JP3544159B2 - Peeling / cleaning equipment - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an apparatus for efficiently performing peeling / cleaning operations such as a coating film and a scale of a workpiece by providing a robot with a water jet nozzle configured so as to allow a slight movement operation.
[0002]
[Prior art]
As shown in FIG. 6, when the articulated robot 01 is provided with a water jet nozzle 02 to perform operations such as peeling and cleaning, the nozzle 02 is directly attached to the hand 03 of the robot 01 and the robot 01 itself is controlled. The nozzle 02 is caused to perform a predetermined operation.
[0003]
However, when a robot is equipped with a nozzle for peeling / cleaning, the robot's trajectory accuracy is poor, so normally a diffusion type nozzle or a nozzle with a wide jet flow width or multiple nozzles are rotated to make a single peeling / cleaning width. A wide nozzle is used.
[0004]
[Problems to be solved by the invention]
Although the robot has good repeatability, it cannot accurately move minutely (0.1 mm or less), so the diffusion nozzle or rotating nozzle is used as described above. However, the diffusion nozzle has a high energy density. The efficiency is lowered due to the use with a low level, and the rotating nozzle has unevenness in the pattern, resulting in peeling unevenness.
[0005]
On the other hand, it is considered that the problem can be solved if a plurality of nozzles having a very small diameter with high energy efficiency can be arranged without gaps, but it is extremely difficult including the accuracy of nozzle mounting.
[0006]
Japanese Patent Application Laid-Open No. 11-76955 also discloses an apparatus for cleaning a large part such as a carriage by providing a cleaning nozzle at the tip of a robot arm. However, in general industrial robots, the trajectory accuracy is poor, and therefore, the width of cleaning by one scanning is somewhat wide, and if it is not wrapped more than the trajectory error, there is a place where cleaning at the next scanning cannot be performed. However, such a cleaning nozzle is a general-purpose product, but has a low cleaning ability and almost no peeling ability.
[0007]
[Means for Solving the Problems]
In order to solve the above problems, a peeling / cleaning apparatus according to the present invention has a base frame attached to a robot hand, a Y-axis servo motor is provided on the base frame, and the rotation axis of the servo motor is a Y-axis ball screw. A Z-axis frame is screwed onto the ball screw, a Z-axis servo motor is provided on the Z-axis frame, the rotation axis of the servo motor is used as a Z-axis ball screw, and a slide frame is screwed onto the ball screw. A high energy density water jet nozzle for peeling / cleaning with a diameter of about 0.15 mm is provided. The water jet nozzles are arranged in a straight line at regular intervals in the Z-axis direction, and are 0.1 mm or less smaller than the nozzle diameter. It was configured to be able to move slightly and to handle workpieces with complex shapes .
[0008]
A base frame is attached to the robot hand, a Y-axis linear motor is provided on the base frame, a Z-axis linear guide for guiding the Z-axis frame is provided on the Y-axis linear motor, and a Z-axis linear motor is provided on the Z-axis frame. The Z-axis linear motor is provided with a slide frame, and a plurality of high energy density water jet nozzles having a diameter of around 0.15 mm are provided on the slide frame, and the water jet nozzle is arranged in the Z-axis direction. Are arranged in a straight line at regular intervals, and can be moved by 0.1 mm or less, which is smaller than the nozzle diameter, so that it can handle a workpiece having a complicated shape .
[0009]
With the above-described configuration, the movement of the water jet nozzle to a predetermined position, positioning, and the like can be controlled by the robot, and the minute movement operation that the robot is not good at can be controlled by the minute movement mechanism provided in the nozzle unit. Therefore, it is possible to cope with an operation that requires a minute movement using an articulated robot. In addition, the fine movement mechanism enables efficient peeling and cleaning while maintaining the high energy density of the water jet without using a diffusion nozzle or a rotating nozzle.
[0010]
In this case, the minute movement mechanism is configured by a highly reliable and simple structure of a ball screw method or a linear motor method, and the degree of freedom is increased (to deal with workpieces with complicated shapes). The control axis of the moving mechanism is the YZ axis.
