KR102097487B1 - Articulated wood processing machine with contact detaction belt - Google Patents

Abstract

Disclosed is an articulated wood machining apparatus which can be used in machining an object such as wood. According to an aspect of the present invention, the articulated wood machining apparatus comprises: a base unit; a first arm unit extended in a longitudinal direction so that one end thereof is rotatably coupled to the base unit; a link unit coupled to the other end of the first arm unit; and a second arm unit extended in a longitudinal direction so that one end thereof is rotatably coupled to the link unit. At least one of the first and second arm units includes a contact detection part to detect contact of an obstacle. The contact detection part includes a contact detection belt arranged in the longitudinal direction of the first arm unit or the second arm unit. The articulated wood machining apparatus detects a collision of an obstacle or the like and can reduce the risk of accidents or damage caused by a collision.

Description

ARTICULATED WOOD PROCESSING MACHINE WITH CONTACT DETACTION BELT}

The present invention relates to a multi-joint wood processing machine that can be used to process objects to be processed, such as wood.

Wood processing machines are known to be used for processing objects such as wood into designed shapes, shapes, structures, and the like. For example, Patent No. 10-1744962 discloses a "wood member processing system using a multi-joint robot." The processing system of the patent document is implemented to be able to process in a variety of postures using a multi-joint robot, and in addition, various types of processing means for wood processing are known in the art.

However, in many cases, the wood processing machine is implemented in the form of a large facility, so it can be used limitedly within a specific work space, and its movement or storage is very difficult. Therefore, it is difficult to adequately cope with small and medium-sized processing demands. In addition, in many cases, the wood processing machine is disposed adjacent to an operator, a surrounding obstacle, and the like, so that the work is always performed, thereby implying the possibility of a safety accident due to a collision with an operator or an obstacle. To this end, various safety measures have been attempted, but most of them do not function properly due to limitations in work space and cost. Furthermore, improvement of the working environment and processing quality are also technical tasks that are continuously required.

Registered Patent No. 10-1744962 (Registration on June 1, 2017)

Embodiments of the present invention is to provide a multi-joint wood processing machine that is easy to handle, can reduce the risk of safety accidents, and can further improve the working environment and processing quality.

According to an aspect of the invention, the base unit; A first arm unit extending in the longitudinal direction, one end being rotatably fastened to the base unit; A link unit fastened to the other end of the first arm unit; And a second arm unit extending in the longitudinal direction and having one end rotatably fastened to the link unit, wherein at least one of the first and second arm units includes a contact sensing unit that detects whether an obstacle is in contact Included, the contact detection unit, the first arm unit or the second arm unit may be provided with a multi-joint wood processing machine including a contact detection belt disposed along the longitudinal direction.

The multi-joint wood processing machine according to embodiments of the present invention can be more easily stored, handled, and transported through a detachable support unit.

In addition, the multi-joint wood processing machine according to the embodiments of the present invention can properly detect whether there is an obstacle or the like by providing first and second contact detection belts on the outer side surfaces of the first and second arm units, respectively. By stopping the operation of the device, etc., the risk of a safety accident or damage due to a collision can be reduced.

In addition, the multi-joint wood processing machine according to embodiments of the present invention includes a dust collection duct provided in the processing unit and first and second suction pipes extending along the first and second arm units, and foreign substances such as dust generated during processing. Can be collected and discharged more quickly and effectively.

In addition, the multi-joint wood processing machine according to the embodiments of the present invention can be properly adjusted in height during the initial setting or processing by the descending position control unit, thereby preventing damage to the object to be processed and further improving the processing quality. can do.

1 is a first perspective view of a multi-joint wood processing machine according to an embodiment of the present invention.
FIG. 2 is a second perspective view of the multi-joint wood processing machine shown in FIG. 1.
3 is a perspective view of the support unit shown in FIGS. 1 and 2.
4 is a partially enlarged view of the support unit shown in FIG. 3.
5 is a plan view showing the operating state of the first and second arm units shown in FIGS. 1 and 2;
6 is a perspective view of a rear end portion of the first contact sensing belt illustrated in FIGS. 1 and 2.
7 is a side view of the rear end portion of the first contact sensing belt shown in FIG. 6.
8 is a perspective view of the link unit shown in FIGS. 1 and 2.
9 is a perspective view of the processing unit shown in FIGS. 1 and 2.
10 is a perspective view of the processing unit shown in FIG. 9 when viewed from another direction.
11 is a perspective view of the processing unit shown in FIG. 9 when viewed from the bottom.
12 is a side view of the descending position control unit shown in FIG. 9.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. However, it is noted that the following examples are provided to help understanding of the present invention, and the scope of the present invention is not limited to the following embodiments. The following examples are provided to more fully describe the present invention to those having average knowledge in the relevant technical field, and detailed descriptions of well-known configurations determined to unnecessarily obscure the technical subject matter of the present invention It will be omitted.

1 is a first perspective view of a multi-joint wood processing machine according to an embodiment of the present invention. FIG. 2 is a second perspective view of the multi-joint wood processing machine shown in FIG. 1.

