KR20190061659A - Mobile work table - Google Patents

Abstract

The present invention relates to a mobile work table with a mounted articulated robot and controller capable of performing various work and freely movable and rearrangeable on a process line. The present invention implements a noble type mobile work table, in which the articulated robot capable of performing work in various directions and at various angles is assembled with a moving base freely movable and rearrangeable on an automation process line, and a lift column capable of adjusting the height of the articulated robot is mounted to further strengthen the functionality of the articulated robot, thereby being freely movable and rearrangeable at a site to be easily treated and managed, being capable of showing various and stable functions, and having a small volume and occupation space with mobility characteristics to be advantageous in designing a site layout.

Description

Movable work table {MOBILE WORK TABLE}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a movable work table, and more particularly, to a movable work table capable of carrying out various operations by mounting a multi-joint robot and a controller, and freely moving and rearranging on a process line.

In general, articulated robots are robots with arms with three or more revolving joints, which are similar to the movements of human beings with industrial robots made of human shoulders, arms, elbows and wrist joints.

These articulated robots are fast acting, have a small space, and have a wide operating range, so they are used for assembling, painting and welding of automation plant production facilities.

As one example, Korean Patent Laid-open Publication No. 10-2011-0028268 discloses a articulated robot as a moving means for displaceably supporting a supporting means for supporting a semiconductor wafer, wherein the articulated robot includes a swing motion And serves to displace the wafer so that the adhesive layer side of the adhesive sheet does not deviate from the focus axis.

As another example, Korean Patent Laid-Open Publication No. 10-2008-0081197 discloses a articulated robot that is rotatably driven by a joint part, and the articulated robot at this time is a robot that can be used for a work such as a glass substrate or a semiconductor wafer, To the stocker.

As another example, Korean Patent Laid-Open Publication No. 10-1998-0005347 discloses a articulated robot mounted on a line for transporting goods for semiconductor manufacturing. In this case, the articulated robot grasps the logistics located in the port, As shown in FIG.

In this way, the conventional industrial articulated robots are arranged on the automated process line to pick up various materials or parts and then transport them, or perform loading and unloading functions. However, There is a limitation in performing various tasks due to the execution of the tasks, and there is insufficient in terms of efficiently coping with the motion characteristics and space occupation required in various automation process lines.

Korean Patent Publication No. 10-2011-0028268 Korean Patent Publication No. 10-2008-0081197 Korean Patent Publication No. 10-1998-0005347

SUMMARY OF THE INVENTION Accordingly, the present invention has been made in view of the above circumstances, and it is an object of the present invention to provide a multi-joint robot capable of performing operations in various directions and angles and a moving base capable of freely moving and placing on an automated process line, The new type of movable worktable that enhances the functionality of the articulated robot is equipped with lift column that can adjust the height of the robot, making it possible to freely move and place on the field, making it easy to handle and manage, And it is an object of the present invention to provide a movable work table in which the volume is small and the space is not occupied so much that it is advantageous in the layout layout design.

In order to achieve the above object, the movable work table provided by the present invention has the following features.

The movable work table includes a box-shaped moving base capable of freely moving using a plurality of wheels mounted on a bottom surface thereof, a multi-joint robot provided on the upper surface of the moving base, and a robot, And a lift column installed inside the moving base for controlling the height of the multi-joint robot.

Here, the lift column includes an actuator connected to a bottom surface of the robot adapter supporting the articulated robot through a rod in a vertical posture on one side of the moving base, and an actuator connected to the actuator, And a plurality of guide bars that are slidably inserted into the guide bushes installed on the upper plate of the robot adapter and connected to the bottom surface of the robot adapter through upper ends thereof.

The lift column is disposed so as to surround the periphery of the upper portion of the actuator and the guide bar, and is connected to the bottom surface of the rod adapter and the upper surface of the upper plate. When the actuator is lifted and lowered, The bellows may further include a bellows to terminate the perimeter.