[0011]
In addition, if multiple water jet nozzles are arranged in a certain direction and at regular intervals, by moving the nozzles slightly, it is possible to efficiently remove and clean evenly while maintaining the high energy density of the water jet. It becomes.
[0012]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0013]
FIG. 1 shows the basic idea of the present invention when a micro-movement mechanism using a ball screw method (one control shaft) is employed, and FIG. 1 (a) is a main part view (a schematic side view partially showing a cross section). 1 (b) is a cross-sectional view taken along arrow AA in FIG. 1 (a). As shown in the figure, a base frame 4 is attached to a hand 3 at the tip of an arm 2 of an articulated robot 1 (FIG. 5), and a plurality of water jet nozzles (hereinafter also simply referred to as “nozzles”) are attached to the base frame 4. A nozzle unit 5 provided with 5a is provided, and this nozzle unit 5 is equipped with a minute movement mechanism 6.
[0014]
In the drawing, the base frame 4 has an upper base plate 4a, a vertical plate 4b suspended from the center of the base plate 4a, and a flat plate-like support parallel to the base plate 4a at a predetermined interval below the vertical plate 4b. It consists of a plate 4c. One side of the base plate 4a is attached to the robot hand 3 with the vertical plate 4b interposed therebetween, and a servo motor 7 and a ball screw 8 constituting the micro-movement mechanism 6 are provided on the other side opposite to this. That is, the rotation shaft of the servo motor 7 is configured as a ball screw 8 and extends downward in the drawing, and the lower end of the ball screw 8 is pivotally supported by the support plate 4c.
[0015]
A slide frame 9 having a nozzle unit 5 is screwed onto the ball screw 8, and a plurality of (four in the figure) water jet nozzles 5 a are arranged at regular intervals in the front portion of the slide frame 9. It is installed. As the water jet nozzle 5a, a nozzle having a high peeling ability and a diameter of about 0.15 mm is used.
[0016]
A ball screw 8 is threadedly inserted into the center of the slide frame 9, and a pair of linear guides 10 extending parallel to the ball screw 8 are provided on both sides of the slide frame 9 in order to make the slide frame 9 move smoothly.
[0017]
Accordingly, if the servo motor 7 is operated to rotate the ball screw 8, the slide frame 9 is slightly moved in the vertical (Z-axis) direction in the drawing by the screw action. Along with the slight movement of the slide frame 9, the water jet nozzle 5a disposed on the front surface of the slide frame 9 can be slightly moved (movement of 0.1 mm or less). With such a minute movement function, a nozzle having a high peeling ability (diameter around 0.15 mm) can be used.
[0018]
For example, a water jet nozzle with a diameter of 0.15 mm is set at a predetermined position by a robot positioning function, and then moved by 4/100 mm in a predetermined direction by a micro-movement mechanism while ejecting a jet from the water jet nozzle and working. As a result, there is no unevenness in peeling and cleaning, and the peeling performance is high (high energy density is maintained as it is), so that the work efficiency is good. In addition, because it uses a robot, it can handle workpieces with complex shapes, and can also handle a wide variety of workpieces.
[0019]
FIG. 1 shows a case where the control axis is one axis, but control with two axes is possible as will be described later.
[0020]
FIG. 2 shows the basic idea of the present invention when a micro-movement mechanism using a linear motor system (one control shaft) is employed, and FIG. 2 (a) is a main part view (a side view showing a part in cross section). 2 (b) is a cross-sectional view taken along the line BB in FIG. 2 (a).
[0021]
As shown in the figure, a substantially inverted L-shaped base frame 11 is attached to the hand 3 of the robot 1. The base frame 11 is equipped with a minute movement mechanism 13 using a linear motor 12 and linear guides 14 on both sides of the near motor 12. Is provided. A slide frame 15 that can be slightly moved in the Z-axis direction by the minute movement mechanism 13 is provided with a nozzle unit 5 in which a plurality of water jet nozzles 5a are arranged at regular intervals in the same manner as described above. In this case as well, the control axis is one axis, but control with a plurality of axes is possible as will be described later.
