KR20230152931A - supporting apparatus for industrial robot base - Google Patents

Abstract

In order to improve productivity and economic efficiency, the present invention provides a support device on which an industrial robot is installed, comprising: an external extension formed in a hollow square shape by connecting a plurality of side walls connected around each corner so as to form a mutual right angle; It is provided inside the hollow of the external extension portion, and is connected to a plurality of surface portions that are in surface contact at the center of each side wall portion and a pair of side wall portions arranged at right angles to each other to form a triangular support portion. An internal extension portion including a plurality of diagonal portions connecting the ends; A lower plate portion provided at a lower portion of the outer extension portion and the inner extension portion to be seated and fixed on the floor of the workspace where the industrial robot is installed, and having a plurality of lower cover surface portions covering a lower portion of each of the triangular support portions; and a support device for an industrial robot, including an upper plate portion provided on the outer extension portion and the inner extension portion so that the lower portion of the industrial robot is mounted, and having a plurality of upper cover surface portions covering the lower portions of each of the triangular support portions. provides.

Description

Supporting apparatus for industrial robot base}

The present invention relates to a support device for an industrial robot, and more specifically, to a support device for an industrial robot that improves productivity and economic efficiency.

In general, industrial robots such as articulated robots are used for efficient automation tasks such as assembly work, painting, or welding on factory production lines. Since these industrial robots are used in processes such as painting or welding in various work positions, they are often controlled in multiple axes to improve the work range.

At this time, the work range of the industrial robot is set according to the size or height of the workpiece, and a stand is provided based on the work height of the industrial robot to ensure smooth multi-axis control within this work range.

Figure 1 is an exemplary diagram of a conventional industrial robot stand.

Referring to Figure 1, the conventional industrial robot stand (5A, 5B) includes an upper plate (3) provided on the upper surface with a liner (4) on which the lower end of the industrial robot (R) is mounted, and the upper plate (3) ) includes a plurality of vertical frames (2) extending from the floor (k) of the work space, and a lower plate (1) that secures the vertical frames (2) to the floor (k).

In addition, reinforcing members (2a, 2b, 2c) are further provided to reinforce the bearing capacity of the vertical frames (2), and the reinforcing members (2a, 2b, 2c) are reinforcing bars (2a) that cross vertically, horizontally, or diagonally. , 2c) or is formed of a reinforcing plate (2b) supporting a corner where the vertical frames (2) and the upper plate (3) or the vertical frames (2) and the lower plate (1) are connected. These reinforcing members (2a, 2b, 2c) may be provided depending on the length (h1, h2) of the pedestal.

Meanwhile, the lower plate 1 is made of a metal plate with an area exceeding the overall cross-sectional area of the pedestals 5A and 5B and is fixed to the bottom surface through an anchor pin (p). In addition, the upper plate 3, the plurality of vertical frames 2, and the reinforcing members 2a, 2b, and 2c are made of metal plates or grooved steel (channels), and the upper plate 3, The liner 4, the plurality of vertical frames 2, the lower plate 1, and the reinforcing members 2a, 2b, and 2c are welded together and provided as one piece.

As a result, the size of the manufactured stand is large, making it difficult to transport and store, and a large workplace is required, which significantly reduces productivity and economic efficiency. In addition, since individual separation or disassembly of each component constituting the pedestal is practically difficult, maintenance of the pedestal is not easy, and if a part is damaged, the entire pedestal must be replaced, which significantly reduces economic efficiency. There was this.

Korean Patent No. 10-1093166

In order to solve the above problems, the present invention aims to provide a support device for an industrial robot that improves productivity and economic efficiency.

In order to solve the above problem, the present invention provides a support device on which an industrial robot is installed, comprising: an external extension formed in a hollow square shape by connecting a plurality of side walls connected around each corner to form a mutual right angle; It is provided inside the hollow of the external extension portion, and is connected to a plurality of surface portions that are in surface contact at the center of each side wall portion and a pair of side wall portions arranged at right angles to each other to form a triangular support portion. An internal extension portion including a plurality of diagonal portions connecting the ends; A lower plate portion provided at a lower portion of the outer extension portion and the inner extension portion to be seated and fixed on the floor of the workspace where the industrial robot is installed, and having a plurality of lower cover surface portions covering a lower portion of each of the triangular support portions; and a support device for an industrial robot, including an upper plate portion provided on the outer extension portion and the inner extension portion so that the lower portion of the industrial robot is mounted, and having a plurality of upper cover surface portions covering the lower portions of each of the triangular support portions. provides.

