WO2014021568A1

WO2014021568A1 - Jig for multiple tools

Info

Publication number: WO2014021568A1
Application number: PCT/KR2013/006334
Authority: WO
Inventors: 이춘우
Original assignee: Lee Chun-Woo
Priority date: 2012-07-31
Filing date: 2013-07-16
Publication date: 2014-02-06

Abstract

The present invention enables multiple tools and translatory or pivotal parts for determining the positions of the multiple tools to selectively occupy a place in a frame so as to smoothly determine the positions of the multiple tools according to a plurality of parts to be machined of a workpiece, thus being readily applied to various workpieces with a plurality of irregularly patterned parts to be machined.

Description

Jig for Multiple Tools

TECHNICAL FIELD The present invention relates to a jig for a plurality of tools, and more particularly, to an easy jig for positioning a tool of a plurality of tools in various patterns.

The jig refers to an auxiliary mechanism for easily and accurately determining a machining position in machining. The jig includes a tool jig for positioning a tool and a workpiece jig for positioning a workpiece.

In particular, the dedicated jig for one tool of the tool jig is able to determine the position of the tool by attaching a translation part or a turning part to the bracket on which the tool is mounted at least one of the rotational and translational movement, The jig for a plurality of tools for a tool mounts a plurality of tools in a bracket mounted on a translation part or a turning part, and allows the positioning of the plurality of tools by the translation part or the turning part in the bracket.

The multiple tool jig can be processed by the multiple tools at the same time approach to the portion to be processed of the workpiece having a plurality of parts to be processed, it is widely used in machining.

The multiple tool jig includes a dedicated jig for one type of workpiece and a multipurpose jig for a variety of workpieces.

The multi-purpose jig of the multi-tool jig always has a translational part or pivot portion for positioning the multi-tool and the multi-tool in the bracket of the multi-use jig when the plurality of parts to be processed have an irregular pattern. Since it is occupied, there is a limit to positioning the plurality of tools in accordance with the plurality of parts to be machined, so that the multi-purpose jig among the multi-tool jig is not used in the machining field and is used in the machining field. In the situation where only heavy duty jig is used habitually, there arises a problem of increasing machining cost due to dedicated gig during machining.

The present invention has a problem in solving the above problems.

According to an aspect of the present invention, a plurality of rotating parts are mounted on the frame at regular intervals along a frame having a predetermined shape, and a cylinder is mounted to be fixedly externally circumferentially formed on the outer circumference of each of the plurality of rotating parts. The problem can be solved by allowing each to extend toward the part of the frame facing each other and allowing the proximal end of the tool to be fixedly circumscribed to the outer circumference of each of the rods, while the tip of the tool extends toward the workpiece.

According to another aspect of the present invention, there is provided a second motor which rotates about a Y axis line at regular intervals along a frame having a predetermined shape, and has a pivoting axis with the pivot center axis in the X axis direction. A first rotating part to be mounted, a first motor rotating about a Y axis line through the first bracket, and a first rotating part having a pivot center axis in the X-axis direction to the first rotating part. The said subject can be solved by mounting a 2nd turning part, and attaching an operation part through a 2nd bracket to a said 2nd turning part.

The present invention makes it possible to selectively occupy the translational tool or the pivoting portion for positioning the plurality of tools and the plurality of tools within the frame, thereby smoothly fitting the plurality of tools to the plurality of parts to be machined of the workpiece. It can be positioned so that it can be easily applied to a variety of workpieces in which a plurality of sites to be processed have an atypical pattern.

1 is a plan view showing an embodiment of the present invention,

2 is a side view of FIG. 1;

Figure 3 is a side view showing another embodiment of the present invention,

4 is a view showing another embodiment of the present invention;

5 is an enlarged view of a portion of FIG. 4;

FIG. 6 is a view illustrating when the second motor of FIG. 5 is rotated, and

FIG. 7 is a view illustrating when the first motor of FIG. 5 is rotated.

Jig for multiple tools of one aspect of the present invention is a frame having a predetermined shape; A plurality of rotation parts mounted on the frame spaced apart at regular intervals along the frame and having a rotating shaft rotatable in a forward / reverse direction extending in the thickness direction of the frame; A cylinder having a proximal end fixedly circumscribed to an outer circumferential portion of the rotation shaft of each of the plurality of rotation units, the cylinder extending toward a portion of the frame facing each of the rods of the cylinder; And a tool having a proximal end fixedly circumscribed to a tip outer periphery of each of the rods, wherein the tip of the tool extends toward a position where a workpiece disposed in a lower region in the frame is located.

