KR20040012631A - Painting articulated robot possible of setting action range - Google Patents

Abstract

PURPOSE: A multi-joint painting robot capable of setting an movement range is provided which occupies a minimum working space within an operable, safe range, reduces an error and increases accuracy. CONSTITUTION: The robot comprises: a lower base(10); an upper base(20); a first arm portion(30); and a second arm portion(40). The robot further comprises: a spray gun(150); a surge tank(23); a tubing pump(26); a spring balance device(33); and a remote control(60). The lower base(10) is connected to the upper base(20) and fixed to the bottom to support the first arm portion(30) and the second arm portion(40). The first arm portion(30) is connected to the upper base portion(20) to approximately adjust the height of the robot by rotary motion. The tip portion(36) of the first arm portion(30) is formed of a double-layered outer tube consisting of an outer part(36b) and an inner part(36a). The overall length of the first arm portion(30) can be adjusted by the inner part(36a) as the inner part(36a) is slidably removed and coupled so that the inner part(36a) can reciprocally move to a stopping ridge(36c) located within the outer part(36b) spaced at a predetermined length in a second axis direction from the tip portion(36).

Description

Articulated robot for painting that can be set in motion range {PAINTING ARTICULATED ROBOT POSSIBLE OF SETTING ACTION RANGE}

The present invention relates to a painting robot for performing a painting operation on the object to be coated, and in particular, consisting of a multi-joint robot comprising an upper and lower base part, a first arm part, a second arm part, the articulated robot The inside of the encoder is provided with an encoder that can set the operating range, the motor and pulley, the pulley and the shaft, and each timing belt coupled to rotate and interlock with each other by connecting the encoder and the shaft, and painting device It is easy to adjust the angle in performing the work, and relates to a multi-joint robot for painting designed to increase the precision of the position measurement and setting of the painting robot and to overcome the backlash phenomenon to perform painting within the safety range.

With the mechanization and automation of the industry, industrial robots have emerged to perform work on behalf of humans, which has addressed the shortage of skilled and skilled workers, improved labor productivity, and automated and computerized production management. It is now indispensable for industrial sites performing work such as installing, disassembling, painting, welding, or assembling a workpiece.

In particular, in the painting work, in order to paint a large number of objects, a plurality of robots are fixed and aligned in a predetermined posture. Since it is efficient to lose, it is important to efficiently adjust the posture of each of the aligned robots. In addition, the industrial space problem for performing the painting work is also important.

Hereinafter, exemplary embodiments of a conventional painting robot will be described in detail with reference to the accompanying drawings.

1A is a view showing a painting apparatus for performing a conventional painting operation. As shown in FIG. 1A, in the conventional painting apparatus, the base part 110 fixed to the bottom is fixed to the vertical axis 120 at the top of the center, and the horizontal axis 130 is adjusted to the adjusting ends 160a and b. It is mounted on the vertical shaft 120 to move up and down of the vertical shaft 120, the rotatable spray gun coupling rod 140 is mounted at the end of the horizontal shaft 130 to combine the spray gun 150 It consists of a structure that can perform painting work.

In addition, the control stage (160a, b) is coupled to the upper and lower control stage (160a) and the front and rear control stage (160b) is made up and down position adjustment of the horizontal axis 130 is made through the up and down control stage (160a), Front and rear adjustment of the horizontal axis 130 is made by the front and rear adjustment stage (160b).

In addition, the front and rear adjustment stage (160b) is configured to be rotated up and down in the posture fixed to the horizontal axis 130, the control end (160a, b) to adjust the position to be painted.

Since the painting apparatus for performing the conventional painting work as described above is made by manual position adjustment, it is not only cumbersome to perform the work by adjusting the positions of the plurality of painting apparatuses aligned, respectively, in terms of time. Not efficient

In addition, since the vertical axis 120 can be adjusted only in the vertical direction about the horizontal axis 130 and the vertical rotation of the fixed horizontal axis 130 and the rotation direction of the spray gun coupling rod 140. Since the precise angle adjustment is not made, there is a problem in that not only can not perform a batch work in the repetitive coating of the various types of the coating, but also can not perform a precise work.

On the other hand, Figure 1b is a view showing a painting robot for performing a conventional painting work. As shown in FIG. 1B, the conventional painting robot has respective axes 170 corresponding to the vertical axis 120 and the horizontal axis 130 of FIG. 1A in order to compensate for the problems of the painting device shown in FIG. 1A. , 180) is made to automatically adjust the position, only the spray gun coupling rod 190 is coupled to the spray gun 150 is configured to adjust the position consisting of joints to automatically rotate at various angles, This is due to the space occupied by each axis (170, 180) occupy a lot of work space when performing a painting work by arranging several robots.

