KR102029058B1 - Brake disk auto supply apparatus for vehicle - Google Patents

Abstract

In the present invention, an automatic brake disc supply device for a vehicle, the articulated robot arm (10) for separately supplying the discs (40) stacked and stored in the loading unit (30) to the transfer rail (50) of the processing line, and the In the process of transferring the disk 40 by the robot arm 10, the head 20 to fix the disk 40 so as not to fall, and is installed on one side of the head 20, the disk by the head 20 The brake disc for the vehicle is composed of a photographing unit 21 to check the loading position and the direction of the disk 40 when fixing the 40 so that the head 20 can be moved to the correct position for fixing the disk 40. By allowing the 40 to be automatically supplied to the processing device continuously, the productivity is increased compared to the manual feeding by manpower, and the disk 40 can be stably processed to prevent the risk of falling. Capable of supplying the device It works.

Description

BRAKE DISK AUTO SUPPLY APPARATUS FOR VEHICLE}

The present invention relates to a disc auto feed device for automatically supplying a brake disc for automobiles to a processing apparatus and a disc auto feed method using the same.

Generally, wheels and discs of automobiles or trains are made of cast iron.

Such wheels or disks are often required to be inspected and inspected for post-machining of the outer surface to have a certain quality due to wear, corrosion, etc., occurring during the manufacturing stage or in use.

Such wheels or disks are difficult to carry or work for a long time due to the heavy weight, and the wheels and disks are transported and processed by the automation system in consideration of the safety of the operator and productivity.

Patent No. 10-1218198, 'Robot Handing System Using Disk Loading Device'

Accordingly, an object of the present invention is to provide an automatic disk supplying device for automatically supplying a disk to a processing apparatus by a multi-joint robot arm and an automatic disk supplying method using the same.

The present invention according to the above object in the automatic brake disc supply device for vehicles, a multi-joint robot arm for separately supplying the disk 40 stacked on the stacking portion 30 to the transfer rail 50 of the processing line ( 10) and the head 20 to fix the disk 40 so as not to fall in the process of transferring the disk 40 by the robot arm 10, and is installed on one side of the head 20 head ( When fixing the disk 40 by 20) to check the loading position and direction of the disk 40 to the shooting unit 21 to move the head 20 to the correct position for fixing the disk 40 Characterized in that configured.

In addition, the photographing unit 21 is characterized in that it is configured to primarily detect the horizontal state of the individual disk 40 stacked on the stacking unit 30.

In addition, the head 20 is a body 25 which is installed from the robot arm 10 and the head 20 is lowered from the upper portion of the disk 40 by the robot arm 10 so that the disk 40 radially It is characterized by consisting of a plurality of fingers 22 to be fixed not to fall.

In addition, the present invention provides a method for automatically supplying brake discs for a vehicle, the method comprising: positioning the head 20 of the robot arm 10 on an upper part of the disk 40 stacked and stored in the loading part 30, and the head 20. Detecting the position of the stacked disk 40 by capturing the entire stacking portion 30 by the photographing unit 21 installed on the side while descending, and the head 20 to the upper portion of the stacked disk 40 Detecting the direction in which the disks 40 are stacked by the photographing unit 21, and the tilted stacks of the disks 40 tilted by the plurality of tilt detection units 24 provided on the side of the head 20. Detecting the state; lowering the head 20 close to the disk 40 in accordance with the stacking state of the disk 40 to fix the disk 40 with the fingers 22; Step of transporting the disk 40 to the transfer rail 50 by rotating the robot arm 10 in a state that the disk 40 is fixed to the And it characterized by true.

In addition, in the step of fixing the disk 40 with the fingers 22, in the state in which the disks 40 are stacked in the forward direction, the head 20 is lowered by the robot arm 10 and the fingers 22 are pinched. In the state that is fixed to close to the disk 40 while going outward in the state, in the state in which the disk 40 is stacked upside down in the state in which the finger 22 is lowered outwards, the head 20 is lowered and then the finger 22 ) Is fixed in close contact with the disk 40 while being retracted inward.

The present invention has the effect of increasing the productivity compared to the manual supply by the manpower by allowing the vehicle brake disk to be automatically supplied to the processing device continuously, and prevents the risk of falling when the disk is transported to process the disk stably There is an effect that can be supplied to the device.

