KR20210017354A - Hot forging system using multi articular Robot applicable in high temperature manufacturing environment - Google Patents

Abstract

The present invention relates to a hot forging system using a multi-joint robot applicable to a high-temperature manufacturing environment, with improved thermal resistance, shock resistance and wear resistance in a high-temperature manufacturing environment. The hot forging system includes: a heating part sequentially transferring at least one material to be processed, and heating the material at a temperature for processing; a processing part installed at a predetermined distance from the heating part, and including a plurality of placement plates sequentially processing the material inserted from the heating part; an insertion part including a first body installed between the heating part and the processing part, a first rotary member coupled with an upper part of the first body, a first arm member coupled with an upper side of the first rotary member and including at least one joint, and a first gripper coupled with an end of the first arm member, and inserting the material located in the heating part into the processing part; and a dispensing part including a second body installed on a position opposed to the insertion part with respect to the processing part, a second rotary member coupled with an upper part of the second body, a second arm member coupled with an upper side of the second rotary member and including at least one joint, and a second gripper coupled with an end of the second arm member, and dispensing the material located in the processing part.

Description

Hot forging system using multi articular Robot applicable in high temperature manufacturing environment}

The present invention relates to a hot forging system using an articulated robot applicable in a high temperature manufacturing environment, and more particularly, hot forging using an articulated robot applicable in a high temperature manufacturing environment with improved heat resistance, impact resistance, and abrasion resistance in a high temperature manufacturing environment. It's about the system.

In general, in the hot forging process, an oxide film is generated on the surface of the material due to heating of the material, and the atmospheric environment at the workplace is very poor due to a chemical reaction with a lubricant. Moreover, since the heat of the material heated above 1250℃ is directly transferred to the press worker, the worker must work in a special working uniform and the work of moving 10-30kg of heavy material is simultaneously performed, so the physical labor intensity of the worker Is very high and most of the workers are avoiding work in this field.

In other words, as a result of analyzing the working environment of the hot forging process, the problem of processing heavy forging materials, the environment of the worker due to high heat, and dust gas are seriously causing a labor shortage due to the work in the process in which the forging work is performed.

As a way to solve the above problem, as shown in the figure below, there is no technical problem in applying the robot, but there is no technical problem in applying the robot, but economic problems such as the problem of expensive robot price and the need for preservation/operation personnel with advanced technology. It is not easy to automate robots in most small and medium-sized enterprises.

Such a conventional robot automation system, for example, is provided as a multi-axis in the conventional Patent Publication No. 10-1485620 "Industrial Articulated Robot" and grips and moves a material through a plurality of arms that move in an arc and a gripper installed on the arm. An articulated robot that can be used has been proposed.

The above-described conventional articulated robot is characterized in that a material is input and taken out of a processing unit using one robot, and the material can be delivered to a predetermined position by implementing joint motions of various motions.

However, the conventional robot automation system using an articulated robot occupies a large amount of installation space due to a large working radius as the material is input and taken out using a single robot, and the length of movement leads to a decrease in productivity and high price. , There were problems such as high maintenance cost.

In addition, the robot automation system used in the conventional hot forging process has a problem in that the material heated above 1250°C causes the gripper to hold the material to be worn out by heat, or the material to be plastically deformed by the force held by the gripper. there was.

The present invention has been devised to solve the above problems, and a robot that puts a heated material into a processing unit and a robot that takes out a processed material are separately provided to improve productivity, and to hold the heated material. Its main purpose is to provide a hot forging system using an articulated robot that can be applied in a high-temperature manufacturing environment in which the heat resistance and abrasion resistance of the gripper are enhanced.

