KR101346024B1 - Installing device for robot - Google Patents

Abstract

A robot detachable device is disclosed. According to an aspect of the present invention, a body portion having a base plate equipped with a driving wheel and a steering wheel, and a pair of guide frames formed in the vertical direction on the base plate; Shanghai East part having a moving plate fastened to the pair of guide frame to be movable up and down, and a support frame formed on one side of the moving plate; An up and down drive unit having a hydraulic cylinder for vertically moving the shanghai eastern part, and a link unit for transmitting the driving force of the hydraulic cylinder to the shanghai eastern part; A rotational mounting portion having a reduction gear mounted on one side of the support frame and a coupling portion rotatably coupled to the reduction gear and having a hollow formed therein; And a socket member mounted to one side of the robot and having a fastening protrusion inserted into and fastened to the hollow.

Description

Robot detachable device {INSTALLING DEVICE FOR ROBOT}

The present invention relates to a robot detachable device, and more particularly, to a robot detachable device that can easily detach the robot during maintenance of the robot.

In the case of 6-axis robot mounted on the gantry robot and performing welding work, it may be necessary to separate it from the gantry robot for maintenance or replacement. Conventionally, the separation of the six-axis robot as described above has been made by hand, the six-axis robot is a heavy object, a large number of workers were required. That is, in a state in which a large number of workers hold and support the 6-axis robot, the 6-axis robot is separated from the gantry robot.

The conventional method as described above requires a large number of workers to separate the six-axis robot, which has been a cause of lowering work efficiency. In addition, in the process of separating and moving the 6-axis robot, the heavy 6-axis robot falls to the floor, causing injury to workers or expensive 6-axis robot accidents were frequently occurred. In addition, the worker has caused musculoskeletal disorders due to the repeated work.

In addition, even after separating and moving the six-axis robot, there was a lot of difficulties in maintenance inspection of the six-axis robot. In other words, in order to check and repair each part of the 6-axis robot, the work must be performed while changing the position or posture of the 6-axis robot in various ways. There was a problem with this difficulty. Therefore, the worker had no choice but to perform the maintenance inspection work while maintaining the state where the 6-axis robot was placed, and the work piece and efficiency were lowered because the worker had to work in an uncomfortable posture according to the area to be repaired. there was.

On the other hand, as a device for transporting a conventional wall, etc., a lift apparatus such as Patent Document 1 (Japanese Patent Laid-Open No. 1992-298498) has been disclosed, but as a transport device that can be used exclusively for the wall, a 6-axis robot is directly mounted. Or there was a difficulty in fastening, there was a limit that can not be utilized in the detachable work of the six-axis robot as described above.

Patent Document 1: Japanese Patent Laid-Open No. 1992-298498 (published October 22, 1992)

The present invention is to solve the above problems, while supporting the robot can be easily moved while detaching the heavy-weight robot, and by easily changing the position and posture of the robot, the work piece during maintenance inspection of the robot and To provide a robot detachable device that maximizes efficiency.

According to an aspect of the present invention, a body portion having a base plate equipped with a driving wheel and a steering wheel, and a pair of guide frames formed in the base plate in the vertical direction; Shanghai East having a moving plate which is fastened to the pair of guide frame to be movable up and down, and a support frame formed on one side of the moving plate; An up-and-down driving part including a hydraulic cylinder for vertically moving the shanghai eastern part, and a link part for transmitting a driving force of the hydraulic cylinder to the shanghai eastern part; A rotational mounting portion having a reduction gear mounted to one side of the support frame and a coupling portion rotatably coupled to the shock reduction gear to form a hollow; And a socket member mounted on one side of the robot and having a fastening protrusion inserted into and fastened to the hollow.

At this time, the moving plate may be mounted to the guide roller which is fastened to the pair of guide frame to the cloud movement.

The link unit may include a sliding frame fastened to the pair of guide frames so as to be movable up and down, a pulley bracket mounted on an upper end of the sliding frame, a pulley mounted on the pulley bracket, and fastened to the pulley. And one end may be provided with a chain is fixed to one side of the body portion and the other end is fixed to one side of the Shanghai East.

In addition, the hydraulic cylinder may be mounted to support the pulley bracket on the lower side, and may be formed to raise and lower the pulley bracket.

