KR100424057B1 - Offsel Dislance Sansing & fixing Unit for moving Pole's posilion - Google Patents

Abstract

The present invention relates to a stop position deviation amount detecting device of a wheel mounting pawl, the object of which is to stop the relative position of the wheel mounting pawl that is regularly pitched by the lower towing chain conveyor relative to the initial setting position When the wheel is loaded and unloaded, the distance between adjacent poles is always kept constant so that the hub hole inside the wheel to be mounted in the conical cap at the top of the pole can be exactly matched. In order to enable the robot to work correctly, the stop position deviation amount detection device of the wheel-mounted pawl, which can improve the reliability, productivity and work efficiency by measuring the offset value of the wheel-mounted position work path of the robot, can be improved. To provide.

The present invention is achieved by detecting the stop position of the poles conveyed by the lower towed chain conveyor each time, that is, when the wheels which have been pre-processed on the wheel coating line are transferred to the primary coating line by the robot, the lower towed chain conveyor A stopper part that receives a signal from a sensor that detects the entry of a pole operated by the stopper so as to block the entrance of the pole and start detecting the amount of deviation, and the stopper part is installed on one side and conveyed by the lower towed chain conveyor A slide unit which is inversely moved in the direction of travel of the pole by force; A deviation amount detection part installed at one side of the slide part to detect a deviation amount of a stop position of the pawl stopped after pitch driving by a lower towed chain conveyor to detect an deviation amount from a reference point to correct an approach position of the work robot; It is to provide a stop position deviation amount detecting device for a wheel mounting pawl provided on one side of the slide portion, including a pole setting unit for constantly setting the interval of the pawl stopped at the stop position of the slide unit.

Description

Stop position deflection detection device of wheel mounting pole {Offsel Dislance Sansing & fixing Unit for moving Pole's posilion}

The present invention relates to an apparatus for detecting a stop position deviation of a wheel mounting pawl, wherein the wheel after the pretreatment step is transferred to the primary coating line by a robot during the wheel coating process, and is repeatedly circulated in the primary coating line, Starting / stopping is repeated by intermittent driving or pitch driving, and it is easy to accurately mount (mount) the wheel on the top of the pole by a work robot by detecting the exact position of the pole attached to the transfer device having one-way progression. A stop position deviation amount detecting device for a wheel mounting pole.

In general, the painting process of the wheel is a primary inlet of the wheel inlet line for continuously introducing the wheel as shown in Figure 1, the pretreatment line for the maintenance or removal of dirt on the surface of the wheel, and the primary coating of the wheel after the pretreatment process A painting line, a drying line for drying the primary painted wheel, a secondary painting line for painting the dried wheel secondary, and a discharge line for discharging the dried wheel after the primary painting, The wheels discharged from the primary coating line, the drying line and the secondary coating line were to be transported by inserting the wheels on top of the poles attached to the conveying device due to work characteristics and efficiency problems.

Conventionally used wheel-mounted pawl conveyers for painting lines include a pole roller mounted on a rectangular pallet, and a friction roller conveyor system for transporting wheels by placing the pallet on a roller conveyor capable of flexible conveyance, and the lower part of the pawl by a chain. There are three types of typical methods: lower traction type chain conveyor which is constrained by pitch and driven by pitch, and electrodeposition coating by transferring wheels to trolley hangers. However, cost reduction, environmental protection, quality improvement, industrial safety, etc. For the new reasons, the new equipment tends to use the former method.

The friction roller conveyor method uses a friction roller, and a plurality of rollers connected by a belt or a chain is rotated by a motor installed in the lower part, and a pallet having a foam attached to the roller upper surface of the roller conveyor is mounted on the friction roller. It is moved by the driving force of. When unloading the wheel of the hanger after the pretreatment process to the upper part of the pole of the friction roller conveyor configured as described above, explosion-proof roller conveyor for pallet conveyance equipped with a stopper and pawl that can control the pole continuously transported by the friction roller. Is essential. However, the friction roller conveyor method is economically burdened due to the increase in the relative initial installation cost according to the use of the explosion-proof roller conveyor and the increase in the environmental pollution prevention equipment cost due to the deterioration of dust collection performance due to the characteristics of the roller conveyor structure in the paint booth during use. Due to its characteristics, a relatively large installation space is required, which causes a problem of lowering productivity per unit area.

