KR20130042247A

KR20130042247A - Palletizing manipulator apparatus

Info

Publication number: KR20130042247A
Application number: KR1020110106430A
Authority: KR
Inventors: 권순도; 김상준; 김성엽
Original assignee: 대우조선해양 주식회사
Priority date: 2011-10-18
Filing date: 2011-10-18
Publication date: 2013-04-26

Abstract

PURPOSE: A palletizing manipulator device is provided to facilitate informal palletizing work and to easily predict a transfer route of a manipulator. CONSTITUTION: A palletizing manipulator device comprises a rotation actuator(200), a main rotating link(300), an auxiliary link(500), and a link driving actuator(600). The rotation actuator is installed to rotate a frame. One of the main rotating link is installed at the frame and enables to hinge-rotate. The auxiliary link is connected to the main rotating link by a first bracket and a second bracket. The link driving actuator is connected to a control point of the main rotating link.

Description

Palletizing Manipulator Device {PALLETIZING MANIPULATOR APPARATUS}

The present invention relates to a palletizing manipulator device, and more particularly, to facilitate various unstructured palletizing operations occurring during the palletizing operation of an industrial site, and the operator's movement path of the manipulator tool stage. To a more easily predictable palletizing manipulator device.

In general, most of the electric palletizing manipulators which are mainly used in the current work site have an independent rotary articulated form, and the movement path and posture of the manipulator tool stage are controlled by the individual combination of motions of each joint.

In the case of the conventional manipulator for palletizing, a structure having an independent rotary articulation type has a hemispherical work area. Here, the working area means the entire area in which the manipulator tool stage is movable.

In addition, these manipulators are mostly used where a formal work is performed, and specifically, palletizing work is automatically performed by a pre-entered work program.

Therefore, the conventional manipulator has a problem that is difficult to apply to unstructured work, such as the handling of members disposed in the industrial field. That is, in the case of the unstructured palletizing work, manual operation of the worker (program according to the needs of the worker, not a series of operations by the automatic program) can be applied more efficiently. However, as a conventional combination of rotary joints, it is difficult for an operator to predict a movement path and a position of a manipulator tool end, and consequently, a manipulator is difficult to operate.

SUMMARY OF THE INVENTION An object of the present invention is to provide a palletizing manipulator device that facilitates various unstructured palletizing operations occurring during palletizing operations in an industrial site, and allows an operator to more easily predict a movement path of the manipulator. .

Another object of the present invention is to provide a palletizing manipulator device capable of increasing the efficiency of a palletizing operation by maintaining a constant posture of a manipulator tool stage.

The solution to the problem of the present invention is not limited to those mentioned above, and other solutions not mentioned can be clearly understood by those skilled in the art from the following description.

The object is a palletizing manipulator device using a pantograph and a four-section link mechanism, comprising: a rotary actuator installed to rotate a frame; A pantograph-type main rotary link having one end rotatably installed on the frame; A pair of auxiliary links connected to said main rotary link via first and second brackets; And a link driving actuator connected to a control point of the main rotary link to hinge-rotate the main rotary link, wherein the position change trajectory of the control point of the main rotary link and the main rotary link are driven by the link driving actuator. The position change trajectory of the working point provided at the other end of is achieved by a palletizing manipulator device using a pantograph and a four-section link mechanism having the same shape.

Here, the main rotary link, a pair of first main link is hinged rotatably connected to the frame, the other end is hinged rotatably connected to the first bracket; A pair of second main links, one end of which is rotatably connected to the pair of first main links, the other end of which is moved by driving of the link driving actuator; A third main link of which one end is rotatably hinged to the other end of the first main link and the first bracket, and the second end of which is provided with the second bracket; And a fourth main link having both ends rotatably connected to the pair of second main links and the third main link, respectively.

The pair of auxiliary links may include: a first auxiliary link whose one end is hingeably rotatable to the frame and the other end is hingeably rotatable to the first bracket; And a second auxiliary link, one end of which is hingeably rotatable to the first bracket and the other end of which is hingeably rotatable to the second bracket, wherein the first auxiliary link is the same length as the first main link. Is formed to have a, and is installed to maintain a parallel state with the first main link even when the drive and driving stop of the link drive actuator, the second auxiliary link is formed to have the same length as the third main link, The link driving actuator may be installed to maintain a parallel state with the third main link even when the link driving actuator is driven and stopped.

