JPH0585277B2 - - Google Patents

Description

[Detailed Description of the Invention] [Field of Application of the Invention] This invention relates to a machine that processes a workpiece on a workbench using a machine tool such as a welding machine or a grinder attached to the tip of a robot arm. Regarding equipment.

[Conventional technology]

In recent years, the control capabilities of robots have improved, and work such as welding and grinding has come to be performed by machine tools that have working equipment attached to the tip of the robot's arm.

Such machining equipment is generally a robot having an arm that can move forward and backward, and is placed within the reach of the tip of the arm of the machine tool, that is, within the working range.
It consists of a workbench that rotatably holds the workpiece. Then, a machine tool such as a welding machine is attached to the tip of the robot's arm, and the robot's arm moves forward and backward toward the work table, rotating the workpiece on the rotary table to process the workpiece. The structure is designed to continue.

[Problem to be solved by the invention]

However, with such conventional equipment, the workpiece that has been processed is removed from the workbench,
The robot must stop working while the next workpiece is attached to the workbench, resulting in lost time and extremely low work efficiency.

Also, it is possible to have multiple workbenches for one robot, but if a motor is installed for each workbench, it becomes difficult to control the entire device and the cost of the machine equipment becomes expensive. There was a drawback.

Therefore, this invention was made in consideration of such problems, and the purpose of this invention is to
To provide a machine device that can eliminate loss time caused by stopping robot work, improve work efficiency, and eliminate the need for a motor for each workbench, which is easy to control and economically efficient. .

[Means for Solving the Problems] The present invention includes a robot having a machine tool attached to the tip of an arm that can move forward and backward within a work range and turn, and a robot that is placed within the work range and rotates while holding a workpiece. a workbench equipped with a turntable; a distributor that distributes rotational force from one main shaft to subshafts corresponding to each of the turntables; a motor connected to the main shaft of the distributor; and the turntable and the subshafts. The above-mentioned problem can be solved by configuring a machine device including a rotation transmission shaft that connects the turntable shaft and the rotation transmission shaft, and the rotation transmission shaft is provided with a mechanism that allows misalignment of the axes of the turntable shaft and the sub-shaft. points are resolved.

In addition, the above-mentioned mechanism for allowing mismatch of the axes of the turntable axis and the sub-shaft includes, for example, a flexible joint, a universal joint, and other mechanisms with similar functions. Includes all known mechanisms with .

[Effect]

The robot's arm rotates and advances and retreats, and the machine tool at its tip touches the workpiece. Then, in this state, the workbench is rotated and the machine tool is operated to process the workpiece.

At this time, since multiple workbenches are arranged in the work range of the robot, it is not possible to process the workpiece on another workbench while replacing the workpiece on one workbench. , no work loss time occurs.

Further, the rotational force of the workbench is transmitted from a single motor to each workbench via the distributor and the rotation transmission shaft, so there is no need to arrange a motor for each workbench.

〔Example〕

Embodiments of the present invention will be described based on FIGS. 1 to 5. In this example, the device of the present invention is used as a welding device.

FIG. 1 is a plan view of the welding device. As shown in the figure, this welding device 1 includes a welding robot 2 placed in the center, four welding robots placed around it,
A master positioner 5, which is a motor, to which sub-positioners 3A to 3D, which are work platforms, and a distributor 4 are connected.
and has.

The welding robot 2 is a working robot having a known structure and is sequence-controlled by a control device 6. This welding robot 2 has a main body 2 fixed to a mount (not shown).
1 is attached with a rotating base 22 that can freely rotate at a predetermined angle in the horizontal direction, and furthermore, this rotating base 2
2 has a base 2a of an arm 23 attached thereto. Further, this arm 23 has a base portion 23a, an intermediate portion 23
b and a tip 23c, each of which has a joint, and a welding machine 24 is fixed to the tip 23b. Therefore, this welding machine 24 can move within a predetermined range around the welding robot 2 by rotating the rotating base 22 and bending and extending the arm 23, and this range is the same as that of the welding machine 2.
4 working range X. Further, behind the main body 21 of the welding robot 2, a wire feeder 25 for feeding a wire serving as a welding material and a gas pump 26 for feeding a welding gas such as ethylene gas are arranged.

