JP2794579B2 - Table robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION Details of the table-top robot of the present invention will be described in accordance with the following items.

A. Industrial applications B. Summary of the invention C. Prior art D. Problems to be solved by the invention E. Means to solve the problems F. Examples a. Workbench b. Linear arm c. Mounting table d. Mobile table e. Others f. Usage mode g. Control unit G. Effects of the invention (A. Industrial application field) The present invention relates to a novel table type robot. In detail, a work space can be secured on both sides of the moving part of the tool mounting base, so that the position where the worker works can be selected at any time in conjunction with changing the direction of the work table, In addition to using it simply as a work tool,
It is an object of the present invention to provide a new table-top robot which is extremely easy to use even when used in a line, and has a control unit provided in the table-top robot itself and has an emergency selection switch which is easy to operate.

(B. Summary of the Invention) In the desk-top robot of the present invention, a linear arm is erected between columns erected substantially at the center of both sides of the work table, and the linear arm extends in the direction in which the arm extends. The work table is movably supported, and the work table is supported on the work table so as to be movable in a direction substantially perpendicular to the direction of movement of the tool stand. A work space opened upward is provided, and a control unit is provided on the table-top robot itself and provided with an emergency select switch which is easy to operate. Therefore, work can be performed from both sides of the linear arm. It is very flexible and extremely easy to use, and when viewed as a robot system, it is compact and does not require any special environmental changes in the direction of flow of the line or its arrangement, etc.
The emergency stop function at the time of emergency can be surely performed.

(C. Prior Art) In recent years, there has been an increasing demand for weight reduction and miniaturization of various electronic-related devices, and production equipment has also been required to be miniaturized accordingly, and therefore, further higher processing accuracy has been required. I have. In addition, individualization of electronic-related equipment for general consumers has progressed, and therefore, high-mix low-volume production has been performed, and flexibility of production equipment is required.

Under such circumstances, a production facility line using a robot has been often set as the production facility. For high-precision machining, orthogonal robots, horizontal articulated robots, and the like have been used as robots, and those with satisfactory machining accuracy have been obtained.

(D. Problems to be Solved by the Invention) However, in the orthogonal robot and the horizontal articulated robot described above, even when performing simple tasks, in order to ensure safety, humans are required to be in the movable range of the robot. It is necessary to prevent this from being inserted, and when this is incorporated into a line, there is a problem that the space per station of the line is often wasted.

On the other hand, when a dedicated assembly processing device is incorporated in a line, the movable space in the line is small, but it cannot be used for any other purpose than the assembly, and a device satisfying its flexibility cannot be obtained. There's a problem.

There is also a programmable semi-general assembly processing unit, but the work area of the worker is set in only one direction, and peripheral devices such as a control device of the unit are separately provided, so that the direction in which the line flows And the installation position and orientation are limited, and the addition of one assembly processing station requires the entire line to be rearranged or changed, which is against the flexibility of production equipment. is there.

(E. Means for Solving the Problems) In order to solve the above-described problems, the desk-top robot of the present invention has a linear arm installed between columns erected substantially at the center of both sides of the work table. A tool mount is supported on the linear arm so as to be movable in the direction in which the arm extends, and a movable table is supported on the work table so as to be movable in a direction substantially perpendicular to the direction in which the tool mount is moved. A work space opened upward is formed in a portion corresponding to both sides of the linear arm of the work table, and a control unit is provided in the table type robot itself and an emergency select switch which is easy to operate is provided.

Therefore, according to the table-top robot of the present invention, a work space for the worker is secured on both sides of the moving portion of the tool mounting table, so that work can be performed from both sides of the linear arm. Therefore, even if this is incorporated into a line, it is not necessary to change or rearrange the line itself, and when it is necessary to add or change the work, the table-top robot of the present invention can be used in a timely and necessary place in the line. Since the work can be installed and performed, and the operator can work from either side of the line, the production equipment can have high flexibility. In addition, since the control unit is provided on the table-top robot itself and equipped with an emergency selection switch that is easy to operate, work can be performed from both sides of the linear arm, and the usage mode is flexible and extremely convenient. It is good, and when it is seen as a robot system, it becomes compact and does not require a special environmental change in the direction of flow of the line and its arrangement, and it can also reliably function as an emergency stop in an emergency.

