KR20200102625A - Mobile automation transportation equipment equipped with vertical articulated robot - Google Patents

Abstract

The present invention relates to mobile automation transport equipment mounted with an articulated robot, which provides the mobile automation transport equipment and a rational coupling structure thereof, wherein the mobile automation transport equipment is mounted with the 6-axis articulated robot to perform a three-dimensional motion and secure efficiency thereof, thereby being greatly helpful in securing accuracy, smoothness and stability of the motion. The mobile automation transport equipment (100) of the present invention comprises: an exclusive articulated robot (300) for the mobile transport equipment reaching any place on a three-dimensional space between a horizontal transporting conveyor line (10) constructed by two or more lines and a material loading cassette (20) in one place in the mobile automation transport equipment (100); a digital gauge (411) detecting a supply period of grease (lubricating oil) and the operation number of arms in a third arm (340) in the articulated robot (300); an observation window (420) identifying tension of a timing valve with naked eyes in a case of the third arm (340); and grease leakage preventing devices (430) in each joint part.

Description

Mobile automation transportation equipment equipped with vertical articulated robot}

The present invention is equipped with a 6-axis articulated robot, which provides a mobile automated transfer device with three-dimensional motion and its efficiency, and a reasonable coupling structure thereof, thereby providing an articulated robot that greatly helps in securing precision, smoothness and stability of the motion. It relates to a mobile automated transfer equipment.

Multi-joint robots that are widely used in the industrial field usually perform individual free-portion movements of each joint (left and right rotation, up and down bending, left and right rolling, up and down bending, left and right turning, etc.) Through this, it is possible to precisely respond to three-dimensional variable in any position and direction within a certain radius, and it is widely used in various industrial fields due to its wide and fast action range in a small space.

In addition, the mobile automated transfer equipment is built between each process of the mobile product automation production line and is to quickly and safely respond to the next process of necessary mobile materials.It is used to place mobile materials on one side or the other side and transfer them horizontally toward the rear. A conveyor line for horizontal transfer is installed, and a cassette for material loading is placed in front of each conveyor line for horizontal transfer. In the meantime, a material pickup device for picking up materials stacked on a material loading cassette one by one and placing them on the horizontal transfer conveyor line is generally installed.

However, a typical material pickup device installed on a mobile automated transfer equipment constructed with two or more horizontal transfer conveyor lines is a pickup device to pick up the material from the material-making cassette 100 and transfer it to the horizontal transfer conveyor line. In addition to the complex configuration required to move the X, Y, and Z axis of the carrier loaded with the carrier, it must be constructed one by one for each conveyor line for horizontal transfer, as well as when the material transfer conditions are different (material transfer distance or direction, Changes in location, etc.) need to be significantly modified according to the conditions, or have to be discarded and re-manufactured. There was this.

Of course, in recent years, there is an example of installing an articulated robot capable of precise three-dimensional variable response in position and direction instead of a normal two-dimensional moving material pickup device in mobile automated transfer equipment, but conventional articulated robots are used. Improvements are urgently needed, as the work efficiency is greatly reduced due to frequent breakdowns such as damage to the bearing of the joint part or sagging of the internal power transmission belt, as well as the risk of large and small safety accidents due to the absence of supply of lubricant.

Accordingly, in the present invention, a mobile automated transfer device constructed with two or more horizontal transfer conveyor lines and individual independent free-portion movements of 4 to 6 multi-joints respond precisely to any position and direction within a certain radius. The multi-jointed robots that can be combined organically are equipped with a more effective and efficient 3D transfer system, while the 6-axis articulated robot not only promotes adaptation, utilization, and value realization under the new environmental conditions of mobile automated transfer equipment. It was completed with the focus on providing a mobile automated transfer equipment equipped with a highly efficient vertical articulated robot that exhibits safer and superior driving and performance.

The present invention for achieving the above technical problem is in the mobile automated transfer equipment 100, the horizontal transfer conveyor line 110 and one place of the material built with two or more lines of the mobile automated transfer equipment 100 Between the mounting cassettes 120, the multi-joint robot 300 dedicated to mobile transport equipment capable of reaching any point in the three-dimensional space is installed; A digital gauge 411 is installed inside the third arm 340 of the articulated robot 300 to detect the supply cycle of grease (lubricating oil) and the number of movements of the arms; The case of the third arm 340 is provided with a viewing window 420 for visually checking the tension of the timing belt; It is made by installing a grease leakage prevention device 430 inside each joint.

As described above, the present invention is utilized by applying a 6-axis articulated path equipped with an independent free-portion three-dimensional transfer motion system by four to six joints to a mobile automated transfer equipment built with two or more horizontal transfer conveyor lines. It is a useful invention that increases the value, shows better and safer driving and performance, and contributes greatly to maintaining the performance of an articulated robot and increasing the convenience of management.

