KR19990076329A - Split Stackable Robot Hand - Google Patents

Abstract

The present invention relates to a split-loading variable robot hand, and more specifically, to a clamp and a confined product for clamping a product by clamping a product at a limited pressure with a plate-shaped adapter and a product combining the robot and a hand assay. It is formed by incorporating a support plate and attachment device for attaching an easy-to-replaceable pusher, and is equipped with two pairs of clamp assays for relatively even adjustment of each separation distance and an actuator operated individually for each pair of clamp devices. Packaging unit (ie, products of varying lengths and widths) of broken products such as glass products or dairy products and embossed toilet papers, using a robot system composed of clamp assay parts combined to allow for separate stacking operations ) To the pallet quickly and safely optimally It relates to a device that can be loaded in a pattern of. A robot hand system;

The upper assay part has a main frame with a built-in spacing sliding part for moving and supporting the lower frame to the left and right according to the size of the product and the adapter for connecting the robot and the hand assay.

The clamp assembly mounted on the lower part of the main frame includes a fixed clamp plate vertically fastened downwardly to the lower frame and the lower frame, a movable clamp part that slides left and right, a hook base plate mounted with a finger and a finger assay part. Split-loading variable robot hand characterized by.

Description

Split Stackable Robot Hand

The present invention relates to a split-loading variable robot hand, and more specifically, a plate-shaped adapter and a product that combines the robot and the hand assay can be clamped at a limited pressure to support the product while confining the product, and easy to replace the wenger. It is formed by attaching support plate and attachment device that can be attached, and it is equipped with two clamps and built-in actuators that are individually operated. The present invention relates to a packaging unit for products that may be damaged, such as dairy products and embossed toilet paper, that is, devices having different lengths and widths, which can be safely and quickly loaded onto pallets.

In general, a palletizing system for loading a product on a pallet is simply configured as a fixed or rotating hand as shown in FIGS. 11 and 12 to catch and transport only one product at a time to load the product on a pallet. Was taken.

Palletizing system is configured as described above is configured to be fastened tightly so that the whinger 100 is not replaced and separated.

Therefore, when the lifter 100 is mounted with a fixed type that cannot be separated or the lifter 100 that does not move up and down is hit by the operator 101 during operation of the product 101 or the equipment due to a mistake or an operation error, the lifter 100 or The finger plate 102 is to be deformed, but the finger 100 or the finger plate 102 is a material of a hard metal material, rather than a curable material itself, and thus will not be deformed and will be damaged.

In addition, such a system is generally applied to a method that can catch one or one or two products of the same standard at a time and release them in a limited pattern at a time so that the work can be performed more efficiently than a manual work. This can be done.

However, due to the nature of the product packaging, it is difficult to hold the product by vacuum adsorption or simple clamping method. In this case, there was a problem that it was difficult to cope at high speed.

The above-mentioned problem is caused by the fact that the robot hand basically has only one pair of clamp assays and is muddled even because it is difficult to respond to various product specifications or patterns in real time.

It was often hit and destroyed.

In addition, in the variable robot system shown in FIG. 11, each cylinder 103, 104 is fixedly coupled to the clamp 105 and the finger plate 106 of the robot hand by a short length finger 100. If the product is packaged in a plastic bag such as toilet paper because the product 101 cannot be supported by the picker 100 when it is to be moved after lifting 102, the product 101 is removed from the hand or the product ( It has a disadvantage of collapsing lower than the loaded product by colliding with the existing loaded product at the loading position because it is lower than 102), and it can cause a significant drop in efficiency because the number of operations increases because only one product is handled. will be.

In addition, the sliding rotary robot hand of FIG. 12, which does not have a clamp for pressing the product, is installed in a synchronized cylinder 110 and 111 with the clamp 105 and the detector plate 106 in the center. It is possible to move freely to hold the product 101, 102, but has the disadvantages such as the product 101 detachment phenomenon as in the case of FIG. 11 and also because both clamps 105, 106 are operated simultaneously at the box, When a product such as a bag is loaded in close contact with the side of a product that is already loaded, it is a cause of anxiety, such as a collapse of the previously loaded product while the clamp 105 reverses.

