JPS6339390B2 - - Google Patents
Info
- Publication number
- JPS6339390B2 JPS6339390B2 JP55164431A JP16443180A JPS6339390B2 JP S6339390 B2 JPS6339390 B2 JP S6339390B2 JP 55164431 A JP55164431 A JP 55164431A JP 16443180 A JP16443180 A JP 16443180A JP S6339390 B2 JPS6339390 B2 JP S6339390B2
- Authority
- JP
- Japan
- Prior art keywords
- workpiece
- robot
- tip
- door
- opening
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 238000013459 approach Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Landscapes
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
Description
【発明の詳細な説明】
本発明は自動車等の車輌の内装作業、すなわち
限られた空間内での所定の作業を困難なく行い得
る工業用ロボツトに関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an industrial robot that can perform interior work on vehicles such as automobiles, that is, predetermined work within a limited space without difficulty.
自動車本体すなわち車体内の内装作業において
は、その空間が複雑である上に狭いため、ロボツ
トの設置とそれによる作業が困難であり、自動車
製造での自動化の障害となつている。内装作業で
は車体に取り付けられたドアを開け、ロボツトの
回動中心をできるだけ車体に近づける必要がある
が、一般のロボツト、例えば車体搬送コンベアに
平行に自走装置を設けたロボツトでは、ロボツト
本体、車体及びドアの相対位置関係により、ロボ
ツトの回動中心を車体に近づけることが困難であ
る。 BACKGROUND ART When working on the interior of an automobile body, the space involved is complex and narrow, making it difficult to install robots and perform operations using them, which is an obstacle to automation in automobile manufacturing. For interior work, it is necessary to open the door attached to the car body and move the center of rotation of the robot as close to the car body as possible. Due to the relative positional relationship between the vehicle body and the door, it is difficult to bring the center of rotation of the robot close to the vehicle body.
本発明は前記諸点に鑑みなされたものであり、
その目的とするところは、被作業体内装作業にお
いて被作業体に回動（揺動）中心を好ましく近傍
し得る上に、近傍位置への及び近接位置からの進
退を容易に行い得る工業用ロボツトを提供するこ
とにある。 The present invention has been made in view of the above points,
The purpose of this is to create an industrial robot whose center of rotation (oscillation) can be preferably located close to the workpiece during interior work on the workpiece, and which can easily advance and retreat to and from nearby positions. Our goal is to provide the following.
本発明によれば前記目的は、被作業体が配置さ
れるべき位置の近傍に配設されており被作業体の
ドアを開閉する手段と、被作業体が配置されるべ
き位置の近傍に配設されており、被作業体に対し
て作業を行なう先端部を有し、この先端部を自在
に動かすロボツト本体と、このロボツト本体を載
置しており、ロボツト本体を前記位置に配置され
た被作業体に対して近接離反させるように移動さ
せる移動装置と、該ロボツト本体、前記開閉する
手段及び移動装置に接続されており、前記位置に
配置された被作業体のドアを前記開閉する手段に
開けさせ、被作業体と開けられたドアとの間に形
成される間隙を介して前記先端部を被作業体内部
に進入させ、前記間隙を介して前記先端部を被作
業体内部から後退させるべく前記開閉する手段、
前記ロボツト本体及び移動装置を制御する制御手
段とからなる工業用ロボツトによつて達成され
る。 According to the present invention, the object is to provide a means for opening and closing the door of the workpiece, which is disposed near the position where the workpiece is to be placed; The robot body has a tip part that performs work on the workpiece, and the robot body can freely move the tip part, and the robot body is placed on the robot body, and the robot body is placed at the above position. a moving device that moves the workpiece toward and away from the workpiece; a means that is connected to the robot body, the opening/closing means, and the movement device and opens and closes the door of the workpiece disposed at the position; the door to be opened, the tip portion enters the inside of the object to be worked through a gap formed between the object to be worked and the opened door, and the tip portion is retreated from the inside of the object to be worked through the gap. the means for opening and closing the
This is achieved by an industrial robot comprising the robot body and a control means for controlling the moving device.
次に本発明による好ましい一具体例を図面に基
づいて説明する。 Next, a preferred specific example of the present invention will be explained based on the drawings.
