KR102223886B1 - Multi-joint robot tilting device for working radius extension - Google Patents

Abstract

The present invention relates to a tilting device that extends the working radius of a general-purpose articulated robot 1, a main plate 11 for placing the robot 1 at a set position from at least the bottom, and the upper end of the main plate 11 A support 10 having a tilting plate 15 to which the robot 1 is attached; A tilting part 20 attached to one end of the upper main plate 11 and the tilting plate 15, and rotatably coupling the upper tilting plate 15 from the main plate 11; And a driving unit 30 attached to the other end of the main plate 11 and the tilting plate 15 and rotating the tilting plate 15 from the main plate 11 at a set angle.
Therefore, the present invention has the effect of constructing an environment capable of responding to various tasks at low cost by extending the working radius of the robot by simply attaching it to a general-purpose robot that is widely used for industrial purposes.

Description

Multi-joint robot tilting device for working radius extension

The present invention relates to a tilting device for an articulated robot, and more specifically, by expanding the working radius of a general-purpose robot that is widely used for industrial use, a facility that can be applied regardless of various tasks can be constructed at low cost. It relates to a tilting device for extending the working radius of a joint robot.

In general, industrial sites tend to automate processes in order to minimize manpower, maximize productivity, and remove risk factors. Industrial articulated robots are being used for this automated process.

In other words, the industrial articulated robot has several joint structures like a human arm in order to perform the exact motion as desired by the designer, and consists of a motor that adds driving force to each joint through numerical control.

However, it is still impossible to perform curved welding or welding in a narrow position due to the limitation of the working radius when using an articulated robot. In other words, as part of solving the limitation of the working radius, a separate facility such as a jig that moves or rotates the object to be welded is used. Therefore, due to a separate facility, the initial investment cost is largely required, and there is a problem that the facility needs to be replaced depending on the object to be welded.

In recent years, as a solution to this problem, Korean Patent Publication No. 10-1724424 (Name of the invention: Automatic device for welding curved block inner material of a ship and its operation method), and Korean Registered Patent Publication No. 10-1808295 (Name of invention: Control method of welding robot system capable of working in narrow section of curved block) has been proposed.

According to the proposed literature, a multi-joint welding robot capable of performing welding and a tilting means that rotates the welding robot according to the object to be welded are configured to expand the work area of the robot to enable various welding operations.

However, there is a problem in that the general-purpose robot installed in the existing welding line cannot be used, and a dedicated robot equipped with a tilting means must be newly prepared, which increases the overall cost required for construction.

Republic of Korea Patent Publication No. 10-1724424 (Name of the invention: Automatic device for welding the inner material of the curved block of the ship and its operation method) Korean Registered Patent Publication No. 10-1808295 (Name of invention: Control method of welding robot system capable of working in narrow section of curved block)

The present invention was created in order to more actively solve the above problems, and by simply attaching it to a general-purpose robot that is widely used for industrial use, the working radius of the robot is expanded, thereby providing an environment capable of responding to various welding tasks. The purpose of this is to provide a tilting device for extending the working radius of an articulated robot that can be constructed at low cost.

In order to achieve the above problem, the configuration of the tilting device for extending the working radius of an articulated robot proposed in the present invention is as follows.

The tilting device for extending the working radius of the articulated robot includes: a support having a main plate for placing the robot at a set position from at least a floor, and a tilting plate to which the robot is attached to an upper end of the main plate; A tilting unit attached to one end of the upper main plate and the tilting plate, and rotatably coupling the upper tilting plate from the main plate; And a driving unit attached to the other end of the upper main plate and the tilting plate and rotating the tilting plate at a set angle from the upper main plate.

At this time, the main plate and the tilting plate according to the present invention have a size to mount the robot, and a plurality of fastening holes for inducing the coupling between the floor and the robot are formed, respectively.

In addition, the main plate according to the present invention further includes an auxiliary frame for varying the height of the robot, and the tilting plate is characterized in that at least one auxiliary hole is formed in the center to prevent interference with the robot or induce wiring connection. .

In addition, the tilting unit according to the present invention is characterized in that it has a bearing unit attached to an upper end of the main plate to rotatably support the tilting plate, and a hinge unit attached to the lower end of the tilting plate and coupled to the bearing unit. do.

In addition, the tilting unit according to the present invention is characterized in that it further includes an auxiliary plate for adjusting the turning radius of the tilting plate by varying the height of the bearing unit from the main plate.

In addition, the upper hinge unit according to the present invention is characterized in that it is composed of a pair of hinge brackets attached to both lower ends of the tilting plate, and a rotation shaft that is fastened inward to one end of the upper hinge bracket and inserted into the bearing unit.

