KR20050019510A - Assembling machine with two rotary axes - Google Patents

Abstract

PURPOSE: A worktable having two rotational axes is provided to improve working efficiency by rotating the work piece around two rotational axes, moving the work piece with a servo motor and automatically turning the heavy and large work piece, and to grip various work pieces by adjusting the position of the gripping unit. CONSTITUTION: A worktable(10) is composed of a supporting frame(1) fixed, a first rotating frame(3) connected to the supporting frame by a first rotating axis(2) as a z-axis and rotated counterclockwise around the z-axis on the horizontal plane to the supporting frame, a second rotating frame(5) connected to the first rotating frame by a second rotational axis(4) as an x-axis and rotated around the x-axis to the first rotating frame on the vertical plane, a gripping unit arranged in the second rotating frame to grip the work piece, a control unit(7), a monitor(8) and an auxiliary hanger(9) for mounting tools for assembling parts.

Description

Work table with two axes of rotation {ASSEMBLING MACHINE WITH TWO ROTARY AXES}

The present invention relates to a workbench for holding multiple parts in one place for easy assembly, and more particularly, to a workbench configured to easily assemble a part from one or more directions by grasping a work object and rotating about two rotation axes. It is about.

In general, in the process of assembling a plurality of parts to complete a product, it is well known to use a conveyor system to complete a product through a series of work lines in which a plurality of workers assemble one part at a time. In the assembly line process using such a conventional conveyor system, there is an advantage that the operator's skill level is minimal and it is easy to produce large quantities of products of the same standard.

However, in the assembly process using the conventional conveyor system, there is a disadvantage that the space occupied for the assembly of the product is large, and because of this, the size of the workshop must be increased, and thus there is a limitation that only a large factory type is possible. In addition, there was a limit that the number of workers to work at the same time on one assembly line should increase according to the number of parts to be assembled. Therefore, there is a disadvantage in that the productivity of the conveyor system is not applied when the mass production system does not produce a certain number of products.

In other words, in the case of a multi-product small quantity production method that is gradually adopted today, that is, to produce a small amount of a single specification product and then a small amount of a product of another specification, if the conveyor system as described above is applied, each different specification Since each assembly line must be installed a plurality of each product having a disadvantage that there is no profitability due to the increase in manufacturing cost.

Such a conventional conveyor assembly line system has a limitation in that it is applied to a production process of a semi-finished product assembly system. For example, when assembling a semi-finished product consisting of only three or four parts, such as an assembly mounted in front of a vehicle in which a head lamp, a horn, a cooling fan, etc. of a vehicle is assembled, a considerable amount of work space is employed in adopting a conveyor assembly method. There was a disadvantage that this was necessary. For example, since the unit assembly time for assembling each component is different, additional devices are required to compensate for this, or the length of the assembly line must be long, and more space for the post-assembly inspection process is required. In addition, when the object of work such as a carrier for assembling a headlamp, a horn, a cooling fan, etc. of a vehicle, that is, a heavy and bulky metal material and the direction of assembling the components is an important variable for workability, Assembly work was rather inefficient.

As an alternative to such a conventional conveyor system, in a conventional assembly process using such a carrier, a so-called "box" type assembly method has been adopted. The "box" type refers to a method in which a worker directly assembles several parts on the carrier in a predetermined workspace. Even in this manner, there is a disadvantage in that the assembly is inconvenient and the assembly time is relatively long because the operator has to mount the component at a component insertion position in various parts of a large and heavy carrier, for example.

In this way, the mounting and moving of a plurality of parts at various positions in various directions on a relatively heavy and bulky object can be easily carried out by one worker, thus providing a more efficient and productive assembly operation. There was a need for a workbench to make this possible.

Accordingly, the present invention is to propose a workbench having a new structure that allows a more efficient and productive assembly work as required by a conventional box-type assembly method as described above to be possible by one operator.

Another object of the present invention is to provide a worktable having two rotary shafts so that the work object is rotated using the two rotary shafts so that the desired assembly position can be moved in the direction in which the operator can work most comfortably.

Another object of the present invention is to allow a work object moving on a rotating shaft to be moved by a drive motor including an electric servo motor and / or an air cylinder, thereby allowing a bulky and relatively heavy work object to be adaptively adapted to the work stage. It is to provide a workbench that can be automatically rotated.

Another object of the present invention is to configure the holding means for fixing the work object on the frame moving along the axis of rotation as appropriate to replace the mounting as necessary to properly hold the work object of various standards To provide a workbench.