Therefore, the distance between the aligned robot and the robot is far from the robot to move the distance to move the object, which is in the process of performing a large amount of work by slowing the moving speed of the object to be painted There is a problem of delaying the progress of work, and also expensive manufacturing of robots is expensive.

Therefore, the articulated robot for solving the above problems is suitable for the articulated robot whose main operation function is performed by several joints, and the articulated articulated robot for the painting has a large operating area and a delicate movement compared to the occupied area. It is possible to increase the efficiency of the work space in performing the painting work and there is an effect that can perform the painting work to the minute.

However, due to the complexity of the joint calculation and the low precision, the operation error rate and position measurement error rate are greatly generated, and if the robot malfunctions by mistake, it may not be able to work properly and may be very dangerous.

Therefore, measures to solve the above problems, such as increasing the precision to reduce the error rate and limit the operating range of the robot to a safe and efficient range should be implemented.

In general, however, the conventional articulated robot has a motor mounted on the outside of the robot, so that various power lines and other data input / output lines are exposed to the outside, and thus the robot is easily damaged due to external impact or accidents occurring during operation. .

In addition, even though the motor is mounted inside the robot, since the motor is directly coupled to and connected to the shaft, the position of the shaft changes due to the driving of the motor, and a large error rate occurs when the position of the robot arm changes due to the change of the shaft. This is also inefficient in utilizing the internal space in the design of the robot.

In addition, in the encoder, the disc members for detecting the position change are equally divided into a predetermined number so that slits having different lengths are formed in each unit section, thereby reducing the error rate, the return time, and the range to the minimum. It does not function to determine whether it is an operable range by controlling an area.

On the other hand, in order to overcome the backlash (blash) phenomenon of the brake in general, but there is a problem that not only mechanically complicated but also high energy consumption.

In addition, there is a problem in that the accuracy of the work is lowered because the position of the robot changes due to the change of the load when an object having a different load is applied to the arm, and thus the work is performed with the changed robot.

The articulated robot for painting which can set the operating range of the present invention is designed to solve the above problems and can automatically set its position, and the operating range can be set to an encoder, a motor with a brake installed in front of the motor, and the motor. Minimum ranges within the safe range of operation can be achieved by equipping certain coating devices such as pulleys, pulleys and shafts, timing belts that couple shafts and motors, and surge tanks, pumps, spray gun coupling rods, etc. Its purpose is to provide a multi-joint robot that takes up the working space and has a small error rate and can perform the painting work to increase the precision.

Figure 1a is a view showing a conventional painting device.

Figure 1b is a view showing a conventional painting robot.

Figure 2 is a schematic view showing the side of the outer articulated robot for painting capable of setting the operating range of the present invention.

Figure 3a is a schematic view showing a cross-section inside the articulated robot for painting the scope of operation of the present invention.

Figure 3b is a view showing in detail the cross-section inside the articulated robot for painting the operation range of the present invention can be set.

Figure 4 is a view showing the timing belt coupling of the articulated robot for painting the operation range of the present invention can be set.

Figure 5 is a view showing the encoder used in the articulated robot for painting capable of setting the operating range of the present invention.

Figure 6 is a view showing a structure in which a brake used for the articulated robot for painting can be set the operating range of the present invention is connected to the motor.

Figure 7 is a view showing a spring balance device used in the articulated robot for painting can set the operating range of the present invention.