1 shows a multi-joint wood processing machine of the present embodiment (hereinafter referred to as “processing machine 1”) as viewed from the rear side, and FIG. 2 shows a state as viewed from the front side of the machining machine 1 of the present embodiment. Doing. For convenience, the x-axis direction will be referred to as a left-right direction, a y-axis direction as a front-rear direction, and a z-axis direction as a vertical direction based on the coordinate axes shown in FIG. 1.

1 and 2, the processing machine 1 of this embodiment may include a support unit 100.

The support unit 100 may provide a support structure for other components such as the base unit 200. Here, the support unit 100 may be formed to be separable independently from the rest of the configuration, such as the base unit 200. Considering convenience such as storage and transportation. In addition, the support unit 100 may be formed to fill the fluid (water) inside to secure the weight required for the support structure.

Meanwhile, the processing machine 1 of the present embodiment may include a base unit 200.

The base unit 200 may be mounted and supported on the support unit 100. However, as described above, the base unit 200 may be formed to be detachable in a form independent of the support unit 100. If necessary, the base unit 200 may be provided with an operation means for controlling the processing machine 1, a display means for displaying processing information, and the like.

Meanwhile, the processing machine 1 of this embodiment may include first and second arm units 300 and 500 and a link unit 400.

The first and second arm units 300 and 500 may be formed to extend in the longitudinal direction, respectively, and the first arm unit 300 is mounted and supported on the base unit 200, and the second arm unit 500 is the first. It may be mounted and supported at the end of the arm unit 300. Here, the first arm unit 300 may be rotatably mounted on the base unit 200 with a rotation axis in the vertical direction, and the second arm unit 500 similarly has a rotation axis in the vertical direction. 1 may be rotatably mounted to the end of the arm unit 300.

The link unit 400 may connect the first and second arm units 300 and 500 to be rotatable. That is, the first arm unit 300 may be fastened so that the rear end can be rotated to the link unit 400, and the second arm unit 500 can be fastened so that the front end can be rotated to the link unit 400. The first and second arm units 300 and 500 may each have a pivot axis in the vertical direction. Preferably, each rotation axis of the first and second arm units 300 and 500 may be spaced apart within the link unit 400. That is, the link unit 400 may have one rotation shaft to which the first arm unit 300 is fastened and another rotation shaft to be fastened to the second arm unit 500. This is to allow the first and second arm units 300 and 500 to be folded in a completely overlapped form around the link unit 400.

Meanwhile, the processing machine 1 of this embodiment may include a processing unit 600.

The processing unit 600 may be mounted and supported at the front end of the second arm unit 500. The processing unit 600 may include various processing means for processing the object to be processed.

Hereinafter, each component of the above-described processing machine 1 will be described in more detail.

3 is a perspective view of the support unit shown in FIGS. 1 and 2. 4 is a partially enlarged view of the support unit shown in FIG. 3.

3 and 4, the support unit 100 of this embodiment may include a support unit body 110.

The support unit body 110 may be formed of an enclosure of a predetermined shape, and as illustrated, is illustrated as an approximately rectangular parallelepiped enclosure. However, the appearance of the support unit body 110 is not necessarily limited to the illustrated bar. The support unit body 110 may be supported on the installation surface by a plurality of supporting legs 111, and an openable cap 112 may be provided at one upper side. The material of the support unit body 110 is not particularly limited, but may be formed of a plastic material in consideration of convenience such as storage and transportation.

Meanwhile, the support unit 100 of the present embodiment may include a body chamber 120.

The body chamber 120 may be formed inside the support unit body 110. That is, the body chamber 120 may be formed in a predetermined space provided inside the support unit body 110. An opening in communication with the body chamber 120 may be formed at an upper side of the support unit body 110, and the opening may be opened and closed by the cap 112 described above. The body chamber 120 may be formed as long as it can form a predetermined space and fill a fluid therein, and the internal shape or structure is not particularly limited.

The body chamber 120 may be filled with a predetermined weight, and preferably, the weight may include fluid or water. In other words, the body chamber 120 may be filled with a fluid such as water. Fluid, such as water, may be supplied or discharged to the body chamber 120 as necessary, and when installing and using the processor 1, a state in which the fluid is filled as in the former is intended, and when the processor 1 is moved or stored In the latter, a state in which a fluid is discharged may be intended. That is, the body chamber 120 may rapidly discharge fluid such as water into the body chamber according to the use state of the processor 1.

The body chamber 120 as described above may make it easier to install or move the processing machine 1. That is, when the processing machine 1 is moved or stored, the internal fluid is discharged so that the storage can be performed in a light state, and when the processing machine 1 is used, the fluid is filled inside to provide a stable support structure. . In particular, since the processing unit 1 of the present embodiment is formed so that the rest of the components such as the support unit 100 and the base unit 200 can be separated, the support unit 100 is separated when the processing unit 1 is moved or stored. And, it is possible to empty the fluid inside to carry out the transport more easily.

In other words, the processing machine 1 of this embodiment includes the first and second arm units 300 and 500 extending in the longitudinal direction from the base unit 200, and the processing unit 600 installed at the end in the longitudinal direction. It is formed to be processed through. Therefore, in order for the processing unit 600 to have a wide working range, the lengths of the first and second arm units 300 and 500 must be sufficiently long. In this case, it corresponds to the lengths of the first and second arm units 300 and 500. Therefore, a solid support structure is required. In the end, this can be a factor that should significantly increase the size or weight of the support structure, and accordingly, the conventional general processing machine has a fixed installation mostly due to difficulties in movement and storage. Against this background, the processing machine 1 of this embodiment implements the support unit 100 in a detachable form, and employs a method of filling a fluid such as water to secure a supporting force, thereby effectively solving the conventional problems as described above. have.

