JP2022017059A - Running/moving device of multi-joint robot - Google Patents

Abstract

To provide a running/moving device of a multi-joint robot that can improve workability in setup-work or the like by a worker, by reducing an installation space of the device considerably.SOLUTION: The running/moving device of a multi-joint robot comprises: a running shaft 1 having vertical plate rails 2 laid horizontally and vertically in a width direction on base plates 4; a moving body 10, attached onto the running shaft 1 to be runnable through a slide device 9 and provided with a running driving part 12; a turning arm 30, rotatably mounted on the moving body 10 so that an arm part 33 can be rotated by a vertical turning shaft 32, which fixes a base 21 of the multi-joint robot 20 onto the arm part 33 at a position away from the turning shaft 32; and a stoppage stabilizing device 40 that pushes out a pressing part 42 onto the base plate 4 from the moving body 10 and presses the part against the plate, while stopping the moving body 10.SELECTED DRAWING: Figure 1

Description

The present invention relates to a traveling and moving device for an articulated robot, and in particular, travels an industrial articulated robot used for attaching and detaching a workpiece or the like to a plurality of machine tools installed adjacent to each other. The present invention relates to a traveling movement device of an articulated robot that travels and moves on an axis.

An industrial articulated robot may be used to attach and detach a workpiece to and from a plurality of machine tools installed adjacent to each other. In this case, the articulated robot is attached to a traveling / moving device that travels on a traveling axis laid in front of the machine tool, and travels.

In the conventional traveling and moving device of this type, a large traveling shaft is laid in front of a plurality of machine tools in order to attach and detach the workpiece with high accuracy to the machine tool, and a large slide block is placed on the traveling shaft. Is movably mounted, and an articulated robot is mounted on a slide block (see Patent Document 1 and the like below).

However, in a metal processing factory or the like, in order to save labor and space, as shown in FIGS. 17 and 18, a plurality of machine tools 51 are installed adjacent to each other and facing each other. One articulated robot 52 may be used to attach and detach the workpiece.

Japanese Unexamined Patent Publication No. 2019-923

In this case, as shown in FIGS. 17 and 18, for example, when four machine tools 51 are used, the machine tools are installed facing each other, and one traveling shaft 53 is laid in the central front space. The slide block 54 is mounted on the traveling shaft 53 so as to straddle the traveling shaft 53, and the articulated robot 52 is mounted on the traveling and moving slide block 54.

The articulated robot 52 faces the front of each machine tool 51 while moving by the operation of the slide block 54, grips the workpiece, and attaches / detaches the robot to / from the machine tool 51. However, in order to attach / detach the workpiece to / from the machine tool 51 with high accuracy, the traveling shaft 53 and the slide block 54 for moving the articulated robot 52 have been made extremely large, and as shown in FIGS. 17 and 18. Occupies most of the front space of multiple machine tools.

Therefore, when the work setup of the machine tool 51 is changed to repair a failure or perform maintenance and inspection, even if the worker stands in front of the machine tool 51 to perform the work, the large traveling shaft 53 is used. There was a problem that it got in the way and I couldn't do the work such as setup as I expected.

The present invention solves the above-mentioned problems, and provides a traveling and moving device for an articulated robot that can significantly reduce the installation space of the device and improve workability such as setup work by an operator. The purpose is.

The traveling and moving device of the articulated robot according to the present invention is
One vertical rail on the base plate is a running shaft laid vertically in the width direction.
A moving body mounted on the traveling axis so as to be travelable via a slide device,
A traveling drive unit provided on the moving body and causing the moving body to move and travel,
An arm portion is rotatably mounted on the moving body by a vertical swivel shaft, and a swivel arm in which a base of an articulated robot is fixed on the arm portion at a position away from the swivel shaft.
When the moving body is stopped, a stop stabilizing device that pushes a pressing portion from the moving body onto the base plate and presses the pressing portion.
It is characterized by being equipped with.

According to the traveling and moving device of this articulated robot, for example, in a factory where a plurality of machine tools are installed adjacent to each other, when the work piece is attached to and detached from each machine machine by the articulated robot, the work is to be performed. One traveling axis is laid in front of multiple machine machines, a moving body is installed on the traveling axis so that it can run, an articulated robot is attached on the moving body, and the articulated robot is moved while moving the moving body. Operate to attach / detach the workpiece.