*** BRIEF DESCRIPTION OF THE DRAWINGS ***

1: 1 axis 2: 2 axes

3: 3 axis 10: lower base part

20: upper base portion 23: surge tank

26: tubing pump 30: the first arm portion

33: spring balance device 36: end portion of the first arm

40: second arm 50: spray gun coupling rod

60: remote controller 120: vertical axis

130: horizontal axis 150: spray gun

160a, b: up and down, front and rear control stage 313: the first motor

315 control unit 316 first brake

319: first encoder 326: pulley

333: second motor 336: second brake

339: 2nd encoder 343: 3rd motor

346: third brake 349: third encoder

410: timing belt 1 413: timing belt 2

416: timing belt 3 420: timing belt 1

423: Timing belt 2` 426: Timing belt 3`

430: timing belt 1``, 436: timing belt 3``

500: disc member of the encoder 530: slit portion

610: motor 620: brake

630: leaf spring 640: motor shaft

650: rotor 660: stator

670: bearing 700: spring

720: spring housing 740: initial point insertion portion

760: endpoint insertion portion 780: housing stopper

In the painting robot for performing a painting operation on the object to be achieved in order to achieve the object as described above, the articulated joint including a lower base portion, an upper base portion, a first arm portion, a second arm portion As the robot, the lower base part is connected to the motor by a first motor that provides a driving force to the first arm and a motor shaft that is fixed to one side of the upper end of the lower base and simultaneously serves as a rotating shaft and a stationary shaft. The first brake and the first encoder which is fixed to the lower end of the first motor by a predetermined length in the same direction as the first motor to include a first encoder for determining whether the movement position and the operable range of the first operating arm A lower base part including a data input / output port and a controller for controlling the motor and the encoder; A paint supply unit mounted on one side of an upper end of the upper base part in contact with a first axis to inject external paint and spray the coated object; And a first pulley mounted between the first shaft and the first motor to connect the first pulley and the first motor, the first shaft and the first pulley, and the first shaft and the first encoder, respectively. An upper base part including timing belts 1, 2, and 3 which are coupled to rotate in association with each other; A second motor configured to provide a driving force to the second arm part inside the first arm part, and fixed to the other side of the first arm part opposite to the first motor in a direction opposite to the first motor, in the same manner as the first brake; A second brake connected to two motors, a second encoder fixed to an inner central side of the first arm part in a direction opposite to the second motor to determine a movement position and an operable range of the second arm part; There is a second pulley between the two motors and the second encoder, so that the second motor and the second pulley, the second pulley and the second shaft and the second shaft and the second encoder are connected to each other so as to rotate in conjunction with each other. A first arm including a spring balance device coupled to the timing belts 1 ', 2' and 3 'coupled to the second upper end of the first arm portion in contact with the second shaft, to compensate for the action force of the second arm portion; Cancer; A spray gun coupling rod mounted on the other outer side of the second arm portion in contact with the third shaft to spray paint flowing out of the surge tank, providing a driving force to the third shaft to provide a force for the spray gun to move; The third motor, A third brake, which is fixed to one side in the same direction as the second motor and is connected to the third motor in the same direction as the second motor, to the inner central one side of the second arm part at a position proximate to the second axis; A third encoder which is fixed in a direction opposite to the third motor and determines the movement position and the operable range of the third axis, and is connected to each other by connecting the third motor and the third axis, and the third axis and the third encoder, respectively. A second arm portion comprising respective timing belts 1`` and 3 '' coupled to rotate therebetween; And And a remote controller for inputting a command desired by the user to the controller.

In addition, the tube passes through the central groove which is mounted on one side of the upper base and is separated from the inside, and adjusts the lever mounted on the top to close the central groove through which the tube passes, so that the external paint passes through the tube. A tubing pump configured to be introduced therein; an inlet for connecting to a pipe passing through the tubing pump and mounted at an upper end separated by the predetermined length from the tubing pump to move and store paint flowing from the tubing pump inwards; It is preferable that it further comprises a surge tank including an outlet for discharging the stored paint to be sprayed onto the object to be coated.

Also, The brake may be mounted on the front side of the motor by inserting a leaf spring in front of the motor, wherein the first, second and third encoders are divided into a plurality of slits formed by dividing 360 degrees on the A and B into a predetermined range. And an operating range portion 1 in an arbitrary range (X degrees) inside the slit, and an operating range 2 is set in a Z phase in a range opposite to the operating range portions set on the A and B (360 degrees-X degrees). It is characterized by consisting of a disc member.

In addition, the inner outer cylinder of the first arm end is slidably detachably coupled so as to reciprocate into the outer outer cylinder to a position spaced by a predetermined length in the second axial direction, thereby adjusting the length of the first arm end. Characterized in that formed to fit the center of gravity.

In addition, the timing belts 3 and 3 ′ connecting the encoder and the shaft of the upper base portion and the first operating arm portion have the same reduction ratio, and the shaft and encoder are coupled so that the rotational speed of the shaft and the rotational speed of the encoder are the same. The timing belt 3``, which connects the shaft and the encoder of the two arm portions, combines the shaft and the encoder to widen the rotational operable range (X degrees) of the encoder by varying the reduction ratio, and the upper and lower base portions, the 1 Timing belts 1, 1` and 1`` for connecting the pulleys and motors of the second arm portion of the arm part and 2, 2` and 2`` for the timing belts connecting the shaft and the pulley are respectively different in the reduction ratio, It is characterized by combining the motor and shaft and pulley, respectively.

Hereinafter, with reference to the accompanying drawings will be described in detail a preferred embodiment of the articulated robot that can be set the operating range of the present invention.

Figure 2 is a schematic view showing the side of the outer articulated robot for painting can be set the operating range of the present invention. As shown in FIG. 2, the articulated robot for setting an operation range of the present invention includes a lower base part 10, an upper base part 20, a first arm part 30, and a second arm part 40. It is preferable that the spray gun 150, the surge tank 23, the tubing pump 26, the spring balance device 33, the remote control 60, etc. are further comprised.