According to another aspect of the present invention, a tool jig includes a mold having a predetermined shape; And a plurality of manipulators spaced apart from each other along the frame and mounted on the frame, wherein the manipulator includes: a second motor in which the rotation axis is rotatably mounted around the Y center axis line; A second turning part mounted on the rotating shaft of the second motor such that the rotating shaft is rotated with a central axis in the X direction perpendicular to the center of rotation of the second motor; A first motor mounted to the second pivot part via a second bracket, the first motor having a rotational shaft rotated about the Y center axis line; A first turning part mounted on a rotating shaft of the first motor such that the rotating shaft is rotated with a central axis in the X direction perpendicular to the center of rotation of the first motor; And an operation portion attached to the first pivot portion via a first bracket.

Hereinafter, embodiments according to the present invention will be described in detail with reference to FIGS. 1 to 7.

In Fig. 1, a jig for a plurality of tools of one embodiment of the present invention is indicated as 100.

The multiple tool jig 100, as shown in Figures 1 and 2, the frame 10 having a predetermined shape (for example rectangular, circular, triangular, etc.); A plurality of rotation parts 20 which are spaced apart at regular intervals along the mold 10 and are mounted on the mold 10 and have a rotating shaft 21 rotatable in a forward and backward direction extending in the thickness direction of the mold 10; A cylinder 30 whose proximal end is circumferentially circumscribed to the outer circumferential portion of the rotation shaft 21 of each of the plurality of rotation units 20, the portion of the frame 10 facing each of the rod 31 of the cylinder 30 The cylinder (30) extending towards; And a tool 40 having a proximal end fixedly circumscribed to the outer circumferential portion of each of the rods 31, wherein the workpiece 50 at which the distal end of the tool 40 is disposed in the lower region of the mold 10 is located. And the tool 40 extending toward it.

The tool 40 may be a device for assembling the workpiece, for example, may be a screw or bolt fastener, a welder, etc., which rotate and translate, and the tool 40 may rotate and In addition to the rotary unit 20 and the cylinder 30 for the translational movement, the rotary unit and the translation unit are separately provided in the vehicle body.

In addition, the mold 10 may be mounted on a manipulator (not shown) having a rotating part and a translation part to approach the workpiece 50 by three-dimensional motion, and the rotating part may be a rotating motor. The translation may be a cylinder or rack and pinion mechanism.

The multiple tool jig 100 configured as described above has a plurality of through holes, for example, formed on an upper surface of the workpiece 50, and the work for fastening bolts or the like to the through holes is carried out. ) Is applied, the tool 40 can be a known fastener and can be operated as follows.

First, all the rotary parts 20 are operated to arrange all the cylinders 30 and the tools 40 on the outside of the mold 10.

Next, a corresponding tool among the tools 40 disposed at the outside of the mold 10 in each of the plurality of through holes formed in the upper surface of the workpiece 50 disposed in the lower region of the mold 10 ( In order to fit the plurality of 40, the rotary part 20 in which the tool 40 to be fitted to the through hole is mounted to move the rod 31 of the cylinder 30 and the tool 40 to the inner region of the mold 10. The cylinder 30 is operated while the rod 30 is moved forward and backward to precisely orient the tip of the tool 40 with respect to the through hole of the workpiece 50 while being disposed at.

By the above operating method, it is possible to smoothly position the plurality of tools 40 in accordance with the plurality of through holes to be fastened of the workpiece 50, so that the plurality of through holes to be fastened are atypical patterns. The plurality of tool jig 100 can be easily applied to a variety of workpieces having a.

A multi tool jig of another embodiment of the above embodiment is shown in FIG. 3.

The multi-tool jig may include a frame 10 having a predetermined shape (eg, rectangular, circular, triangular, etc.), as shown in FIG. 3 and the multi-tool jig 100 of the embodiment; A plurality of rotating parts 20 mounted at the frame 10 and spaced apart from each other along the mold 10 and rotatable in a forward / reverse direction extending in the thickness direction of the mold; A first bracket (70) whose proximal end is fixedly circumscribed to an outer circumferential portion of each of the rotation shafts (21) of each of the plurality of rotation parts (20) and the tip extends in a direction perpendicular to the rotation center axis line of the rotation shaft (21); The other one is fixed to the front end of the first bracket 70, the rotating shaft 81 rotatable in the forward and reverse direction is exposed through both ends of the case 82 in a state extending in parallel to the rotation shaft 21 Rotating part 80; A c-shaped second bracket (60) fixedly circumscribed at both ends of the rotation shaft (81); And a tool 40 having a proximal end fixed to an outer periphery of each of the brackets 60, wherein a tip of the tool 40 extends toward the work piece 50 disposed in a lower region in the mold 10. The tool 40 is included.