Here, a plurality of the side wall portions and the surface surface portion overlap each other and are provided by being divided along the same incision line, and it is preferable that each adjacent cut edge of the side wall portion and the surface portion is integrally connected at the same time through a fastening means. do.

At this time, the fastening means includes a plate-shaped reinforcing plate that overlaps the inner and outer surfaces of each of the adjacent side wall portions and the surface portion, and a tightening member that simultaneously penetrates and fastens the reinforcing plate and each of the incised ends. It is desirable to include.

In addition, a stepped groove is formed along the side circumferential direction of the lower cover surface portion and the upper cover surface portion, recessed in the inner direction perpendicular to the longitudinal direction of the outer extension portion and the inner extension portion, and each of the side wall portions and each of the diagonals. It is preferable that stopper protrusions are formed on the upper and lower ends of the face portion, protruding in the longitudinal direction so as to be inserted into the step groove, and fixed through fixing means.

At this time, the lower cover surface portion and the upper cover surface portion are divided into a plurality of pieces corresponding to the cross-sectional shape of the triangular support portion, and the fixing means is provided on an outer side perpendicular to the longitudinal direction of the outer extension portion and the inner extension portion from the step groove. It is preferable to include a stud-welded bolt so as to protrude in one direction and a nut fastened to the bolt.

Through the above solutions, the present invention provides the following effects.

First, it is a simple method in which the inner extension with a square cross-section is internally supported inside the outer extension with a square cross-section, and a support device that can stably support the load of the robot can be easily created through a triangular pillar structure formed on the corner. manufacturing, productivity can be significantly improved.

Second, the support strength can be further improved as the portion where the external extension and the internal extension are in contact have a predetermined area and are supported in surface contact. In addition, the triangular support part is divided into four parts centered on each inscribed part and is provided in a compact volume, thereby improving storage/transport convenience and manufacturing convenience is significantly improved as the support device can be manufactured quickly simply by fastening it through a fastening means. It can be.

Third, the stopper protrusions protruding from the upper and lower ends of the side wall and the diagonal surface are clamped to the step grooves recessed on the sides of each cover surface, preventing twisting due to vibration of the industrial robot, and the bolts are integrated into the step grooves with stud welds. Therefore, assembly between each component is easy and productivity can be significantly improved.

1 is an exemplary diagram of a conventional industrial robot stand.
Figure 2 is a perspective view of a support device for an industrial robot according to an embodiment of the present invention.
Figure 3 is a cross-sectional view of a support device for an industrial robot according to an embodiment of the present invention.
Figure 4 is an exploded perspective view of a support device for an industrial robot according to an embodiment of the present invention.
Figure 5 is an exploded perspective view of a triangular support portion according to an embodiment of the present invention.

Hereinafter, a support device for an industrial robot according to a preferred embodiment of the present invention will be described in detail with reference to the attached drawings. Meanwhile, in the present invention, fixation is preferably understood as a state in which components connected to each other cannot be substantially separated, for example, components are fixed to each other by welding. In addition, in the present invention, coupling or fastening is preferably understood as a state in which components connected to each other can be separated as needed. For example, components are connected to each other by fastening members such as bolts and can be separated by releasing the fastening members. It is possible.

Figure 2 is a perspective view of a support device for an industrial robot according to an embodiment of the present invention, and Figure 3 is a cross-sectional view of a support device for an industrial robot according to an embodiment of the present invention. And, Figure 4 is an exploded perspective view of a support device for an industrial robot according to an embodiment of the present invention, and Figure 5 is an exploded perspective view of a triangular support portion according to an embodiment of the present invention. At this time, it is desirable to understand that the support device 200 and the support device 200 of the industrial robot to be described below have the same meaning, and are described using the same drawings and numbers.

As shown in Figures 2 to 5, the support device 200 according to a preferred embodiment of the present invention includes an external extension part 210, an internal extension part 220, a lower plate part 230, and an upper plate part 240. ) includes.