図において、被作業体としての車体１は搬送装
置としてのタクトによりＡ方向に搬送されて所定
位置に設定される。所定位置にある車体１の下方
に位置し得る移動装置としての自走装置２には、
この自走装置２とともに制御手段（図示しない）
によつて制御されるロボツト本体３が載置されて
いる。ロボツト本体３は、基台４、支柱５及びア
ーム６を有しており、支柱５は基台４に対してＢ
方向に回動自在に、かつＣ方向に回動自在に取り
付けられており、アーム６は支柱５に対してＤ方
向に回動自在に取り付けられている。アーム６の
先端には、例えば塗装ノズル、溶接トーチ又はシ
ール作業手の如き作業部材６ａが設けられてお
り、作業部材６ａにより所定に車体１の内装作業
が行われる。自走装置２は、ロボツト本体３を車
体１に対してＥ、Ｆ方向に進退させるべく、すな
わち、車体１の長手方向軸７に対して交差する方
向で進退させるべく、配置されており、自走装置
２によりロボツト本体３はＥ方向、Ｆ方向で任意
の位置に設定される。車体１には、回動自在にド
ア８が取り付けられており、自走装置２側には、
ドア８を自動的に開閉する制御手段（図示しな
い）によつて制御されるドアを開閉する手段とし
てのドア開閉用ロボツト９が配置されている。 In the figure, a vehicle body 1 as an object to be worked is transported in a direction A by a tact as a transport device and set at a predetermined position. The self-propelled device 2 as a moving device that can be located below the vehicle body 1 in a predetermined position includes:
Control means (not shown) together with this self-propelled device 2
A robot body 3 controlled by a robot body 3 is mounted thereon. The robot body 3 has a base 4, a support 5, and an arm 6.
The arm 6 is attached to the support column 5 so as to be rotatable in the direction D, and the arm 6 is rotatable in the direction D relative to the support column 5. A working member 6a such as a painting nozzle, a welding torch, or a sealing hand is provided at the tip of the arm 6, and interior work of the vehicle body 1 is performed in a predetermined manner by the working member 6a. The self-propelled device 2 is arranged to move the robot main body 3 forward and backward relative to the vehicle body 1 in directions E and F, that is, to move the robot main body 3 forward and backward in a direction intersecting the longitudinal axis 7 of the vehicle body 1. The robot main body 3 is set at an arbitrary position in the E direction and the F direction by the moving device 2. A door 8 is rotatably attached to the vehicle body 1, and on the self-propelled device 2 side,
A door opening/closing robot 9 is disposed as means for opening and closing the door, which is controlled by a control means (not shown) for automatically opening and closing the door 8.
このように構成された工業用ロボツト１０にお
いては、車体１が所定位置に配置されていない際
には、ロボツト本体３は自走装置２によりＦ方向
に後退されて待機位置に設定されている。タクト
により車体１がＡ方向に搬送され、所定位置に設
定されると、ロボツト９が作動され、ドア８が回
動されて開放位置に設定される。次に自走装置２
が作動され、ロボツト本体３はＥ方向に移動され
る。この移動中、アーム６の回動中心点ａは第３
図に示すようにa1，a2，………と移動する。太線
１１で囲まれる領域１２を車体１の内部とみなす
と、自走装置２によるＥ方向の移動に際し、アー
ム６は、最初Ｅ方向に沿う方向に設定され、その
後車体１に近づくにつれて作業部材６ａが所定に
領域１２内に入るように、順次水平面内において
点ａを中心としてＧ方向に回動される。これによ
り、アーム６の先端の作業部材６ａが車体１に当
接して車体１が損傷されるのを防止し得る。回動
中心点ａが車体１に最も近接した点anでもつて
自走装置２の作動を停止してその位置にロボツト
本体３を停止し、ロボツト本体３による内装作業
を行う。作業領域１２内での作業の終了後は、前
記と逆に夫々を作動し、ロボツト本体３をＦ方向
に後退して所定位置に設定する。その後、ロボツ
ト９を作動し、ドア８を閉鎖位置にもたらす。 In the industrial robot 10 configured as described above, when the vehicle body 1 is not placed at a predetermined position, the robot main body 3 is retreated in the F direction by the self-propelled device 2 and set to a standby position. When the vehicle body 1 is transported in the direction A by the tact and set at a predetermined position, the robot 9 is operated and the door 8 is rotated and set at the open position. Next, self-propelled device 2
is activated, and the robot body 3 is moved in the E direction. During this movement, the rotation center point a of the arm 6 is at the third
As shown in the figure, it moves as a 1 , a 2 , etc. If the region 12 surrounded by the thick line 11 is considered to be inside the vehicle body 1, when the self-propelled device 2 moves in the E direction, the arm 6 is initially set in the direction along the E direction, and then as it approaches the vehicle body 1, the working member 6a is sequentially rotated in the direction G about point a in the horizontal plane so that it enters the region 12 in a predetermined manner. This can prevent the working member 6a at the tip of the arm 6 from coming into contact with the vehicle body 1 and damaging the vehicle body 1. At a point a n where the rotational center point a is closest to the vehicle body 1, the operation of the self-propelled device 2 is stopped, the robot body 3 is stopped at that position, and the interior work is performed by the robot body 3. After the work in the work area 12 is completed, the robot main body 3 is moved back in the F direction and set at a predetermined position by operating the robot body 3 in the reverse direction. Thereafter, the robot 9 is actuated to bring the door 8 to the closed position.
