KR20230040725A - Multi-joint robot - Google Patents

Abstract

The present invention provides a multi-joint robot comprising a head unit provided with first and second holders capable of holding a workpiece; a multi-joint robot arm provided with the head unit at the distal end, and having degrees of freedom to grip and supply the unprocessed workpiece to a processing machine for processing the workpiece and to grip and extract the workpiece processed by the processing machine; and a control unit for controlling the operation of the robot arm so that the robot arm grips and supplies the unprocessed workpiece to the processing machine, and grips and extracts the workpiece processed by the processing machine, wherein the supply and extraction of the workpiece to the processing machine are simultaneously performed by using the first and second holders.

Description

Multi-joint robot {MULTI-JOINT ROBOT}

The present invention relates to an articulated robot, and more particularly, to an articulated robot capable of supplying a workpiece to be machined to a machining machine and withdrawing a machined workpiece from the machine.

As a machine that makes various parts through cutting or firing, lathes, milling machines, planers, grinding machines, etc. are collectively referred to as machine tools, and these machine tools are processed by inputting numerical data without operator manual manipulation. It is called NC (Numercial Control) machine tool.

Since this NC machine tool operation does not require a high level of skill from the operator, anyone can operate it, and it is particularly suitable for small quantity production of various types.

However, in order to process in large quantities, since the worker must provide unprocessed workpieces to the NC machine tool (or processing machine) every day, work efficiency is reduced, and musculoskeletal disorders occur or work fatigue is high for workers. there is

Therefore, in order to solve this problem, there is a need for a technique capable of automatically loading the load transported by a conveyor such as a conveyor that pulls in and out of the workpiece to the target position in multiple stages.

KR 10-1161056 B1

An object of the present invention is to provide an articulated robot capable of automatically supplying a workpiece to a processing machine by gripping it, and at the same time automatically withdrawing a workpiece that has been processed.

In order to solve the above problems, the present invention is a head portion provided with first and second holders capable of holding a workpiece, and the head portion is provided at the distal end to hold the unprocessed workpiece and process the workpiece. A multi-joint robot arm having degrees of freedom to grip and withdraw the workpiece processed by the machining machine, and the robot arm holding the unprocessed workpiece and supplying the workpiece to the machining machine And, holding and withdrawing the workpiece processed by the machining machine, the operation of the robot arm is controlled so that the workpiece is supplied to and withdrawn from the machining machine at the same time using the first and second holders. Provided is an articulated robot including a controller for controlling.

According to an embodiment, the workpiece may be a pipe, and at least one pipe among a plurality of pipes may be taken out by a pipe feeder, and the first or second holder may be provided to hold the taken out pipe. .

According to one embodiment, the first and second holders may not be arranged side by side to prevent interference between the objects to be processed when each grips the object to be processed.

According to an embodiment, the control unit may, after the first holder grips the unprocessed workpiece and supplies it to the machining machine, while the machining machine is processing the workpiece, the first holder is another one. The unprocessed workpiece may be held, the second holder may hold the workpiece processed by the machining machine, and the first holder may supply the unprocessed workpiece to the machining machine.

According to an embodiment, the control unit, after the first holder grips the unprocessed workpiece and supplies it to the machining machine, while the machining machine is processing the workpiece, the second holder is another The unprocessed workpiece may be held, the first holder may hold the workpiece processed by the machining machine, and the second holder may supply the unprocessed workpiece to the machining machine.

According to an embodiment, the control unit may control the operation of the robot arm according to two or more preset teaching postures.

According to an embodiment, the control unit may hold the workpiece, which has been processed by the machining machine, and move it to an adjacent discharge box.

According to one embodiment of the present invention, it is possible to grip the workpiece and automatically supply it to the machining machine, and at the same time automatically take out the workpiece that has been processed.

1A is a diagram showing an articulated robot according to an embodiment of the present invention.
Figure 1b is a view showing an articulated robot equipped with a head unit according to an embodiment of the present invention.
2 is a view showing a head part according to an embodiment of the present invention.
3 is a view showing a state in which a head part grips a pipe according to an embodiment of the present invention.

