CN103889665A - Work unit and work unit manufacturing method - Google Patents
Work unit and work unit manufacturing method Download PDFInfo
- Publication number
- CN103889665A CN103889665A CN201180074212.9A CN201180074212A CN103889665A CN 103889665 A CN103889665 A CN 103889665A CN 201180074212 A CN201180074212 A CN 201180074212A CN 103889665 A CN103889665 A CN 103889665A
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- Prior art keywords
- locator
- robot
- operation unit
- workpiece
- support region
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/32—Accessories
- B23K9/321—Protecting means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/006—Safety devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J21/00—Chambers provided with manipulation devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0096—Programme-controlled manipulators co-operating with a working support, e.g. work-table
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Robotics (AREA)
- Plasma & Fusion (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
Abstract
This work unit (100) is provided with: a positioner (10) that positions a workpiece (W); an end effector (22) that performs work on the workpiece (W); a robot (20) on which the end effector (22) is installed; and an enclosure (30) having side surfaces (32) and a floor surface (34). The floor surface (34) has a support area (34a) on which the positioner (10) is installed and an open area (34b) that is located in the range of motion of at least either the positioner (10) or the workpiece (W).
Description
Technical field
The present invention relates to the manufacture method of a kind of operation unit and operation unit.
Background technology
With in order stably to produce high-quality product or to make the mankind the various objects such as free from tired operation etc., industrial robot is imported to production scene.Typical industrial robot carries out repetitive operation (for example, with reference to patent documentation 1) according to predefined teaching contents.
In patent documentation 1, a kind of arc welding robot system that comprises arc welding robot and locator is disclosed.In the arc welding robot system of patent documentation 1, by controlling locator and arc welding robot, and make arc welding robot and arrive the position of regulation with respect to the workpiece being positioned by locator and become the attitude of regulation, thereby carry out suitable welding.
Prior art document
Patent documentation
Patent documentation 1: TOHKEMY 2006-341283 communique
Summary of the invention
Problem to be solved by this invention
But the arc welding robot system (operation unit) of patent documentation 1 is larger sometimes.In this case, for carry out operation that volume ratio is set is larger, can not effectively utilize operation place.In addition, in the time that operation unit is larger, increase sometimes the cost for transport operation unit.
A scheme of present embodiment completes in view of the above problems, its objective is the manufacture method that a kind of operation unit and the operation unit that can realize miniaturization are provided.
For the method for dealing with problems
A related operation unit of scheme of present embodiment comprises: the locator that workpiece is positioned; Described workpiece is carried out to the end effector of operation; The robot of described end effector is installed; And there is the fence of side and bottom surface, and in operation unit, described bottom surface has support region and open area, and described support region is provided with described locator; Described open area is arranged at least one party's of described locator and described workpiece movable area.
The manufacture method of the related operation unit of a scheme of present embodiment comprises following operation: the operation of mounting robot on locator; And in the fence with side and bottom surface, the operation of described locator and described robot is set, arranging in the operation of described locator and described robot, described bottom surface has support region and open area, and described support region is provided with described locator; Described open area is arranged at least one party's of described locator and described workpiece movable area.
The manufacture method of the related operation unit of a scheme of present embodiment comprises following operation: the operation of mounting robot on locator; And after robot being installed on locator, carry the operation of described locator and described robot.
Invention effect
According to present embodiment scheme, can provide a kind of operation unit and manufacture method thereof that can realize miniaturization.
Brief description of the drawings
Fig. 1 is the schematic diagram of the operation unit of present embodiment.
Fig. 2 is the schematic diagram of the locator in the operation unit of present embodiment.
Fig. 3 is the schematic diagram of the operation unit of present embodiment.
Fig. 4 is the schematic diagram of the operation unit of present embodiment.
Fig. 5 is the flow chart of the operation unit manufacture method for present embodiment is described.
Fig. 6 is the flow chart of the operation unit manufacture method for present embodiment is described.
Fig. 7 is the flow chart of the operation unit manufacture method for present embodiment is described.
Detailed description of the invention
Referring to accompanying drawing, the embodiment of the disclosed operation unit of the application and operation unit manufacture method is described.But embodiments of the present invention are not limited in following embodiment.
