JPH0271983A - Traveling robot - Google Patents

Abstract

PURPOSE:To set a fetched work at the vertical position apart enough from a working machine and to prevent the interference with the working machine by engaging the upper arm and the main body of a traveling robot with a cam follower and circular cam groove so as to move to the front and back simultaneously with raising and lowering the upper arm between the vertical position and horizontal position. CONSTITUTION:The main body 20 and upper arm 40 traveling along a work machine M and so on are engaged by a cam follower and circular cam groove so as to move fore and aft simultaneously with raising and lowering the upper arm 40 between the vertical position and horizontal position by the movement of the piston rod of the hydraulic cylinder 23 provided on the main body 20. By moving this cam follower (rotary center of the upper arm) fore and aft between the vertical position and horizontal position, the fetched work can be set at the position apart enough from the work machine M and the interference of the space with the work machine M can be prevented. Moreover, the state of the work is reversed 90 deg. by refracting a fore arm 60 to the upper arm 40 of the horizontal position and it can be fitted to an angle plate.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a traveling robot for work handling, which is suitable for application to machine tools.

Conventional technology In order to move along multiple machine tools and handle workpieces to and from the machine tools, traveling robots have been developed that travel on rails along the machine tools and handle workpieces. 1988-14.4993, JP-A-63-16927
No. 5, JP-A-63-120091, etc.).

Problems to be Solved by the Invention Most of the traveling robots mentioned above have horizontal multi-joints. With such a robot, when taking out a workpiece from a machine tool,
In order to rotate the long arm horizontally, the front of the processing table,
It was necessary that the left and right sides be wide open. Therefore, cover the front of the processing table with a coolant cover.
Modern machining centers that open and close coolant cover doors as needed have the drawback of being difficult to use. In order to solve this problem, it is possible to run a vertically articulated robot, but most of these conventional articulated robots use servo motors as the drive source for the drive shaft. The robot, including the control device, is extremely complex and expensive, and teaching the robot to perform predetermined movements requires an extremely large amount of time.

An object of the present invention is to solve the above problem.

Means for Solving the Problems This invention provides an upper arm, a
In a mobile robot equipped with a forearm and a palm member with a gripper that can be opened and closed, the upper arm can be moved between a vertical position and a horizontal position by moving a piston rod of a hydraulic cylinder provided in the main body. The force 11 follower is engaged with an arcuate cam groove so as to move back and forth at the same time as it is raised and lowered, and the upper arm and forearm are moved back and forth by the piston rod of the hydraulic cylinder provided in the upper arm, so that the forearm is in an extended position that is straight with respect to the upper arm. and a bending position perpendicular to the upper arm. The palm member is connected to rotate 180 degrees around a perpendicular axis, and a pair of grippers are attached to the palm member symmetrically with respect to the rotation axis.

The unit is connected to the pivoting end of the palm member at a position on the raising and lowering side of the forearm so as to be moved toward and away from a predetermined position by the movement of the palm member or a piston rod of a hydraulic cylinder provided in the forearm. Vertical arm.

The present invention is characterized in that it includes positioning means for positioning the horizontal position, the extended position of the forearm, the bent position, the two pivot ends of the palm member, and the forward end of the gripper.

An outline of the embodiment will be explained in FIG. 1. The traveling robot 1 is a cart 1 that can freely travel on a traveling rail 2 along a plurality of processing machines M.
0, the main body 20 mounted on the trolley 10 so as to be rotatable and indexable
, an upper arm 40 that is raised and lowered in the front-back direction with respect to the main body 20. upper arm 4
The palm member 80 includes a forearm 60 that can be raised and lowered in the front and rear directions with respect to 0, a palm member 80 that rotates 180 degrees with respect to the forearm 60, and a pair of grippers 110 that are attached to the palm member 80. The trolley 10 is equipped with a servo motor 3 for traveling, and is moved in front of a predetermined processing machine M or work stand by a rack 4 mounted on the lower part of the rail 2 and a pinion 5 mounted on the servo motor 3. A hydraulic unit 6 is further mounted on the truck 10, and all operations other than traveling are performed using pressure oil from the hydraulic unit 6. In the processing machine M, the entire processing machine is covered with a coolant cover 7, and a window 8 for attaching and removing a workpiece is formed on the front surface of the coolant cover 7, and this window 8 is opened and closed by a door 9.

