KR890000731B1 - The hand of the robot for the setting bolt - Google Patents

Abstract

This invention relates to a bolting hand of a robot. This robot hand has a table trasversely slideable, a bearing housing whose supporting shaft is rotatable to right and left, and a body assembled with a link mechanism attached to the supporting shaft. There are a cylinder (S1) and bolt cartridge assembly and a cylinder (S2) and probe cartridge assembly in the body. The two cartridges rotate by links. Such a structure makes the body move freely. While the probe cartridge goes in and out the apex of the body in turns, the hole of bolt is correctly found for bolting.

Description

Hand for bolt assembly of robot

1 is a perspective view of the present invention.

2 is a plan view of the present invention.

3 is a side view of the present invention mounted to the arm of the robot.

4 is a configuration diagram of the bolt hole position correction device.

5 is a configuration diagram of the bolt assembly device.

6 is an exemplary view at the time of bolt hole correction.

7 is an exemplary view at the time of bolt assembly.

8 is an exploded perspective view of the bolt hole correction device.

9 is an exploded perspective view of the bolt assembly device.

* Explanation of symbols for main parts of the drawings

1: fixed label 2: moving table

3: bearing housing 4: support shaft

7, 7: link 9: piston rod

″형 링크 : 볼트카트리지 11' : 연결판10: ″

Link type: bolt cartridge 11 ': connecting plate

12: Balance link 13, 13 ': Sprocket

14 bracket 15 chain

16: piston rod

″형링크 : 평형링크 : 프로브카르리지 19' : 연결판17: ″

″ Type Link: Balanced Link: Probe Carriage 19 ': Connecting Plate

20: meter reader S ₁ , S ₂ : pneumatic cylinder

B: Hand body M: Drive motor

The present invention relates to a bolt assembly hand of an industrial robot. More specifically, the invention is a hand mounted to the tip of the robot arm, in which the bolts can be assembled without defects while properly absorbing and correcting the deviation of the bolt holes that may be caused by various causes when the product and the parts are bolted together. It is.

In general, the use of the industrial robot can be diversified by selectively attaching various tools or hands to the tip of the arm and giving the corresponding control function.

In the present invention, the bolt assembly robot that melts and deteriorates can be utilized as a bolt assembly robot by inputting a program to a controller of an existing robot and mounting a hand made of the present invention to the tip of an arm. . As is well known, robots perform welding, cutting, polishing, painting, etc., depending on the type of work, among which bolting is known as a difficult problem in unmanned assimilation systems.

The result of the work is only screwing the bolt, but in reality, the bolt and the hole will be mutually different unless the accuracy of the robot itself, ② the position of the hole, and ③ the precision of the product's position are matched precisely. An error occurs in the operation of screwing, which does not allow the position of the car.

No matter how perfect the calculated program is, the contact wear of the mechanically actuated structure occurs naturally, and the impact between the stopper and the moving body, which temporarily stops operation, causes deviations of a few tens to several millimeters. The phenomenon is an inevitable fact.

With the problem of variation in the holes that may occur at all times, look at how the conventional bowling operation was performed.

In the conventional bolt assembly, only the bolt socket and the rotating motor are simply attached, or additionally, a magnet or a clamp device is combined as a peripheral structure.

In other words, it was only a configuration capable of bolting. Therefore, during operation, there is no flexibility for hole deviation, so when the holes are exactly matched with bolts, the bolts are assembled and even if there is a slight misalignment between the holes and the bolts, only idle run for a set time and then repeat the next step. It is done.

For example, if the product (workpiece) reaches the correct position in the robot area in the automation system, the robot waiting while clamping the bolt will receive a command from the controller to assemble the bolt in the hole of the product. If there is a deviation from the hole, the bolt is not inserted, so after idle, the next step is performed.

In this example, when the mass production of the product is inconvenient, the worker inspects it and assembles the bolt manually by hand in the empty hole. This was there.