The movable work table is installed at one side of the front plate of the moving base to intercept the air supplied from the outside to the articulated robot and to remove the residual air pressure remaining in the internal piping line during the emergency stop of the articulated robot And may further include a residual pressure removing device composed of an air unit having a structure that is connected to the external piping line and the internal piping line and communicated with each other, an on-off valve, and a passive knob capable of forcibly opening the on- .

As a preferred embodiment, the moving base may be provided with a drawer capable of storing and retrieving various tools through an open portion of a front plate.

The movable work table provided by the present invention has the following effects.

1) By applying a new movable worktable that combines a multi-joint robot that can perform various operations in various directions and angles and a moving base with free movement and placement, it is possible to freely move and place in an automated process line, It is easy to manage and the efficiency of each process operation can be improved.

2) By applying a method of freely adjusting the height of the articulated robot using the lift column mounted on the moving base, the functionality and performance of the articulated robot can be further improved.

3) Since the movable worktable has a small volume and a low space occupancy rate, it has an advantageous effect on the layout design of the site.

4) By applying the residual pressure relief unit that can discharge the air pressure remaining in the piping during emergency stop of the movable worktable, the setting and handling of the articulated robot is simple, and the effect of improving the work efficiency is improved have.

5) It is equipped with control platform and motion control algorithm for control of articulated robots, and it is possible to easily interface with various automation equipment and peripherals by combining various communication technologies.

1 to 5 are perspective views showing a movable work table according to an embodiment of the present invention.
6 and 7 are cross-sectional views illustrating a movable work table according to an embodiment of the present invention
8 is a cross-sectional view showing a lift operation state of a lift column in a movable work table according to an embodiment of the present invention
9 is a perspective view showing a residual pressure removing unit in a movable work table according to an embodiment of the present invention;

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will now be described in detail with reference to the accompanying drawings.

FIGS. 1 to 5 are perspective views showing a movable work table according to an embodiment of the present invention, and FIGS. 6 and 7 are sectional views showing a movable work table according to an embodiment of the present invention.

As shown in Figs. 1 to 7, the movable work table includes a box-shaped moving base 11 which can freely move using a plurality of wheels 10 installed on the bottom surface.

The moving base 11 is formed of a box-like structure made up of a front plate 16 and a rear plate 19, side plates 20a and 20b on both sides, and an upper plate 15 and a bottom plate 21 A control box 13, a lift column 14, and the like are installed in the inner space.

Particularly, the bottom of the moving base 11, that is, the bottom plate 21 is provided with a plurality of wheels 10, for example, three wheels 10, So that it is possible to move and arrange it freely.

The bottom plate 21 of the moving base 11 is provided with about four stoppers 22 at each corner thereof. The stopper 22 at this time is of a type that can adjust its height by screwing, It is possible to use the moving base 11 in a state where the moving base 11 is positioned at a desired position and then the height of the moving base 11 is adjusted according to the inclination of the floor and then fixed.

At this time, a square rod hole 23 is formed in the upper plate 15 of the moving base 11 and a plurality of bar holes 24 are formed along the circumference of the rod hole 23. At this time, 23 and the bar hole 24 can be used to penetrate the rod of the actuator 14b connected to the articulated robot side and the guide bar 14d, respectively.

In addition, a drawer hole 25 and a port hole 26 are formed in the upper two places on the front plate 16 of the moving base 11, and a rectangular groove 28 Respectively.

The drawer hole 25 and the port hole 26 can be used for storing and withdrawing the drawer 18 and for exposing various ports 29 of the utility control box 13b to the outside , And a residual pressure removing unit (17) can be installed in the groove (28).

A switch 29 for operating the operation of the lift column 14 is provided on the front plate 16 of the moving base 11. The switch 29 is a select switch type ≪ / RTI >

For example, when the upper part of the switch 29 is pressed, the rod of the actuator 14b is raised and, when the lower part is pressed, the rod of the actuator 14b is lowered.

