KR960000292B1

KR960000292B1 - Industrial robot

Info

Publication number: KR960000292B1
Application number: KR1019930000954A
Authority: KR
Inventors: 김용복
Original assignee: 성운정공주식회사; 김용복
Priority date: 1993-01-27
Filing date: 1993-01-27
Publication date: 1996-01-04
Also published as: KR940018171A

Abstract

The industrial robot, whose 3-axes arm may be controlled by only 2 independent control actuators such as a servo motor and a speed reducer so at to improve a work speed, comprises a linear moving means(1) making the robot move on a rail; a body(2); a means(3) rotating the body(2); a Y-axis means(6) for moving the robot back and forth, fixedly connected to an end of a 1st speed reducer(5a); an X-axis means(7) for moving the robot up and down, connected to an end of the Y-axis means(6); an axis means(10) of a hand connected to an end of the X-axis means(7); an L-shaped connector(13) installed on an hinge(12) of the X,Y-axis means(6,7); vertical maintenance levers(14a,14b) installed between the connector(13) and the axis means(13).

Description

Industrial Robot

제1도는 본 발명 산업 로보트의 정면도.1 is a front view of the industrial robot of the present invention.

제2도는 본 발명 산업 로보트의 우측면도.2 is a right side view of the industrial robot of the present invention.

제3도는 본 발명 산업 로보트의 평면도.3 is a plan view of the industrial robot of the present invention.

제4도는 본 발명 산업용 로보트의 동작순서를 나타낸 블럭구성도.Figure 4 is a block diagram showing the operation sequence of the industrial robot of the present invention.

제5도는 본 발명의 요부인 X축부재 및 Y축부재, 핸드부축부재 및 제1, 제2수직유지레버들만의 작동상태를 분리확대로 도시한 설명도이다.5 is an explanatory view showing the enlarged separation of the operating state of only the X-axis member and Y-axis member, the hand shaft member, and the first and second vertical holding levers, which are main parts of the present invention.

* 도면의 주요부분에 대한 부호의 설명* Explanation of symbols for main parts of the drawings

1 : 직선이동부 2 : 회동부1: linear moving part 2: rotating part

3 : 몸체부 4a,4b : 서브모터3: body portion 4a, 4b: sub-motor

5a,5b : 감속기 6 : 상·하이동 Y축5a, 5b: Reducer 6: Up / High Movement Y Axis

7 : 전·후이동 X축 8 : 연결부재7: Before and after movement X axis 8: Connecting member

9 : 구동레버 10 : 핸드부축부재9: driving lever 10: hand support member

11 : 핸드부 12 : 힌지부11: hand part 12: hinge part

13 : 연결편 14a,14b : 수직유지부재13: connecting piece 14a, 14b: vertical holding member

본 발명은 로보트의 팔을 이루는 3개의 축이 2개의 독립된 제어요소로만으로 제어될 수 있어 작업속도가 향상되도록 된 산업용 로보트에 관한 것이다.The present invention relates to an industrial robot in which three axes constituting the arm of the robot can be controlled by only two independent control elements so that the working speed is improved.

일반적으로 산업용 로보트는 제어컴퓨터에 의해 각종 제어프로그램이 입력시켜진 콘트롤러의 동작에 따라 각 제어요소들이 제어축부재의 복잡다양한 임의의 동작수행을 제어하도록 되어 있다.In general, an industrial robot is configured such that each control element controls a variety of complex operations of a control shaft member according to the operation of a controller inputted by various control programs by a control computer.

또, 산업용 로보트들은 이용분야의 작업성격에 따른 복잡한 특정동작을 수행할 수 있도록 대부분 다수의 제어축으로 이루어져 각 제어축들이 1개의 콘트롤러(Controller)로 제어되는 각각의 제어요소들에 의해 독립된 동작을 반복 수행하도록 되어 있는바, 이 경우 제어축의 증가는 제어요소를 증가시키게 됨으로써 콘트롤러의 제어시간지연을 초래하게 되어, 결과적으로 산업용 로보트의 제어축수와 동작속도가 거의 반비례하게 된다.In addition, industrial robots are composed of a plurality of control shafts to perform complex specific motions according to the nature of work in the field of use, and each control axis is controlled independently by each control element controlled by one controller. In this case, the increase of the control axis increases the control element, which causes a delay in the control time of the controller, and as a result, the number of control axes and the operating speed of the industrial robot are almost in inverse proportion.

특히, 산업현장의 생산라인에서 대량생산되는 제품들을 포장용기에 옮겨담거나 특정위치에다 부품을 조립 또는 용접하는 작업을 반복하게 되는 산업용 로보트인 경우에는 동작속도가 곧바로 생산성과 직결되게 되는바, 그 때문에 최근에는 좀더 빠르면서 정확한 동작을 수행하는 로보트의 개발이 당면과제로 대두되고 있다.In particular, in the case of an industrial robot that moves a mass-produced product on a production line in an industrial site to a packaging container or assembles or welds a part at a specific location, the operation speed is directly related to productivity. In recent years, the development of robots that perform faster and more accurate movements has emerged as a challenge.