The hot forging system using an articulated robot applicable in a high-temperature manufacturing environment according to the present invention sequentially transfers one or more materials to be processed, and a heating unit that heats the material to a temperature for processing, and the heating unit A processing unit that is installed spaced apart from the heating unit and has a plurality of seating plates for sequentially processing the material input from the heating unit, a first body installed between the heating unit and the processing unit, and coupled to an upper portion of the first body A first rotation member coupled to an upper surface of the first rotation member and including at least one joint, a first gripper coupled to an end of the first arm member, and the heating unit A second main body installed at a position opposite to the input unit based on the input unit for introducing the material located in the processing unit and the processing unit, a second rotating member coupled to an upper portion of the second main body, and the second body 2 A second arm member coupled to the upper surface of the rotating member and including at least one joint, a second gripper coupled to an end of the second arm member, and a take-out portion for taking out the material located in the processing unit Characterized in that.

In addition, the plurality of seating plates include a first seating plate into which the material is injected from the input unit, a second seating plate disposed on a side surface of the first seating plate to process the material, and a side surface of the second seating plate. And a third seat plate from which the material is taken out.

In addition, the input unit injects the material from the heating unit to the first mounting plate and moves the material located on the first mounting plate to the second mounting plate, and the take-out unit is located in the second mounting plate. It is characterized in that the material is moved to the third seating plate, and the material located on the third seating plate is discharged to the outside.

In addition, the first gripper and the second gripper are a cylinder including a body coupled to the arm member, a rod installed inside the body and protruding upward from the body, and an exercise block coupled to the rod And, a first gripping unit hinged to one side in the horizontal direction of the movement block, a second gripping unit hinged to the other side in the horizontal direction of the movement block, and the first gripping unit faces the second gripping unit. And a first gripping pad coupled to a surface and a second gripping pad coupled to a surface of the second gripping unit opposite to the first gripping unit.

In addition, the first arm member and the second arm member may include a flow path formed therein in a longitudinal direction and a cooling unit for circulating cooling lubricant oil through the flow path.

In the hot forging system using an articulated robot applicable in a high-temperature manufacturing environment according to the present invention, the input unit sequentially inserts the material of the heating unit that sequentially transfers the material to be processed into the processing unit, and the processing unit processes the input material. , The extraction unit provides an effect of remarkably improving the efficiency of the material processing process by simultaneously performing the process of taking out the processed material.

In addition, the plurality of seating plates on which the material is seated in the processing unit are divided into first to third seating plates, so that the material is input to the first seating plate, the material is processed to the second seating plate, and the material is taken out to the third seating plate. Each process is performed to provide the effect of remarkably improving the efficiency of the input, processing and extraction process of the material.

In addition, the first gripper and the second gripper for gripping the heated material hold the heated material through the first and second gripping units and the first and second gripping pads respectively coupled to the first and second gripping units. The gripper can be prevented from being worn by heat, and plastic deformation is prevented from occurring in the material through the first and second gripping pads.

In addition, a flow path through which cooling lubricant oil is circulated is formed inside the first arm member and the second arm member in which the first gripper and the second gripper are respectively installed, and the first gripper and the second gripper hold the heated material Even in the working environment of, it provides the effect of preventing a decrease in precision and operation speed due to thermal deformation.

1 is a top view showing a hot forging system using an articulated robot applicable in a high-temperature manufacturing environment according to a preferred embodiment of the present invention.
2 is a side view of a hot forging system using an articulated robot applicable in a high-temperature manufacturing environment.
3 is a perspective view showing an input part of the present invention.
FIG. 4 is a cross-sectional view showing the input part of FIG.
5 is a perspective view showing a first gripper of the present invention.
6 is a perspective view showing a take-out part of the present invention.

Hereinafter, the technical idea of the present invention will be described in more detail using the accompanying drawings.

The accompanying drawings are only an example shown to describe the technical idea of the present invention in more detail, so the technical idea of the present invention is not limited to the form of the accompanying drawings.

However, in describing the present invention, descriptions of already known functions or configurations will be omitted in order to clarify the subject matter of the present invention.

1 is a top view showing a hot forging system using an articulated robot applicable in a high temperature manufacturing environment according to a preferred embodiment of the present invention, and FIG. 2 is a side view of a hot forging system using an articulated robot applicable in a high temperature manufacturing environment. .

