JPH05285869A - Division type industrial robot - Google Patents

Abstract

PURPOSE:To perform easy assembly by a single worker by dividing an industrial robot into a plurality of parts having weight enough to enable easy conveyance of the part by a single worker, in a division type industrial robot suitable for a portable robot and a robot used in a state to be mounted on a moving truck (a slider). CONSTITUTION:A robot 1 is formed such that it is divided into two parts 1A and 1B. Positioning and joining are executed in such a way that a guide support member 14 formed the part 1B on the tip side is fitted in a guide member 13 protruded from the part 1A on the base end side of which the robot 1 is composed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a split type industrial robot suitable for use as a portable robot or a robot mounted on a moving carriage (slider) for use.

[0002]

2. Description of the Related Art In general, arc welding robots have been popular mainly for automobile parts, but automobile parts are usually
Most of the lengths are less than 00 mm, and the maximum body parts are 2-3 m. Therefore, most of the robots are of a fixed type, and the robots are not often combined with a robot slider that moves the robot body.

Further, with the development of various touch sensors using arc sensors and welding wires, it becomes possible to perform automatic welding by a robot on a larger work. The robot is used for welding construction machine parts and steel frame parts. It has come to be used in many cases. In this case, the robot is generally combined with a work positioner for reversing or positioning the work, and a robot slider of about 5 m for moving the robot body.

The conventional methods of using the robot can be roughly classified into the above-mentioned two types. Further, many of the functions and devices of the robot were suitable for the above-mentioned two types of examples.

On the other hand, in recent years, along with the widespread use of arc welding robots, there has been an increasing demand for robotization even for welding larger workpieces. To accommodate this,
In addition to the use of a large robot system that combines a long slider and up / down / front / back sliders, if the workpiece becomes larger, it may be easier to carry the robot inside the workpiece, so the need for a portable robot is necessary. Nowadays, various portable robots are being proposed.

By the way, conventionally, when fixing a robot on a moving carriage (slider), for example, Japanese Patent Laid-Open No. 60-26
As disclosed in Japanese Unexamined Patent Publication No. 0756, a plurality of bolts are used to fasten / fix a robot to a moving carriage.

Further, for example, when the portable robot as described above is attached to and fixed to a moving carriage, bolting work as shown in FIG. 8 is performed. That is, in FIG. 8, reference numeral 1 denotes a portable robot, and the portable robot 1 is configured to be divided into two parts, that is, a base end side portion 1A and a tip end side portion 1B. It is mounted on and is configured to be horizontally movable.

Here, the movable carriage 2 is a portable robot 1
It constitutes a mechanism for driving in the 1-axis direction and is included in a part of the industrial robot referred to in the present application. Further, the moving carriage 2 horizontally moves along the laying direction of the rail 9 by abutting and rotating a plurality of rollers 10 on the rail 9.

The base end portion 1A of the portable robot 1 is fastened at its base end onto the movable carriage 2 with four bolts 3.
The drive motor 5 is fixed and has a drive motor 5 for rotationally driving the rotary shaft 4. Also,
The tip side portion 1B of the portable robot 1 has its base end portion fastened and fixed to the swivel shaft 4 of the base end side portion 1A by a plurality of bolts 6, and has arms 7 and 8. It comprises a plurality of drive shafts orthogonal to the swivel shaft 4 and a drive mechanism (not shown) for rotationally driving the drive shafts. Here, the base end side portion 1A and the tip end side portion 1B of the portable robot 1 are formed to have a weight of 20 kg or less so that a worker can carry them.

[0010]

However, in the above-mentioned conventional industrial robot, as shown in FIG. 6, the state is divided into three parts, that is, the base end side portion 1A, the tip end side portion 1B, and the moving carriage 2. It is difficult to perform the work of assembling into a state by itself. The assembling work is normally performed by two workers, and one of the workers is the base end side portion 1A.
While the other is positioned and supported with respect to the moving carriage 2, the other worker tightens the bolt 3 to attach / fix the base end side portion 1A to the moving carriage 2, and then the two workers similarly perform the tip operation. The side portion 1B must be attached and fixed to the base end portion 1A.