Since the lower traction chain conveyor system maintains a constant gap of the poles by the chain, a separate device for controlling the wheels, such as a stopper of the friction roller conveyor, is not required, but wear of the chain link and the chain increase according to the service life. , The pole stop position far from the drive motor part due to the assembly deviation of each pole and the progress of wear of other guide guides is based on the original position, that is, the pole stop (position) at any position when applying a new chain. Therefore, the distance to each stop position of each pole varies from several millimeters to several hundred millimeters in proportion to the period of use. Therefore, the conventional wheel mounting method is performed by a person by hand or by using an amount of deviation detection by an expensive vision facility. By applying robot automation and synchronous method using special equipment for servo synchronous, work efficiency and productivity decrease and initial capital investment cost increase. In the case of special dedicated equipment, the productivity of equipment per unit area is lowered due to the increase of additional equipment and the space occupied by the constraints of the arrangement of the equipment, or the poor painting quality due to the failure to mount the wheel on the top of the pole in the correct position. There were many problems such as causing.

The present invention has been made in consideration of the above problems, and its object is to maintain a constant interval of the poles transported by the lower towed chain conveyor, and when the pole is mounted on the top of the wheel, the stop position of the poles accurately detects the The wheel-mounted pawls can automatically detect the amount of deviation for automatically correcting the working path, and accurately set the posture of the poles to easily configure automation by robots, maximize reliability, and improve productivity and work efficiency. It is to provide a stop position deviation amount detection device.

The present invention is achieved by detecting the stop position of the poles conveyed by the lower towed chain conveyor each time, that is, when the wheels which have been pre-processed on the wheel coating line are transferred to the primary coating line by the robot, the lower towed chain conveyor A stopper part for receiving a signal from a sensor detecting the entry of a pole operated by the stopper to block the access road of the pole and to start the deviation detection; and a transfer of the pole installed at one side of the stopper part and transported by the lower towed chain conveyor. A slide unit which is inversely moved in the direction of travel of the pole by force; A deviation amount detection part installed at one side of the slide part to detect a deviation amount of a stop position of the pawl stopped after pitch driving by a lower towed chain conveyor to detect an deviation amount from a reference point to correct an approach position of the work robot; It is to provide a stop position deviation amount detecting device for a wheel mounting pawl provided on one side of the slide portion, including a pole setting unit for constantly setting the interval of the pawl stopped at the stop position of the slide unit.

1 is an overall process diagram of a wheel coating line

Figure 2 is a schematic diagram of a wheel coating line installed the present invention

Figure 3 is a plan view showing a configuration according to the present invention

Figure 4 is an illustration of one side of the present invention

5 is an exemplary view showing a configuration of the present invention

6 is an operational state diagram of the present invention

7 is another operational state of the present invention

8 is a flow chart showing the operating state of the present invention

9 is a configuration diagram of a pneumatic circuit according to the present invention;

* Explanation of symbols for main parts of the drawings

(1): Pole stationary position deviation amount detection unit (2): Slide unit

(3): pole setting part (4): stopper part

(11): pole entrance detection optical sensor (12): first air cylinder

(13): stopper 14: slide block

15: encoder 16: timing belt

(17): tension adjusting stage (18): fixed stage

(19): coupling 20: driven pulley

21: slide plate 22: guide

23: second cylinder 24: home position sensor

(28): Pole top cap (29): Fixed guide

(30): PUSHER support (31): third cylinder support plate

(32): third cylinder 33: guide part

(34): connection part 35: fixing part

(100): wheel inlet line (200): pretreatment line

210: wheel positioning hanger positioning device

(300): Primary coating line (301): Pole

(302): lower towed chain conveyor

(351): 'V' groove (400): drying line

(500): secondary coating line (600): discharge line

(700): work robot (800): deviation detection device

(900): wheel

Figure 1 shows the overall process of the wheel coating line, the wheel inlet line 100 to control the wheel by the loading conveyor continuously and the wheel is mounted on a hanger that circulates repeatedly in the line to maintain the wheel surface or A preliminary treatment line 200 for removing dirt, a primary coating line 300 for first painting by mounting the pre-processing wheel on the upper part of the pole, and a wheel transferring device for the primary painting finished wheels Discharging and discharging the drying line 400 for transferring and drying the wheel, the secondary coating line 500 for transferring the dried wheels by the robot and painting the secondary wheels and the wheels dried after the first painting by the robot. It consists of a line 600.