The lower base part 10 is connected to the upper base part 20 and is fixed to the bottom to support the first arm part 30 and the second arm part 40, and to support the first motor 313 and the first part. 1 brake 316, the first encoder 319, the control unit 315, the upper base portion 20 is a surge tank 23, a tubing pump 26 and the timing belt 1 (410), 2 (413) and 3 (416).

In addition, the first arm portion 30 is connected to the upper base portion 20 about the first axis 1 to adjust the rough height of the robot through a rotational movement about the first axis. And an end portion 36 of the first arm portion 30 directed toward the lower base portion 10 is formed of a double-layered outer cylinder formed of an outer portion 36b and an inner portion 36a. A locking jaw 36c located inside the outer casing 36b spaced apart from the end portion 36 of the first arm portion 30 by the predetermined length in the direction of the second axis 2. The inner outer cylinder 36a is slidably detachably coupled to allow the reciprocating movement up to and adjusts the overall length of the first arm portion 30 through the inner outer cylinder 36a, thereby adjusting the overall center of gravity of the robot. It is made to be able to match. The first arm part 30 includes a second motor 333, a second brake 336, a second encoder 339, a timing belt 1 ′ 420, 2 ′ 423, and 3 ′ 426. It is configured to include.

In addition, the second arm portion 40 is connected to the first arm portion 30 about the second axis 2 and rotates about the second axis, thereby providing the first arm portion 30. Spray gun 150, third motor 343, third brake 346, third encoder 349 and timing belts 1 '' (430) and 3 '' (436) It is configured to include.

In addition, the operation of the control unit 315 is configured to further include a remote control 60 for adjusting the driving of the first and second arm parts 30, 40.

Hereinafter, respective components included in the lower and upper base portions 10 and 20 and the first and second arm portions 30 and 40 will be described in more detail with reference to FIGS. 3A and 3B.

Figure 3a is a schematic view showing a cross-section inside the articulated robot that can be set the operating range of the present invention. As shown in FIG. 3A, the lower and upper base parts 10 and 20 and the first arm part 30 are connected about the first axis 1, and the first arm part 30 is connected to the first axis part 30. The second arm portion 40 is mounted by a spray gun coupling rod 50 connected to the second shaft 2 and the second arm portion 40 and the spray gun 150 are connected to the third shaft 3.

And Figure 3b is a view showing in detail the cross-section inside the articulated robot that can be set the operating range of the present invention. As shown in FIG. 3B, the first motor 313 provides driving force to the first arm part 30 at one upper end of the lower base part 10 of the articulated robot for painting, in which the operation range of the present invention can be set. ) Is connected to the first brake 316 to one motor shaft 640 which simultaneously serves as a rotating shaft and a stationary shaft, and the first motor 313 has a predetermined length separated from the lower end of the first motor 313. A structure in which the first encoder 219 is fixed in the same direction as the motor 313 is formed.

Here, the first motor 313 is preferably used a stepping motor (stepping moter) is also applied to the second and third motors to be described later. On the other hand, the step motor is also called a pulse motor (plus moter) is a changer that changes the digital pulse into mechanical axis motion, the pulse is applied by a digital source (source) so that the axis of the motor at a predetermined angle according to the number of pulses By rotating and adjusting the pulse interval properly, driving method and speed control are possible.

As described above, when the first shaft 1 rotates according to the number of pulses by driving the first motor 313, the first encoder 319 measures the angle according to the rotation and eventually the first son. The changed position of the arm 30 is measured.

In order to minimize the error rate of the rotation angle measurement of the shaft, the first encoder 319 divides the area 510 consisting of the A phase and the B phase of the disc member 500 into a predetermined number to form a slit in each unit compartment. Preferably, it is preferable that the operating ranges 540a and 540b of the first arm part 30 are set to determine whether the operation range is possible and to limit the operation range. The operation range setting will be described in more detail with reference to FIG. 4.

On the other hand, the tubing pump 26 is mounted on one side of the outer bottom of the upper base portion 20 so that the tube passes through a central groove that is separated from the inside of the tubing pump 36, the upper lever is adjusted to pass the tube It is a pump configured to close the central groove to allow the external paint to flow through the pipe.

In addition, the surge tank 23 mounted on the upper end of the tubing pump 26 by a predetermined length is connected to the pipe and passes through the groove of the tubing pump 26 through the inlet and outlet of the surge tank 23. After storing the paint introduced by the pipe is maintained to maintain a constant pressure is moved to the spray gun 150 through the outlet of the surge tank 23 is configured to spray the paint to the object.

