KR102104115B1 - Positioner to guide the position and posture of the workpiece and method for controlling position and posture of the workpiece using the same - Google Patents

Abstract

The present invention is to improve work efficiency, positioning accuracy, safety and the like in positioning of a workpiece by actively guiding the positioning of the workpiece, which is a heavy material, through automatic control of a positioner and increasing the degree of freedom in work. To this end, the present invention provides a position and posture guide type smart positioner including a base, a count weight installed on the base, and a positioning manipulator unit installed on the base and the count weight and guiding a workpiece, which is mounted on an end thereof, to control the position and posture of the workpiece.

Description

Position and posture traction smart positioner and positioning control method of the work object using the same {Positioner to guide the position and posture of the workpiece and method for controlling position and posture of the workpiece using the same}

The present invention relates to a positioner that holds the position and posture of a work object, and more particularly, to improve the structure and operation method of the positioner that holds the position and posture of a work object, which is mainly a heavy object in work such as welding.

In general, in a welding or the like, the position and posture of a workpiece, which is a heavy object, are held by a positioner.

For example, when performing welding work, in order to implement the most stable and structurally safe bottom view welding method for the work object, the current work object is suspended with a hoist or crane and moved to the seating surface on the positioner, and In accordance with this, the work object is mounted on the positioner, and when the mounting is completed, a welding operation is performed.

The preceding work for such a welding operation is not only time-consuming, but also involves a process in which an operator directly intervenes in order to adjust the posture or position of a heavy work object, and thus there is a problem of always being exposed to a safety accident.

That is, in the past, the work object is moved to the positioner by a crane, and then the work object is mounted on the positioner while finely adjusting the position and posture of the work object in cooperation with workers, and then welding work is performed.

On the other hand, referring to (A) to (C) of FIG. 1, when it is necessary to change the position and posture of the work object W due to a welding position change, etc., as shown, lifted using a crane, etc. Next, the task of adjusting the position and posture should be repeatedly performed.

Therefore, there is a disadvantage in that it takes a lot of time to move and mount the work object W, and to change the posture, and it also depends on the skill level due to the handling of the work object W by the worker, so that the unskilled worker inputs There are many problems, such as a decrease in efficiency and concern for safety accidents.

The problem of time and safety accidents that take place in the preceding work has a problem that can be accompanied at any time not only in the welding work, but also in other work requiring adjustment of the position and posture of the heavy object W.

Patent Document 1: Republic of Korea Patent Registration No. 10-1763809 (July 26, 2017) Patent Document 2: Republic of Korea Patent Publication No. 10-2014-0137695 (December 03, 2014) Patent Document 3: Republic of Korea Patent Publication No. 10-2014-0146325 (December 26, 2014)

The present invention is to solve the above-mentioned problems, in the welding and the like, the structure and operation of the positioner that hold the position and posture of the work object, which is mainly a heavy object, is significantly improved, and the work during positioning of the work object The purpose is to improve efficiency, accuracy, and work safety.

In particular, the present invention, in positioning the position and posture of the workpiece, which is a heavy object, allows the positioner to actively retract the position and posture of the workpiece by automatic control of the positioner without relying on the operator at all, and freedom of operation. The purpose of this is to improve work efficiency, accuracy, and work safety when positioning a work object by increasing.

The present invention to achieve the above object, the base; A count weight installed on the base; It is installed on the base and the count waiter, the positioning manipulator unit for traction to be able to adjust the position and posture of the work object mounted on its end; and provides a position and posture traction type smart positioner.

At this time, the positioning manipulator unit, the support bracket is installed to be rotated left and right around the first rotation axis vertically installed on the support bracket fixed on the count weight to balance the weight, and the support bracket A boom stand that is rotatably coupled up and down about a second axis of rotation installed in the horizontal direction, and is rotatably coupled up and down independently of the boom stand around a third axis of rotation installed horizontally at the end of the boom. An arm, an end support which is rotatably coupled up and down independently of the arm around a fourth rotation axis installed horizontally at an end portion of the arm, and orthogonal to an axis of the fourth rotation axis on the end support It is characterized in that it is configured to include a rotator having a mounting surface on which a work object is mounted while being rotatable 360 degrees clockwise and counterclockwise around an axis.