Hereinafter, the embodiments disclosed in this specification will be described in detail with reference to the accompanying drawings, but the same or similar elements are given the same reference numerals regardless of reference numerals, and redundant description thereof will be omitted. The suffixes "module" and "unit" for components used in the following description are given or used together in consideration of ease of writing the specification, and do not have meanings or roles that are distinct from each other by themselves. In addition, in describing the embodiments disclosed in this specification, if it is determined that a detailed description of a related known technology may obscure the gist of the embodiment disclosed in this specification, the detailed description thereof will be omitted. In addition, the accompanying drawings are only for easy understanding of the embodiments disclosed in this specification, the technical idea disclosed in this specification is not limited by the accompanying drawings, and all changes included in the spirit and technical scope of the present invention , it should be understood to include equivalents or substitutes.

It is understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, but other elements may exist in the middle. It should be. On the other hand, when an element is referred to as “directly connected” or “directly connected” to another element, it should be understood that no other element exists in the middle.

Singular expressions include plural expressions unless the context clearly dictates otherwise.

In this specification, terms such as "comprise" or "having" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, but one or more other features It should be understood that the presence or addition of numbers, steps, operations, components, parts, or combinations thereof is not precluded.

1A is a diagram showing an articulated robot according to an embodiment of the present invention, FIG. 1B is a diagram showing an articulated robot equipped with a head unit according to an embodiment of the present invention, and FIG. 2 is an embodiment of the present invention. It is a view showing a head part according to an example, and FIG. 3 is a view showing a state in which the head part grips a pipe according to an embodiment of the present invention.

As shown in FIGS. 1A to 3, the articulated robot having multi-stage loading capacity according to an embodiment of the present invention has a head portion provided with first and second holders 31 and 32 capable of holding a workpiece. (20), and a head portion 20 is provided at the distal end, grips the unprocessed workpiece, supplies it to a processing machine (not shown) for processing the workpiece, and grips and withdraws the workpiece processed by the processing machine. It includes a multi-joint robot arm 10 having degrees of freedom so that the robot arm 10 grips the unprocessed workpiece and supplies it to the processing machine, and grips and withdraws the workpiece processed by the processing machine. However, it may include a control unit for controlling the operation of the robot arm 10 so that the workpiece is supplied to and taken out of the machining machine using the first and second holders 31 and 32 at the same time.

Here, the workpiece is not particularly limited, but may be a tubular pipe according to a preferred embodiment, and among the terms used herein, “workpiece” and “pipe” may be used interchangeably.

The multi-joint robot arm 10 can preferably grip the pipe 1 provided by the pipe-feeder that supplies the pipe, and then the robot arm 10 grips the unprocessed pipe 1 ) can be supplied to a processing machine (not shown).

In addition, on the contrary, the multi-joint robot arm 10 can grip the pipe 1 that has been processed from the machining machine, and then the robot arm 10 can sort the pipe 1 that has been processed. For this purpose, it can be moved and loaded into an adjacent discharge box.

The pipe feeder is not particularly limited as long as it is provided to take out one or more of the plurality of pipes so that the first or second holders 31 and 32 can hold the taken out pipes.

According to a specific embodiment, the pipe feeder has a slope, and at the lower end of the slope, a pipe lifting part (not shown) is provided to raise at least a portion of the pipes descending along the slope, It is possible to enable the robot arm 10 to grip the pipe elevated by the pipe elevating unit.

Meanwhile, a holder capable of holding the pipe 1 is provided in the head 20 provided at the distal end of the robot arm 10, and two holders according to an embodiment of the present invention may be provided.

As long as the holder can grip the pipe 1, the present invention is not particularly limited, but as a specific example, as shown in FIGS. It may have a groove according to the appearance. When the workpiece is the pipe 1, each of the tongs may have an arc-shaped groove on the inside of each tong so that the inner circumferential surface of the tongs facing each other has a circular cross section of the pipe 1.

In addition to this, it goes without saying that the holder may be in the form of a fork for lifting and lifting the pipe 1.

A holder plate 21 may be provided at the distal end of the robot arm 10 to provide two holders, that is, first and second holders 31 and 32 .

That is, the first and second holders 31 and 32 may be disposed on the holder plate 21 provided at the distal end of the robot arm 10. At this time, the first and second holders 31 and 32 are respectively When the pipe 1, which is the workpiece, is gripped, it is preferable to arrange the gripped two pipes 1 so as not to interfere with each other.

According to a specific embodiment, as shown in FIGS. 2 and 3 , the first and second holders 31 and 32 are preferably arranged so as not to be side by side with each other. For example, when the holder plate 21 has a rectangular plate shape, the first and second quadrants are located on the holder plate 21 at positions corresponding to the first and third quadrants, or the second and fourth quadrants, respectively, among imaginary four quadrants. 2 holders 31 and 32 may be disposed.