Fig. 1 represents the schematic diagram of the operation unit 100 of present embodiment.Operation unit 100 carries out operation to workpiece W.Operation unit 100 comprises locator 10, robot 20 and fence 30.
Workpiece W is installed on locator 10, and locator 10 positions workpiece W.For example, locator 10 changes at least one party in position and the attitude of workpiece W.Be preferably, locator 10 forms in the mode that can make workpiece W be rotated with respect to multiple axles respectively.For example, locator 10 can be the locator of 2 axles.Or locator 10 can be also the locator of 3 axles or 4 axles.
In robot 20, the end effector 22 that workpiece W is carried out to operation is installed.For example, robot 20 has: end effector 22 and the robots arm 24 that end effector 22 is installed.In position at locator 10 to workpiece W and direction are controlled, position and the direction of robots arm 24 to end effector 22 controlled, so that end effector 22 can carry out operation to workpiece W with suitable angle (direction).
For example, be preferably, robots arm 24 is the arms that comprise the joint type of multiple actuators.In this case, robots arm 24 is made up of multiple arms, and each actuator has servo motor.By each actuator of driven machine people arm 24, control position and the attitude of end effector 22.Typical end effector 22 is installed in robots arm 24 front end.
Here, end effector 22 is welding guns.As an example, welding gun is for arc welding or means of spot welds.Or welding gun also can be for laser weld, Plasma Welding etc.Typical welding gun 22 welds along the sealing wire of workpiece W.
In addition, end effector 22 can be given encapsulant to workpiece W.Or end effector 22 also can carry out other the processing such as deburring, boring to workpiece W.
In the operation unit 100 of present embodiment, on the bottom surface 34 of fence 30, not only be provided with the support region 34a for bearnig positioner 10, but also be provided with open area 34b, described open area 34b is arranged at least one party's of locator 10 and workpiece W movable area.Thereby, can utilize open area 34b, and make its movable area as at least one party in locator 10 and workpiece W.Therefore, can make the extreme lower position of moving part of at least one party in locator 10 and workpiece W lower than the upper surface of support region 34a, thus, can make locator 10 and then the length of operation unit 100 in short transverse (vertical direction) is dwindled.
In addition, although the monomer of locator 10 itself determined by locator 10 around the radius of turn of horizontal plane, basis is installed on the workpiece on locator 10, and the radius of turn that makes to be installed on the workpiece W on locator 10 changes.Owing to being provided with open area 34b in the operation unit 100 of present embodiment, therefore can carry out operation to larger workpiece W.For example, by be provided with open area 34b on bottom surface 34, thus, the thickness that the radius of turn increase that can make to be installed on the workpiece W on locator 10 is equivalent to support region 34a is 200mm left and right.
In addition, typical situation is that, in the time that end effector 22 carries out operation to workpiece W, end effector 22 is, above the open area 34b of bottom surface 34, workpiece W is carried out to operation.In addition, in the time that end effector 22 carries out operation to workpiece W, produce sometimes operation residue.Owing to being provided with open area 34b in the operation unit 100 of present embodiment, the operation residue producing therefore can be easy to operation time cleans.Particularly, in the time that end effector 22 is welding gun, easily produce operation residue, can improve by open area 34b the effect that is easy to clean.
In addition, here, robot 20 is arranged on locator 10, and uses the trestle table of locator 10 as robot 20.Like this, by locator 10 and robot 20 are formed as one, can reduce thus the base area of operation unit 100, and can realize and save space.In addition, by locator 10 and robot 20 are formed as one, in the time changing the place of operation unit 100 or reproduce, needn't again make locator 10 and robot 20 carry out contraposition, thus, can easily change operation place and reproduce.
In addition, preferably use the robots arm of 7 axles as robots arm 24.In the operation unit 100 of present embodiment, robot 20 is arranged on to the top of locator 10, although the distance between locator 10 and robot 20 is shorter, but because robots arm 24 is robots arms of 7 axles, can make thus the position of end effector 22 and the free degree of direction increase, and can realize the variation of operation attitude, can also make the length of operation unit 100 on fore-and-aft direction and left and right directions diminish, and can realize and save space simultaneously.
