JP3511485B2 - robot - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial robot that processes a work.

[0002]

2. Description of the Related Art In arc welding and sealing operations, when a bead formed by welding or a sealer formed by sealing is affected by gravity due to a work installation state, the bead or sealer does not stay on the spot and flows out. There is a possibility that the shape and the shape of the sealer applied may change and the quality may deteriorate. For this reason, arc welding and sealing are performed by the cooperative work of two robots,
There are systems that attempt to improve quality. Conventionally, for example, in the case of arc welding, as shown in FIG. 6, two multi-joint 6-axis robots, a first robot 50 holding a work W and a second robot 60 holding a welding torch T, are arranged facing each other. Processing is performed by controlling the relative trajectory and speed of the welding torch T and the work W while controlling the attitude of the work W so that the arc welding molten pool does not sag due to gravity. This is the first
The robot 50 controls the work W, carries in the work W,
You can also carry it out. Further, there is also one in which the relative locus and relative speed of the welding torch and the work are controlled while the work posture is controlled by one axis or two axes. In this one, work W
Only the attitude control of.

[0003]

In the conventional first robot 50 described above, if the posture of the work W is changed with reference to the center of the work, only the three axes of the wrist cannot handle it. Therefore, the basic three axes other than the wrist are used. However, the cycle time becomes longer because the movement of the basic three axes becomes large. Further, since the movements of the basic three axes become large, the robot is likely to vibrate, resulting in deterioration of machining quality. Further, in the system shown in FIG. 6, the working direction of the approaching direction of the tool (welding torch T) to the work is restricted due to the restriction of the operation angle of the 5-axis 70 of the wrist. Also,
Due to the structure, the distance from the five axes of the wrist to the position of the center of gravity of the hand portion is large, and there is a problem that the motor and the speed reducer become large and the cost increases. Further, since the number of control axes is large, it takes time for teaching work. Further, in the case of controlling the posture of the work by one axis or two axes, the number of control axes is small, but since the relative posture relationship between the work and the torch is infinite, it is necessary for the teaching work to be skilled. It costs.

An object of the present invention is to set the posture of a work at 360 °.
By making it possible to convert in all directions and using such a robot, it is possible to provide various cooperative robots.

[0005]

In order to achieve the above object, the present invention provides a common column base as described in claim 1.
Two articulated robots are placed vertically on the
Hold the welding torch vertically on the robot
To grip the work and emphasize the work of these two robots.
A robot for further processing a workpiece,
The bot includes a positioner first arm that pivots about a first axis at an angle of 45 ° with respect to a horizontal plane, and the positioner first arm.
A flange comprising a positioner second arm rotatably connected to the arm about a second axis and a work gripping member that rotates about a third axis is provided on the positioner second arm, and the second axis is the first axis. Is disposed on an axis having an angle of 45 ° and the third axis is the first axis and the second axis.
The first axis, the second axis and the second axis are arranged on the axis passing through the intersection with the axis and having an angle of 45 ° with the second axis.
It is arranged so that the center of the work coincides with the intersection point P of the three axes.
It is characterized by that.

As described in claim 2, the common column base
Two articulated robots are placed vertically on the
Hold the welding torch vertically on the robot
To grip the work and emphasize the work of these two robots.
A robot for further processing a workpiece,
The bot has an arm that horizontally turns about a first vertical axis and that rotates about a first horizontal axis that is orthogonal to the first vertical axis, and that horizontally rotates about a second vertical axis that is provided on the arm, and A positioner first arm that pivots around a second horizontal axis that is orthogonal to the second vertical axis and that extends in an axial direction that intersects with the second horizontal axis; and the positioner first arm.
A flange composed of a positioner second arm connected to the arm and swiveling about a third horizontal axis and a work gripping member connected to the positioner second arm and rotating about a fourth horizontal axis is provided, and the third horizontal axis is Second horizontal axis and 4
Disposed on an axis having an angle of 5 °, the fourth horizontal axis passing through the intersection of the second horizontal axis and the third horizontal axis, and on the axis having an angle of 45 ° with the third horizontal axis. Are arranged at the intersection P between the second horizontal axis and the third horizontal axis.
It is characterized in that the centers of the peaks are arranged so as to coincide with each other.