On the other hand, the support unit 100 of this embodiment may include a base mounting portion 130.

The base mounting unit 130 may be formed of a predetermined space in which the base unit 200 can be mounted and disposed. In the present embodiment, the base mounting portion 130 is formed in a substantially rectangular parallelepiped shape on the upper center portion of the support unit body 110. However, the position and shape of the base mounting portion 130 may be appropriately deformed as necessary, and is not necessarily limited to those illustrated. Preferably, the base mounting portion 130 may be formed to extend sufficiently up and down in consideration of the vertical height and movement range of the base unit 200. As will be described later, the purpose is to allow the vertical position of the base unit 200 to be properly adjusted as necessary.

Meanwhile, the support unit 100 of the present embodiment may include a base fastening groove 140.

The base fastening groove 140 is for supporting the base unit 200 and may be formed on the left and right side walls surrounding the base mounting portion 130. For convenience, the base fastening groove 140 formed on one side wall of the base mounting portion 130 is referred to as a first base fastening groove 141, and the base fastening groove 140 formed on the opposite side wall is referred to as a second base fastening groove 142. Refers to. The first and second base fastening grooves 141 and 142 may be arranged in pairs from side to side. The first and second base fastening grooves 141 and 142 may be formed to extend back and forth along the sidewalls, respectively. According to the illustrated, the first and second base fastening grooves 141 and 142 are formed to have an approximately square cross-section and extend back and forth. However, the shapes of the first and second base fastening grooves 141 and 142 are not necessarily limited to those illustrated.

A plurality of first and second base fastening grooves 141 and 142 may be formed, respectively. The plurality of first base fastening grooves 141 may be spaced up and down a predetermined distance along one side wall, and the plurality of second base fastening grooves 142 may be spaced up and down a predetermined distance along the opposite side wall to correspond to this. You can. Accordingly, the mounting position (height) of the base unit 200 may be appropriately changed. That is, the user can adjust and use the mounting height of the base unit 200 according to the use environment. For example, the user can adjust and use the mounting height of the base unit 200 according to the height of the work table 10, the structure or shape of the object to be processed 20, and the like.

Meanwhile, the support unit 100 of the present embodiment may include a base fixing pin 150.

The base fixing pin 150 is for fixing the base unit 200, and may be formed in the form of a pin, rod, etc. extending up and down. The base fixing pin 150 is fastened to penetrate the base fastening piece 210 seated in the base fastening groove 140 vertically, so that the base unit 200 can be fixed to the base mounting part 130. The base fixing pin 150 may be formed to extend sufficiently up and down to correspond to the entire plurality of base fastening grooves 140 disposed up and down. Alternatively, the base fixing pin 150 may be formed to extend vertically from the uppermost base fastening groove 140 to the lowermost base fastening groove 140.

A plurality of base fixing pins 150 may be provided. Alternatively, the base fixing pin 150 includes a first base fixing pin 151 corresponding to the first base fastening groove 141 and a second base fixing pin 152 corresponding to the second base fastening groove 142. It can contain. In addition, a plurality of first and second base fixing pins 151 and 152 may be provided as required. In the present embodiment, two first base fixing pins 151 corresponding to the first base fastening groove 141 and two second base fixing pins 152 corresponding to the second base fastening groove 142 are provided. A total of four base fixing pins 150 are illustrated.

A fixing pin fastening groove 160 may be formed on a side wall where the base fixing pin 150 is disposed. The fixing pin fastening groove 160 is formed to extend vertically along the sidewall, and may be disposed to be orthogonal to the aforementioned base fastening groove 140. A plurality of fixing pin fastening grooves 160 may be formed to correspond to the base fixing pin 150. In the case of the present embodiment, two fixing pin fastening grooves 160 are illustrated on the left and right side walls, respectively, corresponding to the base fixing pins 150, which are disposed two on each side.

The support unit 100 as described above is made of a structure separated from the rest of the components such as the base unit 200, and the fluid (water) is filled in the body chamber 120 to provide a support structure for the base unit 200 and the like. You can. In particular, the support unit 100 of this embodiment is completely separated from the base unit 200 and the like, and the fluid inside is discharged, so that storage and transportation can be made more easily and conveniently. In addition, nevertheless, in the installation state, it is possible to provide a stable support structure for the base unit 200 and the like through the fluid filled therein.

Referring to FIGS. 1 and 2 again, the base unit 200 may be mounted and disposed on the support unit 100.

According to the illustrated, the base unit 200 is disposed in the upper central portion of the support unit 100, and is fastened to the base mounting portion 130. However, the position of the base mounting portion 130 or the base unit 200 accordingly may be appropriately changed as necessary, and is not limited to the illustrated examples. In addition, as described above, the base unit 200 may be provided with base fastening pieces 210 on the left and right sides, respectively, and each base fastening piece 210 is inserted into the corresponding base fastening groove 140 to support. The unit 100 may be mounted and supported.

