JPH04269186A - Industrial robot - Google Patents

Abstract

PURPOSE:To move a work not by the driving means of a device excepting a robot, with respect to an industrial robot. CONSTITUTION:A painting robot 1 has a painting gun 7 and rod 12 at the wrist part 6 of the arm 5 tip. The painting gun 7 sprays paint on the vane of an impeller (work) 16. When the painting onto a 1st impeller 16a is completed, the rod 12 is projected forward with a wrist 6 being actuated, also the painting gun 7 is descended. Then, the arm 5 is moved so as to turn the impeller 16 at 90 deg.. On reaching of a 2nd impeller 16b to the work position, the rod 12 is separated to paint the impeller 16b again. The painting robot 1 paints vanes 16a-16d one by one with the impeller 16 being rotated.

Description

[Detailed description of the invention]

0001

[Industrial Application Field] The present invention relates to industrial robots.
In particular, the present invention relates to an industrial robot configured to perform work by moving a plurality of workpieces having the same shape.

0002

[Prior Art] For example, in a painting robot that sprays paint onto a workpiece, each driving part (wrist, arm, etc.) is taught in advance to perform a painting operation corresponding to the shape of the workpiece, and the workpiece is moved by a conveyor device, etc. When the device transports the object to the painting booth, the above-mentioned painting operation is repeated.

[0003] Here, a specific example will be given and explained. For example, when painting a workpiece with multiple blades of the same shape, such as the impeller of a ventilation fan, using a painting robot, if you try to paint each blade one by one while changing the direction of the painting gun,
Teaching operations had to be performed for all the blades, which required considerable effort. Therefore, it is considered that the position of the blade to be painted is determined in advance, teaching is performed for one blade, and the positions of the other blades are sequentially changed by rotating the impeller.

0004

[Problem to be Solved by the Invention] However, when attempting to simplify the teaching operation for painting the blades of the impeller of a ventilation fan as described above, each time the painting robot finishes painting one blade, The impeller must be rotated by the worker, which creates the problem of requiring manual labor. Additionally, if we try to automate the work performed by workers, such as rotating the impeller, a new problem arises, such as the need for a drive means such as a motor to rotate the impeller separately from the painting robot. arise.

[0005] Therefore, an object of the present invention is to provide an industrial robot that solves the above problems.

[0006]

[Means for Solving the Problems] The present invention provides an industrial robot having a work tool at the tip of an arm for working on a plurality of workpieces having the same shape, in which a rod is provided at the tip of the arm, and the workpiece has a plurality of same shape parts. After the working tool has finished working on one of the same-shaped parts in the working position, the driving means drives the rod so as to move another identical-shaped part to the working position.

[0007]

[Operation] When an industrial robot works on a workpiece that has multiple parts of the same shape, after working on one part of the same shape at the working position, the rod provided at the end of the arm comes into contact with the workpiece. to move the next identically shaped part to the working position. Therefore, the teaching operation can be easily performed because it is only necessary to work on the same shaped part at the working position.

[0008]

Embodiment FIGS. 1 to 3 show a first embodiment of an industrial robot according to the present invention.

In each figure, the painting robot 1 includes a rotating base 3 provided on a base 2, a support 4 standing on the rotation base 3, and a horizontally extending structure supported by the upper end of the support 4. This is a multi-jointed electric robot that has an arm 5 that moves, and movable parts such as a wrist part 6 provided at the tip of the arm 5. A paint gun (work tool) 7 for spraying paint is attached to the wrist 6. Further, each movable part is driven by a motor (not shown) provided at each joint.

Accordingly, the coating gun 7 pivots horizontally as the pivot base 3 rotates, moves forward and backward as the support column 4 swings, and moves up and down as the arm 5 swings. The wrist part 6 consists of cases 8, 9, and 10 that have built-in motors and rotate around axes A, B, and C that are perpendicular to each other.
A paint gun 7 is attached to a stay 11 that protrudes forward of 0.