[0007]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings.

[Embodiment 1] FIG. 1 is a perspective view showing the entire robot of Embodiment 1 according to the present invention, and illustrates an arc welding robot. A column base 1 is erected on the floor. A welding robot 2 is arranged above the common elevation of the column base 1, and a work gripping robot 3 is arranged below the common base. The arc welding robot 2 and the workpiece gripping robot 3 are controlled by the control devices 28 arranged in parallel.
The two are designed to work together.

In the welding robot 2 on the upper side, a base 4 is fixed to an upright surface of a column base 1, and a first arm 6 which horizontally swings on the base 4 by a first shaft 7 of a vertical axis, and a first arm 6 of the first arm 6. A second arm 8 that vertically swivels on the arm 6 by a second axis 9a that is a horizontal axis, and a second swivel that horizontally swivels on the second arm 8 by a third axis 11 that is a vertical axis, and that turns around a second axis 9b that is a horizontal axis. And a tool gripping arm 10 for
The tool holding arm 10 holds a welding torch T. A link 12 is provided on the second arm 8 in parallel with the second arm 8, and controls the tool gripping arm 10 so that the welding torch T always maintains a vertical posture when the second arm 8 is turned up and down. Is.

The lower workpiece gripping robot 3 is a column base 1 below a base 4 of the upper welding robot 2.
It is fixed to a fixing portion 13a of the base 13 fixed to the vertical surface of the. The fixing portion 13a is an inclined surface that is inclined at 45 ° with respect to the horizontal plane. The work gripping robot 3 extends in an axial direction intersecting a first axis 19a (first axis) that is orthogonal to the fixed portion 13a (angle of 45 ° with respect to the horizontal plane) and extends along the first axis 19a (first axis). Positioner No. 1 that turns around the axis)
An arm 25, a positioner second arm 26 rotatably connected to the positioner first arm 25 about a second shaft 22a (second axis), and the positioner second arm 26.
The flange F that rotates around the third shaft 21a (third axis)
Work attachment table 24 (work holding member) attached to
The positioner first arm 25 is formed by the positioner 23 and the first shaft 1 in the direction orthogonal to the inclined surface of the fixing portion 13a formed on the base 4.
It is provided so as to turn around 9a (first axis).
The second shaft 22a (second axis) is 45 ° with the first shaft 19a.
The third shaft 21a is disposed on an axis having an angle of 2 and the first shaft 19a (first axis) and the second shaft 22a (second shaft).
The second axis 22a (second axis)
And are arranged on an axis having an angle of 45 °.
In the first embodiment, the fixing portion 13a has an inclined surface of 45 ° with respect to the horizontal plane, but it is selected in the range of 0 ° to 90 ° depending on the shape of the work to be clamped on the work mount 24.

[0010]

Operation of Embodiment 1 After the workpiece is attached to the flange F by the operator, the lower workpiece gripping robot 3 controls the posture of the workpiece during the welding process to control the posture of the welded portion in a certain direction with respect to the gravity direction. , For example, so that the welding portion of the work piece is in a vertical posture with respect to the welding torch T,
Alternatively, the work is controlled so as to keep the posture of the work constant so that the welding portion is slightly inclined in the forward or backward direction of the welding torch T, and the work is performed in cooperation with the welding robot 2 on the upper side. .

That is, the lower workpiece gripping robot 3 has a degree of freedom in the posture of the workpiece in the three-dimensional space, and the upper welding robot 2 holds the welding torch T in a state where the posture is always fixed in the vertical direction. Welds a workpiece with a degree of freedom in the dimensional space. Therefore, by controlling the welding portion of the lower work to be in a vertical posture with respect to the welding torch T, the arc welding molten pool is gravitated by the welding torch T in the vertical posture with respect to this work. It is possible to weld in a state where it stays at the welding site without dripping.

