KR20110038957A - A integrated robot hand and method of using the same - Google Patents

Abstract

PURPOSE: An integrated robot hand and a method of using the same are provided to increase the moment of inertia and to increase allowable load since high rigidity and restoring force are applied to a CFRP(Carbon Fiber Reinforced Plastics) frame. CONSTITUTION: An integrated robot hand comprises a paper pad(10), a clamp, a glass pad(20), and a frame(30). The paper pad sucks paper in a vacuum state. The clamp holds the sucked paper. The glass pad sucks the glass in a vacuum state. The paper pad and the glass pad are installed on the frame. The paper and the glass are loaded together.

Description

Integrated robot hand and method of using the same}

The present invention relates to a robot hand and a method of using the same, and more particularly, to an integrated robot hand and a method of using the same, which can be loaded on a sheet of paper and glass at different sizes.

Thin Film Transistor (TFT) Liquid Crystal Display (LCD) has excellent display capability such as display capacity, brightness, contrast, afterimage, and viewing angle, and enables thin and large screen display. The widespread use of various digital products, including navigation and navigation, has led to an expansion of LCD glass production.

LCD glass is divided into generations according to size. For example, the 7th generation can produce 8 40-inch LCD panels with a 1870 × 2200mm standard, and the 8th generation can produce 8 46-inch LCD panels with a 2200 × 2500mm standard. As LCD glass becomes larger and larger, the glass substrate used as a substrate material of a flat panel display panel is also increasing in size.

The glass makers load the glass onto the crate using the robot hand. In the case of the robot hand of the existing producer, only one type of glass can be loaded. That is, there is a problem that the robot hand needs to be replaced as the size of the 8th or 7th generation is different.

 In general, when loading the glass for loading and transporting the display glass, there is a gap between each glass. The reason for placing such a sheet is to remove friction between the glasses.

The robot hand used for conventional glass take-out and stacking includes a robot for loading and taking out glass and a robot for loading and taking out interleaving.

That is, two robots are required, resulting in a problem of low efficiency of the process.

The present invention is to solve the problems described above, an embodiment of the present invention relates to the adsorption of the kanji and the glass at the same time, and can be applied to different sizes of glass, to improve the process efficiency.

According to a preferred embodiment of the present invention, a robot hand used for loading glass, comprising: a ganji pad for sucking kanji by vacuum; A clamp for holding the slip sheet sucked by vacuum; A glass pad that adsorbs the glass in a vacuum; And a frame in which an interleaver pad and a glass pad are installed, and a robot hand and a method of using the interlocker and a glass are provided at the same time.

According to an embodiment of the present invention as described above, first, since the sheet and glass can be taken out and loaded at the same time, the process is made efficiently.

Second, as the size of the glass is changed, there is no need to replace the robot hand, it can be used in common, it is applicable to the mixing process.

Third, by applying a frame of carbon fiber reinforced plastic (CFRP) material with excellent rigidity and resilience, the inertia moment is reduced, so the allowable load is increased.

Fourth, the overrun sensor is applied to prevent excessive movement of the robot to prevent glass breakage.

Fifth, it is possible to maintain the working state corresponding to the glass size by applying a sensor for detecting the expansion and contraction state of the frame.

Hereinafter, exemplary embodiments of an integrated robot hand and a method of using the same according to an embodiment of the present invention will be described with reference to the accompanying drawings. In this process, the thickness of the lines or the size of the components shown in the drawings may be exaggerated for clarity and convenience of description.

In addition, terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to the intention or convention of a user or an operator. Therefore, definitions of these terms should be made based on the contents throughout the specification.

In addition, the following examples are not intended to limit the scope of the present invention, but merely illustrative of the components set forth in the claims of the present invention, which are included in the technical spirit throughout the specification of the present invention and constitute the claims Embodiments that include a substitutable component as an equivalent in the element may be included in the scope of the present invention.

