KR890006720Y1 - A positioner of the industrial robot - Google Patents

Abstract

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Description

Workpiece positioner for industrial robots

1 is a state of use of the present invention.

2 (a), 2 (b) and 2 (c) are plan, front and right side views of the present invention.

3 is a plan view of the inclined portion of the present invention.

Figure 4 is an illustration of the tilt action of the present invention.

5 and 6 are conventional drawings.

* Explanation of symbols for main parts of the drawings

B: Base S: Sweep Body Frame

T: Tilting Box R, R '; Rotating Table

C: Shading plate Ro: Robot

2: Rotate Motor 3: Spur Gear

4: pinion gear 5: dignity reducer

6: Drive Shaft 7: Home Dog

8: home limit switch 10: rotation axis

11: linear roller bearing 11 ': thrust bearing

11 ": Deep groove ball bearing 12: Rotate encoder

13: tilting axis 14: tilt motor

15: worm reducer 16: pinion gear

17: Setor Gear 18: Tilt Encoder

The present invention relates to a work assistant device that can be called a partner to an industrial robot. It can continuously remove and mount the work piece to be operated by the robot and locate the work piece at the best point in the stroke radius where the robot can work. It is about the work positioner of an industrial robot, which allows not only files but also good posture.

As the robot performance is well known, it has the ability to bend by the joint part and the ability to change direction by the rotation axis, so it has the ability to work almost all over the workpiece fixed at a certain position, but there is an area where it cannot work. Conventionally, positioners using the Geneva gear 50 and the pneumatic cylinders 51 and 51 'have been developed and used as shown in FIGS. 5 to 6, but the rotational wheel of the table using the Geneva gear 50 It is controlled by the distillation and the slope is also controlled by dividing the angle by pairing two pneumatic cylinders (51, 51 '), so it is not enough to work as a positioner.

In addition, there may be an object to be melted while rotating or moving the workpiece.

Therefore, the present invention will be described in detail with reference to the accompanying drawings as a configuration and effect to solve the above problems of the present invention.

As shown in FIG. 1, the pivoting body S is rotatably installed on the upper part of the base B installed on the ground, and a tilting box T having a rotation table R and R 'at both ends thereof. Each of them is installed, and the light shield plate (C) is installed vertically in the center so that the positioner is located at the opposite position of the robot (RO) and the rotary table (R ') is located at a point convenient for the tip of the robot arm (Ra) to access. It is supposed to be located.

The configuration of the positioner as described above is divided into functionally divided into a sweeping system, a rotating system, and a tilting system. However, the present invention relates to a rotating part and a tilting part. Referring to the rotating part in detail, as shown in FIGS. 2A, 2B, and 2C, the driving motor 2 is horizontally installed inside the tilting box T, and the front end side thereof. In the state where the worm is engaged with the worm gear, the reduction gear (5) is installed and the drive (6) is placed vertically. On the upper part, a rotation pinion gear (4) is installed, and the drive shaft (6) is intermediate A home dog 7 is installed at a point and a home limit switch 8 is attached to a wall of the tilting box T at a lower portion thereof to hold a home position during initial work.

The rotary table R is placed at the center of the tilting box T, and the rotating side 10 is coupled to the center thereof, and the axis considers the load, and the linear bearing 11 and the thrust bearing are at the upper and lower parts. 11 'and deep groove ball bearing 11 ".

In the middle of the shaft 10, a spur gear 3 is placed in engagement with a rotate pinion gear 4, and an encoder 12 at the bottom thereof. Is installed.

The above configuration is arranged with respect to the rotating part, and the second (a) is a plan view, the second (b) is a front view, the second (c) is a right side view, and each of these main parts is cut out and shown.

Next, when describing the configuration of the tilting system, the tilting box T for accommodating the rotating part is positioned at both ends of the turning body S, and the tilting box T is hinged to the space.

Both sides of the tilting box (T) are installed on the inner side of the turning body (S) and the tilt shaft (13), and the drive motor (14) is installed horizontally outside the tilting box (T). The reduction gear 15 of the engaged state is provided, and the pinion gear 16 and the sector gear 17 which are attached to the tilt shaft 13 are comprised.

The action of the present invention is that the workpiece is fixed to the table (R), when the swinging body (S) is rotated, the rotating part constituted by the tilting box (T) at both ends is rotated, the workpiece fixed on the rotary table (R) The tilting or rotating motion is as follows.

To work on the back or front side of the workpiece after the robot Ro is working on the top or front side of the workpiece fixed on the turntable R, the command is made to rotate the turntable R according to the program input to the controller. When power is applied to the table motor 2, the motor 2 is driven, and the power angularly driven by the reducer 5 composed of the 윔 and 윔 gears is transmitted through the pinion gear 4 and the spur gear 3. When the drive shaft 6 is driven, the table R rotates together, and when the rotation operation is completed, the brake of the motor 2 is operated to stop and drive without difficulty, and the lower end of the rotation shaft 10 is used to reproduce the predetermined position. In order to correct the position of the encoder 12, the shortest path position reproduction is reproduced accurately and quickly in both directions of 360 °.

Tilt operation In addition, the DC servomotor with brakes 14 decelerates through the shock reducer 15, and this rotation is inclined by the tilt and pinion gear 16 and the tilt tilt sector gear 17 at 0 °. The safety device was installed by attaching a limit switch so that it would not move out of the 0 ° and 135 ° areas that would operate up to 135 °, and the encoder 18 was attached to the tilt shaft 13 so as to correct the position correction.

4 is an exemplary view of the present tilt operation.

Since the rotating part of the present invention constructed and operated as described above acts as an independent gear and motor, it is possible to work at various angles by selectively controlling all angles of 360 ° according to the work. Since all angles (135 °) of the sub-sector gears can be controlled, various rotations and inclinations can be selected, and the invention can be obtained for various tasks.

Claims (3)

A rotating body S having a pair of rotary tables R (R ') and a tilting box (T) is constructed, but is rotated forward and weakly by a servo motor (not shown) about an axis on the base B. In the pivoting structural positioner, the rotary table R (R ') is driven by the servomotor 2 and the rotary position control encoder 12 spur, but rotated at a divided angle as the spur gear 3. And a pair of gears operated by driving the servo motor 14 and the tilt position control encoder 18 to rotate the rotating system and the tilting box T including the rotating table. Positioner characterized by a tilting system (Tilting System) consisting of a structure for positioning and fixing the structure inclined at an angle controlled by the division. The rotating part of claim 1, wherein the servo motor 2 is mounted horizontally inside the tilting box T, and a reduction gear 5 made of a pin gear is installed on a short axis thereof, and the drive shaft 6 is vertically mounted on the pin gear. Work of the industrial robot, characterized in that the rotary pinion gear (4) is installed on the same axis by installing the rotary shaft and the disc-shaped rotary table (R) (R ') is installed on the upper end of the spur gear (3) engaged with it. Auxiliary positioner. In the inclined portion of claim 1, the sector gear 17 is mounted on the center tilt shaft 13 on both sides of the tilting box T on the inner surface of the pivoting body S, and the servo motor 14 is horizontally mounted. Positioner for work assistance of industrial robot, characterized in that driven by installing.