Therefore, according to the present invention, the work clamped on the work mount (not shown) by the positioner 23 is
The posture can be changed in all directions of 360 ° with reference to the point P. That is, the first shaft 19a (45 with respect to the horizontal plane)
(2) The positioner first arm 25 pivots about the second axis 22a and the positioner second arm 26 pivots about the second axis 22a at an angle of 45 ° with respect to the axis of the first shaft 19a.
And the rotation of the work mount 24 that passes through the intersection of the first shaft 19a and the second shaft 22a and that swivels about the third shaft 21a at an angle of 45 ° with respect to the second shaft 22a. The work of the work mount changes its posture in all directions of 360 ° with reference to the work center position.

[0013]

[Embodiment 2] FIG. 2 is a perspective view showing the overall configuration of Embodiment 2 of the present invention. This second embodiment also exemplifies an arc welding robot. A column base 1 is erected, and a welding robot 2 is provided above the common elevation of the column base 1.
Further, the work gripping robot 3 is arranged on the lower side, and the two arc welding robots 2 and the work gripping robot 3 are made to cooperate with each other by the control device 28 arranged in parallel with the column base 1. Is.

In the welding robot 2 on the upper side, a base 4 is fixed to the vertical surface of the column base 1, and a fixed arm 5 fixed to the base 4 is horizontally swung by a first axis 7 of a vertical axis. A first arm 6; a second arm 8 which vertically swings on the first arm 6 by a second axis 9 which is a horizontal axis;
The arm 8 includes a tool gripping arm 10 that horizontally swivels on a vertical third axis 11, and the tool gripping arm 10 grips a welding torch T. The second
A link 12 is provided on the arm 8 in parallel with the second arm 8, and controls the tool gripping arm 10 so that the welding torch T always keeps the vertical posture when the second arm 8 pivots up and down.

In the lower workpiece gripping robot 3, a base 13 is fixed to the vertical surface of the column base 1 below the base 4 of the welding robot 2, and the base 13 has a first vertical axis.
A first arm 14 which horizontally swivels by a shaft 15 and vertically swivels by a second shaft 16 of a horizontal axis which intersects the first shaft 15, and a swivel horizontally by a third shaft 18 of a vertical axis to the first arm 14. Further, the work mount 24 is attached to the second arm 20 which horizontally turns by the fourth axis 19 (first horizontal axis) which is a horizontal axis intersecting the third axis 18, and the flange F of the second arm 20. It is composed of a positioner 23. A link 27 is also provided on the first arm 14 of the work gripping robot 3, and the first arm 14
The joint portion with the second arm 20 is always kept in a horizontal posture when the vehicle turns up and down.

The positioner 23 inclines forward of the second arm 20 at an angle of 45 ° with respect to the axis of the fourth shaft 19 and pivots about the horizontal axis (first horizontal axis) by the fourth shaft 19. The positioner first arm 25 and the second arm 20 provided on the positioner first arm 25 at an angle of 45 ° with respect to the axis of the fourth shaft 19 (first horizontal axis).
Axis of the fifth axis 22 of the axis inclined to the side (second horizontal axis)
The positioner second arm 26 which turns around, and the fourth
It passes through an intersection point P between the axis of the shaft 19 (first horizontal axis) and the axis of the fifth shaft 22 (second horizontal axis), and the fifth axis 22.
6th axis 2 at an angle of 45 ° with respect to the axis (second horizontal axis)
Flange F swiveling around the 1st axis (3rd horizontal axis)
Is equipped with. The workpiece mounting base 2 is attached to the flange F.
4 is attached. The positioner first arm 25
Is not limited to one in which the whole is tilted forward at an angle of 45 ° with respect to the horizontal axis of the fourth shaft 19,
The shape may be such that it extends perpendicularly to the horizontal axis of the fourth shaft 19 and the connecting portion with the second arm 26 of the positioner is bent forward at an angle of 45 ° with respect to the horizontal axis of the fourth shaft 19.

As shown in FIGS. 4 and 5, the work mounting base 24 is provided with a clamper 31 for clamping and unclamping the work W by a cylinder 32 on the work mounting base 24. The clamper 31 clamps the work W. The work W is welded at a portion WE to be welded by the welding torch T of the welding robot 2. When the work is clamped, the movement area of the robot can be minimized by making the center 0 of the work coincide with the intersection point P.

