WO2018105770A1

WO2018105770A1 - Arm loader

Info

Publication number: WO2018105770A1
Application number: PCT/KR2016/014256
Authority: WO
Inventors: 배금미
Original assignee: (주)해성로보틱스
Priority date: 2016-12-06
Filing date: 2016-12-06
Publication date: 2018-06-14

Abstract

An arm loader for loading and unloading workpieces may comprise: a slider (18) which reciprocates in the left and right direction on guide rails (14) by being driven by the power of a cylinder (16); a rotation unit (20) comprising a rotation shaft (28) which is rotated by being connected to a cylinder (22) via a rack (24) and a pinion (26), and a turntable (30) installed at the tip of the rotation shaft (28); and an replacement unit (32) which is disposed on the top of the rotation unit (20) so as to be rotated in the horizontal direction according to an operation of the rotation unit (20), and transfers a workpiece according to an operation of an arm (50) vertically tilted by the power of a motor (34), wherein the lengths by which the cylinder (16) is expanded and retracted is variably controlled by a servomotor (17) disposed on one side of the cylinder (16) and a ball screw (19) disposed on the other side of the cylinder (16).

Description

Amendment under Rule 26 09.01.2017 Cancer loader

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an arm loader for supplying and withdrawing a workpiece, and more particularly to an arm loader for continuously and automatically supplying and withdrawing a workpiece.

The operation of supplying and withdrawing the workpiece into a device for processing a workpiece such as a CNC lathe was generally performed by a worker by hand, which has a problem of unnecessary waste of manpower and deterioration of reliability of the product due to manual work.

Therefore, in recent years, the CNC lathe has developed and used a device that can automatically supply and take out workpieces. Typical examples are GENTRY ROBOT, horizontal feeder, ARM ROBOT, mechanical arm loader, etc. There is this.

While the gantry robot has advantages of positioning, multi-positioning, and speeding up the cycle time, it is disadvantageous in the place condition when installing the equipment, high cost of cost, and acquisition of expertise in operation. .

Next, the horizontal feeder can be installed at a low cost, and the size of the parts is simple, so that there is an advantage of convenience of installation and construction. There is a problem.

The arm robot has advantages of positioning, multi-positioning, high speed cycle time, and common use of machined parts. However, the arm robot has disadvantages of high cost and acquisition of expertise in operation.

Lastly, the mechanical arm loader can be installed at low cost, and it has the advantages of simple size of parts, convenient installation and construction, high speed of cycle time, common use of machined parts, and convenience when replacing rolls. And the need to install safety fences within the working radius.

Conventionally, a workpiece feeder (Korean Patent Laid-Open Publication No. 10-2012-0029058) and the like of an NC lathe have been disclosed, but there is a shortage of supplying a workpiece through a simple and efficient structure of low cost.

Therefore, there is a need for a research on an automatic arm loader that can supply and withdraw workpieces accurately and effectively.

The present invention provides an arm loader which enables the supply and withdrawal of a workpiece to be continuously and automatically performed.

The present invention provides an arm loader in which the supply and withdrawal of the work is made in one device.

The present invention provides an arm loader in which a rotational movement of an arm equipped with a gripper for holding a workpiece is made through a roller gear index consisting of a cam and a splitter plate.

The present invention provides an arm loader for minimizing the installation space by miniaturizing the volume of the device through the roller gear index.

The present invention provides an arm loader that can be installed at low cost, the size of parts is simple, positioning and multi-positioning are possible, and the cycle time can be increased and the convenience of installation can be achieved.

The present invention provides an arm loader for variably controlling the left and right movement of a slider using a servomotor and a ball screw, so that supply and withdrawal control can be performed at a more precise position of a workpiece.

Arm loader according to an embodiment of the present invention, in the arm loader for supplying and withdrawing the workpiece, the slider 18 for reciprocating left and right in the left and right directions by the power of the cylinder 16, The rotating unit 20 and the rotating unit (20) comprising a rotating shaft (28) connected to the cylinder (22), the rack (24) and the pinion (26), and a turntable (30) installed at the tip of the rotating shaft (28). The exchange unit 32 provided at the upper end of the rotating unit 20 to rotate in the horizontal direction in accordance with the operation of the rotation unit 20, and transfers the workpiece in accordance with the operation of the arm 50 is tilted in the vertical direction by the power of the motor 34 And the cylinder 16 has a variable pull-in length and draw-out length by a servomotor 17 provided on one side of the cylinder 16 and a ball screw 19 provided on the other side of the cylinder 16. Can be controlled.