The base unit 200 as described above may provide support structures for the first and second arm units 300 and 500. Specifically, the rear end of the first arm unit 300 is mounted and supported on the base unit 200, and the second arm unit 500 can be mounted and supported on the front end of the first arm unit 300 again. The coupling between the first and second arm units 300 and 500 may be achieved by the link unit 400 to be described later. Here, the rotation range of the second arm unit 500 may be formed in a range of approximately 180 degrees with respect to the first arm unit 300, which is the first and second arm units 300 and 500 arranged side by side in the longitudinal direction. This is to ensure that storage and transportation can be achieved in a superimposed form.

The first and second arm units 300 and 500 may be properly rotated by a driving means such as a motor. The driving means includes a known motor, a power transmission structure, and the like, and may be built in the base unit 200 and the link unit 400, and has a distance from the technical gist of this embodiment. I will do it.

5 is a plan view showing the operating state of the first and second arm units shown in FIGS. 1 and 2;

Referring to FIG. 5, the first and second arm units 300 and 500 are rotated around the link unit 400 to move the processing unit 600 to each area of the work table 10. The first and second arm units 300 and 500 may be disposed to form a predetermined bending angle A1 between the link units 400. The bending angle A1 refers to an angle between one side side 300a of the first arm unit 300 and a corresponding one side side 500a of the second arm unit 500. For convenience, one side side 300a, 500a forming the bending angle A1 is referred to as "inside side 300a, 500a", and the other side side 300b, 500b is referred to as "outside side 300b, 500b". Refers to. According to this, the first arm unit 300 may have an inner side surface 300a and an outer side surface 300b, and the second arm unit 500 may also include an inner side surface 500a and an outer side surface 500b. The bending angle A1 may be defined as an angle formed by the inner side 300a of the first arm unit 300 and the inner side 500a of the second arm unit 500.

In the above, the bending angles A1 of the first and second arm units 300 and 500 may be formed at 180 degrees or less. When the first arm unit 300 is rotatably installed on the base unit 200, and the first and second arm units 300 and 500 are sufficiently extended in the longitudinal direction, a bending angle of 180 degrees or less (A1) This is because sufficient access is possible to the entire area of the work table 10 as shown in the range.

On the other hand, as shown, the inner side surfaces 300a, 500a of the first and second arm units 300, 500 in each operating state are generally disposed on the work table 10 or inside the work space, whereas the first, 2 The outer side surfaces (300b, 500b) of the arm unit (300, 500) may be exposed to the outside of the work table (10) depending on the arrangement state. Accordingly, each outer side surface (300b, 500b) may be a collision with an operator, an external obstacle, and the like. The processing machine 1 of this embodiment can respond to this through the contact sensing units 310 and 510, which will be described later.

Referring to FIGS. 1 and 2 again, the first and second arm units 300 and 500 may include contact sensing units 310 and 510, respectively.

The contact detection units 310 and 510 detect whether there is an obstacle or the like on the outer side surfaces 300b and 500b of the first and second arm units 300 and 500 to prevent a safety accident due to collision. For convenience, the contact sensing unit 310 provided in the first arm unit 300 is referred to as a first contact sensing unit 310, and the contact sensing unit 510 provided in the second arm unit 500 is second. It will be referred to as a contact detection unit 510. Since the first and second contact sensing units 310 and 510 may be formed to be the same or similar to each other, a detailed configuration will be described below with reference to the first contact sensing unit 310.

The first contact sensing unit 310 may include a first contact sensing belt 311.

The first contact sensing belt 311 has a predetermined width and is formed in the form of a belt or belt extending back and forth, and may be disposed along the outer side surface 300b of the first arm unit 300. The first contact sensing belt 311 may have one end (rear end) mounted and supported on the first arm unit 300 and the other end (front end) mounted and supported on the link unit 400. The first contact sensing belt 311 is disposed to correspond to the longitudinal direction of the first arm unit 300, and may be spaced apart from the outer side surface 300b of the first arm unit 300 by a predetermined distance. That is, the first contact sensing belt 311 has both ends (front and rear) in the longitudinal direction supported by the base unit 200 and the link unit 400, respectively, and the outer side surface 300b of the first arm unit 300. It may be installed in a form spaced apart at a predetermined interval.

6 is a perspective view of a rear end portion of the first contact sensing belt illustrated in FIGS. 1 and 2. 7 is a side view of the rear end portion of the first contact sensing belt shown in FIG. 6.

6 and 7, the first contact sensing unit 310 may include a first rotating piece 312.

The first pivoting piece 312 may be fastened to the end of the first contact sensing belt 311. The first pivoting piece 312 may be formed to extend in a predetermined length up and down, and may be fastened so as to be pivotable to the first contact sensing belt 311 at an intermediate point in the vertical direction. Accordingly, the first rotating piece 312 may be rotated to a certain extent with respect to the first contact sensing belt 311 around the rotating shaft R3. The upper end of the first rotating piece 312 may be elastically supported by the first restoration spring 313 to be described later, and the lower end may be disposed adjacent to the first contact detection sensor 314 to be described later. The lower end of the first rotating piece 312 may be detected by the first contact detection sensor 314.

