Machining system using a collaborative robot including two grippers

Abstract

An object of the present invention is to provide a machining system using a collaborative robot including two grippers. The machining system according to the present invention comprises: an input index table (120) on which a plurality of workpieces (2W) to be machined are stacked to be picked up; a first robot (130), disposed at a workstation, that picks up the workpieces (2W) stacked on the input index table (120) by using a gripper and loads the workpieces (2W) into a primary machining apparatus; a cleaning unit (140) that cleans a primary machined product (2F) completed in the primary machining apparatus in an inputted state; a second robot (150) that grips the cleaned primary machined product (2F) from the cleaning unit (140) using the gripper and loads the primary machined product (2F) into a secondary machining apparatus; and an output index table (160) on which a machined product completed in the secondary machining apparatus is stacked after being gripped by the second robot (150) using a gripper for discharge.

Description

Machining system using a collaborative robot including two grippers

[0001] The present invention relates to a processing system using a collaborative robot including two grippers, and more specifically, to a processing system using a collaborative robot including two grippers having the basic feature of picking up a workpiece that has completed work with one of the two grippers, and feeding it into a processing device while the other gripper is gripping a workpiece to be processed.

[0002] Generally, in a processing line for machining parts used in machinery, the part material is fed into the processing device, processed by the device, and then cleaned and inspected through the cleaning and inspection sections before the manufacturing process is performed.

[0003] Meanwhile, there are many cases where automatic material processing by robots is achieved by using robots in the processing line to feed part materials into the processing device, thereby implementing an automated system.

[0004] At this time, it becomes necessary to increase the processing efficiency of part materials by utilizing two robots rather than a single robot in the processing system to process the part materials through an automated process using a collaborative robot processing system.

[0005] The objective of the present invention is to provide a processing system using a collaborative robot comprising two grippers, the basic feature of which one gripper picks up a completed workpiece and the other gripper holds a workpiece to be processed while feeding it into a processing device.

[0006] According to the present invention for solving the above-mentioned problems, a processing system using a collaborative robot comprising two grippers is provided, characterized by including: an input index table (120) stacking a plurality of processing target products (2W) to pick up processing target products (2W) prior to processing; a first robot (130) disposed at a work station and picking up processing target products (2W) stacked on the input index table (120) by a gripper and feeding them into a primary processing device; a cleaning unit (140) cleaning a primary processing product (2F) that has been processed in the primary processing device and fed into the device; a second robot (150) gripping the primary processing product (2F) that has been cleaned in the cleaning unit (140) by a gripper and feeding it into a secondary processing device; and a discharge index table (160) stacking the processing product that has been processed in the secondary processing device so that the second robot (150) grips it by a gripper and discharges it.

[0007] The grippers of the first robot (130) and the second robot (150) are composed of two grippers rotatably mounted on the arm of the first robot (130) and the arm of the second robot (150), so that the gripper of the first robot (130) and the gripper of the second robot (150) are composed of two grippers, and the two grippers of the first robot (130) are composed of a first gripper (133) on the first robot side and a second gripper (134) on the first robot side, and the two grippers of the second robot (150) are composed of a first gripper (152) on the second robot side and a second gripper (154) on the second robot side.

[0008] The above cleaning unit (140) is characterized by including a cleaning turntable (142) that rotates while a primary processed product (2F) is placed on it, and a water washing device (144) that cleans the primary processed product (2F) rotated on the cleaning turntable (142).

[0009] The above second robot (150) is further characterized by including a second cleaning unit (170) that cleans the processed product extracted from the second processing device in a second manner.

[0010] The above secondary cleaning unit (170) is characterized by including a secondary cleaning case (172) and an air cleaning nozzle (174) built into the secondary cleaning case (172) to clean a processed product with air, and further including a step diameter inspection device (180) to inspect the step and diameter of a processed product air-cleaned in the secondary cleaning unit (170).

[0011] The above discharge index table (160) comprises a stack turntable (163) rotated by a turning drive motor (162), a plurality of discharge stack rods (164) arranged circumferentially with respect to the center of the stack turntable (163), and a product mounting fork (166) arranged on the side of the stack turntable (163) and raised and lowered, wherein the product mounting fork (166) comprises a lifting ball screw (166LBS) arranged vertically so as to be rotatable on a lifting support frame (166LF) and rotated on the lifting support frame (166LF) by a lifting drive motor, a lifting ball screw nut coupled to the outer surface of the lifting ball screw (166LBS), a horizontal movement support frame (166VMF) coupled to the lifting ball screw nut, a horizontal movement device (166VMM) mounted on the horizontal movement support frame (166VMF), and the horizontal movement The device (166VMM) is coupled to a fork operating cylinder (166FDS) in which the cylinder rod extends and retracts at both ends, and a pair of product mounting fork pieces (166GHF) connected to a pair of cylinder rods of the fork operating cylinder (166FDS), and the step height inspection device (180) is characterized by including an inspection frame (182), an input shuttle that operates by a rodless cylinder to input a processed product into the inspection frame (182), a product transfer pop-up unit that pops the processed product from the input shuttle and mounts it on an inspector unit (185), and an inspector unit (185) that inspects the step height and outer diameter of the processed product popped up by the product transfer pop-up unit.