In addition, the upper hinge bracket according to the present invention is a horizontal panel that is engaged with the tilting plate and fastened, a vertical panel that is standing in the center of the horizontal panel and fastened with a rotation axis, and one that enhances durability at the boundary between the horizontal panel and the vertical panel. It is characterized in that the above reinforcing ribs are integrally formed.

In addition, the upper driving unit according to the present invention is disposed at the other end of the main plate and the tilting plate to protrude and depress in response to a signal, and a drive bracket attached to the other upper end of the upper main plate to fix the actuator rotatably, It is characterized in that it has a clevis bracket that is attached to the other end of the upper side of the tilting plate to transmit the operation of the actuator.

In addition, the actuator according to the present invention includes a driving cylinder that generates a driving force by receiving hydraulic/pneumatic or electricity, a driving rod interposed in the center of the driving cylinder and protruding and depressing according to the driving force, and the outer side of the driving cylinder. It is attached to and characterized in that it is composed of a rotating pin coupled to the drive bracket.

In addition, the driving bracket according to the present invention is formed in a b-shaped outline to be exposed to the outside in the main plate, and a connection hole for inducing fastening to a horizontal part located in the main plate, and a rotation pin in a vertical part located outside the main plate. It characterized in that the rotation hole for receiving each is formed.

In addition, the clevis bracket according to the present invention includes a fixing panel attached to the upper end of the tilting plate, a connection panel extending upwardly at the center of the fixing panel and rotatably coupled to the driving rod, and the upper fixing panel. It characterized in that it is composed of one or more auxiliary ribs to improve the durability at the boundary portion of the connection panel.

In addition, the upper driving unit according to the present invention is characterized in that it further includes a stopper pad that is attached to a position where the main plate and the tilting plate face each other to guide the position of the tilting plate and absorb impact.

In addition, the upper driving unit according to the present invention is characterized in that it further comprises a stopper bracket for varying the stop position of the tilting plate by varying the height of the stopper pad.

According to the present invention having the above-described configuration, by simply attaching to an existing robot from a general-purpose robot that is widely used for industrial use, the working radius of the robot is extended, thereby providing an environment capable of responding to various welding tasks at a lower cost In addition to being able to build it, it has the effect of satisfying the user's satisfaction through quick and simple operation and maintenance by adopting a structure that is light, lightweight, and has excellent durability overall.

1 is a use state diagram showing a state in which a robot is applied to a tilting device according to the present invention.
Figure 2 is a perspective view showing the overall tilting device according to the present invention.
Figure 3 is a side view showing the overall tilting device according to the present invention.
Figure 4 is an exploded view showing the entire separation of the tilting device according to the present invention.
5 and 6 are detailed views independently enlarged and showing main parts of the tilting device according to the present invention.
7 and 8 are side views showing a modified example of the tilting device according to the present invention.
9 and 10 are a working state diagram showing the operation of the tilting device according to the present invention.

Hereinafter, with reference to the accompanying drawings, the configuration of the present invention and the actions and effects thereof will be described collectively.

Advantages and features of the present invention, and a method of achieving them will become apparent with reference to embodiments described later in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in a variety of different forms, and only this embodiment is intended to complete the disclosure of the present invention, and common knowledge in the technical field to which the present invention pertains. It is provided to completely inform the scope of the invention to those who have, and the invention is only defined by the scope of the claims. In addition, the same reference numerals refer to the same elements throughout the entire specification.

The present invention relates to a tilting device that expands the working radius of a general-purpose articulated robot 1, and as shown in Figs. 1 and 2, a multi-joint having a support part 10, a tilting part 20, and a driving part 30 as main components. It is a tilting device for extending the working radius of the robot.

The main point of the tilting device of the present invention is that it is possible to construct an environment capable of responding to various welding operations at low cost by extending the working radius of the robot simply by attaching it to a general-purpose robot that is widely used for industrial purposes.

The support 10 is a frame that fixes the robot 1 in the working space as shown in FIG. 1 and is composed of a main plate 11 and a tilting plate 15 as shown in FIGS. 2 and 3. That is, the main plate 11 is fastened to the floor and serves to place the robot 1 in a set position, and the tilting plate 15 serves to induce attachment to the body of the general-purpose robot 1.

The main plate 11 and the tilting plate 15 have at least a size for mounting the robot 1 as shown in FIG. 4, and a plurality of fastening holes 11a and 15a for inducing the coupling between the floor and the robot 1 Each of these is formed. Here, the tilting plate 15 has at least one auxiliary hole 15b formed in the center to prevent interference with the robot 1 or to induce wiring connection.