In addition, in the operation unit 100 of present embodiment, on fence 30, be provided with shutter 42.Operate as follows shutter 42, can open, close the opening portion of side 32.Thus, can prevent in the course of action of robot 20, operator enters in fence 30 accidentally.For example, shutter 42 is the shutters that furl type.
In addition, preferably, on the side of the support region 34a in the bottom surface 34 of fence 30, sensor 44 is set.By such sensor 44 is set, can monitor rightly entering of operator.Can use linear transducer as sensor 44.Or, also can use face sensor as sensor 44.
In addition, preferably on the outside of the side 32 of fence 30, dispose starting box 50.Come initiating task unit 100 by starting box 50.In the time that operation unit 100 starts, shutter 42 declines, and robot 20 starts to move.But in the time that sensor 44 detects certain object, shutter 42 can not decline, robot 20 can not start to move yet.
Fig. 2 is the schematic diagram that represents the locator 10 in the operation unit 100 of present embodiment.As an example of locator 10, Fig. 2 represents the locator 10 of 2 axles.
Fig. 3 is the schematic diagram that represents the operation unit 100 of present embodiment.By the rotation of the rotating shaft 14a shown in Fig. 2, the workpiece W that makes to be thus installed on locator 10 tilts, and can change the position of workpiece W and direction.
In addition, as mentioned above, preferably use the operation unit 100 of present embodiment to weld.For example, welding is carried out along sealing wire, and described sealing wire is the line (line of predetermined welding) that should weld.
The operation unit 100 of present embodiment is suitable for carrying out automatic electric arc welding or semi-automatic arc weld connects.When carrying out automatic electric arc welding or semi-automatic arc weld while connecing, be preferably, with respect to the line in fact welding of sealing wire, be no more than and can not depart from the only about half of size of wire diameter.
In addition,, in identical operation unit 100, by changing any one party in workpiece W, locator 10 and end effector 22, can carry out different operations to workpiece W.
In addition, preferably fence 30 can move.For example,, preferably at the upper mounting vehicle in angle (typically having 4 angles) at the back side of the support region 34a of bottom surface 34.Thus, can carry out easily the movement of operation unit 100.
With reference to Fig. 4, an example of the operation unit 100 of present embodiment is described here.In the operation unit 100 shown in Fig. 4, on the back side of the support region 34a of the bottom surface 34 of fence 30, be provided with wheel 36, can easily carry out thus the movement (for example, changing the configuration of the operation unit 100 in factory) of operation unit 100.
In addition, on the back side by the support region 34a in the bottom surface 34 of fence 30, be provided with wheel 36, thereby, make the height (distance between this ground and bottom surface 34) of the bottom surface 34 of fence 30 become larger with respect to supporting the ground of operation unit 100, the radius of turn that thus, can make to be installed on the workpiece W on locator 10 further increases.In addition,, although any parts are not set at the upper surface of fence 30, can pipeline be set at the upper surface of fence 30 here, carry out dust collection.Or, also can omit the upper surface of fence 30 itself.
In addition, in the operation unit 100 shown in Fig. 4, in fence 30, dispose robot controller 40.In addition, although not shown here, also can in fence 30, dispose the source of welding current.
For example, robot controller 40 has storage device and processor, and described storage device is used for storing training data; Described processor sends order to robot 20.Use robot controller 40, the end effector 22 can store each action time and robots arm 24 position, and can carry out teaching.In addition, robot controller 40 not only can control 20, but also can control locator 10.
For example, in the time carrying out teaching, certain position in space of store location device 10 and robot 20 and other position, by calibration, revise the track between these points.Typical situation is that use encoder, calibrates locator 10 and robot 20.
In addition, in the above description, although robot 20 is arranged on locator 10, present embodiment is not limited in this.Also robot 20 can be configured in to the place different from locator 10 in the support region 34a of bottom surface 34.But, as mentioned above, preferably robot 20 is arranged on locator 10.
Can manufacture as follows above-mentioned operation unit 100.With reference to Fig. 5, the manufacture method of the operation unit of present embodiment is described here.
First, in S502, mounting robot 20 on locator 10.For example, robot 20 is arranged on to the top of locator 10.