In addition, the pulley bracket is provided with a connecting rod formed in a cylindrical shape, the upper end of the connecting rod is formed with a guide protrusion coupled to the guide hole formed in the sliding frame, the lower end of the connecting rod operating rod of the hydraulic cylinder Can be fastened.

In addition, the link unit, one end is fastened to the upper end of the sliding frame and the other end may be provided with a chain tensioner for adjusting the height of the release bracket to be fastened to the release bracket.

In addition, the coupling part, the cutting portion may be formed in the longitudinal direction or the width direction so that the radius of the hollow can be adjusted to a predetermined degree.

The coupling part may include a bolt fastening hole formed in a width direction adjacent to the cutout and having a screw thread formed on an inner circumferential surface thereof, and a fastening bolt inserted into the bolt fastening hole to tighten the fastening protrusion to be in close contact with the hollow. It can be provided.

In addition, the socket member, the central portion is protruded to a predetermined degree to form the fastening projections, one end of the fastening projections may be formed with a flange portion which is fastened to one side of the robot.

The robot detachable apparatus according to the embodiments of the present invention can be easily moved by supporting the robot, which is a heavy object, during maintenance of the robot mounted on the gantry robot.

In addition, the robot detachable device according to the embodiments of the present invention by lifting and lowering the robot up and down through the Shanghai East and up and down drive, and by rotating the robot through the rotation mounting portion, to maximize the work piece and efficiency during maintenance check of the robot Can be.

1 is a front perspective view of a robot detachable device according to an embodiment of the present invention.
2 is a rear perspective view of the robot detachable apparatus shown in FIG. 1.
3 is an enlarged perspective view of the link unit illustrated in FIGS. 1 and 2.
4 is an enlarged perspective view of the coupling part and the socket member illustrated in FIGS. 1 and 2.
5 is an operating state diagram showing the operation of the robot detachable device shown in FIGS. 1 and 2.

Hereinafter, with reference to the drawings, the configuration of the robot detachable device 100 according to an embodiment of the present invention will be described.

1 is a front perspective view of the robot detachable device 100 according to an embodiment of the present invention. 2 is a rear perspective view of the robot detachable apparatus 100 shown in FIG. 1.

1 and 2, the robot detachable device 100 according to the present embodiment includes a body part 110, a shanghai east part 120 mounted on the body part 110 and moved up and down, and shanghai. The upper and lower driving unit 130 for moving the eastern part of the east, the rotary mounting part 140 is provided on one side of the shanghai East part 120 to be attached and detached, and is mounted on the robot R. And a Sokel member 150.

The body unit 110 may form an overall exoskeleton of the robot detachable device 100. In addition, the body portion 110 may be mounted to the Shanghai East 120, the vertical drive 130, the rotation mounting portion 140 for the movement and rotation of the robot (R).

In this case, the body 110 may be formed of a base plate 111 and a guide frame 112.

Base plate 111 may be disposed on the lower end of the robot detachable device 100, it may be formed of a plate having a predetermined amount of space so that the Shanghai East 120, the vertical drive 130, and the like can be seated and supported. have.

In addition, the driving wheel 113 and the steering wheel 114 may be mounted on the base plate 111.

The driving wheel 113 is for the movement of the robot detachable device 100. In the present embodiment, the driving wheel 113 is mounted in front of the base plate 111. However, the number or arrangement of the driving wheels 113 may be changed as necessary, and the present invention is not limited thereto. On the other hand, a drive motor (not shown) may be connected to the drive wheel 113. The drive motor may provide a driving force to the drive wheel 113 through a link structure (not shown), such as a belt, chain, shaft coupling. Therefore, in the case as described above, even when the robot (R) is a heavy object, the movement of the robot detachable device 100 is easy.

The steering wheel 114 is used to adjust the direction when the robot detachable device 100 moves. In the present embodiment, the steering wheel 114 is mounted to the rear of the base plate 111. However, the number or arrangement of the steering wheel 114 may be changed as necessary, but is not limited to the above case. On the other hand, the steering wheel 114 may be equipped with a braking means (114a). The braking means 114a may restrain or release the rolling motion of the steering wheel 114. Therefore, if necessary, the operator can operate the braking means to restrain the steering wheel 114 to stop the robot detachable device 100 in one place.