Here, it is preferable that the up / down operation is continuously performed while the upper or lower portion of the switch 29 is continuously depressed, and the up and down operation is stopped at the time of releasing the hand.

A grip 30 is provided on the front plate 16 and both side plates 20a and 20b of the moving base 11 so that the operator can grip the grip 30 and easily move the moving base 11 .

In addition, the movable work table includes a articulated robot 12 mounted on the upper surface of the moving base 11.

The articulated robot 12 includes an arm having three or more rotating joints, and can be configured as a robot capable of operating in various directions and angles, such as X-axis, Y-axis, Z-axis,

The lower robot base 31 of the articulated robot 12 is fastened to the upper surface of the lift column 14 and the articulated robot 12 is supported by the lift column 14 do.

A gripper (not shown) or the like for pick and place operation can be attached to the articulated robot 12, and the gripper or the like can receive power or air from the control box 13 side.

Herein, since the articulated robot 12 can be a known articulated robot, its detailed operation characteristics and the like will not be described in detail.

The movable work table includes a control box 13 installed inside the moving base 11 for controlling the robot or the like.

The control box 13 includes a robot control box 13a for controlling the robot and a utility control box 13b for providing various convenience functions and a lift column controller 13c for controlling the lift column 14. [

Various control platforms (not shown) for controlling the articulated robot 12, a motion control algorithm, a program for robotic motion control, and the like are mounted on the robot control box 13a.

Here, a method of controlling the articulated robot 12 through the output control of the robot control box 13a and the like can be adopted without being particularly limited as long as it is a method commonly known in the art.

The utility control box 13b is provided with a vacuum generator (not shown) as means for supplying air to an SMPS (not shown) for supplying power (DC 24V) to various electrical components belonging to the movable work table, And a solenoid valve (not shown).

A plurality of ports 32 are provided on the front surface of the utility control box 13b and the ports 32 are connected to the port holes 27 formed on the front plate 16 of the moving base 11 And thus it can be used to supply couplers, adapters, jacks, fittings, and the like to supply air thereto.

An air inlet port 36 is provided at one side of the side of the utility control box 13b and the air inlet port 36 is connected to the residual pressure eliminating unit 17 side to be described later by an air pipe So that the air supplied from the residual pressure elimination unit 17 side can be supplied to the utility control box 13b side.

The robot control box 13a, the utility control box 13b and the lift column controller 13c of the control box 13 are connected to a table 33 of a three-stage frame structure provided inside the moving base 11 And is mounted in a supported structure.

For example, the robot control box 13a can be installed on the lower three-tier shelves of the table 33, and the utility control box 13b and the lift column controller 13c can be installed on the table 33 on the second intermediate stage shelf.

A drawer 18 may be disposed on the upper first stage shelf of the table 33. The drawer 18 may be a drawer hole 25 formed in the front plate 16 of the moving base 11, So that it can be installed in a structure capable of being received and drawn out.

Such a drawer 18 can be conveniently used for putting various working tools necessary for the operation of a movable work table such as a tool and various devices, and taking it out when necessary.

The movable work table is provided inside the moving base 11 and includes a lift column 14 as means for adjusting the height of the articulated robot 12.

The lift column 14 functions to appropriately adjust the height of the articulated robot 12 according to the working conditions and environment of the process line by using the power of the actuator 14b such as a cylinder type.

Here, the lift column 14, that is, the actuator 14b that drives the substantially up-and-down movement operation is controlled by the robot control box 13a side or the lift column controller 13c side of the control box 13 It becomes possible to operate.

For this, a vertical post 34 is provided on the inner rear side of the moving base 11, for example, on the front side of the table 33, and an upper end of the post 34 is provided with an actuator 14b are vertically installed by the fastening structure.

That is, the actuator 14b is supported by the posts 34, and the rod 14f is installed in a vertically upward position.