The present invention is intended to solve such a problem, and an industrial robot can be easily assembled by a single worker while being divided into a plurality of parts having a weight that is easily portable by one person. An object of the present invention is to provide a split type industrial robot configured as described above.

[0012]

In order to achieve the above object, a split type industrial robot according to the present invention is constructed so as to be split into at least two parts, and a tip side part forming this robot. And the base end side portion are positioned and joined by fitting a guide member protrudingly provided on one of these two portions with a guide member receiving portion formed on the other portion. I am trying.

In addition, a clearance is provided between the guide member and the guide member receiving portion, and when the guide member and the guide member receiving portion are fitted, the weight of the tip side portion reduces the clearance. May be configured to act on.

[0014]

In the split type industrial robot of the present invention described above,
Positioning and joining of the distal end portion with respect to the proximal end portion can be achieved simply by fitting the guide member and the guide member receiving portion to the proximal end portion that has been installed in a predetermined position and installing the distal end portion. Done.

At this time, the self-weight of the distal end portion acts so as to reduce the clearance between the guide member and the guide member receiving portion, whereby the distal end portion is installed at the proximal end portion. Only by itself, it is possible to prevent rattling and rising due to its own weight.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 and FIG. 2 show a split type industrial robot as a first embodiment of the present invention, and FIG. FIG. 3 is a side view, FIG. 1B is an enlarged cross-sectional view showing a main part (fitting part) thereof, and FIG. 2 is an exploded side view showing another example of its application part.
FIG. 6 is a perspective view showing a modified example of the guide member. In addition,
In the figure, the same reference numerals as those used above indicate the same parts, and a detailed description thereof will be omitted.

As shown in FIG. 1 (a), the portable robot 1 of this embodiment also has a base end portion 1A and a front end portion 1B.
Although it can be divided into two parts, in the present embodiment, the base end of the base end side portion 1A is fixed in advance to a fixed part (may be the moving carriage 2) 11.

Further, in this embodiment, a joint pedestal 12 for the distal end side portion 1B is attached to the pivot shaft 4 of the base end side portion 1A, and a pair of left and right positioning pins ( Guide members 13 and 13 are provided so as to project vertically upward. As shown in FIG. 1 (b), each positioning pin 13 has an upper portion (tapered portion) 13 a having a truncated cone shape that is reduced in diameter vertically upward, and a lower portion 1 having a cylindrical shape.
3b and is formed. 1 (a) and 1 (b)
Is a side view as seen from the direction in which the two positioning pins 13 and 13 are seen to overlap each other.
Only one is shown.

A pair of left and right guide bushes fitted to the respective positioning pins 13 are provided at the base end of the tip side portion 1B.
(Guide member receiving portions) 14, 14 are provided. The inner diameter of each guide bush 14 is substantially the same as the outer diameter of the lower portion 13b of each positioning pin 13, as shown in FIG.

With the above-described structure, in the first embodiment of the present invention, the positioning pin 13 of the base end side portion 1A, which is previously installed at a predetermined position of the fixed portion 11, is inserted into the guide bush 14 of the tip end side portion 1B. With the positioning pin 13 and the guide bush 14 fitted together, the positioning of the distal end side portion 1B with respect to the proximal end side portion 1A is completed.

At this time, as shown in FIG. 1B, since the upper portion 13a of the positioning pin 13 is formed to have a taper, the positioning pin 13 can be easily inserted into the guide bush 14. You can After the insertion, the positioning pin 13 gradually fits into the guide bush 14 due to the gravity (self-weight) of the tip side portion 1B,
The lower portion 13b of the positioning pin 13 is fitted in the guide bush 14 in a closely contacted state without any clearance. Therefore, not only is the distal end portion 1B positioned relative to the proximal end portion 1A, but the proximal end portion 1B is
It is also possible to securely join and fix A and the tip side portion 1B.

As described above, according to the first embodiment, the portable robot 1 has two parts 1 which are easy to carry by one person.
It can be easily assembled by one worker while dividing into A and 1B.

In order to prevent the distal end portion 1B from rising after the proximal end portion 1A and the distal end portion 1B are assembled, a clamping mechanism as will be described later with reference to FIGS. 5 and 6 is provided. May be used to more securely fix the distal end side portion 1B to the proximal end side portion 1A.