In addition, if the pallet size is different and the loading method is different, high cycle time is required for the implementation of the optimal pattern to reduce the logistics cost, but the speed of the robot is limited in practice, which requires a lot of work time or is shared by two or more products at the same time. Problems occurred such as not possible to apply.

Therefore, in a severe case, a problem in which two robots should be mounted due to the limitations of the robot hand shown in FIGS. 11 and 12 as much as possible with one robot.

11 and 12, the palletizing system shown in Figs. 11 and 12 is completely fixed so that the robot hand's finger 100 is not detached from the finger plate 106. Therefore, the robot hand's finger 100 should not be replaced. Because it is difficult to cope with the production of small quantities of various varieties, when it is time to replace the Wenger 100, the time required for the operation switching excessively occurs, such as the operation rate is significantly reduced.

The present invention has been made in order to solve the above problems, by holding two to four at a time in a short time in a variety of standards and fragile products to implement a variety of loading patterns by loading one or two times 3 to 5 The development of a lightweight, universally applicable robotic hand that enables instant palletizing of products with seconds of production cycle time, not only improves productivity and facility utilization, but also reduces equipment investment and installation space, and enables production of small quantities of various products. The purpose is to be able to cope flexibly.

In order to achieve the above object, a plate-shaped adapter that combines the robot and the hand assay and the product are clamped at a limited pressure to support the product while holding the product, and a support plate and an attachment device for attaching an easy replacement can be provided. Built-in and equipped with two pairs of clamp assays, each with a separate actuator for use in the split-load operation.The combined clamp assay unit and the robot hand configured to adjust the relative spacing of each clamp assay unit are used. It is to provide a way to safely load the packaging unit of the product, such as glass products or dairy products and embossed toilet paper, that can be damaged in a variety of lengths and widths on the pallet.

1 is a plan view of the present invention variable hand

2 is a front view of the present invention variable hand

3 is a side view of the present invention robot hand

Figure 4 is an exploded perspective view of the upper hand of the present invention robot hand

5 is an exploded perspective view of the robot hand center clamp of the present invention;

Figure 6 is an exploded perspective view of the robot hand gripper of the present invention

7 is an operational state diagram of the present invention

Figure 8 is another embodiment of the present invention the upper assay operating unit

9 is a perspective view of the present invention robot hand wheeler

10 is a schematic view of the operation state of the wenger of the robot hand of the present invention.

Figure 11 is a schematic view of the overall configuration of a conventional sliding fixed finger robot hand

12 is a schematic view of the overall configuration of a conventional sliding rotary shim robot hand

<Explanation of symbols for the main parts of the drawings>

(1): Adapter (2): Adapter Base

(3): main frame (4): reinforcement plate

(5): Truss frame (6): Actuator base bracket

(7): Actuator (8): Clamp assay fastening bracket

(9): LM rail 10: LM block

(11): lower frame base 12: lower frame end support plate

(13): LM block bracket 14: lower frame

15: clamp LM block 15-2: reject LM block

(16): Clamp LM rail 17: Cylinder base bracket

(18): auxiliary base bracket 19: lower plate

(20): Clamp movable actuator 21: Fixed clamp plate

(22): Reflective mirror for light sensor 23: LM block bracket

24: movable clamp base 25: fastening bracket for movable clamp

26: movable clamp 27: mirror reflective optical sensor

28: cylinder for cylinder operation 29: cylinder cylinder mount

30: cable bare 31: sliding hook base

(32): Hook base plate (33): Finger cylinder rod bracket

(34): Wenger LM block bracket 35: Reinforcement bracket

(36): proximity sensor for collision detection 37: Wenger model detection sensor

(38): Wenger (39): Servo Motor

40: coupling 41: encoder

42: hook arm 43: hook locker

(44): hook adapter (45): hook base adapter

(46): Fixing bar (47): Hook locker fixing bolt

48: Wenger Locker 49: Upper Assay

50: movable clamp portion 51: wet sliding assay portion

(52): sensor detection plate 53: finger assay unit

(61): right hand threaded screw 62: left handed ball screw

(63): Ball Nut

Referring to the configuration and operation of the present invention in detail based on the accompanying drawings as follows.