On the other hand, the guide frame 112, for guiding the movement of the Shanghai East 120, may be formed on the base plate 111 in the vertical direction. In addition, the guide frame 112 may be formed in a pair, the pair of guide frame 112 may be arranged to be spaced apart from the left and right sides of the base plate 111 by a predetermined interval. In this case, a horizontal beam (not shown) may be formed in the horizontal direction between the pair of guide frames 112. The horizontal beam may horizontally support the pair of guide frames 112 to prevent deformation or breakage of the guide frames 112 due to the load of the robot R, and the like. In addition, the pair of guide frames 112 may be formed with guide grooves (not shown) in the vertical direction, respectively. In the guide groove, a moving plate 121 and a sliding frame 132a to be described later are inserted and fastened.

Meanwhile, a handle part (not shown) may be formed in the guide frame 112. The handle portion facilitates the user's grip when moving or transporting the robot detachable device 100.

Shanghai East portion 120 is to support the robot (R), to move in the vertical direction, it may be mounted to the body portion 110 to move up and down.

In this case, the shanghai east part 120 may be formed of a moving plate 121 and a support frame 122.

The moving plate 121 may be fastened to be movable in the vertical direction between the pair of guide frames 112. At this time, the movement plate 121 may be equipped with a guide roller 121a for assisting the vertical movement. The guide roller 121a is coupled to the guide groove formed in the guide frame 112 to perform rolling motion, thereby assisting the vertical movement of the moving plate 121.

At this time, the guide roller 121a may be mounted on both sides of the movable plate 121. In addition, a plurality of guide rollers 121a may be mounted as necessary.

On the other hand, the support frame 122 is to support the rotating mounting portion 140 is mounted robot (R), it may be formed on one side of the moving plate 121. In this case, the support frame 122 may be formed to protrude to a predetermined degree in order to secure a working space for the inspection of the robot (R). In addition, the support frame 122 may be provided with a reinforcing bar (not shown) up and down to support the robot R as a heavy object. In addition, the reinforcement bar (not shown) may be formed on the left and right sides of the support frame 122.

The vertical driving unit 130 may move up and down the Shanghai east unit 120 and may be provided at one side of the body unit 110.

At this time, the vertical drive unit 130 may be formed of a hydraulic cylinder 131, the link portion 132.

The hydraulic cylinder 131 may provide a driving force for the movement of the vertical drive unit 130. At this time, the hydraulic cylinder 131 may be fixedly supported on the bottom of the base plate 111, it may be arranged to be driven in the vertical direction. In addition, the hydraulic pump 133 may be connected to the hydraulic cylinder 131. The hydraulic pump 133 may be disposed on one side of the base plate 111 to be adjacent to the hydraulic cylinder 131. In addition, the hydraulic pump 133 may be provided with a hydraulic handle 133a for adjusting the hydraulic pressure. Therefore, the operator can operate the hydraulic cylinder 131 by raising and lowering the hydraulic handle 133a.

On the other hand, the link unit 132 transmits the driving force of the hydraulic cylinder 131 to the Shanghai East (120). Specifically, the link unit 132 may be formed of a sliding frame 132a, a pulley bracket 132b, a pulley 132c, and a chain 132d.

The sliding frame 132a is disposed above the shanghai east part 120 and may be fastened to the pair of guide frames 112 so as to be movable up and down. Specifically, the sliding frame 132a may be formed of a horizontal beam (not shown) formed in the horizontal direction and a pair of vertical beams (not shown) formed in both ends of the horizontal beam in the vertical direction. In this case, the vertical beam may be fastened to be slidable up and down to the guide groove formed in the guide frame 112. That is, the sliding frame 132a may be coupled to the pair of vertical beams so as to be slidable to the pair of guide frames 112, and may be moved up and down along the guide frame 112.

Meanwhile, the release bracket 132b may be mounted on the upper end of the sliding frame 132a. Specifically, the release bracket 132b may be mounted on the horizontal beam formed at the upper end of the sliding frame 132a. At this time, the release bracket 132b may be mounted to the upper end of the sliding frame 132a by a pair of chain tensioners 132e. The chain tensioner 132e will be described later. In addition, the release bracket 132b may be raised and lowered by the hydraulic cylinder 131. That is, the hydraulic cylinder 131 is mounted to support the release bracket 132b from the lower side, and may be formed to raise and lower the release bracket 132b according to the operation of the operation rod (not shown).