1 is a front sectional view showing a state of use of the robot hand according to an embodiment of the present invention, FIG. 2 is a side cross-sectional view of the robot hand shown in FIG. 1 is a front cross-sectional view of the robot hand shown in FIG. 1, FIG. 4 is a side cross-sectional view of the robot hand shown in FIG. 1 when loading the expanded glass, and FIG. 5 is a view of the robot hand shown in FIG. 1 when loading the expanded glass. 6 is a side cross-sectional view showing a part of a frame in a contracted state and an expanded state.

In an integrated robot hand according to a preferred embodiment of the present invention, the robot hand used for loading the glass, comprising: an interleaved pad 10 which sucks the separated paper by vacuum; A clamp for holding the slip sheet sucked by vacuum; A glass pad 20 for sucking the glass in a vacuum; And a frame 30 in which the interleaved pad 10 and the glass pad 20 are installed. The interleaved pad and the glass can be simultaneously loaded.

The integrated hand of the present invention includes a slip pad 10, a glass pad 20, and a frame 30. Unlike the conventional robot hand, the integrated hand of the present invention is provided with the ganji pad 10 and the glass pad 20 at the same time, it is possible to adsorb the kanji and the glass at the same time.

The slip sheet is a paper inserted between the glass and serves to remove the friction between the glass. Usually, since the size of the slip sheet is larger than that of the glass, the slip sheet protrudes out of the glass frame.

The integrated hand is to absorb the portion of the slip sheet protruding into the slip pad (10). The interstitial pad 10 adsorbs the interstitial space using a vacuum, and it is also possible to incorporate a spring to reduce the soft adsorption and shock absorption. The outer diameter of the interstitial pad 10 can be variously formed, and the quantity of the interstitial pad 10 is also adjusted according to the outer diameter of the interstitial pad 10. The pad material of the pad 10 is applied with nitrile or silicon to prevent static electricity.

Since fine holes are present in the sheet, the adsorption force may not be smoothly exhibited by vacuum adsorption. Therefore, the sheet is additionally held by using a clamp. The clamp holds the edge of the slip sheet in the shape of a forceps. The operation of the clamp is made by the clamp cylinder. That is, the slip sheet is loaded in a state in which the slip sheet is fixed to the double by the pad 10 and the clamp.

The integrated hand adsorbs the selvage by the interleave pad 10 and simultaneously adsorbs the glass by the glass pad 20. The glass pad 20 adsorbs the glass in a vacuum, and a spring having a buffer function is formed inside the glass pad 20. If the spring is not present when the glass is stored in the crate where the glass is stored, the glass is subjected to a direct impact, causing problems such as breakage. The springs minimize the load on the glass and ensure that the glass is safely loaded on the crate.

In addition, an elastic body may be formed inside the glass pad 20 in order to correspond to an angle that may occur when the glass is adhered to the glass pad 20. As an elastic body, what has predetermined torsional rigidity among natural rubber and synthetic rubber is selected. Due to the presence of the elastic body, the glass pad 20 may be tilted to obtain a tilt control effect.

The intermittent pad 10 and the glass pad 20 are installed in the frame 30. As shown in FIGS. 1 and 2, the frame 30 is formed by combining a plurality of support bars 31 with each other. Rectangle corresponding to glass size.

As shown in FIG. 3, the frame 30 is connected to the articulated robot 40 by the robot flange 50. Since the robot flange 50 is a part connected to the articulated robot 40, the robot flange 50 is made of aluminum and magnesium alloy, and has a good wear resistance to prevent warpage and sag.

In the integrated robot hand according to the preferred embodiment of the present invention, the frame 30 is formed to be stretchable, and the interval between the interleave pad 10 and the glass pad 20 is variable.

In the conventional robot hand, only one type of glass can be loaded, but the robot hand of the present invention can be simultaneously applied to two or more types of glass. To this end, the frame 30 is formed to be stretchable.