한편, 생산된 제품이나 부품을 집어 특정장소로 옮기는 작업을 수행하는 산업용 로보트들은, 대부분 제품이나 부품등을 핸드부로 클램핑(Clamping) 또는 진공 흡착해서 인양하도록 되어 있기 때문에, 이때 로보트의 핸드부와 제품은 반드시 상호 수직관계가 유지된 상태에서 작업하여야만 지정된 소정위치에 제품등을 안전하게 옮겨놓을 수 있게 된다.On the other hand, industrial robots that pick up the manufactured products or parts and move them to a specific place are lifted by clamping or vacuum-adsorbing the products or parts to the hand part. Work must be done in a state where the vertical relationship is maintained so that the product can be safely moved to the designated position.

따라서 이와같은 산업용 로보트의 핸드부가 장착되는 핸드부축의 수직상태제어는 매우 중요한 제어중의 하나가 되는바, 이에 대해 종래에는 대부분 별도의 제어요소로 핸드부축을 수직제어하도록 되어 있으나, 이는 상대적으로 로보트의 제어요소들을 조정하는 콘트롤러로 하여금 처리용량증대로 인한 제어시간지연을 초래하게 되어 작업속도를 저하시키는 한 요인으로 되고 있었다.Therefore, the vertical state control of the hand shaft on which the hand portion of the industrial robot is mounted is one of very important controls. However, in the related art, the vertical direction of the hand shaft is mostly controlled by a separate control element, but this is relatively a robot. The controller that adjusts the control elements of the controller causes a delay in the control time due to the increase in processing capacity, which is one of the factors that slows down the work speed.

이에 본 발명은 상기와 같은 사정을 감안하여 발명된 것으로서, 로보트의 팔을 이루는 3개의 제어축의 동작이 2개의 독립제어요소만으로 제어됨으로써 작업속도가 크게 향상될 수 있도록 된 산업용 로보트를 제공함에 그 목적이 있다.Accordingly, the present invention has been made in view of the above circumstances, and an object of the present invention is to provide an industrial robot in which the operation speed of the three control shafts forming the arm of the robot can be controlled by only two independent control elements, thereby greatly improving the working speed. There is this.

상기와 같은 목적을 달성하기 위해 본 발명은, 하부로부터 몸체를 직선이동시키거나 회전시키는 이동부와 회동부, 팔부위를 이루면서 전·후동작이나 상·하동작을 수행하는 Y축부재와 X축부재, 이 X축부재의 끝에 수직으로 장착되어 손의 기능을 하는 핸드(Hand)부가 부착된 핸드부축부재가 각기 서브모터들로 된 제어 요소에 의해 공지된 방식으로 작동제어되는 산업용 3축제어 로보트에 있어서, 상기 X축부재 및 Y축부재에 각각 평행하도록 “ㄴ”자형상의 연결편을 매개로 제1 및 제2수직유지레버가 상호 연결설치되고, 상기 X축 부재와 제2수직유지레버의 끝에 핸드부축부재가 장착됨으로써, 핸드부축부재가 별도의 독립된 제어요소 없이도 X축부재 및 Y축부재와 함께 연동되면서 작동제어될 수 있도록 되어 있다.In order to achieve the above object, the present invention, the Y-axis member and the X-axis to perform the front and rear motion or up and down motion while forming a moving part and a rotating part, the arm portion to linearly move or rotate the body from the bottom Member, a hand 3-axis control robot mounted vertically on the end of the X-axis member and having a hand portion having a hand function as a hand, is operated and controlled in a known manner by a control element of sub-motors, respectively. The first and second vertical holding levers are connected to each other via a connecting piece having a “b” shape so as to be parallel to the X axis member and the Y axis member, respectively, and at the ends of the X axis member and the second vertical holding lever. Since the hand shaft member is mounted, the hand shaft member can be operated and controlled while interlocking with the X-axis member and the Y-axis member without a separate independent control element.