1 and 2, the hot forging system 1000 using an articulated robot applicable in a high-temperature manufacturing environment according to the present invention includes a heating unit 100, a processing unit 200, and an input unit 300. And a take-out part 400.

First, the heating unit 100 sequentially transfers one or more materials to be processed, and heats the material to a temperature for processing.

Here, the heating unit 100 is to process the material in order to improve the processing efficiency when processing the material in the processing unit 200, for example, during the forging process operation, is heated to 1200 ℃ to 1300 ℃.

Next, the processing unit 200 is installed at a predetermined interval in the heating unit 100, a plurality of seating plates in which the material input from the heating unit 100 is sequentially disposed and processed through the input unit 300 to be described later. 210 is formed.

At this time, the material heated by the heating unit 100 is sequentially arranged on the plurality of seating plates 210, and forging, casting, or die casting the material by the processing unit 220 installed on the upper portion of the seating plate 210 Perform the same machining operation.

And the input unit 300 is a configuration for injecting the material located in the heating unit 100 to the processing unit 200, the first body 310, the first rotating member 320, the first arm member (330) and a first gripper (340).

In detail, as shown in FIGS. 3 and 4, the first body 310 forms the basic shape of the input unit 300 and is installed in a space between the heating unit 100 and the processing unit 200.

In addition, the first rotation member 320 is coupled to the upper portion of the first body 310 so as to be rotatable in a horizontal direction, and a driving motor 321 for horizontally driving the first body 310 is installed on a side surface thereof.

In addition, the first arm member 330 is coupled to one end of the first rotation member 320 and rotates according to the rotational motion of the first rotation member 320, and includes at least one joint.

In detail, the first arm member 330 includes a first arm 331 rotatably coupled to one end of the first rotation member 320 and a first drive for rotationally driving the first arm 331 A motor 332, a second arm 333 rotatably coupled to an end portion of the first arm 331, and a second arm 333 coupled to the second arm 333 and rotatably driving the second arm 333 The drive motor 334, a third arm 335 rotatably coupled to an end of the second arm 333, and a third arm 335 coupled to the third arm 335 and rotatingly drive the third arm 335 It is configured to include a drive motor (336).

At this time, a plurality of joints mean the first arm 331 to the third arm 335, each of which is rotated by the first drive motor 332 to the third drive motor 335 You will be able to.

Here, the first arm 331 is rotatably coupled to the first rotation member 320 in the vertical direction, and the second arm 333 is rotatable in the circumferential direction at the end of the first arm 331 The third arm 335 is coupled to the end of the second arm 333 so as to be rotatable in a vertical direction.

In addition, the third arm 335 may be coupled to the second arm 333 to rotate along a plurality of rotation paths based on rotation of the plurality of rotation shafts, and the third drive motor 335 includes a plurality of gears and It may include a plurality of axes.

As described above, the third arm 335 can be rotated along three rotation paths according to the rotation of the three axes by a plurality of gears and a plurality of axes.

Accordingly, the third arm 335 may be rotated three axes, and may be formed to be rotated in six axes through the first arm 331, the second arm 333, and the first rotation member 320.

Next, the first gripper 340 is coupled to the end of the third arm 335, is provided to hold the material, and moves the material from the heating unit 100 to the movable unit 200 by fixing the material.

In addition, the first arm member 330 includes a flow path 337 formed therein in a longitudinal direction, and a cooling unit 338 installed on the outer surfaces of a plurality of joints to circulate cooling lubricant to the flow path 337. It is composed by

In FIG. 3, the inflow and outflow structure of the cooling lubricant through the cooling unit 338 is not separately provided, but the location or structure of such an outflow inlet is a matter that can be easily derived or determined by a person skilled in the art. Omit it.