The link drive actuator may include a vertical drive actuator fixedly mounted to the frame to move the other end of the pair of second main rotary links in a vertical direction; And a horizontal driving actuator connected to the other end of the pair of second main rotary links to move the other end of the second main rotary link in a horizontal direction.

A rod-shaped guide rail is provided at the rod end of the vertical drive actuator, and is coupled to the rod end of the horizontal drive actuator to move along the upper surface of the guide rail and to be hinged to an end of the fourth main link. The guide block may be provided, and the guide block may function as the control point.

The guide rail may include a horizontal guide rail coupled to the rod end of the vertical drive actuator, and a vertical guide rail formed perpendicular to the horizontal guide rail, wherein the horizontal drive actuator is fixed to the vertical guide rail. At the same time, the vertical driving actuator may move up and down.

The frame may be provided with a guide for guiding the vertical movement of the vertical guide rail.

The palletizing manipulator device according to the embodiment of the present invention has the following effects.

First, by providing the main rotary link of the palletizing type and the auxiliary link forming the four-section link through the combination with the main rotary link, various unstructured palletizing operations occurring during palletizing work in the industrial site In addition to this, the operator can more easily predict the movement path of the manipulator.

Second, since the tool stage (wrist) of the manipulator is operated in the direction exactly coinciding with the operation direction of the link driving actuators, the operator can more intuitively predict the movement path, thereby making the operation easier.

Third, with the application of the pantograph mechanism, the tool end (wrist) of the manipulator can be moved with a large displacement of a constant magnification only by a short displacement operation of the horizontal and vertical drive actuators, and the operation speed can also be increased at a constant magnification. Therefore, the size and capacity of the manipulator can be reduced.

Fourth, it is possible to increase the efficiency of the palletizing operation by maintaining a constant posture of the manipulator tool stage, that is, the second bracket.

The effects of the present invention are not limited to those mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the following description.

1 is a perspective view showing a palletizing manipulator device according to an embodiment of the present invention.
FIG. 2 is a diagram illustrating a movement path of a working point according to the movement of the control point in FIG. 1.
FIG. 3 is another diagram illustrating a movement path of a working point according to the movement of the control point in FIG. 1.
4 is a side view showing the configuration of the four-section link in FIG.
5 is a state diagram illustrating an operating state according to driving of a link driving actuator in a palletizing manipulator device according to an embodiment of the present invention.
6 is a perspective view showing that the palletizing manipulator device implements a cylindrical workspace according to an embodiment of the present invention.
7 is a plan view illustrating a state where a guide is provided in a palletizing manipulator device according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. It will be apparent to those skilled in the art that the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, It is provided to let you know. Wherein like reference numerals refer to like elements throughout.

As shown in these figures, a palletizing manipulator device (hereinafter referred to as a 'manipulator device') according to a preferred embodiment of the present invention, has a pantograph and a four-section link mechanism, which is atypically disposed to convey an article. It is easy to work and is manufactured to have a substantially cylindrical working area, the rotation actuator 200 is installed to rotate the frame 100, one end of the pantograph type main rotation rotatably installed to the frame 100 Link 300, the main rotary link 300 is connected to the control point of the pair of auxiliary links 500, the main rotary link 300, which is connected via the first and second brackets 410 and 420, the main rotation And a control unit (not shown) for controlling the driving of the link driving actuator 600, the rotating actuator 200, and the link driving actuator 600 to hinge-rotate the link 300. The.

First, the rotation actuator 200 rotates the frame 100 substantially 360 degrees, and is fixed to the base 110 and the frame 100 is installed on the rotation shaft. In this embodiment, the rotary actuator 200 is applicable to electric motors, hydraulic / pneumatic motors and the like capable of forward and reverse rotation.

Next, as shown in Figures 1 to 3, the main rotary link 300 has a conventional pantogaraph type of link structure, one end is installed to enable hinge rotation to the frame 100 and the other The end functions as a free end (functioning as a wrist of the manipulator). On the other hand, the other end of the main rotary link 300 is provided with a second bracket 420 which will be described later, various modules such as a gripper, a loading / unloading plate, a vacuum suction plate is installed in the second bracket 420 according to the work purpose do.