On the other hand, the pulley 132c is to change the direction of the driving force transmitted through the chain (132d), it may be mounted on the pulley bracket (132b). In this case, the pulley 132c may be formed in a pair, and the pair of pulleys 132c may be mounted at both ends of the pulley bracket 132b, respectively.

The chain 132d may be coupled to the pulley 132c to transmit a driving force. In this case, the chain 132d may be formed in a pair to correspond to the pair of pulleys 132c. In addition, one end of the chain 132d may be fixed to the body 110, and the other end of the chain 132d may be fixed to the shanghai eastern part 120. For example, one end of the chain 132d may be fixed to the horizontal beam portion provided in the body portion 110, and the other end of the chain 132d may be fixed to the portion of the moving plate 121 provided in the east east part 120. Can be.

On the other hand, the link unit 132 may further include a chain tensioner 132e.

3 is an enlarged perspective view of the link unit 132 illustrated in FIGS. 1 and 2.

Referring to FIG. 3, the chain tensioner 132e is for adjusting the tension of the chain 132d when the chain 132d transmitting the driving force is loosened. The upper end is fastened to the upper end of the sliding frame 132a and the lower end. It can be fastened to the unfastening bracket 132b. In this case, the chain tensioner 132e may be formed in a pair so as to correspond to the pair of chains 132d. The chain tensioner 132e may adjust the height of the release bracket 132b to maintain the chain 132d in a taut state.

For example, the chain tensioner 132e may be fastened to the sliding frame 132a and the release bracket 132b through upper and lower ends of the chain tensioner 132e and the nut member (not shown), respectively. In such a case, the operator can adjust the height of the release bracket (132b) by tightening the nut member to a predetermined degree, whereby the appropriate tension is applied to the chain (132d) for transmitting the driving force. Can be.

Meanwhile, referring to FIG. 3, a connection rod 132f may be formed in the pulley bracket 132b. The connecting rod 132f may be formed in a cylindrical shape, and an operating rod (not shown) of the hydraulic cylinder 131 may be fastened to a lower end thereof. In addition, a guide protrusion 132g may protrude to a predetermined degree on an upper end of the connecting rod 132f. The guide protrusion 132g may be inserted into and fastened to the guide hole 132h formed in the sliding frame 132a. Therefore, when adjusting the height of the release bracket 132b with the chain tensioner 132e, the guide protrusion 132g is moved up and down a predetermined amount along the guide hole 132h.

Meanwhile, referring again to FIGS. 1 and 2, the rotation mounting unit 140 is for mounting and rotating the robot R and may be mounted at one end of the support frame 122 provided in the east-east part 120. .

In this case, the rotation mounting unit 140 may be formed of a worm reducer 141 for rotating the robot R and a coupling unit 142 for mounting the robot R.

The worm reducer 141 is for facilitating the rotation of the robot R, which is a heavy object, and may be mounted at one end of the support frame 122. A worm (not shown) and a worm wheel (not shown) engaged with the worm may be provided inside the worm reducer 141. In addition, a rotation handle 141a which is axially coupled to the worm may be formed at one side of the worm reducer 141. Therefore, the operator can easily rotate the heavy robot (R) with a small force by rotating the rotary handle (141a).

On the other hand, the coupling part 142 is for mounting the robot (R), it may be formed to be rotatably coupled to the worm reducer 141. That is, the coupling part 142 may be axially coupled to the worm wheel of the worm reducer 141, and may be rotated together with the worm wheel as the operator rotates the rotary handle 141a.

4 is an enlarged perspective view of the coupling part 142 and the socket member 150 illustrated in FIGS. 1 and 2.

Referring to FIG. 4, the coupling part 142 may have a hollow 142a so that the socket member 150 mounted on the robot R may be fastened. At this time, the socket member 150 is mounted to the robot (R) for the attachment and detachment of the robot (R), may be provided with a fastening protrusion 151 inserted into the hollow 142a.