Since the traveling shaft is configured by laying one vertical plate rail on the base plate in a vertical state in the width direction, the installation space of the traveling shaft can be significantly reduced as compared with the conventional case. If there is a space in the front bottom of the machine tool, the traveling axis can be arranged in that space, and a large space on the floor in front of the machine tool can be secured. As a result, the operator can easily stand in front of the machine tool and efficiently perform the work when changing the setup.

Further, when the moving body is stopped, the stop stabilizing device is operated to press the pressing portion on the base plate to bring the moving body into a stable and robust stop state. As a result, even if the articulated robot on the moving body moves each arm during operation and its center of gravity moves significantly, the base of the moving body and the articulated robot can maintain a stable stopped state. The articulated robot can accurately attach and detach the workpiece with high accuracy.

In addition, since it is not necessary to make the structure of the moving body unnecessarily large and strong, the moving body can be miniaturized, space can be saved, and the workability of the worker can be improved.

Further, a swivel arm having an arm portion is mounted on the moving body so as to be rotatable by a vertical swivel shaft, and the base of the articulated robot is placed on the arm portion at a position away from the swivel shaft. Since it is fixed, even if it is a small articulated robot, the swivel arm is rotated with respect to the machine tool on the opposite side slightly away from the traveling axis, and the articulated robot is brought close to the machine tool and covered. It is possible to perform attachment / detachment operation of the workpiece.

Furthermore, since a small articulated robot can be used, the space in the front part of the machine tool becomes wide, and even a small articulated robot can maintain a stable stopped state by the operation of the stop stabilizer. The work piece can be attached and detached with high accuracy.

Here, the slide device includes a linear slide rail attached to the vertical plate rail of the traveling shaft along the longitudinal direction, and a linear slide block attached to the moving body and engaged with the linear slide rail. The traveling drive unit can be configured to include a rack mounted along the longitudinal direction on the vertical plate rail, and a pinion that is rotationally driven by a drive motor and meshes with the rack. According to this, the moving body can be smoothly moved and stopped at an accurate position on the traveling axis.

Here, in the linear slide rail, two linear slide rails are divided into an upper part and a lower part on one side surface of the vertical plate rail and laid in parallel with the longitudinal direction, and the rack is one of the vertical plate rails. It can be provided on the side surface in parallel with the linear slide rail. According to this, it is possible to move the moving body more smoothly and stably on the traveling axis and stop it at an accurate position.

Further, here, the stop stabilizer may be configured such that a fluid pressure cylinder is attached to the moving body and a pressing portion is attached to the tip of the piston rod of the fluid pressure cylinder. According to this, it is possible to secure stability when the moving body is stopped with a relatively simple configuration.

Further, here, the fluid pressure cylinder of the stop stabilizer is attached downward in the vicinity of the swivel shaft of the swivel arm disposed on the moving body, and the pressing portion is attached to the piston via the floating joint. It can be attached to the tip of the rod. As a result, for example, when the articulated robot attaches / detaches the workpiece to / from the machine tool, when the arm rotates, the wobbling or fine movement of the moving body holding the articulated robot is suppressed, and the articulated robot can be used. The attachment / detachment work can be performed with high accuracy.

According to the traveling and moving device of the present invention, the installation space of the device can be significantly reduced, and the workability of a worker who works while standing in front of a machine tool can be improved.

