JPH0360985A - Industrial robot - Google Patents

Abstract

PURPOSE:To obviate a floating unit and a press-in unit during insertion or press-in of a work by a method wherein a controller is provided with a function to decide whether a working unit succeeds or fails in an insertion or a press-in work through detection of a current flowing to a motor to drive a moving part when a work is inserted or pressed in by means of a working unit. CONSTITUTION:When a work 7 is grasped by means of a tool 6 connected to a moving part 3a of a third shaft 3 through a bracket 8 and inserted or pressed in an insertion hole 9a formed in a part 9, a reaction force is exerted on the moving part 3a even when failure in insertion occurs. Thereby, a current flowing to a motor to drive the third shaft 3 is detected by means of the reaction force since a reaction force is exerted on the moving part 3a when failure in insertion occurs, the current value is compared with a current value preset to a controller, decision of failure in insertion or press-in is effected, end an insertion or a press-in work is stopped. This constitution prevents breakage of an industrial robot, the tool 6, the bracket 8, or the work 7 and the part 9.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to an industrial robot having a function of detecting insertion and press-fitting of parts.

2. Description of the Related Art Conventional industrial robots are shown in FIGS. 4 and 5, for example.
As shown in the figure, a first axis 31 having a degree of freedom in the horizontal direction, a second axis 32 orthogonal to the first axis 31 and having a degree of freedom in the horizontal direction, and a first axis 31 and a second axis 32 having a degree of freedom in the horizontal direction. a third axis 34 having a degree of freedom in a direction perpendicular to a plane working area 33 consisting of the operating range of the axis 32, that is, in the vertical direction;
A tool 36 that directly contacts the component, and a tool 36 that is attached to the movable part 34a of the third shaft 34 to support the tool 36 and the movable part 3
When an attempt is made to insert a workpiece 38 held by a tool 36 into a hole 39 as shown in FIGS. As shown in Figure 8,
The tool 36 is moved by the action of the floating unit 37.
The workpiece 38 escapes in the direction of arrow A, and the distance between the floating unit 37 and the tool 36 decreases from Ll to L2, and the industrial robot or tool configured by the first axis 31, second axis 32, and third axis 34 36, the structure is such that the work 38 is prevented from being damaged.

In addition, as shown in Figure 9, the industrial robot has a third axis
A press-fitting unit 40 is provided between the movable part 34a of the hole 4 and the tool 36, and the workpiece 38 is inserted into the hole 4 as shown in FIG.
1, after stopping the third shaft 34, use the press fitting unit 40 to insert the work 38 into the hole 41.
It is configured to be press-fitted into the

Problems to be Solved by the Invention However, with the industrial robot having the above configuration, when inserting or press-fitting the workpiece 38, as shown in FIG. A floating unit 37 for preventing damage to the tool 36 and workpiece 38, or as shown in FIG.
A press-fitting unit 40 is required for press-fitting.

The present invention solves the above problems, and aims to provide an industrial robot that does not require a floating unit or a press-fitting unit when performing insertion or press-fitting.

Means for Solving the Problems In order to solve the above problems, the present invention provides a controller for operating a robot, a work unit that performs work in direct contact with a workpiece, and a movable part for moving the work unit. In the industrial robot equipped with the above-mentioned industrial robot, when inserting or press-fitting a workpiece in the work unit, the controller is equipped with a function that detects the current flowing through the motor that drives the movable part and determines whether the work is successful or unsuccessful. It is a gift.

Effect: The above configuration eliminates the need for a floating unit or a press-fitting unit that was conventionally necessary during insertion or press-fitting, which is advantageous in terms of space saving and design efficiency.

EXAMPLE Hereinafter, an example of the present invention will be described with reference to the drawings.

FIG. 1 is a perspective view of an industrial robot according to an embodiment of the present invention, FIG. 2 is a front view of the same industrial robot, and FIG. 3 is a flowchart when press-fitting or inserting is performed using a controller.

In Figures 1 and 2, 1 is the first axis of the industrial robot that has a degree of freedom in one direction, 2 is the second axis that has a degree of freedom in the direction perpendicular to the first axis 1, and 3 is the 1 axis 1 and 2
The third axis has a degree of freedom in the direction perpendicular to the working area 4 on the plane formed by the axis 2, and the industrial robot is constituted by the first axis 1, the second axis 2, and the third axis 3. is controlled by a controller (not shown) that has the function of detecting and controlling the current flowing through each axis. Reference numeral 6 denotes a tool that comes into direct contact with the workpiece 7, and is attached to a bracket 8 connected to the movable part 3a of the third shaft 3. 9 is a part having an insertion hole 9a for inserting the workpiece 7;
It is arranged within an operating area 4 of an industrial robot, which is constituted by a first axis 1, a second axis 2, and a third axis 3.

The operation of the industrial robot configured as described above will be explained with reference to FIG. 3. When gripping the workpiece 7 with a tool 6 connected to the movable part 3a of the third shaft 3 by a bracket 8 and inserting or press-fitting it into the insertion hole 9a formed in the part 9, for example, as shown in FIG. If it fails, a reaction force F is applied to the movable part 3a, so the current flowing through the motor (not shown) that drives the third axis 3 due to the reaction force F is detected, and the current value and the current value are set in the controller in advance. Compare the current values, determine whether insertion or press-fitting has failed, and stop the insertion or press-fitting operation. This can prevent damage to the industrial robot, tool 6, bracket 8, workpiece 7, and parts 9.

In addition, for the first axis 1, second axis 2, and third axis 3, current can continue to flow to the motors that drive each axis up to the current value set in the controller, so it can be determined by the following formula. It can also be used as a press-fitting shaft with thrust force F.

Here, C is the torque constant of the motor, T is the torque of the motor, and T is the converted lead length of the drive system.With this configuration, when inserting or press-fitting a workpiece, industrial robots, tools, and workpieces can be It is possible to provide an industrial robot that does not require a conventional floating unit or press-fit unit to prevent damage.

Effects of the Invention As described above, according to the present invention, an industrial robot that does not require a floating unit or a press-fitting unit when inserting or press-fitting a workpiece can be obtained.

[Brief explanation of drawings]

Fig. 1 is a perspective view of an industrial robot according to an embodiment of the present invention, Fig. 2 is a front view of the industrial robot, and Fig. 3 is a flowchart for determining the insertion state by the controller of the industrial robot. , FIG. 4 is a perspective view of a conventional industrial robot for inserting a workpiece, FIG. 5 is a front view of the conventional industrial robot, and FIGS. 6 and 7 are states for explaining the insertion of a workpiece. 8 is a diagram showing a state in the case of a failure in inserting a workpiece, FIG. 9 is a perspective view of a conventional industrial robot for press-fitting a workpiece, and FIG. 10 is a diagram showing a state in which a workpiece is press-fitted. 1... First axis of industrial robot, 2... Second axis, 3
...Third axis, 3a...Movable part, 4...Working area,
6... Tool, 7... Work, 8... Bracket, 9... Parts, 9a... Insertion hole.

Claims (1)

[Claims] 1. A work unit that performs work in direct contact with the workpiece,
A movable part connected to the work unit to move the work unit; and a motor that drives the movable part when a work is inserted or press-fitted in the work unit by detecting the current flowing through the motor to move the work unit. An industrial robot equipped with a controller that determines whether the robot has succeeded or failed.