[0022]
Even in this configuration, the water jet nozzle 5a is moved (positioned) to a predetermined position by the robot 1, and when the nozzle 5a needs to be moved slightly, the operation of the robot 1 is maintained and the linear motor 12 is operated. Thus, the necessary operation can be performed using the linear guide 14 as a guide.
[0023]
FIG. 3 shows the first embodiment, in which the control axes are two axes, YZ axes, and are provided with a micro screw moving mechanism based on a ball screw system. 3A is a main part view (a side view showing a part in cross section), and FIG. 3B is a cross-sectional view taken along the line CC in FIG. 3A.
[0024]
As shown in the figure, a box-shaped base frame 16 is attached to the hand 3 of the robot 1, and a Y-axis servomotor 17 is provided on the side surface of the base frame 16. The rotation axis of the Y-axis servomotor 17 is a Y-axis ball screw. 18, both of which form a fine movement mechanism 6 </ b> Y in the Y-axis direction. In addition, Y-axis linear guides 19 are disposed on both upper and lower sides of the Y-axis ball screw 18. A Z-axis frame 20 is screwed onto the Y-axis ball screw 18, and the Z-axis frame 20 can be slightly moved in the Y-axis direction (horizontal direction in the drawing) by the operation of the Y-axis servomotor 17. The Z-axis frame 20 is provided with a Z-axis servomotor 21. The rotation axis of the servomotor 21 is configured as a Z-axis ball screw 22, and a minute movement mechanism 6Z in the Z-axis direction is formed. A slide frame 23 is screwed onto the Z-axis ball screw 22, and a nozzle unit (a plurality of water jet nozzles 5 a arranged in a row at regular intervals) 5 is provided on the slide frame 23. The slide frame 23 is provided with linear guides 23 on both sides of the Z-axis ball screw 22.
[0025]
In this configuration, the water jet nozzle 5a can be moved slightly in the two directions of the YZ axis, and when the minute operation is required, the operation of the robot 1 is maintained, and the two-axis YZ axis servo provided in the nozzle unit 5 is maintained. The motors 17 and 21 cause the base frame 16 and the linear guides 19 and 24 of the Z-axis frame 20 as guides to perform necessary operations via the YZ-axis ball screws 18 and 22. Depending on the shape of the workpiece, etc., it is possible to cope with workpieces with complicated shapes by moving the nozzle slightly in either the Y-axis or Z-axis direction as necessary, and at this time also eliminates unevenness of peeling and cleaning. Can do.
[0026]
FIG. 4 shows the second embodiment, in which the control axes are the two YZ axes as in the first embodiment, and are provided with a micro-movement mechanism using a linear motor system instead of the ball screw system. 4A is a main part view (a side view showing a part in a cross section), and FIG. 4B is a cross-sectional view taken along the line DD in FIG. 4A.
[0027]
As shown in the figure, a base frame 25 is attached to the hand 3 of the robot 1, and a Y-axis linear motor 26 constituting a fine movement mechanism 6 </ b> Y in the Y-axis direction is provided on the side surface of the base frame 25. A Y-axis linear guide 28 for guiding the Z-axis frame 27 is provided on both sides of 26. The Z-axis frame 27 is provided with a Z-axis linear motor 29 that constitutes a Z-axis direction micro-movement mechanism 6Z, and a nozzle unit (a plurality of water jet nozzles 5a arranged in a row at regular intervals). Is provided. A slide frame 30 is provided on the Z-axis frame 27, and Z-axis linear guides 31 are provided on both sides of the Z-axis frame 27.
[0028]
Also in this configuration, the water jet nozzle 5a can be slightly moved in the two directions of the YZ axis by the minute movement mechanisms 6Y and 6Z, and when the minute operation is required, the operation of the robot 1 is maintained, and the nozzle unit 5 The two-axis YZ-axis linear motors 26 and 29 equipped on the base frame 25 and the YZ-axis linear guides 28 and 31 of the Z-axis frame 27 are used as necessary guides.