1 is a plan view of the variable hand of the present invention;

2 is a front view of the variable hand of the present invention;

3 is a side view of the robot hand of the present invention;

Figure 4 is an exploded perspective view of the upper hand of the present invention robot,

5 is an exploded perspective view of the robot hand center clamp according to the present invention;

6 is an exploded perspective view of the robot hand gripper of the present invention;

7 is an operating state diagram of the present invention,

8 is a schematic representation of yet another embodiment of the upper assay operation of the present invention;

9 is a perspective view of the robot hand finger of the present invention,

10 is a schematic view of the operation state of the finger of the robot hand of the present invention;

The plate-shaped adapter (1) that combines the robot and hand assay, and the support plate and attachment device for clamping the product at a limited pressure to support the product while holding the product and attaching a removable finger (38) for easy replacement Two pairs of clamp assay parts (12) with built-in coiler assay parts are mounted to the clamp assay parts (50), each of which is equipped with actuators (20) and (28), which are individually operated, to be divided and stacked. A robot hand system for constructing;

The upper assay part 49 has an adapter 1 for connecting and connecting the robot and the hand assay, and a main frame having a built-in interval adjusting sliding part for moving and supporting the lower frame 14 to the left and right according to the size of the product. 3) and

The clamp assembly 50 is provided with a fixed clamp plate 21 vertically fastened downwardly to the lower frame 14 and the lower frame 14, a movable clamp 26 sliding to the left and right, and a finger 38. It consists of the hook base plate 32 and the pinch assay part 51 which were made.

The operation of the present invention is as follows.

Adapter (1) for joining the robot and hand assay and actuator (7) for adjusting the mutual clearance of the clamp assay unit (50) in the unit of fit of the interference roller according to the change in the length of the product, i. An upper assay portion 49 which serves to support and slide the clamp assay portion 50;

In accordance with the change in the width of the product, the actuator 20 actuates the movable clamp 26 in the clamp appropriately to lock the product at a constant pressure, and in conjunction with the actuator 7 described above, Clamp assay unit 50 having a built-in pneumatic actuator 7 configured to hold and support the essay 51 and to operate the pusher assay unit 51 as necessary to support or release the support to place the product on the pallet. ) Is mounted so as to be slidingly supported on the plurality of upper assays (49).

In addition, the split assay unit 51 structure configured to replace and attach the lift assay unit 51 according to the height and packing type of the product is divided into two times according to the loading pattern to catch the product in an even number at once. It is possible to open the product at the same time by opening two clamps at the time of loading or at the time.

The detailed configuration and operation state of the robot system operating as described above are as follows.

Adapter 1 is a coupling member for coupling the robot and the hand assay.

In other words, by preventing the collision or interference with the robot arm during rotation of the hand posture and facilitates the disassembly and coupling of the hand, the entire hand assay can be attached to the robot wrist axis.

The adapter base 2 serves as a plate for detaching and attaching the lower part of the adapter 1 to strongly bind the entire upper assay.

The adapter base (2) is firmly coupled to the main frame (3) so as not to be separated by a bolt.

The main frame 3 is to support the entire hand assay, and thus, the LM rail 9 is bolted to the left and right centers on both sides of the cast steel having excellent strength.

In the process of aligning and supporting the main frame 3 by fastening the reinforcing plate 4 at the end of the main frame 3 and at the same time the LM block 10 is operated by the actuator 7 on the LM rail 9. It serves as a stopper to prevent the LM block 10 from leaving the LM rail (8).

In addition, to reduce the weight of the reinforcing plate 4, the inner space was cut to form a hole.

The truss frame 5 is mounted on the inner center of the main frame 3 to prevent deformation of the main frame 3, that is, bending or sagging, and partially supports the adapter base 2. The actuator base plate 6 is attached between the reinforcement plate 4 and the reinforcing plate 4 so that the actuator 7 is not shaken against vibration caused by the operation of the robot. The hole is formed so that the servo motor 39 or the air cylinder 7 can be fixed in accordance with the actuator 7 setting.

The actuator 7 mounted side by side with the main frame 3 can use the air cylinder 20 according to the specification of the handling product, and replace the air cylinder 20 with the servo motor 39 as shown in FIG. 8. Can be used.

For example, as illustrated in FIG. 8, the servo motor 39 and the encoder 41 are connected to the left and right sides of the coupling 40, and the screw bars 61 in the opposite spiral directions to the central coupling 40 are respectively. And a bracket having a hole screw formed therebetween for mutual binding and support of the screw bars 61 (62) at the same time as the screw bars 61,62 by driving of the motor 39. Clamp a fastening bracket (8) can be moved relative to each other left and right.