According to one aspect of the invention, the exchange unit 32 is installed on the turntable 30 is tilted in the horizontal direction and is rotated by the power of the motor 34, the spindle 42, the spindle 42 Is coupled to the tip of the housing and tilted in the vertical direction, and therein is a housing 44 having a shaft 46 rotating therein with the power of the motor 48 therein, which is installed on the housing 44 and tilted in the vertical direction. 46 and a plurality of

grippers

52a and 52b respectively installed at the tip of the arm 50 and the arm 50 which rotate in connection with each other and supply and withdraw the workpiece to the shelf 60 according to the operation of the arm 50. ) May be included.

According to one aspect of the invention, the servo motor 17, the supply position of the workpiece and the supply position of the workpiece within the reach of the gripper (52a, 52b) by calculating the reach of the gripper (52a, 52b) The slider 16 may be moved left and right by controlling the cylinder 16 to be included.

According to one embodiment of the present invention, an arm loader is provided so that supply and withdrawal of a work can be continuously and automatically performed.

According to one embodiment of the present invention, an arm loader is provided in which supply and withdrawal of a workpiece is made in one apparatus.

According to one embodiment of the present invention, an arm loader is provided so that a rotational motion of an arm equipped with a gripper for holding a workpiece is made through a roller gear index consisting of a cam and a splitter plate.

According to one embodiment of the present invention, an arm loader is provided so as not to be limited by the installation space by miniaturizing the volume of the device through the roller gear index.

According to one embodiment of the present invention, there is provided an arm loader that can be installed at low cost, the size of parts is simple, positioning and multi-positioning are possible, and the cycle time can be increased and the convenience of installation can be provided. .

According to one embodiment of the present invention, by using the servo motor and the ball screw to variably control the left and right movement of the slider, there is provided an arm loader to control the supply and withdrawal at a more precise position of the workpiece.

1 is a diagram three-dimensionally showing the arm loader according to an embodiment of the present invention.

2 is a view showing the internal configuration of the arm loader shown in FIG.

3 is a view showing the side of FIG.

4 to 9 are diagrams sequentially showing the operation of the arm loader according to an embodiment of the present invention.

Hereinafter, with reference to the contents described in the accompanying drawings will be described in detail the embodiments of the present invention. However, the present invention is not limited or limited by the embodiments. Like reference numerals in the drawings denote like elements.

1 to 3 are views showing the configuration of the arm loader for automatic supply and withdrawal of the workpiece to be implemented in the present invention.

Referring to the drawings, the arm loader 100 includes a left and right moving unit 10, a rotation unit 20, and an exchange unit 32.

The left and right moving unit 10 is a means for moving the rotation unit 20 and the exchange unit 32 in the left and right directions, a plurality of guide rails 14 which are horizontally installed on the support 12, and It is installed on the guide rail 14 and consists of a slider 18 reciprocating in the left and right directions by the guide rail 14 in accordance with the operation of the cylinder 16.

In this case, in order to move the slider 18 more precisely according to the operation of the cylinder 16, a servo motor 17 is provided on one side of the cylinder 16, and a ball screw on the other side of the cylinder 16. 19) it is possible to variably control the withdrawal and withdrawal of the cylinder.

Therefore, the arm loader can be more precisely controlled according to the position at which the workpiece is to be supplied, so that the efficiency of automatic automatic feeding and withdrawing of the workpiece can be improved.

The rotation unit 20 is installed on the slider 18 which is the configuration of the left and right movement unit 10 to move left and right reciprocally, and tilt the exchange unit 32 in the horizontal direction according to the operation of the cylinder 22. Means. The rotating unit 20 has a base 21 installed on the slider 18, a rotating shaft 28 that vertically penetrates the base 21 and rotates by the operation of the cylinder 22, and the rotating shaft 28. ) Is installed on the turntable 30 is rotated according to the operation of the rotary shaft 28. At this time, the power transmission structure of the rotating shaft 28 and the cylinder 22 is composed of a combination of the rack 24 and the pinion 26. That is, the rack 24 is coupled to the end of the rod 22a of the cylinder 22, and the pinion 26 engaged with the rack 24 is coupled to the circumferential surface of the rotating shaft 28 to allow the cylinder 22 to be engaged. When the rack 24 moves forward and backward by the operation of the pinion 26 which is engaged with the rack 24 is rotated to operate the rotating shaft 28.

