JPH0523904B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a processing method using an industrial robot.

[Conventional technology]

In recent years, industrial robots have been participating in the processing departments of various products and are making a significant contribution.
However, most of the processing methods used by these robots were focused on a single task.

[Problem that the invention seeks to solve]

As a result of the above, conventional machining methods using industrial robots have the following problems.

(1) Since it is a machining method that mainly involves a single operation, it can demonstrate high efficiency when machining a small number of types;
When performing multiple types of processing, a corresponding number of industrial robots are required, which increases costs.

[Means for solving problems]

This invention solves the above-mentioned problems of the prior art, and includes a plurality of types of working tools arranged on the robot side, and a large number of different types of jigs arranged on each polygonal rotary table adjacent to the robot. By arranging a processing jig stand with a group of workpiece receiving jigs,
It is an object of the present invention to provide a processing method using an industrial robot, which can perform many types of processing with high efficiency using a small number of robots, and can significantly reduce costs. The feature of this invention is that a combination processing means consisting of an industrial robot and a processing jig table is arranged adjacently in the processing line, and a plurality of types of work tools are mounted on the work tool mounting table at the end of the arm of the robot. At the same time, multiple types of workpiece receiving jigs made by mixing different types of jigs are installed on the polygonal rotary table of the processing jig table, and the workpiece receiving jig is rotated by the rotary table. The purpose of this method is to sequentially perform different kinds of processing on workpieces that are attached to each jig in the group one after another through the intervention of a person or a robot, by selecting the working tool in the robot.

[Effect]

As a result of the above, multiple types of work tools are selectively arranged on the industrial robot side in the processing line, and on the processing jig table side in combination with this industrial robot, each polygonal rotary table is arranged. A group of jigs for receiving the workpiece, which are made up of a large number of different types of jigs, are arranged in a manner that can be selected by the rotation of the rotary table, so the combination of these jigs enables the following types of machining to be performed in a coordinated manner. It is something that can be done. For example, if the above-mentioned industrial robot and processing jig stand are combined on a processing line, and a process group including a bulging process means, a hole drilling process means, an adhesive injection process means, a polishing process means, etc. is arranged, In the first deburring process, the robot side selects multiple types of deburring tools, and a person (or robot) is placed on the jig in the workpiece receiving jig group on the rotary table of the processing jig table. Different types of deburring can be performed on different parts of the workpiece attached to the workpiece each time the rotary table rotates. Similarly, in the next drilling process, the robot and processing jig placed at this process position are used to remove the workpiece that has been deburred in the previous process and is transported into this process. This makes it possible to drill holes with different diameters in each required location. In addition, in the adhesive injection process, while injecting adhesive into the holes drilled in the pre-installation process, by inserting bolts of different diameters that match each position, bolts of different diameters are inserted at each required location on the workpiece. can be planted. Furthermore, in the polishing process, the proximal adhesive surfaces of the bolts of different diameters that were implanted in the previous process are polished one after another by rotating the buff on the robot side and rotating the processing jig. Deburring, drilling,
A series of various types of processing such as adhesive injection, bolt insertion, and polishing can be performed smoothly, easily, quickly, and reliably by means of a combination of a small number of industrial robots and a processing jig stand.

〔Example〕

Embodiments of the present invention will be described below with reference to the accompanying drawings.

As shown in Figures 1 to 3, in the processing method using industrial robots of the present invention, workpieces (mainly FRP products of automobiles, parts of chairs, etc.) are processed as shown below. Using industrial robot A, this industrial robot A
When processing the above-mentioned workpiece, a processing jig table B, which will be described later, is used to hold the workpiece. First, industrial robot A is
As shown in FIG. 1, in order to process a plurality of workpieces with a single robot A, a plurality of fluid cylinders 4... Place... A dedicated work tool support plate 5 is attached to the lower piston tip of each cylinder 4. For example, in the robot A in the drilling process E shown in FIG. A plurality of working tools 6 such as a drill 7, a medium diameter drill 8, a large diameter drill 9, etc. are mounted in a selectively usable state. Note that 10 supplies fluid (mainly air) as a driving source to the fluid cylinder 4 in the above to operate the cylinder 4.
This is a fluid hose for selectively operating the