1 to 2 is a view showing the operating configuration of the automatic brake disc supply device for a vehicle according to an embodiment of the present invention,
3 is a block diagram schematically illustrating an operation configuration of an automatic disk feeding apparatus according to an embodiment of the present invention;
4 to 5 is a detailed view of the head installed in the robot arm according to an embodiment of the present invention,
6 to 7 is a view showing a form in which the disk is fixed to the head mounted on the robot arm according to the stacked form of the disk,
8 is a photograph taken to transport the disc stacked stacked storage portion to the head;
9 is a flowchart illustrating a disc automatic feeding method according to an embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 to 2 is a view showing the configuration of the automatic disk supply apparatus of the present invention, Figure 3 is a block diagram schematically showing this.

The disk automatic feeding device of the present invention is a multi-joint robot arm 10 for supplying the disk 40 stacked on the stacking unit 30 to the transfer rail 50 of the processing line, and the robot arm 10 In the process of transferring the disk 40 by the head 20 to fix the disk 40 so as not to fall, and is installed on one side of the head 20 of the disk 40 by the head 20 It is composed of a photographing unit 21 to check the loading position and the direction of the disk 40 when fixed so that the head 20 can be moved to the correct position for fixing the disk 40.

The robot arm 10 picks up the stacked and stored disks 40 individually and fixes them so as not to fall, and then feeds them to the transfer rail 50 to feed them into a processing line for processing the disks 40. .

The robot arm 10 is provided with a head 20 for fixing the disk 40 to be transported so as not to fall, the robot arm 10 in the state in which the disk 40 is firmly picked up by the head 20 It rotates to supply the disk 40 to the conveyance rail 50.

In the present invention, a plurality of disks 40 are stacked and stored in the stacking unit 30, and the stacked disks 40 may be stacked according to the stacked position or stacking direction. The stacking position and direction of the disk 40 are sensed by the photographing unit 21 so that the center of the head 20 and the disk 40 can be aligned and fixed so as to be aligned.

When the robot arm 10 moves and the head 20 is positioned above the loading part 30, the photographing part 21 photographs the position of the entire disk 40 stacked and stored in the loading part 30. The load position is sensed, and the head 20 moves to the upper portion of the detected individual disk 40 as the robot arm 10 moves by inputting the position information of the detected disk 40 to the robot arm 10. So that the disks 40 are individually picked up and transported in a fixed state.

As the stacking unit 30 has a plurality of disks 40 stacked up and down, the operation of sensing the position of the entire disk 40 on a plane may be performed only before the first disk 40 is transferred.

In addition, the photographing unit 21 detects the upper and lower centers of the head 20 and the disk 40 while sensing the stacking position of the disk 40, the head 20 is moved to the correct position for fixing the disk 40 By doing so, the fixing of the disk 40 by the head 20 can be achieved stably.

4 to 5 are diagrams illustrating the configuration of the head 20 for pinching and fixing the disk 40.

Head 20 of the present invention is the body 25 is installed from the robot arm 10, the head 20 by the robot arm 10 is lowered from the top of the disk 40 is formed on the disk 40 A plurality of fingers 22 to fix the fixed position in the radial position so that it does not fall and fixed to the center of the head 20, a plurality of radially installed fingers 22 are fixed to the position of the disk 40 In accordance with the forward and backward operation, the extension portion 23 for adjusting the fixed position of the disk 40 by the finger 22, and the guide portion for allowing the extension portion 23 provided with the finger 22 to move forward and backward In the process of grasping and fixing the disk 40 by the part 26 and the fingers 22 installed on the head 20, the stacked disk 40 is sensed when the stacked disk 40 is kept inclined and the head corresponding to the inclined angle is detected. It consists of the inclination detection part 24 which inclines the 20.

The body 25 is a configuration in which the head 20 is connected to the robot arm 10, and the head 20 is lowered to the body 25 in the process of picking up and fixing the disk 40. When a pressure is generated in the head 20 by hitting the disk 40 during the lowering operation of), an elastic part 28 may be installed to prevent damage to the finger 22 or the entire head 20.

In one embodiment, the elastic portion 28 may be in the form of a spring, and the finger 22 is provided to prevent damage that may occur due to the finger 22 hitting the disk 40 while the head 20 is lowered. When hitting the upper surface of the disk 40 is to absorb the shock by the elastic portion 28 to prevent breakage.

At the lowermost end of the head 20, a plurality of fingers 22 are installed to directly fix the disk 40 to be transported, and a plurality of fingers 22 are radially installed with respect to the center of the head 20 to be installed. According to the stacking direction of 40, the disk 40 is held while being inwardly or outwardly held.

Referring to FIGS. 6 to 7, the loading part 30 may have the disk 40 stacked up and down in one direction, or the top and bottom of the disk 40 may be stacked upside down in a mess, as shown in FIG. 8. The finger 22 is operated in accordance with the stacking direction of the disk 40 when and in the reverse direction.

