JP2003094294A - Robot system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce time and work for designing and manufacturing a robot system constituted by combining several kinds of machining devices and conveying devices and covering them with covers. SOLUTION: A plurality of main body modules A, B, C different in kind from each other are constituted of a plurality of the machining devices M1, M2, M3 different in kind from each other and box-shaped main body covers 10A, 10B, 10C covering the devices. A plurality of conveyer modules P, Q, R different in kind from each other are constituted of a plurality of conveying devices N1, N2, N3 different in kind from each other and box-shaped conveyer covers 40A, 40B, 40C covering the conveying devices. Dimensions of each front opening 10a of the main body covers and each back opening 40a of the conveyer covers are same. A robot system is composed by connecting one main body module selected from the main body modules and one conveyer module selected from the conveyer modules in such a way as to couple the covers at respective openings.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot system used for each processing station of an in-line type automatic machine having a plurality of processing stations, a one-cycle machine or the like.

[0002]

2. Description of the Related Art A robot system of this type is composed of a processing device using a robot and a transfer device for loading and unloading a workpiece. The environment inside the factory is deteriorated by chips and coolant scattered during processing. The transport device and the processing device are covered with a cover in order to prevent the occurrence of the above. In such a robot system, the processing device and the transfer device are selected and arranged according to the function required for each system, and the cover that covers the entire processing device and transfer device is selected according to the selected processing device and transfer device. Is designed to cover.

[0003]

However, in the robot system as described above, the cover which integrally covers the selected processing device and transfer device is designed according to the selected processing device and the transfer device. Will also be different. For this reason, there are problems that the number of types of covers increases, and the effort for designing, manufacturing, and managing parts increases. According to the present invention, such a problem is solved by forming a robot module by combining a cover module attached to each processing device and a transfer device as a main body module and a transfer module, and combining the main body module and the transfer module. With the goal.

[0004]

To this end, a robot system according to the present invention comprises a processing apparatus including a robot and tools, a transfer apparatus for loading and unloading a workpiece, and each processing apparatus and transfer apparatus. It consists of a cover to cover the work carried into the cover by the transfer device.
In a robot system for processing with processing devices in the same cover, a plurality of types of processing devices that perform different processings, and detachably attached to each of the processing devices to cover the processing devices and face the transport device One main body module selected from a plurality of types of main body modules including a box-shaped main body section cover having front openings of the same size on the front side, a plurality of different types of transfer devices, and each of these transfer devices. A plurality of types of transfer modules including a box-shaped transfer unit cover that is detachably attached to cover each transfer device and has a rear opening having the same size as the front opening of each main body cover on the rear side facing the processing device. One of the transfer modules selected from the above is connected so that each cover is connected at each opening. It is characterized in that the.

The processing apparatus of the robot system according to the present invention is equipped with a tool driving section which is attached to the fixed section side and holds and drives the tool, and the robot holds the workpiece with the hand and processes it with the tool. Preferably.

It is preferable that the tool driving unit of the robot system according to the present invention is of a turret type that holds a plurality of tools and drives the tools indexed to predetermined positions to machine a workpiece.

It is preferable that the processing apparatus of the robot system according to the present invention is equipped with a hand stand that is attached to the fixed portion side and holds a plurality of hands.

[0008]

BEST MODE FOR CARRYING OUT THE INVENTION A robot system according to the present invention will be described below with reference to the embodiments shown in FIGS.
In the robot system of this embodiment, first, three types of main body modules A, B, C are attached by attaching main body cover 10A, 10B, 10C to each of three types of processing devices M1, M2, M3 that perform different processing. And a transport section cover 40 for covering three types of transport devices N1, N2, N3 each having a different loading / unloading path.
A, 40B and 40C are attached and three types of transfer modules P, Q and R are prepared. The three main body modules A, B, C and the transport modules P, Q, R prepared in this way are combined as one body module and transport module selected as necessary, and are integrally connected. The selected main body module and transport module are both provided on the base 15. In this embodiment, by combining three types of main body modules A, B, C and transport modules P, Q, R,
Nine kinds of robot systems can be obtained.