Meanwhile, the first contact sensing unit 310 may include a first restoration spring 313 and a first contact sensing sensor 314.

The first restoration spring 313 may be fastened to the top of the first rotating piece 312. The first restoring spring 313 is for providing a restoring force to the first rotating piece 312, and in the case of this embodiment, it is exemplified as a tension spring. In the illustrated bar, the first restoring spring 313 exerts an elastic force to the right on the top of the first rotating piece 312.

The first contact detection sensor 314 may be disposed adjacent to the bottom of the first rotating piece 312. The first contact detection sensor 314 may be fixedly installed by a predetermined support structure separately from the first rotating piece 312. In addition, the first contact detection sensor 314 may detect the presence or absence of the bottom of the first rotating piece 312 to generate a predetermined detection signal. For example, the first contact detection sensor 314 may generate a predetermined detection signal when the first rotating piece 312 is not detected within the detection range. Accordingly, the first contact sensing unit 310 may detect whether an obstacle or the like has contacted the first contact sensing belt 311. The first contact detection sensor 314 may be used as long as it can detect the presence or absence of an object (first rotating piece 312) within a predetermined sensing range, and the type or method is not particularly limited.

Meanwhile, the first contact sensing belt 311 may have one end (rear end) connected to the first rotating piece 312 and the like as described above, and the other end (front end) may be fixedly installed on the outer surface of the link unit 400. Yes (see Figure 8). In addition, the first pivoting piece 312 may be disposed in an up and down direction in an initial state. That is, in a state in which a separate external force is not applied, the first rotating piece 312 is illustrated by elastic force of the first restoration spring 313, tension of the first contact sensing belt 311, a predetermined support structure, etc. Likewise, it may be arranged in the vertical direction, and may be rotated to a certain degree as an external force acts on the first contact sensing belt 311 and the like.

Looking at the operation of the first contact sensing unit 310 as described above, due to the movement of the first arm unit 300 in the initial state as shown, a predetermined obstacle collides with the first contact sensing belt 311 (contact ). In this case, the first contact sensing belt 311 pulls the first pivoting piece 312 to a certain degree about the pivot axis R3 by contact with an obstacle, and accordingly, the first pivoting piece 312 The rotation shaft R3 is rotated to a predetermined degree. For reference, the dotted line in FIG. 7 represents the rotational state of the first rotating piece 312 in this case. On the other hand, when the first rotating piece 312 is rotated as described above, the lower end of the first rotating piece 312 deviates from the detection range of the first contact sensing sensor 314, and the first contact sensing sensor 314 is Accordingly, a predetermined notification signal, a warning sound, and a control signal for stopping the device may be generated and provided. Accordingly, driving of the first arm unit 300 may be appropriately stopped at the time of contact of an obstacle or a collision, and a safety accident due to a collision may be prevented.

On the other hand, the second arm unit 500 is provided with a second contact detection unit 510 in a manner similar to the above, to detect whether an obstacle such as an obstacle is colliding on the outer side 500b of the second arm unit 500. .

Referring to FIGS. 1 and 2 again, the first and second arm units 300 and 500 may include suction pipes 320 and 520, respectively.

The suction pipes 320 and 520 are for sucking and collecting foreign substances such as dust generated from the processing unit 600, and may be formed to extend from the processing unit 600 to the base unit 200. For convenience, the suction pipe 320 formed along the first arm unit 300 is referred to as a first suction pipe 320, and the suction pipe 520 extended along the second arm unit 500 is formed as a second suction pipe 520. It will be referred to as. The rear end of the first suction pipe 320 may be mounted and disposed on the base unit 200, and the front end thereof may be connected to the rear end of the second suction pipe 520 by a predetermined connection pipe or the like. For reference, in FIG. 1 and the like, the connecting pipe is omitted, and the connecting pipe may be formed of a flexible material pipe communicating each end of the first and second suction pipes 320 and 520. The second suction pipe 520, the rear end is installed in connection with the front end of the first suction pipe 320, the front end may be disposed mounted on the processing unit 600.

In the present embodiment, although the first and second suction pipes 320 and 520 are illustrated in the upper and outer surfaces of the first and second arm units 300 and 500, respectively, through a predetermined connector, the first and second suction pipes ( The locations of 320 and 520 are not necessarily limited thereto. For example, the first and second suction pipes 320 and 520 are installed and installed using the inner side surfaces 300a and 300b of the first and second arm units 300 and 500, or the first and second arm units 300 and 500 It may be implemented in a form embedded in the interior of the.

Meanwhile, the processing machine 1 of the present embodiment may include a link unit 400.

The link unit 400 may be fastened to the front end of the first arm unit 300 and the rear end of the second arm unit 500 between the first and second arm units 300 and 500. As described above, the first and second arm units 300 and 500 may be mounted and installed to be rotatable on the link unit 400, respectively, with rotating shafts in the vertical direction, and preferably the first and second arm units 300, The rotation axis of 500) may be appropriately spaced.

8 is a perspective view of the link unit shown in FIGS. 1 and 2.

Referring to FIG. 8, the front end of the first arm unit 300 may be mounted on one side of the link unit 400 to be rotatable about the first rotation axis R1, and the rear end of the second arm unit 500 may be It may be mounted on the other side of the link unit 400 to be rotatable around the second rotation axis (R2). The first and second rotation shafts R1 and R2 may be arranged at a predetermined interval so that the first and second arm units 300 and 500 may overlap and fold in the longitudinal direction.