In the state in which the disks 40 are stacked in the forward direction as illustrated in FIG. 6, the photographing unit 21 photographs and detects the stacking direction of the disks 40, and then the fingers 22 of the head 20 are retracted inward. After descending to the state, the disk 40 is picked up by being brought into close contact with the outside while being fixed at the fixed position of the disk 40.

When the stacking direction of the disk 40 is detected by the photographing unit 21 in the reverse direction, as shown in FIG. 7, the head 20 is lowered in a state in which the finger 22 is opened outward, and then the disk 40 is moved. The disk 40 is picked up by being retracted to the inner side in a fixed position.

That is, the photographing unit 21 first photographs the stacking direction of the disk 40 to determine the fixing direction of the disk 40 by the fingers 22, and decides whether to fix the disk 40 in the inner direction or the outer direction. After confirming in advance whether to fix in the finger (22) in the state of lifting or spreading the head 20 is lowered to fix the disk 40.

4 to 5 again, the finger 22 is fixed to the disk 40 while being radially opened or retracted with respect to the center of the head 20, and the finger 22 is fixed to the expansion portion ( 23 causes finger 22 to be actuated by a gripper (not shown) on guide 26.

As an embodiment of the present invention, three fingers 22 may be installed, and the extension part 23 having the fingers 22 fixed thereto is operated forward and backward by a gripper based on the center of the guide part 26. Finger 22 is pinched and then stretched out.

The extension part 23 is fixedly installed at the lower finger 22 and the upper part is slidably movable on the guide part 26, and the extension part 23 is provided by a gripper installed inside the guide part 26. Gather inwardly along the movement guide jaw 27 formed in the guide portion 26 to open to the outside.

In the present invention, when the disk 40 stacked and stacked in the stacking unit 30 is horizontally stacked flat, the disk 40 can be stably fixed and fixed by the fingers 22 installed in the head 20. If the tip 40 is inclined, the fixation by the finger 22 may become unstable.

In order to solve this problem, the disk 40, which is stacked and stored by the photographing unit 21 installed on the head 20, is photographed from the top, and the disk 40 having a planar garden shape is checked to see if it is inclined and is inclined. By measuring the distance between each of the inclination detection unit 24 and the disk 40 by a plurality of inclination detection unit 24 installed in the head 20, it is confirmed that the inclination when the distance value is different.

When the tilt of the disk 40 is detected, first, when the photographing unit 21 is photographed directly above the disk 40, the disk 40 of the garden type is detected when the disk 40 is in a horizontal state. If the disk 40 is tilted, it is checked that the disk 40 is tilted as it is detected as an ellipse.

After confirming by the photographing unit 21 that the disk 40 is inclined, the tilt detection unit 24 secondly checks the direction of inclination and the degree of inclination.

The inclination detecting unit 24 detects that the disks 40 fixed by the fingers 22 are stacked to be inclined at a predetermined angle so that the heads 20 are inclined together in response to the inclination of the disks 40. By the finger 22 to be fixed to the disk 40 can be made accurately.

The distance value between the tilt detection unit 24 and the upper surface of the disk 40 is measured by the plurality of tilt detection units 24 provided by the bracket 29 at the side of the head 20, and the measured distance value In this case, the disk 40 is in a horizontal state, and when the distance value is different, it is confirmed that the disk 40 is inclined in the direction in which the distance value is large, and the degree of inclination is also measured according to the difference in the distance value. .

When the inclination of the disk 40 is detected, the head 22 is inclined to correspond to the inclination angle of the disk 40 by the robot arm 10 having multiple joints, so that the finger 22 is stably provided in the disk 40. ) To be fixed.

As an embodiment of the present invention, the inclination detection unit 24 may be a radar sensor, and three may be installed at 120 ° intervals on the side of the header.

Hereinafter, with reference to Figure 9 will be described a disk automatic supply method using the automatic brake disk automatic supply device of the present invention.

First, the head 20 installed on the robot arm 10 is positioned above the disk 40 stacked and stored in the loading part 30.

Stacking position of the disk 40 by photographing the disk 40 stacked on the entire loading section 30 by the photographing section 21 installed on the side of the head 20 in the state of being positioned on the disk 40 Will be identified.

The whole photographing part 30 is photographed by the photographing part 21 to check information such as the position and number of planes of the disk 40 to be conveyed by the head 20.

After capturing the entire loading unit 30 by the photographing unit 21, the head 20 moves to the upper portion of the individual disk 40 to be transported, and the head 20 has the upper portion of the individual disk 40. After moving to and photographing the disk 40 by the photographing unit 21 to check the stacking state of the disk 40.