The rod 14f of the actuator 14b is connected to the bottom surface of the rod-shaped plate-like rod adapter 14a supporting the robot base 31 of the articulated robot 12 with a fastening structure.

At this time, the rod 14f of the actuator 14b can be connected to the bottom surface of the rod adapter 14a after passing through the rod hole 23 in the upper plate 15 of the moving base 11.

Accordingly, when the actuator 14b operates, the entire articulated robot 12 including the rod adapter 14a and the robot base 31 can be raised or lowered, and the height thereof can be varied.

For example, as shown in Fig. 8, when the actuator 14b, which is powered by pneumatic, hydraulic, electric or the like, is actuated in the forward direction, the rod 14f is raised, The entire articulated robot 12 including the robot base 31 can be lifted up and when the actuator 14b is operated in the reverse direction, the rod 14f descends and the rod adapter 14a and the robot base 14b The entire articulated robot 12 including the robot 31 can be lowered downward.

A plurality of guide bars 14d are provided as means for guiding the upward and downward movements of the articulated robot 12.

The plurality of guide bars 14d are arranged in a vertical posture on the periphery of the actuator 14b so that the guide bars 14d are fitted to the respective guide bushes 14c provided on the upper plate 15 of the moving base 11, Respectively.

The upper end of the guide bar 14d thus installed can pass through the bar hole 24 formed in the upper plate 15 of the moving base 11 and be connected to the bottom surface of the rod adapter 14a with a fastening structure.

Here, the guide bars 14d are preferably arranged at intervals of 90 degrees along the circumference of the actuator 14b.

Accordingly, when the entire articulated robot 12 including the rod adapter 14a and the robot base 31 is raised or lowered by the operation of the actuator 14b, the upward and downward guidance by the guide bar 14d So that an accurate ascending or descending operation can be performed.

In particular, a bellows 14e in the form of a flexible bell-tube is provided as means for preventing external exposure of the lifting and lowering operation part and for preventing intrusion of foreign matter.

The bellows 14e is in the form of a flexible circular bellows and is disposed in a posture to wrap around the upper ends of the actuator 14b and the guide bar 14d. The upper and lower ends of the bellows 14e, Are respectively connected between the bottom surface of the rod adapter 14a and the top surface of the top plate 15. [

At this time, the upper and lower ends of the bellows 14e are respectively attached to the round rings 14g made of steel, so that the bellows 14e is fastened to the rod adapter side and the upper plate side using a circular ring 14g Connection can be established.

Accordingly, the bellows 14e can be expanded and contracted during the lifting and lowering operation of the actuator 14a to close the upper ends of the actuator 14b and the guide bar 14d.

9 is a perspective view showing a residual pressure removing unit in a movable work table according to an embodiment of the present invention.

9, the residual pressure removing unit 17 supplies air to various devices such as a gripper or the like attached to the articulated robot 12, blocks the air, So that it can be forcedly exhausted.

The residual pressure removing unit 17 includes an air unit 17a and an on-off valve 17b which are integrally connected to each other through an air pipe (not shown) And is supported by the bracket 35 while being positioned in the groove 28 in the base 16.

The air unit 17a serves as a kind of air regulator for removing moisture contained in air and for reducing air pressure.

The on / off valve 17b is a kind of check valve, and functions to intermit the air supplied to the utility control box 13b of the control box 13 only in one direction.

That is, the on-off valve 17b functions to flow the air at the inlet 17d side toward the outlet 17e at all times and to block the air flowing backward from the outlet 17e to the inlet 17d.

An inlet 17d connected to a hose (not shown) extending from an external compressor (not shown) or the like is formed in the air unit 17a and an air inlet 17d connected to an air block 36 side And an outlet 17e connected through an air pipe are formed.

The air introduced through the inlet 17d can be supplied to the utility control box 13b through the outlet 17e after passing through the air unit 17a and the opening and closing valve 17b.