In detail, referring to FIGS. 2 and 3, the external extension portion 210 is preferably hollow on the inside and has a square cross-sectional shape. The overall cross-sectional area of the external extension 210 may be formed to be an area where the industrial robot can be stably seated and installed. The external extension portion 210 is provided with a plurality of side wall portions 211c connected to form a right angle to each other around each corner 215.

The internal extension part 220 is provided inside the hollow part of the external extension part 210. In detail, the internal extension 220 is preferably formed to be hollow on the inside and have an overall square cross-sectional shape. Furthermore, the inner extension portion 220 is provided such that each corner side is supported in surface contact with the inner surface of the central portion of each side wall portion 211c. That is, the external extension 210 and the internal extension 220 have a triangular pillar shape on each corner of the support device 200 as another hollow rectangular body is inscribed on the inside of one hollow rectangular body. It may be provided to have a load-supporting structure.

The internal extension portion 220 preferably includes a surface portion 222c and a diagonal portion 223. In detail, the surface portion 222c is a portion that contacts the central portion of each side wall portion 211c, and the horizontal length of the surface portion 222c is 5 to 10 with respect to the horizontal length of each side wall portion 211c. It can be formed with a length ratio of %. The surface surface portion 222c overlaps the central portion of each side wall portion 211c, which is substantially plate-shaped, to prevent the external extension portion 210 from being distorted or distorted due to the load applied from the industrial robot. You can.

The diagonal surface portion 223 is preferably provided in a plate shape connecting adjacent ends of each of the surface portions 222c that are in surface contact with each of the side wall portions 211c. Through this, the diagonal surface portion 223 can be connected to a pair of side wall portions 211c arranged at right angles to each other to form a triangular support portion 260.

That is, the present invention is a simple method in which the inner extension 220 is internally supported inside the outer extension 210, thereby forming a triangular pillar structure with a triangular cross-section. Through this, the support device 200 that can stably support the load of the industrial robot can be easily manufactured, and productivity can be significantly improved. In addition, as the surface portion 222c is supported in surface contact by the side wall portion 211c, the support strength and durability are significantly improved even if the side wall portion 211c is formed in a plate shape corresponding to the cross-sectional area of the external extension portion 210. It can be improved. Moreover, while each corner side of the inner extension part 220 is formed to have an area that can be in surface contact with the outer extension part 210, the triangular support part 260 is located on each corner side of the support device 200. Since it is formed so as not to be narrow, the load bearing capacity can be further improved.

The lower plate part 230 is provided at the lower part of the external extension part 210 and the internal extension part 220, and is a part that is seated and fastened to the floor of the work space where the industrial robot is installed. The lower plate portion 230 preferably includes a plurality of lower cover surface portions 231 that cover the lower portion of each of the triangular support portions 260, and the side of each lower cover surface portion 231 is each of the side wall portions. It is preferable that it is formed to make surface contact with (211c) and the inner surface of the diagonal surface portion 223.

The upper plate part 240 is provided on the upper part of the external extension part 210 and the internal extension part 220, and is a part where the lower part of the industrial robot is mounted and fastened. The upper plate part 240 preferably includes a plurality of upper cover surface parts 241 covering the upper part of each of the triangular support parts 260, and the side of each upper cover surface part 241 is each of the side wall parts. (211c) and the inner surface of the diagonal portion 223 are preferably formed to surface contact. That is, the external extension part 210 and the internal extension part 220 may be provided by bending a medium plate with a thickness of 4 mm. Additionally, the lower plate portion 230 and the upper plate portion 240 may be provided by cutting a 20 mm thick plate into a preset shape.

Meanwhile, referring to FIGS. 3 to 5, each of the side wall portions 211c and each of the surface portions 222c overlap each other on the inner and outer surfaces, and each overlapped portion is divided along the same incision line L. It is desirable to have it provided. That is, it is preferable to understand that the external extension part 210 has a plurality of side wall units 211 connected to each other, and the internal extension part 220 has a plurality of inner wall units 221 connected to each other.

