Work cell system

Abstract

A work cell system according to the present invention comprises: a first work cell device that forms a work space for a worker to work on a workpiece and moves up and down in response to the height position of the worker's arms; and a second work cell device that has at least one cooperative robot, couples in parallel with the first work cell device, is linked to the vertical movement of the first work cell device, and operates in a first operation mode in which the cooperative robot performs a work process for the workpiece together with the worker in the work space and a second operation mode in which the cooperative robot performs work while disposed separately from the first work cell device.

Description

Workcell System

[0001] The present invention relates to a work cell system, and more specifically, to a work cell system for selectively arranging a workspace and a collaborative robot to assist a worker's work using a collaborative robot.

[0002] Robots have recently been widely used in various business sectors, such as the manufacturing, logistics, and service industries. Robots used in these diverse industrial fields can be classified into industrial robots, collaborative robots, and logistics robots, depending on the site of deployment or the work process.

[0003] Here, while industrial robots and collaborative robots are similar in that they consist of multi-joint manipulators, they differ in whether or not they perform tasks in the same space as a human operator. Specifically, industrial robots are used in work processes involving heavy or large workpieces that are difficult for human operators to access, such as in the automotive and aerospace industries, whereas collaborative robots perform work on workpieces in the same workspace alongside the operator.

[0004] Meanwhile, as mentioned above, since collaborative robots can perform tasks in the workspace alongside workers, they can perform auxiliary tasks by replacing the disabled arm of workers with upper limb disabilities. Of course, collaborative robots can also assist non-disabled workers with workpieces.

[0005] However, as the workspace where workers perform tasks and the space where collaborative robots are deployed are separated, the layout structure of the workspace and collaborative robots affects work efficiency. For example, the desks forming the workspace and the collaborative robots are configured separately, and the desks forming the workspace and the collaborative robots are selectively combined and deployed together.

[0006] In this case, since each worker has a different arm height, it is necessary to adjust the height of the desk forming the workspace as well as the height of the placement position of the collaborative robot that assists the worker's work.

[0007] The objective of the present invention is to provide a work cell system with an improved structure that allows for the selective placement and combination of a collaborative robot and a configuration forming a workspace, and enables the height of the collaborative robot to be synchronized with the height adjustment of the workspace.

[0008] The means for solving the above problem is provided by a work cell system characterized by comprising: a first work cell device that forms a workspace for a worker to work on a workpiece according to the present invention and moves up and down in correspondence with the height position of the worker's arm; a second work cell device that has at least one collaborative robot and is arranged in parallel with respect to the first work cell device, operates in a first operating mode in which the collaborative robot performs a work process of the workpiece together with the worker in the workspace in conjunction with the up and down movement of the first work cell device, and is arranged separately from the first work cell device and operates in a second operating mode in which the collaborative robot performs a work.

[0009] Here, it may further include a positioning guide unit disposed respectively in the first work cell device and the second work cell device to guide the mutually parallel placement position of the first work cell device and the second work cell device, and a coupling unit disposed respectively in the first work cell device and the second work cell device to mutually combine the first work cell device and the second work cell device after the coupling position is aligned by the positioning guide unit.

[0010] It may further include a vibration damper unit that is positioned between each of the plurality of the plurality of the coupling units along the position of the plurality of the coupling units, and whose two sides are in contact with the first work cell device and the second work cell device, respectively, to damp vibration between the first work cell device and the second work cell device.

[0011] The first work cell device may include a work stage that forms the work space and is selectively moved up and down, a table unit disposed below the work stage and supporting the work stage, and a first work cell lifting unit disposed between the work stage and the table unit and selectively moves the work stage up and down relative to the table unit.

[0012] The second work cell device may further include a collaborative robot stage having a rectangular shape arranged to allow the collaborative robot to be selectively moved along the longitudinal direction and selectively moved up and down, a main body arranged below the collaborative robot stage to support the collaborative robot stage, and a second work cell lifting unit arranged between the collaborative robot stage and the main body to selectively move the collaborative robot stage up and down relative to the main body.

[0013] When the first work cell device and the second work cell device are connected in parallel, the first work cell lifting unit and the second work cell lifting unit are electrically connected, and an operation signal can be provided to the second work cell lifting unit in conjunction with the operation signal input of the first work cell lifting unit.