Reference numeral 12 denotes a rod provided at the tip of the arm 5, which is fixed to a fixture 13 provided at the top of the case 9.
The mounting member 13 projects upwardly at an angle α (≈45 degrees). That is, the rod 12 is provided at the upper part of the wrist part 6 at the tip of the arm 5, and is fixed so as to protrude in a direction different from that of the painting gun 7.The rod 12 is fixed to the workpiece by driving the arm 5, which operates as a driving means, as will be described later. Move the workpiece by contacting it. 14 is a conveyor device, hook 1
The object to be coated hung on 4a is transported to the coating booth. In this embodiment, a ventilation fan 15 as shown in FIG. 1 is transported as an object to be coated. Incidentally, an impeller (work) 16 having four blades (same-shaped portions) 15a to 15d is rotatably assembled to the ventilation fan 15. Each blade 16 of the impeller 16
A to 16d have the same shape and are provided at intervals of 90 degrees in the circumferential direction.

The painting robot 1 is taught in advance to paint each blade (workpiece) 16a to 16d of the ventilation fan 15. Each blade 16a to 16 of the impeller 16
Since b has a curved surface that changes three-dimensionally, it takes considerable effort to teach the blades 16a to 16b, which have different orientations, to be painted one by one.

However, since each of the blades 16a to 16d has the same shape, the painting robot 1 is only taught the painting operation for one blade at an arbitrary work position, and the painting operation for the first blade 16a is only taught. When the operation is completed, as will be described later, the rod 12 rotates the impeller 16 by 90 degrees by the operation of the arm 5 (shown in FIG. 3) to move the next impeller 1.
6b is moved to the working position and painting is performed.

[0014] Therefore, since the teaching operation of the painting robot 1 only needs to be performed on one blade, even if the blade shape is changed, the teaching operation on the first blade can be re-performed. Teaching can be easily changed.

When the ventilation fan 15 is conveyed to the painting booth by the conveyor device 14, the painting robot 1 executes the painting work that has been taught in advance. The teaching data of the painting robot 1 is input to the control device 17 shown in FIG. 1, and the painting control device 17 executes the process shown in FIG.

The processing executed by the control device 17 will now be explained. First, in step S1 (hereinafter steps will be omitted), the painting robot 1 is kept in a standby state until the ventilation fan 15 arrives at the painting point P of the painting booth.

The ventilation fan 15 is conveyed in the X direction by the conveyor device 14, and when it arrives at the painting point P (shown in FIG. 1) of the painting booth, each movable part of the painting robot 1 is operated, and paint is supplied from the painting gun 7. is sprayed to start painting (S2).

Since the painting robot 1 has been taught the painting operation for the blade 16a in the working position as described above, it sprays paint uniformly onto the surface of the first blade 16a in the working position.

During the painting operation, as shown in FIG. 2, the movement of the wrist portion 6 causes the painting gun 7 to point in the direction (forward) of the blade 16a, which is the object to be coated, and the rod provided on the wrist portion 6 12 projects diagonally upward. Therefore, the painting work is not obstructed by the rod 12.

In S3, when it is confirmed that the painting work on the first blade 16a is completed, the painting gun 7
is turned off to stop spraying the paint and move on to the next step S4.

In S4, the rod 12 is brought into contact with the impeller 16 as shown in FIG. 3, and the impeller 16 is rotated 90 degrees clockwise by driving the arm 5. As a result, the second blade 16b reaches the same position as the previously painted first blade 16a.

[0022] In this way, the impeller 16 as a workpiece
When rotating the paint gun 7 by a certain angle, the case 8 of the wrist portion 6 is rotated approximately 45 degrees in the D direction (counterclockwise) so that the rod 12 protrudes in front of the arm 5.
is evacuated downward so as not to collide with the ventilation fan 15. Then, the painting robot 1 attaches the tip of the rod 12 to the blade 1.
6b and rotate the arm 5 to the right. Therefore, the impeller 16 is rotated clockwise by 90 degrees as the driving force generated by the swinging motion of the arm 5 is transmitted through the rod 12.
Rotate degrees.

In the next step S5, the same coating operation as in the above S2 is started for the second blade 16b. When it is confirmed in S6 that the painting work on the second impeller 16b has been completed, it is checked in S7 whether the painting on all the blades 16a to 16d has been completed.

In S7, if only the second blade 16b has been painted, return to S4, bring the rod 12 into contact with the impeller 16 as described above, and rotate the impeller 16 90 degrees clockwise. Rotate it. Then, the painting robot 1 performs the painting operation on the third blade 16c.

