JPH04164588A - Opening/closing hand for door and the like of industrial robot - Google Patents

Abstract

PURPOSE:To reasonably absorb the side slip and angle slip of a vehicle body travelling on a manufacture assembly line, by bearing the rod of an oscillating pad by a spherical bearing and slide bearing on an L type plate frame. CONSTITUTION:A column 10 is extended to a robot wrist H, an L type plate frame 12 on which a lot of holes are arranged side by side is fitted to the tip of the column 10, and a rod 18 equipped with an oscillating pad 23 via a spherical bearing 17 and slide bearing SB is borne freely tiltably and elusively for the frame 12. Therefore, the rod 18 is freely tilted for the L type frame 12 fixed to the column 10 by a spherical bearing 17, also is freely elusive by the slide bearing SB, so the oscillating pad 23 completely absorb the side slide and angle slide of a car body, the fitting position of the oscillating pad can be adjusted as well with the use of the hole group, and it can cope with even the size change of the automobile.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a tool at the tip of an industrial robot's wrist, that is, a hand, and is particularly effectively utilized in an automobile manufacturing line.

[Conventional technology]

Robots have traditionally been used to open and close hoods and trunk lids on automobile manufacturing lines.

There were some automobile manufacturing lines that had six-axis robots installed to open and close doors. FIG. 5 shows a conventional 6-axis robot, and as shown in the figure, a rotating trunk 1 rotates R8 on axis χ1, a rotating arm 2 rotates T on axis X2, and T2 rotates on axis X3.
Arm 3 rotates and rotates R2 on axis X4, and T on axis X.
It consists of an arm 4 that rotates three times and a wrist tip that rotates R1 around an axis X6. That is, the basic 3 of axes X+, Xi, and X3
A six-axis robot consisting of a shaft and three wrist axes X, , X, , X was used to open and close automobile doors with a suction pad 25 at the tip of the wrist.

In addition, a 3-axis robot was used to only open and close the hood and trunk lid, and a separate device was used to secure the lid for work.

In addition, the link mechanism sometimes accommodated the misalignment of the hood and trunk lid to open and close them.

[Problem to be solved by the invention]

Automobiles being assembled on an automobile production line are often accompanied by angular or positional deviations in the body.

When using a 6-axis robot, it is possible to correct the three-dimensional position and orientation of the wrist-end tool to deal with misalignment of the car body, but deploying a 6-axis robot requires high equipment costs, and therefore large misalignments are unlikely. 6 on the line that occurs in the bank
Although it is worthwhile to use a six-axis robot, it is not reasonable to deploy a six-axis robot on a line where only small displacements of solder occur.

Further, since a three-axis robot can only move in two directions, y and z, that is, move within one plane, the robot alone cannot deal with lateral or angular deviations of automobile bodies flowing on the production line.

Furthermore, in a link mechanism that absorbs lateral or angular displacement of the automobile body, the weight of the hand becomes large, and the pitch of the pad is immutable, resulting in a lack of flexibility.

The present invention solves the above-mentioned problems by using a novel hand mechanism to enable even a three-axis robot to cope with lateral and angular deviations of vehicle bodies flowing on a production line.

[Means and effects for solving the problem] For example, as shown in FIG.
Shaped frame 1 with many holes h0 arranged in parallel at the tip of 0
2 is attached to the frame 12, and a rod 18 provided with an oscillating pad 23 is supported on the frame 12 via a spherical bearing 17 and a sliding bearing SB so as to be tiltable and retractable.

Therefore, the rod 18 can freely tilt with respect to the rectangular plate frame fixed to the column by the spherical bearing 17, and can freely move in and out by the sliding bearing SB, so that the oscillating pad 2
3 completely absorbs lateral and angular deviations of the car body, and the mounting position of the swing pad can be adjusted using the hole group, making it possible to cope with changes in the size of the car.

In addition, when the cylinder 25 equipped with a cushion 27 at the tip of the piston rod 26 is fixed to the L-shaped plate frame as a pair with the swing pad 23, after the swing pad 23 adsorbs the object, the cushion 27 is slightly removed. By pushing out, the suction force of the suction pad 23 is increased.