[0014] The height of the work stage from the device surface of the above work cell system is positioned to be relatively lower than the height of the stage for the collaborative robot, thereby restricting the movement of the workpiece from the workspace to the stage for the collaborative robot.

[0015] The above positioning guide unit may be arranged in a plurality on the upper and lower portions of the first work cell device and the second work cell device, and the positioning guide unit may include a protruding positioning guide portion formed to protrude in a different direction on either the first work cell device or the second work cell device, and a fitting positioning guide portion disposed on the other of the first work cell device and the second work cell device to which the protruding positioning guide portion is fitted.

[0016] The above coupling unit may include a first coupling unit disposed on the upper part of the first work cell device and the second work cell device and fastened by a separate fastening means, and a second coupling unit disposed on the lower part of the first work cell device and the second work cell device, respectively, and clamped and coupled by a clamping method.

[0017] The second coupling unit may include a clamp disposed in either the first work cell device or the second work cell device, and a locking member disposed in the other of the second work cell device and clamped to the clamp.

[0018] The above vibration damper unit is arranged in a plurality between the first work cell device and the second work cell device and is provided in a pad shape with one side and the other side respectively making surface contact with the first work cell device and the second work cell device, so as to be able to damp vibrations generated from at least one of the first work cell device and the second work cell device.

[0019] The device further includes a jig device that is positioned in the above workspace and mutually combines a first workpiece and a second workpiece, wherein the jig device may include a first jig having an upper opening formed therein for receiving the first workpiece and for positioning a second workpiece that is combined with the first workpiece, and a second jig positioned to selectively open and close the upper opening by the collaborative robot and mutually combines the first workpiece and the second workpiece when the upper opening is closed.

[0020] Specific details of other embodiments are included in the detailed description and drawings.

[0021] The effects of the work cell system according to the present invention are as follows.

[0022] First, a first work cell device forming a worker's workspace and a second work cell device having a collaborative robot positioned adjacent to the workspace can be combined with a mutually parallel arrangement to efficiently perform the worker's work together with the collaborative robot.

[0023] Second, when the first work cell device and the second work cell device are connected in parallel, they are electrically connected to each other so that the height of the first work cell device can be raised and lowered according to the height of the worker's arm, and the height of the second work cell device can be raised and lowered in conjunction with this, thereby allowing the workspace to be adjusted efficiently.

[0024] Third, by separating the first work cell device and the second work cell device, the collaborative robot and lifting motion of the second work cell device can be controlled separately, thereby improving the spatial arrangement freedom.

[0025] FIG. 1 is a perspective view of a separation of a work cell system or a second work cell device operating in a second operating mode according to an embodiment of the present invention.

[0026] FIG. 2 is a perspective view of the combination of the work cell system shown in FIG. 1 or the second work cell device operating in the first operating mode.

[0027] FIG. 3 is a side view of the work cell system shown in FIG. 2,

[0028] FIG. 4 is an enlarged perspective view of area A shown in FIG. 2,

[0029] FIG. 5 is a first perspective view of the detailed configuration of a positioning guide unit based on area B shown in FIG. 1,

[0030] FIG. 6 is a second perspective view of the detailed configuration of the positioning guide unit illustrated in FIG. 5.

[0031] FIG. 7 is an enlarged perspective view of area C shown in FIG. 2,

[0032] FIG. 8 is an enlarged perspective view of area D shown in FIG. 2,

[0033] FIG. 9 is an enlarged perspective view of area E shown in FIG. 1,

[0034] FIG. 10 is a first operational perspective view of the work cell system illustrated in FIG. 2,

[0035] FIG. 11 is a second operational perspective view of the work cell system illustrated in FIG. 2,

[0036] FIG. 12 is a perspective view of a first work cell device, a second work cell device, and a jig device of a work cell system according to an embodiment of the present invention.

[0037] FIG. 13 is a first operational perspective view of the jig device shown in FIG. 12,

[0038] FIG. 14 is a second operational perspective view of the jig device shown in FIG. 12.

[0039] Hereinafter, a work cell system according to an embodiment of the present invention will be described in detail with reference to the attached drawings.

[0040] Before proceeding with the explanation, it should be noted that although the work cell system according to the embodiment of the present invention is described below based on the standards for workers with upper or lower limb disabilities, it is not limited thereto and can also be applied to non-disabled workers.