It is a front view of the traveling movement device of the articulated robot which shows one Embodiment of this invention. It is a left side view of the traveling movement device and a partially enlarged view thereof. It is a perspective view of the traveling movement device. It is a perspective view which changed the angle of the traveling movement device. (A) is a front view of the moving body and the traveling drive unit, and (b) is a plan view thereof. It is a perspective view of a moving body and a traveling drive part. It is a front view of a traveling shaft. It is a perspective view of a traveling shaft. It is a rear view of a traveling shaft. FIG. 7 is an enlarged cross-sectional view taken along the line X-X of FIG. FIG. 5 (a) is an enlarged cross-sectional view taken along the line XI-XI. FIG. 5 (a) is an enlarged cross-sectional view taken along the line XII-XII. (A) is an enlarged cross-sectional view when the stop stabilizer is operated, and (b) is an enlarged cross-sectional view when the stop stabilizer is not operated. It is a right side view which shows the use state of a traveling movement device. It is a top view which shows the use state of a traveling moving device. It is a front view of the traveling movement device of another embodiment. It is a right side view of the traveling movement device of the conventional articulated robot. It is a top view of the traveling movement device of the conventional articulated robot.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings. As shown in FIGS. 1 to 4, the traveling and moving device of this articulated robot includes a traveling shaft 1 in which one vertical plate rail 2 is laid vertically on the base plate 4 in the width direction thereof, and a traveling shaft 1. Above, a moving body 10 mounted so as to be able to travel via a slide device 9, a traveling drive unit 12 provided on the moving body 10 to move and travel the moving body 10, and an arm unit 33 vertically on the moving body 10. When the swivel arm 30 rotatably attached by the swivel shaft 32 and the base 21 of the articulated robot 20 is fixed on the arm portion 33 at a position away from the swivel shaft 32, and the moving body 10 stop. It is configured to include a stop stabilizer 40 that pushes and pushes the pressing portion 42 onto the base plate 4 from the moving body 10.

As shown in FIGS. 7 to 9, the traveling shaft 1 is fixed to a rail by having one vertical plate rail 2 vertical in the width direction on a horizontal plate-shaped base plate 4 placed on the floor. It is fixed by the part 3. As shown in FIG. 10, the rail fixing portion 3 is configured by fixing the vertical plate 38 to the other side surface of the vertical plate rail 2 and fixing the vertical plate 38 on the horizontal plate 39, and the horizontal plate 39 is below the vertical plate 39. The height can be adjusted with respect to the mounting plate 37 of the above. The vertical plate rail 2 having a predetermined length is fixed perpendicularly to the plane of the base plate 4 by the three rail fixing portions 3, but is fixed by an arbitrary number of rail fixing portions 3 according to the length of the rail. can do.

Two linear slide rails 6 and 7 are divided into an upper part and a lower part on one side surface of the vertical plate rail 2 (opposite side of the rail fixing portion 3), and are attached in parallel with the longitudinal direction. Further, on one side surface of the vertical plate rail 2, a rack 5 is attached at an intermediate position between the two linear slide rails 6 and 7 in parallel with the linear slide rails 6 and 7. On the other hand, as shown in FIG. 4, a cable guide 8 is attached to the vertical plate rail 2 on the rail fixing portion 3 side.

The moving body 10 on which the articulated robot 20 is mounted is mounted on the traveling shaft 1 so as to be movable and travelable via the slide device 9. As shown in FIG. 2, the slide device 9 is a linear slide block that slidably engages with a pair of linear slide rails 6 and 7 provided horizontally and along the longitudinal direction on the rail side. The linear slide block 13 and the linear slide block 14 are composed of a linear slide block 14 which is slidably engaged with the linear slide rail 7, and the linear slide block 13 and the linear slide block 14 are attached to the upper part and the lower part of the side surface inside the housing 11 of the moving body 10. Has been done.

As shown in FIGS. 5, 6, 11, and 12, the pinion unit 18 is attached to the side portion of the housing 11 of the moving body 10. The pinion unit 18 is provided so that the pinion 15 can be rotationally driven, and a part of the pinion 15 is exposed from the side surface of the housing 11. Further, the linear slide block 13 is fixed above the pinion 15, and the linear slide block 14 is fixed to the side surface of the housing 11 below the pinion 15.

The pinion 15 engages with the rack 5 on the rail side, the linear slide block 13 engages with the linear slide rail 6, and the linear slide block 14 engages with the linear slide rail 7. As a result, the moving body 10 slides on the traveling shaft 1 via the linear slide blocks 13 and 14, and the linear slide rails 6 and 7, and travels by the rotational drive of the pinion 15.