The tool 40, as in the embodiment, may be a device for assembling the workpiece, for example, it may be a screw or bolt fastener, a welder, etc. for rotational and translational movement, The tool 40 is provided with a rotating body and a translation part in addition to the rotating part 20 and the other rotating part 80 for rotation and translation.

In addition, as in the exemplary embodiment, the mold 10 may be mounted on a manipulator (not shown) having a rotating part and a translation part so as to approach the workpiece 50 by three-dimensional movement. May be a rotating motor, and the translation may be a cylinder or rack and pinion mechanism.

In the multiple tool jig according to another embodiment configured as described above, for example, a plurality of through holes are formed on the upper surface of the workpiece 50, and the plurality of tool jig is configured to fasten bolts or the like to the through holes. If applied, the tool 40 can be a known fastener and can be operated as follows.

First, all the rotating parts 20 and the other rotating parts 80 are operated to arrange all the other rotating parts 80 and the tool 40 on the outside of the mold 10.

Next, a corresponding tool among the tools 40 disposed at the outside of the mold 10 in each of the plurality of through holes formed in the upper surface of the workpiece 50 disposed in the lower region of the mold 10 ( In order to fit the plurality of 40, the rotary part 20 equipped with the tool 40 to be fitted to the through hole and the other rotating part 80 are moved to arrange the tool 40 in the inner region of the mold 10. The tip of the tool 40 is precisely aligned with respect to the through-hole of the workpiece 50 while being made.

By the above operating method, it is possible to smoothly position the plurality of tools 40 in accordance with the plurality of through holes to be fastened of the workpiece 50, so that the plurality of through holes to be fastened are atypical patterns. The multiple tool jig can be easily applied to a variety of workpieces having the same.

In Fig. 4, a jig for multiple tools of another embodiment of the present invention is indicated as 200.

The multiple tool jig 200, as shown in Figure 4, a frame having a predetermined shape (for example rectangular, circular, triangular, etc.); A plurality of manipulators are mounted on the upper surface of the mold 140 spaced apart at regular intervals along the mold 140.

As shown in FIG. 5, each of the plurality of manipulators includes a second motor 120 mounted on the frame 140 with the rotation axis rotated about the Y center axis line Y. As shown in FIG.

Each of the manipulators may include a second pivot part mounted on the rotation shaft 121 of the second motor 120 so that the rotation axis is rotated with a central axis in the X direction perpendicular to the rotation center of the second motor 120. 150; A first motor 110 mounted on the second pivoting part 150 via a second bracket 191 and mounted on the Y center axis line Y in a rotational axis; A first pivot part 170 mounted on the rotation shaft 111 of the first motor 110 so that the rotation shaft 111 is rotated with a central axis in the X direction perpendicular to the rotation center of the first motor 110; And an operation unit 180 mounted to the first pivot unit 170 via a first bracket 192.

Each of the first and

first motors

110 and 120 is a rotating motor in which the

rotating shafts

111 and 121 protrude to one side of the

cases

112 and 122, and are exposed to the first and

second turning parts

150 and 150. 170 is a rotary motor protruding and exposing the rotating shaft to both sides of the case to receive a rotational force in the forward and reverse directions.

The first motor 110 is a motor that is coupled to the rotating shaft 111 to the first turning unit 170 to apply a rotational force to any one of the forward and reverse directions to the rotating shaft 111, and the second motor 120 The rotating shaft 121 is coupled to the second pivoting part 150 so that the stator 113 or the case 112 of the first motor 110 is disposed when the rotating

shafts

111 and 121 are disposed in a straight line. It is a motor that rotates to another one of forward and reverse directions.

The first and

second motors

110 and 120 are internally provided with a predetermined gap for each of the

stators

113 and 123 and the

stators

113 and 123 that are internally fixed to the

cases

112 and 122 as in the related art. And the

rotors

114 and 124 disposed in such a manner, and the

rotation shafts

111 and 121 fixed to the

rotors

114 and 124, respectively.

The rotating shaft 111 of the first motor 110 is fixed to the rotating shaft 111 after the first motor 110 is stopped, and then rotates the rotating shaft 111 after the first motor 110 is operated. And a stopper 115 for maintaining the free state, and the second motor 120 fixes the rotating shaft 121 after the second motor 120 is stopped and the second motor 120 And a stopper 125 for holding the rotary shaft 121 in a free rotation state after being operated.

In addition, the first and

second turning parts

170 and 150 are also shown for fixing their rotation shafts so that the position of the operation unit 180 is fixed when the first and

second turning parts

170 and 150 are movable stopped. Each stopper is not included.