[0012] The present invention utilizes two robots rather than a single robot in a product processing system to process part materials through an automated process using a collaborative robot processing system, thereby increasing the processing efficiency of part materials and improving processing precision and productivity.

[0013] FIG. 1 is a layout drawing showing the overall structure of a processing system using a collaborative robot including two grippers according to the present invention,

[0014] FIG. 2 is a perspective view showing the structure of an input index table, which is a main part of the present invention.

[0015] FIG. 3 is a side view of FIG. 2,

[0016] FIG. 4 is a perspective view showing the structure of the cleaning part, which is a main part of the present invention.

[0017] FIG. 5 is a photograph showing a part of the cleaning section illustrated in FIG. 4 and a state in which a product to be processed is mounted on a stand.

[0018] FIG. 6 is a photograph showing the process in which a second robot picks up a primary processed product that has been washed in the cleaning unit illustrated in FIG. 5, and a first robot places a primary processed product that has been processed in the cleaning unit onto a stand in the cleaning unit.

[0019] FIGS. 7 and 8 are photographs showing the process of a first robot feeding a product to be processed, which is gripped by a gripper, into the interior of a primary processing device for processing.

[0020] FIG. 9 is a photograph showing a second robot, which is a main part of a processing system using a collaborative robot including two grippers according to the present invention.

[0021] FIG. 10 is a photograph showing the process of the second robot illustrated in FIG. 9 feeding a primary processed product, gripped by a gripper, into the interior of a secondary processing device for processing.

[0022] FIG. 11 is a photograph showing the process of placing a secondary processed product, processed in the secondary processing device illustrated in FIG. 10, onto a secondary cleaning trolley of the secondary cleaning unit.

[0023] FIG. 12 is a perspective view showing the structure of a secondary cleaning unit, which is another key part of the present invention.

[0024] FIG. 13 is a plan view of FIG. 12,

[0025] FIG. 14 is a side view of FIG. 12,

[0026] FIG. 15 is a photograph showing a part of the step diameter inspection machine, which is another key part of the present invention.

[0027] FIG. 16 is a perspective view showing the structure of a step diameter inspection machine, which is another key part of the present invention.

[0028] FIG. 17 is a plan view of FIG. 16,

[0029] FIG. 18 is a side view of FIG. 16,

[0030] FIG. 19 is a perspective view showing the structure of an exhaust index table, which is another key part of the present invention.

[0031] FIG. 20 is a plan view of FIG. 19,

[0032] FIG. 21 is a side view of FIG. 19,

[0033] FIGS. 22 and 23 are photographs showing a part of the discharge index table, which is another key part of the present invention, showing the process of a product mounting fork stacking a secondary processed product onto a discharge stack rod.

[0034] FIG. 24 is a photograph showing the state in which secondary processed products are stacked on a discharge stack rod by the product seating fork illustrated in FIG. 22 and 23.

[0035] FIG. 25 is a photograph showing the product mounting fork piece of the product mounting fork illustrated in FIG. 24 in an open state.

[0036] FIG. 26 is a photograph showing the product mounting fork piece of the product mounting fork illustrated in FIG. 25 in a narrowed state and moved to the side discharge stack rod position.

[0037] FIG. 27 is a photograph showing the structure of the first robot, which is a key part of the present invention.

[0038] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. The objectives, features, and advantages of the present invention will be more easily understood by referring to the attached drawings and the following detailed description. Furthermore, in describing the present invention, if it is determined that a detailed description of related known components or functions may obscure the essence of the present invention, such detailed description is omitted.

[0039] In addition, terms such as first, second, A, B, (a), (b), etc., may be used when describing the components of the present invention. These terms are intended only to distinguish the components from other components, and the essence, order, or sequence of the components is not limited by these terms. For example, if it is stated that a component is "connected," "combined," or "connected" to another component, it should be understood that the component may be directly connected or connected to the other component, but that another component may also be "connected," "combined," or "connected" between each component.