In addition, another object of the present invention, the worktable to properly hold the work object of various standards by configuring so as to properly adjust the position of the holding means for fixing the work object on the frame moving along the rotation axis as needed Is to provide.

In order to achieve the above objects, the present invention provides a work table having two rotation axes. The worktable having two rotation shafts includes: a fixed support frame; A first rotation frame connected to the support frame by a first rotational axis and connected to rotate in a first direction with respect to the support frame; A second rotation frame connected to the first rotation frame by a second rotation axis and connected to rotate in a second direction with respect to the first rotation frame; And gripping means disposed on the second rotation frame to grip a predetermined work object. Accordingly, the carrier, which is a basic component for assembling unit parts, such as a head lamp, a side lamp, a cooling fan, and the like, of a work held and held by the holding means in various positions, for example, is rotated in a horizontal direction and then again. By turning up and down, a workbench may be constructed that helps one worker to perform an assembly or inspection or the like.

According to a preferred embodiment, the first rotating frame has a U shape and the first rotating shaft is installed in the lower frame thereof, and the second rotating frame has a U shape smaller than the U shape of the first frame, and the side frame thereof. It is possible to configure the second rotation shaft is installed in. Furthermore, the first axis of rotation and the second axis of rotation can be configured to rotate by, for example, a drive motor such as a servo motor and / or an air cylinder, in which case it is automatically possible even in the case of a relatively heavy and bulky object. It can be rotated in the desired direction.

According to a further preferred embodiment, the at least one rotating shaft is configured to rotate by a servo motor, the operation of the servo motor is automatically made in accordance with a signal for detecting whether the predetermined part is mounted at a predetermined position of the work target. Configuration is possible. According to this embodiment, a workbench may be provided in which the entire assembly process may be automated by being rotated automatically as the worker assembles the desired parts.

On the other hand, the first axis of rotation (eg z-axis) and the second axis of rotation (eg x-axis) may be located on a plane parallel to each other and orthogonal to each other, in this case, the angle about the z axis and the center of the x axis By appropriately adjusting the two rotation angles of the angle to the assembly has the advantage that can be adjusted to come to any desired position in the three-dimensional space to be assembled.

According to a preferred embodiment of the present invention, the holding means comprises: at least one fixed support member for supporting the bottom and rear surfaces of the work object, respectively; The work object may be configured to include a support member having at least one moving component that moves after being mounted on the fixed support member to support an upper end of the work object and a front surface of the work object, respectively. Accordingly, since the mounting of the work object is easy and the work object can be gripped firmly after the mounting, the process of rotating the work object left and right and up and down can be made stable.

At this time, the gripping means is preferably detachably arranged in order to apply to a work object having various kinds of standards. Accordingly, gripping means having various specifications may be manufactured, and gripping means having appropriate specifications may be replaced and mounted according to a work target.

Furthermore, the holding means may be configured to be slidably connected along the second rotating frame, respectively, to adjust its position as necessary. In this case, the gripping position can be adjusted according to the work object having various specifications.

In a specific embodiment, the support member having the moving component may be composed of a link structure including a plurality of joints and an actuator for moving the link structure, respectively, based on the fixed support member.

The fixed support member may further include an insertion type fixed support member protruding to be inserted into and supported in a predetermined opening of the work target. Furthermore, the support member including the moving component may further include an insert-supported moving support member. In this case, the insertion-supported movement supporting member may include a locking shaft that moves to insert the target object into a predetermined opening after the target object arrives at a predetermined position, and an actuator that moves the locking shaft.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Figure 1 shows a work table 10 having two rotary shafts in accordance with a preferred embodiment of the present invention, Figure 1 is a front view showing the overall structure. The work table 10 according to the present embodiment has the purpose of holding the work object 20 and rotating it in the left and right and / or up and down directions, for example, so that work such as assembly can be easily performed by one worker.

For convenience of description, the work object 20 is a carrier 20 as schematically illustrated in a front view in FIG. 2 and a side view in FIG. 3 for making a semi-finished product assembled with a head lamp, a horn, a cooling fan, and the like of the vehicle. Suppose). The carrier 20 is composed of a skeleton having a space (22, 24, 26, 28) on which each component is to be mounted. The carrier 20 is made of metal and may have different sizes depending on the size of the vehicle. have. In addition, each component mounted in the component mounting spaces 22, 24, 26, and 28, for example, a head lamp assembly, a horn, a cooling fan, or the like, is characterized by various directions in which the components are to be assembled. Therefore, when the worker assembles alone, the operator should work while turning the carrier 20 according to the parts to be assembled, or the worker must work around the carrier 20. Working table 10 according to the present invention, the three-dimensional mounting space (22, 24, 26, 28) of each component mounting space of the carrier 20, so that an operator can easily perform the assembly work without moving in one place It properly rotates properly.