Frame 30 is formed by a plurality of support bars 31 are coupled, the support bar 31 is formed in a structure that can be expanded or contracted with each other. As shown in FIG. 6, in the contracted state, one end of the support bar 31 outside the frame 30 is inserted into the support bar 31 connected to the inside thereof. Will come out.

Since the expansion and contraction of the frame 30 is made based on the pinhole position formed in the support bar 31, it is possible to expand or contract to the correct position. When the support bar 31 is moved to a predetermined pinhole position, expansion and contraction are made by fixing using the fixing handle 32.

The integrated robot hand of the present invention can also be used for loading two or more glasses by varying the position of pinhole formation.

In the integrated robot hand according to a preferred embodiment of the present invention, the frame 30 is made of carbon fiber reinforced plastic (CFRP) material.

In robot-based processes, the total weight plus the weight of the hand and the workpiece to be moved must be less than or equal to the payload. This does not mean that the total work weight is less than or equal to the carrying weight, which means that the weight of the work must be within a certain distance from the end effector corresponding to the human hand. If outside of a certain distance, the payload of the robot decreases, so the overall work weight should be reduced. Nevertheless, when the working weight of the rated payload size is used outside a certain distance, there is a problem that the reducer and the motor are damaged. In order to minimize the load due to the moment of inertia according to the payload weight, a frame 30 made of carbon fiber reinforced plastic (CFRP) is used.

When the carbon fiber reinforced plastic is used, the frame 30 may be prevented from sagging or twisting, and the moment of inertia may be reduced because of excellent rigidity and resilience.

In the integrated robot hand according to a preferred embodiment of the present invention, the frame 30 is further formed with a first sensor (60) for detecting the expansion state and the contraction state of the frame (30).

The robot hand of the present invention can be applied to both processes of the expanded state and the contracted state. For example, in the process of loading 7th generation glass and the 8th generation glass at the same time, the process of loading the 7th generation glass works in the contracted state, and in the process of loading the 8th generation glass, works in the expanded state. .

When working in the expanded state in the 7th generation glass loading process, because the size of the glass and the sheet of paper is recognized as a large work, stable loading is not achieved. In order to solve this problem, the first sensor 60 is installed to detect the expansion state and the contraction state of the frame 30.

The first sensor 60 is a proximity sensor that detects whether the current state is an expanded state or a contracted state. Even when the operator completes the setup in the expanded state or the contracted state, the first sensor 60 checks whether the expanded state or the contracted state is once again so that the work is always performed in the proper setup state.

In addition, when the process is performed after the expansion or contraction set-up according to the glass generation, cable breakage or other interference may occur as the cable is stretched or shrunk according to each state. Solve possible cable-related problems. The leaf springs are in the form of thin plates, on which cables are installed. Since the cable is interlocked on the leaf spring according to the expansion or contraction state, the cable on the leaf spring does not break or interfere.

In the integrated robot hand according to a preferred embodiment of the present invention, a second sensor 70 for detecting an overrun of the robot hand is further formed in the frame 30.

In the proper setup state by sensing the expansion state or contraction state, the glass pad 20 is to adsorb the glass in a vacuum and then load each glass in the crate.

The individual glass pad 20 has a built-in spring, and performs a buffer function to minimize the load the glass receives when loading the glass on the crate. In addition, the second sensor 70 is mounted to prevent the robot from entering more than a predetermined amount of movement. The second sensor 70 that detects an overrun is a proximity sensor and serves to prevent glass breakage by limiting robot movement within a predetermined range.

An interlayer pad 10 for adsorbing the interlayer vacuum; A clamp for holding the slip sheet sucked by vacuum; A glass pad 20 for sucking the glass in a vacuum; The intermittent pad 10 and the glass pad 20 are installed, the stretchable frame 30; And a first sensor (60) formed on the frame (30) and configured to detect an extended state and a contracted state of the frame (30), in the upper part of the conveyor apparatus. A first step of loading glass and slippers; A second step of transporting the stacked glass and the sheet of paper; A third step of discriminating and detecting the expanded state and the contracted state of the frame 30 by the first sensor 60; Receiving a work permission signal; A fifth step of absorbing the kanji by vacuum by the kanji pad 10 and holding the kanji by the clamp; And a sixth step of adsorbing the glass in a vacuum by the glass pad 20.