Next, details of each part will be explained. As shown in FIG.
A guide unit 13 is fixed via the rail 2 and guided by the rail 2. A step stool 14 located above the rail 2 extends along the rail 2 in the gap between the L-shaped bracket 12 and the lower surface of the base 11. In the center of the trolley 10, there is a third
As shown in the figure, a boss 15 is provided in a protruding manner. This boss 15
A base 21 of the main body 20 is rotatably supported by a bearing 16. An indexing shaft 22 is connected to the lower part of the pedestal 21, and a central shaft 23 for supplying and discharging pressure oil is inserted through the center of the indexing shaft 22 and connected to the back surface of the pedestal 21. The center shaft 23 is rotatably fitted loosely into a piping bracket 17 fixed to the lower surface of the truck 10.

The two pressure oil ports a1, a2 on the top surface of the truck are connected to the two pressure oil boats b1. 0 index shaft 2 connected to b2
A Geneva wheel 24 is integrally formed at the lower end of the vehicle 10, and engages with a cam follower 19a of a Geneva arm 19 keyed to the rotating shaft of a hydraulic motor 18 fixed to the lower surface of the truck 10, thereby indexing the indexing shaft 22 every 90 degrees. This is to give it a whirl.

As shown in FIG. 4, the main body 20 includes the pedestal 21 and a pair of side plates 22 erected thereon. A hydraulic cylinder 23 for raising and lowering the upper arm is fixed obliquely to the pivot axis L1 of the base 21 between the left and right side plates 22. The piston rod 24 of the hydraulic cylinder 23 is connected to the lower end of the support arm 41 of the upper arm 40 with a pin 25, and this screw I
A holding pin 26 for holding the forward end position of the screw I-on rod 24 is connected to the connecting rod 24. The holding pin 26 is fixed between the side plates 22 below the cam plate 28, which will be described later. A retaining bushing 2 fixed to a certain bracket 27
7a.

The support arm 41 of the upper arm 40 has cam followers 4 on the left and right sides.
2 is provided protrudingly. These cam followers 42 engage with inner arc cam grooves 29 of a cam plate 28 fixed to the inside of the side plate 22. The stroke of the hydraulic cylinder 23, the shape of the arcuate cam groove 29, the position of the cam follower 42, etc.
At the retreating end of the piston rod 24, the pin 25 and the cam follower 42 are located on the vertical line, and the upper arm 40 is positioned as shown in FIG.
The piston rod 2 is located at the vertical position A1 shown by the dotted chain line.
At the forward end of No. 4, the pin 25 and the cam follower 42 are on the horizontal line, the upper arm 4o is in the horizontal position A2, and the cam follower 42 is in the fourth position compared to the vertical position A1.
The association is such that the position is moved a predetermined amount to the left in the figure. Here, when the hydraulic cylinder 23 is at the forward and backward end, the piston (not shown) inside the hydraulic cylinder 23 comes into contact with the inner surface of the cylinder cover inside the cylinder body, so the hydraulic cylinder 23 is at the vertical and horizontal positions A1 and A2 of the upper arm 40. It also serves as a positioning device EW30.

Next, the upper v140 includes the support arm 41 and a bifurcated portion 43 integrally connected to the support arm t141, as shown in FIG. Bifurcated portion 43 left and right side plates 44a, 44
As shown in FIG. 6, boss portions 45 and 46 are fixed to each of b, and pivot shafts 47 and 48 fixed to the case 61 of the forearm 60 are rotatably supported on the boss portions 45 and 46, respectively. .

Four pressure oil boats D1 are installed in each boss part 45 and 46, respectively.
~D4, E1~E4 are provided, and these pressure oil boats can be rotated left and right by a 174 circular arc groove 49 formed on the outer periphery of the rotation shaft 47 (48) and an axial communication hole 50, as shown in FIG. It communicates with four pressure oil boats (partially not shown) fl-f4 (gl-g4) corresponding to the moving shaft.