이하 본 발명을 첨부된 예시도면에 의거 상세히 설명한다.Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

제1도 내지 제3도는 각 본 발명에 따른 산업용 로보트의 형상을 나타낸 정면도, 우측면도 및 평면도로서, 로보트의 몸체부(2)를 소정위치로 직선이동시키는 이동부(1)와, 상기 몸체부(2)를 자전시키는 회동부(3), 상기 몸체부(2)에 장착된 제어요소인 제1,2서브모터(4a,4b)와 제1,2감속기(5a,5b), 상기 제1감속기(5a)의 출력축상에 한쪽끝부위가 고정연결된 전·후이동용 Y축부재(6), 이 Y축부재(6)끝에 “ㄱ”자형상으로 수직설치된 상·하이동용 X축부재(7), 이 X축부재(7)에 동력이 전달되는 것을 제어하기 위해 상기 Y축부재(6)와 평행하도록 상기 제2감속기(5b)의 출력측에 고정연결된 연결부재(8), 이 연결부재(8)의 한쪽끝과 상기 X축부재(7)선단사이를 연결하는 X축구동레버(9), 상기 X축부재(7)끝에 수직으로 장착된 핸드부축부재(10) 및, 이 핸드부축부재(10)하단에 부착되어 손의 기능을 하게 되는 공지의 핸드부(11)로 이루어진 산업용 로보트에 있어서, 상기 Y축부재와 X축부재(6,7)를 연결하는 힌지부(12)상에 “ㄴ”자형상으로 연결편(13)이 함께 장착되는 한편, 제1,2수직유지부재(14a,14b)가 그 양쪽 끝이 각각 상기 연결부재(8)의 일측단과 핸드부축부재(10)상단 및 연결편(13)의 양단에 각각 연결되어 상기 Y,X축부재(6,7)와 평행상태를 유지하도록 되어 있다.1 to 3 are a front view, a right side view and a plan view showing the shape of the industrial robot according to the present invention, the moving part 1 for linearly moving the body part 2 of the robot to a predetermined position, and the body Rotating part 3 for rotating part 2, first and second sub-motors 4a and 4b and first and second reduction gears 5a and 5b, which are control elements mounted to the body part 2, and the second part. 1, the front and rear movement Y-axis member 6 having one end portion fixedly connected to the output shaft of the reducer 5a, and the X-axis member for vertical movement, vertically installed at the end of the Y-axis member 6 in the shape of "a". 7) a connecting member 8 fixedly connected to the output side of the second reducer 5b so as to be parallel to the Y-axis member 6 to control the transmission of power to the X-axis member 7, the connecting member An X-axis driving lever 9 which connects between one end of the 8 and the tip of the X-axis member 7, a hand support member 10 mounted perpendicularly to the end of the X-axis member 7, and the hand support shaft Attached to bottom of member 10 In the industrial robot which consists of the well-known hand part 11 which functions as a hand, it has a "b" shape on the hinge part 12 which connects the said Y-axis member and the X-axis member 6,7. While the connecting piece 13 is mounted together, the first and second vertical holding members 14a and 14b have both ends of one end of the connecting member 8 and the upper end of the hand shaft member 10 and the connecting piece 13, respectively. It is connected to both ends so as to maintain parallel with the Y, X-axis member (6, 7).

다음에는 상기와 같이 구성된 본 발명의 작동상태에 대해 설명하는 바, 본 발명과 같은 산업용 로보트에서의 이동부(1)와 선회부(2)의 작동에 관해서 당해 기술분야에서는 널리 이용되는 일반적인 기술이므로 그에 관한 설명은 생략키로 하고, 로보트의 팔부위를 구성하는 Y축부재(6)와 X축부재(7) 및 핸드부축부재(10)의 작동제어만에 대해 상세히 설명하기로 한다.Next, the operating state of the present invention configured as described above will be described, and since the operation of the moving unit 1 and the turning unit 2 in an industrial robot such as the present invention is a general technique widely used in the art. The description thereof will be omitted, and only the operation control of the Y-axis member 6 and the X-axis member 7 and the hand-shaft member 10 constituting the arm of the robot will be described in detail.

작동스위치를 ON시키면 몸체부(3)상에 장착된 공지의 제1,2서브모터(4a,4b)들이, 제4도에 도시된 블럭구성도에서와 같이 제어컴퓨터등으로 공지의 컨트롤러에 입력시켜 놓은 제어프로그램에 의해 각 드라이브들을 매개로 제어되면서 회전하게 되는바, 이 발생되는 회전출력은 곧바로 제1,2감속기(5a,5b)로 다시 입력되어져 감속이 이루어짐으로써 보강된 출력이 Y축부재(6) 및 연결부재(8)로 직접 전달되게 되고, 이렇게 연결부재(8)에 전달된 동력은 다시 구동레버(9)를 통해 X축부재(7)로 전달되게 된다.When the operation switch is turned ON, the known first and second sub-motors 4a and 4b mounted on the body portion 3 are input to the known controller by a control computer or the like as shown in the block diagram shown in FIG. Each drive is rotated by the control program set by the control program. The generated rotational output is directly inputted to the first and second reduction gears 5a and 5b to decelerate and the reinforced output is Y-axis member. 6 and the connecting member 8 is directly transmitted, and the power transmitted to the connecting member 8 is transmitted to the X-axis member 7 through the drive lever 9 again.