As described above, the surge tank 23 and the pump 26 are configured to complement the conventional gear type vacuum pump and to play a role of performing the function. That is, the pump used in the conventional painting robot is a gear-type vacuum pump, because the paint outside of the pump must pass through the inside of the paint residue after performing the operation also causes problems in the pump internal structure, in the present invention, the surge tank ( 23) and the tubing pump (26) by sharing the above function to maintain a constant pressure without passing the paint outside the inside of the pump can be sprayed to the spray gun 150 to be sprayed uniformly to the object.

In addition, there is a first pulley 326 between the first shaft 1 and the first motor 313 in the upper base part 20, so that the first motor 313 and the first pulley 326 are located. ), Timing belts 1 410, 2 413, and 3 416 coupling the first shaft 1 and the first encoder 319, respectively. Each of the timing belts will be described in more detail with reference to FIG. 4 below.

In addition, the first motor 313 is provided with a second motor 333 that provides a driving force to the second arm portion 40 in the first operating arm 30 adjacent to the first shaft 1. And a structure connected to the first brake 316 in the same manner as the first brake 316, and fixed to the other side opposite to the first motor 313, and opposite to the second motor 333. It is fixed to the inner central one side of the first arm portion 30 is responsible for the function of determining the position measurement and the operable range of the second arm portion 40.

Meanwhile, the timing belt 1 '420, 2' 423, and 3 '426 are included in the same manner as the timing belts 410, 413, and 416 in the upper base part 20. On the other end of the upper upper end of the first arm portion 30 in contact with the second shaft (2) there is a spring balance device 33 is responsible for the function of compensating the action force of the second arm portion (40). The spring balance device 33 will be described in more detail with reference to FIG. 6.

In addition, a spray gun coupling rod 50 is fixed to the outside of the second arm portion 40 in contact with the third shaft 3 to spray the paint flowing out of the surge tank 23 ( 150 may be detachably mounted, and the first motor 313 and the first brake 316 may be disposed at one side of the second motor 333 which is adjacent to the second shaft 2 in the same direction as the second motor 333. The third motor 343 and the third brake 346 are coupled and fixed in the same manner as the method of coupling, and the spray gun 150 can move by providing a driving force to the third shaft 3. Provide power. And, thereby changing the position of the spray gun 150 performs a painting operation.

On the other hand, the third encoder 349 is fixed to the inner central side of the second arm portion 40 in the opposite direction to the third motor 343, the spray gun connected to the third shaft ( The third motor 343 and the third axis 3, the third axis 3 and the third encoder 349 are responsible for the function of measuring the movement position of the 150 and determines whether or not the operating range. It comprises a timing belt 1 '' 430 and 3 '' (436) that are respectively coupled to the.

In addition, the operation range of the present invention can be set by controlling an input and an output port, the motors 1 313, 2 333 and 3 343, and the encoders 1 319, 2 339 and 3 349. The lower base part 20 further includes a control unit 315 for controlling the overall motion and speed of the articulated robot.

In addition, it is preferable to further include a remote controller 60 for operating the operation of the control unit 315 to adjust the driving of the first and second arm parts (30, 40).

Figure 4 is a view showing the timing belt coupling of the articulated robot for painting can set the operating range of the present invention. As shown in FIG. 4, a timing belt 1 410 and a first pulley 326 connecting the first motor 313 and the first pulley 326 to the upper and lower base parts 20 and 10. ) And the timing belt 2 413 connecting the first shaft 1 and the timing belt 3 416 connecting the first shaft 1 and the first encoder 319 are rotated in conjunction with each other. Are combined so that

That is, when the first motor 313 starts to drive, the first pulley 326 is coupled to the first motor 313 and the timing belt 1 410 to rotate simultaneously, and the first shaft 1 It is coupled to the first pulley 326 and the timing belt 2 (413) to start to rotate with the first pulley 326. In this case, the timing belt 1 410 and the timing belt 2 413 are each of the first motor 313, the first pulley 326, the first pulley 326, and the timing belt by a predetermined reduction ratio. Since the first shaft 1 is connected to each other, even a small driving force of the first motor 313 is finally transmitted to the first shaft 1 by a large force proportional to the reduction ratio. 30) is configured to drive.

In addition, the first encoder 319 is connected to the first shaft 1 and the timing belt 3 (416) so that the first encoder 319 recognizes the degree of rotation of the first shaft (1) to the It is configured to be able to measure the movement position of the first arm (30).