The robot hand of the present invention can adsorb a sheet of paper and a clamp at the same time, and can be changed into an expanded state and a contracted state, so that two or more sizes of glass can be loaded.

Looking at the process in which the robot hand of the present invention is used, first, the glass and the kanji is loaded on the conveyor apparatus, and the glass and the kanji placed on the conveyor belt are transferred. At this time, by the conveyor guide the glass on the sheet and the sheet is not disturbed alignment occurs and the robot hand comes to the position to work.

The loading robot receives the current glass generation from an external operating system, and sets up the condition appropriately after checking whether the operator is in a contracted state or an expanded state as previously determined. In this operation, the robot hand determines the setup error of the operator by grasping the current setup state with the first sensor 60 attached to the frame 30 whether the hardware setup of the operator is appropriate.

After the robot hand receives the external work permission signal, the robot hand performs the ice sheet and glass extraction work. The external work permission signal is received only when the setup state grasped by the first sensor 60 matches the hardware setup of the operator, so that work is always performed in the setup state suitable for glass generation.

First, the kanji is sucked into the vacuum by the kanji pad 10, and the clamp catches the kanji. In addition, the glass pad 20 adsorbs the glass in a vacuum. It is also possible to configure the process such that the interleaver pad 10 and the glass pad 20 simultaneously adsorb the interleaver and the glass, respectively.

1 is a front cross-sectional view showing a state of use of the robot hand according to an embodiment of the present invention;

2 is a side cross-sectional view of the robot hand shown in FIG.

3 is a front sectional view of the robot hand shown in FIG.

4 is a side cross-sectional view of the robot hand shown in FIG. 1 when loading an expanded state glass;

5 is a front sectional view of the robot hand shown in FIG. 1 at the time of loading the expanded glass;

FIG. 6 is a side sectional view of a portion of the frame in a contracted and expanded state; FIG.

<Description of Symbols for Main Parts of Drawings>

10: Kanji pad

20: glass pad

30: frame, 31: support bar, 32: fixed handle

40: articulated robot

50: Robot Flange

60: first sensor

70: second sensor

Claims (6)

In the robot hand used for loading glass, Kanji pad for adsorbing the kanji in vacuum; A clamp for holding the slip sheet sucked by vacuum; A glass pad that adsorbs the glass in a vacuum; And It is made, including; Robot hand, characterized in that made possible to load the ice sheet and the glass at the same time. The method of claim 1, The frame is formed to be elastic, the robot hand, characterized in that the distance between the pad and the glass pad is variable. The method of claim 1, The frame is a robot hand, characterized in that made of carbon fiber reinforced plastic (CFRP) material. The method of claim 2, The frame is a robot hand, characterized in that formed further; a first sensor for detecting the expansion state and the contraction state of the frame by distinguishing. The method according to any one of claims 1 to 4, And a second sensor configured to detect an overrun of the robot hand in the frame. Kanji pad for adsorbing the kanji in vacuum; A clamp for holding the slip sheet sucked by vacuum; A glass pad that adsorbs the glass in a vacuum; A stretchable frame having the interleaved pad and glass pad installed therein; And In the method of using a robot hand comprising a; formed on the frame, comprising a first sensor for detecting the expansion state and the contraction state of the frame, A first step of loading glass and slippers on the conveyor apparatus; A second step of transporting the stacked glass and the sheet of paper; A third step of detecting the extended state and the contracted state of the frame by the first sensor; Receiving a work permission signal; A fifth step of absorbing the kanji into a vacuum by the kanji pad and holding the kanji by the clamp; And And a sixth step of adsorbing the glass in a vacuum by the glass pad.

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