KR200277787Y1 - Robot hand for handling of cylinder head - Google Patents

Abstract

The present invention relates to a robot hand for holding a cylinder head of an automobile engine, the object of which is to easily switch the holding in the inner space or the outer direction in the inner space according to the shape of the cylinder head, and has one driving means In addition, by suppressing the machining surface contact to suppress the failure rate caused by the damage of the material processing surface to improve the productivity and work efficiency, and to provide a robot hand for the cylinder head gripping can be applied to the robot even in a narrow space.

The present invention is connected to the robot by the mounting bracket and the main bracket having a central axis in the lower center; Two LM guides respectively installed on both sides of the lower part of the main bracket in a symmetrical manner with respect to the center axis; A bidirectional actuating cylinder positioned at one side of the lower side of the main bracket and installed between two LM guides; A first slider portion to which the operation cylinder and the connecting rod are connected, and sliders installed at both ends of the connecting rod are respectively connected to two LM guides; One end of the first link is connected to the connecting rod of the first slider, and the center of the second link to which the other end of the first link is connected is connected to the central axis of the main bracket, and the other end of the second link is connected. A link unit connected to one end of the third link to be connected; A second slider portion having a connecting rod connected to the other end of the third link, and a slider provided at both ends of the connecting portion connected to two LM guides; It is to provide a robot hand for holding a cylinder head holding a finger which is integrally connected by a bracket to the sliders of the first and second slider parts and provided with protrusions in both directions.

Description

Robot hand for handling of cylinder head {Robot hand for handling of cylinder head}

The present invention relates to a robot hand for holding a cylinder head of an automobile engine, and palletizing or depalletizing a component on a conveyor over a pallet at a specified position in a processing line transfer section of a vehicle component. The present invention relates to a robot hand for holding a cylinder head that can smoothly operate a processing line by gripping, transferring, loading, and supplying a cylinder head attached to a robot in a buffer section.

In general, the cylinder head is the head of the engine, which is installed on the upper surface of the cylinder to maintain heat tightness and water tightness to obtain thermal energy.Inside the combustion chamber, spark plugs, intake valves and exhaust valves are installed. Together with the combustion chamber. Water-cooled engines use an integral head that casts the entire cylinder into one, while air-cooled engines use a cylinder head that is cast separately for each cylinder to help cool the cylinder. Since there are many unnecessary parts attached to it, it was put into the processing process and used after processing the material.

In the cylinder head processing line as described above, a buffer line for holding / feeding / transfering the material by the robot for the supply of the raw material and the operation of the processing line in order to change the surface of the material and change the processing surface, and to stop the one side of the processing line. The robot installed in the buffer line was provided with two kinds of robot hands and a visual sensor to grip various cylinder heads.

That is, the cylinder heads of various types (standard) to be transferred to the processing line should be prohibited from contacting the processing surface when clamping by the robot hand, and thus, a method of holding a protruding portion inside the cylinder, and the outside of the cylinder inside. The cylinder head to be transported / supplied was to be gripped using a method of holding a protruding portion of the directional wall.

The conventional robot head gripping robot hand includes a clamping hand for cylinder head inner projection gripping clamping hand and a cylinder head outer wall projection gripping clamping hand, respectively, and the inner / outer gripping clamping hand separates each finger. It was intended to have a drive means.

That is, the conventional cylinder head grip robot hand as described above is formed integrally so that the inner / outer grip robot hand is connected to one side is bulky, and requires a large number of parts with a separate drive means, There was a problem that the installation area is increased.

In addition, two robot hands (inner / outer gripping robot hand) are installed side by side, which can cause interference such as collision caused by another robot hand located on one side when holding the material. Increasing the defect rate of the material according to the increase, there was a problem such as stopping the processing line.

The present invention has been made in consideration of the above problems, and its object is applicable regardless of the gripping position of the cylinder head, and has one driving means, which suppresses the occurrence of defect rate of the material due to contact with the working surface, To improve the work efficiency and to provide a robot hand for holding the cylinder head that can be applied to the robot even in a small space.