In detail, each of the side wall portions 211c is provided in a divided shape along the incision line L, and each of the divided side wall incision portions 211a and 211b is connected at a right angle around each corner 215. It is formed of side wall units 211. Therefore, the side wall unit 211 may have a cross-sectional shape of an 'L' shape, and each side wall portion 211c is understood to be a pair of adjacent side wall cut surfaces 211a and 211b connected to each other. This is desirable.

In addition, each of the surface portions 222c is divided along the incision line L, and each of the divided surface incisions 221a and 221b is connected to both ends of the diagonal surface portion 223 at an obtuse angle to form the inner wall unit ( 221). Accordingly, the inner wall unit 221 may be formed in a dish-like cross-sectional shape with the spacing widening toward the outer ends of each of the surface cut edges 221a and 221b. In addition, it is preferable to understand that the interview surface portion 222c is in the form of a pair of adjacent interview cut ends 221a and 221b connected to each other.

At this time, the side wall cut surface portions 211a and 211b and the interview cut edges 221a and 221b that are adjacent to each other are arranged to overlap in the inner and outer directions of the support device 200 through the fastening means 250. It is preferable that they are integrally fastened at the same time. Here, the fastening means 250 preferably includes a reinforcing plate 251 and a tightening member 252.

In this way, in the present invention, the support strength can be significantly improved as the inscribed portion of the external extension part 210 and the internal extension part 220 has a predetermined area and is supported in surface contact. In addition, the triangular support portion 260 is divided into four around each inscribed portion to provide a compact volume. Through this, the convenience of storage/transportation of the structure/component for manufacturing the support device 200 can be significantly improved.

The reinforcement plate 251 is preferably provided in a plate shape corresponding to the area of the surface area 222c, and is arranged in pairs so as to be disposed on the outside of the external extension 210 and the inside of the internal extension 220. It is desirable to have it provided. That is, the cut edges 214a, 214b of the pair of side wall cut surfaces 211a, 211b and the inner and outer surfaces of the pair of face cut edges 221a, 221b are sandwiched between the pair of reinforcing plates 251. You can.

Also, the fastening member 252 is preferably provided with a bolt 252a and a nut 252b. The cut ends (214a, 214b) of the side wall cut surface portions (211a, 211b) where the threads of the bolt (252a) sandwich overlap, the surface cut ends (221a, 221b), and a pair of the reinforcing plates disposed on the inner and outer surfaces thereof. It penetrates (251) at the same time and can be fixed through the nut (252b).

The reinforcement plate 251 is provided to simultaneously cover the cut edges 214a and 214b of the side wall cut surfaces 211a and 211b adjacent to each other on the left and right and the surface cut edges 221a and 221b. And, the tightening member 252 is symmetrically coupled to correspond to the cut ends 214a and 214b of the side wall cut surface parts 211a and 211b adjacent to each other on the left and right and the surface surface part 222c. Accordingly, the side wall cut surface portion 211 and the surface surface portion 222c, which are divided around the cut line L, may be connected through the fastening means 250. In this way, the reinforcement plate 251 connects the plate-shaped structure provided in a divided form based on the incision line (L) and simultaneously reinforces the central part of the connected plate-shaped structure, thereby providing a multiple function of improving the support strength. You can.

Meanwhile, it is preferable that step grooves are recessed along the circumferential direction of the sides of the lower cover surface portion 231 and the upper cover surface portion 241. The step groove is preferably formed on the sides of the lower cover surface portion 231 and the upper cover surface portion 241 in an inward direction perpendicular to the longitudinal direction of the outer extension portion 210 and the inner extension portion 220. do. Moreover, the stepped groove may be recessed to a depth corresponding to the thickness of the external extension part 210 and the internal extension part 220.

In detail, the step groove preferably includes a first step groove (232a) formed on the outer side of the lower cover surface portion 231 and a second step groove (232b) formed on the inner side of the lower cover surface portion 231. do. In addition, the step groove preferably includes a third step groove (242a) formed on the outer side of the upper cover surface portion 241 and a fourth step groove (242b) formed on the inner side of the upper cover surface portion 241. do. At this time, the outer portion of the lower cover surface portion 231 and the upper cover surface portion 241 refers to a portion where the upper and lower ends of the side wall unit 211 are joined, and the lower cover surface portion 231 and the upper cover surface portion 241 ) is the part where the upper and lower ends of the inner wall unit 222 are joined.

