JP2018062050A - Industrial robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an industrial robot short in the machine length.SOLUTION: An industrial robot comprises an X-axis unit 40 having an X-axis movable plate 41 for reciprocatably moving in the machine width MW1 direction orthogonal to the machine length ML1 direction, a θ-axis unit 30 fixed to the X-axis movable plate 41 and having a turning arm 31 freely turnable in the horizontal direction, a tip tool 10 supported by this θ-axis unit 30 and freely lifting a bit for engaging with a screw and control means for respectively controlling the X-axis unit 40 and the θ-axis unit 30. Thus, since the machine length ML1 can be largely shortened more than usual, the industrial robot can be installed even in a depth-narrow place.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an industrial robot capable of horizontally moving a tip tool that performs a predetermined operation such as screw tightening.

  Conventional industrial robots are disclosed in Patent Document 1 and Patent Document 2, respectively, and will be described below with reference to FIGS. The conventional industrial robot 100 includes a tip tool 10 that performs a predetermined operation such as screwing a screw N into a workpiece (not shown), and a transfer unit that can move the tip tool 10 up and down and horizontally. . The tip tool 10 includes a bit that can be engaged with the screw N and a bit rotation motor M that rotationally drives the bit with a predetermined rotation speed and torque. The transfer unit is composed of an elevating unit 20 formed by connecting the tip tool 10 so as to be movable up and down, and a horizontal moving means capable of moving the elevating unit 20 horizontally back and forth and swinging back and forth. .

  The horizontal moving means disclosed in Patent Document 1 is reciprocated in the Y-axis unit 110 having a Y-axis movable plate that reciprocates back and forth in the machine length ML2 direction and in the left and right (machine width direction) perpendicular to the machine length ML2 direction. And an X-axis unit (not shown) provided with an X-axis movable plate. The X-axis movable plate is configured by attaching the Y-axis unit 110, while the Y-axis movable plate is configured by connecting the elevating unit 20. As a result, the bit of the tip tool 10 moves horizontally over the workpiece and descends toward the workpiece.

  On the other hand, as shown in FIGS. 3 and 4, the horizontal moving unit disclosed in Patent Document 2 includes a Y-axis unit 110 including a Y-axis movable plate that reciprocates in the direction of the machine length ML 2, and the Y-axis unit 110. It comprises a θ-axis unit 30 provided with a turning arm 31 arranged at the tip and capable of turning in the horizontal direction. The tip tool 10 is attached to the tip of the swivel arm 31. Thus, the bit is limited by the stroke in the front-rear direction of the Y-axis unit 110 and the distance from the turning center of the θ-axis unit 30 to the axis of the bit (corresponding to the turning radius r in FIG. 3). 3 moves in the vertically long hatching range shown in FIG. 3 and descends toward the workpiece.

Japanese Patent Laid-Open No. 10-58247 Japanese Patent Publication No. 01-3612

  However, since the conventional industrial robot includes the Y-axis unit extending in the length direction as described above, there is a problem that the length of the length of the industrial robot cannot be set in a narrow space.

  An industrial robot according to the present invention includes an X-axis unit including an X-axis movable plate that reciprocates in the left-right direction, which is the machine width direction, and a revolving arm that is fixed to the X-axis movable plate and can be turned in the horizontal direction. A θ-axis unit, a tip tool that is supported by the θ-axis unit and engages with a component and that can freely move up and down, and a control unit that controls the X-axis unit and the θ-axis unit, respectively. To do. The tip tool includes a bit that engages the tool with a screw, and a bit rotation motor that applies a predetermined torque and rotational speed to the bit, and enables a screw tightening operation to a workpiece. It may be configured.

  Since the industrial robot according to the present invention includes the X-axis unit and the θ-axis unit, the industrial robot can turn in the horizontal direction while linearly moving the tip tool in the machine width direction. Thereby, the tip tool can be moved in the length direction by a distance corresponding to the turning radius of the turning arm. Therefore, the industrial robot of the present invention does not need to arrange a Y-axis unit extending in the machine length direction as in the prior art, and therefore has an advantage that there is little overhang in the machine length direction. In addition, the industrial robot of the present invention uses a so-called screw tightening machine that can fasten a screw to a workpiece as the tip tool, so that it can be introduced even under conditions where the layout of the factory or the like is limited, such as an installation place with a small depth. There are also advantages.

It is a schematic explanatory drawing of the industrial robot which shows one Embodiment which concerns on this invention. FIG. 2 is a schematic explanatory diagram when the industrial robot shown in FIG. 1 is viewed from the right side. It is a schematic explanatory drawing of the conventional industrial robot. It is the schematic explanatory drawing which looked at the conventional industrial robot shown in FIG. 3 from the right side.