In FIG. 5, a bracket 51 is provided on the lower side plate 44a.
A hydraulic cylinder 52 for raising and lowering the forearm is connected to the trunnion via. The piston rod 5 of this hydraulic cylinder 52
3, one end of a swing lever 54 is connected by a pin 55. As shown in FIG. 4, the bent portion of the swing lever 54 is swingably supported by a support pin 56 on the side plate 44a.

A cam follower 57 is connected to the other end of the swing lever 54, and a linear cam groove 6 formed on the side of the case 61 of the forearm 60 is connected to the cam follower 57.
1a. 1. A stopper 58 is fixed to the side plate 44a at a position where the two swinging ends of the swinging lever 54 are brought into contact with the swinging lever 54 by the movement of the piston rod 53 of the hydraulic cylinder 52. At the swing end, the forearm 60 is upward 111ii! Stretching position straight to B1 (solid line state in Figure 4) and bending position perpendicular to B1 (
It is designed to be raised and lowered between 82 (two-dot chain line in Fig. 4).

Next, referring to FIG. 8, the turning mechanism of the character member 80 will be explained. The forearm 60 is rotatably supported by a shaft portion 81 of a character member 80 on a case 61 by a bearing 75. A gear 82 is formed at the lower end of this shaft portion 81. This gear 82
is a drive gear 64 of a gear shaft 63 rotatably supported between a case 61 and a cover 62 fixed to the lower part of the case 61;
It meshes with the. The number of teeth of this drive gear 64 is the same as that of the gear 8.
It is twice as much as 2. One end of a swing arm 65 is connected to the lower end of the gear shaft 63 by spline engagement. A linear cam groove 66 is formed in this swing arm 65 . On the other hand, a central boss 69a of a lever member 69 is attached to a bifurcated support portion 68 of a bracket 67 fixed to the side of the case 61.
is swingably supported by a pin 70. As shown in Fig. 8.9, this lever member 69 has an L-shaped lever 69b on the upper side of the boss G9a, and a short lever 69c on the lower side. A cam follower 71 is attached to the tip of the L-shaped bar 69b and engages with the linear cam groove 66. The tip of a piston rod 73 of a hydraulic cylinder 72 for rotating the palm member is connected to the lever member 69 by a pin. The hydraulic cylinder 72 is supported by a clevis on the back surface of the cover 62 via a bracket 74. The stroke of this hydraulic cylinder 72 is set so that the angular difference between the position of the figure 5 lever 69b when it is located at its forward end and its backward end is exactly 90 degrees, so that the figure 5 lever 69b is 90 degrees. When it swings, the palm member 8 is engaged with the gear 82 and the gear 82.
0 rotates 180 degrees. Therefore, this hydraulic cylinder 72 also serves as a means for positioning the end of the 180 degree rotation.

Next, the mutual approach/separation mechanism of the grippers 110 will be explained. In FIG. 8, a rack shaft 91 is inserted through the center of the shaft portion 81 of the palm member 80 so as to be slidable in the axial direction. The lower end of the rack shaft 91 is rotatably supported by a shifter 92. As shown in FIG. 10, the shifter 92 is prevented from rotating by a guide bar 93 extending vertically within the case 61, and a linear guide groove 94 is provided on the opposite side of the guide bar 93 across the rack shaft 91. A pinion lever 96 having a pinion gear 95 formed on the outer periphery of the base is rotatably supported by the case 61 , and a cam follower 96 a at the tip of the pinion lever 96 engages with the linear guide groove 94 . This pinion gear 95 meshes with a rack 99 formed on a piston rod 98 of a hydraulic cylinder 97 fixed to the back surface of the case 62. On the other hand, racks 91a are formed on the sides of the rack shaft 91 on the sides on which the forearm 40 is raised and lowered when the palm member 80 is at the pivot end.