As shown in Figure 1, the main rotary link 300 has a conventional pantograph type link structure, one end rotatably connected to the frame 100 and the other end hinged to the first bracket 410 A pair of first main links 310 connected to each other, one end of which is rotatably connected to each of the pair of first main links 310, and the other end is moved by the drive of the link driving actuator 600. A pair of second main link 320, one end is hinged rotatably connected to the other end of the first main link 310 and the first bracket 410, the other end is provided with a second bracket 420 And a third main link 330, a fourth main link 340 hingedly connected to the pair of second main link 320 and the third main link 330, respectively.

Here, as shown in FIGS. 2A and 2B, the main rotary link 300 enables the pantograph mechanism movement condition, as shown in FIGS. 2A and 2B. The length (e) of the upper region length (e) and the length (f) of the fourth main link 340 are the same, and the length (b) and the third main link 330 of the second main link 320 are the same. ), The length of the left region g is equal to the portion of the second main link 340 that is connected to the fourth main link 340.

In addition, the ratio of the length L1 of the first main link 310 to the lower region length a based on the portion of the first main link 310 connected to the second main link 320 may be a third ratio. The main link 330 is formed to be equal to the ratio of the length L2 of the third main link 330 to the left region length g based on the portion connected to the fourth main link 340.

On the other hand, in the present embodiment, the connecting portion of the second main link 320 and the fourth main link 340, specifically the guide block 621 to be described later functions as a control point of the pantograph type link, The other end of the third main link 330 functions as a working point of the pantograph type link. Here, the control point refers to a driving point that enables the expansion and contraction of the pantograph link by manual and automatic operation of the operator, and the working point is a working point that moves in accordance with the movement of the control point, as shown in FIG. 3. In this embodiment, a pantograph type link and a four-section link are provided so that the movement trajectory of the control point (thin dotted line in FIG. 3) and the movement trajectory of the working point (thick dashed line in FIG. 3) have the same shape. A more detailed description thereof will be given below.

On the other hand, as shown in Figures 1 and 2, the main rotary link 300 is provided with an auxiliary link 500 via the first and second brackets (410,420).

The pair of auxiliary links 500 constitutes a four-section link through a connection between the main rotary link 300, specifically, the first main link 310 and the third main link 330. The second bracket 420 always has a constant posture even during the link movement of the 300 and the auxiliary link 500. That is, as described above, a gripper or the like may be attached to the second bracket 420, so that the posture of the gripper may be kept constant during the link movement to facilitate palletizing of the article.

Specifically, the pair of auxiliary links 500, one end is hinged rotatably connected to the frame 100 and the other end is hinged rotatably connected to the first bracket 410, the first auxiliary link 510, One end portion is rotatably hinged to the first bracket 410 and the other end includes a second auxiliary link 520 hingeably rotatable to the second bracket 420.

Here, as shown in FIG. 4, the first auxiliary link 510 is formed to have the same length as the first main link 310, and the first main link even when the link driving actuator 600 is driven and stopped. It is installed to maintain a parallel state with (310).

Similarly, the second auxiliary link 520 is formed to have the same length as the third main link 330, and as shown in FIGS. 4 and 5, even when the link driving actuator 600 is driven and stopped. 3 is installed to maintain a parallel state with the main link (330).

As described above, in the present embodiment, by providing the pantograph-type main rotary link 300 and the auxiliary link 500 constituting the four-section link, the movement trajectory of the working point having the same scale as the control trajectory but increased in scale is provided. It is possible to form, and also to maintain the posture of the second bracket 420, that is, the gripper regardless of the link movement.

In summary, in the present embodiment, the main rotary link 300 may move the working point in the same manner according to the movement of the control point, and the first main link 310, the first auxiliary link 510, and the third main The substantially parallel quadrilateral link consisting of the link 330 and the second auxiliary link 520 always maintains a constant posture of the manipulator, specifically the second bracket 420.

In addition, the present invention, by providing the main rotary link 300 of the palletizing type and the auxiliary link 500 constituting the four-section link through the combination of the main rotary link 300, palletizing on the industrial site In addition to facilitating various unstructured palletizing operations occurring during the operation, the operator can more easily predict the movement path of the manipulator tool stage, that is, the gripper mounted on the second bracket 420.

Next, as shown in FIGS. 1 to 3, the link drive actuator 600 is connected to the control point of the main rotary link 300 to hinge-rotate the main rotary link 300.