The present invention is connected to the robot by the mounting bracket and the main bracket having a central axis in the lower center; Two LM guides respectively installed on both sides of the lower part of the main bracket in a symmetrical manner with respect to the center axis; A bidirectional actuating cylinder positioned at one side of the lower side of the main bracket and installed between two LM guides; A first slider portion to which the operation cylinder and the connecting rod are connected, and sliders installed at both ends of the connecting rod are respectively connected to two LM guides; One end of the first link is connected to the connecting rod of the first slider, and the center of the second link to which the other end of the first link is connected is connected to the central axis of the main bracket, and the other end of the second link is connected. A link unit connected to one end of the third link to be connected; A second slider portion having a connecting rod connected to the other end of the third link, and a slider provided at both ends of the connecting portion connected to two LM guides; It is to provide a robot hand for holding a cylinder head holding a finger which is integrally connected by a bracket to the sliders of the first and second slider parts and provided with protrusions in both directions.

1 is an exemplary view showing a configuration according to the present invention

Figure 2 is a plan view showing a configuration according to the present invention

3 is an exemplary view showing an operating state according to the present invention

Figure 4 is an exemplary view showing an operating state of holding the cylinder head inner projection according to the present invention

5 is an exemplary view showing an operating state of gripping the cylinder head outer protrusion according to the present invention

* Explanation of symbols for the main parts of the drawings

(10): working cylinder (11): cylinder bracket

20: first slider portion 21: slider

(22): connecting rod (30): LM guide

40: link portion 41: first link

42: Second Link 43: Third Link

50: second slider portion 51: slider

(52): connecting rod 60: finger

61: First Finger 62: Second Finger

(63): Finger Bracket 70: Main Bracket

(71): central axis (80): mounting bracket

(81): camera 82: buffer

(100): Cylinder head 101: Cylinder head inner protrusion

(102): Cylinder head outer protrusions (200): Robot wrist

(300): center line (400): ice cream adsorption portion

1 is an exemplary view showing a configuration according to the present invention, Figure 2 is a plan view showing a configuration according to the present invention, Figure 3 shows an exemplary view showing an operating state according to the present invention, the present invention The first slider portion 20 is moved along the LM guide 30 by one operation cylinder 10, and the moving force of the first slider portion 20 is moved by the link portion 40 to the second slider portion. And a second slider portion 50 is moved by the link portion 40 in a direction opposite to the moving direction of the first slider portion 20 along the LM guide 30, and the first slider portion 50 is moved by the link portion 40. 2, the finger 60 is operated by the operation of the sliders 20, 50 to hold the cylinder head 100.

The operation cylinder 10 is operated in both directions (reciprocating motion), is installed under the main bracket 70, the end is to be connected to the first slider portion 20.

The main bracket 70 is connected to the robot wrist 200 by a mounting bracket 80, and is connected to one side of the mounting bracket 80 on which the camera 81 is installed.

The first slider portion 20 is a slider 21 which is moved along the LM guide 30, and the slider 21 is installed at both lower ends, respectively, and is connected to the operation cylinder 10 and the link portion 40. It consists of a connecting table 22.

The second slider portion 50 is composed of a slider 51 which is moved along the LM guide 30, and a connecting rod 52 which connects the slider 51 and is connected to the link portion 40.

The link portion 40 transmits the operating force of the first slider portion 20 to the second slider portion 50, and is rotatably installed on the central axis 71 protruding from the lower center of the main bracket 70. The first link 41 is connected to the second link 42, one side is connected to the second link 42, the other side is connected to the connecting rod 22 of the first slider portion, and symmetrical with the first link 41 One side is connected to the second link 42 so that the other side is composed of a third link 43 connected to the second slider portion 50, and the first and third links 41 and 43 are respectively It is connected to the connecting rods 22, 52 and the second link 42 so as to be rotatable.

At this time, the connection portion of the first link 41 and the first slider portion connecting portion 22, the connection portion of the third link 43 and the second slider portion connecting portion 52 and the central axis 71 are the same center line ( Located on the 300, the connection portion of the first link 41 and the second link 42, and the connection portion of the third link 43 and the second link 42 are mutually centered on the central axis 71. The first, second, third links 41, 42, 43 are connected to be located at symmetrical positions.

That is, when the connecting rod 22 of the first slider part is moved in the direction of the central axis 71, the first link 41 rotates the second link 42 in one direction about the central axis 71. The third link 43 is moved by the one-way rotation of the second link 42 to move the connecting table 52 of the second slider part in the direction of the central axis 71.

The LM guide 30 is installed below the main bracket 70, and is installed so as to be positioned at both sides of the central shaft 71 of the main bracket, and the slider 21 and the second slider of the first slider part are respectively provided. The negative sliders 51 are respectively connected.