The exchange unit 32 is rotated in the horizontal direction in accordance with the operation of the rotation unit 20, and the workpiece before processing in accordance with the operation of the arm 50 is tilted in the vertical direction by the power of the motor 34 to be described later ( Motor (34), roller gear index (36), spindle (42) as a means for supplying 1a) to the chuck 62 in the lathe 60 or for drawing the finished workpiece 1b out of the lathe 60. And a housing 44, an arm 50, and a plurality of

grippers

52a and 52b.

More specifically, the motor 34 is placed on the turntable 30, which is the aforementioned rotation unit 20, and a spindle 42 is installed beside the motor 34, and the spindle 42 is the motor 34. And it is rotated by receiving the power of the motor 34 through the Laura gear index 36 which is a power transmission means. The roller gear index 36 is composed of a cam 38 connected to and rotated by the motor 34 and a belt 35, and a split plate 40 that rotates in engagement with the cam 38. The spindle 42 is connected to the 40 so that the spindle 42 can rotate with the power of the motor 34. At this time, as the means for transmitting the power to the spindle 42 in the present invention has been described on behalf of the roller gear index 36, in addition, it can be used by combining a variety of index drives using a cam method such as barrel index, pararell index, In addition, the use of the Laura Gear index 36 in the present invention can smoothly perform the tilting operation of the arm with only a minimum of components, and thus has the advantage of minimizing the volume of the device, and for other power transmission methods such as excellent positioning. This is because more precise motion transmission can be achieved.

On the other hand, the housing 44 is vertically coupled to the front end of the spindle 42 is tilted in the vertical direction in accordance with the rotation of the spindle 42. Inside the housing 44 there is a shaft 46 which is coupled to the motor 48 provided on the bottom to rotate. In addition, an arm 50 is installed at the upper end of the housing 44 to tilt in the vertical direction in conjunction with the operation of the housing 44. At this time, the arm 50 is configured to be connected to the shaft 46 in the housing 44 to be tilted in the vertical direction and to rotate in conjunction with the shaft 46.

A plurality of

grippers

52a and 52b are provided at both ends of the tip of the arm 50, and the

grippers

52a and 52b grip the workpiece 1a before processing to allow the chuck 62 in the lathe 60. The workpiece 1b, which is passed to or processed, is taken out of the chuck 62.

On the other hand, in order to supply or withdraw the workpiece more precisely, the servomotor 17 calculates the supply position of the workpiece and the reach of the

grippers

52a and 52b to be within the reach of the

grippers

52a and 52b. The slider 18 may be moved left and right by controlling the cylinder 16 to include a supply position of a workpiece.

Hereinafter, the operating state of the present invention arm loader configured as described above will be described with reference to FIGS.

First, when power is applied to the arm loader 100, the left and right moving units 10 are operated to move the rotation unit 20 and the exchange unit 32 to the left direction. The gripper 52a of any one of the

grippers

52a and 52b provided at the tip of the tip 50 grips the workpiece 1a before processing, which is placed on the feed table 70. (FIG. 4)

At this time, after one gripper 52a grips the work piece 1a, the shaft 46 in the housing 44 rotates and rotates the arm 50. Thus, the

grippers

52a and 52b are formed of the arm 50. It will lie down according to the rotation.

Thereafter, the motor 34, which is a component of the exchange unit 32, is driven to rotate the spindle 42 through the roller gear index 36, which is a power transmission means, and thus is coupled to the spindle 42. The housing 44 and the arm 50 installed on the upper end of the housing 44 are erected vertically (Fig. 5).

Next, the rotation unit 20 is operated to tilt the exchange unit 32 in the horizontal direction. That is, when the rack 24 coupled to the rod 22a of the cylinder 22, which is the rotation unit 20, moves forward by the operation of the cylinder 22, the pinion 26 engaged with the rack 24 rotates. The rotary shaft 28 is rotated, and the turntable 30 installed at the tip of the rotary shaft 28 is rotated, thereby tilting the exchange unit 32 in the horizontal direction, and thus the exchange unit 32. The in housing 44 and the arm 50 are in the state located on the right side of the workpiece supply and take-out apparatus 100 (FIG. 6).