The above-described first contact sensing unit 310 may be fixedly installed at a side portion of the link unit 400 adjacent to the first rotating shaft R1. In addition, the second contact detection unit 510 may be fixedly installed at a side portion of the link unit 400 whose rear end is adjacent to the second rotation shaft R2 as illustrated. For reference, the second contact sensing unit 510 has a configuration corresponding to the above-described first rotating piece 312 at the front end portion installed in the processing unit 600.

A predetermined assembly structure or driving means for rotating the first and second arm units 300 and 500 may be disposed inside the link unit 400. The assembly structure and the like inside the link unit 400 may be implemented through a known mechanical element, etc. Since there is a distance from the technical gist of this embodiment, detailed description thereof will be omitted.

9 is a perspective view of the processing unit shown in FIGS. 1 and 2. 10 is a perspective view of the processing unit shown in FIG. 9 when viewed from another direction. 11 is a perspective view of the processing unit shown in FIG. 9 when viewed from the bottom.

9 to 11, the processing unit 600 may be installed mounted on the front end of the second arm unit 500. The processing unit 600 includes a processing tool 630 and the like, and may perform a predetermined processing operation on the object 20 to be processed.

On the other hand, the processing unit 600 of the present embodiment may include a processing unit support 610 and a processing unit body 620.

The processing unit support 610 may be mounted and supported on the front end of the second arm unit 500. The processing unit moving part 611 may be provided on one side of the processing unit support part 610, and the processing unit moving part 611 may move the processing unit body 620 up and down to properly adjust the processing position. The processing unit moving part 611 may include a cylinder, an actuator, or the like, and may include a shock absorber 612 or the like as necessary.

The processing unit body 620 may form an overall appearance of the processing unit 600 and may provide a support structure for components of the processing unit 600 such as a processing tool 630. Although not illustrated, driving means for driving the processing tool 630 may be disposed inside the processing unit body 620. In addition, the processing unit body 620 is fastened to be movable up and down on the processing unit support 610, the vertical position can be adjusted by the processing unit moving unit 611, the first and second arm units 300 described above , 500).

Meanwhile, the processing unit 600 of the present embodiment may include a processing tool 630.

The processing tool 630 is a means for performing a predetermined processing on the object 20 to be processed, and in this embodiment, the type of the processing tool 630 is not particularly limited. The processing tool 630 may be disposed on the lower surface of the processing unit body 620 and may be driven by driving means provided inside the processing unit body 620.

In addition, the processing unit 600 of this embodiment may include a brush portion 640.

The brush part 640 may be disposed on the lower surface of the processing unit body 620 to be adjacent to the processing tool 630. Preferably, the brush portion 640 may be formed to extend in the form of a circular ring or ring in which the processing tool 630 is disposed at the center. In this case, since the brush portion 640 has a form of covering the entire target area (the portion where the processing tool 630 is disposed) to be shielded from the outside, foreign matters such as dust and by-products are discharged to the outside during processing. What can be reduced can be significantly reduced.

The brush part 640 may be rotationally driven around the processing tool 630. Alternatively, the brush part 640 may be rotationally driven in the vertical direction. The brush portion 640 is rotated as described above to remove foreign substances such as dust generated during processing. Here, since the brush portion 640 of the present embodiment is formed in the form of a circular ring surrounding the processing tool 630, a predetermined swirl flow may be generated therein while the brush portion 640 is rotated. Due to the swirling flow, the effect of trapping internal debris can be improved.

Meanwhile, the processing unit 600 of the present embodiment may include a dust collection duct 650.

The dust collection duct 650 is for collecting foreign substances such as dust generated during processing, and may be mounted and disposed on the upper side of the processing tool 630 and the brush unit 640. A duct suction port 651 may be formed on one side of the bottom surface of the dust collection duct 650, and the processing tool 630 may be exposed downward through the dust collection duct 650 through the duct suction port 651. A predetermined foreign matter collection space may be provided inside the dust collection duct 650, and a duct discharge port 652 may be provided at a predetermined distance from the duct suction port 651. This is to prevent the reverse flow of captured foreign matter. The duct discharge port 652 may be formed on the upper surface of the dust collection duct 650, and foreign matter collected inside the dust collection duct 650 may be discharged to the outside of the dust collection duct 650 through the duct discharge port 652.

A dust collecting pipe 653 may be connected to one side of the upper surface of the dust collecting duct 650 corresponding to the duct discharge port 652. The dust collection pipe 653 may extend a predetermined length upward and be connected to the second suction pipe 520. As described above, the second suction pipe 520 may be extended along the second arm unit 500 and connected to the first suction pipe 320. Therefore, the foreign matter collected inside the dust collection duct 650 flows to the dust collection pipe 653 through the duct discharge port 652, and is again discharged to the outside of the device through the second suction pipe 520 and the first suction pipe 320 or predetermined. Will be collected in the dust collecting means.

Meanwhile, the above-described second contact sensing unit 510 may be disposed on one side of the processing unit 600.