Each of the

stoppers

115 and 125 is fixed to a stator or a case of the corresponding motor. Each of the

stoppers

115 and 125 may be magnetized when the power is not supplied to the motor, for example, to grab the rotation shaft of the motor so that the rotation shaft is not rotated. It can be an electronic chuck to release the fixing to the rotation axis of the rotation axis to be free rotation state.

In addition, the stator 123 or the case 122 of the second motor 120 is fixed to the frame 140.

The second bracket 191 has a fork shape, one end of which is fixed externally to both ends of the rotation shaft of the second pivot 150, and the other end of the second bracket 191 is fixed to the case 112 of the first motor 110. .

The first bracket 192 is also in a fork shape, one end of which is fixedly external to both ends of the rotation shaft of the first pivot 170, and the other end of the first bracket 192 is coupled to the base end of the operation unit 180.

Each of the manipulators includes a second motor 120, a second turning unit 150, a second bracket 191, a first motor 110, a first turning unit 170, a first bracket 192, and an operation unit. 180 may be selectively arranged on the Y center axis Y. As shown in FIG.

The operation unit 180 may be a device for assembling the workpiece, for example, may be a screw or bolt fastener, a welder, and the like to rotate and translate.

In addition, the second motor 120 and the second pivot 150 as an unillustrated manipulator having a rotating part and a translation part in order for the mold 140 to approach a workpiece not shown by a three-dimensional motion. Of the manipulator of the embodiment provided with the second bracket 191, the first motor 110, the first pivot part 170, the first bracket 192, and the operation part 180. The frame 140 may be mounted on the manipulation unit 180.

The multiple tool jig 200 configured as described above has, for example, a plurality of through holes formed on an upper surface of the workpiece, and the multiple tool jig 200 is applied to a work for fastening bolts or the like to the through holes. In this case, the operation unit 180 may be a known fastener and may be operated as follows.

First, all of the second turning parts 150 are operated so that the second bracket 191, the first motor 110, the first turning part 170, the first bracket 192, and the operation unit 180 of all the manipulators are operated. Is placed outside the frame 140.

Next, a plurality of corresponding operation units 180 among the operation units 180 disposed outside the frame 140 in each of the plurality of through holes formed in the upper surface of the workpiece disposed in the region within the frame 140. In order to align the second turning part 150 of the manipulator equipped with the operation unit 180 to be fitted to the through hole to move the second bracket 191, the first motor 110, the first turning part 170, The first motor 110 and the first turning unit 170 are operated while the first bracket 192 and the operation unit 180 are disposed in the inner region of the mold 140 so that the operation unit 180 can be precisely processed. Orient with respect to the through-hole.

It is possible to smoothly position the plurality of operation units 180 in accordance with the plurality of through holes to be fastened of the workpiece by the above operation method, so that the plurality of through holes to be fastened have an irregular pattern. The multiple tool jig 200 can be easily applied to a variety of workpieces.

It is possible to smoothly position the plurality of operation units 180 in accordance with the plurality of through holes to be fastened of the workpiece by the above operation method, so that the plurality of through holes to be fastened have an irregular pattern. The multiple tool jig can be easily applied to a variety of workpieces.

Each manipulator configured as described above may be operated as follows.

As shown in FIG. 5, the second motor 120, the second turning unit 150, the second bracket 191, the first motor 110, the first turning unit 170, and the first bracket 192. In the first state in which both the operation unit 180 and the operation unit 180 are disposed on the Y center axis line Y, when the motor of any one of the first and

second motors

110 and 120 is rotated, the operation unit 180 causes the operation unit 180 to operate. When the manipulator is rotated about the Y center axis (Y) and the drill is mounted on the operation unit 180, the manipulator may be applied to the drilling process, and the medical manipulator, for example, to enter into the abdominal cavity and perform the procedure. Can be applied.

In the first state, the rotational axis of the first motor 110 is rotated to set a direction in which the first bracket 192 of the first pivot part 170 is to be moved, and then the first pivot part 170. To move the first bracket 192 in the X-axis direction or Z-axis direction to create a second state of positioning at an arbitrary position, as shown in FIG. It is converted into a posture having an arbitrary acute angle with respect to the axis line Y.

In the second state, when the second motor 120 or the first motor 110 is rotated, as shown in Figure 6, the operation unit 180 is the arbitrary acute angle with respect to the Y center axis (Y) Has a circular rotation around the Y center axis (Y) with the operation unit 180 can draw a circular trajectory with a small radius, and the operation unit 180 by operating the first turning unit 170 When inclined at an acute angle greater than the arbitrary acute angle, the operation unit 180 is rotated in a circle around the Y center axis line Y with a radius larger than the small radius about the Y center axis line Y. Thus, the operation unit 180 can draw a circular trajectory with a large radius.