Secondly,, in S504, locator 10 and robot 20 are arranged in fence 30.Manufacture in the above described manner operation unit 100.
In the operation unit 100 of so manufacturing, robot 20 is arranged on locator 10, thus, can realize the space of saving operation unit 100.
In addition, the locator 10 in fence 30 and the setting of robot 20 can be carried out before the place that locator 10 and robot 20 is transported to regulation, also can after having carried locator 10 and robot 20, carry out.
With reference to Fig. 6, another manufacture method of the operation unit of present embodiment is described here.First, in S602, mounting robot 20 on locator 10.
Secondly, in S602a, carrying locator 10 and robot 20.Here, as mentioned above, due to robot 20 is arranged on locator 10, therefore needn't makes the relative position of locator 10 and robot 20 change and just can carry locator 10 and robot 20.
Next,, in S604, locator 10 and robot 20 are arranged in fence 30.Manufacture in the above described manner operation unit 100.In addition, as mentioned above, by the open area 34b of bottom surface 34, can use more small-sized locator 10, therefore can easily carry.
In addition, can also in S602a, increase or replace S602a, and in S604, locator 10 and robot 20 are arranged in fence 30, transport operation system 100 in S604a afterwards.Here, as mentioned above, due to robot 20 is arranged on locator 10, therefore needn't makes the relative position of locator 10 and robot 20 change and just can carry locator 10 and robot 20.
Like this, be preferably, before carrying locator 10 and robot 20, robot 20 be arranged on locator 10.For example, in order delivering to client from factory, locator 10 and robot 20 can be loaded in container etc., and to use the oversize vehicles such as truck to carry.Or, also can, in inside plants, locator 10 and robot 20 be transported to other places from somewhere.
In this case, for example, due to before carrying (before delivering to client from factory), robot 20 is arranged on locator 10, therefore can makes reliably locator 10 and robot 20 carry out contraposition.In addition, owing to robot 20 being arranged on locator 10 before carrying, therefore in the time that locator 10 and robot 20 are set, the contraposition of locator 10 and robot 20 can be omitted, thereby the setting of device 10 and robot 20 can be positioned with the very short time.In addition, when having manufactured operation unit 100 and being applied to different places, due to before carrying, locator 10 and robot 20 are installed when a large amount of, therefore can have been realized the decline of the cost for installing.
In addition, as mentioned above, be preferably, before carrying out actual job, first locator 10 and robot 20 carried out to teaching.In this case, also can be before carrying the teaching of advanced line finder 10 and robot 20.
With reference to Fig. 7, another manufacture method of the operation unit of present embodiment is described here.First, in S702, mounting robot 20 on locator 10.
Secondly,, in S702 ', after robot 20 has been installed on locator 10, and before carrying locator 10 and robot 20, locator 10 and robot 20 are carried out to teaching.For example, use robot controller 40 to carry out teaching.In addition, be preferably, after teaching, locator 10 and robot 20 calibrated.
Afterwards, in S702a, carrying locator 10 and robot 20.In S704, locator 10 and robot 20 are set.Manufacture in the above described manner operation unit 100.In the present embodiment, owing to first locator 10 and robot 20 are carried out to teaching before carrying, therefore, in arranging after carrying, can omit the teaching that at least a portion is carried out locator 10 and robot 20, and can shorten the setup times after carrying.
In addition, here, also can in S702a, increase or replace S702a, and in S704, locator 10 and robot 20 are arranged in fence 30, transport operation system 100 in S704a afterwards.
In addition,, with reference to Fig. 5～Fig. 7, in the operation unit 100 of manufacturing in the manufacture method of the operation unit by above-mentioned present embodiment, around being mounted to integrated locator 10 and robot 20, be provided with fence 30, but present embodiment is not limited in this.Also can omit locator 10 and robot 20 fence 30 around.In addition, in this case, after robot 20 is arranged on to locator 10, identical with the S602a of Fig. 6 or the S702a of Fig. 7, preferably robot 20 is being arranged under the state of locator 10 to carrying locator 10 and robot 20.