At this time, the stacked state of the disk 40 to be confirmed may be the tilted and stacked direction of the disk 40, the head 20 and the disk ( The center of the disk 40 is sensed so that the upper and lower center axes of the 40 may be aligned.

One side of the disk 40 stacked and stored by a plurality of inclination sensing units 24 provided on the side of the head 20 while the head 20 and the disk 40 are moved to finish up and down the central axis. It will check if it is tilted.

In the step of checking the inclination of the disk 40, first, the disk 40 is tilted when the disk 40 is elliptical based on the image photographed by the photographing unit 21 from the upper portion of the disk 40. After confirming the inclination of the disk 40 by the photographing unit 21, the second direction is detected by the inclination detecting unit 24 and the inclination angle is detected.

With the head 20 positioned on the upper portion of the disk 40, the distance value between the tilt detection unit 24 installed on the head 20 and the upper surface of the disk 40 is measured, and the difference between the measured distance values is measured. Check the inclination direction of the disk 40 and the degree of inclination.

For example, when the distance value of the specific tilt detection unit 24 is measured larger than the other tilt detection units 24 when the distance value is measured by the three tilt detection units 24 provided at 120 ° intervals, the disc ( It is confirmed that 40) is inclined, and the distance value is also calculated by calculating a difference.

After the stacking state of the disk 40 is sensed by the head 20, the disk 40 is picked up and fixed by the plurality of fingers 22 installed in the head 20 after descending downward. The finger 22 installed in the) is radially expanded or contracted to fix the disk 40.

When the disks 40 are stacked in the forward direction and are in a horizontal state, the head 20 is lowered by the robot arm 10 to be fixed in close contact with the disk 40 while spreading outward in a state in which the fingers 22 are pinched. .

When the disks 40 are stacked in an inverted reverse direction, the head 22 is lowered in the state in which the fingers 22 are opened outward, and then the fingers 22 are pinched inward to be fixed in close contact with the disks 40. .

In the state in which the disk 40 is stored inclined in a state of being stacked in a forward or reverse direction, the head 20 is lowered in an inclined state corresponding to the inclined state of the disk 40 by the robot arm 10, and then the finger ( 22 is fixed or tightly contacted with the disk 40 while being opened or closed.

The robot arm 10 is rotated in the state in which the disk 40 is picked up and fixed by the finger 22, and the disk 40 is transferred to the transfer rail 50 to be inserted into the processing line.

In the above description of the present invention, specific embodiments have been described, but various modifications may be made without departing from the scope of the present invention. Therefore, the scope of the present invention should not be defined by the described embodiments, but should be defined by the claims and their equivalents.

(10)-robot arm
(20)-Head (21)-Shooting Department
(22)-Finger (23)-Extension
(24)-Tilt detection (25)-Body
(26)-Guide (27)-Guide Jaw
(28)-Elastic part (29)-Bracket
(30)-loading section (40)-disk
(50)-Feed rail

Claims (5)

In the vehicle brake disc automatic supply device,
A multi-joint robot arm 10 for separately supplying the disk 40 stacked on the stacking unit 30 to the transfer rail 50 of the processing line,
In the process of transferring the disk 40 by the robot arm 10, the head 20 to fix the disk 40 so as not to fall,
It is installed on one side of the head 20 to check the loading position and direction of the disk 40 when fixing the disk 40 by the head 20, the head 20 is fixed position for fixing the disk 40 Consists of the photographing unit 21 to be moved to,
The head 20 is a fixed position formed on the disk 40 by the body 25 is installed from the robot arm 10, the head 20 is lowered from the upper portion of the disk 40 by the robot arm 10 And a plurality of fingers 22 to be fixed so as not to fall by fixing the radially, and a plurality of radially installed fingers 22 based on the center of the head 20 is fixed to the position of the disk 40 The extension guide 23 adjusts the fixed position of the disk 40 by the finger 22 by the reverse operation, and the movement guide jaw 27 by the gripper installed on the inner side of the expansion part 23 in which the finger 22 is installed. In the process of grasping and fixing the disk 40 by the guide portion 26 and the finger 22 installed on the head 20 to move forward and backward along the c) is stored inclined Tilt detection to detect the tilted head 20 in response to the inclined angle It consists of 24,
In the body 25, the head 20 connected to the robot arm 10 is lowered and collided with the disk 40 during the lowering operation of the unreasonable head 20 in the process of catching and fixing the disk 40. The brake disc auto supply device for a vehicle, characterized in that the elastic portion 28 is installed to prevent damage to the finger 22 or the entire head (20) by generating pressure.
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