JPH05318348A - Portable industrial robot - Google Patents

Abstract

PURPOSE:To facilitate carrying work by enabling a portable industrial robot to be positioned in its conveying attitude easily without performing an inching operation, wherein the robot is used to serve as what being carried into a job site by manpower and what being mounted on a slider. CONSTITUTION:A conveying handle 17 is installed in a lower arm 2 constituting an industrial robot 1, while there is provided a storage part 18 which prestores positioning data corresponding to a conveying attitude of the robot 1, and at the time of conveying this robot 1 by the conveying handle 17, the industrial robot 1 is positioned to the conveying attitude on the basis of the positioning data in the storage part 18.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a portable industrial robot suitable for use as a robot that is carried to a work site by human power or 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 in the welding of even larger workpieces (eg, hull blocks during shipbuilding). In order to deal with this, a large robot system that combines a long slider and up / down / front / rear sliders is used. Further, if the work becomes larger, it may be easier to carry the robot inside the work. The need for portable robots has increased, and various portable robots are now being proposed. Here, the weight of the portable robot is usually set to 20 kg or less so that it can be carried by a worker.

[0006]

By the way, in the portable robot as described above, in order to facilitate the transportation of the robot by the worker during the transportation, the robot is in a posture suitable for the transportation state (hereinafter referred to as a transportation posture). )I have to.
Therefore, normally, the worker carries out the inching operation with the teaching box to position the robot in a predetermined transporting posture and then carries the robot in the transporting posture.

However, each time the robot is transported,
Positioning in the transporting posture by inching operation is an extremely troublesome and time-consuming work, and it has been desired to omit such a work and to easily carry the robot.

The present invention has been made to solve the above problems, and it is possible to easily position the robot in the transporting posture without performing an inching operation so that the carrying operation can be easily performed. The purpose is to provide a robot for use.

[0009]

In order to achieve the above object, a portable industrial robot of the present invention corresponds to a carrying handle and a carrying attitude of the industrial robot in a portion constituting the industrial robot. A storage unit for storing positioning data in advance is provided, and when the industrial robot is transported by the transport handle, the industrial robot is positioned in a transporting posture based on the positioning data in the storage unit. ..

[0010]

In the portable industrial robot of the present invention described above,
When the worker carries the robot, the robot is positioned in the transporting posture by one-touch switching operation or the like based on the positioning data corresponding to the transporting posture stored in the storage unit. Then, the worker grips the carrying handle provided in the robot component, and the robot in the carrying posture is carried.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS A portable industrial robot as an embodiment of the present invention will be described below with reference to the drawings. FIG. 1 (a) is a side view thereof, and FIG. 1 (b) is a block diagram showing the configuration of its control system. 2 and 3 are front views thereof.

In FIGS. 1A and 2, reference numeral 1 is a portable robot (for example, an arc welding robot) of the present embodiment. This robot 1 includes a turntable 2, a lower arm 3, an upper arm 4 and a wrist portion 5. It is configured to be attitude-controlled for the six axes S1 to S6, and is mounted and used on, for example, a moving carriage.

In the portable robot 1 of this embodiment, the S1 axis drive unit 6 for driving the turntable 2 about the turning axis S1 and the lower arm 3 supported on the tip side of the turntable 2 are swayed. S that swings around the drive axis S2
Biaxial drive unit 7 and upper arm 4 supported on the tip side of lower arm 3.
Of the upper arm 4 and the S3 axis drive section 8 that drives the upper arm 4 to swing about the swing axis S3 via the link member 12, the S4 axis drive section 9 that drives the upper arm 4 to rotate about the longitudinal axis S4 of the upper arm 4, and The S4 axis drive unit 1 built in the upper arm 4 to swing the wrist portion 5 supported on the distal end side around the swing axis S5.
0, and an S6 axis drive unit 11 for rotating and driving a jig (for example, a welding torch) attached to the tip of the wrist unit 5 around the axis S6.

As shown in FIG. 1 (b), each of the driving units 6 to 11 has its operating state controlled by the driver 13 while the rotation angle is detected by the resolver 14 and the detection result is fed back. is there. Further, in FIG. 1B, 15 is a CPU unit that outputs a control command to each driver 13 to control the attitude of the portable robot 1, and 16
Is a teaching box for inputting various commands to the CPU unit 15 when performing teaching work for the portable robot 1.