First, the first main body module A will be described with reference to FIGS. 2, 3 and 12. The main body module A includes a processing device M1 and a box-shaped main body cover 1 that covers the processing device M1.
The machining device M1 includes a multi-joint robot 20 and a tool driving unit 3 that drives the machining tools T1 to T4.
OA and the robot 20 are provided with a hand stand 35 for holding the hands H1 and H2 used to grip the workpiece W.

The bottom plate of the main body cover 10A is mounted on the rear half of the base 15 consisting of three parts, the wide central part and the narrow side parts, and the column 21 of the robot 20 of the machining apparatus M1 is the bottom plate. It is placed on the central part in the left-right direction and is fixed to the base 15. A base portion of the first arm 23 is supported by a protruding portion 22a protruding forward from an elevating portion 22 provided in the front portion of the column 21 such that the first arm 23 can swing about the vertical axis. The base of the second arm 24 is supported at the tip of the so as to be swingable around the vertical axis. A wrist portion 25 is provided at the tip of the second arm 24.
Is supported so as to be swingable about the vertical axis, and the tip of the wrist portion 25 to which the hands H1 and H2 holding the workpiece W are attached is rotatable about the horizontal axis and the longitudinal axis. The vertical movement of the elevating part 22, the swinging of both arms 23 and 24 and the wrist part 25, and each revolving arm at the tip of the wrist part 25 are controlled by a control device provided in the operation panel 13 via a servo motor, respectively. The operations of the hands H1 and H2 are also controlled by this control device.

In the first main body module A, as shown in FIG.
Also, a turret type tool drive unit 3 in which the processing tools T1 to T4 are mounted on the side surface of the column 21 on the right side in FIG.
0A is provided. The tool driving unit 30A is rotatable about a horizontal lateral axis line, and is provided with four machining tools T1 to T4 such as a grinding stone, a drill, and a tap mounted so as to be in a radial direction at intervals of 90 degrees, such as a front surface. It is a rotary drive that is indexed to the processing position. In addition, the tool drive unit 3
The hand stand 35 provided on the side surface of the column 21 on the side opposite to 0A has two placing parts 35a, 3 for holding the first and second hands Hl, H2 for holding the workpiece W described above.
A hand stand 35 having 5b is provided. Each of the hands H1 and H2 is supported by a pair of round bar-shaped support rails 36, which are vertically opposed to the placement portions 35a and 35b, through a support plate Ha provided to the hands H1 and H2 so that they can be inserted and removed from the front side. The robot 20 is attached to the tip of the wrist portion 25 of the robot 20 and is taken out from each of the placing portions 35a and 35b for use.

The main body cover 10A of the first main body module A includes left and right side plates and a rear side plate that are attached to the left and right side edges and the rear edge of the bottom plate fixed on the base 15 and stand upright, and these 3 It has a box-like shape consisting of a ceiling plate attached to the upper edges of a number of side plates, and the front side is entirely open, and the front opening of the main body cover 10B, 10C of the second and third main body modules B, C described later. 10a
A front opening 10a having the same size as that of is formed. A receiving groove 12 is provided in the front portion on the bottom plate over the entire width.
As best shown in FIG. 12, the inclined plate 11 provided on the lower half of the lower half of the main body cover 10 </ b> A has its front edge located in the receiving groove 12 in a plan view, and the column 21. A large square hole for passing through is formed. Although the detailed structure is omitted, the main body cover 10 </ b> A and the inclined plate 11 are each divided into a plurality of parts and assembled, and necessary reinforcement is provided by angles or the like. An operation panel 13 for controlling the operation of the robot system is provided on one side of the main body cover 10A.

Next, referring to FIG. 4, the second main body module B
Explain. The main body module B also includes a processing device M2 and a main body cover 10B. In the processing device M2, the tool driving unit 30B provided on the right side surface of the column 21 of the robot 20 has a single axis with a tool T. It is different from the above-mentioned first main body module A in that it is of a mold type. Further, the main body cover 10B is also different from the main body cover 10A of the main body module A in that the processing apparatus M2 is different.
May be locally different. However, other structures are substantially the same as those of the main body module A, and therefore, the same reference numerals are allotted to the same portions and detailed description thereof will be omitted. The main body module B is applied to one that performs only one type of processing.