1 (a) and 1 (b), a case where a positioning pin 13 and a guide bush 14 are provided at the joint between the base end side portion 1A and the tip end side portion 1B of the portable robot 1 will be described. However, as shown in FIG.
When the portable robot 1 is mounted on the moving carriage 2 and is configured to be horizontally movable, the portable robot 1 (front end side portion) and the moving carriage 2 (base end side portion) are also joined to each other. The structure of the present invention can be similarly applied. That is, in the portable robot 1, the base end side portion 1A and the tip end side portion 1B are integrally configured in advance, and the joining base 12A is attached to the moving carriage 2. And the joining base 1
A pair of left and right positioning pins 1 projecting vertically upward from 2A
By positioning a pair of left and right guide bushes 14 formed at the base end portion of the portable robot 1 on the mobile robot 3, positioning of the portable robot 1 with respect to the movable carriage 2 is performed.
You may comprise so that it may join.

Further, in the structure shown in FIGS. 1 (a), 1 (b) and FIG. 2, a pair of left and right positioning pins 13 and a pair of left and right guide bushes 14 into which the respective positioning pins 13 are inserted are provided. For example, one guide member 13A as shown in FIG. 3 is provided so as to project, and a guide hole (guide member receiving portion) (not shown) into which this positioning pin 13A is inserted is provided at the base end portion of the tip side portion 1B or the portable robot 1 You may form in the base end part of.

As shown in FIG. 3, the guide member 13A is formed by a single plate-shaped member, and its upper portion 13 is formed.
The c is formed in a tapered shape so that the width thereof becomes narrower in the vertically upper direction, and the lower portion 13d thereof is formed to have a constant width. At this time, the guide hole formed in the base end portion of the distal end side portion 1B is formed so as to have an inner peripheral shape that substantially matches the outer shape of the lower portion 13d of the guide member 13A. Needless to say, by using such a guide member 13A, the same operational effect as when using the pair of left and right positioning pins 13 can be obtained.

Next, referring to FIGS. 4 (a) and 4 (b), the second embodiment of the present invention will be described.
Explaining a split industrial robot as an example, FIG. 4A is an enlarged cross-sectional view showing a main part (fitting part) thereof, and FIG. 4B is a plan view showing the main part (fitting part). It is a figure. Figure 4
The structure of the fitting portion shown in (a) and (b) is also the base end side portion in which the positioning pin 13 and the guide bush 14 are arranged in the split type industrial robot of the first embodiment described with reference to FIGS. It is applied to a joint portion between 1A and the tip side portion 1B or a joint portion between the portable robot 1 and the movable carriage 2.

In this embodiment, as shown in FIGS. 4 (a) and 4 (b), a prismatic positioning pin (guide member) 13B is vertically provided on the joint pedestal 12 (or 12A). ing. Further, a guide hole (guide member receiving portion) 14B that fits into the positioning pin 13B is formed at the base end portion of the distal end side portion 1B of the portable robot 1 (or the portable robot 1). Here, the inner peripheral shape of the guide hole 14B is formed larger than the outer peripheral shape of the positioning pin 13B. In particular, in this embodiment, as shown in FIGS. 4 (a) and 4 (b), the guide hole 14B is It is formed to be larger than the positioning pin 13B in one direction (left and right direction in FIG. 4), and a clearance (play) is formed between the positioning pin 13B and the guide hole 14B in this direction.

The direction in which this clearance is formed corresponds to the direction (arrow M) in which the moment due to the weight of the tip side portion 1B of the portable robot 1 (or the portable robot 1) acts. In this embodiment, the portable robot 1
The total load of the tip end side portion 1B (or the portable robot 1 itself) added with gravity and inertial force is one direction indicated by an arrow M with respect to the base end side portion 1A (or the moving carriage 2) of the portable robot 1. Acting as a moment only.

Therefore, the positioning pin 13B and the guide hole 1
At the time of fitting with 4B, the tip side part 1 of the portable robot 1
A moment due to the weight of B (or the portable robot 1) acts in a direction to reduce the clearance, and in the present embodiment, as shown in FIG. 4A, the tip side portion 1B (or the portable robot 1) of the portable robot 1 is The lower surface of the robot 1) contacts the tip position A of the joining pedestal 12 (or 12A), and the inner peripheral surface of the guide hole 14B contacts the tip position B of the positioning pin 13B.

