JPH04133561U - Spherical work robot - Google Patents

Abstract

(57) [Summary] [Purpose] The purpose of this invention is to improve cutting efficiency by tilting the cutting edge in any direction without changing its position, by making the contact surface of the cutting edge against the workpiece a part with good cutting performance. It is said that [Structure] The tool shaft of the tool unit is installed so that it can tilt relative to the work axis that points toward the center of the workpiece, and the cutting edge at the tip of the tool shaft tilts up and down along the work axis that points toward the center of the workpiece. The present invention relates to a spherical work robot equipped with a driving means for moving the robot.

Description

[Detailed explanation of the idea]

0001

[Industrial application field]

This invention is a spherical workpiece that performs spherical work on spherical workpieces by moving the tool rotation axis up and down. Regarding industrial robots.

0002

[Conventional technology]

FIG. 7 shows a conventional spherical work robot. The first rotational drive source disposed on the base 50 A first arm 52 is attached to the first rotating shaft 51 of the The second rotation shaft 53 of the second rotation drive source is attached so as to be perpendicular to the axis of the rotation shaft 51, and A second arm 54 is attached to the second rotating shaft 53, and a tool unit is attached to the tip of the second arm 54. Attach the knit 55 and align the tool shaft 56 with its axis facing the workpiece 58. It was arranged so that it could slide along the line. 57 is a blade, 58 is a workpiece, and is connected to the first rotating shaft 51. It is fixed to the upper end of a coaxial support rod 59. Therefore, the center of the tip of the blade is always the workpiece 5. 8 is subjected to contact cutting.

0003

[Problem that the idea aims to solve]

In the above conventional technology, the tool of the tool unit 55 rotates around the workpiece. The shaft 56 always slides and rotates in alignment with the work axis toward the center of the workpiece 58, and the rotation of the blade 57 Since it hit the center of rotation and the workpiece 58 near it, the cutting speed was low and the area was disadvantageous. The problem was that the cutting efficiency was poor.

0004

[Means to solve the problem]

The purpose of this invention is to solve the above-mentioned problems. A first arm is attached to the first rotating shaft of the power source, and the first arm is attached to the first rotating shaft. A second rotating shaft of the second rotational drive source is attached so as to be orthogonal to the line, and a second rotating shaft is attached to the second rotating shaft. Attach the arm, attach the tool unit to the tip of the second arm, and attach the tool shaft. A spherical work robot that is arranged so that its axis slides along the work axis that faces the workpiece. At the same time, the tool axis of the tool unit is tilted with respect to the work axis toward the center of the workpiece. The cutting edge at the tip of the tool shaft is aligned along the work axis toward the center of the workpiece. It is characterized by being equipped with a driving means that moves up and down.

[0005]

【Example】

1 and 2 show a first embodiment of the present invention. First rotary drive source installed on base 1 A first arm 3 is attached to the first rotating shaft 2, and the first rotating shaft 2 is attached to the first arm 3. The second rotating shaft 4 of the second rotational drive source is attached so as to be orthogonal to the axis of the second rotating shaft. A second arm 5 is attached to 4, and a tool unit 6 is attached to the tip of the second arm 5. It is written. A workpiece 7 is fixed to the upper end of a support rod 8 coaxial with the first rotating shaft 2. .

[0006] In the above-mentioned spherical work robot, the present invention has a sliding body 10 attached to the tool unit 6 by an arrow. An arc-shaped worm wheel 11 is attached to the sliding body 10 so as to be able to slide in the direction. The worm formed inside the tool shaft 12 is engaged with the tip of the tool shaft 12. It is designed to be able to rotate around the blade 13. 14 is attached to the upper end of the tool shaft 12. This is a motor for driving the internal worm. 15 is the work axis toward work 7. Ru.

[0007] Next, the effect will be explained. When the motor 14 is operated, the water inside the tool shaft 12 The worm rotates, and the tool shaft 12 moves around the arc-shaped worm wheel 11 around the blade 13 at the tip. mesh and rotate along. The tool shaft 12 is tilted at a predetermined angle with respect to the work axis 15. After that, the sliding body 10 is moved back and forth in the direction of the arrow A to move the blade 13 toward the center of the workpiece 7. Position it on line 15. Next, the sliding body 10 is moved in the direction of arrow B along the working axis 15. The workpiece 7 is machined by sliding.