The rack 91a meshes with a pair of feed pinion gears 100 rotatably supported in the palm portion 83 of the palm member 80 with a phase shift in the tooth trace direction of the rack 91a, as shown in FIG. . A feed bar 101 that meshes with these feed pinion gears 100 is fitted into the palm portion 83 so as to be movable in the axial direction. Further, a guide bar 102 on the other side is positioned diagonally on each of the left and right sides of the palm portion 83 at a position that does not interfere with the feed bar 101 on the one side, and is fitted so as to be movable in the axial direction. A connecting plate 1 is provided at the tip of the feed bar 101 and the guide bar 102 on each of the left and right sides.
03 is connected. The hydraulic cylinder 97 is
At the forward end of the piston rod 98, the rack shaft 91 descends and retracts the feed bar 101, positioning the connecting plates 103 in a retracted position close to each other, and as shown in FIG. It also serves as a positioning device that moves up and advances the feed bar 101 to position the connecting plates 103 at the forward end where they are separated from each other. still,
The four pressure oil ports F1 to F4 formed in the case 61 are connected to two pressure oil ports 11 to i on the left and right sides of the palm portion 83, respectively.
It is connected to 4.

Next, the gripper 110 fixed to the connecting plate 103 of the palm member 80 will be explained. In FIG. 4.5, a board 111 is fastened to the connecting plate 103, and this board 111
Bosses are welded to each of the four corners, and a pivoting sleeve 113 with a lever is located between the bosses 112. The rotating sleeve 113 is spline-fitted with four pawl shafts 114 that are rotatable and axially movable corresponding to the four bosses 112, respectively. A lead groove 115 is formed in each claw shaft 114, and a screw pin 116 fixed to each boss 112 is engaged with the lead groove 115. A pawl lever 117 is connected to a key end of each pawl shaft 114, respectively. Claw lever 117
A diagonal claw 118 and a workpiece gripping part 119 for preventing falling are protruded from the opposing inner sides of the workpiece. One of the bosses 112 (for example, the upper left one in FIG. 5) is integrally equipped with a support arm 112a, and a screw 1 of a hydraulic cylinder 120 is connected to the support arm 112a with a clevis as shown in FIG.
- The connecting rod 121 is attached to the lower pivoting sleeve 113 in FIG.
A pin 122 is connected to the lever 113a. This pin 122 is further connected to one end of a connecting bar 123, and the other end of this connecting bar 123 is pin-connected to a lever 113b of the pivoting sleeve 113 on the side provided with the support arm 112a.

The lead groove 115 is formed by moving the piston rod 121 of the hydraulic cylinder 120 back and forth, so that the four claw levers 11
7 moves in the axial direction while turning 90 degrees from the standby position (indicated by the two-dot chain line in Fig. 5) where it does not face the workpiece W.
It is designed to grip both sides of the Furthermore, board 1
11 is provided with a positioning pin 124 and a seat 125 for the workpiece W.

Next, the hydraulic piping will be explained. In FIG. 3, the two ports 1 to b1, b2 of the pedestal 21 of the main body 20 are each branched into six by a piping base 130 fixed to the main body 20, as shown in FIG. - Connected to 6. In the upper two directional control valves VALI and VAL2, a pair of ports (cl, C2) (C3, C
4) are connected to the respective ports (C1, C2) (C3, C4) of the hydraulic cylinder 23 and the hydraulic cylinder 52, respectively.

A pair of ports (di, d2) (d3.d4) (el, C2) (C
3, C4) are the ports (Dl, D2) (D3, D4) that are paired with the left and right bosses 45 and 46 of the upper arm 4o.
) (El, F2) Connected to (F3, F4). Of the ports on the forearm 60, the left four (fl, f2) (
f3, f4) are further connected in pairs corresponding to the four ports (Fl, F2) (F3, F4) of the forearm 60 shown in FIG.
2) (i3, i4) are each connected to each port of the corresponding hydraulic cylinder 120 of the gripper 110; Moreover, the four on the right (gl, g2) (g3, g4) are connected to each port 1- of the hydraulic cylinder 72.97, with one pair for supply and one for discharge. A pair of main pipes for supply and discharge from the hydraulic unit 6 are connected to the two ports a1. C2, and is connected to the hydraulic motor 18 via a directional switching valve (not shown) branched off in the middle.

Next, the effect will be explained. When receiving a command to complete machining of a flat workpiece W from a predetermined processing machine M, the traveling robot 1 sets the claw lever 117 of the gripper 110 on the processing machine side to the standby position, and grips the unprocessed workpiece W1 on the gripper 110 on the opposite side. 1
It travels with both grippers 110 close to each other (the rack shaft 91 is at the lower end) and stops in front of machining nM.