[0040] FIG. 1 is a layout drawing showing the overall structure of a processing system using a collaborative robot including two grippers according to the present invention; FIG. 2 is a perspective view showing the structure of an input index table, which is a main part of the present invention; FIG. 3 is a side view of FIG. 2; FIG. 4 is a perspective view showing the structure of a cleaning unit, which is a main part of the present invention; FIG. 5 is a photograph showing a part of the cleaning unit shown in FIG. 4 and a state in which a product to be processed is mounted on a holder; FIG. 6 is a photograph showing the process in which a second robot picks up a primary processed product that has been washed once in the cleaning unit shown in FIG. 5 and a first robot mounts the primary processed product that has been processed once on the holder of the cleaning unit; FIG. 7 and FIG. 8 are photographs showing the process in which a product to be processed, gripped by a gripper by the first robot, is fed into the interior of a primary processing device and processed; FIG. 9 is a photograph showing a second robot, which is a main part of a processing system using a collaborative robot including two grippers according to the present invention; FIG. 10 is a second robot that is gripped by a gripper by the second robot shown in FIG. 9 A photograph showing the process of feeding a primary processed product into the interior of a secondary processing device for processing; FIG. 11 is a photograph showing the process of placing a secondary processed product, processed in the secondary processing device illustrated in FIG. 10, onto a secondary cleaning trolley of a secondary cleaning unit; FIG. 12 is a perspective view showing the structure of a secondary cleaning unit, which is another main part of the present invention; FIG. 13 is a plan view of FIG. 12; FIG. 14 is a side view of FIG. 12; FIG. 15 is a photograph showing a part of a step height inspection machine, which is another main part of the present invention; FIG. 16 is a perspective view showing the structure of a step height inspection machine, which is another main part of the present invention; FIG. 17 is a plan view of FIG. 16; FIG. 18 is a side view of FIG. 16; FIG. 19 is a perspective view showing the structure of a discharge index table, which is yet another main part of the present invention; FIG. 20 is a plan view of FIG. 19; FIG. 21 is a side view of FIG. 19; FIG. 22 and FIG. 23 are the present A photograph showing a part of the discharge index table, which is another key part of the invention, showing the process of a product settling fork stacking a secondary processed product onto a discharge stack rod,FIG. 24 is a photograph showing a state in which a secondary processed product is stacked on a discharge stack rod by the product mounting fork illustrated in FIG. 22 and 23; FIG. 25 is a photograph showing the state in which the product mounting fork piece of the product mounting fork illustrated in FIG. 24 is spread apart; FIG. 26 is a photograph showing the state in which the product mounting fork piece of the product mounting fork illustrated in FIG. 25 is narrowed and moved to the position of the discharge stack rod on the side; FIG. 27 is a photograph showing the structure of the first robot, which is a main part of the present invention.

[0041] Referring to the drawings, the processing system using a collaborative robot including two grippers according to the present invention comprises, as a basic configuration, an input index table (120) stacking a plurality of processing target products (2W) to pick up processing target products (2W) prior to processing, a first robot (130) placed at a work station to pick up processing target products (2W) stacked on the input index table (120) by a gripper and feed them into a primary processing device, a cleaning unit (140) cleaning a primary processing product (2F) that has been processed in the primary processing device and fed into the device, a second robot (150) gripping the primary processing product (2F) that has been cleaned in the cleaning unit (140) by a gripper and feeding it into a secondary processing device, and a discharge index table (160) stacking the processing product that has been processed in the secondary processing device so that the second robot (150) grips it by a gripper and discharges it.

[0042] Meanwhile, in the present invention, two primary processing devices are installed at the work station. That is, the primary processing devices include a first sector primary processing device (112) and a second sector primary processing device (114).

[0043] The first robot (130) is driven to alternately perform primary processing on a product (2W) to be processed, which is gripped by a gripper, in a first sector primary processing device (112) and a second sector primary processing device (114).

[0044] In addition, in the present invention, two secondary processing devices are installed at the work station. That is, the secondary processing devices include a first sector secondary processing device (122) and a second sector secondary processing device (126).

[0045] The above second robot (150) is driven to alternately perform secondary processing on a primary processed product (2F) gripped by a gripper in a first sector secondary processing device (122) and a second sector secondary processing device (126).

[0046] The above input index table (120) includes a table frame (121), a turntable (123), a plurality of stack rods (124), and a geared motor (125).

[0047] A geared motor (125) is mounted on the upper surface of the table frame (121), and the center of the turntable (123) is drivenly connected to the motor shaft of the geared motor (125), so that the turntable (123) rotates on the table frame (121) by the rotation of the motor shaft of the geared motor (125).

[0048] The stack rods (124) are arranged in multiple numbers along the circumferential direction with respect to the center of the turntable (123). Multiple stack rods (124) are arranged along the circumferential direction on the upper surface of the turntable (123). Multiple stack rods (124) are erected in a vertical direction. As the turntable (123) rotates, the multiple stack rods (124) also rotate.

[0049] A product hole penetrating from the center of the product to be processed (2W) to the upper and lower surfaces is fitted into a plurality of stack rods (124), and a plurality of product to be processed (2W) is stacked on the plurality of stack rods (124).