(F. Example) Hereinafter, the details of the table-top robot of the present invention will be described with reference to Example 1 illustrated.

(A. Work table) 2 is a work table. The work table 2 has a short rectangular shape in a plane shape, and a step portion 3 which is directed downward over the entire circumference is formed substantially at the center of the outer peripheral surface in the height direction. The work table 2 is provided with various control units and the like to be described later.

Reference numerals 4 and 4 denote slits extending in the left-right direction central portion of the work table 2 along the longitudinal direction and formed in parallel with each other, and a connecting portion of a movable table drive unit for driving the movable table described later is slidable. Has been inserted.

(B. Straight arm) Reference numerals 5 and 5 denote support columns. These columns 5, 5 are erected upward from a substantially central portion of the left and right side edges of the work table 2 in the longitudinal direction.

Reference numeral 6 denotes a linear arm, which has a substantially rectangular cylindrical shape, and both ends of which are fixedly supported by upper ends of the columns 5,5.

Reference numerals 7, 7 denote slits formed on one of the front and rear surfaces of the linear arm 6, which extend in the left-right direction and are vertically separated from each other. A connecting portion of a tool mount driving unit for driving a tool mount described later is slidably inserted into the slits 7 and 7.

(C. Tool mount) 8 is a tool mount, which is connected to a tool mount drive unit (not shown) provided in the linear arm 6 through the slits 7, 7.

The tool mount drive unit moves the tool mount 8 in the left-right direction, that is, the direction in which the linear arm 6 extends, and a pneumatic type, a hydraulic type, an electric type, or the like can be used.

Reference numeral 9 denotes a tool holding portion supported on the tool mounting base 8 so as to be vertically movable, and includes a notch 10 for positioning and a screw hole 1 for mounting.
1 and 11 are provided and can be moved up and down by an air cylinder 12 provided on the tool mount 8.

Reference numeral 13 denotes an air pressure adjusting dial formed at a position closer to one side of the upper surface of the linear arm 6 for adjusting the air pressure of the air cylinder 12 with the air pressure adjusting dial.

(D. Mobile Desk) 14 is a mobile desk. The movable table 14 can be moved in the front-rear direction by a movable table drive unit (not shown) provided in the work table 2.

A large number of mounting holes 15, 15,... Are formed in the movable table 14 in a matrix so that the workpiece can be optimally held on the movable table 14 by using an appropriate holding jig. ing.

(E. Others) Reference numerals 16 and 16 denote start / stop switches, which are provided at positions near the front and rear ends of the upper surface of the work table 2. Since the two start / stop switches 16 have the same structure, one of them will be described in detail.

Reference numeral 17 denotes a switch case having a shallow circular dish shape, and the inside of the switch case 17 is divided into two by a partition wall 18.
A start switch 19a and a stop switch 19b are stored and held in the bisected portions of the switch case 17, respectively.

Reference numeral 20 denotes a recess formed in the work table 2 and having a circular shape with a plan shape opened to the upper surface. The diameter of the upper end opening is slightly larger than the outer diameter of the switch case 17. twenty one
Is a flange projecting outward from the upper edge of the switch case 17, and the outer diameter of the flange 21 is slightly larger than the opening diameter of the recess 20. Reference numerals 22 and 22 denote projecting ridges extending vertically in positions 180 degrees apart from each other on the outer peripheral surface of the switch case 17.

The opening of the recess 20 formed in the work table 2 has a recess 2 extending vertically in a position 180 degrees apart from each other.
3, 23 are formed.

Thus, the switch case 17 is fitted to the upper end of the recess 20 with the protrusions 22, 22 of the switch case 17 engaged with the recesses 23, 23 of the recess 20, and the flange 21 is
And the switch case 18 is further recessed.
It is prevented from falling into 20.

Reference numeral 24 denotes a tension spring, which is stretched between the bottom surface of the switch case 17 and the inner bottom of the recess 20. The switch 16 is recessed by the tensile force of the tension spring 24.
It is prevented from falling off from the upper end of 20.

Then, the switch case 17 is lifted upward against the pulling force of the tension spring 24 until the ridges 22, 22 come out of the concave ridges 23, 23.
17 is rotated 180 degrees and ridges 22, 22 were on the other side
Is engaged with the ridges 23, 23, the start switch 19
The positions of a and the stop switch 19b are just opposite. Therefore, it is possible to use the operator start switch 19a and the stop switch 19b with the position of the operator easy to use.