[0041] FIG. 1 is a perspective view of a separated work cell system or a second work cell device operating in a second operating mode according to an embodiment of the present invention, FIG. 2 is a perspective view of a combined work cell system or a second work cell device operating in a first operating mode according to FIG. 1, FIG. 3 is a side view of a work cell system shown in FIG. 2, and FIG. 4 is an enlarged perspective view of area A shown in FIG. 2.

[0042] As illustrated in FIGS. 1 to 4, a work cell system according to an embodiment of the present invention includes a first work cell device and a second work cell device. Additionally, a work cell device according to an embodiment of the present invention further includes a positioning guide unit (400; see FIGS. 5 and 6), a coupling unit (600), a vibration damper unit (800; see FIG. 9), and a jig device (900; see FIGS. 12 to 14). In a work cell system (10) according to an embodiment of the present invention, coupling and separation of the first work cell device (100) and the second work cell device (300) are performed according to a first operating mode and a second operating mode of the second work cell device (300) for the first work cell device (100), depending on the selective operating mode.

[0043] In detail, the first operating mode of the second work cell device (300) is arranged in parallel with respect to the first work cell device (100) and is electrically connected to the first work cell device (100) to link the lifting and lowering movement of the work stage (110) of the first work cell device (100), which will be described later, with the stage (330) for the collaborative robot. In addition, the first work cell device (100) and the second work cell device (300) are arranged in parallel so that the collaborative robot (310) of the second work cell device (300) performs work together with the worker in the workspace.

[0044] On the other hand, the second operating mode of the second work cell device (300) is separated from the first work cell device (100) and controls the operation of the collaborative robot (310) and / or the lifting movement of the stage (330) for the collaborative robot according to a separate input signal.

[0045] The first work cell device (100) forms a workspace for a worker to work on a workpiece and moves up and down according to the height position of the worker's arm. The first work cell device (100) moves up and down in correspondence with the height position of the arm according to the worker's height or in correspondence with the height position of the arm of a worker with a lower limb disability. As an embodiment of the present invention, the first work cell device (100) includes a work stage (110), a table unit (130), and a first work cell lifting unit (150). Additionally, the first work cell device (100) further includes a first work cell input unit (170).

[0046] The work stage (110) forms a workspace and is optionally raised and lowered. The work stage (110) is arranged in a plate shape on which a workpiece can be placed.

[0047] The table unit (130) is positioned below the work stage (110) to support the work stage (110). The table unit (130) supports the work stage (110) with respect to the work surface, that is, supports the work stage (110) with respect to the ground.

[0048] The first work cell lifting unit (150) is positioned between the work stage (110) and the table unit (130) to selectively lift the work stage (110) relative to the table unit (130). The first work cell lifting unit (150) lifts the position of the work stage (110) relative to the table unit (130) based on an operation signal provided by a worker.

[0049] The first work cell input unit (170) is placed on the work stage (110) as shown in FIG. 4. The first work cell input unit (170) is placed on both sides of the work stage (110). The first work cell input unit (170) receives an operation signal to operate the first work cell lifting unit (150) by pressing or touching by a worker.

[0050] The second work cell device (300) has at least one collaborative robot (310) that is arranged in parallel with the first work cell device (100), is linked to the lifting movement of the first work cell device (100), and performs the work process of the workpiece in the workspace together with the worker. The second work cell device (300) is substantially connected in parallel with the first work cell device (100) to assist the work process of the workpiece performed on the work stage (110) of the first work cell device (100). In one embodiment of the present invention, the second work cell device (300) includes not only the collaborative robot (310) but also a collaborative robot stage (330), a main body (350), a second work cell lifting unit (370), and a second work cell input unit (390).

[0051] The collaborative robot stage (330) is arranged in a rectangular shape so that the collaborative robot (310) can be selectively moved along the longitudinal direction and is selectively moved up and down. As shown in FIG. 3, the collaborative robot stage (330) is placed relatively high with a height difference of h compared to the work stage (110) of the first work cell device (100). Specifically, the height of the work stage (110) from the surface of the device is placed at a height relatively lower than the height of the collaborative robot stage (330), thereby restricting the movement of the workpiece from the workspace to the collaborative robot stage (330). Here, in addition to restricting the movement of the workpiece, the movement of tools, etc., required for the work process of the workpiece is also restricted.