1 is a schematic view of the entire mobile automated transfer equipment equipped with a vertical articulated robot of the present invention
Figure 2 is a perspective view of the vertical articulated robot presented in the present invention viewed from one direction
3 is an enlarged perspective view of some of the vertical articulated robots presented in the present invention
Figure 4 is a side view of the vertical articulated robot presented in the present invention
5 is a plan view of a vertical articulated robot presented in the present invention

The mobile automated transfer equipment equipped with a vertical articulated robot of the present invention will be described in detail as follows based on the accompanying drawings.

That is, the present invention is provided with a horizontal conveying conveyor line 10 for horizontally transporting the mobile material toward the rear by placing a mobile material on one or the other side, and the front of the horizontal conveying conveyor line 10 installed in two or more lines. In the mobile automated transfer equipment 100 in which a material loading cassette 20 is installed that stacks a certain amount of mobile materials that need to be transferred,

Between the horizontal transfer conveyor line 10 and one place of the material loading cassette 20 constructed with two or more lines of the mobile automated transfer equipment 100, it can reach any point in the three-dimensional space. A multi-joint robot 300 dedicated to mobile transport equipment is installed;

The multi-joint robot 300 for exclusive use of the mobile transport equipment includes a robot binding plate 301 installed at the bottom, and then three or more first to third arms 320, 330, 340 including a base 310 and a material gripping device above it. The structure in which 350 is connected by multiple joints (4-6 axes) of individual independent free-portion movements;

Inside the third arm 340 of the articulated robot 300, a digital gauge 411 for detecting the supply cycle of grease (lubricating oil) to be provided to the gearhead bearing and the number of movements of the arms is installed, and at the same time, this information is provided. A digital display window 412 and a warning light 413 are configured on the outside of the arm so that the user can easily check it with the naked eye;

In the case of the third arm 340 of the configuration of the articulated robot 300, a timing belt wound between the driving pulley of the speed reducer provided therein and the driven pulley for rotation of the joint provided at the end of the third arm A see-through hole 421 is drilled so that the tension of the outside can be easily checked with the naked eye, and then a transparent viewing window 420 is provided on both outer sides of the seat;

An oil leakage prevention device 430 for preventing leakage of lubricating oil including grease injected into the bearing and the shaft is further coupled to the inside of each joint part of the articulated robot 300;

At the rear end of the base 310 fixed to the lower part of the articulated robot 300, a level 440 is further installed to maintain a safe horizontal state at all times by checking the angle or inclination of the device in real time. I did.

Hereinafter, in more detail for each component,

<Mobile automated transfer equipment>

The mobile automated transfer equipment 100 is provided with a horizontal transfer conveyor line 110 for horizontally transferring a mobile material toward the rear by placing a mobile material on one side or the other side, and the front of each horizontal transfer conveyor line A cassette for loading materials (not shown) is installed in which mobile materials that are to be moved are stacked in a certain amount.

<Multi-joint robot for mobile transfer equipment>

As described above, the multi-joint robot 300 for exclusive use of the mobile transfer equipment is installed between the horizontal transfer conveyor line 10 and one place of the material loading cassette 20 constructed with the two or more lines as described above. , By picking up the materials stacked on the material loading cassette one by one, and then alternately raising them on the horizontal transfer conveyor line on both sides of the rear, which is constructed as a plurality of lines, to enable a smooth transfer operation,

The robot binding plate 320 is firmly fixed to the ground, and three or more first to third arms (340, 350, 360) including the base 330, which is a lower support, are sequentially coupled above the base, and the end of the third arm A material gripping device 370 for gripping (adsorbing or clamping) a material is installed, and each connecting portion of the first to third arms 340, 350 and 360 and the material gripping device 370 has a multi-joint ( 4~6 axes) and designed to reach any point in the 3D space.

And, of course, shafts and bearings necessary for the rotational motion of each joint are embedded inside each joint, and a reducer for individual independent pre-portion movement is installed inside the first to third arms 340, 350, and 360 adjacent thereto. A timing belt for power transmission is wound between the driving pulley of the gear and the driven pulley of the rotating shaft of the joint.

<Digital Gauge>

The digital gauge 411 is installed inside the third arm 340 of the articulated robot 300 to detect the supply cycle of grease (lubricating oil) to be provided to the reducer bearing and the number of operations of the arms, Is to provide the information so that real-time verification is possible from the outside, and you can select a model that meets the information detection of the above requirements among digital gauges in the market, and the information is outside of the third arm 340 connected to the signal. A digital display window 412 for displaying a digital number is provided, and further, a warning light 413 may be added so that an operator can more clearly check it.