It is preferable that stopper protrusions are formed at the upper and lower ends of each of the side wall portions 211c and each of the diagonal surface portions 223 so as to be inserted into the step grooves. The stopper protrusion is preferably formed to protrude into a shape that substantially conforms to the inner shape of the step groove.

Each of the stopper protrusions is inserted into each of the step grooves, and is preferably fixed through a fixing means (253). The fixing means 253 preferably includes a bolt stud welded to the step groove (hereinafter referred to as a stud bolt 254) and a nut 255 fastened to the stud bolt 254.

In detail, the stopper protrusion includes a first protrusion 212a protruding from the upper end of each of the side wall cut-out portions 211a and 211b, and a third protrusion 212b protruding from the lower end of each of the side wall cut-out portions 211a and 211b. It is desirable to include it. In addition, the stopper protrusion preferably includes a second protrusion 224a protruding from the upper end of each diagonal surface portion 223 and a fourth protrusion 224b protruding from the lower end of each diagonal surface portion 223. At this time, the horizontal length of each protrusion (212a, 212b, 224a, 224b) is preferably formed to be less than the horizontal length of the side wall cut surface portions (211a, 211b) and the diagonal surface portion 223.

Accordingly, when each of the protrusions 212a, 212b, 224a, and 224b is inserted into the step groove, one side of the lower cover surface portion 231 and the upper cover surface portion 241 is each of the side wall cut surface portions 211a, 211b. ) and is seated in the vertical direction on the upper and lower edges of the diagonal surface portion 223. At the same time, each of the protrusions 212a, 212b, 224a, and 224b is in close contact with the sides of the lower cover surface portion 231 and the upper cover surface portion 241 in the inner and outer directions. Through this, even if the vibration of the industrial robot is transmitted to the support device 200, the external extension part 210 and the internal extension part 220, which are provided in a plate shape, are prevented from being distorted, so durability can be significantly improved.

In addition, the external extension part 210 and the internal extension part 220 are coupled and supported with the upper cover surface part 241 and the lower cover surface part 231 not only in the vertical direction but also in the inner and outer directions through the step groove. You can. Therefore, the stopper protrusion can be assembled into the correct shape of the triangular support portion 260 by simply inserting the stopper protrusion into the step groove without separate alignment or jig means for assembling each component.

Moreover, a bending support portion 212c may be further provided on one side of the stopper protrusion. In detail, a slot groove may be formed in the upper and lower direction on the upper side of the side wall cut surface portions 211a and 211b and the diagonal surface portion 223, and one side of the stopper protrusion formed by cutting into the slot groove is formed on the triangular support portion ( 260) can be bent at a right angle in the inner direction. The bending support portion 212c is in surface contact with the lower cover surface portion 231 and the upper cover surface portion 241, and may be coupled through a stud bolt 232e and a nut 212d. Through this, assembly rigidity between the external extension part 210, the internal extension part 220, the lower plate part 230, and the upper plate part 240 can be significantly improved.

At this time, it is preferable that the stud bolt 254 is prepared by being previously welded to the step groove. Accordingly, inconveniences during assembly, such as machining bolt tabs on the sides of the upper cover surface portion 241 and the lower cover surface portion 231, which have a relatively small area, can be fundamentally eliminated. In addition, the stud bolt 254 is prepared in a pre-welded state to the upper cover surface portion 241 and the lower cover surface portion 231, and the side wall unit 211 and the inner wall unit 222 are prepared for bending. The support device 200 can be easily manufactured by simply fastening them to each other. Through this, the assembly convenience and productivity of the support device 200 can be significantly improved.

Meanwhile, the lower cover surface portion 231 and the upper cover surface portion 241 are preferably divided into a plurality of pieces corresponding to the cross-sectional shape of the triangular support portion 260. In addition, the triangular support portion 260 is provided by assembling the side wall unit 211, the inner wall unit 221, the lower cover surface portion 231, and the upper cover surface portion 241, and each of the triangular support portions 260 ) can be provided as the support device 200 as it is assembled through the fastening means 250.