Further, a rod 18 equipped with a swing pad 23 at the tip,
A cylinder 25 with a cushion 27 at the tip is attached to the base 24, and the base 24 is adjustable through a group of vertical holes HT arranged in parallel on the L-shaped plate frame 12, and the fixing plate 11 at the tip of the support column 10 is attached to the base 24. If it is adjustably installed through the horizontal hole h0 group arranged in parallel on the L-shaped plate frame 12, the support column 1
Not only the distance between the 0 itself and the support 10 and the base 15 can be adjusted, but also the vertical position of the base 15 with respect to the L-shaped plate frame 12 can be adjusted, making it suitable for changing the model of automobiles flowing on the manufacturing assembly line. I can deal with it.

Further, since the rod 18 of the swing pad 23 is tiltable with respect to the base 15 via the spherical bearing 17, and is also freely retractable via the spring 22 and the sliding bearing SB, the swing pad can be attached to the vehicle body door. There is no unreasonable force in contacting and suctioning the base 15, and the base 15 as a unit can be easily attached and detached.

〔Example〕

Example 1 (Figs. 1 to 4B): Fig. 1 is a front view of the main part, Fig. 2 is a plan view thereof, and Fig. 3 is a side view thereof. The base end of a column 100 was attached to the robot wrist H of the axis robot via a mounting flange F, and a fixing plate 11 was fixed to the tip of the column 10 by welding.

The L-shaped plate frame has a large number of elongated holes in the width direction arranged side by side at equal intervals in the horizontal part 12', and a large number of elongated holes h+ in the vertical direction arranged in parallel at equal intervals in the vertical part 12''. Shaped steel piece 1
2, keeping the distance between the horizontal parts 12' and 12', and the width between the vertical parts 12" and 12"! .

They were formed by integrally screwing together with bolt screws S0 through the connecting plates 14 at both ends while maintaining the same.

Then, the solid plate 11 at the tip of the support column 10 is placed on the rain horizontal parts 12', 12' of the L-shaped steel frame 12, and fixed with screws S through the long holes h0 from below the horizontal parts 12'. .

In addition, although only one side is shown in FIGS. 1 and 2, bases 1
5 was fitted between both vertical parts 12" and 12" and screwed together with a bolt screw S2 through the vertical elongated hole h1.

A notch C1 is formed at the inner end of the base 15, a mounting plate 24 is screwed onto the notch C1 with bolts s4, and an air cylinder 25 is fixed to the mounting plate, thereby forming a compressed air supply vibrator Pz, P. A piston rod 26 was protruded downward from the air cylinder 25, and a cushion 27 made of urethane rubber was fixed to the tip of the piston rod 26.

In addition, a notch C2 is formed at the outer end of the base 15, and
The presser cover 16 is screwed onto the notch C2 with a bolt screw S3, the spherical bearing 17 is supported in the notch C2, and the rod 18 is slidably inserted into the slide bearing SB on the inner circumference of the bearing 17. A compression spring 22 is interposed between the lower spring receiver 21 and the recess R on the lower surface of the base 15, and a washer 19 is fixed to the upper end of the rod 18 with a nut 20.
Spring pressure was applied to. A swinging pad 23 for suction was fixed to the lower end of the rod IB, and the vibe P and the inside of the pad 23 were communicated through a base 28.

The opening/closing work of doors with the obtained hand is performed by operating a robot arm (not shown), moving the L-shaped steel frame 12 to the position where it grips the doors of the automobile body by operating the wrist H and the support 10, and opening and closing the doors on both sides. The swing pad 23 (only one side is shown) is brought into contact with the door, and then air is absorbed through the vibe PI to give the pad 23 suction force, and then the piston rod 26 is extended by the air cylinder 25 and the cushion 27 After pressing the doors slightly to deform the pad 23 and increasing the suction force of the pad, the doors are opened by operating the robot's arm (not shown), and after the necessary work is completed, the doors are closed, and then the air cylinder 25 , the cushion 27 is separated from the doors and air is blown into the pad 23 via the vibrator Pt.
3, and by operating the robot arm, the L
The shaped steel frame 12 was moved to a standby position for the next operation.

The hand of the present invention has a suction pad 23 as shown in FIG. 4B.
The robot can swing freely, the rod 18 of the pad can be tilted freely by the spherical bearing 17, and the rod can be moved up and down during the day by the sliding bearing SB and the compression spring 22. Even though the robot itself is a three-axis robot with only a degree of freedom in one plane, even if the cars moving on the assembly line were lateral or angular, it was able to absorb these deviations without any problems.

Also, remove the bolt screws SI from the L-shaped steel frame 12 to determine the width of the fixing plate 11! , is smaller than the width lo of the frame 12, the center position of both pads 23, 23 can be adjusted by changing the position of the support 10, or by removing the bolt and screw St and changing the mounting position of the base 15. We were able to respond appropriately to changes in target doors and door sizes.