[0029]
The peeling / cleaning apparatus according to the present invention as described above is provided in an articulated industrial robot 1 as shown in FIG. 5, and movement, positioning and the like of the water jet nozzle to a predetermined position are controlled by the robot. However, the fine movement operation with respect to the workpiece W, which the robot is not good at, is controlled by the fine movement mechanism provided in the nozzle unit 5 to perform an efficient peeling / cleaning operation. As described above, the present invention is an apparatus that efficiently removes and cleans evenly by providing a robot having a function of roughly positioning a nozzle unit having a precise movement function.
[0030]
【The invention's effect】
In the present invention as described above, the minute movement operation, which is a weak point of the robot, is complemented by the minute movement mechanism of the nozzle unit, and the high energy density of the water jet is maintained without using a diffusion type nozzle or a rotating nozzle. However, it is possible to efficiently perform peeling and cleaning without unevenness.
[0031]
Therefore, as a result of being able to cope with work requiring a minute movement operation using an articulated robot, it is possible to simplify the constituent devices, and it is possible to deal with workpieces of complex shapes as well as various types of workpieces.
[Brief description of the drawings]
FIG. 1 shows a basic idea of the present invention when a micro-movement mechanism using a ball screw method (one control shaft) is employed, (a) is a main part view (a side view with a part cut), and (b). FIG. 3 is a cross-sectional view taken along line AA in (a).
FIG. 2 shows the basic idea of the present invention when a micro-movement mechanism using a linear motor system (one control shaft) is used, (a) is a main part view (side view of a part), (b) ) Is a cross-sectional view taken along line BB in (a).
FIG. 3 shows the first embodiment, in which the control axes are two axes, YZ axes, and are provided with a micro screw moving mechanism by a ball screw method. (a) is principal part figure (side view which cut | disconnected one part), (b) is CC sectional view taken on the line in (a).
FIG. 4 shows a second embodiment, and similarly to the first embodiment, two control axes are the YZ axes, and a minute movement mechanism using a linear motor system is provided instead of the ball screw system. (a) is a principal part figure (side view which cut down a part), (b) is DD sectional view taken on the line in (a).
FIG. 5 is a schematic view when the peeling / cleaning apparatus according to the present invention is installed in an articulated robot.
FIG. 6 is a main part view when a conventional articulated robot is equipped with a water jet nozzle.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... (Articulated type) Robot 3 ... Hand 5 ... Nozzle unit 5a ... Water jet nozzle 6, 6Y, 6Z ... Minute movement mechanism 7, 17, 21 ... Servo motor 8, 18, 22 ... Ball screw 9, 15, 23, 30 ... Slide frame 12, 26, 29 ... Linear motor

Claims (2)

A base frame is attached to the robot's hand, a Y-axis servo motor is provided on the base frame, the rotation axis of this servo motor is the Y-axis ball screw, the Z-axis frame is screwed to this ball screw, and the Z-axis servo motor is fitted to the Z-axis frame. The servo motor's rotating shaft is a Z-axis ball screw, and a slide frame is screwed onto the ball screw, and a plurality of high energy density water jet nozzles with a diameter of about 0.15 mm for peeling and cleaning are provided on the slide frame. The water jet nozzles are arranged in a straight line at regular intervals in the Z-axis direction, and can be moved by 0.1 mm or less, which is smaller than the nozzle diameter, so that they can handle workpieces with complex shapes. Peeling / cleaning equipment characterized by A base frame is attached to the robot hand, a Y-axis linear motor is provided on the base frame, a Z-axis linear guide for guiding the Z-axis frame is provided on the Y-axis linear motor, and a Z-axis linear motor is provided on the Z-axis frame. The Z-axis linear motor is provided with a slide frame, and a plurality of high energy density water jet nozzles having a diameter of about 0.15 mm are provided on the slide frame, and the water jet nozzle is constant in the Z-axis direction. A stripping / cleaning apparatus, which is arranged in a straight line at intervals, and is configured to be capable of minute movement of 0.1 mm or less, which is smaller than the nozzle diameter, so as to cope with a workpiece having a complicated shape .

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