And, between the base and the support bracket, the support bracket and the boom, the boom and the arm, and the arm and the end support is characterized in that a cylinder device for driving the boom and the arm, respectively.

In addition, the support bracket, the cylinder device and the rotator are each equipped with sensors for controlling the position and posture of the smart positioner.

Meanwhile, a position sensor and a pressure sensor are applied as sensors provided for controlling the position and posture of the smart positioner, and the position sensor and the pressure sensor are connected to a control unit.

According to the position and posture traction type smart positioner of the present invention, the positioner actively pulls a work object by automatic control of a smart positioner having a high degree of freedom of operation without relying on manual operation of the positioning of the work object in a work such as welding. By doing so, the effect of improving the efficiency, accuracy, safety, etc. of the positioning operation for the work object is provided.

In other words, there has been a problem that it takes a long time to move and mount the work object, change the posture, and the disadvantage of relying on skill level due to the handling of the work object by the worker, and lower efficiency when the unskilled worker is put in. And there have been many problems, such as concerns about safety accidents, according to the present invention can effectively solve the problems caused by the existing positioner.

(A) to (C) of Figure 1 illustrates a conventional positioning method
Figure 2 is a perspective view showing the appearance of the smart positioner of the present invention
Figure 3 is a view showing the axis of rotational motion of the smart positioner of the present invention, a view showing a state in which the work object (W) is mounted
Figure 4 is a side view of the smart positioner of the present invention
5 is a view for explaining a control method of a smart positioner of the present invention, a schematic diagram of a wireless control device operated by an operator
6A to 6C are views illustrating a method of mounting a work object by the smart positioner of the present invention.
7 (A) to 7 (C) are views illustrating a positioning method of a work object by the smart positioner of the present invention

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to FIGS. 2 to 7 of the accompanying drawings. In describing embodiments of the present invention, the same reference numerals are used for the same components.

Prior to the description of the present invention, the specific structures or functional descriptions described below are only exemplified for the purpose of describing the embodiments according to the concept of the present invention, and the embodiments according to the concept of the present invention may be implemented in various forms. You can.

On the other hand, the term 'towing' means 'pulling in a desired direction' in the dictionary, but the term 'towing' in the present invention is dragged in a desired direction to guide the work object W to a desired position and posture. It is premised that it should be interpreted to include a rotation or extension operation including pulling.

2 to 7, the position and posture traction smart positioner of the present invention (hereinafter referred to as a 'smart positioner') includes a base 1 and a count weight 2 installed on the base 1 ), And a positioning manipulator unit 3 which is installed on the base 1 and the count waiter and is towed to adjust the position and posture of the work object W mounted on its end.

At this time, the positioning manipulator unit 3, the support bracket 31 is installed to be rotated left and right about the first rotation axis installed in the vertical direction on the support bracket 31 fixed on the count weight (2) And, on the support bracket 31, a boom stand 32 rotatably coupled around a second rotation axis installed horizontally, and a third rotation axis installed horizontally at an end of the boom stand 32. The arm 33 is rotatably coupled up and down independently of the boom 32 as a center, and independent of the arm 33 around a fourth rotational axis installed horizontally at the end of the arm 33 In the clockwise and counterclockwise direction around the end support 34 that is rotatably coupled up and down, and an axis orthogonal to the axis of the fourth rotation axis (ie, the fifth rotation axis) on the end support 34 It is configured to include a rotator 35 having a mounting surface on which the work object W is mounted while being rotatable 360 degrees.

On the other hand, between the base (1) and the support bracket (31), the support bracket (31) and the boom (32), the boom (32) and the arm (33), and the arm (33) and the end support (34) respectively A cylinder device for driving the 32 and the arm 33 is provided.

