JP2520436Y2 - Cutting machine support device for water jet cutting robot - Google Patents

Description

[Detailed description of the device]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cutting machine supporting device for a water jet cutting robot which automatically cuts a predetermined work by injecting ultra high pressure cutting water from a water jet nozzle of the cutting machine.

[0002]

2. Description of the Related Art FIG. 3 shows a part of a water jet cutting robot. In FIG. 3, a bracket 50 is attached to the end of the wrist shaft 14 of the robot so as to move together with the wrist shaft 14. A cutting machine 20 having a water jet nozzle 22 is attached to the end of the bracket 50. Ultra-high pressure cutting water, which is essential for this type of water jet cutting robot, is supplied to the water jet nozzle 22 through a rigid pressure pipe 16 made of stainless steel that can withstand this pressure. The pressure pipe 16 is the wrist shaft 14
The pipes are connected through swivel joints 17 and 18 respectively arranged at two relative movable parts so as to correspond to the movement of the.

[0003]

In FIG. 3, the wrist shaft 14 of the robot can rotate 360 ° around its axis. However, in reality, it is necessary to avoid interference between a part of the bracket 50 and a part of the pressure pipe 16,
Normally, the robot software is programmed so that it can only rotate about 270 °. Therefore, when it becomes necessary to rotate the water jet nozzle 22 of the cutting machine 20 by 270 ° or more around the axis of the wrist shaft 14,
It is necessary to interrupt the cutting work by the cutting machine 20 to change the posture of the robot, and in an extreme case, an uncuttable area is generated.

The technical problem of this invention is to avoid the interference between the movable part and the pressure tube due to the rotation of the wrist axis of the robot with a simple device, and use a cutting machine equipped with a water jet nozzle to determine what part of the workpiece. But it is to be able to cut automatically by the movement of the robot.

[0005]

In order to solve the above-mentioned problems, the cutting machine supporting device of the water jet cutting robot in this invention is constructed as follows. That is, in a water jet cutting robot that automatically cuts a predetermined work with a cutting machine equipped with a water jet nozzle by movement of the wrist shaft in each direction in the robot, a first bracket fixed to the wrist shaft of the robot and the cutting A second bracket which is mounted on the machine and is rotatably connected to the first bracket around the axis of the wrist shaft, and the second bracket can be positioned at a predetermined rotation angle with respect to the first bracket. The detent mechanism and a holding member that is arranged separately from the robot and that can hold the second bracket in a stationary state with respect to the rotation of the wrist shaft about its axis.

[0006]

In the above structure, when the first bracket and the rigid pressure pipe supplying the cutting water to the water jet nozzle of the cutting machine may interfere with the rotation of the wrist shaft of the robot, the cutting is performed. Part of the second bracket on which the machine is mounted (eg part of the cutting machine)
Is held by the holding member by the operation of the robot. When the wrist shaft is rotated about its axis in this state, the second bracket is held stationary by the holding member against this rotation, so that the second bracket and the first bracket are The wrist shaft is relatively rotated around the axis of the wrist shaft and is positioned at a predetermined rotation angle by the detent mechanism. As a result, the rotational positions of the first bracket fixed to the wrist shaft of the robot and the water jet nozzle of the cutting machine are relatively changed. As a result, any part of the work can be automatically cut by the movement of the robot while avoiding the interference between the first bracket and the pressure pipe.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT An embodiment of the present invention will be described below with reference to FIGS. First, FIG. 2 shows the entire robot 10 in a perspective view. The robot 10 is, for example, of a six-axis joint type, and has a leg 12 pivoting and bending with respect to the base 11, a reclining and raising motion of the arm 13 with respect to the leg 12, and a wrist shaft 14 at the tip of the arm 13. It is possible to rotate around the axis.

A cutting machine 20 is mounted on the wrist shaft 14 of the robot 10 with a first bracket 30 and a second bracket 32 interposed therebetween. The cutting machine 20 includes a water jet nozzle 22, and a predetermined work (not shown) can be cut by injecting ultra-high pressure cutting water from the water jet nozzle 22. The cutting water is supplied to the water jet nozzle 22 by a rigid pressure pipe 16 made of stainless steel that can withstand the water pressure. The pressure pipe 16 is piped through swivel joints 17 and 18 respectively arranged at two positions so as to be able to cope with a prone motion of the arm 13 with respect to the leg 12 of the robot 10 and a rotation of the wrist shaft 14 around the axis. Has been done.

FIG. 1 is an enlarged view of the supporting portion of the cutting machine 20. As is apparent from FIG. 1, the first bracket 30 is fixed to the end of the wrist shaft 14 of the robot 10 so as to move together with the wrist shaft 14.
The second bracket 32 is assembled with a ball bearing 34 interposed so that the second bracket 32 can rotate relative to the end of the first bracket 30 about the axis of the wrist shaft 14. In addition, a detent mechanism 36 is provided between the brackets 30 and 32 so that their relative rotations can be positioned, for example, every 90 °. In the detent mechanism 36, the balls 36a and the springs 36b assembled to the first bracket 30 side and the brackets 30 and 32 are relatively arranged at a plurality of positions on the circumference centered on the shaft center of the wrist shaft 14. This is a well-known structure including a recess (not shown) formed on the side of the second bracket 32 so that the ball 36a is engaged every 90 ° rotation.