At this time, the air pipe extending from the inlet 17d can enter the inside of the moving base 11 through the pipe hole 27 formed in the groove 28.

Particularly, the residual pressure removing unit 17 is provided with a manual knob 17c as means for forcibly discharging the air remaining in the gripper, air piping, etc. during emergency stop of the process line or emergency stop of the articulated robot 12 .

The passive knob 17c is installed on the upper portion of the opening / closing valve 17b, and can be structured to be interlocked with the valve body (not shown) of the opening / closing valve 17b.

Accordingly, in the emergency stop, the operator can operate the manual knob 17c to forcibly open the on-off valve 17b. As a result, the air remaining in the gripper or the air pipe is pulled out to release the operation stop state of the gripper or the like There is an advantage that it can be released easily by manual operation and follow-up measures can be taken.

As described above, according to the present invention, by providing the movable work table in the form of a combination of the articulated robot and the moving base capable of movement and placement, it is possible to freely move the work table, In particular, by applying a lift column capable of adjusting the height of the articulated robot, it is possible to secure various functions and stable performance such as enhancement of the functionality of the articulated robot, It is advantageous in designing a site layout such that it is small in size but does not occupy much occupied space.

10: Wheel
11: Moving base
12: Multi-joint robot
13: Control box
13a: Robot control box 13b: Utility control box
13c: Lift column controller
14: Lift column
14a: Load adapter 14b: Actuator
14c: guide bush 14d: guide bar
14e: Bellows 14f: Rod
14g: Round ring
15: Top plate
16: front plate
17: Residual pressure removing unit
17a: air unit 17b: opening / closing valve
17c: manual knob 17d: inlet
17e:
18: Drawer
19: Back plate
20a, 20b: side plates
21: bottom plate
22: Stopper
23: Road hole
24: Bar hole
25: Drawer hole
26: Port hole
27: Piping hole
28: Groove
29: Switch
30: Handle
31: Robot base
32: Port
33: Table
34: Post
35: Bracket
36: Air inlet port

Claims (5)

A box-type moving base 11 capable of freely moving using a plurality of wheels 10 installed on a bottom surface thereof;
A joint articulated robot (12) installed on an upper surface of the moving base (11);
A control box 13 installed inside the moving base 11 for controlling the robot or the like;
A lift column 14 installed inside the moving base 11 and controlling the height of the articulated robot 12;
Wherein the movable work table comprises:
The method according to claim 1,
The lift column 14 includes an actuator 14b installed in a vertical position on one side of the moving base 11 and connected to a bottom surface of the robot adapter 14a supporting the articulated robot 12 via a rod, Is arranged on the periphery of the actuator 14b in a vertical posture and slidably inserted into the guide bush 14c provided on the upper plate 15 of the moving base 11 and connected to the bottom of the robot adapter 14a via the upper end And a plurality of guide bars (14d) arranged on the movable table.
The method of claim 2,
The lift column 14 is disposed so as to wrap around the upper ends of the actuators 14b and the guide bars 14d and is connected to the bottom surface of the rod adapter 14a and the upper surface of the upper plate 15, Further comprising a bellows (14e) for closing an upper end portion of the actuator (14b) and the guide bar (14d) while being expanded or contracted during a lifting and lowering operation of the actuator (14a).
The method according to claim 1,
(16) of the moving base (11) for controlling the air supplied from the outside to the articulated robot side, and forcibly removing the residual air pressure remaining in the internal piping line during the emergency stop of the articulated robot And has an air unit 17a, an on-off valve 17b, and a passive knob 17c for forcibly opening the on-off valve 17b, which are connected to the external piping line and the internal piping line, And a residual pressure removing device (17) configured to remove the residual pressure of the workpiece.
The method according to claim 1,
Wherein the moving base (11) is provided with a drawer (18) which is installed in the moving base (11) through a opened portion of the front plate (16) and is capable of storing and retrieving various tools.

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