The LM rail 9 guides the sliding of the clamp assembly 50 while being bolted to the left and right sides of the main frame 3.

As a cause of the slip, a plurality of LM blocks 10 are firmly mounted on the LM rail 9, and the LM rail 9 is disposed on one side of the lower frame 14 according to the operation of the actuator 7. The lower movable clamp assay part 50 is slid by the fixed clamp assay fastening bracket 8.

Looking at the configuration and operation state of the robot hand clamp assay unit 50 is coupled and coupled to the robot hand upper assay 49 is configured and operated as described above are as follows.

The lower frame base 11 maintains the lower frame 14 at regular intervals and binds the lower frame 14 and the LM block bracket 13 so that the clamp assay portion 50 slides on the LM rail 9 and the upper portion thereof. It is to be bound with the assay unit (49).

Like the main frame 3, the lower frame end support plate 12 having a width larger than the lower frame 14 is mounted on one end of the lower frame 14 so that the interval between the lower frames 14 is fixed. The clamp LM block 15 is prevented from being separated during the left and right movement on the clamp LM rail 16.

The clamp LM block bracket 13 is firmly fastened to the lower frame base 11 as a bolt to firmly support the upper assay part 49 and the clamp assay part 50.

Further, the lower frame 14 is a support member for supporting the fixed clamp plate 21, the movable clamp assay 50, and the hand finger assay unit 51.

On the left and right sides of the lower frame 14, a clamp LM rail 16 for guiding sliding of the movable clamp 26 assay 50 and the hand-wound assay unit 51 is fixedly bolted.

On the clamp LM rail 16, the clamp LM block 15 and the catcher LM 15-2 are attached, and the clamp LM block 15 removes the movable clamp assay part 50. 2) The hand finger assay unit 51 is coupled to the LM block bracket 23 and the finger LM block bracket 34 so as to slide on the clamp LM rail 16.

The cylinder base bracket 17 is mounted inside the lower frame 14, but the cylinder base bracket 17 serves to attach and fix the air cylinder 20 for the movable clamp.

In addition, an auxiliary base bracket 18 with holes drilled in the center is mounted inside the lower frame 14 between the cylinder base bracket 17 and the fixed clamp plate 21 to protect it from the impact applied from the lower side during operation and to operate the clamp. By binding the lower plate 19, which is mounted to support the rigidity of the fixed clamp plate 21, to the lower frame 14, the forklift actuator 20 reinforces the strength during a collision during operation.

The clamp actuating actuator 20 serves to operate the movable clamp assay 50.

The fixing clamp plate 21 is fixed to one end of the lower frame 14, and at the same time completely fixed to one end of the lower plate 19 so as not to be detached.

At the lower end of the fixed clamp plate 21, the reflection mirror 22 for the optical sensor is attached on the same axis as the optical sensor 27 attached to the lower rear side of the movable clamp 26, so that the robot hand picks up the product. It detects the departure of the product during transportation to the in pallet or detects whether the product is put on the pallet.

The clamp LM rail 16 mounted on the left and right sides of the lower frame 14 and the clamp LM block 15 coupled to the clamp LM rail 16 and moving left and right are fixed to the left and right sides of the movable clamp base 24. The clamp LM block 15 is fixed to the attached clamp LM block bracket 23 so that the clamp LM block 15 can slide on the clamp LM rail 16.

The movable clamp base 24 binds the LM block bracket 23 and is engaged with the clamp LM block 15 to allow sliding by the operation of the clamp movable actuator 20 on the clamp LM rail 16.

In addition, the movable clamp base 24 is attached to the upper surface of the movable clamp base 24 to fix the rod end of the actuator for actuating the clamp 20 so that the actuated clamp base when the actuator 20 for air clamp actuates. The movable clamp 26 fixedly attached to the lower part of the 24 is guided so that it can be conveyed left and right.

The movable clamp 26 serves to trap the product so that the product is not released by trapping and pressing the product within the allowable pressure range of the clamp movable actuator 20 when the robot hand grabs the product, and puts the product down. At the time of retraction of the assay assembly 51, the position of the product is suppressed by frictional force between the edger 30 and the bottom of the product.