< Viewing window >

The viewing window 420 can be applied to the case of the third arm 340 that needs constant attention through checking the internal condition, and the driving pulley and the third arm end of the speed reducer installed inside the third arm The tension of the timing belt wound between the driven pulleys, which is the rotation medium of the joints provided in, can be checked with the external naked eye.

First, a see-through hole 421 is drilled in the case of the third arm 340, and then the viewing window 420 made of a transparent material (transparent plastic or glass such as acrylic) is combined on both outer sides of the seat. I can.

In other words, it is virtually impossible to automatically detect whether the timing belt tension inside the third arm is defective (a good state that has been firmly maintained or a state that is loosely sagging beyond the standard), so it must be checked with the naked eye. However, in the past, it was quite inconvenient, such as having to check the inside by disassembling a part of the case one by one to detect this, but as in the present invention, the user always looks inside with the naked eye and easily checks the internal timing belt tension state. A clear solution was possible by posting a view window 420 that allows confirmation.

<Leak prevention device>

The oil leakage prevention device 430 is to post a sealing member for the purpose of preventing leakage of lubricating oil such as grease injected into a bearing and a shaft formed inside each joint part of the articulated robot 300, Can be.

< level >

The level 440 may be installed at the rear end of the base 310 fixed to the lower part of the articulated robot 300, which is after checking the mechanical angle and inclination of the articulated robot 300 in real time. By sending this to the control unit of each part, a safe horizontal state is always maintained, and based on this, a good operation of the articulated robot 300 and a safe transfer operation of the mobile material can be promoted.

Claims (4)

A horizontal conveying conveyor line 10 is installed to place the mobile material on one side or the other side and transport it horizontally toward the rear, and transfer is required in front of the horizontal conveying conveyor line 10 installed in two or more lines. In the mobile automated transfer equipment 100 in which a material loading cassette 20 for stacking mobile materials in a certain amount is installed,

Between the horizontal transfer conveyor line 10 and the material loading cassette 20 constructed with two or more lines of the mobile automated transfer equipment 100, it can reach any point in the three-dimensional space. A multi-joint robot 300 dedicated to mobile transport equipment is installed;
The multi-joint robot 300 for exclusive use of the mobile transfer equipment includes a robot binding plate 301 installed at the bottom, and then three or more first to third arms 320, 330, 340 including a base 310 and a material gripping device above it. The structure in which 350 is connected by multiple joints (4-6 axes) of individual independent free-portion movements;
Inside the third arm 340 of the articulated robot 300, a digital gauge 411 for detecting the supply cycle of grease (lubricating oil) to be provided to the gearhead bearing and the number of movements of the arms is installed, and at the same time, this information is provided. A digital display window 412 and a warning light 413 are configured on the outside of the arm so that it is easy to check from the outside;
In the case of the third arm 340 of the configuration of the articulated robot 300, a timing belt wound between the driving pulley of the speed reducer provided therein and the driven pulley for rotation of the joint provided at the end of the third arm A see-through hole 421 is drilled so that the tension of the outside can be easily checked with the naked eye, and then a transparent viewing window 420 is provided on both outer sides of the seat;
A vertical articulated robot, characterized in that a leakage preventing device 430 for preventing leakage of lubricating oil including grease injected into the bearing and the shaft is further coupled to the inside of each joint part of the articulated robot 300 Equipped mobile automated transfer equipment.
The method of claim 1,
The multi-joint robot 300 for exclusive use of the mobile transfer equipment,
Three or more first to third arms (340, 350, 360) including the base 330, which is a lower post, are sequentially combined,
A material gripping device 370 for gripping (adsorbing or clamping) the mobile material is installed at the end of the third arm,
Each connection portion of the first to third arms 340, 350 and 360 and the material gripping device 370 is combined with a multi-joint (4 to 6 axes) of individual independent pre-portion movements to reach any point in the three-dimensional space. A mobile automated transfer equipment equipped with a vertical articulated robot characterized in that it was designed.
The method of claim 1,
At the rear end of the base 310 of the articulated robot 300,
Mobile automated transfer equipment equipped with a vertical articulated robot, characterized in that it further installs a level 440 that checks the angle or inclination of the device in real time to maintain a safe horizontal state at all times.
The method of claim 1,
The leakage preventing device 430,
A vertical articulated robot, characterized in that a sealing member may be employed to prevent leakage of lubricating oil including grease injected into bearings and shafts inside each joint part of the articulated robot 300 is mounted. Mobile automated transfer equipment.

Images