A drive motor 16 with a speed reducer is attached to the upper part of the pinion unit 18, and the pinion 15 of the pinion unit 18 is rotationally driven by the drive motor 16 to drive the moving body 10 to travel. As shown in FIG. 12, the pinion unit 18 is provided with a backlash adjusting mechanism. The cables of the drive motor 16 and the articulated robot 20 are drawn out to the cable guide 8 side from the cable drawing portion 17 provided on the vertical plate rail 2 side at the upper part of the housing 11 (FIG. 4).

Further, as shown in FIG. 11, a stop stabilizer 40 is arranged in the housing 11 of the moving body 10. The stop stabilizer 40 is a device for pushing out the pressing portion 42 from the moving body 10 onto the base plate 4 and pushing the moving body 10 stably when the moving body 10 is stopped, and the fluid pressure cylinder 41 faces downward. Attached to.

A swivel arm 30 is mounted on the housing 11 of the moving body 10 via a swivel drive unit 31, and the swivel arm 30 is driven by the swivel drive unit 31 with a swivel shaft 32 (FIGS. 1 and 2) as an axis. It is rotatable. The fluid pressure cylinder 41 is arranged downward in the vicinity of the swivel shaft 32, and the pressing portion 42 is fixed to the tip of the piston rod via the floating joint 43.

When the moving body 10 is stopped, the stop stabilizing device 40 keeps the stability of the stopped state by pressing the pressing portion 42 against the base plate 4 by the pushing operation of the fluid pressure cylinder 41. The floating joint 43 prevents the recoil of the moving body 10 applied at the time of pressing. The stop stabilizer 40 may be provided with a mechanism that electrically or mechanically pushes out instead of the fluid pressure cylinder.

The swivel arm 30 is arranged so as to be rotatable around a swivel shaft 32 (FIGS. 1 and 2) by being driven by the swivel drive unit 31, and the arm portion 33 of the swivel arm 30 is on the housing 11 of the moving body 10. It is rotatably mounted on a horizontal plane on the swivel drive unit 31 mounted on the. The base 21 of the articulated robot 20 is fixed on the tip of the arm portion 33 so that the base portion of the arm portion 33 swivels around the vertical swivel shaft 32 on the swivel drive portion 31. Ru. The swivel drive unit 31 is driven by the swivel drive motor 19.

The base 21 of the articulated robot 20 is fixed on the tip of the arm portion 33, and the base portion of the arm portion 33 is rotatably attached around the swivel shaft 32 of the swivel drive portion 31. In the case where 20 is an arm robot having 6 axes (6 degrees of freedom of movement), for example, the swivel axis 32 is added to enable operation on 7 axes.

The articulated robot 20 is a general-purpose articulated arm robot, and as shown in FIG. 1, a swivel base 22 is provided on a base 21 so as to be rotatable around a vertical S axis, and a swivel base 22 is provided on a lower portion on the swivel base 22. The arm 23 is rotatably attached around the L axis. Further, the upper arm 24 is rotatably attached to the tip of the lower arm 23 about the R axis, and the front arm 25 is rotatably attached to the tip of the upper arm 24 about the U axis. Further, the hand portion 26 is rotatably attached to the tip of the front arm 25 about the B axis, and the swivel portion 27 is rotatably attached to the tip of the hand portion 26 about the T axis. Here, the 6-axis articulated robot 20 is used, but a 5-axis or 7-axis articulated robot may be used.

Next, a usage mode of the traveling mobile device having the above configuration will be described. For example, as shown in FIGS. 14 and 15, four machine tools 51 are arranged facing each other, and each of the four machine tools 51 faces the front of each other between two pairs of machine tools 51. As shown in the above, a working space S is provided, and the two pairs of machine tools 51 face each other through the space S. In FIGS. 14 and 15, F indicates the front side of each machine tool 51 as viewed from the machine tool 51.

The traveling shaft 1 is laid in the space S of the front space of the four machine tools 51 facing each other. Normally, as shown in FIGS. 14 and 15, the machine tool 51 has a front bottom space MS at the bottom on the front side thereof, and the traveling shaft 1 is laid in the front bottom space MS. That is, the base plate 4 is arranged in the front bottom space MS, and the vertical plate rail 2 is arranged in the front bottom space MS together with the cable guide 8.