In addition, a mirror reflective optical sensor 27 is attached to the lower end of the movable clamp 26 to detect whether the product is detached from the hand when moving the product to the loading position or to detect whether the product is ready when the product is picked up. To do that.

In addition, looking at the configuration and operating state of the hand rejection and the removal of the core of the present invention as follows.

The movable movable cylinder 28, which is disposed through the holes formed in the cylinder base bracket 17 and the auxiliary base bracket 18, is clamped and supported by the cylinder cylinder mount 29 attached to the upper surface of the movable clamp base 24. Separately from the movable clamp assay 50 operated by the movable actuator 20, the sliding sliding assay part 51 can be moved back and forth.

In addition, the upper surface of the movable clamp base 24 is a cable for the collision detection proximity sensor 36 and the detector model detection sensor 37 according to the operation of the movable movable cylinder 28 to protect against repeated operation and fatigue and interference damage. The bare 30 is mounted so as to protect the sensor cable.

The chuck sliding assay 51 slidingly supported by the clamp LM block 15-2 at the end of the lower frame 14 is a hook base for holding and supporting the sliding hook base 53. At the same time as connecting the plate 32 and the wheel LM block bracket 34 serves to receive the force of the wheel movable cylinder 28 through the wheel cylinder rod bracket 33.

The hook base plate 32 which is fixed perpendicular to the sliding hook base 31 and to which the collision detection proximity sensor 36 and the tact model detection sensor 37 is attached serves as a mother to which the tweezer 38 is attached and fixed. Forming a wet sliding assay (51).

The hook base plate 32 serves to support a large moment force transmitted from the pincer 38 by the load of the actual product.

In addition, the reinforcing bracket 35 attached to one side of the hook base plate 32 is a bracket for reinforcing and supporting the moment applied to the hook base plate 32 between the sliding hook base 31 and the hook base plate 32. It also serves to reinforce the bond strength.

The collision detection proximity sensor 36 is a sensor detection plate 51 attached to one side of the hook adapter 44 of the finger essay 53 due to the collision between the finger 38 and an obstacle (including a product). It is to detect that it pushes upwards.

When there are various products to be loaded, the detector type detection sensor 37 prepares various types of filter assays 53 according to the products, and simply replaces the filter assay 53 according to the product. 38) Install the same number of sensors so that they do not interfere with each other according to the quantity, and attach the detection plates to the hook adapters 44 at the top of the detector assay 53 at different positions. It is possible to prevent the inadvertent work due to misuse of the worker as well as to prevent the hand from being damaged by the difference of the robot program due to the wrong replacement at the time of replacement.

The removal assay 53 of the above-mentioned sliding sliding assay unit 51 is a permanently fixed type that is easy to replace in a product of a small quantity production in a case where it is desired to continuously load the same product by examining the characteristics of the product. Say (53) can be used.

For example, normally, the hook assay part 53 is hooked to the hook base adapter 45, the hook adapter 44 is raised, and the hook locker 43 is raised to the hook base plate 32 by the hook locker fixing bolt 47. Tighten it securely.

When the fastening is performed as described above, the weight of the hook adapter 44, the fixing bar 46, the wheel locker 48, and the wheeler 38 for fixing the hook arm 42 up and down (actual weight about 4 to 5 kg) Due to the f) the hook adapter 44 of the pinch assay portion 53 is caught by the hook base adapter 45 so that the rotation moment or the like is supported and only the sliding of the upper direction can be made free.

The product is transported by the lifter 38 of the lift assay unit 53 configured as described above.

If an obstacle hits or collides with the wheel while the robot hand is lowered, the wheel locker 48 and the fixed bar 46 that secure the lower wheeler 38 and the wheeler 38 to the hook arm 42. Then, the hook arm 42 is fixedly fastened from the upper side so that the pinch assay portion 53 composed of the hook adapter 44 is guided by the hook arm 42 to the hook locker 43 by the external force of the collision so as to slide up. Will be.

When the hook arm 42 is raised as described above, the hook adapter 44 is raised, which causes the sensor detection plate 52 attached to one side of the hook adapter 44 to be the front surface of the hook base plate 32. Detection is performed by the collision detection proximity sensor 36 attached to the side, and the detected signal is processed as a collision signal.