As shown in FIG. 1, the worktable 10 having two rotation shafts according to the present invention includes a fixed support frame 1; A first rotation frame 3 connected to the support frame 1 by a first rotational axis 2, for example, z-axis, so as to rotate relative to the support frame 1, for example, about a z-axis, in a first direction counterclockwise on a horizontal plane. )and; A second rotation connected to the first rotation frame 3 by a second rotation axis 4, for example, the x-axis, and connected to rotate in a second direction with respect to the first rotation frame 3, for example, on a vertical plane about the x axis. Frame 5; And a holding means 6 disposed on the second rotating frame 5 to hold a predetermined work object 20. In addition, the control unit 7 and the monitor 8, and may further include an auxiliary hook (9) for mounting a variety of tools for assembly work.

The fixed support frame 1 provides a basis for placing the workbench on the work site and provides a reference coordinate when the carrier 20 is rotated. The support frame 1 includes a lower frame 12 serving as a pedestal and a plurality of legs 14 supporting the support frame 1, and additionally, a monitor 8 or an auxiliary hook 9 for a tool or the like on the upper part of the work table 10. It may be further provided with an upper frame 18 for mounting. In a modification, the legs 14 are equipped with wheels, so that the entire worktable 10 can be conveniently configured to move. The upper frame 18 may be connected and supported by both side frames 16 to the lower frame 12. The size of the support frame 1 is preferably such that it takes up enough space for one worker to work.

Two rotary frames 3 and 5 are connected to the support frame 1 by two rotary shafts 2 and 4, respectively. According to a preferred embodiment of the present invention, the rotating frame (3, 5) may be formed in a U-shaped frame, respectively, as shown. The first rotating frame 3 is connected on the lower frame 12 of the support frame 1 by the first rotating shaft 2 in the lower frame 32. The first rotary shaft 2 includes, for example, a drive motor 22 that is an air cylinder and a connecting shaft 24 that rotates according to the drive of the drive motor. Accordingly, the first rotation frame 3 is rotated counterclockwise on a horizontal plane about the z-axis of FIG. The second rotating frame 5 is connected to the side frames 34 and 36 of the first rotating frame 3 by the second rotating shaft 4 in its lower frame 52, respectively. The second rotary shaft 4 includes a drive motor 42 which is a servo motor, for example, and connecting shafts 44 and 46. Accordingly, the second rotation frame 5 may rotate around the x axis of FIG. 1 as the driving motor 42 is driven. The worktable having two rotary shafts according to this embodiment has the advantage that it can be automatically rotated in a desired direction even in the case of a relatively heavy and bulky work target.

In this case, whether the driving motor such as an air cylinder or a servo motor, etc. can be output to the monitor 8, and thus the operator uses the input means such as a push button installed in the control unit 7 to control the operation of the motor. Can be controlled. In addition, the monitor 8 may output a completed assembling step, an assembling step in progress, an assembling step to be performed, and the like.

Furthermore, the rotary shafts 2, 4, for example the second rotary shaft 4, are configured to rotate by the servomotor 42, and the operation of the servomotor is performed at a predetermined position of the carrier 20 as the work target. It may be configured to be made automatically according to the signal for detecting whether or not mounted. Such a detector (not shown) outputs a signal for automatically starting the operation of the servomotor 42, for example, after the headlamp assembly is mounted, and according to the signal, the position for assembling the sidelamp of the carrier 20 is determined. The second rotating frame 5 may be rotated to face the worker. According to this embodiment, there is an advantage that the workbench that can be automated by the entire assembly process can be provided by being automatically rotated as the procedure of assembling the parts the operator wants.

As in the illustrated embodiment, the first and second rotational axes 2 and 4 are preferably located on surfaces parallel to one another and orthogonal to one another, for example on the z and x axes. However, the working table according to the present invention need not be limited to the configuration such that it has only two orthogonal rotational axes. For example, it is also possible for the rotating shafts 2 and 4 to intersect to have an acute angle. In this embodiment, the angle between the two axes of rotation can be determined according to the direction in which the parts to be assembled on the workpiece can be easily mounted or the equipment to be inspected can approach the finished assembly.

