JPH0438899Y2 - - Google Patents

Description

[Detailed explanation of the idea] [Industrial application field] The present invention relates to a drilling device using a robot.

[Conventional technology]

Conventionally, in order to drill holes in the hood, which is a part of the body of an automobile, drilling units have been individually installed at all positions where holes need to be drilled. This allows all the holes needed in the workpiece to be drilled at once.

[Problems to be Solved by the Invention] The conventional drilling apparatus as described above has a problem of poor flexibility when changing the position of the hole in the workpiece. Although it has been devised so that the workpiece can be drilled while moving back and forth and up and down relative to a fixed drilling unit, it is quite difficult to drill holes in several car models with the same equipment. Ta. Furthermore, since each drilling unit is provided individually, the mechanism becomes complicated and maintenance is troublesome. Furthermore, there were problems such as not only high equipment costs but also a long repair period when changing models.

[Means for solving problems]

The drilling device using a robot according to the present invention consists of a drilling unit attached to the robot and a positioning jig that supports the drilling unit at a predetermined position, and the positioning jig sets a reference position. The robot has a plurality of positioning supports that can be moved, and a positioning hole is provided in each positioning support, and a positioning pin corresponding to the positioning hole is attached to the drilling unit. This is characterized in that the drilling unit can be accurately set at a predetermined position by transporting the tool to the positioning support and inserting the positioning pin into the positioning hole.

〔Example〕

Referring to FIGS. 1 and 2, reference numeral 10 indicates a hand portion of the robot, and the body (not shown) of the robot is fixed to a base surface such as a floor. Reference numeral 12 indicates a drilling unit, and reference numeral 14 indicates a positioning jig. The drilling unit 12 is fixedly attached to the robot hand portion 10 and is moved into position by pre-taught movements of the robot. The positioning jig 14 supports the drilling unit 12 at its predetermined position. H is a hood that is a part of an automobile component to be processed, and is supported in a predetermined position by another support device disposed in relation to the positioning jig 14. In the embodiment, a hole for attaching the emblem is made at the edge of the rear hood.

As shown in FIGS. 1 and 3, the drilling unit 12 basically includes a punch 2 and a die 3, and the punch 2 is a piston rod of a hydraulic cylinder 5 attached to a main frame 4. It was attached to 6. The die 3 is attached to a top frame 7 connected to the main frame 4.

Referring to FIGS. 1 and 2, the positioning jig 14 includes three sets of positioning supports 18 attached at approximately equal angular positions to a support shaft 16 that extends horizontally and is rotatably arranged. 20, 22, and each set of positioning supports 18, 20, 22 is further constituted by three similar members arranged on a surface along the perforated edge of the hood H.
Therefore, each set of positioning supports 18, 20, 22 can be used to punch three holes in one hood H, respectively. When the type of car changes, the position of the hole in the hood H also changes, and in this case, the positioning supports 18, 20, 22 must be rotated to use different positioning supports 18, 20, 22.

For this reason, the support shaft portion 16 is rotatably attached to the frame, and a rotating plate 26 is attached to one end. A hydraulic rotary cylinder 30 is connected to the outside of the rotating plate 26 of the support shaft portion 16 via a coupling 28 . The rotary cylinder 30 rotates the support shaft portion 16 together with the rotary plate 26, and
A desired one of the sets of positioning supports 18, 20, 22 can be brought into a predetermined position opposite the hood H. three sets of positioning support parts 18,
Different reference positions can be set for holes 20 and 22 in the hoods H of different vehicle models. Three grooves 32 are formed on the outer periphery of the rotary plate 26, and a lock pin 34 is arranged to engage with one of the grooves 32 of the rotary plate 26. The locking pin 34 is attached to the piston rod 38 of the hydraulic cylinder 36, so that the locking pin 34 locks the positioning support in the position mentioned above through the rotating plate 26.

Referring to FIGS. 1, 3, and 4, there is a bracket 40 at the tip of the hand portion 10 of the robot.
is mounted, and a first horizontal X-direction slider mechanism 42 is mounted to this bracket 40.
The first horizontal X-direction slider mechanism 42 has two slider shafts 44 and 46 extending in parallel in a vertical relationship, and these slider shafts 44 and 46 are connected to a slider housing plate mounted perpendicularly to the bracket 40. The upper and lower support arms 50 and 52 are respectively attached to upper and lower support arms 50 and 52 that extend horizontally from the upper and lower ends of 48.
As shown in FIG. 4, the upper and lower support arms 50 and 52 support both ends of each slider shaft 44 and 46, and are arranged so as to form a space in between.