25 is a program selection switch. By operating the program selection switch 25, a desired one is selected from several programs describing the determination of the operation mode of the tool and the machining procedure.

26a is an up button and 26b is a down button. The above-mentioned programs are identified by individually assigned numbers, and the up button 26a
The program number selected by pressing is changed in ascending order, and the program number selected by pressing down button 26b is changed in descending order.

Reference numeral 27 denotes a liquid crystal display unit, on which a program selected by the program selection switch 25 is displayed.

Reference numeral 28 denotes an area provided near the other side edge of the work table 2, and a component supply device such as a screw can be arranged in this area 28.

Reference numerals 29, 29 denote pressing portions of the emergency stop switch, which also serve as outer plates of the columns 5, 5. When an emergency occurs, small switches cannot be operated properly in a panic situation, but the pressing parts 29, 29 of this emergency stop switch are quite large, so even if you are panic , And the emergency stop function can be reliably performed.

 Reference numerals 30, 30, ... denote connection cords and connection pipes.

(F. Usage Mode) FIG. 2 shows a state in which the table type robot 1 is used as a screw tightening machine.

An automatic screw tightening tool 31 is fixed to the tool holder 9 of the tool mount 9.

Reference numeral 32 denotes a workpiece fixed to the movable table 14, and a portion of the workpiece 32 which needs to be screwed is set in accordance with a procedure described in a program selected by the program selection switch 25. Is to tighten the screws.

FIG. 6 shows a case in which the table type robot 1 is used alone.
Attach 3, 33 and place it on a flat surface in a stable state before use.

FIG. 7 shows an example in which the table type robot 1 is used in a production line. The mounting angles 34, 34 are fixed to the lower surface of the work table 2, and the mounting angles 34, 34 are fixed.
And fixed in the line.

(G. Control Unit) Reference numeral 35 denotes an operation control unit including a microcomputer, which is mounted on the tool mounting table 8 and the positioning control unit 36 for controlling a moving position by the tool mounting table driving unit and the moving table driving unit. This is to control the assembling / machining control section 37 which controls the operation of the tool according to the program selected by the program selection switch 25.
The operation control unit 35 has a function of relaying a control command from an external control device to the positioning control unit 36 and the assembly control unit 37.

Reference numeral 38 denotes a teaching pendant interface, which controls the positioning control unit 36 and the assembly processing control unit 37 via the operation control unit 35, and adds or changes the contents to the current program (currently selected program). This is to mediate between the teaching pendant 39 stored in the operation control unit 35 or the storage unit attached to the operation control unit and the operation control unit 35.

The teaching pendant 39 is an external device, and is connected to the interface 38 via a connector (not shown) when necessary.

Note that the teaching pendant 39 may directly indicate the position to the positioning control unit 36 instead of the operation control unit 35.

Reference numeral 40 denotes an external controller interface, which is an operation control unit.
The operation controller 35 mediates between the external controller 41 that controls the positioning controller 36 and the assembly processing controller 37 via the controller 35.

The external controller 41 is also an external device, and is connected to the interface 40 via a connector (not shown) when necessary.
Connected to.

The program is provided, for example, in the form of a ROM card, and the table type robot 1 can be used as a device for performing various operations by replacing the ROM card as necessary.

Of course, the provision of the program is not limited to the ROM card, but may be provided in another form.

In addition, a desired program among the programs provided in the table-top robot 1 is selected by the program selection switch 25. However, there is a risk that the program is shifted to a different program during the operation due to an operator's mistake. Therefore, in order to avoid such a danger, the switching of the program is not limited to the switching by the program selection switch 25, and for example, the switching of the program may be effective only after the home position is returned by the teaching pendant 39. . Note that it is inconvenient to always use the teaching pendant 39 when performing home position return. For example, it is inconvenient to start up the line in the morning. It is convenient to return to the origin by pressing the start switch 19a only once.