The present invention has been made to improve the above-mentioned matters, and the idea was started by correcting the hole position in the hand of the robot itself.

The idea is to establish several objectives and complete them with practical possibilities. The main purpose of the present invention is to provide a hand of self-solving means capable of flexibly coping with the deviation of holes.

Another object of the present invention is to bolt completely the holes of the object to produce a perfect product, and to reduce the labor of the operator.

A feature of the present invention which can achieve this object is to correct the hole position correctly as a correcting device immediately before assembling the bolt to the hole, and to allow the movement distance to the hand during correction to follow itself in all directions, then bolting By doing so, the intended result of the present invention can be realized.

Hereinafter, with reference to the accompanying drawings, the preferred configuration, operation and effects of the present invention will be clearly understood. 1 is a perspective view showing the bolt assembly hand of the robot according to the present invention, the fixed label (1) in the upper portion and the lower side of the movable label (2) is inserted in the transverse direction so as to slide left and right.

The bearing housing 3 is attached to the lower portion of the movable label 2, and the support shaft 4 is inserted into the inside thereof to finish the rear side with the screw 5, while the support plate 6 is flanged 4 'at the front side. ) Was connected to the upper and lower links 7 and 7 'on both sides.

The front of the link (7) (7 ') is connected to the triangular hand body (B), the tension spring (8) at the distance between the pin protruding on the side of the body (B) and the pin protruding on the upper support plate Hang the hand body (B) to compensate for the sag down.

″형 링크(10)가 있어 중앙의 돌출편(10')과 연결되어 있다.In the body (B), a bolt assembly device and a correction device are installed. As shown in FIG. 2, the bolt assembly device is equipped with a pneumatic cylinder (S ₁ ) at the rear part of the piston rod (9). ″ On the tip

There is a " shaped link 10, which is connected to the central projecting piece 10 '.

One side of the link 10 is held on the body B, and the other side is held on a connecting plate 11 'extending from the blot cartridge 11, and the top and bottom of the link 12, respectively. Arranged side by side (see FIG. 5).

The sprocket 13 is installed in the upper part of the bolt cartridge 11, the sprocket 13 'of the drive motor (M), which is fixed to the rear of the body by the bracket 14 and connected to each other by a chain (15) have.

″형 링크(17)의 중앙 돌출면(17')과 연결된다. ″

″형링크(17)와 또하나의 반듯한 링크 (18)는 그 일측이 몸체(B)에 유지되고 타측은 검침자(20)가 내입된 프로브카트리지 (probe cartridge) (19)의 연결판(19')에 유지되며 상.하로 각각 나란히 배치된다(도면 제4도 참조). 도면중 미설명부호 21, 22는 고정판, 23은 스프링, 24는 볼트, 25, 25'는 공압라인, 26은 고정브라켓, 27은 제품을 표시한다.The bolt hole position correction device is provided on the opposite side to the bolt assembling device, and is equipped with a pneumatic cylinder S _{2 at the} rear thereof, and the end of the piston rod 16 is ″.

Is connected to the central protruding surface 17 'of the " link " ″

″ Type link 17 and another straight link 18 have a connection plate 19 of a probe cartridge 19 having one end held in the body B and the other end with the probe 20 inserted therein. And are arranged side by side, respectively, up and down (see Fig. 4). In the drawings, reference numerals 21 and 22 are fixed plates, 23 are springs, 24 are bolts, 25 and 25 'are pneumatic lines, 26 are fixing brackets, and 27 are products.

In the present invention configured as described above, immediately before the robot R performs the bolt assembly, the probe cartridge 19 acts to accurately position the product hole, and then the bolt 24 interposed in the bolt cartridge 11 is removed. As the assembly will be described in this order as follows.

As the example of FIG. 3, the present invention, which is attached to the arm tip of the existing robot R as the connecting bracket 26, is in the state where the product 27 is in the correct position while the bolt cartridge 11 is provided with the assembly bolt 24 interposed therebetween. Wait to reach

When the product 27 stays, the body B is located close to the bolt hole. First, the cylinder S ₂ on the side of the compensator is actuated, and when the piston rod 16 is advanced, the link 17 as shown in FIG. The probe cartridge 19 which has been pushed up while turning is turned vertically downward.