The second contact sensing unit 510 includes a second contact sensing belt 511 disposed along the second arm unit 500, a second pivot piece 512 fastened to the front end of the second contact sensing belt 511, and a second It may be configured to include a second restoration spring (513) for elastically supporting the two pivoting piece (512), a second contact detection sensor (514) for sensing the bottom of the second pivoting piece (512). The second contact detecting unit 510 is rotated by the second pivoting piece 512 as a predetermined obstacle comes into contact with the second contact sensing belt 511, and is sensed by the second contact sensing sensor 514. The presence or absence of an obstacle can be determined. Since the second contact sensing unit 510 has a slightly different position, the configuration and operation of the first contact sensing unit 310 are similar, and thus a detailed description thereof will be omitted.

Meanwhile, the processing unit 600 of the present embodiment may include a descending position control unit 660.

The lowering position control unit 660 is for properly regulating the lowering position of the processing unit body 620, and may be disposed adjacent to the processing tool 630 on the lower side of the processing unit body 620. When the processing unit body 620 is lowered by the processing unit moving unit 611 to reach a predetermined setting position, the descending position control unit 660 stops the descending to place the processing tool 630 at an appropriate setting position. do.

12 is a side view of the descending position control unit shown in FIG. 9.

Referring to FIG. 12, the descending position control unit 660 of this embodiment may include a contact pad unit 661.

The contact pad portion 661 is disposed adjacent to the side of the processing tool 630, and may have a pressing surface 661a on the bottom surface. The pressing surface 661a refers to one surface (bottom surface) of the contact pad portion 661 that comes into contact with the object to be processed 20 as the processing unit body 620 descends. As illustrated, the contact pad portion 661 is formed in a circular disk shape having a predetermined height, and is provided with a circular pressing surface 661a on the bottom surface. However, the shape of the contact pad portion 661 is not necessarily limited to those illustrated.

If necessary, the contact pad portion 661 may be formed of an elastic material as a whole, or may be formed of an elastic material in at least some areas including the pressing surface 661a. This is to prevent damage to the object 20 or the like due to contact.

In addition, the contact pad portion 661 may include a contact pad rod 661b extending up and down. The contact pad rod 661b may be mounted and supported to be moved up and down on the processing unit body 620 or the like, and a sensing panel 662, which will be described later, may be provided at the top.

Meanwhile, the descending position control unit 660 of the present embodiment may include a sensing panel 662.

The sensing panel 662 may be mounted and supported on the top of the contact pad rod 661b. In some cases, the sensing panel 662 may be integrally provided on the top of the contact pad rod 661b. The sensing panel 662 may be formed of a plate-shaped member having a predetermined vertical height, and its structure or shape is not particularly limited. The sensing panel 662 may be any structure, shape, or the like that can be appropriately sensed by the first and second height sensing sensors 663 and 664.

In addition, the lower position control unit 660 of the present embodiment may include first and second height detection sensors 663 and 664.

The first and second height detection sensors 663 and 664 may be arranged at predetermined intervals up and down. The spacing of the first and second height sensing sensors 663 and 664 is arranged to correspond to the upper and lower heights of the sensing panel 662, or by at least the first and second height sensing sensors 663 and 664, the sensing panel 662 ) May be arranged to be detectable. That is, the first and second height detection sensors 663 and 664 do not detect the sensing panel 662, the sensing panel 662 is detected in only one, or the sensing panel 662 is detected in both. It can be appropriately spaced up and down so as to be possible.

The first and second height sensing sensors 663 and 664 may be formed to sense the presence or absence of the sensing panel 662 at a corresponding predetermined height, respectively, and generate a predetermined sensing signal. Accordingly, the first and second height detection sensors 663 and 664 may generate the detection signals of the three states described above. The first and second height sensing sensors 663 and 664 may be used as long as they can detect the presence or absence of an object (sensing panel 662) within a predetermined sensing range, and the type or method is not particularly limited.

The falling position control unit 660 as described above may appropriately control the falling position of the processing unit body 620 according to the detection signals of the first and second height detection sensors 663 and 664. Specifically, when the processing unit body 620 descends at a predetermined processing position, the contact pad portion 661 is also descended accordingly. The contact pad portion 661 is pressed against the surface of the object to be processed 20 as it descends, whereby the contact pad rod 661b may be gradually raised. In addition, the sensing panel 662 is sensed by the first and second height sensing sensors 663 and 664 at a predetermined height according to the rise of the contact pad rod 661b, and the descending position control unit 660 is the first , When all the detection signals are received from the two-height detection sensors 663 and 664, the descent may be determined as descending to an appropriate position to stop the descent. Accordingly, the processing tool 630 or the like can be appropriately disposed at a set position.

The above operation may be continuously performed in the processing process by the processing tool 630 or the like. That is, in the process of processing, the contact pad portion 661 can be moved up and down while continuously maintaining a state in contact with the surface of the object to be processed 20, and in any one of the first and second height detection sensors 663 and 664 If the sensing panel 662 is not detected, the position control is again performed at an appropriate height. In this case, since the first and second height detection sensors 663 and 664 are spaced apart at predetermined intervals, the first and second height detection sensors 663 and 664 are properly identified to detect where the detection signal is not detected, and then rise. Alternatively, the descent control can be achieved selectively.