At this time, a flow path 337 is formed inside the first arm 331 to the third arm 335, respectively, and the cooling lubricant supplied from the cooling unit 338 communicates with each other between the flow paths 337 By circulating the arms 331 to the third arm 335 to cool the first arm member 330, which is a portion close to high temperature, the durability of the seal parts decreases even in a high-temperature work environment, lubricant dryness, and thermal deformation. It provides an effect that can solve problems such as decrease in precision.

Further, in another embodiment of the present invention, a cooling function may be added to the driving motor by injecting a cooling gas into the cooling unit 338 to the first driving motor 332 to the third driving motor 336 instead of cooling lubricant. .

Next, the first gripper 340 is coupled to an end portion of the first arm member 330 and is provided to hold a high-temperature material.

Referring to FIG. 5, the first gripper 340 will be described in detail,

The first gripper 340 includes a cylinder 341, an exercise block 342, a first gripping unit 343, a second gripping unit 344, a first gripping pad 345 and a second gripping pad 346. Includes.

At this time, the cylinder 341 is installed inside the body 341a and the body 341a coupled to the third arm 335 of the first arm member 330, and the upper surface protrudes upward of the body 341a. It includes a rod 341b to be formed.

The body 341a is a conventional housing, and a working fluid circulates therein.

The rod 341b is installed inside the body 341a, the upper surface protrudes upwards of the body 341a and reciprocates in the vertical direction by the working fluid circulating inside the body 341a.

In addition, the movement block 342 is coupled to the rod 341b, and is interlocked with the vertical reciprocating motion of the rod 341b to reciprocate in the vertical direction.

Next, the first gripping unit 343 is hinged to one side in the horizontal direction of the movement block 342 so as to be pivotable by a plurality of pins, and the second gripping unit 344 is The other side of the direction is hinged to enable pivotal movement by a plurality of pins.

At this time, the first gripping unit 343 and the second gripping unit 344 may be gathered together to grip the part or disengage from each other to release the part by the vertical reciprocating motion of the movement block 342.

Next, the first gripping pad 345 is coupled to a surface facing the second gripping unit 344 in the first gripping unit 343, and the second gripping pad 346 is a second gripping unit 344 ) Is coupled to the opposite surface opposite to the first gripping unit 343.

At this time, the first gripping pad 345 and the second gripping pad 346 are made of hot forged SKD-11 (alloy tool steel for cold molds).

Accordingly, the first gripper 340 includes a first gripping pad 345 made of SKD-11 hot forged at the respective portions where the first gripping unit 343 and the second gripping unit 344 grip the part. By configuring the second gripping pad 346, it is possible to prevent the material from being damaged by stress generated by the gripping force of the first gripping unit 343 and the second gripping unit 344 to grip the part. By gripping the heated material through the first gripping pad 345 and the second gripping pad 356, the first gripper 340 may be prevented from wear and operation performance degradation due to heat.

In addition, the first gripper 340 may further include an exercise pad 347 formed of 11 types of STD material that is coupled to the upper surface of the exercise block 342 and is hot forged.

At this time, in the exercise pad 347, the material held between the first gripping unit 343 and the second gripping unit 344 is in close contact with the exercise pad 347 to reduce the stress applied to the exercise block 342. Plays a role.

That is, the exercise pad 347 is prevented from being damaged by stress.

In addition, a communication path (not shown) communicating with the flow path 337 formed in the longitudinal direction inside the first arm member 330 is formed inside the body 341a of the first gripper 340, and a cooling unit ( The cooling lubricating oil provided from 338 passes through the flow path 337 and moves to the communication path, so that the temperature of the body 341a is prevented from increasing when the first gripper 340 grips the heated material. .

The injection unit 300 formed in the above-described configuration can be multi-axially controlled through the first rotation member 320 and the first arm member 330, and the first gripper ( The material heated by the heating unit 100 can be gripped through 340 and introduced and moved to the processing unit 200.

Next, the take-out part 400 is a configuration for taking out the processed material from the processing part 200, the second body 410, the second rotating member 420, the second arm member 430, and It is configured to include a second gripper (440).