In addition, since the pad 23 and air cylinder 25 are attached to the base 15, the height of the pad and cylinder can be adjusted by vertically adjusting the base 15 along the vertical elongated hole, making it possible to adjust the height of the pad and cylinder appropriately for the target doors. I was able to deal with it.

Furthermore, the gripping state of the pad could be controlled by the pressure of the piston of the cylinder.

Others: In this embodiment, the L-shaped plate frame 12 was constructed from a pair of L# steel pieces, but the L-shaped plate frame has a support column that can be adjusted in the front, back, left, and right positions, and a base that can be adjusted in left, right, up, and down positions. If the configuration can be installed, it will achieve the intended purpose, so
It may be a single L-shaped steel material, or it may be made of a similar material, for example, an L-shaped plastic plate having the same rigidity as steel material.

Moreover, as a supporting means that allows the swing pad 23 to extend and retract from the L-shaped plate frame 12, a conventional elastic stress (spring stress) imparting means may be used instead of the compression spring 22.

〔Effect of the invention〕

The rod of the oscillating pad has a spherical bearing and a sliding bearing.
Since it is supported by a 3-steel frame, the pads have a degree of freedom in all directions relative to the L-shaped plate frame due to the oscillation of the pad, which prevents lateral and angular shifts of the vehicle body as it moves on the manufacturing assembly line. It can be absorbed easily.

In addition, since the pad and cylinder are a pair, the adsorption force of the pad is increased by the pressure of the cushion of the cylinder.
In addition, it is possible to position the pad in its holding state.

In addition, since the base on which the pads and cylinders are attached is selectively fixed with screws to the parallel long group of L-shaped plate frames, the spacing between the pads on both sides can be adjusted depending on the target door type, that is, left and right adjustment, and The height of the pad and cylinder as a pair can be adjusted, that is, the height can be adjusted up and down.

Furthermore, since the columns are selectively attached to the elongated holes h0 group of the L-shaped plate frame via the fixed frame, the center position of the pad can be adjusted by adjusting the columns left and right with respect to the L-shaped plate frame.

[Brief explanation of the drawing]

FIG. 1 is a partial front view of an embodiment of the present invention, FIG. 2 is a plan view of the L-beam frame, and FIG. 3 is a side view of the main part. FIG. 4A is an enlarged front view of the band portion, and FIG. 4B is an explanatory diagram of its tilting and retracting state. FIG. 5 is a schematic diagram of a conventional six-axis robot. 1... Rotating trunk, 2... Rotating arm, 1
0... Support, 11... Fixed plate, Work 2.
...L-shaped plate frame, 14...Connection plate, 15...
Base, 16... Pressed lid, 17... Spherical bearing,
18...Rod, 19...Washer,
20...Natsuto, 21...Splash receiver,
22... Spring, 23... Swing pad,
24...Mounting plate, 25...Cylinder, 2
6... Piston rod, 27... Cushion,
28...cap, ho...horizontal elongated hole, hl.
...Vertical long hole, P 1. Pz, Ps...pipe, SB...slide bearing.

Claims (1)

[Claims] 1. An L-shaped plate frame (12) is attached to the tip of the support column (10), and a spherical bearing (
17) and the swing pad (
23) A door opening/closing hand for an industrial robot that supports a tiltable and retractable door. 2. The L-shaped plate frame (12) has many horizontal holes (h_0
) group and the vertical hole (h_1) group, and a cylinder (25) equipped with a cushion (27) at the tip of the piston rod (26) is paired with an oscillating pad (23) to form an L-shaped plate frame (12). 2. The door opening/closing hand according to claim 1, wherein the door opening/closing hand is detachably fixed to the hole (h_1) of the hole (h_1). 3. Rod (18) with swing pad (23) at the tip
) and a cylinder (2) with a cushion (27) at the tip.
5) to the base (24), and attach the base (24) to the base (24).
4) to the L-shaped plate frame (12) with vertical holes (h
_1) A claim in which the fixing plate (11) at the tip of the support column (10) is removably attached to the L-shaped plate frame (12) via a group of parallel horizontal holes (h_0). Item 1
Or 2. Door opening/closing hand. 4. The rod (18) of the oscillating pad (23) is tiltable with respect to the base (15) via a spherical bearing (17), and is tiltable via a spring (22) and a sliding bearing (SB). 4. The door opening/closing hand according to claim 1, wherein the door opening/closing hand is movable.