By the way, as shown in FIG. 1 (a) and FIG.
On one side surface of the lower arm 3 of the portable robot 1 of the present embodiment, a carrying handle 17 that is gripped by a worker during carrying (carrying) is provided. Further, in the control system of the portable robot 1 of the present embodiment, as shown in FIG. 1B, a memory 18 for preliminarily storing and storing the positioning data corresponding to the carrying posture of the portable robot 1 is provided. There is.

A posture (an easy-to-carry posture) in which the entire portable robot 1 is in a well-balanced form when a worker grips the handle 17 and conveys is selected as the carrying posture, and the positioning for such a posture is performed. Data (each axis S1 to S6
The angle data of the above) is stored in the memory 18 in advance. Further, as the memory 18, a ROM, a battery-backed RAM, or the like is used.

Then, in the teaching box 16,
The portable robot 1 is provided with a transport posture positioning command input unit 19 which is operated when the portable robot 1 is brought into the transport posture as described above.
The unit 15 reads out the positioning data corresponding to the carrying posture from the memory 18, controls each driver 13 based on the data, and controls the driving of the portable robot 1 to the carrying posture by the driving units 6 to 11. ing.

In the portable robot 1 of the present embodiment configured as described above, when the worker carries it, the transfer posture positioning command input section 19 of the teaching box 16 is conveyed.
The CPU unit 15 is operated by one-touch operation.
As a result, the robot 1 is positionally controlled in the transporting posture based on the positioning data corresponding to the transporting posture in the memory 18. Then, the worker can carry the robot 1 in the carrying posture by gripping the carrying handle 17 provided on the side surface of the lower arm 3.

Thus, the portable robot 1 of this embodiment
According to the above, the robot 1 can be easily positioned in a mode that is easy to carry (conveyance posture) by only one-touch operation of the conveyance posture positioning command input unit 19 without performing an inching operation or the like by the teaching box 16. It can be easily carried with a simple handle 17. Also,
Since only a simple handle 17 is provided, the handle 17
Does not hinder the operation of the robot 1 or the like.

If the industrial robot to which the present invention is applied is dividable, a plurality of objects may be stored for each purpose, such as storing the transporting posture data in the memory 18 when the robot is integrated and when the robot is divided. Transfer posture data in memory 1
8 may be stored.

[0021]

As described in detail above, according to the portable industrial robot of the present invention, the robot is transported by one-touch switching operation or the like based on the positioning data corresponding to the transportation posture stored in the storage section. Since the robot can be positioned in the posture and the robot in the transport posture can be transported by gripping the transport handle, it is possible to easily position the robot in the transport posture without performing an inching operation, and it is extremely easy to carry around. There is.

[Brief description of drawings]

FIG. 1 shows a portable industrial robot as an embodiment of the present invention, (a) is a side view thereof, and (b) is a block diagram showing a configuration of a control system thereof.

FIG. 2 is a front view showing the robot of this embodiment.

[Explanation of symbols]

 1 Portable Robot 2 Turntable 3 Lower Arm 4 Upper Arm 5 Wrist 6 S1 Axis Drive 7 S2 Axis Drive 8 S3 Axis Drive 9 S4 Axis Drive 10 S5 Axis Drive 11 S6 Axis Drive 12 Link Member 13 Driver 14 Resolver 15 CPU Unit 16 Teaching Box 17 Transfer Handle 18 Memory (Memory) 19 Transfer Position Positioning Command Input Section

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Tatsuharu Minato 100-1 Urakawachi, Miyamae, Fujisawa-shi, Kanagawa Stock Company Fuji Steel Works, Fujisawa Works

Claims (1)

[Claims] 1. An industrial robot is provided with a carrying handle in a part thereof, and a storage section for preliminarily storing positioning data corresponding to a carrying posture of the industrial robot is provided. A portable industrial robot, characterized in that the industrial robot is positioned in a transportation posture based on the positioning data in the storage section when the industrial robot is transported.