For example, if the timing belt 1 410 and the timing belt 2 413 are combined at a reduction ratio of 100: 1 and the error rate is 5%, the first motor 313 rotates 3000 degrees. The first pulley 326 is rotated by 300 degrees by the driving force of) and at the same time the first axis 1 is rotated by 30 degrees so that the first arm 30 finally moves by 30 degrees and the error rate is 1.5. On the road, the error rate when the first shaft 1 is directly coupled to the first motor 313 is 150 degrees, so that the value of the first arm 30 is relatively negligible. The error rate is reduced. The above example is just one example, and it is preferable that the reduction ratio can be changed according to the setting of the controller.

Timing belts 1 ′ 420, 2 ′ 423, and 3 ′ 426, which are coupled to the inside of the second arm 40, are also disposed inside the first arm 30 and the second arm 40. Timing belts 1 410, 2 413 and 3 416 that are coupled and timing belts 1 '' 430 and 3 '' 436 are combined, but one difference is that the top 20 ) And timing belts 3 416 and 3 ′ which engage the respective axes 1, 2, 3 and encoders 219, 239, 249 inside the lower base 10 and the second arm 40. 426 is coupled at the same reduction ratio so that the encoders 319, 339 and 349 recognize and measure the positional changes of the arms 30 and 40 according to the rotation of the respective axes 1, 2 and 3, but the second arm Since the third shaft 3 and the third encoder 349 are coupled to each other by the timing belt 3``436 at different reduction ratios, the third shaft 3 rotates inside the 40. The third encoder (349) is inversely proportional to the reduction ratio in the The circular plate member 500 rotates the first is configured to recognize a rotation about a third axis (3).

This is because the third axis (3) due to the structure of the robot inevitably narrow the inner space of the second arm 40 compared to the inner space of the upper 20, lower base 10 and the first arm 30 This is to widen the operating area of the third encoder 249 for recognizing the degree of rotation.

As a result, each of the timing belts 410, 413, 416, 420, 423, 426, 430, 436 is interlocked with each other by driving of the respective motors 313, 333, 343. Is coupled to move the shaft (1, 2, 3) directly coupled to the motor (313, 333, 343) while minimizing the error rate is the same effect as moving each axis (1, 2, 3) It is configured to get.

5 is a view showing an encoder used in the articulated robot for painting that can set the operating range of the present invention. As shown in FIG. 5, the encoders 319, 339, and 349 of the articulated robot that can set the operating range of the present invention have a range 510 consisting of A and B phases and a range 520 of Z phases according to a radius. It consists of a disk member 500 made.

The disc member is formed with a plurality of slits 530 divided into a predetermined range in a radius range 510 consisting of the A and B phases, and the position is recognized by recognizing the degree of rotation according to the change in the movement of each axis. However, in the slit on the A and B 510, the operating range part 1 540a and the Z phase 520 are set in the opposite direction to the operating range part 1 530 in the operating range part 2 540b. Thereby, by setting the operating range angle (X degree) based on the operating range unit (540a, 540b) is configured to operate the robot only within the set operating range.

In addition, the remaining ranges except the operating range angle (360-X degrees) are inoperable ranges, and positions of the axes 1, 2, and 3 are recognized within the inoperable range by the encoders 219, 239, and 249. When the rotation of the shaft (1, 2, 3) can be shown to stop the movement of the arm portion (30, 40).

That is, when the operating range of the encoder is set to the operating angle of the operating range portion 1 (540a) in the clockwise direction (+ direction) to X degrees, and the motor is driven, the respective timing belts are driven by the driving of the motor. This causes the interlocking and rotation of the disc member 500 of the encoder, and at the same time emits light from the upper light emitting portion 550a of the sensor subsidiary that senses the rotation of the disc member 500.

When the disc member 500 rotates, the slit 530 and the operating range parts 540a and b are recognized to correspond to the slit 530 and the operating range parts 540a and b in the lower sensing part 550b of the sensor sub-part. The sensor detects light and measures its position. When the sensor moves out of the X degree of rotation, the sensor 550b detects this and sends a signal to the controller to stop the robot in an inoperable range.

6 is a view showing a structure in which a brake used in the articulated robot for painting that can set the operating range of the present invention is connected to a motor. As shown in FIG. 6, in the articulated robot having a setting range of the present invention, the lower base part 10, the first arm part 30, and the second arm part 40 are fixed inside the robot. The motor 610 is composed of a rotor 660, a bearing 670, a stator 660 and a motor shaft 640, by inserting the leaf spring 630 in front of the motor 610 to mount the The brake 620 is connected to the front side of the motor 610.

In particular, the motor shaft 640 is connected to the motor 610 and the brake 620 as one shaft, and at the same time serves as a rotating shaft that serves as a rotational center and a stop shaft for defining the driving of the motor. It is configured to be in charge.