The four sub-positioners 3A to 3D are arranged within the working range X. These sub-positioners 3, 3A to 3D are connected to a box-shaped main body 31.
A turntable 32 is provided on the top of the turntable 32, and the workpiece held on the top surface of the turntable 32 can be rotated not only at a constant speed but also by specifying a predetermined angle.

A side sectional view of the sub-positioner 3 is shown in FIG.
As shown in the figure, the main body 31 of the sub-positioner 3
is a cylindrical supporter 33 of the turntable 32
and an inclination angle adjuster 34 whose upper end is fixed to the side surface of the supporter 33 are arranged in the casing 37,
The lower ends of the supporter 33 and the inclination angle adjuster 34 are pivotally supported by mount brackets 35 and 36, respectively. Further, the turntable 32 includes a table portion 32a for fixing the workpiece and a rotating shaft 32b extending below the table portion 32a.
is rotatably passed through the supporter 33, and its lower end is connected to the rotation transmission shaft 7 via a universal joint 71.

Therefore, this sub-positioner 3 has a structure in which the inclination of the supporter 33 can be changed by expanding and contracting the inclination angle adjuster 34, and the rotational inclination angle of the turntable 32 can be arbitrarily set. It is becoming. The inclination angle adjuster 34 is of a telescoping type, and its length is fixed by tightening a bolt (not shown).

The master positioner 5 is a motor having a known structure that allows the rotation speed and rotation angle to be set with high precision, and is controlled by the control device 6 similarly to the robot 2. A distributor 4 is connected to a rotating shaft 5b protruding from the main body 5a.

A side sectional view of the distributor 4 is shown in FIG. 3, a plan sectional view is shown in FIG. 4, and a front sectional view is shown in FIG. As shown in these figures, the distributor 4 consists of a main body 41 and a mount 45 for fixing the main body 41. The main body 41 has two parts extending downward from both sides of the casing 41a.
This part is bolted to the mount 45, but the bolt hole 41c of the mounting part is formed into a vertical long hole, and by adjusting the tightening position of the bolt, the main body 41 It has a structure that adjusts the height.

The casing 41a of the main body 41 has a triangular shape in front, and one main shaft 42 is arranged in the upper part of the inner side, and four sub-shafts 43A to 43D are arranged in the lower part. 42,43A~43D
A belt 44 is wound around the outside of the belt 44 via a pulley. Then, move the main shaft 42 to the master positioner 5.
It is connected to the rotating shaft 5b of the
Each of D has a universal joint 72.
One end of the rotation transmission shaft 7 is connected via. That is, as shown in FIG. 1, the rotation transmission shaft 7 has one end connected to the master positioner 5 side and the other end connected to the sub positioners 3A to 3D to connect them.

The universal joints 71 and 72 connected to the rotation transmission shaft 7 are mechanisms that allow misalignment of the axes of the rotation shaft 32b of the turntable 32 and the sub-shaft 43 of the distributor 4, and are also flexible. A known rotation transmission mechanism such as a joint may also be used.

Further, the control device 6 is connected to the welding robot 2 and the master positioner 5 as described above,
Operation of welding robot 2 and sub-positioners 3A to 3
The operation of D is being synchronized. Note that work instructions are given by a market control board 61 connected to the control device 6.

Next, the operation of the welding apparatus 1 of this embodiment will be explained.

First, the inclinations of the sub-positioners 3A to 3D are adjusted so that the welding machine 24 can perform welding work effectively,
Preparation for work is carried out by fixing the workpiece onto the turntable 32 of each sub-positioner 3A to 3D by a mechanism not shown.

Then, by inputting a work instruction into the control panel 61 and causing the control device 6 to operate the master positioner 5, this rotational force is transmitted to the main shaft 42 of the distributor 4. Shaft 43A
~43D distributed. And these secondary shafts 43
The rotation transmission shafts 7 connected to the sub-positioners 3A to 43D transfer this rotational force to the sub-positioners 3A to 3D.
In order to transmit the information, each turntable 32 rotates in synchronization with the master positioner 5.