[0050] The first gripper (133) and the second gripper (134) on the first robot side of the first robot (130) grip and pick up the workpiece (2W) that is stacked and inserted into the stack rod (124) one by one.

[0051] When the first robot-side first gripper (133) and the first robot-side second gripper (134) of the first robot (130) have picked up all the workpieces (2W) stacked on a single stack rod (124), the turntable (123) is rotated by the drive of the geared motor (125) so that the stack rod (124) on which multiple workpieces (2W) are stacked can be picked up, and the first robot-side first gripper (133) and the first robot-side second gripper (134) of the first robot (130) grip and pick up the workpieces (2W) stacked on the stack rod (124) one by one.

[0052] Accordingly, in the present invention, when a plurality of workpieces (2W) are stacked, the workpieces (2W) that are stacked are inserted into the stack rod (124) and are sequentially gripped and picked up one by one by the first robot-side first gripper (133) and the first robot-side second gripper (134) of the first robot (130), so the feeding operation of the workpieces (2W) is performed precisely and smoothly.

[0053] The grippers of the first robot (130) and the second robot (150) are composed of two grippers rotatably mounted on the arm of the first robot (130) and the arm of the second robot (150), so that the gripper of the first robot (130) and the gripper of the second robot (150) are configured as two grippers.

[0054] At this time, a gripper-mounted rotator is provided on the first arm of the first robot (130) so as to be rotatable, and two grippers are mounted on the gripper-mounted rotator. The gripper-mounted rotator is configured to rotate by driving a first rotation drive motor provided on the first arm of the first robot (130).

[0055] A first gripper (133) on the first robot side and a second gripper (134) on the first robot side are mounted on a gripper mounting rotator provided on the first arm of the first robot (130).

[0056] In addition, a gripper-mounted rotator is provided on the second arm of the second robot (150) so as to be rotatable, and two grippers are mounted on the gripper-mounted rotator, and the gripper-mounted rotator is configured to rotate by driving a second rotation drive motor provided on the second arm of the second robot (150).

[0057] A first gripper (152) on the second robot side and a second gripper (154) on the second robot side are mounted on a gripper mounting rotator provided on the second arm of the second robot (150).

[0058] The cleaning unit (140) includes a cleaning turntable (142) that rotates on a cleaning frame (141) with a primary processed product (2F) placed on it, and a water washing device (144) that cleans the primary processed product (2F) rotated on the cleaning turntable (142). The primary processed product (2F) can be placed on a stand (140HS) of the cleaning unit (140) to allow primary cleaning of the primary processed product (2F) to be performed in the cleaning unit (140).

[0059] With the primary processed product (2F) that has been primary processed placed on the cleaning turntable (142), the cleaning turntable (142) rotates on the cleaning frame (141), and cleaning water is sprayed at a constant pressure through the water cleaning nozzle of the water cleaning device (144) to clean the primary processed product (2F). Meanwhile, when cleaning the primary processed product (2F), the shutter (140SHT) is closed by the operation of the shutter cylinder.

[0060] The present invention further includes a second cleaning unit (170) that secondarily cleans the processed product extracted from the second processing device by the second robot (150).

[0061] The above secondary cleaning unit (170) includes a secondary cleaning case (172) and an air cleaning nozzle (174) built into the secondary cleaning case (172) to clean the air-processed product. The above secondary cleaning unit (170) can be described as a turn-and-cleaner.

[0062] At this time, the secondary cleaning unit includes a secondary cleaning frame, a secondary cleaning case (172) provided on the secondary cleaning frame, and a plurality of rows of air cleaning nozzles (174) built into the secondary cleaning case (172).

[0063] The above air cleaning nozzle (174) is provided with a plurality of cleaning air injection holes penetrating the inner and outer surfaces.

[0064] A secondary cleaning trolley (176) is slidably coupled to the upper surface of the secondary cleaning frame above, which supports a processed product by placing it on it via an LM guide.

[0065] At this time, slide cylinders are mounted on both sides of the secondary cleaning frame, and as the slider cylinders extend and retract, the secondary cleaning carriage (176) and the multiple rows of air cleaning nozzles (174) move on the secondary cleaning frame, and the secondary processed product (2S) mounted on the secondary cleaning carriage (176) is cleaned with air of a certain pressure sprayed through multiple air injection holes of the multiple rows of air cleaning nozzles (174).

[0066] In addition, the present invention further includes a step diameter inspection device (180) for inspecting the step and diameter of a processed product air-cleaned in the secondary cleaning unit (170).