On the other hand, the coupling portion 142 may be formed with a cutout 142d so that the radius of the hollow 142a as described above is adjustable. That is, the coupling part 142 may have an outer surface cut in the longitudinal direction or the width direction to form the cutout 142d. Therefore, when the gap between the cutouts 142d is widened, the size of the hollow 142a formed in the coupling part 142 may be expanded to a predetermined degree. On the contrary, when the gap between the cutouts 142d is narrowed, the coupling part 142 may be formed. The size of the hollow 142a formed in the can be reduced to a predetermined degree. The cutout 142d as described above allows the fastening protrusion 151 formed in the socket member 150 to be more easily inserted into the hollow 142a.

Meanwhile, the coupling part 142 may include a bolt fastening hole 142c formed in the width direction adjacent to the cutout 142d and a tightening bolt 142b inserted into the bolt fastening hole 142c. The bolt fastening hole 142c may be formed in the width direction to cross the cutout 142d formed in the length direction. In addition, a thread (not shown) may be formed on the inner circumferential surface of the bolt fastening hole 142c. On the other hand, the fastening bolt 142b for tightly fixing the fastening protrusion 151 fastened to the hollow 142a may be fastened to the bolt fastening hole 142c. The tightening bolt 142b may be inserted into the bolt fastening hole 142c to be engaged with the screw thread. Therefore, when the tightening bolt 142b is tightened to one side, the interval between the cutouts 142d may be narrowed. As a result, the size of the hollow 142a may be reduced so that the socket member 150 may be tightly fixed to the hollow 142a. Can be. On the contrary, when the tightening bolt 142b is released, the gap between the cutouts 142d may be widened, and thus, the size of the hollow 142a may be expanded to separate the socket member 150 from the hollow 142a. have.

On the other hand, the socket member 150, which is mounted on one side of the robot (R), may be provided with a fastening protrusion 151 to be fastened to the hollow (142a) formed in the coupling portion 142. Specifically, the socket member 150 may have a central portion protruding to a predetermined degree so that the fastening protrusion 151 may be formed, and a flange portion 152 may be formed at one end of the fastening protrusion 151 as described above. The flange portion 152 allows the socket member 150 to be mounted on the robot R, and a plurality of bolt holes (not shown) may be formed to be bolted to the robot R.

Hereinafter, with reference to the drawings, the operation of the robot detachable device 100 according to the present embodiment will be described.

5 is an operating state diagram showing the operation of the robot detachable device 100 shown in FIGS. 1 and 2.

Referring to FIG. 5, the worker first mounts the socket member 150 to the robot R to be detachable. That is, the worker bolts the flange portion 152 of the socket member 150 to one side of the robot (R) to mount the socket member 150 to the robot (R). In this case, the robot R may include various kinds of robot devices. For example, the robot R may include a six-axis robot device mounted on a gantry robot (not shown).

On the other hand, when the socket member 150 is mounted on the robot (R) as described above, the operator moves the robot detachable device 100 near the robot (R). In addition, the operator adjusts the height of the shanghai East portion 120 so that the coupling portion 142 is located at the height of the socket member 150 is mounted. The operator advances the robot detachable device 100 and inserts the socket member 150 into the coupling part 142.

At this time, the fastening protrusion 151 formed on the socket member 150 is inserted and fastened into the hollow 142a formed on the coupling portion 142, and the cutout portion 142d formed on the coupling portion 142 has a fastening protrusion 151 formed thereon. As the hollow 142a is inserted into the hollow 142a, the predetermined gap is opened. The operator inserts the tightening bolt 142b into the bolt fastening hole 142c, and tightens the tightening bolt 142b such that the fastening protrusion 151 formed on the socket member 150 is in close contact with the hollow 142a. As the tightening bolt 142b is tightened, the size of the hollow 142a is reduced, so that the socket member 150 is fixed to the coupling part 142.

When the socket member 150 is fixed to the coupling part 142 as described above, the operator separates the robot R from the gantry robot. The separated robot R is mounted to the coupling part 142 and supported by the robot detachable device 100.

The worker moves the robot detachable device 100 to the workplace, and moves the robot R mounted on the coupling unit 142 up and down or rotates the robot R to check the robot R and the like.