On the other hand, the welding robot 2, which is similarly controlled by the control device 6, rotates the rotating base 22 according to the work instructions of the device 6, and by extending and contracting the arm 23, welding the welding machine 24 at the tip into one. Sub positioner 3
2. Bring it close to the workpiece above. Then, after operating the welding machine 24, the turntable 32 is rotated in synchronization with this operation, and the welding process as set in advance in the control device 6 is performed on the workpiece.

When the welding work for one workpiece is completed, the welding robot 2 moves the welding machine 24 at the tip of the welding robot 2 to bring it close to the workpiece of the next sub-positioner 3, and performs the welding process according to the specifications preset in the control device 6. perform welding work. Also, during this time, the first workpiece that has been processed is removed from the turntable 32 and replaced with a new workpiece to prepare for work.

As described above, since this welding apparatus 1 has a plurality of sub-positioners 3A to 3D that fix the workpiece, there is no need to stop the welding robot 2 even when replacing the workpiece, and the welding work can be performed without loss time. can be carried out and high work efficiency can be achieved.

Furthermore, although the master positioner 5 is a precision instrument and is expensive, in the welding apparatus 1 of this embodiment, one master positioner 5 is used as a rotational power source to operate a plurality of sub-positioners 3A to 3D. Therefore, it is possible to provide the welding apparatus 1 with excellent economical efficiency.

In particular, in the welding apparatus 1 of the present embodiment, even when welding work has to be performed by variously changing the welding posture of the workpiece, the inclinations of the plurality of sub-positioners 3A to 3D are changed, respectively.
In addition, in the control device 6, the necessary movements corresponding to each of the sub-positioners 3A to 3D are controlled by the welder 24.
If the setting is made so that the sub-positioners 3A to 3D are set to perform the same operation, there is no need to change the inclination of each of the sub-positioners 3A to 3D one by one during the work, and similarly high work efficiency can be obtained.

Further, the distributor 4 of this embodiment has a simple structure in which the belt 44 is stretched between the main shaft 42 and the plurality of sub-shafts 43A to 43D, so that it is difficult to break down and has excellent durability. can. Note that it is of course possible to select a transmission means such as a gear instead of the belt 44.

In this embodiment, the welding machine 24 is attached to the tip of the arm 23 of the welding robot 2 to form a welding device. Of course, it can be used as a machining device equipped with a cutting machine.

〔Effect of the invention〕

As explained above, with the device of the present invention, one robot and multiple workbenches can work together, so there is no need to stop the robot when replacing the workpiece. , loss time during work can be eliminated, and work efficiency can be improved.

Further, according to the apparatus of the present invention, since a plurality of workbenches are operated by a single motor, the operation of the apparatus can be easily controlled and an economical working apparatus can be constructed.

[Brief explanation of the drawing]

Fig. 1 is a plan view of the welding device of this embodiment, Fig. 2 is a side sectional view of the sub-positioner, Fig. 3 is a side sectional view of the distributor, Fig. 4 is a plan sectional view of the distributor, and Fig. 5 is a side sectional view of the sub-positioner. FIG. 3 is a front cross-sectional view of the distributor. 1...Welding equipment (work equipment), 2...Welding robot (robot), 23...Arm, 24...Welding machine (work equipment), 3A to 3D...Sub positioner (workbench), 3
2...Turntable, 4...Distributor, 42...Main shaft,
43A to 43D...Subshaft, 5...Master positioner (motor), 6...Control device, 7...Rotation transmission shaft, 71, 72...Universal joint (allows mismatch in axis between turntable axis and subshaft) mechanism), X...Working range.

Claims (1)

[Claims] 1. A robot with a machine tool attached to the tip of its arm that can move forward and backward within the work area and rotate, a workbench equipped with a turntable that is placed within the work area and rotates while holding the workpiece, and a a distributor that distributes rotational force from a main shaft to a subshaft corresponding to each of the turntables, a motor connected to the main shaft of the distributor, and a rotation transmission shaft that connects the turntable and the subshaft, A machining device characterized in that the rotation transmission shaft has a mechanism that allows the axes of the turntable and the sub-shaft to be mismatched.