[0067] In the present invention, the step height inspection device (180) is characterized by comprising: an inspection frame (182); an input shuttle that operates by a rodless cylinder to input a processed product into the inspection frame (182); a product transfer pop-up unit that pops the processed product from the input shuttle and places it on an inspector unit (185); an inspector unit (185) that inspects the step height and outer diameter of the processed product popped by the product transfer pop-up unit; a product detection sensor that detects the product input into the inspection frame (182); and a cylinder operation detection sensor that detects the operation of the rodless cylinder.

[0068] At this time, in the present invention, the inspector unit (185) is configured as an inspection camera, and the inspection result of the secondary processed product captured by the inspector unit (185) can be configured to be displayed on the display device (186).

[0069] Additionally, in the present invention, the discharge index table (160) includes a stack turntable (163) that is rotated on a discharge support frame (161) by a turning drive motor (162), a plurality of discharge stack rods (164) arranged circumferentially with respect to the center of the stack turntable (163), and a product mounting fork (166) that is positioned on the side of the stack turntable (163) and raised. The turning drive motor (162) is mounted on the discharge support frame (161), and the stack turntable (163) is configured to rotate on the upper side of the discharge support frame (161) by the driving of the turning drive motor (162).

[0070] The above product mounting fork (166) comprises a lifting ball screw (166LBS) that is vertically positioned to be rotatable on a lifting support frame (166LF) and rotated on the lifting support frame (166LF) by a lifting drive motor, a lifting ball screw nut coupled to the outer surface of the lifting ball screw (166LBS), a horizontal movement support frame (166VMF) coupled to the lifting ball screw nut, a horizontal movement device (166VMM) mounted on the horizontal movement support frame (166VMF), a fork operating cylinder (166FDS) coupled to the horizontal movement device (166VMM) and having a cylinder rod that extends and retracts at both ends, and a pair of product mounting fork pieces (166GHF) connected to a pair of cylinder rods of the fork operating cylinder (166FDS).

[0071] At this time, the horizontal movement device (166VMM) is composed of a horizontal movement drive cylinder coupled to a horizontal movement support frame (166VMF), and the fork operating cylinder (166FDS) is coupled to the cylinder rod of the horizontal movement drive cylinder, so that the fork operating cylinder (166FDS) and two product mounting fork pieces (166GHF) can move in a horizontal direction according to the extension and retraction operation of the cylinder rod of the horizontal movement drive cylinder.

[0072] According to the present invention with the above configuration, two grippers of the first robot (130) grip and pick up two workpieces (2W) and then feed them into a first sector primary processing device, and one of the grippers of the first robot (130) grips a workpiece (2W) and processes it in the first sector primary processing device by driving the first joint arm of the first robot (130).

[0073] Next, the gripper-mounted rotator of the first robot (130) rotates in the first joint arm to rotate the other workpiece (2W) that is being gripped by the other gripper among the two grippers of the first robot (130) to a primary processing position, and then the other workpiece (2W) that is being gripped by the other gripper among the two grippers of the first robot (130) is processed in the primary processing device by driving the first joint arm of the first robot (130).

[0074] In the present invention, the second robot (150) operates in cooperation with the first robot (130).

[0075] With the primary processed product (2F), which has been cleaned in the primary cleaning unit (140) above, being gripped one by one by the two grippers, the first gripper (152) on the second robot side and the second gripper (154) on the second robot side, the second joint arm of the second robot (150), the first gripper (152) on the second robot side, and the second gripper (154) on the second robot side, along with two primary processed products (2F), are fed into the secondary processing device by the operation of the second robot (150). Then, the gripper mounting rotator equipped on the second joint arm of the second robot (150) rotates in one direction (e.g., clockwise) so that the first gripper (152) on the second robot side and one primary processed product (2F) are positioned facing the processing execution unit of the secondary processing device, and in this state, by the operation of the second joint arm, the By processing one primary processed product (2F) that is being gripped by the first gripper (152) on the second robot side, a secondary processed product (2S) is formed.

[0076] Next, the secondary processed product (2S) is fed into the secondary cleaning unit (170) by driving the second robot (150).

[0077] Meanwhile, the second cleaning unit (170) is configured such that a second cleaning trolley (176) is slidably coupled to a second cleaning frame via an LM guide, and a product holder is provided on the second cleaning trolley (176). By driving the second robot (150), the second robot-side first gripper (152) and the second processing product (2S) that has completed the second processing are placed on the product holder on the second cleaning trolley (176). Then, the second robot-side first gripper (152) releases the state of gripping the processed product, thereby placing the processed product on the product holder on the second cleaning trolley (176).