Specifically, when the operator lifts the hydraulic cylinder 131 through the hydraulic pump 133, the hydraulic cylinder 131 pushes up the release bracket 132b. As the hydraulic cylinder 131 pushes up the release bracket 132b, the release bracket 132b and the sliding frame 132a are lifted upward. In addition, the pulleys 132c mounted at both ends of the pulley bracket 132b are moved upward while pushing up the chain 132d. At this time, one end of the chain (132d) is fixed to the body portion 110, the other end is fixed to the Shanghai East 120, the other end is to lift the Shanghai East 120. Therefore, the shandong east part 120 is moved upward along the guide frame 112, the robot (R) mounted on the coupling portion 142 may also be moved to a predetermined degree upward.

On the other hand, the operator can perform the inspection and the like by rotating the robot (R) as needed. That is, when the operator turns the rotary handle 141a provided in the worm reducer 141, the coupling part 142 axially coupled to the worm reducer 141 is rotated, and thus, the robot (mounted to the coupling part 142) ( R) can be rotated. Therefore, the operator can rotate the robot (R) to a predetermined degree as necessary to perform inspection, etc., work efficiency can be increased.

As described above, the robot detachable apparatus 100 according to the exemplary embodiment of the present invention may easily move by supporting the robot R, which is a heavy object during maintenance of the robot R. In addition, the robot detachable device 100 may raise and lower the robot R up and down through the Shanghai East unit 120 and the vertical drive unit 130, and easily rotate the robot R through the rotation mounting unit 140. You can. Therefore, the maintenance and efficiency of the workpiece during maintenance of the robot (R) can be increased.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit of the invention as set forth in the appended claims. The present invention can be variously modified and changed by those skilled in the art, and it is also within the scope of the present invention.

100: robot detachable device 110: body
120: East Shanghai 130: Up and Down East
140: rotation mounting portion 150: socket member

Claims (9)

A body part including a base plate on which a driving wheel and a steering wheel are mounted, and a pair of guide frames formed on the base plate in a vertical direction;
Shanghai East having a moving plate which is fastened to the pair of guide frame to be movable up and down, and a support frame formed on one side of the moving plate;
An up-and-down driving part including a hydraulic cylinder for vertically moving the shanghai eastern part, and a link part for transmitting a driving force of the hydraulic cylinder to the shanghai eastern part; And
Includes a rotational mounting portion having a reduction gear mounted to one side of the support frame, the coupling portion is rotatably coupled to the transmission reducer, the coupling portion is formed hollow
Wherein,
A sliding frame fastened to the pair of guide frames to move upward and downward;
A pulley bracket mounted to an upper end of the sliding frame;
A pulley mounted to the pulley bracket;
A chain fastened to the pulley and having one end fixed to one side of the body portion and the other end fixed to one side of the shanghai east portion; And
And a chain tensioner, one end of which is fastened to an upper end of the sliding frame and the other end of which is fastened to the release bracket to adjust the height of the release bracket.
The method according to claim 1,
The mobile plate is attached to the robot detachable device equipped with a guide roller which is fastened to the pair of guide frame to move the cloud.
delete The method according to claim 1,
The hydraulic cylinder is mounted to support the release bracket on the lower side, the robot detachable device formed to raise and lower the release bracket up and down.
The method according to claim 1,
The pulley bracket has a connecting rod formed in a cylindrical shape, the upper end of the connecting rod is formed with a guide protrusion is fastened to the guide hole formed in the sliding frame, the lower end of the connecting rod is the operating rod of the hydraulic cylinder is fastened Robot detachable device.
delete The method according to claim 1,
The coupling part, the robot detachable device is formed in the cut portion in the longitudinal direction or the width direction so that the radius of the hollow can be adjusted to a predetermined degree.
The method of claim 7,
The coupling part, the bolt fastening hole is formed in the width direction adjacent to the incision portion and the screw thread is formed on the inner peripheral surface, the fastening bolt inserted into the bolt fastening hole to tighten the fastening protrusion of the socket member in close contact with the hollow Robot detachable device provided.
The method of claim 7,
It is mounted to one side of the robot, further comprising a socket member having a fastening protrusion inserted into the hollow;
The socket member is a robot detachable device having a central portion protrudes to a predetermined degree and the fastening protrusion is formed, the flange portion is fastened to one side of the robot at one end of the fastening protrusion.

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