The link driving actuator 600 is fixed to the frame 100, and the vertical driving actuator 610 for moving the other end of the pair of second main rotary link 320 in the vertical direction, a pair of second It is connected to the other end of the main rotary link 320 includes a horizontal drive actuator 620 for moving the other end of the second main rotary link 320 in the horizontal direction. That is, the other end of the second main rotary link 320 has a function substantially the same as the control point of the pantograph type link structure as described above, and in this embodiment, the other end of the second main rotary link 320. The link drive actuator 600 is installed so as to move in the vertical direction and the horizontal direction in the figure. Here, the vertical and horizontal drive actuators 610 and 620 may be applied as hydraulic or pneumatic cylinders or electric cylinders.

Specifically, as shown in FIG. 1, a rod-shaped guide rail 611 is provided at the rod end of the vertical drive actuator 610, and a horizontal guide rail 612 described later at the rod end of the horizontal drive actuator 620. A guide block 621 is provided to move along the upper surface of the upper side and to be hinged rotatably at the end of the fourth main link 340. That is, since the rotation operation of the second main link 320 is made by the movement of the guide block 621, the guide block 621 functions as a control point for substantially starting the link motion of the pantograph link as described above. Done. The horizontal guide rail 612 and the guide block 621 can also be applied as a conventional LM guide module.

In this embodiment, the driving of the vertical drive actuator 610 and the horizontal drive actuator 620 is controlled by a controller (not shown), for example, the operator uses a program in which the work logic is stored or vertically through a separate switch operation. The operation of the driving actuator 610 and the horizontal driving actuator 620 may be controlled.

Meanwhile, when the horizontal driving actuator 620 is driven, the guide block 621 reciprocates along the upper surface of the horizontal guide rail 612, where the guide block 621 is fixed with respect to the upper surface of the horizontal guide rail 612. It is desirable to minimize abnormal slip.

To this end, in the present embodiment, the upper surface of the horizontal guide rail 612 in contact with the guide block 621 is further provided with a friction member (not shown) to generate a predetermined or more friction force between the guide block 621 It is preferable. Therefore, the moment the driving of the horizontal drive actuator 620 stops, the guide block 621 is positioned without slipping at the set position on the horizontal guide rail 612, at this time, more accurate position control of the second bracket 420, that is, the gripper Becomes possible.

As shown in FIG. 1, the guide rail 611 is a horizontal guide rail 612 coupled to the rod end of the vertical drive actuator 610 and a vertical guide rail 613 perpendicular to the horizontal guide rail 612. ). In the present embodiment, the horizontal driving actuator 620 is fixedly installed on the vertical guide rail 613 to be moved up and down at the same time when the vertical driving actuator 610 is driven. In detail, when the vertical driving actuator 610 stops driving, the horizontal driving actuator 620 is in a stopped state, and the vertical driving actuator 610 is driven so that the horizontal guide rail 612 raises the guide block 621. At the same time, the horizontal drive actuator 620 is moved upward. On the contrary, when the rod end of the vertical drive actuator 610 moves downward, the horizontal guide rail 612 and the vertical guide rail 613 move downward as well, so that the horizontal drive actuator 620 moves downward.

On the other hand, as shown in Figure 7, the frame 100 is preferably provided with a guide 630 for guiding the vertical movement of the vertical guide rail 613 further. The guide 630 may have a cross-sectional shape corresponding to the cross section of the vertical guide rail 613 and may be applied as a guide groove formed to extend at least a predetermined length along the height direction of the frame 100.

Hereinafter, an operation relationship of the manipulator device according to the embodiment of the present invention will be described. Prior to the description, the drive of the link drive actuator 600 is possible by the operator operating the control unit (not shown). Such a control section can be programmed to palletize the set section area, and this set section can be easily changed according to the needs of the operator.

First, in FIG. 5A, an initial state at the time of stopping the driving of the link driving actuator 600 is shown.

Next, when the drive of the vertical drive actuator 610 is stopped, the horizontal drive actuator 620 is driven, that is, when the rod end (guide block) is moved to the right in the drawing, the main rotary link 300 and the auxiliary link ( 500 performs a link motion as shown in FIG. 5 (b).

Subsequently, when the driving of the vertical driving actuator 610 is stopped while the horizontal driving actuator 620 is stopped, that is, when the rod end (guide rail) is moved upward in the drawing, the main rotary link 300 and the auxiliary link ( 500 performs a link motion as shown in FIG.