[0078] At this time, the secondary cleaning frame is equipped with a secondary cleaning moving drive motor having a motor shaft arranged in the longitudinal direction, and a ball screw is coupled to the motor shaft of the secondary cleaning moving drive motor in a direction parallel to the longitudinal direction of the secondary cleaning frame, and a ball screw nut is coupled to the outer surface of the ball screw and the secondary cleaning trolley (176), and the secondary cleaning frame is configured to be equipped with a secondary cleaning case (172) having a plurality of air cleaning nozzles (174) inside, so that when the motor shaft of the secondary cleaning moving drive motor rotates in one direction (e.g., clockwise) and the ball screw rotates in one direction (e.g., clockwise), the secondary cleaning trolley (176), the product stand, and the secondary processed product (2S) enter the secondary cleaning case (172), and in this state, air is sprayed at a constant pressure from a plurality of air injection holes provided in a plurality of rows of air cleaning nozzles (174). The processed product is air-cleaned by air.

[0079] Meanwhile, while air cleaning the processed product in the second cleaning unit (170), the second robot (150) is driven, and the second gripper (154), which is the other gripper among the two grippers of the second robot (150), grips the first processed product (2F) that has been first washed in the first cleaning unit (140). Then, with the second joint arm of the second robot (150) inserted into the interior of the second processing device, the gripper mounting rotator rotates in the other direction (e.g., counterclockwise) so that the second gripper (154) and the other first processed product (2F) are positioned facing the processing execution unit of the second processing device. Then, by operating the second joint arm, the other first processed product (2F) gripped by the second gripper (154) is processed, thereby performing the second processing. Forms the product (2S).

[0080] At this time, while the second processing product (2S) is being formed by processing another first processing product (2F) that is being gripped by the second gripper (154) on the second robot side by the operation of the second joint arm of the second robot (150), the second air cleaning is completed in the second cleaning unit (170). After the second air cleaning is completed in the second cleaning unit (170), the motor shaft of the second cleaning moving drive motor rotates in a different direction (e.g., counterclockwise) and the ball screw rotates in a different direction (e.g., counterclockwise), and the second cleaning carriage (176), the product stand, and the processed product that has completed the second cleaning (air cleaning) are in a state where they have come out of the second cleaning case (172).

[0081] Next, another secondary processed product (2S) that has been processed in the secondary processing device is moved out of the secondary processing device by the drive of the second robot (150) and placed on the secondary cleaned processed product on the product holder of the secondary cleaning trolley (176). In this state, the gripper-mounted rotator on the second joint arm of the second robot (150) rotates in the reverse direction (e.g., counterclockwise) so that the second robot-side first gripper (152), which is an empty gripper that does not grip the processed product, is placed in a position where it can grip one secondary cleaned processed product on the product holder of the secondary cleaning trolley (176).

[0082] Next, while the second robot-side first gripper (152), which is an empty gripper of the second robot (150), is gripping the second cleaning completed processed product, the gripper mounting rotator on the second joint arm of the second robot (150) is rotated in one direction again (e.g., clockwise) to position the second robot-side second gripper (154) and the second processed product (2S) processed in the second processing device at a position where they can be placed on the product holder of the second cleaning trolley (176). In this state, the second robot-side second gripper (154) releases the gripping of the second processed product (2S) to place the second processed product (2S) on the product holder of the second cleaning trolley (176).

[0083] In this state, when the motor shaft of the secondary cleaning moving drive motor rotates in one direction (e.g., clockwise) and the ball screw rotates in one direction (e.g., clockwise), the secondary cleaning carriage (176), the product holder, and other secondary processed products (2S) enter the secondary cleaning case (172), and in this state, the processed products are air-cleaned by air sprayed at a constant pressure from multiple air injection holes provided in multiple rows of air cleaning nozzles (174).

[0084] Meanwhile, the secondary processed product (2S) (the processed product air-cleaned in the secondary cleaning unit (170)) which has been cleaned up to the second cleaning by driving the second robot (150) is fed into the step height inspection machine (180) to inspect the step height and diameter of the secondary processed product (2S).

[0085] At this time, the process of feeding the processed product into the inspection frame (182) by means of the input shuttle of the step height inspection machine (180), popping the processed product into the product transfer pop-up section and placing it on the inspector unit (185), and inspecting the step height and outer diameter size of the processed product popped up by the product transfer pop-up section by the inspector unit (185) is performed.

[0086] Meanwhile, the product input into the inspection frame (182) is detected by the product detection sensor, and the operation of the rodless cylinder is detected by the cylinder operation detection sensor, and the step height and outer diameter size of the processed product are inspected by the inspector unit (185).

[0087] In the present invention, the inspector unit (185) is composed of an inspection camera, and the inspection camera inspects the step height and outer diameter size of the processed product. The inspection result of the processed product, in which the step height and outer diameter size have been inspected, is displayed on a separate display device (186) screen (mainly a display monitor screen) so that the inspection result of the processed product can be checked.

[0088] When the above-mentioned inspector unit (185) determines that the processed product is defective, the defective processed product is discharged to the NG discharge tray. At this time, among the two grippers of the second robot (150), the gripper that is empty and not gripping the processed product can grip the defective processed product and discharge it to the NG discharge tray.