Subsequently, the motor 34, which is the exchange unit 32, is operated again and the housing 44 is tilted in the horizontal direction. Accordingly, the arm 50 installed in the housing 44 is moved from the housing 44. By operation, it is tilted horizontally and lying down, and thus grippers 52a and 52b installed at the tip of the arm 50 are drawn into the shelf 60 (FIG. 7).

Afterwards, the

grippers

52a and 52b rotate according to the rotational motion of the arm 50, draw out the finished work 1b in the shelf 60, and also move the work 1a of the shelf 60 into the shelf 60. It is fed to the chuck 62. That is, after one gripper 52b grips the finished work 1b in the lathe 60 according to the rotation of the arm 50, it is located on the opposite side of the gripper 52b. The gripper 52a grasping the workpiece 1a before the processing is located in front of the chuck 62 of the lathe 60 so as to feed the workpiece 1a before the machining to the chuck 62. (Figure 8)

Next, after supplying the workpiece 1a before processing from the lathe 60 through the above-described process, and withdrawing the finished workpiece 1b, the arm 50 is erected vertically again, and then the rotation of the rotating unit 20 By tilting in the horizontal direction by the operation and lying down in front of the workpiece feed and take-out apparatus 100, the finished workpiece 1b is discharged into the storage box 80, so that one workpiece feed and take-out process is completed. (FIG. 9)

Thereafter, the other work 1a can also be continuously fed into the lathe 60 in the same manner as mentioned above, and the finished work 1b can be automatically withdrawn from the lathe 60.

As described above, according to one embodiment of the present invention, by automatically processing the supply and withdrawal of the workpiece, by varying the left and right movement of the slider using a servo motor and a ball screw, at a more precise position of the workpiece with a simple configuration only The effect of controlling the supply and withdrawal of C is generated.

Although one embodiment of the present invention as described above has been described by a limited embodiment and drawings, one embodiment of the present invention is not limited to the above-described embodiment, which is a general knowledge in the field of the present invention Those having a variety of modifications and variations are possible from these descriptions. Accordingly, one embodiment of the invention should be understood only by the claims set forth below, all equivalent or equivalent modifications will be within the scope of the invention idea.

Claims

In the arm loader for supplying and withdrawing the workpiece,

A left and right moving unit (10) including a cylinder (16) and a slider (18) reciprocating in left and right directions on the guide rail (14) by the power of the cylinder (16);

A rotating unit (20) consisting of a rotating shaft (28) connected to the cylinder (22), a rack (24) and a pinion (26) and a turntable (30) installed at the tip of the rotating shaft (28); And

Is provided on the top of the rotating unit 20 to rotate in the horizontal direction in accordance with the operation of the rotating unit 20, and transfers the workpiece in accordance with the operation of the arm 50 is tilted in the vertical direction by the power of the motor 34 Exchange unit (32)

Including,

The cylinder 16,

The arm loader characterized in that the inlet length and the outgoing length are variably controlled by the servomotor (17) provided on one side of the cylinder (16) and the ball screw (19) provided on the other side of the cylinder (16).
The method of claim 1,

The exchange unit 32,

A spindle (42) installed on the turntable (30) and tilted in a horizontal direction and rotating by receiving power from the motor (34);

A housing 44 coupled to the front end of the spindle 42 and tilted in a vertical direction, and having a shaft 46 therein that is rotated by a power of a motor 48 therein;

An arm (50) mounted on the housing (44) and tilted in a vertical direction and connected to the shaft (46) to rotate; And

A plurality of grippers 52a and 52b respectively installed at the front end of the arm 50 and supplying and withdrawing the workpiece to the shelf 60 according to the operation of the arm 50.

An arm loader comprising a.
The method of claim 2,

The servo motor 17,

The slider 18 controls the cylinder 16 to calculate the supply position of the workpiece and the reach of the grippers 52a and 52b so that the feed position of the workpiece is included within the reach of the grippers 52a and 52b. Arm loader, characterized in that to move left and right.