  Hereinafter, an industrial robot showing an embodiment of the present invention will be described with reference to FIGS. 1 and 2. The industrial robot 1 of the present invention includes an X-axis unit 40 that is attached to two columns and extends in the machine width MW1 direction, a θ-axis unit 30 that is supported by the X-axis unit 40 and pivots in the horizontal direction, and the θ-axis. A lifting unit 20 supported by the unit 30 and capable of moving up and down in a direction approaching or separating from the workpiece, a tip tool 10 supported by the lifting unit 20, the X-axis unit 40, the θ-axis unit 30, and the lifting unit 20 The control means is connected to issue an operation command to each of these units.

  The columns are fixedly arranged so as to extend in the vertical direction from the base surface B, and two columns are arranged in parallel at a predetermined interval in the machine width MW1 direction.

  The X-axis unit 40 is screwed to each of the two columns and includes an X-axis movable plate 41 that reciprocates in the machine width MW1 direction. The X-axis movable plate 41 is configured to reciprocate in the left-right direction, which is the machine width MW1 direction, by the rotational drive of an AC servomotor built in the X-axis unit 40. Specifically, the X-axis unit 40 includes the AC servo motor, a ball screw connected to the AC servo motor, and a movable nut that is screwed to the ball screw. A plate 41 is engaged with the movable nut.

  The θ-axis unit 30 includes a stay 32 fixed to the X-axis movable plate 41, a turning motor 33 attached to the stay 32 and capable of turning at a predetermined angle, and a turning arm connected to a turning shaft of the turning motor 33. 31.

  The elevating unit 20 is configured in the same manner as the X-axis unit 40, and has a built-in movable nut that can be raised and lowered by the rotational drive of an AC servo motor. The elevating movable plate 21 is provided.

  The tip tool 10 includes a bit rotation motor M disposed on the upper and lower movable plate 21, a bit connected to the bit rotation motor M and rotatably supported at a predetermined rotational speed and torque, and the bit. And a screw guide 11 that is included and disposed under the movable movable plate 21. The bit has a tip shape that can be fitted to a screw N that is screwed into the workpiece, and is always located in the screw guide 11. The screw guide 11 is configured to be slidable in the extending direction of the bit, and is normally configured to be biased by a spring and located below the tip of the bit. Further, the screw guide 11 is connected to a suction means that enables the screw to be sucked from the tip side thereof, and is configured so that a screw to be screwed into the workpiece can be sucked into the screw guide 11 in advance. Thereby, the tip tool 10 can adsorb | suck a screw in the screw guide 11, and can rotationally drive the said bit. The bit rotation motor M is connected to a driver controller that commands this rotation operation, and this driver controller is connected to control means described later.

  The control means is connected to the AC servo motors of the X-axis unit 40 and the elevating unit 20, respectively, and is configured to be able to control the moving speed and the like of the X-axis movable plate 41 and the elevating multi-acting plate 21. The The control means is also connected to the turning motor 33 of the θ-axis unit 30 so that the turning angle of the turning shaft of the turning motor 33 can be controlled. Further, the control means can send an operation command for rotating the bit rotation motor M to the driver controller, and can receive a completion signal from the driver controller indicating that the screw tightening to the workpiece has been completed. The control means is also connected to the suction means of the tip tool 10 and is configured to control the screw suction.

  As shown in FIG. 1, the industrial robot 1 according to the present invention configured as described above has a distance from the turning center of the turning axis of the θ-axis unit 30 to the axis of the bit (the turning radius r in FIG. 1). And a movable region drawn by the movable stroke of the X-axis movable plate 41 of the X-axis unit 40, and this movable region is a hatching range. That is, since the bit can move within this movable region, various operations such as screwing on the workpiece can be performed.

  Thus, the industrial robot 1 of the present invention does not include the Y-axis unit 110 extending in the direction of the machine length ML2 as in the prior art, and the X-axis unit extending in the direction of the machine width MW1 and the turning radius r of the θ-axis unit 30. In addition to obtaining a short device configuration in the direction of the machine length ML1 with respect to the 40 movable strokes, the tip tool 10 can be linearly repositioned at least in the direction of the machine length ML1 only by the linear distance of the turning radius r.

  The industrial robot 1 according to the present invention is not limited to the so-called screw tightening machine that fastens the tip tool 10 to the workpiece described in this embodiment. For example, the industrial robot 1 grips a component and inserts it into the workpiece. It is also possible to process a pilot hole in a workpiece.

DESCRIPTION OF SYMBOLS 1 Industrial robot 10 Tip tool 20 Lifting unit 30 Theta axis unit 40 X axis unit ML1 Captain MW1 Machine width r Turning radius

Claims (2)

  An X-axis unit having an X-axis movable plate that reciprocates in the machine width direction orthogonal to the machine length direction, a θ-axis unit having a swing arm that is fixed to the X-axis movable plate and can be turned in the horizontal direction, and this θ An industrial robot, comprising: a tip tool that is supported by an axis unit and that can freely move up and down a tool that engages a part; and a control unit that controls the X-axis unit and the θ-axis unit.   The tip tool includes a bit that engages the tool with a screw and a bit rotation motor that applies a predetermined torque and rotation speed to the bit, and is configured to be capable of screwing a workpiece. The industrial robot according to claim 1, wherein:

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