As shown in FIG. 5, the third main body module C also comprises a processing apparatus M3 and a main body section cover 10C. The processing apparatus M3 has one type in the wrist section 25 of the robot 20. 2 is different from that of the first main body module A described above in that the hand H is attached and the hand stand 35 is not provided on the left side surface of the column 21 of the robot 20. Also, the main body cover 10C
Also, due to the different processing device M3, the main module A
The main body cover 10A may be locally different. However, other structures are substantially the same as those of the main body module A, and therefore, the same reference numerals are allotted to the same portions and detailed description thereof will be omitted. The main body module C is applied to one that processes only one type of workpiece W.

Next, the first transfer module P will be described with reference to FIGS. 6, 7 and 12. The transport module P includes a transport device N1 and a box-shaped transport unit cover 4 that covers the transport device N1.
It consists of 0A. On the front half of the base 15, a conveyor cover 40 is provided so as to be continuous with the bottom plate of the main body cover 10.
The bottom plate of A is attached. The transfer device N1 includes a pair of left and right loading and unloading shuttle tables 50A, which are provided in parallel with each other on the front side of the central portion of the transfer module P.
Each shuttle table 50A, 50B comprises a support base 50a extending in the front-rear direction and a movable table 50b provided on the support base 50a and reciprocated by a motor. An inner end that is a rear part of each support 50a is supported by an inner support leg 50c standing on the bottom plate of the transport unit cover 40A, and an outer end protruding forward from the bottom plate is on the floor surface on which the base 15 is installed. Outer support leg 5 erected on the
It is supported by 0d.

The transport section cover 40 of this transport module P
A is composed of left and right side plates and a front side plate that are attached to the left and right side edges and the front edge of a bottom plate fixed on the base 15 and stand up, and a ceiling plate attached to the upper edges of these three side plates. It is box-shaped, and the entire surface is released on the back side,
Main body cover 1 of each main body module A, B, C described above
A rear surface opening 40a having the same size as the front surface opening 10a of 0A, 10B, 10C is formed. Both shuttle tables 50A, 5 are provided at the lower center of the front side plate of the transport unit cover 40A.
0B is formed with a loading / unloading opening 40b, and a front root that connects a side plate 43a extending forward from both sides of the loading / unloading opening 40b and a portion of the front edge thereof below the support base 50a to the front side plate. A loading / unloading section cover 43A made of 43b is provided.

On the carrying section cover 40A, the transparent plate 4 is provided at a position slightly outside the carry-in / out opening 40b of the front side plate and on the upper side.
A viewing window 41 covered with the transparent plate 42a is provided on both side plates at substantially the same height as the viewing window 41. Although the detailed structure is omitted, the transport section cover 40A and the loading / unloading section cover 43A are each assembled by being divided into a plurality of parts, and necessary reinforcement is provided by angles or the like. The loading / unloading part cover 43A is open at the upper side of the lower, upper and front front roots 43b, but the lower side is closed by the bottom plate, and the upper and front covers can be opened and closed. Good.

This first transfer module P is suitable for a one-cycle machine, and an operator sets a work W on a moving table 50b located at the outer end of the carry-in shuttle table 50A and starts it. If you press the button,
The carrying-in shuttle table 50A carries in the workpiece W into the carrying section cover 40A, and the carrying-out shuttle table 50B carries out the workpiece W processed by the main body module A, B or C combined with the workpiece W as described later. Then, the operation is stopped.

Next, the transport module Q for the second day will be described with reference to FIGS. 8 and 9. The transport module Q also comprises the transport device N2 and the transport unit cover 40B.
The transfer device N2 is different from the first transfer module P described above in that the transfer device N2 is composed of a rotary table 52 instead of the loading and unloading shuttle tables 50A and 50B. The rotary table 52 has a slightly elongated horizontal plate shape, and a central portion thereof is supported by a support portion 52a which is erected on the front edge of the bottom plate of the conveyance unit cover 40 so as to be rotatable around the vertical axis and driven. The device 53 is reciprocally rotated by 180 degrees so as to take two positions extending in the front-rear direction.