Therefore, as shown in FIG. 14, although the moving body 10 travels and moves in the space S, the traveling shaft 1 is located in the front bottom space MS, and the space S between the machine tools 51 is widely opened. Therefore, if the moving body 10 is moved to a position where it does not interfere with the work when changing the setup of the machine tool or during maintenance and inspection, the worker can easily work by standing in front of the machine tool 51. It can be performed. In this way, the worker can easily and efficiently perform work such as changing the setup of the machine tool and maintenance / inspection.

Next, the traveling operation of the traveling moving device will be described. When the drive motor 16 of the traveling drive unit 12 of the moving body 10 is started, the pinion 15 of the pinion unit 18 is rotationally driven, a moving force is generated in the moving body 10 via the rack 5 and the pinion 15, and the moving body 10 is a slide device. It travels and moves on the traveling shaft 1 via 9.

When the moving body 10 reaches a controlled arbitrary position and stops, the fluid pressure cylinder 41 of the stop stabilizer 40 pushes out the piston rod, and the pressing portion 42 at the tip of the piston rod pushes the piston rod onto the base plate 4. As a result, the housing 11 of the moving body 10 is supported on the base plate 4 in a well-balanced manner via the pressing portion 42, and the moving body 10 is in a robust and stable stopped state.

In this state, the swivel arm 30 and the articulated robot 20 operate, the swivel arm 30 is swiveled, and each arm of the articulated robot 20 is rotated. Perform work such as attaching and detaching.

At this time, the swivel arm 30 is rotatably attached to the moving body 10 by the vertical swivel shaft 32, and the articulated robot 20 is fixed to the tip position of the swivel arm 30. For example, even if the articulated robot 20 is small with 6 axes, the swivel arm 30 is rotated with respect to the machine tool 51 on the opposite side slightly away from the traveling axis 1, and the articulated robot 20 is attached to the machine tool 51. Can be brought close to each other, and the work piece can be easily attached and detached.

Further, when the moving body 10 holding the articulated robot 20 is likely to wobble or finely move when the arm is turning, the stop stabilizing device 40 prevents the moving body 10 from wobbling or finely moving, so that the articulated robot can move. The position of the hand part can be controlled with high accuracy, and the work piece can be attached and detached.

Then, when the moving body 10 moves, the fluid pressure cylinder 41 of the stop stabilizer 40 pulls back the piston rod, the pressing portion 42 separates from the base plate 4, and the moving body 10 uses the drive motor 16 and the pinion 15. By the rotational drive of the above, it slides on the traveling shaft 1 via the linear slide blocks 13 and 14, and the linear slide rails 6 and 7, and travels to a controlled position.

As described above, since the traveling shaft 1 has one vertical plate rail 2 laid on the base plate 4 in a vertical state in the width direction, the installation space of the traveling shaft 1 can be significantly reduced. As a result, a wide space in front of the machine tool 51 is secured, and the operator can easily stand in front of the machine tool 51 and perform the work efficiently when changing the setup.

On the other hand, in the stopped state of the moving body 10, the stop stabilizing device 40 operates to press the pressing portion 42 onto the base plate 4 and stably support the moving body 10 via the pressing portion 42. Therefore, even if the articulated robot 20 on the moving body 10 moves each arm during operation and its center of gravity moves significantly, the moving body 10 and the base 21 of the articulated robot 20 are in a stable stopped state. The articulated robot 20 can accurately attach / detach the workpiece with high accuracy.

FIG. 16 shows another embodiment. In the example of FIG. 16, a large number of rollers 60 are attached to the vertical plate rail 2 instead of the rack 5. A screw type cam 61 is used for the traveling drive unit 62 of the moving body 10 instead of the pinion 15. A large number of rollers 60 are arranged side by side on the front surface of the vertical plate rail 2 of the traveling shaft 1 along the longitudinal direction of the rail at predetermined intervals.

Similar to the above, linear slide rails 6 and 7 are attached to the upper and lower portions of the vertical plate rail 2 in parallel along the longitudinal direction, and the linear slide blocks 13 and 14 are mounted inside the housing 11 of the moving body 10. Attached, the linear slide blocks 13 and 14 engage and slide on the linear slide rails 6 and 7.