尚、前記具体例では、車体１の片側のみに、ロ
ボツトを設けたが、本発明はこれに限定されず、
車体１の両側に設けてもよい。 In the specific example described above, the robot was provided only on one side of the vehicle body 1, but the present invention is not limited to this.
It may be provided on both sides of the vehicle body 1.
しこうして本発明になる工業用ロボツトでは前
述のごとく、制御手段が、ドアを開閉する手段に
よつて開けられたドアと被作業体との間に形成さ
れる間隙を介してロボツト本体の先端部を被作業
体内部に進入させ、前記間隙を介して前記先端部
を被作業体内部から後退させるべく前記開閉する
手段、前記ロボツト本体及び移動装置を制御する
が故に、前記先端部の被作業体内部への進入及び
被作業体内部からの後退が前記先端部を破損する
ことなく確実かつ容易に行い得、加えて内装作業
を自動的に実施し得る。 Thus, in the industrial robot of the present invention, as described above, the control means controls the tip of the robot body through the gap formed between the door opened by the door opening/closing means and the workpiece. The opening/closing means, the robot main body, and the moving device are controlled so that the tip enters the workpiece and the tip is retreated from the workpiece through the gap. Entry into the interior and retreat from the interior of the workpiece can be performed reliably and easily without damaging the tip, and in addition, interior work can be performed automatically.
尚、前述のごとき具体例では、被作業体として
の車体の長手方向軸に対して交差するように基台
が移動自在に設けられているため、アームの回動
中心を被作業体に対して容易に進退し得ると共に
好ましく近接し得、内装作業を簡単に行い得る。 In addition, in the specific example described above, the base is movably provided so as to intersect with the longitudinal axis of the vehicle body as the workpiece, so the center of rotation of the arm is aligned with respect to the workpiece. It can be easily moved forward and backward, and can be approached favorably, allowing interior work to be performed easily.
第１図は本発明による好ましい具体例の平面
図、第２図は第１図に示す具体例の正面図、第３
図は第１図に示す具体例の動作説明図である。
２……自走装置、３……ロボツト本体、４……
基台、６……アーム、８……ドア。
FIG. 1 is a plan view of a preferred embodiment of the present invention, FIG. 2 is a front view of the embodiment shown in FIG. 1, and FIG.
The figure is an explanatory diagram of the operation of the specific example shown in FIG. 1. 2...Self-propelled device, 3...Robot body, 4...
Base, 6...arm, 8...door.
Claims (1)
されており被作業体のドアを開閉する手段と、 被作業体が配置されるべき位置の近傍に配設さ
れており、被作業体に対して作業を行なう先端部
を有し、この先端部を自在に動かすロボツト本体
と、 このロボツト本体を載置しており、ロボツト本
体を前記位置に配置された被作業体に対して近接
離反させるように移動させる移動装置と、 該ロボツト本体、前記開閉する手段及び移動装
置に接続されており、前記位置に配置された被作
業体のドアを前記開閉する手段に開けさせ、被作
業体と開けられたドアとの間に形成される間隙を
介して前記先端部を被作業体内部に進入させ、前
記間隙を介して前記先端部を被作業体内部から後
退させるべく前記開閉する手段、前記ロボツト本
体及び移動装置を制御する制御手段と、 からなる工業用ロボツト。 ２ 前記ロボツト本体は基台と、該基台に対して
回動自在に装着された支柱と、該支柱に取付けら
れ前記先端部を有するアームとからなる特許請求
の範囲第１項に記載の工業用ロボツト。[Scope of Claims] 1. A means for opening and closing the door of the workpiece, which is disposed near the position where the workpiece is to be placed; The robot body has a tip that performs work on the workpiece and can freely move the tip, and the robot body is placed on the workpiece placed at the above position. a moving device that moves the body toward and away from the body; the robot body, the opening/closing means, and the moving device are connected to each other, and the door of the workpiece placed at the position is opened by the opening/closing means; to cause the tip to enter the workpiece through a gap formed between the workpiece and the opened door, and to retreat the tip from the workpiece through the gap. An industrial robot comprising: a means for opening and closing; a control means for controlling the robot main body and a moving device; 2. The industrial robot according to claim 1, wherein the robot body comprises a base, a column rotatably attached to the base, and an arm attached to the column and having the tip end. Robots for use.