The loading / unloading opening 40b formed in the lower central portion of the front side plate of the transporting section cover 40B is approximately the same in upper edge as the loading / unloading opening 40b of the transporting section cover 40A of the first transport module P described above. However, the lower edge is the turntable 52.
The position is slightly lower than the lower surface and the width is such that the rotating rotary table 52 can pass therethrough. Further, the rotation table 52 is slightly smaller than the loading / unloading opening 40b, and the loading / unloading opening 40b is substantially aligned with the front plate of the transport unit cover 40B at each terminal position of the reciprocating rotation by rotating together with the rotating table 52. A shielding plate 54 that closes vertically is fixed upright. The loading / unloading unit cover 43B provided on the front side plate of the transporting unit cover 40B is composed of a side plate 43a and a front root 43b similar to the transporting module P, but the dimensions are different due to the difference in the structure of the transporting device N2. Since the transport module P is substantially the same as the transport module P except for the above-described differences, the same portions are denoted by the same reference numerals, and detailed description thereof will be omitted.

This second transfer module Q is also suitable for a one-cycle machine and has a loading / unloading section cover 43B.
When the worker sets the workpiece W on the side rotary table 52 and presses the start button, the drive device 53 rotates the rotary table 52 to carry the workpiece W into the conveyance unit cover 40B, which will be described later. As described above, after returning the workpiece W processed by the main body module A, B or C combined thereto to the rotary table 52 in the transport section cover 40B, the drive device 53 reverses the rotary table 52. The work W is carried out to the loading / unloading unit cover 43B side.

The third transfer module R is also shown in FIG.
Further, as shown in FIG. 11, it comprises a carrier N3 and a carrier cover 40C, and the carrier N3 is a pair of carry-in and carry-out shuttle tables 55A and 55B similar to the first carrier module P described above. However, the arrangement of the shuttle tables 55A and 55B is different from that of the transport module P. The shuttle table 5 for loading and unloading the third transport module R
5A and 55B are symmetrically arranged in a laterally aligned manner, and the inner end portions of the respective support bases 55a are supported by inner support legs 55c standing on the bottom plate of the conveyance unit cover 40C. The outer end portion projecting to the left and right from is supported by an outer support leg 55d standing on the floor surface on which the base 15 is installed.

The transport section cover 40 of this transport module R
The left and right side plates of C are provided with loading and unloading openings 40c and 40d for passing the loading and unloading shuttle tables 55A and 55B, respectively, but no peep windows are provided. The loading / unloading opening 40
Shutters that can be opened and closed may be provided on c and 40d. The front side plate of the transport unit cover 40C is provided with a viewing window 41 picked up by the transparent plate 41a, but no loading / unloading opening is formed unlike the transport unit cover 40A of the first transport module P. There is also no loading / unloading part cover. Since the transport module P is substantially the same as the transport module P except for the above-described differences, the same portions are denoted by the same reference numerals, and detailed description thereof will be omitted.

This third transfer module R is suitable for use as one robot system in an in-line type automatic machine, and has a moving table 55b located at the outer end of the carry-in shuttle table 55A. The workpiece W is received from the robot system in the previous process, and the workpiece W on the moving table 55b located at the outer end of the carry-out shuttle table 55B is arranged and used so as to be delivered to the robot system in the next process. is there.

The robot system of this embodiment has one main body module selected from the above-mentioned three types of main body modules A, B, and C and one main body module selected from the three types of transfer modules P, Q, and R. FIG. 12 shows a combination of the main body module A on the 1st day and the first transfer module P among such combinations. If the main body module A and the transport module P are placed on the common base 15 and attached, the main body cover 10A and the main body module B of the respective modules A and P are joined so that the front opening 10a and the rear opening 40a thereof match. To be done. Then, the inner and outer contact plates 45, 46 are applied to both inner and outer surfaces of the joint edge, and the multiple holes formed in two rows on the outer contact plate 46 and the multiple holes formed at the edge of each cover 10A, 40A are aligned. Then, the bolt 47 is passed from the outside, the nut 45a welded to the inner contact plate 45 is screwed and tightened, and the main body cover 10A and the transport unit cover 40A are joined together without a gap, whereby one robot system is completed.

The robot system shown in FIG. 12 is a one-cycle machine and has a moving table 50b at the outer end.
When the worker sets the workpiece W on the top and presses the start button, the carrying-in shuttle table 50A first carries the workpiece W into the transport section cover 40A, and the robot 20 lists the workpiece W in the list section 25. The first hand H1 attached to the tip is gripped, and the machining is performed by approaching the machining tool T1 which is indexed to the machining position and rotationally driven by the tool driving unit 30A along a predetermined path. When the processing is completed, the robot 20 places the workpiece W on the moving table 50b at the inner end of the carry-out shuttle table 50B, and the moving table 50b moves to carry it to the outer end.