Furthermore, according to a preferred embodiment of the present invention, the holding means for fixing the carrier 20 when the carrier 20 is mounted on the frames 1, 3, 5, in particular the second rotating frame 5. (6) is provided. The holding means 6, referring to FIG. 1, includes a lower support member 61 supporting the lower end of the carrier 20 and a rear support member 62, 65, 66 supporting the carrier 20 from behind. These are fixed support members for supporting the carrier 20 in a fixed position. The fixed support member may further include an insertion support type fixed support member protruding from a hole formed in the carrier 20, that is, a position inserted into the opening. In the illustrated example, both sides of an upper end of the carrier 20 are provided. Protruding support member 67 is shown to hold.

In this case, it is preferable that each supporting member of the holding means 6 is detachably mounted. If the shape or size of the workpiece 20 is different, the shape or position of each support member of the gripping means must be different. Therefore, there is an advantage that the worktable 10 can be continuously used for a variety of work objects by replacing the appropriate holding means according to the shape and specifications of the work object.

Further, according to a further preferred variant, these fixed support members 61, 62, 65, 66, 67 are each a lower frame 52 and both side frames 54, 56 of the second rotating frame 5. It can be configured to be slidably connected along the guide groove 58 formed along the) as necessary to adjust its position as needed. In this case, the gripping position can be adjusted according to the work object having various specifications.

The holding means 6 also includes a front holding member 63 and an upper holding member 68, which are in an open state (see FIGS. 5 and 6) when the carrier 20 is not on the work table 10. It has a component that is in one position and moves to a second position (see FIGS. 4, 7, and 8) in a closed state that moves when the carrier 20 arrives and catches the front and top of the carrier 20. . The supporting member having such a moving component may specifically include a link structure each including a plurality of joints and an actuator for moving the link structure. Furthermore, the rear locking member 64 may be further provided as the insertion support type movable support member. In this case, the insertion-supported movement supporting member may include a locking shaft that moves to insert the carrier 20 into a predetermined opening of the work target after the carrier reaches a predetermined position, and an actuator that moves the locking shaft. Workbench according to a preferred embodiment of the present invention having a variety of gripping means as described above is easy to mount the work object, and after mounting it can hold the work object firmly, rotate the work object to the left and right and up and down The exercise process has the advantage of being able to be made stable.

Referring now to FIG. 5, the structure of each of the members 61, 62, 63, 64, 65, 66, 68 of the gripping means 6 will be described in more detail. The member 61, which serves to support the lower end of the carrier 20, is slidably inserted into the guide groove 58 formed on the side of the lower frame 52 of the second frame to enable position adjustment. Rib 614 is configured to have a rigid structure capable of supporting 20. The member 62, which serves to support the rear surface of the carrier 20, is fixed to the lower frame 52 of the second frame but slidably to the guide groove 58 formed at the upper end of the lower frame 52. It may be inserted and adjusted in position. Another support member 66 supporting the rear side of the carrier 20 may also be fixedly installed on the side frame 56 of the second frame or connected to adjust the position along the guide groove formed on the rear side of the side frame 56. In addition, when the carrier 20 is large or complicated in shape, and additional support is required, the auxiliary support member 65 may be connected to the side frame 56 of the second frame as shown in FIG. 8.

On the other hand, the link members 63 and 68, which move to hold the front and the top of the carrier 20, respectively, have link portions 636 and 686 for link movement with a plurality of joints, actuators 634 and 684 for moving the link portions, And gripping portions 638 and 688, which are portions that hold the carrier 20. FIG. For example, when the carrier 20 is not in the workbench, the holding parts 638 and 688 are in the position as shown in FIG. 5, and once the carrier 20 arrives at the workbench and is placed on the lower support member 61 or the like, the actuator 634 and 688 are operated to grip the carrier while moving to the position as shown in FIG. Meanwhile, the insertion type movable support member 64 may include an actuator 642 and a locking shaft 644. When the carrier 20 arrives, the actuator 642 moves to the front and the locking shaft 644 moves to the front. It protrudes. Accordingly, the locking shaft 644 may be inserted into the opening formed on the carrier 20.

According to the worktable having two rotary shafts according to the present invention as described above, assembling the unit parts, such as headlamps, sidelamps, cooling fans, etc. of work objects held and fixed by the gripping means in various positions. By rotating the carrier, which is a basic component for three directions, in two different directions on a three-dimensional surface, a workbench may be configured to help a worker to easily perform work such as assembly.

