whether a worker exists in the moving passage; a rail formed on an upper portion of the horizontal frame in a longitudinal direction of the horizontal frame; a driving means moved along the rail; an articulated transport robot which is coupled to an upper portion of the driving means, and grips a workpiece by articulated operation to supply the workpiece to the plurality of machining units and collect the workpiece; and a control means to control the driving means and the articulated transport robot in accordance with a signal received from the plurality of safety sensors.

Description

[0001] The present invention relates to a robot system for loading and unloading a two-layer structure of a processing machine,

The present invention relates to a robot system for loading and unloading a work material in a two-layer structure, and more particularly, to a robot system for loading and unloading a work material in a two-layered structure for automatically loading and unloading parts to be processed sequentially in a machining center And a robotic system for inputting and taking out a processing machine material.

In general, a machining center is a type of NC (Numerical Control) machine that has the ability to automatically exchange tools and has various functions. The machining center is usually used for machining such as milling, boring, drilling, tapping and grinding And are classified into vertical, horizontal, and vertical and horizontal machining centers according to the direction of motion of the main spindle of the machining center.

The gantry loader used in conjunction with such a machining center is a transfer device that provides a workpiece from the outside to a machining center and automatically recovers the machined workpiece.

At this time, the transfer device is composed of a moving bogie that reciprocates from one end to the other end of a machining center for performing various machining operations, and a robot which is installed on a moving bogie and holds the workpiece machined in each machining center to move to the next process.

As a technique relating to such a feeding device of a machining center, a registration driving type forwarding device disclosed in Korean Patent Application No. 20-0463645 entitled " multi-axis controlled type forward driving device " And a traveling means is provided at a lower portion of the horizontal support so that the moving radius of the robot means is enlarged to enable precise work.

On the other hand, in the conventional conveying device, the traveling means is located below the guide means having the horizontal support bars horizontally connected to the upper end of the vertical support, the robot means is provided below the traveling means, and the worker can not move while the traveling means and the robot means are working , It is difficult to inspect and maintain the machining means because the operator does not have a travel path for repairing the machining means in which the malfunction occurred during the work, and the running means and the robot means are positioned below the horizontal frame, There was a problem.

SUMMARY OF THE INVENTION The present invention has been conceived in order to solve the above-described problems, and it is an object of the present invention to provide a robot apparatus, which is provided above a horizontal frame, And a robot system capable of confirming the position of the workpiece input / output robot system and capable of improving the work stability of the worker.

A robot system for loading and unloading a work material of a two-layer structure according to the present invention comprises a base frame having a plurality of vertical frames and a horizontal frame connecting the upper ends of the vertical frames, A plurality of processing units arranged at predetermined intervals on both sides of the horizontal frame, each of the processing units including a plurality of processing units for sequentially processing the workpieces, a fence provided at an edge of the horizontal frame, A plurality of safety sensors for confirming the presence or absence of the horizontal frame, a rail formed on the horizontal frame in the longitudinal direction of the horizontal frame, a traveling means for moving along the rail, And the workpiece is gripped by the multi-joint operation and supplied to the plurality of machining units And a control means for controlling the traveling means and the multi-joint transportation robot according to a signal received from the plurality of safety sensors.

The apparatus further comprises lighting means provided at a predetermined distance in the movement path, wherein the lighting means is lit up at a position corresponding to the position of the traveling means and the multi-joint transportation robot.

The robot system has a vertical frame and a horizontal frame so that a worker can move and work, and a rail is formed on the upper part of the horizontal frame to follow the rail The traveling means and the multi-joint transfer robot can be moved. Therefore, it is possible to provide a safe transfer passage in which the working means and the multi-joint transfer robot are not moved.

Further, when the multi-joint transfer robot and the operator are close to each other through the safety sensor for confirming whether the worker is present in the movement path and the control means for controlling the traveling means and the multi-joint transfer robot in accordance with the signal received from the safety sensor, So that the safety of the operator can be secured.

In addition, an operator located in the moving path can check the position of the traveling means and the multi-joint transportation robot in real time through the lighting means provided at the fixed distance to the moving path, thereby further improving the work stability.

1 is a front view showing a robot material input and output robot system having a two-layer structure according to a preferred embodiment of the present invention.
FIG. 2 is a side view showing a robot material input and output robot system having a two-layer structure according to a preferred embodiment of the present invention.
FIG. 3 is a plan view showing a robot material input / output robot system having a two-layer structure according to a preferred embodiment of the present invention.
4 is a conceptual diagram showing a control system according to a preferred embodiment of the present invention.

Hereinafter, the technical idea of the present invention will be described more specifically with reference to the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are included to provide a further understanding of the technical concept of the present invention, are incorporated in and constitute a part of the specification, and are not intended to limit the scope of the present invention.