As a result, also in this embodiment, the tip side portion 1
Not only is B positioned with respect to the proximal portion 1A,
Rattling and rising can be prevented, and the base end side part 1
A and the front end side portion 1B can be securely joined and fixed. Also in this embodiment, a clamp mechanism as will be described later with reference to FIGS. 5 and 6 may be provided and this clamp mechanism may be used.

Next, a clamping mechanism (fixing mechanism of the portable robot 1 to the moving carriage 2) applied to the split type industrial robot of this embodiment, for example, the one shown in FIG.
An example of the configuration will be described with reference to FIGS. FIG. 5 is a perspective view showing a usage state of a split type industrial robot and a clamp mechanism thereof according to an embodiment of the present invention, and FIG.

In the figure, the same reference numerals as those used above indicate the same parts, and the detailed description thereof will be omitted. 5 and 6 particularly show the clamp mechanism at the joint between the base end of the portable robot 1 and the moving carriage 2, the base end side portion 1A and the tip end side portion of the portable robot 1 are shown. It goes without saying that the same clamp mechanism can be applied to the joint portion with 1B.

In FIGS. 5 and 6, reference numeral 4A denotes a swivel shaft portion of the portable robot 1, which is provided with the swivel shaft 4, the drive motor 5 for rotationally driving the swivel shaft 4, and the like. Reference numeral 15 is an operation panel having a playback start switch or the like provided on the side of the portable robot 1, 16 is a carriage motor for moving the moving carriage 2 along the rail 9, and 17 is provided on both sides of the moving carriage 2. It is a carriage handle that is gripped by an operator when lifting the movable carriage 2.

Reference numeral 18 denotes a base end portion which is provided so as to project from the turning shaft portion 4A and in which the above-mentioned pair of left and right guide bushes 14, 14 are arranged. The base end portion 18 is provided on the guide bush 14 and the movable carriage 2 side. When the portable robot 1 is attached to the movable carriage 2 by fitting the positioning pins 13 of
The upper surface 18a of the base end portion 18 and the upper surface 2a of the moving carriage 2 on both sides of the recess 19 are formed to be substantially flush with each other. ..

A pair of left and right clamp mechanisms 20, 20 are provided on the upper surface 2a of the moving carriage 2 on both sides of the recess 19. Each clamp mechanism 20 includes a mounting bracket 21, a mounting lever 22, and a shaft portion 23. Mounting bracket 2
1 and the attachment lever 22 are attached to the upper surface 2a of the moving carriage 2 on both sides of the recess 19 by a shaft portion 23 so as to be rotatable in a plane parallel to the upper surface 2a. The mounting bracket 21 is
At the position shown by the solid line in FIG. 6, the base end 18 is fixed by contacting the upper surface 18a of the base end 18 of the portable robot 1.

When the worker grips and operates the mounting lever 22, the position of the mounting bracket 21 is fixed to the position in the clamped state indicated by the solid line and the position of the portable robot 1 attached to the movable carriage 2 indicated by the broken line. Alternatively, it can be switched to a position where it can be removed from the moving carriage 2.

By using the clamp mechanism 20 as described above, the positioning pin 13 and the guide bush 14 are fitted to each other, so that the portable robot 1 positioned and fixed with respect to the movable carriage 2 can be fixed more reliably. can do.

Although the guide member is a pin-shaped member and the guide receiving member is a guide hole fitted into the pin-shaped member in the above-described embodiment, the present invention is not limited to this. 7 (a)
A guide member and a guide receiving member as shown in (c) may be used. In this case, as shown in FIGS. 7 (a) to 7 (c), a guide member 24 is provided on the distal end portion 1B of the portable robot 1 (or the proximal end surface of the portable robot 1) so as to project and join. On the pedestal 12 (or 12A) side,
A guide member receiving portion 25 that fits into the guide member 24 is formed.