This stop opens the cover 9 of the processing machine M. Then, the piston rod 24 of the hydraulic cylinder 23 moves from the backward end to the forward end, moving the upper arm 40 from the vertical position A1 to the horizontal position A2.
At the same time, the entire upper arm 40 is moved to the processing g&M side. At this time, the forearm 60 is in the extended position 1B1 with respect to the upper arm 40.
The swing lever 54 is brought into contact with a stopper 58 on the front side so as to maintain the position. The holding pin 2 is moved by the movement of the piston rod 24.
6 is fitted into the holding bush 27a, and the piston rod 24
The forward end position of the main body 20 is positioned and maintained. In this way, one gripper 110 is positioned above the flat workpiece W in a standby state. Next, the rack shaft 91 of the palm member 80 is raised by the action of the hydraulic cylinder 97, and the feed bars 101 are moved forward through the feed pinion gear 100 to separate the grippers 110 from each other and bring one gripper 110 closer to the workpiece W. Next, the piston rod 121 of the hydraulic cylinder 120 of the gripper 110 that has approached the workpiece W is caused to protrude. As a result, the turning sleeve 113 turns,
The claw shaft 114 rotates 90 degrees and moves axially inward to sandwich the workpiece W from both sides.

At this time, the claw 118 enters the lower side of the workpiece W.

Next, lower the rack l11191 and gripper 1 on both sides.
10 are brought close to each other, and the workpiece W is pulled out from the positioning pin on the table Ta. In that state, the hydraulic cylinder 72
The piston rod 73 of is moved from the forward end to the backward end. As a result, the gear shaft 64 is rotated 90 degrees via the lever member 69 and the cam lever 65, the palm member 8o is rotated 180 degrees, and the positions of the processed groove workpiece W and the unprocessed workpiece W1 are exchanged. Next, the rack shaft 91 is positioned with the piston rod 98 of the hydraulic cylinder 97 at the backward end, and the rack shaft 91 is held at the forward end. As a result, the feed bars 101 are mutually positioned at the forward end, and the unprocessed workpiece W1 is transferred to the processing table T.
It is placed on top a. Next, the claw lever 117 of the gripper 110, which was gripping the unprocessed workpiece W1, is turned 90 degrees and moved axially outward, and is placed in the standby position. Then, the rack shaft 91 is lowered again to draw the feed bars 101 into each other, and then the piston rod 24 of the hydraulic cylinder 23
is moved to the backward end and the upper arm 40 is returned to the vertical position.

The workpiece W taken out in this way becomes an unprocessed workpiece for the next process, and the workpiece is replaced in exactly the same manner as described above in response to a request from the next process machine.

Next, a case will be described in which a workpiece on the tombstone (vertical holding jig) 150 is replaced. In Figure 13,
The unprocessed workpiece W1 is gripped by the gripper 110 on the opposite side of the processing machine M, and the claw lever 117 of the gripper 110 on the processing machine M side is held.
is in the standby position.

The forearm 6 is attached to the tombstone 150 for the workpiece W.
0 in the extended position, move the upper arm 40 from the vertical position fiA1 to the horizontal position 1i! Tilt it to the middle position, slightly past the middle of A2. At this position, the palm members 80 are overlapped by 180 degrees. Then, the forearm 60 is further tilted 90 degrees to a bent position (FIG. 13(a), two-dot chain line). Then, the upper arm 40 that was in the intermediate position is lowered to the horizontal position A2, and the gripper 110 in the standby position is positioned on the side of the workpiece W of the tombstone 150. The gripper 110 grips the workpiece W, and the palm member 8
Rotate 0 to 180 degrees and turn unprocessed workpiece W1 into tombstone 1
Attach it to 50.

In such exchange of workpieces, the working position is mechanically positioned and fixed by the stroke end of the hydraulic cylinder or by the stopper, so repeatable positioning accuracy is extremely high. In this embodiment, the hydraulic cylinder 97 for moving the gripper 110 toward and away from the gripper 110 is not provided on the rotating palm member 80, but is attached to the forearm 60. 110 hydraulic cylinders 1
20, and the oil passage structure between the forearm 60 and the palm member 80 is simplified. In the above work handling, explanation has been given between the work table Ta along the traveling direction and the robot, but when handling a work on a work table or a work table along the traveling direction, the entire main body is connected to the hydraulic cylinder 18 and the Geneva arm. It is sufficient to index 90e using 19 or the like.