[0052] The main body (350) is positioned at the bottom of the collaborative robot stage (330) and supports the collaborative robot stage (330).

[0053] The second work cell lifting unit (370) is positioned between the collaborative robot stage (330) and the main body (350) to selectively lift the collaborative robot stage (330) relative to the main body (350). The second work cell lifting unit (370) can lift in conjunction with the operation of the first work cell lifting unit (150) or lift independently.

[0054] As an embodiment of the present invention, the second work cell input unit (390) is positioned on the side of the main body (350). The second work cell input unit (390) is positioned in a touch pad manner and receives an operation signal for the movement of the collaborative robot (310) or the lifting movement of the second work cell lifting unit (370) according to a signal from the operator.

[0055] Next, FIG. 5 is a first perspective view of the detailed configuration of a positioning guide unit based on area B shown in FIG. 1, FIG. 6 is a second perspective view of the detailed configuration of the positioning guide unit shown in FIG. 5, FIG. 7 is an enlarged perspective view of area C shown in FIG. 2, FIG. 8 is an enlarged perspective view of area D shown in FIG. 2, and FIG. 9 is an enlarged perspective view of area E shown in FIG. 1.

[0056] As illustrated in FIGS. 5 to 9, a positioning guide unit (400) is positioned in each of the first work cell device (100) and the second work cell device (300) to guide the mutually parallel positioning of the first work cell device (100) and the second work cell device (300). A total of four positioning guide units (400) are positioned, with two at the bottom and one at the top, based on the position of area B shown in FIG. 1, but are not limited to this arrangement.

[0057] In one embodiment of the present invention, the positioning guide unit (400) includes a protruding position guide part (410) and a fitting position guide part (430). The protruding position guide part (410) is formed to protrude in one direction from either the first work cell device (100) or the second work cell device (300), and the fitting position guide part (430) is positioned in the other of the first work cell device (100) and the second work cell device (300) and is fitted and coupled with the protruding position guide part (410). In one embodiment of the present invention, the protruding position guide part (410) and the fitting position guide part (430) are positioned in the second work cell device (300) and the first work cell device (100), respectively, but are not limited thereto and may alternately change positions.

[0058] A coupling unit (600) is disposed in the first work cell device (100) and the second work cell device (300), respectively, and after the coupling position is aligned by a positioning guide unit (400), the first work cell device (100) and the second work cell device (300) are coupled to each other. In one embodiment of the present invention, the coupling unit (600) includes a first coupling unit (610) and a second coupling unit (630).

[0059] The first coupling unit (610) is positioned on the upper part of the first work cell device (100) and the second work cell device (300) and is fastened by a separate fastening means (S). The first coupling unit (610) is positioned on the upper part corresponding to the second coupling unit (630) positioned on the lower part, and the first work cell device (100) and the second work cell device (300) are mutually fastened by a separate fastening means (S), such as a bolt.

[0060] A second coupling unit (630) is positioned at the lower portions of the first work cell device (100) and the second work cell device (300), respectively, and is clamped and coupled in a clamping manner. As an embodiment of the present invention, the second coupling unit (630) includes a clamp (631) and a locking part (633). The clamp (631) is positioned in either the first work cell device (100) or the second work cell device (300), and the locking part (633) is positioned in the other of the first work cell device (100) and the second work cell device (300) and is clamped and coupled with the clamp (631). As an embodiment of the present invention, the clamp (631) and the locking part (633) are positioned in the first work cell device (100) and the second work cell device (300), respectively, but are not limited thereto and their positions may be alternately changed.

[0061] The vibration damper unit (800) is positioned between each of the multiple coupling units (600) along the arrangement positions of the multiple coupling units (600), and each of its two sides contacts the first work cell device (100) and the second work cell device (300) to damp the vibration between the first work cell device (100) and the second work cell device (300). Specifically, the vibration damper unit (800) is positioned in multiple numbers between the first work cell device (100) and the second work cell device (300) and is provided in the shape of a pad, with one side and the other side contacting the first work cell device (100) and the second work cell device (300), respectively. The vibration damper unit (800) damps vibrations generated from at least one of the first work cell device (100) and the second work cell device (300), for example, vibrations generated by the lifting motion of the first work cell device (100) and the second work cell device (300) or the movement of the cooperative robot (310).