Since the main body module A of the robot system shown in FIG. 12 is provided with the second hand H2 in addition to the first hand Hl, it has a different shape without any setup change.
It is possible to grip and process workpieces W of various types. Further, since the turret type tool drive unit 30A equipped with the four types of processing tools T1 to T4 is provided, four types of processing can be performed without changing the setup. The coolant used during processing and the generated chips are the slant plate 1! Sliding down to enter the receiving groove 12, large chips are separated from the coolant and carried out by the chip conveyor, and the coolant is once returned to the tank and fine chips are separated before reuse. The main body module A and the transport module P are connected to each other without any gaps in the main body cover 10A.
Further, since it is covered with the conveyance unit cover 40A, chips and coolant are not scattered and the environment in the factory is not deteriorated. If the lower side of the loading / unloading part cover 43A is closed by the bottom plate and openable and closable covers are provided on the upper side and the front side, scattering of chips and coolant is further suppressed.

The robot system shown in FIG. 12 is a combination of the first main body module A and the first transfer module P, but three types of main body modules A, B,
Since the front surface opening 10a of each main body section cover 1OA, 10B, 10C of C and the rear surface opening 40a of each transfer section cover 40A, 40B, 40C of the three types of transfer modules P, Q, R have the same size, Any combination of the main body modules A, B, C and the transport modules P, Q, R can be used for the respective main body cover 10A, 10B, 10B.
The front cover 10a and the rear cover 40C are joined to the OC and the conveyance unit covers 40A, 40B, 40C by joining them, and the inner contact plate 45, the outer contact plate 46, and the bolt 47 are connected in the same manner as described above.
To provide a robot system in which all nine types are entirely covered with a cover.

As described above, in the above-described embodiment, the integral unit covers 10A, 10 of the main body modules A, B, C are provided.
B, 10C and the respective transport unit covers 40A, 40B, 40C of the transport modules P, Q, R are provided with front opening 1
0a and the rear opening 40a are combined to form a cover that covers the entire robot system. Therefore, the cover necessary to obtain a robot system in which the nine types are entirely covered is three types of body parts. Covers 10A, 10B, 10C and three types of transport section covers 40
6 types of A, 40B and 40C are sufficient. Therefore, the number of types of main unit cover and transfer unit cover required is less than the number of types of robot system obtained by combination, and each main unit cover and transfer unit cover is smaller than the cover that covers the entire robot system. , The effort required to design, manufacture and manage parts of the cover required to cover the robot system is greatly reduced.

In the above-described embodiment, nine types of robot systems are obtained by combining the three types of main body modules A, B and C and the transfer modules P, Q and R, respectively. However, the number of types of the main body module and the transfer module is not limited to this, and as the number of types of the main body module and the transfer module increases, the number of types of the robot system obtained by the combination increases at an accelerating rate. The effect also increases at an accelerated rate. For example, in each of the main body modules A, B, and C of the above-described embodiment, the workpiece W is gripped by the wrist unit 25 of the robot 20 and processed by the tool provided on the fixed side. Alternatively, the workpiece W fixed on the carrier by a supporting jig may be processed by a tool attached to the wrist unit 25 of the robot 20. In this case, install a tool holder instead of the hand holder if necessary,
The tool attached to the hand part may be exchanged for processing. In addition, the third transfer module R suitable for use in robot systems in in-line type automatic machines
In the transport device of FIG. 1, a pair of loading and unloading shuttle tables 55A and 55B are arranged side by side in the lateral direction, but a plurality of loading and unloading shuttle tables are used instead of such loading and unloading shuttle tables. Pass between robot systems 1
Two long conveyors may be used.

Further, each body cover 10A, 10B, 10
The front opening 10a of C is, as in the above-described embodiment,
Instead of opening the entire front surface of the main body cover, a waist plate is provided at the lower front surface of each main body cover, and a front opening 10a is formed above the waist plate.
40C may be provided on the front surface of the main body cover excluding the waist plate, and the main body cover and the transport unit cover may be connected at the front opening and the rear opening.