The finger 60 is connected / installed by the sliders 21 and 51 of the first and second slider parts and the finger bracket 63, and the first finger 61 is in contact with the protruding portion 101 inside the cylinder head. And a second finger 62 in contact with the protruding portion 102 outside the cylinder head is formed at the end so as to be located in opposite directions (different fingers in both directions). That is, the first finger 61 is formed at one end of the finger 60, and the second finger 62 is formed integrally at the opposite end of the finger 60. Has a shape.

That is, according to the present invention configured as described above, the first slider 20 is moved in one direction along the LM guide 30 installed below the main bracket 70 by the operation of the operation cylinder 10, and the first slider The link part 40 is operated by the movement of the part 20, and the 2nd slider part 50 is operated in the direction opposite to the operation direction of the 1st slider part 20. Such a 1st and 1st slider part By the operation of (20, 50), the slider 21 of the first slider portion to which the finger 60 is connected / installed and the slider 51 of the second slider portion operate in opposite directions to grip the cylinder head 100. do.

Hereinafter, the present invention will be described in detail with reference to FIGS. 4 and 5.

Figure 4 shows an exemplary view showing the operating state of holding the cylinder head inner projection according to the present invention, when the grip position of the cylinder head conveyed through the processing line is a projection located in the inner cylinder head is supplied The type of is recognized by the palletizing robot, and the reference value of the finger of the robot hand is changed according to the recognized value. That is, when the gripping position of the cylinder head is located inward, the cylinder head can be gripped only by maintaining the phenomenon that the finger of the robot hand is pinched in the open state, so that the reference position of the finger is in the open state.

When the finger is positioned at the reference position as described above, the finger is inserted into the cylinder head by the control of the palletizing robot, and when the predetermined position is reached, the first and second sliders are moved from the outside to the inside by the operation cylinder. Direction, the first finger is in contact with each of the protrusions inside the cylinder head, the cylinder head is gripped by the force in accordance with the operation direction of the first finger, so that the robot can handle.

Figure 5 shows an exemplary view showing an operating state of gripping the cylinder head outer projection according to the present invention, the type of cylinder head supplied when the gripping position of the cylinder head conveyed through the processing line is located outside Is recognized by the palletizing robot, and the reference value of the finger of the robot hand is changed according to the recognized value. That is, when the gripping position of the cylinder head is located outside, the cylinder head can be gripped only by maintaining the phenomenon that the finger of the robot hand spreads outward from the center, so that the reference position of the finger is pinched.

As described above, when the finger is positioned at the reference position, the finger approaches the cylinder head by the control of the palletizing robot, and when the predetermined position is reached, the first and second sliders move away from each other from the inside to the outside by the operation cylinder. Direction, the second finger is in contact with each of the protrusions on the outside of the cylinder head, the cylinder head is gripped by the force according to the operating direction of the second finger so that the robot can handle.

The present invention is not limited to the above-described specific preferred embodiments, and any person having ordinary skill in the art to which the present invention pertains may make various modifications without departing from the gist of the present invention claimed in the claims. Of course, such changes will fall within the scope of the claims.

As such, the present invention can transfer cylinder heads of various models regardless of the grip position of the cylinder head by one robot hand, thereby improving working speed and work efficiency, and improving the working speed and material of the conventional robot hand. The failure rate can be reduced by eliminating interference.

In addition, since one drive means is provided, the structure is simple, and it is possible to apply to a narrower installation area than the conventional robot hand, and to reduce the economic burden of the user.

Claims (2)

A main bracket connected to the robot by a mounting bracket and having a central axis in the lower center thereof; Two LM guides respectively installed on both sides of the lower part of the main bracket symmetrically with respect to the central axis formed thereon; A bidirectional actuating cylinder positioned at one side of the lower side of the main bracket and installed between two LM guides; A first slider portion to which the operation cylinder and the connecting rod are connected, and sliders installed at both ends of the connecting rod are respectively connected to two LM guides; One end of the first link is connected to the connecting rod of the first slider, and the center of the second link to which the other end of the first link is connected is connected to the central axis of the main bracket, and the other end of the second link is connected. A link unit connected to one end of a third link to be used, A second slider unit having a connecting rod connected to the other end of the third link of the link unit, and a slider provided at both ends of the connecting unit connected to two LM guides; And a finger integrally connected to the sliders of the first and second slider parts by a bracket and having fingers in both directions. The method of claim 1; The finger is a cylinder head grip robot hand, characterized in that the first finger and the second finger of the rectangular pillar shape is different from each other in the protruding length and thickness formed protruding in opposite directions on both sides of the lower end.