[0062] FIG. 10 is a first operational perspective view of the work cell system illustrated in FIG. 2, and FIG. 11 is a second operational perspective view of the work cell system illustrated in FIG. 2.

[0063] As shown in FIGS. 10 and 11, the work cell system (10) according to an embodiment of the present invention is electrically connected to each other when the first work cell device (100) and the second work cell device (300) are arranged in parallel and coupled by a positioning guide unit (400), a coupling unit (600), and a vibration damper unit (800).

[0064] The work stage (110) of the first work cell device (100) and the second work cell device (300) and the collaborative robot stage (330) are moved up and down to the same position based on an operation signal provided from the first work cell input unit (170) placed in the first work cell device (100). That is, when the work stage (110) of the first work cell device (100) is moved up and down according to the height of the worker's arm, the collaborative robot stage (330) is moved up and down to the same height accordingly, thereby improving work convenience.

[0065] The collaborative robot (310) of the second work cell device (300) moves the collaborative robot (310) along the longitudinal direction of the collaborative robot stage (330) based on the location where work assistance is required. For example, the collaborative robot (310) shown in FIG. 2 can be moved to the left as shown in FIG. 11 to assist a worker with a right upper limb disability. The movement of the collaborative robot (310) along the longitudinal direction of the collaborative robot stage (330) is controlled by an operation signal provided from the second work cell input unit (390).

[0066] FIG. 12 is a perspective view of a first work cell device, a second work cell device, and a jig device of a work cell system according to an embodiment of the present invention, FIG. 13 is a first operational perspective view of the jig device shown in FIG. 12, and FIG. 14 is a second operational perspective view of the jig device shown in FIG. 12.

[0067] As illustrated in FIGS. 12 to 14, a work cell system (10) according to an embodiment of the present invention further includes a jig device (900) for mutually combining a first workpiece (not shown) and a second workpiece (not shown). The jig device (900) is mounted on a work stage (110) of a first work cell device (100) that forms a work space and is used.

[0068] The jig device (900) includes a first jig (910) having an upper opening formed therein for receiving a first workpiece and for placing a second workpiece coupled to the first workpiece, and a second jig (930) which is arranged to selectively open and close the upper opening by a cooperative robot (310) and for mutually combining the first workpiece and the second workpiece when the upper opening is closed.

[0069] After accommodating the first workpiece and the second workpiece in the first jig (910) in detail, the upper opening of the first jig (910) is closed with the second jig (930). Then, the collaborative robot (310) presses the second jig (930) in the downward direction of the first jig (910) to compress and combine the first workpiece and the second workpiece.

[0070] Accordingly, a first work cell device forming a worker's workspace and a second work cell device having a collaborative robot positioned adjacent to the workspace can be combined with a mutually parallel arrangement to efficiently perform the worker's work together with the collaborative robot.

[0071] In addition, when the first work cell device and the second work cell device are connected in parallel, they are electrically connected to each other so that the height of the first work cell device can be raised and lowered according to the height of the worker's arm, and the height of the second work cell device can be raised and lowered in conjunction with this, thereby allowing the workspace to be adjusted efficiently.

[0072] In addition, by separating the first work cell device and the second work cell device, the collaborative robot and lifting motion of the second work cell device can be controlled separately, thereby improving the degree of freedom of spatial arrangement.

[0073] Although embodiments of the present invention have been described above with reference to the attached drawings, those skilled in the art will understand that the present invention may be implemented in other specific forms without altering the technical concept or essential features thereof. Therefore, the embodiments described above should be understood as illustrative in all respects and not restrictive. The scope of the present invention is defined by the claims set forth below rather than by the detailed description above, and all modifications or variations derived from the meaning and scope of the claims and their equivalents should be interpreted as being included within the scope of the present invention.