Effects of the Invention According to the above, the upper arm and the main body of the traveling robot are engaged with the cam follower through the arcuate cam groove so that the upper arm moves back and forth between the vertical position and the horizontal position at the same time as the upper arm is raised and lowered. (the center of rotation of the upper arm) is moved back and forth between the vertical and horizontal positions.

When the workpiece is taken out, the workpiece can be located in a vertical position separated by light from the processing machine, and interference with the processing machine can be prevented. Moreover, compared to a structure in which the upper arm only rotates around a cam follower in a vertical position so that the picked-up workpiece is optically separated from the processing machine, even if the upper arm is shortened by the amount of forward movement of the upper arm, only rotation is possible. It can be located at the same protruding position as the Therefore, it is possible to handle ff1ffi objects by the length of the shortened upper arm. Also, by bending the forearm relative to the upper arm in a horizontal position.

The state of the workpiece can be reversed 90 degrees, and it can also be attached to a tombstone jig. Furthermore, the forearm and the palm member are arranged such that the palm member is centered at an axis perpendicular to the rotational axis of the forearm.
The 0-degree pivots are connected so that they overlap, and a pair of grippers are placed on the palm member in a predetermined manner symmetrically with respect to the rotation axis and at a position on the side where the forearm is raised and lowered at the rotation end of the forearm. Since the grippers are connected so that they move toward and away from each other, one gripper holds an unprocessed workpiece, and the other gripper grips a processed workpiece on the processing table. The parts can be stacked 180 degrees into the lathe and the unprocessed workpiece can be fed to the processing table.

Another advantage is that the workpiece exchange time is short. All the movements of these arms, etc., except for the movement of the robot, are performed by hydraulic cylinders, and the robot is positioned and stopped by mechanical positioning means only at the end of movement.

It has the advantage that control is extremely simple and positioning accuracy is also good, and teaching only needs to be done for traveling, which is extremely simple.

[Brief explanation of the drawing]

FIG. 1 is a perspective view showing the entire running robot of the present invention;
Figure 2 is a main view of Figure 1, Figure 3 is a diagram showing the rotating structure of the main body, Figure 4 is a top side view of the traveling robot, Figure 5 is a plan view of Figure 4, and Figure 6 is a diagram showing the rotating structure of the main body. FIG. 4 is a VI-VI sectional view, FIG. 7 is a sectional view of FIG. 6, and FIG. 8 is a shield sectional view. The drawings are a cross-sectional view taken along the line XX in FIG. 8, FIG. 11 is a cross-sectional view taken along the line A--■ in FIG. 8, FIG. 12 is a store diagram of FIG. 4, and FIG.

Claims (1)

[Claims] 1. In a traveling robot that runs along a processing machine, etc., and is equipped with an upper arm, a forearm, and a palm member equipped with a gripper that can be opened and closed, the main body and upper arm are connected to the piston rod of a hydraulic cylinder provided in the main body. As the upper arm moves forward and backward, it engages with the cam follower through an arcuate cam groove so that it moves back and forth between the vertical position and the horizontal position, and the upper arm and forearm are connected to the piston rod of the hydraulic cylinder provided in the upper arm. By advancing and retracting, the forearm is connected so as to be raised and lowered between an extended position straight with respect to the upper arm and a bent position perpendicular to the upper arm, and the forearm and palm member are connected to the piston rod of the hydraulic cylinder provided in the forearm. As the palm member moves forward and backward, the palm member is connected to rotate 180 degrees around an axis perpendicular to the rotation axis of the forearm. At the end of the rotation of the member, the palm member or the piston rod of a hydraulic cylinder provided in the forearm is connected to move toward and away from each other by a predetermined amount by the movement of a palm member or a piston rod of a hydraulic cylinder provided in the forearm. , a traveling robot comprising positioning means for positioning the extended and bent positions of the forearm, two turning ends of the palm member, and the forward end of the gripper.