As described above, the multi-joint wood processing machine 1 according to the embodiments of the present invention can be more easily stored, handled, and transported through a detachable support unit 100. In addition, the multi-joint wood processing machine 1 according to the embodiments of the present invention has first and second contact detection belts 311 and 511 on the outer side surfaces 300b and 500b of the first and second arm units 300 and 500, respectively. ), It is possible to properly detect whether or not there is an obstacle, and accordingly, the operation of the device may be stopped to reduce the risk of a safety accident or damage due to a collision.

In addition, the multi-joint wood processing machine 1 according to embodiments of the present invention includes a dust collection duct 650 provided in the processing unit 600 and a first extending along the first and second arm units 300 and 500. 2 It is provided with suction pipes (320, 520), it is possible to more quickly and effectively capture and discharge foreign substances such as dust generated during processing. In addition, the multi-joint wood processing machine 1 according to the embodiments of the present invention can be properly adjusted in height during the initial setting or processing by the descending position control unit 660, the object to be processed ( 20) It is possible to prevent breakage and further improve the processing quality.

The embodiments of the present invention have been described above, but those skilled in the art can add, change, delete, or add components without departing from the spirit of the present invention as set forth in the claims. The present invention may be variously modified and changed by the like, and it will be said that this is also included within the scope of the present invention.

1: processing machine 100: support unit
110: support unit body 120: body chamber
130: base mounting portion 140: base fastening groove
150: base fixing pin 200: base unit
300: first arm unit 310: first contact detection unit
320: first suction pipe 400: link unit
500: second arm unit 510: second contact detection unit
520: second suction pipe 600: processing unit
610: processing unit support 620: processing unit body
630: processing tool 640: brush part
650: dust collection duct 660: descending position control unit

Claims (7)

A base unit 200 disposed on an installation surface, having a body chamber 120 through which fluid can be rapidly discharged, and providing a support structure;
A first arm unit 300 extending in the longitudinal direction, one end being rotatably fastened to the base unit 200;
A link unit 400 fastened to the other end of the first arm unit 300; And
Includes; extending in the longitudinal direction, one end of the second arm unit 500 is rotatably fastened to the link unit 400;
Any one or more of the first and second arm units (300, 500),
It includes a contact detection unit (310, 510) for detecting whether the obstacle is in contact,
The contact detection unit (310, 510),
The first arm unit 300 or the second arm unit 500 includes a contact detection belt (311, 511) disposed along the longitudinal direction,
The first and second arm units 300 and 500 are respectively,
The inner side (300a, 500a) forming a predetermined bending angle (A1) between the center of the link unit 400; And
Including; the outer side (300b, 500b) that is the opposite side of the inner side (300a, 500a),
The contact detection belt (311, 511),
It is formed extending along the outer side (300b) of the first arm unit 300, and is spaced apart a predetermined distance from the outer side (300b) in the detection area, the outer side (300b) to the first arm unit (300) A first contact sensing belt 311 for detecting whether there is an obstacle on the contact; And
The second arm unit 500 is formed to extend along the outer side 500b of the second arm unit 500, and is spaced apart from the outer side 500b by a predetermined distance in the sensing area, so that the outer side 300b of the first arm unit 300 Including; a second contact detection belt 511 for detecting whether there is an obstacle contact;
The link unit 400,
A first rotational shaft R1 to which the first arm unit 300 is rotatably fastened; And
The second arm unit 500 is a second rotation shaft (R2) that is rotatably fastened; includes,
The first and second rotation shafts (R1, R2),
The first and second arm units (300, 500) is a multi-joint wood processing machine which is arranged at predetermined intervals on a plane so as to be folded in a superposed form in the longitudinal direction. delete The method according to claim 1,
The contact detection unit (310, 510),
Rotating pieces (312, 512) is formed to extend up and down a predetermined length, is rotatably fastened to the end of the contact sensing belt (311, 511);
Restoring springs (313, 513) is fastened to the upper end of the pivoting piece (312, 512) to provide a restoring force when the pivoting piece (312, 512); And
Multi-joint wood containing; is disposed adjacent to the lower end of the rotating piece (312, 512), to detect the presence or absence of the lower end of the rotating piece (312, 512) within a predetermined detection range Processing machine. The method according to claim 3,
The contact detection belt (311, 511),
When an obstacle comes into contact, the pivoting pieces 312 and 512 are pulled to rotate the pivoting pieces 312 and 512 at an angle,
The contact sensor (314, 514),
A multi-joint wood processing machine that provides a predetermined notification signal when the pivot pieces 312 and 512 deviate from the sensing range according to the rotation of the pivot pieces 312 and 512. delete delete The method according to claim 1,
Further comprising a processing unit 600 that is fastened to the other end of the second arm unit 500,
The first arm unit 300,
It is formed extending along the longitudinal direction of the first arm unit 300, and includes a first suction pipe 320, one end of which is connected to the base unit 200,
The second arm unit 500,
A second suction pipe 520 is formed extending along the longitudinal direction of the second arm unit 500, one end is connected to the other end of the first suction pipe 320, and the other end is connected to the processing unit 600. ),
The first and second suction pipes (320, 520),
A multi-joint wood processing machine that sucks foreign matter generated in the processing unit 600 and transfers it to the base unit 200.

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