In this way, the support device 200 is provided in a structure in which a plurality of the triangular supports 260 are assembled. Therefore, since the volume occupied by each of the triangular supports 260 is smaller than that of the actual support device 200, transportability and storage can be significantly improved. In addition, since the support device 200 is manufactured simply by assembling it through the fastening means 250, manufacturing convenience can be significantly improved. Moreover, since the parts assembled through the fastening means 250 are formed in a multi-overlapping structure, durability can be significantly improved by improving load bearing capacity.

At this time, it is preferable that penetrating portions 213 and 224 are formed in the side wall portion 211c and the diagonal surface portion 223. Through this, the operator can assemble work tools and parts by inserting them into the inside of the triangular support portion 260 through the penetration portions 213 and 224, so assembly convenience can be significantly improved. Additionally, as the penetrating portions 213 and 224 are formed, the weight of the side wall portion 211c and the diagonal portion 223 may be reduced. Accordingly, the triangular support portion 260 is provided in the overall shape of a triangular pillar, so that the support strength is improved and the weight is reduced, thereby significantly improving transportability and ease of assembly.

Meanwhile, terms such as “include,” “comprise,” “equip,” or “have,” as used above, mean that the corresponding component may be present, unless specifically stated to the contrary. Rather than excluding a component, it should be interpreted as allowing additional inclusion of other components. All terms, including technical or scientific terms, unless otherwise defined, have the same meaning as generally understood by a person of ordinary skill in the technical field to which the present invention pertains. Commonly used terms, such as terms defined in a dictionary, should be interpreted as consistent with the contextual meaning of the related technology, and should not be interpreted in an idealized or overly formal sense unless explicitly defined in the present invention.

As explained above, the present invention is not limited to the above-described embodiments, and modifications and implementations can be made by those skilled in the art without departing from the scope of the claims of the present invention. And these modifications fall within the scope of the present invention.

200: Support device for industrial robot 210: External extension part
211c: side wall 215: corner
220: Internal extension section 222c: Interview section
223: diagonal portion 230: lower plate portion
240: upper plate portion 250: fastening means
260: triangle support

Claims (5)

In the support device on which the industrial robot is installed,
An external extension formed in a hollow square shape by connecting a plurality of side walls connected around each corner so as to form a mutual right angle;
It is provided inside the hollow of the external extension portion, and is connected to a plurality of surface portions that are in surface contact at the center of each side wall portion and a pair of side wall portions arranged at right angles to each other to form a triangular support portion. An internal extension portion including a plurality of diagonal portions connecting the ends;
A lower plate portion provided at a lower portion of the outer extension portion and the inner extension portion to be seated and fixed on the floor of the workspace where the industrial robot is installed, and having a plurality of lower cover surface portions covering a lower portion of each of the triangular support portions; and
A support device for an industrial robot including an upper plate portion provided on the outer extension portion and the inner extension portion so that the lower portion of the industrial robot is mounted, and having a plurality of upper cover surface portions covering the lower portions of each of the triangular support portions. According to claim 1,
A plurality of the side wall portions and the surface surface portion overlapping each other are provided divided along the same incision line, and each adjacent cut edge of the side wall portion and the surface surface portion is simultaneously and integrally connected through a fastening means. Support device for industrial robots. According to claim 2,
The fastening means is
A plate-shaped reinforcement plate overlapping on the inner and outer surface sides of each of the cut edges of the side wall portion and the surface portion adjacent to each other,
A support device for an industrial robot, comprising a tightening member that simultaneously penetrates and fastens through the reinforcing plate and each of the incised ends. According to claim 1,
A stepped groove is formed along the side circumferential direction of the lower cover surface portion and the upper cover surface portion, recessed in an inward direction perpendicular to the longitudinal direction of the outer extension portion and the inner extension portion,
A support device for an industrial robot, characterized in that a stopper protrusion is formed on each of the side walls and the upper and lower ends of each of the diagonal surfaces, protruding in the longitudinal direction to be inserted into the step groove and fixed through a fixing means. According to claim 4,
The lower cover surface portion and the upper cover surface portion are divided into a plurality of pieces corresponding to the cross-sectional shape of the triangular support portion,
The fixing means includes a stud-welded bolt and a nut fastened to the bolt to protrude from the step groove in an outward direction perpendicular to the longitudinal direction of the external extension and the internal extension. .