In the second state, when the second turning unit 150 is operated to tilt the second bracket 191 toward the inclined side as shown in FIG. 7, the operation unit 180 is operated. Is inclined at an acute angle larger than the arbitrary acute angle, and when the first motor 110 is operated, an acute angle or the center axis line perpendicular to the Y center axis line Y or the Y center axis line Y is When the operation unit 180 is drawn as a circular trajectory around a central axis having an obtuse angle, and the second motor 120 is operated, the first motor 110 is centered on the Y center axis line Y. It is possible to draw a circular trajectory with a radius larger than the radius of rotation when.

Such operation enables the movement trajectory of the operation unit (for example, the arm, the foot, the neck, etc.) to be substantially similar to the motion trajectory that can be realized by the shoulder, thigh, or neck joint of a human.

Therefore, each of the manipulators, by providing a motion trajectory similar to the motion trajectory that can be implemented by the human arm, it is possible to implement the work that is to be manually performed by the human, if applied to the industrial robot.

In addition, each of the manipulators enables the operation unit to enter an insulated narrow space by moving the first and second turning portions in the forward and reverse directions.

In addition, the manipulator may be operated as follows in the first state.

1. When the first motor is driven first

When the operation tool 180 is rotated in the forward direction, the first motor is stopped while the second motor 120 is stopped so that the stopper 125 fixes the rotation shaft 121 of the second motor 121. Power is supplied to the 110 to generate a rotational force in the forward direction between the stator 113 and the rotor 114 of the first motor 110 to apply a rotational force in the forward direction to the rotating shaft 111.

At this time, the rotating shaft 111 is released by the stopper 115 in the free state of the rotor in the stator 113 of the first motor 110, but to fix the stator 113 or the stator 113 Since the case 112 of the first motor 110 is fixed to the rotation shaft 121 of the second motor 120 fixed by the stopper 125, the third law of Newton (action reaction law) The forward rotational force can be applied based on

That is, the rotating shaft can receive the rotational force generated between the stator and the rotor only when the stator is fixed. This example is similar to the principle in which a case of a conventional motor holding a stator is fixed to a fixed base.

In addition, when the operation tool 180 is rotated at a constant speed in the forward direction, power is supplied to the first motor 110 to supply power to the second motor 120 while rotating the rotation shaft 111 in the forward direction. After supplying and applying a forward rotational force to the rotary shaft 121 of the second motor 120, the fixed state of the rotary shaft 121 by the stopper 125 is released.

As a result, in the state in which the rotating shaft 121 of the second motor 120 rotates the stator 113 fixed to the case 112 of the first motor 110 in the forward direction, by the first motor 110. Since the rotational force in the forward direction is transmitted to the rotation shaft 111 of the first motor 110, the rotational shaft 111 and the operation tool 180 of the first motor 110 receives the doubled rotational force in the forward direction. It will be increased.

In addition, when decelerating and rotating the manipulation tool 180 in the forward direction, power is supplied to the first motor 110 to supply power to the second motor 120 while rotating the rotation shaft 111 in the forward direction. By transmitting the reverse rotational force to the rotary shaft 121 of the second motor 120, and then release the fixed state of the rotary shaft 121 by the stopper (125).

As a result, the stator 113 of the first motor in a state in which the rotating shaft 121 of the second motor 120 rotates the stator 113 fixed to the case 112 of the first motor 110 in a reverse direction. And a rotational force is generated in the positive direction between the rotor 114 and the rotor 114 to transmit the rotational force in the positive direction to the rotational shaft 111 of the first motor 110, the stator 113 of the rotational shaft 111 in the forward direction Since the rotational force of the rotational shaft 111 in the forward direction of the first motor 110 is weakened because it does not serve as a point for generating the rotational force, the rotational shaft 111 and the operation tool 180 of the first motor 110 are in the forward direction. To slow down.

In addition, when the rotation of the operation tool 180 in the forward direction is stopped, power is supplied to the first motor 110 to the second motor 120 while the rotation shaft 111 is rotated in the forward direction. After supplying power to the rotary shaft 121 of the second motor 120 by the forward rotational force of the rotary shaft 111 of the first motor 110 in the reverse direction, the rotary shaft 121 by the stopper 125 Release the fixed state.

As a result, the rotating shaft 121 of the second motor 120 rotates the stator 113 fixed to the case 112 of the first motor 110 by the rotational force of the rotating shaft 111 in the reverse direction. Since the rotational force in the forward direction is transmitted to the rotational shaft 111 of the first motor 110, the rotational force in the forward direction and the reverse rotational force are canceled so that the rotational shaft 111 and the operation tool 180 of the first motor 110 are offset. It is stopped.