2 is a schematic view of a wheel coating line in which the present invention is installed, and the present invention continuously introduces the wheel by the wheel inflow line 100, and the wheel loading hanger positioning device 210 installed in the pretreatment line 200. Wheels are loaded into the hanger (not shown) of the pretreatment line 200 by the robot and the work robot 700, and the wheels after the pretreatment process are unloaded by the work robot 700 to the upper pole of the primary coating line. It is installed on one side of the primary painting line 300 of the wheel loading / unloading system to be unloaded, and the wheel after the pretreatment process is unloaded by the work robot 700 onto the pole 301 of the primary painting line 300. When the position of the pole 301 is accurately detected, the work path of the work robot 700 is automatically changed.

Figure 3 is a plan view showing a configuration according to the present invention, Figure 4 is a schematic diagram of the present invention, the present invention measures the stop position of the pole after entering the pole 301 to stop the pole is sent to the robot Pole 301 stopped by the position deflection detecting unit 1, the slide unit 2 operated by the pawl 301 carried by the lower towed chain conveyor 302, and the pole 301 stopped by the lower towed chain conveyor 302. The pole setting unit 3 which sets the intervals of the constants and the stopper unit 4 which detects the entry of the pole 301 and correspondingly interferes with the entry of the pole.

The stopper part 4 is operated by a pole entry detection optical sensor 11 and a pole entry detection optical sensor 11 for detecting entry of the pole 301 carried by the lower towed chain conveyor 302. And a stopper 13 which is operated by the first air cylinder 12 and the first air cylinder 12 to be in contact with the lower end of the pawl 301 in the entry direction. That is, when the pole entry detection light sensor 11 detects whether the pole has been entered, the stopper 13 is operated by the first air cylinder 12, and the stopper 13 is the lower pull type chain conveyor 302. The stopper 13 is in contact with the front lower end of the pawl 301 entering the unloading position by the stopper 13, which is in contact with the front lower end of the pawl until the pawl is stopped by the feed force of the pawl. The slide part 2 fixed and connected to the stopper part 4 by moving in the same direction as that of the stopper is moved back to the stop position of the pawl 301 along the guide 22 so that the fixed end 18 is provided on the slide plate 21. ) And the timing belt 16 connected and fixed by the tension adjusting end 17 are transferred, and accordingly, the driven pulley 20 rotates to rotate the encoder 15 from the reference position to the position where the pole is stopped. Measure the amount of deviation.

The slide unit 2 is provided with a slide plate 21 on which the first air cylinder 12 of the pole stop position deviation amount detection unit 1 is installed at one side thereof, and a slide plate 21 disposed below the slide plate 21. The guide 22 for guiding 21 and the slide plate 21 slid along the guide 22 are returned to their original positions, and the pawl 301 is stopped by the stopper 4. The second cylinder 23 which gives a constant reaction force to suppress the fluctuation of the slide plate 21 while pushing, and the home position sensor 24 which detects the return of the said slide plate 21 are comprised.

The pole setting unit 3 is to set, or maintain, the two adjacent pole intervals that are constantly entered into the position where the robot is to mount the wheel, the pusher (installed on the slide plate 21 of the slide unit ( a third cylinder support plate 31 attached to the pusher support 30, a third cylinder 32 and a guide part 33 fixed and installed on the third cylinder support plate 31, and the third Connected to the cylinder 32 and the guide portion 33, the connecting portion 34 which is operated by the third cylinder 32, and is fixed and installed at both ends of the upper surface of the connecting portion 34, 'V' shaped groove It consists of the fixed part 35 provided with the 351. As shown in FIG.