[0018]

Operation of Embodiment 2 The lower workpiece gripping robot 3 carries in and out the work W into and from the work area, and controls the posture of the work during the welding process to keep the welded part in the gravity direction at all times. A certain position, for example, the position of the workpiece is vertical with respect to the welding torch T, or the position of the work is slightly inclined in the forward or backward direction of the welding torch T. The posture is controlled so as to be kept constant, and work is performed in cooperation with the welding robot 2 on the upper side.

That is, the lower 6-axis work gripping robot 3 has the freedom of movement and posture of the work W in the three-dimensional space, and the welding torch T of the upper welding robot 2 is always in the vertical direction. A workpiece is welded with a degree of freedom of movement in a three-dimensional space in a fixed state. Therefore, by controlling the welding portion of the lower work to be in a vertical posture with respect to the welding torch T, the arc welding molten pool is gravitated by the welding torch T in the vertical posture with respect to this work. It is possible to weld in a state where it stays at the welding site without dripping.

Therefore, according to the present invention, the work W clamped on the work mount 24 by the positioner 23 is
The posture can be changed in all directions of 360 ° with reference to the point P.

That is, of the positioner first arm 25 that pivots about the axis of the fourth shaft 19 (first horizontal axis) by the second arm 20 that rotates about the axis of the fourth shaft 19 (first horizontal axis). The swivel motion and the second arm 2 at an angle of 45 ° with respect to the axis of the fourth shaft 19 (first horizontal axis).
The pivoting movement of the positioner second arm 26 pivoting around the axis of the fifth shaft 22 (the second horizontal axis) of the axis inclined to the 0 side, the axis of the fourth shaft 19 (the first horizontal axis), and the Around the axis of the sixth axis 21 (third horizontal axis) passing through the intersection point P of the axis of the fifth axis 22 (second horizontal axis) and at an angle of 45 ° with respect to the axis of the fifth axis 22 (second horizontal axis). The work W on the work mount 24 is moved by the action of the rotation of the work mount 24 that swivels to 3
The posture is changed in all directions by 60 °.

In both the first and second embodiments, the working angle of the work W is not restricted, and the welding torch T with respect to the work W is not restricted in the working direction and welding can be performed. Further, since the posture changing operation of the work W is performed only by the positioner 23, the movement of the robot 3 is reduced, vibration is suppressed and the processing quality is improved, and since there is no movement of the basic three axes when changing the posture of the work W, Cycle time improves. Further, since the center of gravity of the work mount 24 is located near the center of rotation of the wrist shaft,
The motor and speed reducer can be downsized.

Further, as in the above embodiment, the welding robot 2 and the workpiece gripping robot 3 have a common column base 1.
Since it is attached to one surface of the welding robot 2, the expansion and contraction of the arms of the welding robot 2 and the workpiece gripping robot 3 are offset when the installation environment temperature changes, and the expansion and contraction error of the arms is reduced, and the relative position accuracy during collaborative work is secured. It

Also, the equipment space can be reduced and the floor space can be saved by the vertically three-dimensional arrangement of the welding robot 2 and the workpiece gripping robot 3.

In addition, the two robots, the welding robot 2 and the workpiece gripping robot 3, share a common column base 1.
Since it is a twin arm type based on, even if the equipment is relocated by performing the calibration work only once, the calibration work of the robot like the conventional facing arrangement becomes unnecessary.

[0026]

As described above, according to the present invention, in the robots of claims 1 and 2, the positioner can realize 360-degree posture change of the workpiece in all directions, and the workpiece can be machined without any limitation in working angle. In addition, the processing quality and the cycle time can be improved. Further, since the motor and the speed reducer can be downsized, there is an advantage that the cost can be reduced. Particularly, in the robot according to claim 1, the number of axes of the three is small and the number of workpieces is 36.
0 to enable all directions posture conversion °, so that the center 0 of both work when thereby reducing the component coincides with the intersection P
To minimize the robot's motion area
You can Further, in addition to the above effects, a robot that vertically holds the welding torch is arranged above one column base surface, and a robot equipped with a positioner that holds the work is arranged below the column base surface for cooperative work. With this configuration, arm expansion and contraction errors when the installation environment temperature changes can be reduced,
Relative position accuracy is ensured during cooperative work, improving machining quality. In addition, the configuration in which the upper and lower robots are arranged three-dimensionally saves space for installing multiple robots, and even if the equipment is moved just by performing calibration work once, calibration of the alignment of each robot is performed. This eliminates the need for work and makes it easy and quick to perform work at the time of on-site installation. Further, since the cooperative robot can be configured with the minimum required number of axes, teaching work can be simplified and teaching time can be shortened.