In addition, since the brake 620 is installed in front of the motor 510 as described above, the motor 610 and the brake 620 may be connected without a separate device for fixing the brake 620 to the motor 610.

7 is a view showing a spring balance device used in the articulated robot for painting that can set the operating range of the present invention. As shown in FIG. 7, the spring balance device 33 used in the articulated robot for painting which can set the operating range of the present invention has the first arm 30 and the second arm 40 formed on the second shaft. (2) consisting of a spring housing 720, a spring spring 700, a spring end insertion portion 760, a spring initial point insertion portion 740 and a housing stopper 780 mounted on the outside of the joint coupled to the center By doing so.

The spring used for the spring balance device 33 preferably uses a spring-loaded spring 700 and the spring housing 720 serves to cover the spring-loaded spring 700 mounted on the joint.

In addition, while the end point 706 of the mainspring is inserted into the spring end insertion part 760, the initial point 703 of the main spring is inserted into the spring initial point insertion part 740, thereby providing the spring housing ( 720 is rotated clockwise or counterclockwise to adjust the spring force.

On the other hand, the spring balance device 33 in addition to the second axis (2) connecting the first arm 30 and the second arm (40), if necessary to be mounted on another axis to perform its function. It is desirable to be able to.

As described above, the spring balance device 33 may compensate the load of the motor through the adjustment of the spring housing 720. For example, when the load of the spray gun 150 mounted on the second arm portion 40 is changed from 500 gf to 1 kgf, the second arm 40 is lowered by the changed load when the load is changed. The position will change. In this case, a new position value should be input to the controller 215 in order to return the changed position. The load of the motor may be compensated by simply adjusting the spring balance device 33.

If the spring-loaded spring 700 used in the spring balance device 33 is wound in the left helix direction, since the load of 500 gf is added in the example, the spring housing 720 is rotated counterclockwise to change It is preferable to return the position of the arm.

In addition, when adjusting the spring balance device 33, although the adjustment value of the spring balance device 33 is different according to the changed load, this is calculated by calculating the adjustment value of the spring balance device 33 according to the load through an experimental experience. It is more desirable to be able to organize.

Although not shown in the drawings, the robot of the present invention is not limited to only one robot, but several robots can be networked so that several robots simultaneously perform the same work by setting a control unit for one robot so as to increase work efficiency. It is composed.

For example, when the robot A performing painting on the mobile phone attempts to paint by changing a part of the mobile phone, the controller needs to set a position value to be changed in order to change the position of each arm of the robot A. On the other hand, it is sometimes convenient to release the brake system and change its position manually.

At this time, the position value of the robot A, which has been arbitrarily changed manually, may be measured by an encoder, and the measured position value may be transmitted to each controller to any controller capable of a network capable of other robots such as B, C, and D. By performing the same operation, it is possible to collectively and uniformly paint several mobile phones.

In addition, the control unit is configured so that the plurality of robots are respectively adjusted in an appropriate direction for painting the object to be stored to store a predetermined posture position value to perform the same operation repeatedly.

As described above, the articulated robot for painting that can set the operating range of the present invention has been described in detail only with respect to the specific examples described, but it will be apparent to those skilled in the art that various modifications and changes are possible within the technical scope of the present invention. Naturally, the modifications belong to the appended claims.

As described above, the articulated robot for painting which can set the operating range of the present invention comprises a articulated robot including the upper and lower base parts, the first arm part, and the second arm part in its configuration, and the position adjustment is automatic. Since it is easy to adjust the postures of several robots in performing a large amount of painting work, the precision is also high and there is an effect that can be performed repeatedly and collectively.

In addition, the encoder provided in the present invention is configured to set the operation range for determining whether the robot is within the range of operation, to prevent unnecessary movement in performing the painting work, the robot within the safest range as possible It is possible to limit the range of motion of the position value, it is easy to store and copy the position value and there is an effect that can facilitate the conversion of work.

In addition, the motor that provides driving force to the lower base portion, the first arm portion and the second arm portion, respectively, is fixed inside the lower base portion, the first arm portion, and the second arm portion, thereby reducing the work and installation space of the robot. It is efficient in utilization, and is provided with a timing belt so that the respective motors are not in direct contact with each of the shafts, so that each arm portion connected to each of the shafts can be moved with a minimum error rate when the shafts rotate. The internal space can also be used efficiently.

On the other hand, the timing belt coupling structure and the spring balance device has an effect that can solve the mechanical complexity and reduce the energy consumption by replacing the show bar for overcoming the existing backlash phenomenon, the spring balance device also controls the adjustment Through the compensation of the position change of the robot that changes depending on the load there is an effect that can remove the error rate due to the load change.