Subsequently, when the driving of the vertical driving actuator 610 is stopped, when the horizontal driving actuator 620 is driven, that is, when the rod end (guide rail) is moved to the left side in the drawing, the main rotary link 300 and the auxiliary link ( 500 performs a link motion as shown in FIG. 5 (d).

3 and 5, the control point of the main rotary link 300, that is, the guide block 621, is trajectively moved in a substantially rectangular shape on a plane by the sequential operation of the link drive actuator 600. Likewise, the gripper provided on the working point, that is, the second bracket 420, moves the same locus in the same shape.

Here, the locus movement region of the control point and the locus movement region of the working point have a constant size difference, and the size difference is a connection position between the first main link 310 and the second main link 320 and the second main link ( The length of 320, the length of the third main link 330, the length of the fourth main link 340, and the like are affected.

In addition, according to the present invention, by forming the four-section link using the auxiliary link 500, as shown in Figs. You will have the advantage.

On the other hand, as shown in FIG. 6, when the rotary actuator 200 is driven while driving the vertical drive actuator 610 and the horizontal drive actuator 620, the working point has a substantially cylindrical working area.

Although the present invention has been described with reference to the accompanying drawings and the preferred embodiments described above, the present invention is not limited thereto but is limited by the following claims. Accordingly, those skilled in the art will appreciate that various modifications and changes may be made thereto without departing from the spirit of the following claims.

100: frame 200: rotary actuator
300: main rotation link 310: first main link
320: second main link 330: third main link
340: fourth main link 410: first bracket
420: second bracket 500: auxiliary link
510: first auxiliary link 520: second auxiliary link
600: link drive actuator 610: vertical drive actuator
611: guide rail 612: horizontal guide rail
613: vertical guide rail 620: horizontal drive actuator
621: Guide block 630: Guide

Claims

A palletizing manipulator device using a pantograph and a four-section link mechanism,
A rotary actuator installed to rotate the frame;
A pantograph-type main rotary link having one end rotatably installed on the frame;
A pair of auxiliary links connected to said main rotary link via first and second brackets; And
A link driving actuator connected to a control point of the main rotary link to hinge-rotate the main rotary link,
And a position change trajectory of the control point of the main rotary link and the position change trajectory of the working point provided at the other end of the main rotary link by the driving of the link driving actuator.

The method of claim 1,
The main rotary link,
A pair of first main links one end rotatably connected to the frame and the other end rotatably connected to the first bracket;
A pair of second main links, one end of which is rotatably connected to the pair of first main links, the other end of which is moved by driving of the link driving actuator;
A third main link of which one end is rotatably hinged to the other end of the first main link and the first bracket, and the second end of which is provided with the second bracket; And
And a fourth main link having both ends rotatably connected to the pair of second main link and the third main link, respectively.

The method of claim 2,
The pair of secondary links,
A first auxiliary link having one end hingedly connected to the frame and the other end hingedly connected to the first bracket; And
One end is rotatably hinged to the first bracket and the other end includes a second auxiliary link is hinged rotatably connected to the second bracket,
The first auxiliary link is formed to have the same length as the first main link, and is installed to maintain a parallel state with the first main link even when the link driving actuator is driven and stopped.
The second auxiliary link is formed to have the same length as the third main link, and the palletizing manipulator device is installed so as to maintain a parallel state with the third main link even when the link driving actuator is driven and stopped.

The method of claim 2,
The link drive actuator,
A vertical drive actuator fixed to the frame to move the other ends of the pair of second main rotary links in a vertical direction; And
And a horizontal drive actuator connected to the other end of the pair of second main rotary links to move the other end of the second main rotary link in a horizontal direction.

5. The method of claim 4,
The rod end of the vertical drive actuator is provided with a guide rail of a plate shape,
The rod end of the horizontal drive actuator is provided with a guide block which is rotatably coupled to the end of the fourth main link while moving along the upper surface of the guide rail,
The guide block is a palletizing manipulator device functioning as the control point.

The method of claim 5,
The guide rail includes a horizontal guide rail coupled to the rod end of the vertical drive actuator, and a vertical guide rail formed perpendicular to the horizontal guide rail,
And the horizontal driving actuator is fixed to the vertical guide rail and simultaneously moves up and down in the vertical direction when the vertical driving actuator is driven.

The method according to claim 6,
The frame is provided with a palletizing manipulator device for guiding the vertical movement of the vertical guide rail.