5 is an exemplary view showing the configuration of the present invention, FIG. 8 is an operational flowchart of the present invention, and FIG. 9 is a schematic diagram of a pneumatic circuit according to the present invention. The work taught in advance to the robot when the wheel 900 of the hanger after the pretreatment process is mounted to the upper part of the pole 301 repeatedly circulating in the primary coating line 300 by the work robot 700 is mounted. The pole 301 moved by the lower towed chain conveyor 302 to the position is detected by the pole entry detection light sensor 11 installed on one side of the deviation detection device 800, the pole entry detection light The stopper 13 contacts the lower end of the pawl 301 by the operation of the first air cylinder 12 by the sensor 11, and the first air cylinder 12 and the stopper are driven by the conveying force of the pawl 301 being transferred. While the 13 is conveyed in the travel direction of the pole, the first air cylinder 12 and the third cylinder The slide plate 21 provided with the supporting plate 31 slides along the guide 22 in the advancing direction of the pawl by compressing the second cylinder 23. Here, the solenoid valve which operates the 2nd cylinder 23 makes it possible to adjust the compression reaction force of the 2nd cylinder by the structure which can freely intake and exhaust outside air appropriately throttled by the flow control valve in a neutral position. Since the pawl 301 is transported by the pitch-driven lower towing chain conveyor 302, when the lower towing chain conveyor 302 is stopped, the pawl 301 and the first air cylinder 12 and the third cylinder support plate ( The slide plate 21 provided with 31 is stopped.

When the stopper 13 and the slide plate 21 are stopped as described above, the pole stop position deviation amount detecting unit 1 measures the stop position of the pole, sends the deviation value to the work robot 700, and adjusts the work path of the work robot. At the same time, the first air cylinder 12 is reversed to separate the lower portion of the pawl 301 and the stopper 13. At this time, the third cylinder 32 installed on the third cylinder support plate 31 is advanced to insert the pole 301 into the V-shaped groove 351 of the fixing part 35 as shown in FIGS. 6 and 7. Set the pole to maintain a constant distance from the wheel's unloading position.

When the wheel 900 of the pretreatment process is mounted on the pawl 301 of the primary painting line 300 by the above operation, the stopper (1) by the first air cylinder 12 and the third cylinder 32 13 and the fixing part 35 respectively reverse to release the pawl 301, and the second cylinder 23 moves forward to return the slide plate 21 to the initial home position. When the slide plate 21 returns to the initial position, the home position sensor 24 detects this and prepares for the next operation. That is, the home position sensor 24 detects the return to the initial reference position of the slide plate 21, and then detects another pole to which the pole entry detecting light sensor 11 enters.

As described above, the present invention automatically measures the stop position deflection of the pawl generated at the stop after pitch driving due to the increase of the chain and the wear of the chain link generated when the lower towed chain conveyor is used for a long time in the wheel coating process. It is designed to automatically change the work path of the work robot by sending it to the work robot, so that the unloading work of the wheel by the robot, that is, the wheel mounting work, is accurate and reliable, improving workability and productivity, and preventing wheel damage. At the same time, there are many effects, such as maintaining the quality of the painted surface uniformly in the painting booth by implementing the correct wheel mounting attitude.

Claims (2)

Unload (relocate) the wheel after the pretreatment of the wheel coating line to the primary coating line by the robot, transfer the material to the drying process after the painting is completed, or the pole operated by the lower traction chain conveyor as the secondary painting process after drying. A stopper portion which detects an entry and correspondingly interferes with entry of a pole; A pole stopping position deviation amount detecting unit for measuring the stopping deviation amount of the pole and sending the same to the working robot to change the working path of the robot; The stopper part and the pole stop position deviation amount detection unit are installed on one side, and are fixed to fix both ends of the timing belts in the pole stop position deviation amount detection unit in the traveling direction of the pole by the conveying force of the pole conveyed by the lower towed chain conveyor. A slide part which slides along the guide in one piece with the stage and the tension adjusting end, and slides back along the guide to the initial position by an air cylinder installed on one side; An air cylinder is installed by a bracket on a third cylinder support plate fixed to a pusher support on the upper part of the slide part, and the connecting part on which the fixing part is installed by the air cylinder is slid to the lower part of the pawl, and then pitch driven by a lower pull chain conveyor. A stop position deviation amount detecting device for a wheel-mounted pawl, characterized in that it comprises a pole setting unit for setting the interval of the stationary pawl constantly. The method of claim 1; The stopper portion has a pole entry detection optical sensor for detecting entry of a pole carried by a lower towed chain conveyor, a first air cylinder operated by the pole entry detection optical sensor, and entry of the pole by the first air cylinder. And a stopper for contacting the lower end of the direction and interfering with the entry of the pawl, wherein the slide-mounted pawl is detected by the external force.