In this state, even though the first and

second motors

110 and 120 are operated, the operation tool 180 is at a stop state, so that no inertial force is generated in the operation tool 180. Even when the first and

second motors

110 and 120 are simultaneously deactivated, the operating tool 180 can be stopped at a desired position and at a desired time.

In addition, when the driving of the first motor 110 is stopped in the stopped state, the operation tool 180 can be rotated by the second motor 120 in the reverse direction without inertia resistance.

2. When the second motor is driven first

When the operation tool 180 is rotated in the forward direction, the second motor is stopped while the first motor 110 is stopped to allow the stopper 115 to fix the rotation shaft 111 of the first motor 110. Power is supplied to the 120 to generate a forward rotational force between the stator 123 and the rotor 124 of the second motor 120.

In this case, since the rotation shaft 111 is fixed to the rotation shaft 121 of the second motor 120 via the case 112 by the stopper 115, the rotation shaft 111 rotates together in the forward direction.

In addition, when the operation tool 180 is rotated at a constant speed in the forward direction, power is supplied to the first motor 110 by supplying power to the second motor 120 to rotate the rotation shaft 121 in the forward direction. After supplying, the rotational force in the forward direction is applied to the rotational shaft 111 of the first motor 110, and the fixed state of the rotational shaft 111 by the stopper 115 is released.

As a result, in the state in which the rotation shaft 121 of the second motor 120 rotates the stator 113 fixed to the case 112 of the first motor 110 in the forward direction, the rotation shaft of the first motor 110. Since the rotational force in the forward direction is transmitted to the 111, the rotational force transmitted to the rotational shaft 111 of the first motor 110 is doubled so that the manipulation tool 180 is increased in the forward direction.

In addition, when decelerating and rotating the operation tool 180 in the forward direction, power is supplied to the first motor 110 while supplying power to the second motor 120 to rotate the rotation shaft 121 in the forward direction. By applying a reverse rotation force to the rotary shaft 111 of the first motor 110, and then release the fixed state of the rotary shaft 111 by the stopper 115.

As a result, the case 112 that is rotated in the forward direction by the second motor 120 even when the rotation shaft 111 of the first motor 110 is released from the rotation shaft 121 of the second motor 120. ) And the rotating shaft 111 accommodated in the stator 113 and rotating in the forward direction operates the first motor 110 to generate electromagnetic force generated between the stator 113 and the rotor 114 of the first motor. The rotational force is received in the opposite direction, such that the rotation shaft 111 and the operation tool 180 of the first motor 110 are decelerated in the forward direction.

In addition, when the rotation of the operation tool 180 in the forward direction is stopped, power is supplied to the second motor 120 to the first motor 110 in a state in which the rotation shaft 121 is rotated in the forward direction. After supplying power, a reverse rotational force is applied to the rotational shaft 111 of the first motor 110 by the forward rotational force of the rotational shaft 121 of the second motor 120, and then the rotational shaft 111 is fixed by the stopper 115. Release the state.

As a result, in the state in which the rotation shaft 121 of the second motor 120 rotates the stator 113 fixed to the case 112 of the first motor 110 in the forward direction, the rotation shaft of the first motor 110. Since the rotational force in the reverse direction is applied to the 111 by the rotational force in the forward direction of the rotational shaft 111, the forward rotational force of the rotational shaft 111 is canceled out so that the rotational shaft 111 of the first motor 110 and the operating tool 180 is in a stopped state.

In this state, even though the first and

second motors

110 and 120 are operated, since the operating tool 180 is at a stop state, no inertial force is generated in the operating tool 180. Even when the first and

second motors

In addition, when the driving of the second motor 120 is stopped in the stopped state, the operation tool 180 can be rotated by the first motor 110 in the reverse direction without inertia resistance.

In the above embodiment, it has been described that the stopper 115 releases the rotating shaft 111 after the first motor 110 is driven, and fixes the rotating shaft 111 after the first motor 110 is stopped. In another embodiment, the stopper 115 may fix the rotating shaft 111 after the first motor 110 is stopped, and selectively fix the rotating shaft 111 even after the first motor 110 is operated. In some cases, the rotation shaft 111 may be fixed.

In a separate embodiment as described above, when decelerating and rotating the operation tool 180 in the forward direction, the first motor 110 in a state in which power is supplied to the second motor 120 to rotate the rotation shaft 121 in the forward direction. The rotating shaft 111 is fixed by the stopper 115 for a predetermined time without releasing the fixed state of the rotating shaft 111 by the stopper 115 while applying a reverse rotational force to the rotating shaft 111 of the stopper 115. By this, the fixed state of the rotation shaft 111 is released.