That is, the displacement amount due to the collision as much as "δ" will not be damaged by the external force.

After the robot hand device configured as described above is connected to the robot and installed, the product produced in the production line is transferred to the robot operating range near the conveyor.

The palletizing system moves pallets using a conveyor system that is linked with a chain during the work transfer process, and the robot detects pallets and products at once by various sensors of the system. .

In other words, the robot recognizes the product on the conveyor and moves the hand assay to move the product out of the larger size than the fixed clamp plate 21 on the product. The sliding assay part 51 and the movable clamp 26 clamp at the same time. It can be moved by the driving of the actuator 20 and the movable cylinder 28.

The above advantages of the present invention is that the movable clamp 26 and the pusher assay unit 51 are larger than the size of the product, and the movable clamp 26 and the pusher assay unit 51 can be moved at the same time as well as individually moved.

In other words, the existing hand robot system has to hold one or two products at a time and load them at once. If the height or length of the product varies greatly, or if the product entry cycle time is short (two to three seconds), the whole robot hand is replaced. It was suitable for the production of large quantities of show varieties, rather than the production of small quantities of various varieties, such as having to install two or more robotic systems.

Therefore, in order to cope with the recent trend of diversifying the needs of consumers, it is necessary to change the operation, that is, the time required for hand replacement, so that the production operation rate is relatively low, and it is insufficient to digest products produced at high speed. It has a downside.

Therefore, the present invention catches 2-4 pieces of products having various specifications and breaks them at once or temporarily according to various loading patterns. Through the development of a lightweight, publicly applicable robot hand that can implement palletizing, it is an invention to improve productivity and facility utilization rate, as well as to reduce equipment investment cost and to flexibly cope with small quantity production of various types.

Claims (4)

A robot hand system; The upper assay part has a main frame with a built-in spacing sliding part for moving and supporting the lower frame to the left and right according to the size of the product and the adapter for connecting the robot and the hand assay. The clamp assembly mounted on the lower part of the main frame comprises a fixed clamp plate vertically fastened downwardly to the lower frame and the lower frame, a movable clamp part which slides left and right, and a wet slide assay part equipped with a wheel assay. Split-loading variable robot hand characterized by. The method of claim 1; The main frame is cast steel, and the LM rails are bolted to the left and right centers on both sides horizontally.The reinforcement plate is fastened to the ends of the main frame, and the main frame is aligned and supported. To prevent the LM block from leaving the LM rail in the process of Holes are formed by cutting the internal space of the reinforcement plate, and the truss frame is mounted on the inner center of the main frame, and the actuator base plate is attached between the truss frame and the reinforcement plate to minimize the OFF SET value of the robot hand. Split loading variable hand, characterized in that. The method of claim 1; The movable clamp assay structure mounts a lower frame end bracket having a width greater than that of the lower frame at the lower frame end, and allows the lower frame end bracket to maintain a distance between the lower frame and the clamp LM block to clamp the LM. To prevent it from falling during the left and right movement on the rail, Mounting a cylinder base bracket inside the lower frame, and fixing and fixing a movable clamp actuator to the cylinder base bracket; Mounting an auxiliary base bracket having a hole perforated in the center of the lower frame between the cylinder base bracket and the fixed clamp plate to assist rigidity and to protect the actuator for the movable clamp; By attaching an optical sensor for detecting a product to the lower end of the fixed clamp plate, and attaching a movable clamp base fixedly mounted inside the lower frame, the movable clamp assay can be moved by the operation of the movable clamp actuator on the clamp LM block. Enable it, The cylinder rod bracket mounted on the upper surface of the movable clamp base secures the rod end of the actuator for the movable clamp to induce the movable clamp fixedly attached to the front portion of the movable clamp when the actuator is swollen; Attached to the lower end of the movable clamp is a mirror reflective optical sensor to detect whether the product is removed from the hand when moving the product to the loading position or to detect whether the product is ready when picking up the product Clamp assay of robot hand. The method of claim 1; The servo motor and the encoder are connected to the left and right sides of the coupling and mounted on the inside of the main frame to connect the servo motor and the encoder to the central coupling, respectively. It is equipped with a bracket with a hole screw formed in the middle for supporting, and the clamp assay can be moved to the left and rear of the clamp bar by driving the motor. Split-loading variable robot hand.