Furthermore, as shown in FIG. 2, the processing jig stand B used in combination with the above-mentioned industrial robot A is a polygonal ( A long cubic rotating table 12 (rectangular in the figure) is rotated in any direction as desired by driving a motor 14 attached to the longitudinal end and an indexing device 13 attached to this motor 14. The composition is such that the surface can be exposed on the upper surface side. Each surface of the rotary table 12 is equipped with a workpiece (not shown) that can be processed using the industrial robot A and the processing jig table B (mainly FRP products for automobiles, parts for chairs, etc.). When processing a workpiece that is made into many types of parts over the above range, different types of jigs N are mixed according to the processing classification so that they can be held individually during processing by the robot A. A plurality of types of workpiece receiving jig groups, .

As shown in FIG. 3, each processing means formed by the combination of the industrial robot A and the processing jig table B is arranged according to the processing order in the longitudinal direction of the processing line C.
The robot A and processing jig B in each of the above steps D, E, F, and G are robot It is connected to a control device (not shown) on the A side and recorded (programmed) so that cooperative operations can be performed in the own process. In addition, the above-mentioned step D,
The processing means by robot A and processing jig stand B for each of E, F, and G are determined by the processing order of workpieces (not shown) in processing line C, so that the flow from the previous process to the next process changes over time. It is recorded (programmed) in the above-mentioned control device (not shown) so as to cooperate.
Set up so that integrated commands are possible. In addition, the types of processing in each of the above steps D, E, F, and G exceed the types held by one processing jig table B, or the equipment is equipped with an increased number of types of workpieces from the beginning. In some cases, the industrial robot A may be provided with a plurality of processing jig stands B, B as described above on both sides.

Each industrial robot A in the processing line C mentioned above
A series of processing methods will be explained below, dividing the processing jig table B and each processing jig table B combined therewith into each process. That is, as shown in FIG. 3, in the deburring process D, an industrial robot A ₁ and a processing jig stand B ₁ having the above configuration are arranged, and in the drilling process E, an industrial robot is installed in the same manner. Place A ₂ and processing jig stand B ₂ ,
Similarly, in the adhesive injection process F, industrial robot A ₃ and processing jig stand B ₃ are arranged, and furthermore, in polishing process G, industrial robot A ₄ and processing jig stand B ₄ are placed on processing line C. The robots and processing jig tables are arranged in series in the longitudinal direction according to their systems.

As a result of the above, each continuous processing line C
When the workpiece (mainly FRP products for automobiles, chair parts, etc.) is carried onto processing jig table _B1 located in the first deburring process D with human (or robot) intervention, In response to commands recorded (programmed) in the control device, the rotary table 12 rotates in the closest direction, and the workpiece receiving jig group containing the jig N that is most suitable for this workpiece is temporarily moved to the workpiece. When a receiving jig group is used, this workpiece receiving jig group can be selectively stopped on the surface side. Therefore, jig N of this workpiece receiving jig group
The workpiece can be held securely by a person (or robot). At this point, the work tool most suitable for processing among the work tools installed on robot A ₁ of the same process D is selected and is waiting, so this work tool is used to burr at a predetermined location on the workpiece. It is possible to carry out machining.

The workpiece that has been deburred in the above process D is then transferred again by humans (or robots) to the next drilling process E.
transported to. At this time, the processing jig table _B2 for the drilling process E is already in operation according to a command from the control device, and the workpiece receiving jig group having the same jig N as described above is rotated toward the surface side. Since the machine is on standby, the workpiece can be held easily and quickly. Therefore, if the drill 7 is the most suitable drill among the work tools 6 selected for robot A ₂ in the same process E for this workpiece, then this drill 7 will be used to drill holes in the workpiece. It can be done easily and quickly.

To explain the above-mentioned cooperative operation in more detail, the workpiece that has completed the deburring process D and is transported to the next drilling process E by human (or robot) intervention is transferred to the drilling process. Among the workpiece receiving jigs mounted on the rotary table 12 of the processing jig table B ₂ in E, . If the jig group is the receiving jig group mentioned above, this content will be recorded (program).
In response to a command from a control device (not shown), the rotary table 12 is rotated in a predetermined direction by the drive of the motor 14 and the indexing of the rotation angle by the indexer 13. The receiving jig having the desired jig N on the surface of the table _B2 is stopped and this jig N is exposed. Therefore, by the intervention of a person (or a robot) at the position of this jig N, the deburred workpiece (not shown) described above can be stably held.