Priority Applications (7)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP55164431A JPS5789581A (en) | 1980-11-21 | 1980-11-21 | Industrial robot |
| US06/322,375 US4468695A (en) | 1980-11-20 | 1981-11-17 | Robot |
| DE19813145878 DE3145878A1 (en) | 1980-11-20 | 1981-11-19 | ROBOT |
| GB8135006A GB2088095B (en) | 1980-11-20 | 1981-11-20 | Robot |
| FR818121787A FR2494164B1 (en) | 1980-11-20 | 1981-11-20 | INDUSTRIAL ROBOT |
| PCT/JP1981/000349 WO1982001681A1 (en) | 1980-11-20 | 1981-11-20 | Robot |
| SU3471849A SU1261555A3 (en) | 1980-11-20 | 1982-07-19 | Robot control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP55164431A JPS5789581A (en) | 1980-11-21 | 1980-11-21 | Industrial robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5789581A JPS5789581A (en) | 1982-06-03 |
| JPS6339390B2 true JPS6339390B2 (en) | 1988-08-04 |
Family
ID=15793020
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP55164431A Granted JPS5789581A (en) | 1980-11-20 | 1980-11-21 | Industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5789581A (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59209780A (en) * | 1983-05-12 | 1984-11-28 | 北海道電力株式会社 | Manipulator device |
| JPS61125460A (en) * | 1984-11-20 | 1986-06-13 | Tokico Ltd | Industrial robot |
| JPH0625090U (en) * | 1992-09-04 | 1994-04-05 | トヨタ車体株式会社 | Indoor work automatic machine with standard correction function |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4985753A (en) * | 1972-09-29 | 1974-08-16 | ||
| JPS49103358A (en) * | 1973-02-09 | 1974-09-30 | ||
| JPS5529653A (en) * | 1978-08-21 | 1980-03-03 | Kobe Steel Ltd | Automatic opening and closing system for automobile door on automobile conveyer line |
-
1980
- 1980-11-21 JP JP55164431A patent/JPS5789581A/en active Granted
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4985753A (en) * | 1972-09-29 | 1974-08-16 | ||
| JPS49103358A (en) * | 1973-02-09 | 1974-09-30 | ||
| JPS5529653A (en) * | 1978-08-21 | 1980-03-03 | Kobe Steel Ltd | Automatic opening and closing system for automobile door on automobile conveyer line |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS5789581A (en) | 1982-06-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US4693664A (en) | Program-controlled industry robot in particular laquering (or painting) robot | |
| US20140012420A1 (en) | Nc machine tool system | |
| US20090230100A1 (en) | Method and Device for Robot-Aided Remote Laser Welding with Simplified Control of Focusing Direction of Laser Beam | |
| JPS6339390B2 (en) | ||
| KR100887970B1 (en) | Device for assembling body panel | |
| JP3092433B2 (en) | Device for opening door of object to be coated and coating method | |
| JP2001341086A (en) | Mobile robot system | |
| JPH0687476A (en) | Device for loading dash module of automobile | |
| JPS6338938Y2 (en) | ||
| JP3722257B2 (en) | Hemming equipment | |
| JPH06218554A (en) | Welding gun positioning method for welding robot | |
| JP4538859B2 (en) | Industrial robot | |
| JPH0379284A (en) | Control method for industrial robot | |
| JP2914107B2 (en) | Welding metal jig and automatic metallizing equipment | |
| KR100727705B1 (en) | Automatic welding apparatus | |
| JPS60127981A (en) | Joint type industrial robot with travelling shaft | |
| JPS5939475A (en) | Copy working device | |
| KR100527376B1 (en) | Welding Robot | |
| JP3648393B2 (en) | Welding system | |
| JPS6316986B2 (en) | ||
| JPS6125210A (en) | Industrial joint robot | |
| JP3732276B2 (en) | Teaching method for welding robot | |
| JPH0533965U (en) | Arc welding equipment | |
| JPH03193272A (en) | Welding torch nozzle cleaning device for automatic welding equipment | |
| KR920004630Y1 (en) | A welding device |