따라서 핸드부축부재(10)에서는 상기 Y축부재(6)에 의한 전·후이동 및 X축부재(7)에 의한 상·하이동이 동시에 제어되면서 이루어지게 된다.Therefore, the hand shaft member 10 is made while the front and rear movement by the Y-axis member 6 and the up and down movement by the X-axis member 7 is controlled at the same time.

한편, 핸드부축부재(10)의 수직상태유지를 제어하는 제1,2수직유지부재(14a, 14b)들은, 제5도에 확대 도시된 바와 같이 Y축부재(6)와 제1수직유지부재(14a)가 1조를 이루면서 상호 평행한 상태로 각운동을 하게되고, 이에 따라 연결편(13)이 정확히 “ㄴ”자형상을 유지하면서 역시 각운동을 하게 된다.Meanwhile, the first and second vertical holding members 14a and 14b for controlling the vertical state of the hand shaft member 10 are the Y-axis member 6 and the first vertical holding member as enlarged in FIG. The angular movements in parallel with each other in a pair of (14a), so that the connecting piece (13) is also angular movement while maintaining exactly the "b" shape.

따라서 상기 연결편(13)에 한쪽끝이 각기 연결된 X축부재(7)와 제2수직부재(14b)도 역시 1조를 이루면서 상호 평행한 상태로 각운동을 하게 되어, 상기 X축부재(7) 및 제2수직유지부재(14b)의 다른쪽끝부위사이에 장착된 핸드부축부재(10)가 항상 수직상태를 유지하게 됨으로써, 결국 핸드부축부재(10)의 하단에 부착되는 핸드부(11)가 제품과 항시 수직상태를 이룬 상태로 작업을 할 수 있게 된다.Accordingly, the X-axis member 7 and the second vertical member 14b, each of which has one end connected to the connecting piece 13, also form a pair and perform angular motion in parallel to each other, and the X-axis member 7 And the hand portion shaft member 10 mounted between the other end portion of the second vertical holding member 14b always maintains a vertical state, so that the hand portion 11 attached to the lower end of the hand portion shaft member 10 is You will always be able to work in a vertical position with the product.

이상 설명한 바와 같이 본 발명 산업용 로보트에 의하면, 팔의 기능을 하는 X축과 Y축 및 핸드부축으로 이루어지는 3축중 핸드부축이 서브모터나 감속기와 같은 별도의 제어요소를 필요로 하지 않고 단순한 기구학적 링크연결방식에 의해 작동이 제어되게 됨으로써 콘트롤러의 제어용량이 축소되게 되고, 그 때문에 제어속도가 빨라져 로보트의 작업능률이 향상됨과 더불어 제어요소의 감축으로 말미암아 제조단가도 낮아지게 되는 효과가 있게 된다.As described above, according to the industrial robot of the present invention, the three-axis hand shaft consisting of the X-axis, the Y-axis, and the hand-shaft which functions as an arm does not require a separate control element such as a submotor or a speed reducer, and thus, a simple kinematic link. As the operation is controlled by the connection method, the control capacity of the controller is reduced. Therefore, the control speed is increased, thereby improving the work efficiency of the robot and reducing the manufacturing cost due to the reduction of the control element.

Claims

A linear moving part 1 for allowing the robot to linearly move on the rail to a predetermined working position, a rotating part 3 for rotating the body part 2 of the robot, and a control element mounted to the body part 2 Y-axis member 6 for forward and backward movement, in which one end is fixedly connected to the output shafts of the first and second sub-motors 4a and 4b, the first and second reducers 5a and 5b, and the first reducer 5a. , The X-axis member 7 for vertical movement, which is vertically installed at the end of the Y-axis member 6 in the shape of “B”, and the Y-axis member 6 for controlling the power transmitted to the X-axis member 7. A connecting member 8 fixedly connected to the output shaft of the second reducer 5b and an X-axis driving lever connecting one end of the connecting member 8 and both ends of the X-axis member 7 so as to be parallel to the output shaft of the second reducer 5b. 9) to the hand portion shaft member 10 mounted at the end of the X-axis member 7 and the hand portion 11 attached to the lower end of the hand portion shaft member 10 to pick up a predetermined product or part. Made up of industrial robot Then, on the hinge portion 12 of the Y-axis member and the X-axis member 6, 7, a “b” shaped connecting piece 13 is mounted together, while the connecting piece 13 and the connecting member 8 are mounted. And both ends of the first and second vertical holding levers 14a and 14b respectively connected in parallel with the Y-axis member and the X-axis member 6 and 7, respectively, between the hand-shaft member 10 and the hand-shaft shaft. Industrial robot, characterized in that the member 10 is always maintained in a vertical state while interlocking with the Y, X-axis member (6,7) even without a separate control element.