As a result, the case 112 and the rotating shaft 111 accommodated in the case 112 and the stator 113 rotated in the forward direction by the second motor 120 move the first motor 110 to operate the first motor. In a state in which a rotational force is received in a reverse direction, which is an electromagnetic force generated between the stator 113 and the rotor 114 of the motor for a predetermined time, the rotation shaft 111 of the first motor 110 of the second motor 120 As soon as the engagement state with respect to the rotary shaft 121 is released, the rotary shaft 111 and the manipulation tool 180 of the first motor 110 are decelerated in the forward direction.

In addition, in the separate embodiment when the rotation of the operation tool 180 in the forward direction is stopped, the first motor in a state in which the power supply to the second motor 120 to rotate the rotary shaft 121 in the forward direction While applying the reverse rotational force by the forward rotational force of the rotational shaft 121 of the second motor 120 to the rotational shaft 111 of the 110, the stopper for a predetermined time without releasing the fixed state of the rotational shaft 111 by the stopper 115 The rotary shaft 111 is fixed by the 115, and then the fixed state of the rotary shaft 111 is released by the stopper 115.

As a result, the case 112 and the rotating shaft 111 accommodated in the case 112 and the stator 113 rotated in the forward direction by the second motor 120 move the first motor 110 to operate the first motor. Between the stator 113 and the rotor 114 of the motor while receiving a rotational force in a reverse direction, which is an electromagnetic force generated by the rotational force in the forward direction of the rotary shaft 111 for a predetermined time, the rotary shaft of the first motor 110 ( The release state of the second motor 120 to the rotary shaft 121 of the second motor 120 is released, and at the same time, the forward rotational force of the rotary shaft 111 is directly canceled, and the operation of the rotary shaft 111 of the first motor 110 and the manipulation is performed. The sphere 180 immediately stops.

The start and stop of the first and

second motors

110 and 120 may include the rotational speed information received from encoders provided in each of the first and

second motors

110 and 120 and the predetermined time information set by itself. It can be controlled by an arithmetic program of a control device (not shown) provided in the driving device.

The manipulator configured as described above can make it possible to change the speed and torque of the operating tool even when the transmission and the reducer are excluded, and can also position the operating tool at a desired position and at a desired time point without any vibration. .

In the manipulator, when one of the first and second motors is driven in the forward direction and the other is driven in the reverse direction, the speed increase function cannot be performed, and the forward rotation, deceleration forward rotation, stop, and reverse rotation functions are performed. This becomes possible.

That is, when the operation tool 180 is rotated in the forward direction, the second motor 120 is stopped so that the stopper 125 fixes the rotation shaft 121 of the second motor 121. When power is supplied to the first motor 110 to generate a forward rotational force between the stator 113 and the rotor 114 of the first motor 110, and when the operating device 180 to decelerate rotation in the forward direction In a state in which power is supplied to the first motor 110 to rotate the rotation shaft 111 in the forward direction, power is supplied to the second motor 120 in the opposite direction to the rotation shaft 121 of the second motor 120. After applying the rotational force of the, the release state of the rotating shaft 121 by the stopper 125, and when the rotation of the operation tool 180 in the forward direction to stop, power to the first motor 110 The first motor 110 by supplying power to the second motor 120 in a state in which the rotating shaft 111 is rotated in a forward direction by supplying the same. After applying the rotational force in the reverse direction to the rotational shaft 121 of the second motor 120 by the forward rotational force of the rotational shaft 111 of), release the fixed state of the rotational shaft 121 by the stopper 125, and in the forward direction When the operation tool 80 in the stopped state is rotated in the reverse direction, the driving of the first motor 110 can be stopped in the stopped state.

In addition, even when the second motor is driven first with the stopper only in the first motor capable of being reversed without being provided with the stopper in the second motor capable of being reversed from the manipulator, the forward rotation, the acceleration rotation, the deceleration forward rotation, the stop, The reverse rotation function is enabled. When the first motor can be driven in the forward direction and the second motor can be driven in the reverse direction, the speed increase function cannot be performed, and the forward rotation, deceleration forward rotation, stop, and reverse rotation functions are possible. Done.

In addition, the turning parts provided in the manipulator are shiftable driving devices (three motors with a stopper in series) disclosed in Patent Application Nos. 10-2012-0078332 or 10-2012-0080496 patented by the present inventors. Drive).

When the turning parts are patented by the present inventors and replaced with the shiftable driving device, the operation part can be moved or moved in a state in which shift is possible, and the operation part can be stopped immediately without inertia. desirable.

On the other hand, the jig for a plurality of tools according to the present invention is a manipulator in cooperation in a certain shape of the frame, regardless of any type of work is given to each manipulator to work while changing the posture from the overall point of view of the manipulator mounted on the frame It is a universal jig that can be accommodated even if various products are requested in various forms because it is worked in a hometown, and mini-operets have their own jobs while avoiding line assembly or machining work by avoiding interference between manipulators and at the same time occupying a small work space. It is possible to significantly lower the work efficiency and work cost than conventional.