The cutting machine 20 is mounted on the second bracket 32. Further, the cutting machine 20 is provided with an electromagnetic valve 24 capable of injecting and stopping ultra-high pressure cutting water from the water jet nozzle 22. On the other hand, the swivel joint 18 of the pressure pipe 16
The pipe 16a between the wrist shaft 1 and the cutting machine 20 is connected to the wrist shaft 1
On the axis of 4, the intermediate portion 31 of the first bracket 30
Supported by. The pipe 16a is loosely inserted into a hole 33 formed in the rotation axis of the second bracket 32, and a cutting machine 20 is inserted through a joint 19.
It is connected to the. That is, the pipe 16a is designed to allow relative rotation between the first bracket 30 side and the second bracket 32 side (cutting machine 20 side) at the joint 19 to escape.

As shown in FIG. 2, a holding member 40 is arranged near the robot 10. In this holding member 40, a column 42 is erected on a base 41,
A semi-cylindrical receiving portion 43 is fixed to the end of the portion that extends laterally from the upper end of the column 42. The receiving portion 43 is set to a size capable of receiving a part of the outer peripheral surface of the cutting machine 20.

In the above structure, the ultra high pressure cutting water is supplied to the cutting machine 20 through the pressure pipe 16 shown in FIG. 1, and the cutting water is supplied from the water jet nozzle 22 by the control of the electromagnetic valve 24. Can be jetted. A predetermined work can be automatically cut by the jetting of the cutting water and the various movements of the robot 10 described above. Of the various movements of the robot 10, when the wrist shaft 14 is rotated around its axis, the first bracket 30 and the second bracket 32 rotate together with the wrist shaft 14, and The cutting machine 20 also rotates around the axis of the wrist shaft 14. At this time, the pressure pipe 16
In FIG. 2, the pipe 16 b located between the swivel joints 17 and 18 shown in FIG. 2 and the pipe 16 a arranged on the axis of the wrist shaft 14 are separated by the swivel joint 18. Can rotate relatively.

Depending on the shape of the work and the condition of the cutting work, interference between the first bracket 30 and the pipe 16b due to the rotation of the wrist shaft 14 may be unavoidable. Therefore, in this case, the robot 10 is operated so that a part of the outer peripheral surface of the cutting machine 20 is received by the receiving portion 43 of the holding member 40. As is clear from the relationship between the cutting machine 20 of FIG. 1 and the holding member 40 shown in phantom, this result indicates that the second bracket 32 is held stationary with respect to the rotation of the wrist shaft 14. Become. If the wrist shaft 14 is rotated together with the first bracket 30 in this state,
The first bracket 30 and the second bracket 32 relatively rotate around the axis of the wrist shaft 14. The brackets 30 and 32 are positioned by the detent mechanism 36 at each rotation angle of 90 °, for example. The pipe 1
First bracket 30 side and second bracket 3 in 6a
The relative rotation with respect to the 2 side (cutting machine 20 side) is escaped by the joint 19.

By changing the relative rotational positions of the brackets 30 and 32 in this manner, as a result, the rotational positions of the first bracket 30 and the water jet nozzle 22 of the cutting machine 20 are relatively changed. To be Therefore, while avoiding the interference between the first bracket 30 and the pipe 16a,
The cutting operation can be continued by directing the water jet nozzle 22 in any region (360 °) around the axis of the wrist shaft 14 in any direction.

[0015]

As described above, according to the present invention, the first bracket fixed to the wrist shaft of the robot and the second bracket equipped with the cutting machine are relatively rotated around the axis of the wrist shaft. By doing so, it is possible to continue automatic cutting by the cutting machine equipped with a water jet nozzle at any part of the work while avoiding interference between the first bracket and the pressure pipe.

[Brief description of drawings]

FIG. 1 is a side view showing a partially cutaway support portion of a cutting machine in a robot.

FIG. 2 is a perspective view showing the entire robot.

FIG. 3 is a side view showing a supporting portion of a cutting machine in a conventional robot.

[Explanation of symbols]

 10 Robot 14 Wrist Axis 20 Cutting Machine 22 Water Jet Nozzle 30 First Bracket 32 Second Bracket 36 Detent Mechanism 40 Holding Member

Claims (1)

(57) [Scope of utility model registration request] 1. A water jet cutting robot in which a cutting machine equipped with a water jet nozzle automatically cuts a predetermined work by the movement of a wrist shaft in the robot in each direction. A first bracket fixed to the wrist shaft of the robot. And a second bracket attached to the cutting machine and rotatably coupled to the first bracket around the axis of the wrist shaft, and the second bracket is rotated in a predetermined direction with respect to the first bracket. A water jet cutting robot including a detent mechanism that can be positioned at an angle and a holding member that is arranged separately from the robot and that can hold the second bracket in a stationary state with respect to rotation around the axis of the wrist shaft. Cutting machine support device.