In addition, in above-mentioned operation unit 100, in the time observing bottom surface 34 from normal direction, open area 34b rectangular shaped, the border of support region 34a and open area 34b is limited by three limits, but present embodiment is not limited in this.The border of support region 34a and open area 34b can be by three limit more than limit or arbitrarily curve limit.Or, in order to seal the border of support region 34a and open area 34b, also can form open area 34b around support region 34a.For example, also can specify that open area 34b forms opening shape.
The explanation of Reference numeral
10: locator
20: robot
22: end effector
24: robots arm
30: fence
32: side
34: bottom surface
34a: support region
34b: open area
100: operation unit
Claims (9)
1. an operation unit, comprising: the locator that workpiece is positioned; Described workpiece is carried out to the end effector of operation; The robot of described end effector is installed; And there is the fence of side and bottom surface, it is characterized in that,
Described bottom surface has support region and open area, and described support region is provided with described locator; Described open area is arranged at least one party's of described locator and described workpiece movable area.
2. operation unit as claimed in claim 1, is characterized in that,
Described robot is arranged on described locator.
3. operation unit as claimed in claim 1 or 2, is characterized in that,
Described fence can move.
4. operation unit as claimed any one in claims 1 to 3, is characterized in that,
The articulated robot arm that described robots arm comprises 7 axles.
5. the operation unit as described in any one in claim 1 to 4, is characterized in that,
Described operation unit also comprises: be configured in the sensor on the sidepiece of described support region of described bottom surface.
6. the operation unit as described in any one in claim 1 to 5, is characterized in that,
Described end effector comprises welding gun.
7. a manufacture method for operation unit, comprises following operation:
The operation of mounting robot on locator;
And in the fence with side and bottom surface, the operation of described locator and described robot is set,
Arranging in the operation of described locator and described robot, described bottom surface has support region and open area, and described support region is provided with described locator; Described open area is arranged at least one party's of described locator and described workpiece movable area.
8. the manufacture method of operation unit as claimed in claim 7, is characterized in that,
Described manufacture method also comprises: after described robot being installed on described locator, and before carrying described locator and described robot, and the operation that described locator and described robot are carried out to teaching.
9. the manufacture method of operation unit as claimed in claim 7 or 8, is characterized in that,
The operation that described locator and described robot are set comprises: after having carried described locator and described robot, the operation of described locator and described robot is set on the described support region of described bottom surface.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2011/073914 WO2013057788A1 (en) | 2011-10-18 | 2011-10-18 | Work unit and work unit manufacturing method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103889665A true CN103889665A (en) | 2014-06-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201180074212.9A Pending CN103889665A (en) | 2011-10-18 | 2011-10-18 | Work unit and work unit manufacturing method |
Country Status (2)
| Country | Link |
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| CN (1) | CN103889665A (en) |
| WO (1) | WO2013057788A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NL2016551B1 (en) * | 2015-04-07 | 2018-04-13 | Volkerrail Nederland Bv | Mobile robot station and repair methodology |
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| JPS63120090A (en) * | 1986-11-08 | 1988-05-24 | 本田技研工業株式会社 | Running gear |
| JPH0265979A (en) * | 1988-08-30 | 1990-03-06 | Shin Meiwa Ind Co Ltd | Industrial robot |
| JP3205821B2 (en) * | 1993-06-11 | 2001-09-04 | ヤマハ発動機株式会社 | Unit casting machine |
| JP5115303B2 (en) * | 2008-04-23 | 2013-01-09 | 株式会社安川電機 | Robot control system |
| JP2011005530A (en) * | 2009-06-26 | 2011-01-13 | Komatsu Engineering Corp | Welding apparatus |
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| WO2004009303A1 (en) * | 2002-07-18 | 2004-01-29 | Kabushiki Kaisha Yaskawa Denki | Robot controller and robot system |
| JP2005103690A (en) * | 2003-09-30 | 2005-04-21 | Yaskawa Electric Corp | Industrial control controller |
| CN101965250A (en) * | 2008-03-12 | 2011-02-02 | 株式会社安川电机 | Robot system |
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| CN101734487A (en) * | 2008-11-14 | 2010-06-16 | 西德尔公司 | Combined palletisation facility with secure access |
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| WO2013057788A1 (en) | 2013-04-25 |
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Application publication date: 20140625 |