In detail, as shown in FIG. 6, the second main body 410 forms the basic shape of the take-out part 400 and is installed at a position opposite to the input part 300 based on the processing part 200. .

In addition, the first rotation member 320 is coupled to the upper portion of the first body 310 so as to be rotatable in a horizontal direction, and an operation motor 321 for horizontally driving the first body 310 is installed on a side surface thereof.

In addition, the second arm member 430 is coupled to one end of the first rotation member 320 and rotates according to the rotational motion of the first rotation member 320, and includes at least one joint.

In detail, the second arm member 430 includes a first connecting arm 431 rotatably coupled to one end of the first rotating member 420 and a first connecting arm 431 rotatably driving the first connecting arm 431. 1 The operation motor 432, a second connecting arm 433 rotatably coupled to an end of the first connecting arm 431, and a second connecting arm 433 coupled to the second connecting arm 433 The second operation motor 434 for driving the rotation, the third connection arm 435 rotatably coupled to the end of the second connection arm 433, and the third connection arm 435 is coupled to the third connection It is configured to include a third actuation motor 436 for rotationally driving the arm 435.

At this time, the plurality of joints mean the first connection arms 431 to the third connection arms 435, each of which is rotated by the first operation motor 432 to the first operation motor 435 to rotate in multiple axes. Can be driven.

Here, the first connecting arm 431 is rotatably coupled to the first rotating member 420 in a vertical direction, and the second connecting arm 433 is a circumferential direction from the end of the first connecting arm 431 It is rotatably coupled, and the third connecting arm 435 is rotatably coupled to the end of the second connecting arm 433 in a vertical direction.

Next, the second gripper 440 is coupled to the end of the third connection arm 435, is provided to hold the material, and is moved from the heating unit 100 to the movable unit 200 by fixing the material.

In addition, the second arm member 430 includes a flow path 337 formed therein in the longitudinal direction, and a cooling unit 338 installed on the outer surfaces of a plurality of joints and circulating cooling lubricant oil to the flow path 337. It consists of including.

At this time, a flow path 337 is formed in each of the first connection arms 431 to the third connection arms 435, and the cooling lubricant supplied from the cooling unit 338 is communicated with each other between the flow paths 337. By circulating the first connection arm 431 to the third connection arm 435 to cool the second arm member 430, which is a portion that is close to high temperature, the durability of the seal component decreases even in a high-temperature work environment, lubricant dryness, It provides an effect that can solve problems such as a decrease in precision due to thermal deformation.

In addition, the second gripper 440 is coupled to an end portion of the second arm member 430 and is provided to grip a high-temperature material.

Since it is obvious that the second gripper 440 has the same configuration as the first gripper 340 described above, a detailed description will be omitted.

On the other hand, the plurality of seating plates 210 described above are disposed in the first seating plate 211 into which the material is input from the input unit 300, and the first seating plate 211 in which the material is processed. 2 It consists of a seating plate 212 and a third seating plate 213 which is disposed at the next process position of the second seating plate 212 and provided so that the material is taken out.

The first mounting plate 212 is a space in which the material heated to a preset temperature by the heating unit 100 is disposed in the processing unit 200 before being processed by the processing unit 200, and the input unit 300 is The material located in the heating unit 100 is introduced into the first mounting plate 212.

At this time, the input unit 300 inputs the material located in the heating unit 100 to the first mounting plate 211 and moves the material located in the first mounting plate 211 to the second mounting plate 212 .

And the processing unit 200 is provided with a processing unit 220 for processing the material disposed on the second mounting plate 212, the processing unit 220 to perform a processing operation such as forging, casting, or die casting the material. do.

In addition, the material processed through the processing unit 220 is moved from the second seating portion 212 to the third seating portion 213 by the take-out portion 400, and the material located in the third seating portion 213 Is discharged to the outside by the take-out part 400.

Here, the operating radius of the input unit 300 is the material located in the heating unit 100 between the heating unit 100 and the first mounting plate 211 and the second mounting plate 212, the first mounting plate 211 ) And the second seating plate 212 and can be introduced and moved, and are formed to have a radius not reaching the third seating plate 213.