Claims (7)

A painting robot for painting on a workpiece, wherein the robot includes a lower base portion, an upper base portion, a first arm portion, and a second arm portion, and includes a first arm portion inside the lower base portion. A first motor that provides a driving force to the motor, which is fixed to one side of the upper end of the lower base and serves as a rotating shaft and a stationary shaft at the same time, is connected to the first brake and the first motor. The first encoder is fixed to the lower end in the same direction as the first motor to determine the movement position and the operable range of the first operating arm therein and controls the data input / output port, the motor and the encoder. A lower base part including a control part; It is mounted on one side of the upper end of the upper base portion in contact with the first shaft, the paint supply for injecting the external paint and spraying to the object to be coated and the first pulley is mounted between the first shaft and the first motor The timing belts 1, 2, and 3 coupled to the first pulley and the first motor, the first shaft and the first pulley, and the first shaft and the first encoder, respectively, can be rotated in conjunction with each other. An upper base portion comprising; A second motor configured to provide a driving force to the second arm part inside the first arm part, and fixed to the other side of the first arm part opposite to the first motor in a direction opposite to the first motor, in the same manner as the first brake; A second brake connected to a second motor, a second encoder fixed to an inner central side of the first arm part in a direction opposite to the second motor to determine a movement position and an operable range of the second arm part; There is a second pulley between the two motors and the second encoder, so that the second motor and the second pulley, the second pulley and the second shaft and the second shaft and the second encoder are connected to each other so as to rotate in conjunction with each other. A first arm including a spring balance device coupled to the timing belts 1 ', 2' and 3 'coupled to the second upper end of the first arm portion in contact with the second shaft, to compensate for the action force of the second arm portion; Section; A spray gun mounted on the other outer side of the second arm portion in contact with the third shaft to spray paint flowing out of the paint supply portion, providing a driving force to the third shaft to provide a force for the spray gun to move; 3rd motor, A third brake, which is fixed to one side in the same direction as the second motor and is connected to the third motor in the same direction as the second motor, to the inner central one side of the second arm part at a position proximate to the second axis; A third encoder fixed in the opposite direction to the third motor to determine the movement position and the operable range of the third axis, the third motor and the third axis, and the third axis and the third encoder to be connected to each other A second arm portion comprising respective timing belts 1 " and 3 " coupled to rotate in interlocking fashion; And And a remote controller for inputting a command desired by the user to the control unit. The method of claim 1, wherein the paint supply unit The tube passes through the central groove which is mounted on one side of the upper base and is separated from the inside, and adjusts the lever mounted on the top to close the central groove through which the tube passes, so that external paint flows through the tube. A tubing pump configured to be; It is mounted on the upper end of the tubing pump by a predetermined length and connected to the tube passing through the tubing pump to inject the inlet for storing and moving the paint flowing from the tubing pump to the inside of the coated object. Surge tank including a discharge port for discharging to be able to discharge; articulated robot capable of setting the operating range, characterized in that it further comprises. The method of claim 1, The brake can be mounted on the front of the motor by inserting a leaf spring in the front of the motor, the articulated robot for painting can be set in the operating range. The method of claim 1, The first, second and third encoders comprise a plurality of slits formed by dividing 360 degrees on A and B into a predetermined range, and an operating range portion 1 in an arbitrary range (X degrees) inside the slit. An articulated robot having a range of motion setting, characterized in that it is composed of a disc member having a range of motion 2 set to the opposite range (360 degrees-X degrees) set on the A and B. The method of claim 1, The inner outer cylinder of the first arm end is slidably attached to the inner outer cylinder to be reciprocated to a position separated by a predetermined length in the second axial direction, so that the center of gravity is adjusted by adjusting the length of the end of the first arm. The articulated robot for painting, which can be set in the operating range, characterized in that it is formed to fit. The method of claim 1, Timing belts 3 and 3` connecting the encoder and the shaft of the upper base portion and the first operating arm portion are coupled to the shaft and the encoder such that the rotational speed of the shaft and the rotational speed of the encoder are the same because the reduction ratio is the same. The timing belt 3``, which connects the negative shaft and the encoder, combines the shaft and the encoder to widen the rotational operable range (X degrees) of the encoder by varying the reduction ratio, and the upper and lower base parts and the first lower arm. Timing belts 1, 1` and 1`` for connecting the pulley and the motor of the second arm part of the arm part and timing belts for connecting the shaft and the pulley have 2, 2` and 2``, respectively. An articulated robot for painting with a range of motion, characterized by a combination of an axis and a pulley. The method of claim 1, wherein the control unit A multi-joint robot for painting with a range of motions, characterized in that it is possible to automatically and repeatedly perform the work by storing the position values of each of the plurality of robots.