[0089] Meanwhile, when the processed product is determined to be a good product by the inspector unit (185) above, the gripper among the two grippers of the second robot (150) that is empty and does not grip the processed product grips the good processed product and discharges it to the discharge index table (160).

[0090] The inspection unit (185) performs a process of inspecting the step height and outer diameter of the two secondary processed products (2S) that are being gripped by the second robot-side first gripper (152) and the second robot-side second gripper (154) of the second robot (150).

[0091] The processing system using a collaborative robot including the two grippers of the present invention repeats the above process to perform processing of multiple secondary processed products (2S), step inspection, and outer diameter inspection.

[0092] Meanwhile, in the present invention, a good secondary processed product (2S) for which the step inspection and outer diameter inspection of the secondary processed product (2S) have been completed is gripped by the second robot (150) by a gripper and stacked on the discharge index table (160) to be discharged. The second robot-side first gripper (152) and the second robot-side second gripper (154) of the second robot (150) each grip the secondary processed product (2S) and stack it on the discharge index table (160) by driving the second robot (150).

[0093] Specifically, when a secondary processed product (2S) that is gripped by the first gripper (152) on the second robot side is driven by the second robot (150) and enters the discharge index table (160) and is placed on the upper side of the two product mounting fork pieces (166GHF) of the product mounting fork (166), the first gripper (152) on the second robot side releases the gripping state of the secondary processed product (2S), and the secondary processed product (2S) is mounted on the two product mounting fork pieces (166GHF).

[0094] In this state, when the lifting ball screw (166LBS) rotates in one direction (e.g., clockwise) by the driving of the lifting drive motor, the lifting ball screw nut, the horizontal movement support frame (166VMF), the horizontal movement device (166VMM), the fork operating cylinder (166FDS), the two product mounting fork pieces (166GHF), and the secondary processed product (2S) descend, the product hole penetrating from the center of the secondary processed product (2S) to the upper and lower surfaces is inserted into the discharge stack rod (164) and stacked on the stack turntable (163).

[0095] Next, when a pair of cylinder rods at both ends of the fork operating cylinder (166FDS) are advanced to be withdrawn, the two product mounting fork pieces (166GHF) are spread apart and inserted into the discharge stack rod (164) and positioned outside the stacked secondary processed product (2S).

[0096] In this state, when the lifting ball screw (166LBS) is rotated in the other direction (e.g., counterclockwise) by the driving of the lifting drive motor, the lifting ball screw nut, the horizontal movement support frame (166VMF), the horizontal movement device (166VMM), the fork operating cylinder (166FDS), and the two product mounting fork pieces (166GHF) are raised, and then, by the driving of the horizontal movement device (166VMM) (mainly the horizontal movement drive cylinder), the fork operating cylinder (166FDS) and the two product mounting pieces are moved and positioned above another discharge stack rod (164) next to the discharge stack rod (164) on which the secondary processed product (2S) is inserted and stacked, and then, when the pair of cylinder rods at both ends of the fork operating cylinder (166FDS) are retracted to return to their original positions, the two product mounting fork pieces (166GHF) are narrowed back to their original state, and the second robot (150) The second gripper (154) on the second robot side is raised to a position where it can hold another secondary processed product (2S) that is brought in by gripping.

[0097] Next, when the second gripper (154) on the second robot side of the second robot (150) releases the gripping state of another secondary processed product (2S), the other secondary processed product (2S) is mounted on two product mounting fork pieces (166GHF).

[0098] In this state, when the lifting ball screw (166LBS) rotates in one direction (e.g., clockwise) by the driving of the lifting drive motor, the lifting ball screw nut, the fork operating cylinder (166FDS), the two product mounting fork pieces (166GHF), and the other secondary processed product (2S) descend, and the product hole penetrating from the center of the secondary processed product (2S) to the upper and lower surfaces is inserted into the other discharge stack rod (164) mentioned above and stacked on the stack turntable (163).

[0099] In the present invention, the above discharge process is repeatedly performed to stack and discharge multiple secondary processed products (2S) on two vertical discharge stack rods (164).

[0100] Meanwhile, in the present invention, a plurality of discharge stack rods (164) are arranged along the circumferential direction with respect to the center of the stack turntable (163), and by rotating the stack turntable (163) while carrying out the discharge process described above, a plurality of secondary processed products (2S) that have completed secondary processing are stacked and discharged onto the discharge index table (160).

[0101] Therefore, the present invention utilizes two robots rather than a single robot in a product processing system to process part materials through an automated process using a collaborative robot processing system, thereby increasing the processing efficiency of part materials and improving processing precision and productivity.