Accordingly, the controller according to an embodiment of the present invention controls the operation of the robot arm 10, but the position and direction of the robot arm 10 and the grips of the holders 31 and 32 ( grip operation, etc., according to a specific embodiment, the control unit grips the unprocessed pipe 1 by the first holder 31 and supplies it to the processing machine, and then the processing machine pulls the pipe 1 During processing, the first holder 31 can be made to hold another unprocessed pipe 1 .

Then, the second holder 32 can hold the pipe 1 that has been processed by the machining machine, and at this time, the first holder 31 can supply the unprocessed workpiece to the machining machine.

That is, the first and second holders 31 and 32 simplify the operation of the robot arm 10 by supplying the unprocessed pipe 1 when the processing machine grips the pipe 1, The machine can make the machining process of the work piece continuously.

At this time, in the machining machine, the second holder 32 grips the pipe 1 that has been processed by the machine, and the first holder 31 may supply the unprocessed workpiece to the machining machine, but on the contrary, The first holder 31 may hold the pipe 1 processed by the machining machine, and the second holder 32 may supply the unprocessed workpiece to the machining machine.

That is, after the first holder 31 grips the unprocessed pipe 1 and supplies it to the processing machine, the control unit controls the second holder 32 to hold another unprocessed pipe while the processing machine processes the workpiece. (1), and then the first holder 31 grips the pipe 1 that has been processed by the machining machine, and at this time, the second holder 32 holds the unprocessed pipe 1 in the machining machine. can supply

Meanwhile, according to a preferred embodiment of the present invention, the head part may further include a load cell capable of measuring the weight of a workpiece in addition to a holder capable of holding the pipe 1 .

The type of load cell according to an embodiment of the present invention is not particularly limited as long as it can measure the weight of a workpiece.

Accordingly, the control unit can determine whether the holder grips the unprocessed pipe from the pipe feeder or the processed pipe from the processing machine based on the weight of the workpiece measured by the load cell, and the robot arm (10) can prevent unnecessary movement or unnecessary operation without holding the workpiece.

In the above, preferred embodiments of the present invention have been described in detail with reference to the drawings. The description of the present invention is for illustrative purposes, and those skilled in the art will understand that it can be easily modified into other specific forms without changing the technical spirit or essential features of the present invention.

Therefore, the scope of the present invention is indicated by the following claims rather than the above detailed description, and all changes or modifications derived from the meaning, scope and equivalent concept of the claims are included in the scope of the present invention. should be interpreted

1: pipe
10: robot arm
20: head part
21: holder plate
31: first holder
32: second holder
100: articulated robot

Claims (6)

a head portion provided with first and second holders capable of holding a workpiece;
The head is provided at the distal end to grip the unprocessed workpiece and supply it to a machining machine that processes the workpiece, and to grip and withdraw the workpiece processed by the machining machine. 's robot arm; and
The robot arm grips and supplies the unprocessed workpiece to the machining machine, and grips and withdraws the workpiece processed by the machining machine, and the first and second holders are used to transfer the workpiece to the machining machine. a control unit controlling an operation of the robot arm so that the workpiece is supplied and taken out simultaneously;
An articulated robot comprising a. According to claim 1,
The workpiece is a pipe,
At least one pipe among a plurality of pipes is taken out by the pipe feeder, and the first or second holder is provided to hold the taken-out pipe. robot. According to claim 1,
An articulated robot, characterized in that the first and second holders are disposed not parallel to each other so that interference between the workpieces does not occur when each grips the workpiece. According to claim 1,
The control unit,
After the first holder grips the unprocessed workpiece and supplies it to the machining machine, while the machining machine processes the workpiece, the first holder grips another unprocessed workpiece,
The articulated robot, characterized in that the second holder grips the workpiece processed by the machining machine, and the first holder supplies the unprocessed workpiece to the machining machine. According to claim 1,
The control unit,
After the first holder grips the unprocessed workpiece and supplies it to the machining machine, while the machining machine processes the workpiece, the second holder grips another unprocessed workpiece,
The articulated robot characterized in that the first holder grips the workpiece processed by the machining machine, and the second holder supplies the unprocessed workpiece to the machining machine. According to claim 1,
The control unit,
An articulated robot characterized in that the workpiece, which has been processed by the processing machine, is gripped and moved to an adjacent discharge box.

Images