Referring to FIG. 4, a slider 56 is slidably attached to the upper slider shaft 44 via a bearing 54. As shown in FIG. Spring 58, 60 is slider 56
between the slider 56 and the support arm 50. Therefore, the slider 56 is normally located in the middle of the upper slider shaft 44 where the forces of both springs 58 and 60 are balanced, but when it receives an external force, it can slide along the upper slider shaft 44. When the external force weakens, it returns to the intermediate position. A similar slider is also provided for the lower slider shaft 46. These upper and lower sliders 56 are connected by a connecting plate 62 (FIG. 3) that extends vertically in parallel with the slider housing plate 48.

A second horizontal Y-direction slider mechanism 64 is attached to this vertical coupling plate 62. The second Y-direction slider mechanism 64 has slider housing plates 66 on both sides connected to the vertical connecting plate 62 and arranged to sandwich the upper frame 7 of the drilling unit 12, and each slider housing plate 66 A slider shaft 68, a slider 70, and springs on both sides having substantially the same configuration as the first X-direction slider mechanism 42 are arranged. The slider 70 is the slider shaft 6
8.

Furthermore, a third vertical Z-direction slider mechanism 72
A slider housing plate 74 is attached to each slider 70. The slider housing plate 74 of the third Z-direction slider mechanism 72 has a vertical slider shaft 76, and a slider 78 is disposed on the slider shaft 76 between springs on both sides. In this way, the three-stage slider mechanism 4
2, 64, and 72 are connected, and the final stage slider 7
8 can move in the X, Y, and Z directions upon receiving external force.

As shown in FIGS. 1 and 3, the main frame 4 of the drilling unit 12 is connected to this last stage slider 78 and is therefore movable in the X, Y and Z directions. The main frame 4 of the drilling unit 12 is supported by one of the positioning supports 18, 20, 22 of the positioning jig 14. For this purpose, each positioning support 18 , 20 , 22 has a recess for accommodating the operating hydraulic cylinder 5 of the punch 2 and has two upward reference support surfaces 80 , 82 for receiving the main frame 4 . There is. Reference support surface 80,
82 are formed at different heights, with the reference support surface 80 being higher. These reference support surfaces 80,8
2 are provided with cylindrical positioning holes 84 and 86, respectively.

The main frame 4 of the drilling unit 12 has a reference support surface 80 of the positioning support parts 18, 20, 22,
Base surfaces 88 and 90 corresponding to 82 are formed, and positioning pins 92 and 94 are attached to protrude from these base surfaces 88 and 90. The positioning pins 92 and 94 have diameters that match the positioning holes 84 and 86, respectively, and have tapered tips. Therefore, the drilling unit 12 is carried by the robot 10 to the predetermined positioning supports 18, 20, 22, and the drilling unit 12 is moved by inserting the positioning pins 92, 94 into the positioning holes 84, 86. It can be set at a predetermined position with high precision, and then the operating hydraulic cylinder 5 can be actuated to make an accurate hole in the hood H set at the corresponding position.

At this time, since the drilling unit 12 can move in the X, Y, and Z directions relative to the robot hand 10, the robot hand 10 moves the drilling unit 12 so that the positioning pins 92 and 94 align with the positioning holes 84 and 86. All you have to do is move it to a rough location that matches your needs.
That is, as long as the tapered tips of the positioning pins 92, 94 engage the positioning holes 84, 86, when the drilling unit 12 is pressed (against the spring of the slide mechanism), the positioning pins 92, 94 will be removed.
enters the positioning holes 84 and 86, and accurate positioning is performed. Therefore, the robot hand 10 can be a general-purpose robot with an accuracy of several millimeters, and the positioning pins 92 and 94 can be inserted into the positioning holes 8.
By inserting it into the holes 4 and 86, it is possible to drill holes with an accuracy of 1/10th of a millimeter. Furthermore, by supporting the drilling unit 12 at the drilling position with the positioning supports 18, 20, and 22, the robot does not need to withstand punching impact or vibration, and the robot does not need to have a stronger structure than necessary. disappears. When the drilling is completed, the drilling unit 12 is moved to the next positioning support part 18 by the hand 10 of the robot.
20, 22, thus making it possible to perform a plurality of holes in succession with one drilling unit 12.

One positioning pin 92 is fixed to the main frame 4 by screwing a nut 96 into a threaded portion formed at its upper end, while the other positioning pin 94 is secured to the main frame 4 by a spherical bearing. It is supported so that it can pivot.