In addition, the support bracket 31, each cylinder device, and the rotator 35 are provided with sensors 4 for controlling the position and posture of the smart positioner, respectively.

At this time, as the sensor 4, a position sensor and a pressure sensor may be mainly installed, and the control action using the position sensor and the pressure sensor is performed by a control unit (not shown) connected to the smart positioner of the present invention.

That is, the difference value between the position and posture information of the smart positioner obtained from the position sensor and the pressure sensor and the position and posture information of the preset work object W is compared and processed by the control unit, thereby accurately correcting the posture of the smart positioner. Correction enables more accurate and faster positioning of the workpiece W.

The operation of the smart positioner of the present invention configured as described above is as follows.

In general, in the welding or the like, the position and posture of the work object W, which is mainly a heavy object, are held using a positioner.

In this case, according to the present invention, for example, when performing a welding operation, the heavy object W is mounted on the mounting surface provided in the rotator 35 of the smart positioner.

At this time, as a method of mounting the work object W, which is a heavy object, to be fixed on the mounting surface, a fixing method using a fixing pin (see FIGS. 2 and 3), a fixing method by magnetic force, a fixing method by screwing, etc. , Considering the geometric characteristics and weight of the work object, various mounting methods including the existing method can be applied.

In this way, after the work object W is fixed to the mounting surface of the rotator 35, the operator manipulates the wireless control device 5 to adjust the position and posture of the smart positioner.

Accordingly, the smart positioner positions the work object W at a preset work position and posture in accordance with the work flow line, and when the positioning is completed, a worker or a welding robot performs welding work.

Accordingly, in the present invention, the time required for the preceding operation for the welding operation can be significantly shortened, and the process of directly intervening with the operator to adjust the posture or position of the heavy object W is omitted, and thus a safety accident. Can be prevented in advance.

That is, in the past, the work object W is moved to the positioner by a crane, and then the work object W is mounted on the positioner while finely adjusting the position and posture of the work object W in cooperation with workers. There has been a fear of reduced efficiency and safety accidents, but according to the present invention, these problems can be effectively solved.

On the other hand, referring to (A) to (C) of FIG. 6, when the work object W is mounted on the positioner for work such as welding, RF communication is performed in accordance with the position and posture without movement of the work object W. By controlling the position and posture of the positioner by the operation of the used wireless control device 5, it is possible to directly mount the work object W to the positioner.

In this way, the smart positioner of the present invention, the work object (W) using the existing crane or the like without the posture correction of the work object (W) can be mounted immediately, thereby improving work efficiency and work safety significantly.

On the other hand, referring to (A) to (C) of FIG. 7, when the position and posture of the work object W need to be newly changed due to a welding position change, the smart positioner of the present invention corresponds to a product-specific work process By storing information about the position and posture to be done in advance, the smart positioner tow the work object W so that the work object W can take the required posture only by simple button operation of the wireless control device 5. .

That is, while maintaining the state in which the work object W is mounted, according to the operation of the wireless control device 5, as shown in FIGS. 6A to 6C, the work object W is 1 The positioner or the second position, or the third position to the smart positioner is to pull the work (W).

Therefore, the present invention is disadvantageous in that it takes a lot of time to move and mount the work object W, change the posture, etc. by repeatedly performing the operation of adjusting the position and posture again after lifting using a crane or the like. In addition, since the positioning operation does not depend on the skill of the operator, there is an advantage in that efficiency and safety concerns are resolved despite the input of unskilled workers.

On the other hand, as another embodiment of the present invention, as a sensor to replace the position sensor or pressure sensor for positioning control, a dual laser vision sensor capable of using a dual laser beam may be installed, in this case also a dual laser vision sensor The control action used is performed by a control unit (not shown) connected to the smart positioner of the present invention.