[0074] [National R&D projects that supported this invention]

[0075] [Unique Project ID] 2410013823, [Project ID] 00417663, [Ministry] Ministry of Trade, Industry and Energy, [Research Management Agency] Korea Institute of Industrial Technology Planning and Evaluation, [Research Project Name] Industrial Technology Innovation Project (Robot Industry Core Technology Development Project), [Research Task Title] Development of a Modular Robotic Workcell Based on Adaptive Shared Control to Support Disabled-Robot Collaborative Work for Over 50% Reduction in Work Time, [Executing Agency] Neuromeca Co., Ltd., [Research Period] 2024-04-01 ~ 2026-12-31

Claims

1. A first work cell device that forms a workspace for a worker to work on a workpiece and moves up and down in correspondence with the height position of the worker's arm; A work cell system characterized by having at least one collaborative robot, and including a second work cell device that is arranged in parallel with respect to the first work cell device and operates in a first operating mode in which the collaborative robot performs a work process of a workpiece in the workspace together with a worker in conjunction with the lifting motion of the first work cell device, and a second operating mode in which the collaborative robot is arranged separately from the first work cell device and performs the work of the collaborative robot.

2. In Paragraph 1, A position determining guide unit disposed respectively in the first work cell device and the second work cell device to guide the mutually parallel arrangement position of the first work cell device and the second work cell device; A work cell system characterized by further including a coupling unit that is disposed in the first work cell device and the second work cell device, respectively, and which mutually combines the first work cell device and the second work cell device after the coupling position is aligned by the position determining guide unit.

3. In Paragraph 2, The above work cell system is, A work cell system characterized by further including a vibration damper unit disposed between each of the plurality 4. In Paragraph 1, The above-mentioned first work cell device is, A work stage that forms the above workspace and is optionally lifted and lowered; A table unit positioned below the above-mentioned work stage and supporting the above-mentioned work stage; A work cell system characterized by including a first work cell lifting unit disposed between the above work stage and the above table unit, which selectively moves the above work stage up and down relative to the above table unit.

5. In Paragraph 4, The above second work cell device is, A stage for a collaborative robot that is arranged with a rectangular shape so that the collaborative robot is selectively moved along the longitudinal direction and selectively moves up and down; A main body positioned at the lower part of the stage for the collaborative robot and supporting the stage for the collaborative robot; A work cell system characterized by further including a second work cell lifting unit disposed between the stage for the collaborative robot and the main body, which selectively moves the stage for the collaborative robot up and down relative to the main body.

6. In Paragraph 5, A work cell system characterized by electrically connecting the first work cell lifting unit and the second work cell lifting unit when the first work cell device and the second work cell device are connected in parallel, and providing an operating signal to the second work cell lifting unit in conjunction with the input of an operating signal from the first work cell lifting unit.

7. In Paragraph 5, A work cell system characterized in that the height of the work stage from the device surface of the work cell system is arranged to be relatively lower than the height of the stage for the collaborative robot, thereby restricting the movement of a workpiece from the work space to the stage for the collaborative robot.

8. In Paragraph 2, The above positioning guide units are arranged in multiple numbers on the upper and lower parts of the first work cell device and the second work cell device, and The above positioning guide unit is, A protruding position guide portion formed protruding in a different direction on either of the first work cell device and the second work cell device; A work cell system characterized in that the above position determining guide unit is disposed in the other of the first work cell device and the second work cell device and includes a fitting position guide part into which the protruding position guide part is fitted.

9. In Paragraph 2, The above-mentioned coupling unit is, A first coupling unit disposed on the upper portion of the first work cell device and the second work cell device and fastened by a separate fastening means; A work cell system characterized by including a second coupling unit that is respectively disposed at the lower portions of the first work cell device and the second work cell device and clamped and coupled in a clamping manner.

10. In Paragraph 9, The above second coupling unit is, A clamp disposed on either of the first work cell device and the second work cell device; A work cell system characterized by including a locking member disposed in the other of the second work cell device and the second work cell device, which is clamped and coupled with the clamp.

11. In Paragraph 3, A work cell system characterized in that the above vibration damper unit is arranged in a plurality between the first work cell device and the second work cell device and is provided in a pad shape with one side and the other side respectively making surface contact with the first work cell device and the second work cell device, thereby damping vibration generated from at least one of the first work cell device and the second work cell device.

12. In Paragraph 1, It further includes a jig device that is positioned in the above workspace and mutually combines a first workpiece and a second workpiece, The above jig device is, A first jig having an upper opening formed therein for accommodating the first workpiece and for arranging a second workpiece coupled to the first workpiece; A work cell system characterized by including a second jig that is arranged to selectively open and close the upper opening by the above-mentioned collaborative robot and mutually combines the first workpiece and the second workpiece when the upper opening is closed.

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