FIG. 5 shows the spherical bearing support structure of the positioning pin 94 visible on the left side in FIG. A sleeve-shaped lower frame 98 is attached to the lower end of the main frame 4. A base ring 1 is connected to the lower end of the lower frame 98 via an insulating disc 100.
02 is attached, and this base ring 102 forms the base surface 90. Bolts 104 also attach base ring 102 to lower frame 98 via an insulating material. The base ring 102 is electrically insulated from the positioning pin 92 and is connected to the base ring 102, the positioning support 18, and the base surface 88.
An electric circuit is formed with the members forming the base surface 8.
When 8 and 90 overlap reference support surfaces 80 and 82, respectively, an electrical circuit through these members is closed to generate a positioning completion signal. Therefore, during the process of inserting the positioning pins 92 and 94 into the positioning holes 84 and 86, the positioning completion signal is not yet generated.

The positioning pin 94 is mushroom-shaped and has a large diameter head 106 and a shaft portion 108. head 10
The upper surface of the main frame 4 contacts the bottom surface of the main frame 4.
The lower surface of the head 106 faces the upper surface of the lower frame 98 with an interval, and the shaft portion 108 faces the upper surface of the lower frame 98.
It extends through the central hollow part of 8. Head 106
Circular grooves 110 and 112 centered on the pin axis are formed in the opposing portions of the lower frame 98 and the lower frame 98, respectively, and 12 springs 114 are arranged in the circumferential direction using these grooves 110 and 112 as seating surfaces. be done. The spring 114 biases the locating pin 94 upward and provides a force to restore the locating pin 94 when it is tilted due to the circumferential arrangement.

A spherical member 116 formed by hollowing out a cylindrical hole is fitted into the shaft portion 108, and this spherical member 116 is received by the stepped portion of the shaft portion 108 on the upper side and is connected to the nut 12 from the lower side via the lock sleeve 118.
It is tightened by 0. Furthermore, a concave spherical bearing 122 is fixed within the hollow portion of the lower frame 98 by a step, a snap spring, or the like. The spherical member 116 is fitted into a spherical bearing 122, and the positioning pin 94 is connected to the main frame 4.
It is allowed to rotate to a certain extent.
The urethane rubber sleeve 124 is attached to the lower frame 9
8 and the lock sleeve 118 to allow the rotation of the positioning pin 94 while absorbing excess play. Therefore, from this point of view, the robot's hand 10 is the drilling unit 1.
2 to a rough position where the positioning pin 94 fits into the positioning hole 86, and as long as the tapered end of the positioning pin 94 engages with the positioning hole 86, the positioning pin 94 first enters the positioning hole 86 while tilting. When the drilling unit 12 is further pressed, the positioning pin 94 returns to the upright state while dragging the drilling unit 12. In this way, even if the accuracy of the robot itself is not very high, the positioning unit can be set at a predetermined position with high accuracy.

[Effect of idea]

As explained above, according to the present invention, multiple holes set by a positioning jig can be continuously drilled with high accuracy using one drilling unit supported by a robot. It has become possible to easily respond to changes in the location of
Further, if the drilling unit is supported by the robot in a floating manner, the drilling accuracy can be increased by the engagement of the positioning pin and the positioning hole without requiring the robot to have high positioning accuracy.

[Brief explanation of the drawing]

Fig. 1 is a block diagram showing a drilling device using a robot according to the present invention, Fig. 2 is a plan view of the positioning support device shown in Fig. 1, and Fig. 3 is an enlarged front view of the drilling unit shown in Fig. 1. 4 is a plan view of FIG. 3, and FIG. 5 is an enlarged sectional view showing the spherical support structure of one of the positioning pins of FIG. 3. 2...Punch, 3...Die, 4...Main frame, 10...Robot hand, 12...Drilling unit, 14...Positioning jig, 18,2
0, 22...Positioning support part, 42, 64, 72
...Slider mechanism, 84, 86...Positioning hole,
92, 94... Positioning pin, 116... Spherical member, 122... Spherical bearing.

Claims (1)

[Scope of utility model registration request] A drilling unit attached to the robot,
a positioning jig that supports the drilling unit at a predetermined position, the positioning jig having a plurality of positioning support parts for setting a reference position, and a positioning hole provided in each positioning support part. Then, a positioning pin corresponding to the positioning hole is attached to the drilling unit, and the robot carries the drilling unit to the positioning support part of the positioning jig, and the positioning pin is inserted into the positioning hole. A drilling device using a robot, characterized in that a drilling unit can be set at a predetermined position with high precision.