[0008] In addition, instead of a worm and a worm wheel, a roller is used to press and slide, Ordinary gears may also be used.

[0009] 3 to 6 show a second embodiment of the present invention. 24 is the second rotating shaft, 25 is the second axis 26 is a tool unit. The tool unit 26 is located at the tip of the second arm 25. It is arranged so that it can be slid in the direction of arrow A along the guide rail 28 by the motor 27 of the It is attached. 33 slides in the B direction within the tool unit 26 by an internal motor. The tool shaft holder is arranged so that the tool shaft 30 is moved by the motor 29 in an arrow direction. It is designed to be able to rotate in the direction marked C. 31 is a blade.

0010 Next, the effect will be explained. First, operate the motor 29 to move the tool shaft 30 to work. It is swung in the C direction and tilted at a predetermined angle with respect to the work axis 32 that faces . Next, the motor The tool unit 26 is slid in the direction A along the guide 28 by operating the motor 27 to remove the blade. 31 is positioned on the working axis 32. Next, insert the tool shaft holder 33 into the internal mold. The workpiece is machined by sliding in direction B by the motor.

[0011]

[Effect of the idea]

According to the present invention, the first arm is attached to the first rotating shaft of the first rotating drive source disposed on the base. A second rotational drive is attached to the first arm so as to be orthogonal to the axis of the first rotation shaft. Attach a second rotation shaft of the source, attach a second arm to the second rotation shaft, and attach the second arm to the second rotation shaft. A tool unit is attached to the tip of the tool, and the tool axis is set as a work axis with its axis facing the workpiece. In a spherical work robot arranged to slide along a line, work towards the center of the workpiece is performed. The tool shaft of the tool unit is installed so that it can be tilted relative to the work axis, and the tool Equipped with a drive means that moves the cutting edge at the tip of the shaft up and down along the work axis toward the center of the workpiece. Therefore, by tilting the blade in any direction without changing the position of the blade, the blade can be easily applied to the workpiece. The cutting efficiency can be improved by making the abutting surface into a part with good machinability.

[Brief explanation of drawings]

FIG. 1 is a front view of a first embodiment of the present invention.

FIG. 2 is an external perspective view of the tool unit shown in FIG. 1;

FIG. 3: Second embodiment of the present invention, second rotating shaft, second arm,
It is an external perspective view of a tool unit part.

4 is a front view of the tool shaft in FIG. 3 before tilting; FIG.

5 is a front view of FIG. 4 when the tool shaft is tilted; FIG.

6 is a front view of the tool shown in FIG. 5 after the axis has been corrected; FIG.

FIG. 7 is a front view of a conventional device.

[Explanation of symbols] 1 base 2 First rotation axis 3 1st arm 4 Second rotation axis 5 Second arm 6 Tool unit 7 Work 10 Sliding body 11 Worm wheel 12 Tool axis 13 blade 14 Motor 15 Work axis 24 Second rotation axis 25 Second arm 26 Tool unit 27 Motor 28 Guide rail 29 Motor 30 Tool axis 31 blade 32 Work axis

Claims (1)

[Scope of utility model registration request] Claim 1: A first rotary drive source disposed on a base.
A first arm is attached to the rotation shaft, a second rotation shaft of a second rotation drive source is attached to the first arm so as to be orthogonal to the axis of the first rotation shaft, and a second rotation shaft is attached to the second rotation shaft. In a spherical work robot, an arm is attached, a tool unit is attached to the tip of the second arm, and the tool axis is arranged so that its axis slides along the work axis toward the workpiece. The tool shaft of the tool unit is mounted so as to be tiltable with respect to the work axis directed toward the center of the workpiece, and the cutting edge at the tip of the tool shaft moves up and down along the work axis directed toward the center of the workpiece. A spherical work robot equipped with a drive means for