(G. Effects of the Invention) As is clear from the above description, the table-top robot according to the present invention includes a work table, a column that is erected from substantially the center of both sides of the table, and a space between the two columns. A linear arm erected on the linear arm, a tool mount movably supported by the linear arm in the direction in which the arm extends, and a work table movably supported in a direction substantially orthogonal to the direction of movement of the tool mount. A movable table drive unit for driving the movable table, comprising: a movable table; and a table type robot having a work space opened upward in portions corresponding to both sides of the linear arm of the work table.
A positioning control unit for controlling the positions of the tool mounting table and the moving table with respect to the linear arm; a tool control unit for controlling the operation of the tool mounted on the tool mounting table; An operation control unit for controlling the execution of a program describing the program, and an interface circuit for connecting a teaching pendant for changing and / or additionally storing the position from outside to the positioning control unit or the operation control unit. The emergency stop switch also serves as a pressing portion.

Therefore, according to the table-top robot of the present invention, a work space for the worker is secured on both sides of the moving portion of the tool mounting table, so that work can be performed from both sides of the linear arm. Therefore, even if this is incorporated into a line, it is not necessary to change or rearrange the line itself, and when it is necessary to add or change the work, the table-top robot of the present invention can be used in a timely and necessary place in the line. Since the work can be installed and performed, and the operator can work from either side of the line, the production equipment can have high flexibility. In addition, since the control unit is provided on the table-top robot itself and equipped with an emergency selection switch that is easy to operate, work can be performed from both sides of the linear arm, and the usage mode is flexible and extremely convenient. It is good, and when it is seen as a robot system, it becomes compact and does not require a special environmental change in the direction of flow of the line and its arrangement, and it can also reliably function as an emergency stop in an emergency.

In the above embodiment, only the screw tightening tool 31 is shown as a tool to be used, but this does not mean that the tool used in the table-top robot according to the present invention is limited to this. For example, laser soldering tools and various other tools can be used, and the point is a matter that depends on the provided program.

[Brief description of the drawings]

BRIEF DESCRIPTION OF THE DRAWINGS The drawings show an embodiment of the table-top robot of the present invention. FIG. 1 is an overall perspective view, FIG. 2 is a perspective view showing a state where a tool is mounted, and FIG. FIG. 4 is an exploded perspective view of a main part, FIG. 5 is a perspective view showing a state in the middle of changing the direction of a start / stop switch, and FIG. 6 shows one of usage modes. Front view, seventh
The figure is a front view showing another mode of use, and FIG. 8 is a block diagram showing the outline of the control unit. Description of reference numerals 1 ... table robot, 2 ... work table, 5 ... post, 6 ...
... linear arm, 8 ... tool mounting table, 14 ... moving table, 25 ... program selection switch, 29 ... pressing part of emergency stop switch, 31 ... tool, 35 ... operation control section, 36 ...
... Positioning controller, 37 ... Tool controller, 38 ... Interface for connecting teaching pendant, 39
...... Teaching pendant

Continuation of the front page (72) Inventor Tadanori Harada 6-35 Kita Shinagawa, Shinagawa-ku, Tokyo Sony Corporation (56) References JP-A-62-136327 (JP, A) JP-A-58-223575 (JP, A) (58) Field surveyed (Int. Cl. ⁶ , DB name) B23P 19/04 B25J 5 / 02,9 / 02 B23Q 7/04

Claims (2)

(57) [Claims] 1. A work table, a column standing upright from substantially the center of both sides of the table, a linear arm spanned between the two columns, and a linear arm that moves in a direction in which the arm extends. Equipped with a freely supported tool mount and a movable table supported on the work table so as to be movable in a direction substantially perpendicular to the direction of movement of the tool mount, and at the portions corresponding to both sides of the linear arm of the work table In a table-top robot with a working space opened upward, a moving table drive unit that drives the moving table, a positioning control unit that controls the positions of the tool table and the moving table with respect to the linear arm, and a tool table A tool control unit for controlling the operation of the attached tool; an operation control unit for controlling the determination of the position and the operation mode of the tool and the execution of a program describing a machining procedure; and the positioning control unit or the operation control Zhuo Robot comprising an interface circuit for connecting a teaching pendant for changing and / or adding stores the position from the outside, characterized in that serve as the pressing portion of the emergency stop switch to the strut 2. A table-type table according to claim 1, further comprising a program selection switch for selecting a desired one from several programs describing the operation mode of the tool and the processing procedure. robot