The tool driving units 30A, 30B and the hand stand 35 are the columns 2 on the fixed side of the robot 20.
Instead of directly attaching to the column 1, the column 21 may be attached to the base 15 or the like.

[0033]

As described above, according to the present invention, a plurality of types of processing devices and a body cover that covers the same constitute a plurality of types of body modules, and a plurality of types of transport devices and a transport unit cover that covers the plurality of types of transport modules. According to the present invention, a plurality of types of transport modules are configured by combining one main body module selected from each main body module and one transport module selected from each transport module, and each cover is connected at each opening. Since the main body cover (or the transport module cover) of one body module (or the transport module) is the same regardless of the transport module (or the main body module) that is a partner of the combination. . As a result, the number of types of main unit cover and transport unit cover of a plurality of types of robot systems, each of which is a combination of a plurality of types of main body modules and transport modules, is smaller than the number of types of robot systems obtained by the combination. Since the cover and the transport unit cover are smaller than the cover that covers the entire robot system, the labor required for designing, manufacturing, and connecting the parts to the robot system is greatly reduced.

[Brief description of drawings]

FIG. 1 is a block diagram illustrating a combined state of a main body module and a transfer module of an embodiment of a robot system according to the present invention.

FIG. 2 is a plan sectional view showing an overall structure of a first main body module of the embodiment shown in FIG.

FIG. 3 is a front view of the first main body module shown in FIG.

4 is a plan sectional view corresponding to FIG. 2 of a second main body module of the embodiment shown in FIG.

5 is a plan cross-sectional view corresponding to FIG. 2 of the main body module on the 3rd day of the embodiment shown in FIG. 1. FIG.

6 is a plan sectional view showing the overall structure of a first transfer module of the embodiment shown in FIG. 1. FIG.

FIG. 7 is a rear view of the first transfer module shown in FIG.

8 is a plan sectional view corresponding to FIG. 6 of the second transfer module of the embodiment shown in FIG.

9 is a rear view of the second transfer module shown in FIG. 8. FIG.

10 is a plan sectional view corresponding to FIG. 6 of the third transfer module of the embodiment shown in FIG.

FIG. 11 is a rear view of the third transfer module shown in FIG.

FIG. 12 is a side sectional view of a robot system in which a first main body module and a first transfer module are combined.

[Explanation of symbols]

10A, 10B, 10C ... Main body cover, 10a ... Front opening, 20 ... Robot, 30A, 30B ... Tool drive unit,
35 ... Hand stand, 40A, 40B, 40C ... Conveyor cover, 40a ... Rear opening, A, B, C ... Main body module, P, Q, R ... Conveyor module, H, H1, H2 ... Hand, M1, M2 , M3 ... Processing device, N1, N2, N3
... conveyance device, T, T1 to T4 ... tool, W ... τ crop.

Claims (4)

[Claims] 1. A processing device comprising a robot and tools, a transfer device for loading and unloading a workpiece, and a cover for covering these processing devices and transfer devices. The transfer device was loaded into the cover. In a robot system for processing a work piece by the processing device in the same cover, a plurality of types of processing devices that perform different processings and detachably attached to each of the processing devices to cover the processing devices. One main body module selected from a plurality of main body modules consisting of a box-shaped main body cover in which front openings of the same size are formed on the front side facing the transfer apparatus, and a plurality of different kinds of the transfer apparatuses The processing device is detachably attached to each of the transport devices to cover each of the transport devices. One transport module selected from a plurality of types of transport modules including a box-shaped transport unit cover in which a rear surface opening having the same size as the front surface opening of each main body section cover is formed on the opposite rear side, A robot system characterized in that each cover is coupled so as to be connected at each opening. 2. The robot system according to claim 1, wherein the processing device includes a tool driving unit that is attached to a fixed unit side and holds and drives the tool, and the robot grips the workpiece with a hand. A robot system characterized by processing with the tool. 3. The robot system according to claim 2, wherein the tool driving unit is a turret type that holds a plurality of tools and drives the indexed tools at predetermined positions to machine the workpiece. A robot system characterized by that. 4. The robot system according to claim 2 or 3, wherein the processing device includes a hand stand that is attached to a fixed portion side and holds the plurality of hands. .