At this time, the main plate 11 may further include an auxiliary frame 12 for varying the height of the robot 1 as shown in FIGS. 7 and 8. This auxiliary frame 12 is composed of a main plate 11 and upper and lower plates coupled to the floor, respectively, and one or more legs standing vertically between the upper and lower plates.

Here, the leg may be of a fixed type having a length for each standard as shown in FIG. 7 or a variable type extending to an arbitrary length as shown in FIG. 8. The variable type leg can be configured as a manual method with a screw jack structure whose length is variable by manipulation of a handle, and an automatic method with an actuator structure whose length is variable by external energy according to a signal.

The tilting part 20 is a connection unit that is attached to one end of the main plate 11 and the tilting plate 15 as shown in FIG. 1 to rotatably couple the tilting plate 15 from the main plate 11. The tilting part 20 is composed of one or more bearing units 21 and a pair of hinge units respectively attached to the main plate 11 and the tilting plate 15 as shown in FIGS. 2 and 3.

That is, the bearing unit 21 is attached to the upper end of the main plate 11 as shown in FIG. 4 to support the tilting plate 15 so as to be rotatable, and the hinge unit is attached to the lower end of the tilting plate 15 to provide a bearing unit. It is rotatably coupled with (21).

In addition, the hinge unit includes a pair of hinge brackets 25 attached to both lower ends of the tilting plate 15, and a rotation shaft 26 that is fastened toward the inside to one end of the hinge bracket 25 and inserted into the bearing unit 21. It consists of.

Here, the bearing unit 21 is a housing that induces coupling with the main plate 11 as shown in FIG. 5, an outer ring hub surrounding the bearing radially interposed in the center of the housing, and the bearing and the insertion of the rotation shaft 26 It consists of a guided inner ring hub.

A nibble for inducing the injection of grease is attached to the housing of the bearing unit 21, a set screw for guiding the rotation shaft 26 to be fixed is fastened to the inner ring hub, and a packing is interposed on the joint between the housing and the inner ring hub.

In addition, the hinge bracket 25 has a horizontal panel 25a and a vertical panel 25b integrally formed as shown in FIG. 5. The horizontal panel 25a is engaged and fastened with the tilting plate 15, and the vertical panel 25b is integrally standing at the center of the horizontal panel 25a, and the rotation shaft 26 is fastened.

Here, at the boundary between the horizontal panel 25a and the vertical panel 25b, one or more reinforcing ribs 25c to increase their durability are integrally formed, and a plurality of reinforcing ribs 25c are formed integrally with the tilting plate 15 and the rotational shaft 26. The assembly hole (25d) is formed.

At this time, the tilting unit 20 may further include an auxiliary plate 22 that adjusts the turning radius of the tilting plate 15 by varying the height of the bearing unit 21 from the main plate 11. That is, the working radius of the robot 1 can be precisely adjusted due to the change in the center of rotation due to the difference in height of the bearing unit 21 due to the attachment and detachment of the auxiliary plate 22.

The driving unit 30 is a driving unit that is attached to the other ends of the main plate 11 and the tilting plate 15 as shown in FIG. 1 to rotate the tilting plate 15 from the main plate 11 by 30 to 60°. The driving unit 30 is composed of an actuator 31, a driving bracket 32, and a clevis bracket 33 attached to the other ends of the main plate 11 and the tilting plate 15, respectively, as shown in FIGS. 2 and 3.

The actuator 31 is disposed between the main plate 11 and the tilting plate 15 as shown in FIG. 4 to perform protruding and depressing operations according to a signal, and the driving bracket 32 is attached to the upper other end of the main plate 11 As a result, the actuator 31 is rotatably fixed, and the clevis bracket 33 is attached to the other upper end of the tilting plate 15 to receive the operation of the actuator 31.

Here, the actuator 31 is a driving cylinder 31a that generates a driving force by receiving oil/pneumatic pressure or electricity as shown in FIG. 6, and a driving rod 31b that is interposed in the center of the driving cylinder 31a and operates in protrusion and depression according to the driving force. ) And a rotation pin (31c) attached to the outside of the drive cylinder (31a) and coupled to the drive bracket (32).

And the driving bracket 32 is formed in a b-shaped outline to be exposed to the outside in the main plate 11, a connection hole 32a for inducing fastening to a horizontal portion located in the main plate 11, and the main plate 11 ) Rotation holes 32c for receiving the rotation pins 31c are formed in the vertical portions located outside the).

The clevis bracket 33 is a connection that is rotatably coupled with a fixing panel 33a attached to the upper end of the tilting plate 15 and extending upwardly to the center of the fixing panel 33a so as to be rotatably coupled with the driving rod 31b. It is composed of a panel (33b), and one or more auxiliary ribs (33c) for improving durability at the boundary between the fixing panel (33a) and the connection panel (33b).