In the following description of the present invention, however, the well-known functions or constructions will not be described in order to simplify the gist of the present invention.

1 to 3 are a front view, a side view, and a plan view, respectively, of a robot system for loading and unloading a work material in a two-layer structure according to a preferred embodiment of the present invention. As shown in FIGS. 1 to 3, The automatic tool cutting system of the present invention includes a base frame 100, a machining unit 200, a fence 300, a safety sensor 400, a rail 500, a traveling means 600, (800).

The lighting means 900 is provided at a predetermined distance from the traveling passage formed on the lower side of the base frame 100 and illuminates a position corresponding to the position of the traveling means 600 and the articulated transportation robot 700 ).

The base frame 100 includes a plurality of vertical frames 110 and a horizontal frame 120 connecting upper ends of the vertical frames 110.

A plurality of the vertical frames 110 are spaced apart from each other at regular intervals on the ground. The horizontal frames 120 may be connected to form the curved lines as well as the straight lines according to installation locations. In the present invention, .

The horizontal frame 120 is configured to connect the upper end of the vertical frame 110. When the multi-joint transfer robot 600 to be described later collects and supplies workpieces processed in the processing unit 200, And a support frame 121 connected to one side of the processing unit 200 so as not to fall into the processing unit 200.

The horizontal frame 120 may be formed as a barbed wire so that an operator working in the movement path can see the traveling unit 600 and the articulated transfer robot 700 and the workpiece does not fall to the ground.

Next, a plurality of machining units 200 are provided on both sides of the bait frame 100 at regular intervals, and the work pieces are sequentially processed, and the work pieces are cut or ground.

That is, according to the present invention, when the processing unit 200 processes a workpiece, the robot system for loading and unloading the processing machine material according to the present invention moves the robot 500 along the rail 500 after the robot 400 grasps the workpiece And the workpiece is processed by another machining unit 200. The multi-joint transfer robot 700 grasps and extracts the workpiece.

The fence 300 is installed at the edge of the horizontal frame 120 so that the multi-joint transfer robot 700 is not limited to the movement to the processing unit 200.

It is preferable that the fence 300 is installed between the base frame 100 and the machining unit 200 in the horizontal frame 120. This is because the multi- The workpiece can be prevented from falling to the ground even if the grip is canceled due to a malfunction in the process of moving the workpiece located in the workpiece 200. Thus, the safety accident of the worker can be prevented.

In addition, the fence 300 is formed with an entrance and an exit for entering and exiting the articulated robot 700, and the door is automatically opened and closed by the door so that the fence 300 is kept closed during normal operation, And can be automatically opened when approaching the transfer robot 700.

A plurality of safety sensors 400 are installed on one side of the plurality of machining units 200 so as to check whether the worker is present in the movement path, .

That is, the safety sensors 400 are formed in a plurality of units, so that it is possible to check whether there is an operator on the opposite side of the plurality of machining units 200. This allows the control unit 800, which will be described later, .

And a sensing sensor 450 installed at the lower portion of the horizontal frame 120 for sensing the position of the traveling means 600 and the articulated transportation robot 700 on the rail 500.

The detection sensors 450 are spaced apart from the horizontal frame 120 at a predetermined distance and are formed in a plurality of spaces. The weight of the travel unit 600 positioned on the rails 600, You can check the location.

Here, the detection sensor 450 detects the position of the traveling unit 600, as well as the position of the traveling unit 600, which is the position of the traveling unit 600, The processing unit 200 can be distinguished from the other processing unit 200 that does not perform the operation.

Next, the rail 500 is formed along the longitudinal direction of the horizontal frame 120 on the upper part of the horizontal frame 120, and can move the workpieces sequentially processed in the plurality of the processing units 200 The traveling means 600 is moved to the upper portion as a path.

At this time, the traveling means 600 is provided on the rail 500 and is reciprocated on the horizontal frame 120 along the rail 500.

The multi-joint transfer robot 700 is coupled to an upper portion of the traveling unit 600, and grasps a workpiece by a multi-joint operation to perform a supply and a recovery operation to the plurality of the processing units 200.

That is, the articulated robot 700 is composed of a six-axis articulated joint and has six movements including left and right rotational motion, up motion, up and down motion, left and right roll motion, up and down banding motion, Dimensional three-dimensional motion that can reach any point on the plane.

In addition, a gripper manufactured by a cramping structure suitable for a workpiece having a predetermined size and shape or a tool necessary for machining a workpiece may be mounted at the end of the last arm of the multi-joint conveying robot 700 having six axes.