On the other hand, although the operating radius of the take-out part 400 is not shown, the take-out space disposed at a position opposite to the heating part 100 based on the processing part 200, the second seating plate 212 and the third seating It is provided to transport the material to the plate 212, and is formed to have a radius that does not reach the first mounting plate 211.

In addition, the hot forging system 1000 using an articulated robot applicable in the high-temperature manufacturing environment of the present invention including the above-described configuration rapidly performs processing operations such as forging, casting, or die-casting the material, while rapidly performing the It is intended to provide a hot forging system using an articulated robot applicable in a high-temperature manufacturing environment that can be easily input and taken out.

The present invention is not limited to the above-described embodiments, and of course, various modifications can be made without departing from the gist of the present invention as claimed in the claims.

1000: Material transfer system using articulated robot applicable in high temperature manufacturing environment.
100: heating part 200: processing part
210: mounting plate 220: processing unit
300: input unit 310: first body
320: first rotating member 321: drive motor
330: first arm member 331: first arm
332: first drive motor 333: second arm
334: second drive motor 335: third arm
336: third drive motor 340: first gripper
341: cylinder 341a: body
341b: rod 342: exercise block
343: first gripping unit 344: second gripping unit
345: first gripping pad 346: second gripping pad
347: exercise pad 400: outlet
410: second body 420: second rotating member
430: second arm member 440: second gripper

Claims (5)

A heating unit that sequentially transfers one or more materials to be processed and heats the material to a temperature for processing;
A processing unit provided at a predetermined interval in the heating unit and having a plurality of seating plates for sequentially processing the material input from the heating unit;
A first body installed between the heating unit and the processing unit, a first rotating member coupled to an upper portion of the first body, and a first arm coupled to an upper surface of the first rotating member and including at least one joint An input unit including a member and a first gripper coupled to an end of the first arm member, and inputting the material located in the heating unit into the processing unit; And
A second body installed at a position opposite to the input part based on the processing part, a second rotation member coupled to an upper portion of the second body, and at least one joint connected to the upper surface of the second rotation member. Applicable in a high-temperature manufacturing environment, comprising: a second arm member including a second arm member and a second gripper coupled to an end portion of the second arm member, and a take-out part configured to take out a material located in the processing part. Hot forging system using articulated robot.
The method of claim 1,
The plurality of seating plates,
A first seating plate into which the material is injected from the input unit, a second seating plate disposed on a side of the first seating plate to process the material, and a side surface of the second seating plate, and the material is taken out. A hot forging system using an articulated robot applicable in a high-temperature manufacturing environment, comprising a third seating plate.
The method of claim 2,
The input unit,
Injecting the material from the heating unit to the first mounting plate and moving the material located on the first mounting plate to the second mounting plate,
The take-out part,
Hot forging using an articulated robot applicable in a high-temperature manufacturing environment, characterized in that the material located on the second mounting plate is moved to a third mounting plate and the material located on the third mounting plate is discharged to the outside. system.
The method of claim 1,
The first gripper and the second gripper,
A cylinder including a body coupled to the arm member and a rod installed inside the body and having an upper surface protruding upward of the body;
An exercise block coupled to the rod;
A first gripping unit hinged to one side of the movement block in the horizontal direction;
A second gripping unit hinged to the other side of the movement block in the horizontal direction;
A first gripping pad coupled to a surface of the first gripping unit opposite to the second gripping unit; And
And a second gripping pad coupled to a surface of the second gripping unit opposite to the first gripping unit. A hot forging system using an articulated robot applicable in a high temperature manufacturing environment.
The method of claim 1,
The first arm member and the second arm member,
A hot forging system using an articulated robot applicable in a high-temperature manufacturing environment, comprising: a flow path formed therein in a longitudinal direction and a cooling unit circulating cooling lubricant oil through the flow path.

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