[Brief description of drawings]

FIG. 1 is a perspective view showing the entire configuration of a robot according to a first embodiment of the present invention.

FIG. 2 is a perspective view showing the entire configuration of a robot according to a second embodiment of the present invention.

FIG. 3 is a plan view of a robot according to a second embodiment of the present invention.

FIG. 4 is a plan view of the work mounting base.

5 is a sectional view taken along line BB of FIG.

FIG. 6 is a side view showing two conventional robots that perform cooperative work.

[Explanation of symbols]

1 column base 2 Welding robot 3 Work gripping robot 4 bases 6 first arm 8 second arm 10 Tool gripping arm 13 base 14 First Arm 19 Fourth axis (first horizontal axis) 19a First axis (first axis) 20 Second Arm 21 6th axis (3rd horizontal axis) 21a Third axis (third axis) 22 5th axis (2nd horizontal axis) 22a Second axis (second axis) 23 Positioner 24 Work mount 25 Positioner 1st Arm 26 Positioner 2nd Arm 28 Control device

─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Toshiyuki Chikusa 1-1 Asahi-cho, Kariya city, Aichi Toyota Koki Co., Ltd. (72) Inventor Masahiko Takeuchi 1-cho, Toyota city, Aichi Toyota Motor Co., Ltd. (72) Inventor Shinji Koyama 1 Toyota-cho, Toyota-shi, Aichi Toyota Motor Co., Ltd. (56) Reference JP-A-4-75891 (JP, A) JP-A-121195 (JP, A) Special Kaihei 8-10948 (JP, A) JP-A-6-218547 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) B25J 9/00 B25J 11/00 B25J 17/00 B23K 9/12 B23K 37/047

Claims (2)

(57) [Claims] 1. Two column joints on a common column base elevation.
Position the robots vertically and attach the welding torch to the robots above.
Hold vertically and let the lower robot hold the work.
Process the work by emphasizing the two robots
Bot, the lower robot is
Positioner No. 1 swiveling around the first axis at an angle of 45 °
A flange comprising an arm, a positioner second arm rotatably connected to the positioner first arm about a second axis, and a workpiece gripping member that rotates about a third axis on the positioner second arm is provided. The second axis is the first
Arranged on an axis having an angle of 45 ° with the axis,
The axis is located on the axis passing through the intersection of the first axis and the second axis and having an angle of 45 ° with the second axis ,
A workpiece is provided at an intersection point P of the first axis line, the second axis line, and the third axis line.
A robot characterized in that the centers of the robots are arranged so as to coincide with each other . 2. Two articulated joints on a common column base elevation.
Position the robots vertically and attach the welding torch to the robots above.
Hold vertically and let the lower robot hold the work.
Process the work by emphasizing the two robots
The bot, wherein the robot on the lower side is horizontally swiveled around a first vertical axis, and is rotated around a first horizontal axis orthogonal to the first vertical axis; It turns horizontally around the vertical axis and this second
Turn around a second horizontal axis perpendicular to the vertical axis
Positioner No. 1 extending in the axial direction intersecting the horizontal axis
A flange including an arm, a positioner second arm connected to the positioner first arm and rotating about a third horizontal axis, and a work holding member connected to the positioner second arm and rotating about a fourth horizontal axis is provided. The third horizontal axis is disposed on an axis having an angle of 45 ° with the second horizontal axis, the fourth horizontal axis passes through an intersection of the second horizontal axis and the third horizontal axis, and The second horizontal axis disposed on an axis having an angle of 45 ° with the horizontal axis.
The center of the work matches the intersection point P between the line and the third horizontal axis.
A robot characterized by being arranged .