Meanwhile, as described above, the articulated robot 700 is preferably a robot capable of six-axis movement capable of three-dimensional three-dimensional operation capable of reaching any point in space with six movements. However, if necessary, Or a general four-axis or five-axis battle robot widely used in industrial fields such as welding.

Next, the control unit 800 controls the traveling unit 600 and the articulated transportation robot 700 according to a signal received from the plurality of safety sensors 400, It is a characteristic configuration that can prevent accidents.

At this time, the control unit 800 may be installed on the side of the vertical frame 110, the bottom of the horizontal frame 120, or the side of the plurality of processing units 200, .

The lighting means 900 is spaced apart from the traveling passage at a predetermined distance and the position corresponding to the positions of the traveling means 600 and the articulated transportation robot 700 is lit. And is turned on and off according to a signal transmitted from the light source.

Referring to FIG. 4, the control means will be described in detail.

The control unit 800 includes a receiving unit 810, an operation control unit 820, and a lighting control unit 830.

The receiving unit 810 receives the position signals of the operator and the position signals of the traveling unit 600 and the articulated transportation robot 700 from the safety sensor 400 and the sensing sensor 450.

The operation control unit 820 controls operations of the traveling unit 600 and the articulated transportation robot 700 on the basis of the signals received by the receiving unit 810.

The control of the operation of the traveling unit 600 and the multi-joint transportation robot 700 means that if the position of the operator and the position of the traveling unit 600 are close to a predetermined distance, the traveling unit 600 and the transfer robot 700 When the position of the worker and the position of the traveling means 600 are longer than a predetermined distance, the traveling and moving operations of the traveling means 600 and the transfer robot 700 are not interrupted, So that the means 600 is not moved to the vicinity of the operator.

The lighting control unit 830 lights up the lighting means 900 corresponding to the positions of the traveling means 600 and the articulated transportation robot 700 on the basis of the signal received by the reception unit 810, The other lighting means 900 which is not turned on is turned off.

That is, the control means 800 controls the position of the worker existing in the movement path, the traveling means 600 and the articulated transfer robot 700 through signals transmitted from the safety sensor 400 and the detection sensor 450, And controls the travel unit 600 and the transfer robot 700 to stop operation when the operator and the travel unit 600 are positioned closer to the predetermined distance.

Therefore, the control unit 800 compares the position of the worker with the position of the traveling unit 600 and the multi-joint transportation robot 700 according to the signal received from the safety sensor 400, The movement of the traveling means 600 is stopped so that the safety accident of the worker can be prevented.

The control means 800 further includes a lighting means 900 corresponding to the position of the traveling means 600 so that the worker can confirm the positions of the traveling means 600 and the transfer robot 700 in the traveling path .

At this time, the lighting means 900 is disposed on both sides of the lower side of the horizontal frame 120, and is disposed in a plurality of pairs spaced apart from each other at regular intervals.

The lighting unit 900 is provided with a plurality of light emitting devices (not shown) to emit light of at least two or more lights. A first color is emitted at a location where the traveling unit 600 is located, The second color may be emitted from the point where the means 600 is located while the articulated robot 700 is operating.

That is, the worker in the moving path is not limited to the position of the traveling unit 600, but also the multi-joint transfer robot 700 may be connected to the plurality of processing units 200 through the lighting unit 900, The user can accurately grasp where the user is working.

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

100: base frame
110: vertical frame
120: Horizontal frame
121: Support frame
200: machining unit
300: Fence
400: Safety sensor
450: Detection sensor
500: rail
600: driving means
700: Multi-joint transfer robot
800: control means
810:
820: Operation control unit
830:
900: Lighting means

Claims (2)

A base frame having a plurality of vertical frames and a horizontal frame connecting upper ends of the vertical frames to form a moving path of an operator at a lower portion;
A plurality of processing units arranged on both sides of the base frame at predetermined intervals and sequentially processing the workpieces;
A fence installed at an edge of the horizontal frame;
A plurality of safety sensors installed on one side of the plurality of machining units to confirm presence or absence of an operator in the movement path;
A rail formed on an upper portion of the horizontal frame along a longitudinal direction of the horizontal frame;
A traveling means for moving along the rail;
A multi-joint transfer robot coupled to an upper portion of the traveling means, for gripping a workpiece by a multi-joint operation and performing supply and recovery operations to the plurality of machining units;
A sensor for sensing a position of the traveling means and an operation position of the multi-joint transportation robot, the sensing sensor being spaced apart from the horizontal frame at a predetermined interval;
Control means for controlling the traveling means and the multi-joint transportation robot according to a signal received from the plurality of safety sensors and the sensing sensor; And
And a lighting means provided at a predetermined distance from the traveling passage for illuminating a position corresponding to a position of the traveling means and the multi-joint transportation robot. delete

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