In this case, the driving unit 30 includes a plurality of stopper pads 35 attached to one or more upper sides of the main plate 11 and the lower side of the tilting plate 15, which are positions where the main plate 11 and the tilting plate 15 face each other. It is good to have ). This stopper pad 35 guides the position of the tilting plate 15 and absorbs shock and vibration.

Here, it is preferable that the driving unit 30 further includes a stopper bracket 36 for varying the stop position of the tilting plate 15 by varying the height of the stopper pad 35. That is, the working radius of the robot 1 can be precisely adjusted due to the change in the stop position due to the difference in height of any one of the stopper pads 35 due to the attachment and detachment of the stopper bracket 36.

Hereinafter, an operation of the tilting device according to the present invention will be described.

First, the main plate 11 is installed at the set working position as shown in FIG. 1, and the multi-joint universal welding robot 1 is attached to the tilting plate 15 disposed on the upper end of the main plate 11. When the main plate 11 and the tilting plate 15 start working in a horizontal state, the robot 1 primarily operates to weld the first part of the object.

In addition, as shown in FIGS. 9 and 10, the actuator 31 rotates the tilting plate 15 from the main plate 11 to tilt the robot 1 at a set angle. When the tilting is completed, the robot 1 is secondarily operated to weld the second part of the object. That is, as the working radius is expanded and switched by the tilting of the robot 1, a work area that the robot 1 cannot reach can be welded with only a single facility.

Of course, the actuator 31 may be driven simultaneously with the operation of the robot 1. That is, due to the addition of a joint by tilting, a posture change corresponding to a complex curved shape can be performed, thereby exhibiting excellent welding performance.

As described above, the present invention extends the working radius of the robot by simply attaching it to an existing robot from a general-purpose robot that is widely used for industrial purposes, so that an environment capable of responding to various welding tasks can be constructed at a lower cost. Of course, it is possible to satisfy users' satisfaction through quick and simple operation and maintenance by adopting a structure with overall lightness, compactness, and excellent durability.

1: robot 10: support
11: Main plate 11a, 15a: fastening hole
12: auxiliary frame 15: tilting frame
15b: auxiliary hole 20: tilting part
21: bearing unit 22: auxiliary plate
25: hinge bracket 25a: horizontal panel
25b: vertical panel 25c: reinforcing rib
25d: assembly hole 26: rotating shaft
30: drive unit 31: actuator
31a: drive cylinder 31b: drive rod
31c: rotation pin 32: drive bracket
32a: connection hole 32b: rotation hole
33: clevis bracket 33a: fixing panel
33b: connection panel 33c: auxiliary rib
35: stopper pad 36: stopper bracket

Claims (6)

In the tilting device to extend the working radius of the universal articulated robot (1):
A support part 10 including a main plate 11 for placing the robot 1 at a set position from at least the bottom, and a tilting plate 15 to which the robot 1 is attached to an upper end of the upper main plate 11;
A tilting part 20 attached to one end of the upper main plate 11 and the tilting plate 15, and rotatably coupling the upper tilting plate 15 from the main plate 11;
It is attached to the other end of the upper main plate 11 and the tilting plate 15, the driving unit 30 for rotating the tilting plate 15 from the upper main plate 11 at a set angle; consisting of;
The upper tilting part 20 is attached to the upper end of the main plate 11 to support the tilting plate 15 rotatably, and the bearing unit 21 is attached to the lower end of the tilting plate 15 to be attached to the bearing unit ( A hinge unit coupled to 21);
A tilting device for extending the working radius of an articulated robot, characterized in that it further comprises an auxiliary plate (22) for adjusting the turning radius of the tilting plate (15) by varying the height of the bearing unit (21) from the main plate (11).

delete delete The method of claim 1,
The upper driving unit 30 is disposed at the other ends of the main plate 11 and the tilting plate 15 to protrude and depress in response to a signal, and the actuator 31 is attached to the upper other end of the upper main plate 11 and is attached to the actuator ( It characterized in that it comprises a drive bracket (32) for rotatably fixing the 31), and a clevis bracket (33) attached to the upper other end of the upper tilting plate (15) to receive the operation of the actuator (31). A tilting device for extending the working radius of a joint robot.
The method of claim 1,
The upper driving unit 30 further includes a stopper pad 35 that is attached to a position where the main plate 11 and the tilting plate 15 face each other to guide the position of the tilting plate 15 and absorb shock. A tilting device for extending a working radius of an articulated robot, characterized in that.
The method of claim 5,
The upper driving unit 30 is a tilting device for extending the working radius of an articulated robot, characterized in that it further comprises a stopper bracket 36 for varying the stop position of the tilting plate 15 by varying the height of the stopper pad 35.

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