That is, when a dual laser vision sensor is used, the rotational matrix between the laser vision sensor and the work object W is measured using a dual laser beam image obtained from the work object W to set the current position and the preset position of the work object W. It is possible to more accurately and quickly position the work object W by determining the difference from the work position value and, accordingly, correcting the attitude of the smart positioner by the control action of the control unit.

And, in the present invention, the wireless control device 5 is preferably a portable type, but is not necessarily limited thereto.

Further, the technical configuration of the present invention can be applied to a positioner for robot operation, a robot for handling other objects, or a manipulator for handling in rough terrain and disaster areas.

Therefore, the present invention is not limited to the forms disclosed herein, and it should be understood that all modifications, equivalents, and substitutes falling within the spirit and scope of the present invention are to be understood.

1: Base 2: Count weight
3: Manipulator unit for positioning 31: Support bracket
32: Boom 33: Arm
34: end support 35: rotator
4: Sensor 5: Wireless control device
W: Workpiece

Claims (5)

Base;
A count weight installed on the base to balance the weight in response to the work object W as a heavy object;
It is installed on the base and the count waiter, and its position by the operation of the wireless control device according to the position and posture of the work object without moving the work object so that the work object W, which is a heavy object, can be mounted on the mounting surface. And a manipulator unit for positioning, in which a posture is controlled, and tow a work object, which is a heavy object mounted on the mounting surface, to be pulled to take a selected posture among various postures preset by another operation of the wireless control device; And
On the other hand, by controlling the position and posture of the positioner by the operation of the wireless control device in accordance with the position and posture of the work object without moving the heavy object W, the work object W can be directly mounted on the positioner, It comprises a wireless control device for controlling to take a selected posture among a plurality of preset positions by towing the heavy object (W) while the heavy object (W) is mounted on the mounting surface of the rotator,
The manipulator unit for positioning,
A support bracket installed to be rotated left and right around a first rotation axis vertically installed on the support bracket fixed on the count weight,
And a boom that is rotatably coupled up and down about the second rotation axis installed in the horizontal direction on the support bracket,
An arm coupled rotatably up and down independently of the boom, centering on a third rotational axis installed horizontally at the end of the boom,
An end support which is rotatably coupled up and down independently of the arm around a fourth rotational axis installed horizontally at an end portion of the arm,
It is installed on the end support so as to be rotatable 360 degrees clockwise and counterclockwise around an axis orthogonal to the axis of the fourth axis of rotation, while the mounting surface on which the heavy object W is directly mounted (self) Rotator provided in the body,
Position and posture traction smart positioner, characterized in that it comprises a sensor provided for controlling the position and posture of the smart positioner, respectively, on the support bracket, the cylinder device, and the rotator. According to claim 1,
Position and posture traction smart positioner, characterized in that a cylinder device for driving the boom and arm is installed between the base and the support bracket, the support bracket and the boom, the boom and the arm, and the arm and the end support, respectively. According to claim 1,
The sensor is equipped with a position sensor and a pressure sensor, the position sensor and the pressure sensor is a position and posture traction smart positioner, characterized in that connected to the control unit. As a method for controlling the positioning of a heavy work object using the position and posture traction smart positioner according to claim 1,
Position of the manipulator unit for positioning by operation of the wireless control device according to the position and posture of the work object W without movement of the work object W so that the work object W, which is a heavy object, can be mounted on the mounting surface, and Controlling a posture;
The step of mounting the weight of the work object (W) on the mounting surface provided in the rotator of the smart positioner,
Selecting a desired posture from among various postures preset by another operation of the wireless control device;
A method of controlling positioning of a work using a smart positioner, comprising the step of controlling the manipulator unit for positioning to take a selected posture by pulling a work object (W), which is a heavy object mounted on the mounting surface of the rotator. The method of claim 4,
When the work object (W) as the heavy object is mounted on the mounting surface of the rotator,
The work object (W) is characterized in that it is mounted on the mounting surface by at least one of a fixing method by a fixing pin, a fixing method by a magnetic force, and a fixing method by a screw fastening according to geometric features and weight. Positioning control method of the work object using the smart positioner.

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