Claims

Frame 10 having a predetermined shape;

A plurality of rotation parts 20 which are spaced apart at regular intervals along the mold 10 and are mounted on the mold 10 and have a rotating shaft 21 rotatable in a forward and backward direction extending in the thickness direction of the mold 10;

A cylinder 30 whose proximal end is circumferentially circumscribed to the outer circumferential portion of the rotation shaft 21 of each of the plurality of rotation units 20, the portion of the frame 10 which each of the rods 31 of the cylinder 30 face The cylinder (30) extending towards; And

A tool 40 having a proximal end fixedly circumscribed to a distal end portion of each of the rods 31, wherein the distal end of the tool 40 is positioned in a lower region of the mold 10. Jig for multiple tools, characterized in that it comprises the tool 40 extending.
Frame 10 having a predetermined shape;

A plurality of rotating parts 20 mounted at the frame 10 and spaced apart from each other along the mold 10 and rotatable in a forward / reverse direction extending in the thickness direction of the mold;

A first bracket (70) whose proximal end is fixedly circumscribed to an outer circumferential portion of each of the rotation shafts (21) of each of the plurality of rotation parts (20) and the tip extends in a direction perpendicular to the rotation center axis line of the rotation shaft (21);

The other one is fixed to the front end of the first bracket 70, the rotating shaft 81 rotatable in the forward and reverse direction is exposed through both ends of the case 82 in a state extending in parallel to the rotation shaft 21 Rotating part 80;

A c-shaped second bracket (60) fixedly circumscribed at both ends of the rotation shaft (81); And

A tool 40 having a proximal end fixed to an outer periphery of each of the brackets 60, wherein the tip of the tool 40 extends toward the work piece 50 disposed in the lower region in the mold 10; Jig for multiple tools, characterized in that it comprises a tool (40).
The method according to claim 1 or 2,

The tool 40 is a device for assembling the workpiece,

The tool 40 is a jig for a plurality of tools, characterized in that the rotary part and the translation unit is provided separately from the vehicle body.
The method according to claim 1 or 2,

The tool 10 is a jig for a plurality of tools, characterized in that mounted on the manipulator having a rotating part and a translation part in order to approach the workpiece 50 by three-dimensional motion.
Frame 140 having a predetermined shape; And

It includes a plurality of manipulators mounted on the frame 140 spaced apart at regular intervals along the frame 140,

The manipulator

A second motor (120) rotatably mounted on the frame (140) about a Y center axis (Y);

A second turning part 150 mounted on a rotation shaft of the second motor 120 to have a rotation axis rotated in a X direction perpendicular to the rotation center of the second motor 120;

A first motor 110 mounted on the second pivoting part 150 via a second bracket 191 and mounted on the Y center axis line Y in a rotational axis;

A first pivot unit 170 mounted on a rotation shaft of the first motor 110 to rotate the rotation shaft with a central axis in the X direction perpendicular to the rotation center of the first motor 110; And

Jig for a plurality of tools, characterized in that it comprises an operation unit 180 mounted to the first pivot portion 170 via a first bracket (192).
The method of claim 5,

The second and first motors (120, 110) is a conventional rotary motor with a rotating shaft protruding to one side of the case, and

The first and second turning parts 150 and 170 are jig for a plurality of tools, characterized in that the rotating motor is exposed by the rotating shaft protruding to both sides of the case.
The method of claim 6,

The second bracket 191 is in a fork shape, one end of which is fixed externally to both ends of the rotation shaft of the second pivot 150, the other end is fixed to the case of the first motor 110, and

The second bracket 191 also has a fork shape, one end of which is fixedly externally circumferentially at both ends of the rotating shaft of the first pivot 170, and the other end is coupled to the proximal end of the operation unit 180. Jig for multiple tools.
The method according to any one of claims 5 to 7,

The second motor 120, the second turning unit 150, the second bracket 191, the first motor 110, the first turning unit 170, the first bracket 192, and the operation unit 180 are provided. Optionally jig for multiple tools, characterized in that disposed on the Y center axis (Y).
The method according to any one of claims 5 to 7,

At least one of the first and second motors 110 and 120 includes a stopper for fixing the rotation shaft,

Jig for multiple tools, characterized in that each of the first and second pivots (150, 170) includes a stopper to fix their axis of rotation.
The method according to any one of claims 5 to 7,

Jig for multiple tools, characterized in that the frame (140) is mounted on the manipulator of the manipulator to approach the workpiece by three-dimensional movement.