The guide member 24 has a trapezoidal horizontal cross-sectional shape that expands toward the joining pedestal 12 (or 12A) side, and is formed to have a taper that expands vertically upward. There is. Further, the guide member receiving portion 25 is formed on the base end surface of the tip side portion 1B (or the portable robot 1), and the guide member 2
4 has a cross-sectional shape substantially the same as that of No. 4 and is formed as a groove that expands upward.

With such a configuration, the guide member 24
Is inserted into the guide member receiving portion 25 from above and the guide member 24 and the guide member receiving portion 25 are fitted to each other, and the joining pedestal 12 (or 12A) of the distal end side portion 1B (or the portable robot 1) is Positioning is completed. After the insertion, the guide member 24 gradually fits into the guide member receiving portion 25 due to the gravity (self-weight) of the distal end side portion 1B (or the portable robot 1), and fits in a close contact state without clearance. become.

Therefore, even with such a guide member 24 and a guide member receiving portion 25, the same working effect as that of the above-described embodiment can be obtained.

[0043]

As described above in detail, according to the split type industrial robot of the present invention, the guide member and the guide member receiving portion are fitted to each other, and the distal end portion is installed with respect to the proximal end portion. Positioning of the tip side part relative to the base end side part
Since it is configured to be joined, there is an effect that one worker can extremely easily assemble the industrial robot while dividing the industrial robot into a plurality of parts having a weight that can be easily carried by one person.

Further, since the self-weight of the tip end side portion acts so as to reduce the clearance between the guide member and the guide member receiving portion, only the tip end side portion is installed on the base end side portion. Therefore, it is possible to reliably prevent rattling and floating due to its own weight, and it is possible to more reliably join the respective parts of the industrial robot.

[Brief description of drawings]

FIG. 1 shows a split type industrial robot as a first embodiment of the present invention, (a) is an exploded side view thereof, and (b) is an enlarged sectional view showing a main part (fitting part) thereof. is there.

FIG. 2 is an exploded side view showing another example of the application part of the first embodiment.

FIG. 3 is a perspective view showing a modification of the guide member of the first embodiment.

FIG. 4 shows a split type industrial robot according to a second embodiment of the present invention, in which (a) is an enlarged cross-sectional view showing an essential part (fitting part) thereof, and (b) is an essential part (fitting part) thereof. FIG.

FIG. 5 is a perspective view showing a usage state of the split type industrial robot and a clamp mechanism thereof according to the embodiment of the present invention.

FIG. 6 is a plan view of a main part showing a clamp mechanism in the embodiment of the present invention.

7A and 7B show modifications of the guide member and the guide receiving member of this embodiment, FIG. 7A is a plan view thereof, FIG. 7B is a sectional view taken along line bb of FIG. 7A, and FIG. ) Is a view on arrow c.

FIG. 8 is a side view showing a conventional industrial robot.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Portable robot 1A Base end side part 1B Tip side part 2 Mobile trolley (base end side part) 4 Swivel axis 4A Slewing shaft part 5 Drive motor 7,8 Arm 9 Rail 10 Roller 11 Fixing part 12,12A Joining base 13, 13B Positioning pin (guide member) 13A Guide member 14 Guide bush (guide member receiving part) 14A Guide hole (guide member receiving part) 15 Operation panel 16 Cart motor 17 Cart handle 18 Base end 19 Recess 20 Clamp mechanism 21 Mounting bracket 22 Mounting lever 23 Shaft portion 24 Guide member 25 Guide member receiving portion

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Masaki Shibaike 100-1 Urakawachi, Fujimae, Fujisawa-shi, Kanagawa Incorporated company Kobe Steel, Fujisawa Plant -1 Incorporated company Kobe Steel, Fujisawa Works

Claims (2)

[Claims] 1. A split-type industrial robot configured to be split into at least two parts, wherein a tip-side part and a base-end part that form the split-type industrial robot are of these two parts. On the guide member protruding on either side,
A split type industrial robot characterized by being positioned and joined by fitting a guide member receiving portion formed on the other portion. 2. A clearance is provided between the guide member and the guide member receiving portion, and when the guide member and the guide member receiving portion are fitted to each other, the weight of the tip side portion reduces the clearance. The split type industrial robot according to claim 1, wherein the split type industrial robot operates in a direction.