In the above, the present invention has been described with reference to specific embodiments shown in the drawings. It is noted that the illustrated embodiments are merely illustrative examples of features of the present invention, and do not limit the technical scope of the present invention. Within the scope of the appended claims, those skilled in the art can readily conceive of other embodiments that modify, modify, and combine the various features of the invention. For example, the two rotating shafts are not necessarily orthogonal to each other, and may be configured to have an acute or obtuse angle. In the case of a rotating motor, a simple air cylinder or a pneumatic motor may be used, but a servo motor or a step motor may be used. Therefore, it should be pointed out that the spirit of the present invention should be interpreted as described in the claims, not by the specific embodiments described.

The present invention of the configuration as described above provides a workbench that enables more efficient and productive assembly work as required by the box type assembly method. According to the workbench, the work object is rotated on the spherical coordinate system with two rotation axes so that the desired assembly position can be moved in the direction that the worker can work most comfortably. In addition, by allowing a work object moving on two rotary axes to be moved by a drive motor including a servo motor, a bulky and relatively heavy work object can be automatically rotated adaptively. Furthermore, the position of the holding means for fixing the work object on the frame moving along the two rotation axes can be configured to properly adjust and / or replace the work object as necessary to properly hold the work object of various specifications. It has a significant effect, such that a work bench can be provided.

1 is a front view showing an overall work platform having two rotary shafts according to an embodiment of the present invention.

2 is a front view of a carrier which is an example of an object to be worked on using a work bench according to the present invention.

3 is a schematic view showing the carrier of FIG. 2 from the side;

Figure 4 is a schematic view showing the position of the holding means in the side when the carrier is mounted on the work table according to an embodiment of the present invention.

5 is a schematic view showing the position of the gripping means on the work surface according to an embodiment of the present invention when there is no carrier.

6 and 7 are schematic views showing an open state and a closed state of the movable support member having a link structure among the holding means, respectively.

8 is a schematic side view showing in detail the gripping means of the workbench of FIG.

<Short description of symbols>

1: Base 2: 1st rotating shaft

3: first rotating frame 4: second rotating shaft

5: second rotating frame 6: gripping means

7: control unit 8: monitor

10: workbench 20: carrier

22, 24, 26, 28: parts mounting space

Claims (11)

A fixed support frame; A first rotation frame connected to the support frame by a first rotational axis and connected to rotate in a first direction with respect to the support frame; A second rotation frame connected to the first rotation frame by a second rotation axis and connected to rotate in a second direction with respect to the first rotation frame; And A gripping means disposed on the second rotation frame and gripping a predetermined work object; The worktable which has two rotation shafts characterized by the above-mentioned. The side frame of claim 1, wherein the first rotating frame has a U shape and the first rotating shaft is installed at a lower frame thereof, and the second rotating frame has a U shape smaller than the U shape of the first frame. A work table having two rotation shafts, the second rotation shaft is installed in the. The method of claim 2, wherein at least one of the rotating shaft is configured to rotate by a servo motor, the operation of the servo motor is automatically made according to a signal for detecting whether the predetermined part is mounted at a predetermined position of the work object, 2 Worktable with two axes of rotation. 3. The workbench of claim 2, wherein the first axis of rotation is configured to be driven by a rotation cylinder. The worktable according to claim 1, wherein the first rotational axis and the second rotational axis are orthogonal to each other. The method of claim 1 wherein the gripping means: At least one fixed support member supporting the bottom and rear surfaces of the object; A support member having at least one moving component for moving after the work object is mounted on the fixed support member to support an upper end of the work object and a front surface of the work object, respectively; Work bench having two rotary axes to include. The worktable according to claim 6, wherein the gripping means are each detachably connected to the second rotation frame. 7. The worktable according to claim 6, wherein the gripping means is configured to be slidably connected along the second rotation frame, respectively, to adjust its position as necessary. 9. The support member according to any one of claims 6 to 8, wherein the support member having the movable component includes a link structure and a link structure including a plurality of joints, respectively, based on the fixed support member. A workbench having two axes of rotation, comprising an actuator. 7. The worktable according to claim 6, wherein the fixed support member further includes an insert-type fixed support member protruding to be inserted into and supported in a predetermined opening of the work object. 7. The support member according to claim 6, wherein the support member having the movable component further includes an insertable movable support member, wherein the insertable movable support member is moved to insert into the predetermined opening of the object after the object reaches the predetermined position. A worktable having two rotating shafts, comprising a locking shaft to move and an actuator to move the locking shaft.