A large number of rollers 60 are rotatably supported in front of the vertical plate rail 2 by a shaft portion, and a screw type cam 61 as a traveling drive portion 62 is provided in the housing 11 of the moving body 10 as a drive motor 63. It is arranged so that it can be driven to rotate. The screw type cam 61 engages with these rollers 60 and is rotationally driven by the drive motor 63, so that the moving body 10 travels on the traveling shaft 1.

The straight drive by engaging the screw type cam 61 and the roller 60 can minimize backlash and residual vibration at the time of stopping, and if a servomotor with a speed reducer is used for the drive motor 63, the moving body 10 can be driven. The stop position can be controlled with high accuracy. The other parts are the same as those of the above embodiment, and the same parts are designated by the same reference numerals as those described above in FIG. 16 and the description thereof will be omitted. As described above, in addition to the rack and pinion and the roller screw type cam described above, a ball screw can also be used to drive the moving body 10 in a straight line.

1 Running shaft 2 Vertical plate rail 3 Rail fixing part 4 Base plate 5 Rack 6 Linear slide rail 7 Linear slide rail 8 Cable guide 9 Slide device 10 Moving body 11 Housing 12 Running drive part 13 Linear slide block 14 Linear slide block 15 Pinion 16 Drive motor 17 Cable drawer 18 Pinion unit 19 Swivel drive motor 20 Articulated robot 21 Base 22 Swivel base 23 Lower arm 24 Upper arm 25 Front arm 26 Hand part 27 Swivel part 30 Swivel arm 31 Swivel drive part 32 Swivel shaft 33 Arm part 37 Mounting plate 38 Vertical plate 39 Water flat plate 40 Stop stabilizer 41 Fluid pressure cylinder 42 Pressing part 43 Floating joint 51 Machine tool 60 Roller 61 Screw type cam 62 Travel drive part

Claims (6)

One vertical rail on the base plate is a running shaft laid vertically in the width direction.
A moving body mounted on the traveling axis so as to be travelable via a slide device,
A traveling drive unit provided on the moving body and causing the moving body to move and travel,
An arm portion is rotatably mounted on the moving body by a vertical swivel shaft, and a swivel arm in which a base of an articulated robot is fixed on the arm portion at a position away from the swivel shaft.
When the moving body is stopped, a stop stabilizing device that pushes a pressing portion from the moving body onto the base plate and presses the pressing portion.
An articulated robot traveling and moving device characterized by being equipped with. The slide device includes a linear slide rail attached to a vertical plate rail of the traveling shaft along a longitudinal direction, and a slide block attached to the moving body and engaged with the linear slide rail. The first aspect of claim 1, wherein the traveling drive unit includes a rack mounted along the longitudinal direction on the vertical plate rail, and a pinion that is rotationally driven by a drive motor and meshes with the rack. Traveling and moving device for articulated robots. In the linear slide rail, two linear slide rails are divided into an upper part and a lower part on one side surface of the vertical plate rail and laid parallel to the longitudinal direction, and the rack is placed on one side surface of the vertical plate rail. The traveling and moving device for an articulated robot according to claim 2, wherein the robot is provided in parallel with a slide rail. The traveling of the articulated robot according to claim 1, wherein the stop stabilizer has a fluid pressure cylinder attached to the moving body, and the pressing portion is attached to the tip of the piston rod of the fluid pressure cylinder. Mobile device. The fluid pressure cylinder of the stop stabilizer is attached downward in the vicinity of the swivel shaft of the swivel arm disposed on the moving body, and the pressing portion is attached to the tip of the piston rod via a floating joint. The traveling and moving device for an articulated robot according to claim 4, wherein the robot is attached to a moving device. The slide device includes a linear slide rail attached to a vertical plate rail of the traveling shaft along a longitudinal direction, and a slide block attached to the moving body and engaged with the linear slide rail. The traveling drive unit is characterized in that the vertical plate rail is provided with a large number of rollers mounted along the longitudinal direction and a screw type cam that is rotationally driven by a drive motor and engages with the rollers. The traveling and moving device for an articulated robot according to claim 1.

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