The above steps S4 to S7 are performed on all blades 16.
This process is repeated until painting of a to 16d is completed. S7
When it is confirmed that the fourth blade 16d has been painted, the process moves to S8 and the painting robot 1 is placed in a standby state as in S1. During this standby state, the conveyor device 14 is driven, and the painted ventilation fan 15 is transported to the non-painting position, and the unpainted ventilation fan 15 is transported to the painting point P.

In this way, the wrist portion 6 of the painting robot 1
By rotating the impeller 16 by bringing the rod 12 provided on the rod into contact with the impeller 16 as a workpiece, there is no need for a worker or a drive means such as a motor to rotate the impeller 16, and the painting work can be completed easily. can be automated more efficiently.

Furthermore, since this embodiment has a simple structure in which the rod 12 is provided on the wrist portion 6, the load on the arm 7 is light and there is no risk of deterioration of the operating characteristics during painting. Moreover, it is also possible to provide the rod 12 in a conventional painting robot.

A second embodiment of the present invention is shown in FIGS. 5 and 6. In this embodiment, in both figures, a workpiece drive motor 20 as a rod drive means is provided on the upper part of the case of the wrist part 6.
A rod 21 is fixed to the output shaft 20a of the motor 20. This rod 21 is spaced apart above the coating gun 7 and extends so as to project forward by an output shaft 20a.

Therefore, the motor 20 and the rod 21 are provided at a position where they do not interfere with the spraying of paint by the paint gun 7 during painting work.

When performing a painting operation, the paint is sprayed with the paint gun 7 facing the direction of the impeller 16, as shown in FIG.

When the coating on the first impeller 16a is completed, the paint spraying is stopped and the arm 5 is lowered as shown in FIG. let Subsequently, the motor 20 is driven, and the rod 21 rotates in the opposite direction (clockwise).

[0032] Therefore, the impeller 16 is pressed by the rod 21 and rotates 90 degrees counterclockwise, and the impeller 16 located on the lower side rotates 90 degrees counterclockwise.
6d reaches the painting position. Then, the painting robot 1 performs the painting work on the blades 16d as before. In this way, the painting robot 1 alternately repeats the painting work on each blade 16a to 16d and the work of rotating the impeller 16. All the blades 16a to 16d are automatically painted.

In this embodiment, since the workpiece drive motor 20 is provided at the wrist 6, the painting robot 1 only needs to move the arm 5 so that the rod 21 comes into contact with the impeller 16. Yes, the teaching operation can be simplified.

In addition to the embodiments described above, an actuator such as an air cylinder or hydraulic cylinder may be provided on the wrist portion 6 as a driving means.

It goes without saying that the present invention can also be applied to welding robots and sealing robots other than the painting robots described in the above embodiments.

[0036]

[Effects of the Invention] As described above, the industrial robot according to the present invention is provided with a rod for moving a workpiece at the tip of the arm,
This rod can be used to move workpieces that have multiple parts of the same shape, and each of the same shape parts can be worked on with a work tool at the working position, which simplifies the teaching operation and allows for the use of a device for moving the workpieces. It has features such as being able to automate work without having to provide a separate device.

[Brief explanation of the drawing]

FIG. 1 is a perspective view of a first embodiment of an industrial robot according to the present invention.

FIG. 2 is an enlarged view of the main part of the wrist, which is the main part of the present invention.

FIG. 3 is a perspective view for explaining the operation when rotating the impeller.

FIG. 4 is a flowchart for explaining processing executed by a robot control device.

FIG. 5 is an enlarged view of main parts for explaining a second embodiment of the present invention.

FIG. 6 is a perspective view for explaining the rotational operation of the impeller of the second embodiment.

[Explanation of symbols]

1 Painting robot 5 Arm 6 Wrist part 7 Paint gun 8, 9, 10 cases 12 Rod 14 Conveyor device 15 Ventilation fan 16 Impeller 16a-16d Feather 17 Control device 20 Drive motor

Claims (1)

[Claims] 1. An industrial robot having a working tool at the tip of an arm for working on a workpiece having a plurality of identically shaped parts, wherein a rod is provided at the tip of the arm, and a rod is provided at the tip of the arm to work on a workpiece having a plurality of identically shaped parts. 1. An industrial robot comprising driving means for driving said rod so as to move another identically shaped part to a working position after the work tool has finished working on the same shaped part.