It is positioned as if it is inserted into the hole of the product 27 from the inner side of the tip of the body (B) as shown in Figure 6, in this state the pneumatic cylinder (not shown) inside the probe cartridge 19 ) Is lowered and inserted into the hole.

Since the tip of the meter 20 is guided by the tip formed on the inclined surface, when there is a deviation between the outer diameter and the diameter of the hole of the meter 20, the meter 20 is inserted into the hole and includes the probe cartridge 19. The entire body (B) is to stay in the state moved in the direction of the force, soon after the probe cartridge 19 is out of the hole position by the contraction of the cylinder (S ₂ ) of the bolt assembly device under the position correction The cylinder (S ₁ ) is actuated so that the bolt cartridge 11 is vertically lowered in the same manner as shown in FIG.

In this state, as shown in FIG. 7, the bolt 24 is correctly assembled into the hole of the product 27, and the same operation is repeatedly performed.

At this time, the hand body B is moved in all directions, that is, the left and right directions are moved by the moving label 2, and the front and rear directions are moved by the links 7 and 7 'connected to both sides of the body. It absorbs the tilt up and down or before and after, and the rear support shaft 4 absorbs the tilt of the left and right in the bearing housing 3 so that the whole hand can be moved to the position where it can be aligned with the hole position. To be flexible. When the deviation of the hole is correctly matched by the operation of the probe cartridge 19, the bolt 24 is located in the hole of the product by the bolt cartridge 11 and soon the drive motor M is rotated so that the sprocket 13 ( 13 ') by the inside of the bolt cartridge 11 is to rotate the bolt assembly is made.

The robot then clamps the new bolt and the new product reaches the robot's position, repeating the above process.

The present invention as described above is able to complete the bolting operation by the robot, especially in the production field of the mass production system equipped with an automated system, so that not only rapid production efficiency, but also a wide range of effects such as quality improvement, economic efficiency due to labor reduction Will be brought.

Claims (4)

Table (1) (2) which is slid in the transverse direction at the top, bearing housing (3) in which the support shaft (4) is rotated left and right, and link (7) (7 ') in which the body (B) can be moved forward and backward. In the structure and body of the free body combined with the bolt cartridge 11 and the drive unit rotated by the cylinder (S ₁ ) and the link (10) (12), another cylinder (S ₂ ) and the link (17) (18) Probe cartridge (19) rotated by the combination is configured to be free to move the body (B) and the probe cartridge (11) alternately enters the tip of the body to correct the hole of the bolt and bolt assembly The bolt assembly hand of the robot. The method of claim 1, wherein the bolt cartridge 11 is a pneumatic cylinder (S ₁₎ mounted on a rear portion of the body (B) on its piston rod (9) leading end "

″ The bolt cartridge 11 is rotated up and down when the pneumatic cylinder S ₁ is operated by connecting the link 10 and the balance link 12 up and down to the connecting plate 11 ′ of the bolt cartridge 11. Robotic bolt assembly hand, characterized in that to make. 2. The chain (15) according to claim 1, wherein the drive motor (M) is fixed to the bracket (14) with the body (B) and connects the sprocket (13 ') of the motor shaft and the sprocket (13) of the bolt cartridge (11). The bolt assembly hand of the robot, which allows bolts to be assembled by means of The method of claim 1, wherein the probe cartridge 19 is a pneumatic cylinder (S ₂₎ mounted on the rear portion of the body (B) on its piston rod 16, the tip end "

A probe including a probe (20) when the pneumatic cylinder (S ₂ ) is actuated by connecting the uplink (17) and the balanced link (18) to the connecting plate (19 ') of the probe cartridge (19). Bolt assembly hand of the robot, characterized in that the cartridge 19 is rotated up and down.

Images