Also, at this point, the robot A ₂ of the drilling process E
Among the work tools 6 of the plurality of drills 7, 8, and 9 attached to the tool, the work tool 6 required at the position of the jig N
If it is a drill 7, the workpiece on this jig N will be moved by the horizontal swing of the arm 2 of the robot body 1 and the operation of the fluid cylinder 4 to which the drill 7 is attached. It is possible to perform small-diameter drilling work. At the same time as this drill 7 finishes drilling, the workpiece that has been machined by a person (or robot) is removed from the jig N and transferred to the next adhesive injection process F side.
However, at this point, the next workpiece of a different type is transported to the machining jig table B ₂ for this drilling process E, so the rotary table 12 is transferred again.
By this rotational movement, the workpiece receiving jig group having the jig N most suitable for the next different type of workpiece is selected and stopped on the surface side. Therefore, by this repeated operation, multiple types of hole drilling can be performed one after another with high accuracy using the robot A ₂ and the processing jig table B ₂ of the same model.

The workpiece that has been drilled as described above is
It is again transported to the next adhesive injection process F by humans (or robots), but in this process F as well, the processing jig table _B3 at this position is moved to the above position by commands from the control device. Since a group of workpiece receiving jigs having the same jig N are placed on standby on the front side, the robot in step F is injected with an adhesive (not shown) into the hole drilled with the drill 7 as described above. By inserting a selected bolt that fits into the above-mentioned hole with operation according to A ₃ , the desired bolt can be planted in the required location of this workpiece.

Furthermore, in the next polishing process G, the proximal adhesion surface of the desired bolt implanted in the previous process F is polished by turning the buff (not shown) on the robot _A4 at this position, and by rotating the processing jig table. A series of processes including deburring, drilling, adhesive injection, bolt insertion, and polishing are performed by properly polishing the workpiece while it is held in the jig N of _A4 . By combining a small number of industrial robots and processing jig tables, a wide variety of processing can be carried out smoothly, easily, quickly and reliably.

〔Effect of the invention〕

In this invention, a combined processing means consisting of an industrial robot and a processing jig table is arranged adjacently in a processing line, and a plurality of types of work tools are attached to a work tool mounting table at the tip of the arm of the robot, and The polygonal rotary table of the processing jig table is also equipped with multiple types of workpiece receiving jig groups consisting of a mixture of different types of jigs. The workpieces to be attached to each tool one after another by human or robot intervention,
The robot is characterized in that different types of machining are performed one after another by selecting the working tools for the robot. Therefore, many types of machining can be performed with high efficiency using a small number of robots, and the use of this type of industrial robot has the effect of significantly reducing the cost of machining workpieces.

[Brief explanation of the drawing]

FIG. 1 is a perspective view of an industrial robot used in the processing method of the present invention, FIG. 2 is a perspective view showing the processing jig table, and FIG. 3 is a schematic perspective view showing the entire processing line. 2...Arm, 3...Working tool mounting table, 6...Working tool, 12...Rotary table, A, _A1 , _A2 , _A3 , _A4 ...
...Robot, B, B ₁ , B ₂ , B ₃ , B ₄ ... Processing jig stand, C... Processing line, N... Jig,,,
,...workpiece receiving jig group.

Claims (1)

[Claims] 1 A combined processing means consisting of an industrial robot and a processing jig stand is arranged adjacently in a processing line, and a plurality of types of work tools are attached to the work tool mounting stand at the tip of the arm of the robot, and the processing jig In addition to installing multiple types of workpiece receiving jigs by mixing different types of jigs on the polygonal rotary table of the table,
The workpieces to be successively attached to each jig in the group of workpiece receiving jigs rotatably moved by the rotary table through the intervention of a person or a robot can be controlled by selecting different types of workpieces in the robot. A processing method using an industrial robot, characterized in that processing is performed one after another.