[0102] In addition, since the secondary processed product (2S) is sequentially stacked and discharged from the discharge index table (160), the secondary processed product (2S), which is a product that has completed secondary processing, can be stacked and discharged stably and smoothly, and furthermore, the processing precision of the product to be processed (2W) can be increased while the processing operation can be carried out smoothly.

[0103] Terms such as "include," "compose," or "have" as described above, unless specifically stated otherwise, mean that the relevant component may be inherent; therefore, they should be interpreted as allowing for the inclusion of additional components rather than excluding them. All terms, including technical or scientific terms, have the same meaning as generally understood by those skilled in the art to which the present invention pertains, unless otherwise defined. Commonly used terms, such as those defined in advance, should be interpreted in accordance with their meaning in the context of the relevant technology and, unless explicitly defined in the present invention, should not be interpreted in an ideal or overly formal sense.

[0104] The foregoing description is merely an illustrative explanation of the technical concept of the present invention, and those skilled in the art to which the present invention pertains will be able to make various modifications and variations within the scope of the essential characteristics of the present invention. Accordingly, the embodiments disclosed in the present invention are intended to explain, not limit, the technical concept of the present invention, and the scope of the technical concept of the present invention is not limited by these embodiments. The scope of protection of the present invention shall be interpreted by the claims below, and all technical concepts within an equivalent scope shall be interpreted as being included within the scope of rights of the present invention.

[0105] Accordingly, the embodiments described above are provided to fully inform those skilled in the art of the scope of the invention and should be understood as illustrative in all respects and not restrictive, and the invention is defined only by the scope of the claims.

Claims

1. A processing system using a collaborative robot including two grippers, characterized by comprising: an input index table (120) stacking multiple processing target products (2W) to pick up processing target products (2W) prior to processing; a first robot (130) positioned at a work station to pick up processing target products (2W) stacked on the input index table (120) by a gripper and feed them into a primary processing device; a cleaning unit (140) that cleans a primary processing product (2F) that has been processed in the primary processing device and has been fed in; a second robot (150) that grips the primary processing product (2F) that has been cleaned in the cleaning unit (140) by a gripper and feeds it into a secondary processing device; and a discharge index table (160) that stacks the processing product that has been processed in the secondary processing device so that the second robot (150) grips it by a gripper and discharges it.

2. In Paragraph 1, The grippers of the first robot (130) and the second robot (150) are composed of two grippers rotatably mounted on the arm of the first robot (130) and the arm of the second robot (150), so that the gripper of the first robot (130) and the gripper of the second robot (150) are composed of two grippers. A processing system using a collaborative robot including two grippers, characterized in that the two grippers of the first robot (130) are composed of a first gripper (133) on the first robot side and a second gripper (134) on the first robot side, and the two grippers of the second robot (150) are composed of a first gripper (152) on the second robot side and a second gripper (154) on the second robot side.

3. In Paragraph 1, The above cleaning unit (140) is, A cleaning turntable (142) that rotates with a primary processed product (2F) placed on it, and A processing system using a collaborative robot including two grippers, characterized by including a water washing device (144) for cleaning a primary processed product (2F) rotated on the cleaning turntable (142).

4. In Paragraph 1, A processing system using a collaborative robot including two grippers, characterized in that the second robot (150) further includes a second cleaning unit (170) for secondarily cleaning the processed product extracted from the second processing device.

5. In Paragraph 4, The above secondary cleaning unit (170) is, A second cleaning case (172) and, It includes an air cleaning nozzle (174) that is built into the above secondary cleaning case (172) and cleans the air-processed product, and A processing system using a collaborative robot including two grippers, characterized by further including a step diameter inspection device (180) for inspecting the step and diameter of a processed product air-cleaned in the above secondary cleaning unit (170).

6. In Paragraph 1, The above discharge index table (160) is, A stack turntable (163) rotated by a turning drive motor (162), and A plurality of discharge stack rods (164) arranged circumferentially with respect to the center of the stack turntable (163), and It includes a product mounting fork (166) positioned on the side of the stack turntable (163) and raised and lowered, and The above-mentioned product mounting fork (166) is, A lifting ball screw (166LBS) that is vertically positioned to be rotatable on a lifting support frame (166LF) and rotated on the lifting support frame (166LF) by a lifting drive motor, and A lifting ball screw nut coupled to the outer surface of the lifting ball screw (166LBS), and A horizontally movable support frame (166VMF) coupled to the lifting ball screw nut, and A horizontal movement device (166VMM) mounted on the above horizontal movement support frame (166VMF), and A fork operating cylinder (166FDS) coupled to the above horizontal moving device (166VMM) and having a cylinder rod that extends and retracts at both ends, and A processing system using a collaborative robot comprising two grippers, characterized by including a pair of product mounting fork pieces (166GHF) connected to a pair of cylinder rods of the fork operating cylinder (166FDS).

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