JPH07100777A - Loading robot - Google Patents

Abstract

PURPOSE:To adjust the phase of a work speedily in a simple manner by making the wrist shaft of a loading robot to be turnable and installing a working shaft installation body which has a plurality of working hands and can be turned, at the top end of the wrist shaft. CONSTITUTION:As for a loading robot, a base board is started at a desired position by a traveling driving means along a constant traveling means, and an arm 3 is turned around a vertical axis, and the arm 3 is bending-extended. If, at that position, a pair of holding members 491 and 492 are installed at the front and rear ends for a working shaft installation body, a finished work W after working is held by one holding member 491, and a not-yet-worked workpiece is held by the other holding member 492, and a wrist shaft 37 is turned by a turning driving means, and a working shaft installation body 38 is set at a turned-back position. Further, the holding members 491 and 492 are turned by turning an output shaft, and the phase adjustment for the not-yet- worked workpiece is carried out on the placing board of a working machine, and the work is positioned speedily, and working is carried out in a simple manner.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot in which an arm whose tip portion can move linearly with respect to a traveling direction of a movable base is provided so as to be rotatable around a vertical axis. The present invention relates to a so-called vertical joint type loading robot in which an arm is operated in a direction orthogonal to a traveling line.

[0002]

2. Description of the Related Art Conventionally existing industrial robots include a base capable of traveling along a traveling line, an arm support provided above the base and rotatable about a vertical axis. An arm having a base end attached to the arm support, and the arm is driven so that the tip moves linearly and can be bent and extended. In general, the structure has a rotatable wrist shaft provided in a direction perpendicular to the traveling line of No. 1 and a grip member having one end attached to the wrist shaft. With this structure, depending on the work, a rotary temporary stand must be used.

[0003]

However, when loading a work using such a robot, two hands for attaching and detaching are attached to the robot to grip an unprocessed product and a processed product. In some cases, it is necessary to match the phase of the work with the chuck of the processing machine. In this case, before loading on the processing machine, the work is placed on a separately provided device for adjusting the phase, that is, a rotary temporary placing table, and after loading the phase, the work is loaded on the processing machine. However, if such a method is adopted, the time required for one cycle becomes very long, and a large space is required, which affects the cost, delivery time, equipment reliability, etc. in terms of device manufacturing and installation area. Problem was seen. Therefore,
An object of the present invention is to provide a loading robot in which a servo axis for aligning a phase of a work is added to a wrist axis of the robot, and the phase can be easily and rapidly aligned without using a rotary temporary stand. .

[0004]

In order to achieve the above object, in a loading robot of the present invention, a base driven by a travel drive means and capable of traveling on a constant travel line, and On the other hand, an arm support part driven by a rotation drive means rotatable around a vertical axis, and an arm having a base end part attached to the arm support part and capable of bending and extending so that the tip part moves linearly. An arm driven by a driving means, a wrist shaft attached to a tip of the arm and provided in a direction perpendicular to the certain traveling line and rotated by a rotatable rotation driving means, and rotation within the wrist shaft. A plurality of gripping members, one end of which is rotatably transmission-coupled to a movable output shaft, and a work shaft mounting body that holds the gripping members integrated with the wrist shaft. It is provided.

[0005]

In the loading robot constructed as described above, the base is moved to a desired position by the traveling drive means along a certain traveling line, the arm is rotated around the vertical axis, and the arm is bent and extended. At that position, for example, when a pair of gripping members are attached to the work shaft mounting body at the front and rear ends, one of the gripping members does not finish the processed work with the other gripping member. Hold the workpiece to be machined, rotate the wrist shaft by the rotation drive means and place the work shaft mount at the upside-down position, while rotating the output shaft to rotate the gripping member and rotate the phase of the unmachined workpiece. The work can be quickly positioned by performing the alignment on the mounting table of the processing machine, and the work can be easily performed. Then, unlike the conventional one, a rotary temporary stand is not required, and not only the time for phase alignment can be shortened but also the installation area of equipment or the like can be reduced. It goes without saying that all the above operations are taught to the robot by teaching, are stored, and are performed based on that.

[0006]

Embodiments will be described below with reference to the drawings. FIG. 1 is a diagram showing a phase matching operation performed by a loading robot according to an embodiment of the present invention, FIG. 2 is a diagram showing a base structure according to an embodiment of the present invention, and FIGS. 3 and 4 are diagrams showing an embodiment of the present invention. FIG. 5 is a view showing a support portion of the arm and a partial structure of the arm, FIG. 5 is a schematic side view of an embodiment of the present invention, and FIG. 6 shows a structure of a grip member around the wrist shaft of the embodiment of the present invention. FIG.

In FIG. 1, the robot R has a fixed direction (X
A base 1 that can travel along a travel line formed by a frame 5 that extends in the axis), and an arm support portion 2 that is provided above the base 1 and rotatably supported about a vertical axis. The arm supporting portion 2 has an arm 3 having a base end attached thereto, and the arm 3 is composed of a first arm 31 and a second arm 32 as shown in FIGS. 3 and 4. . The frame 5 is provided with a guide 5 that supports the base 1 so as to be movable in the X-axis direction, a rack 5 a for driving the base 1 to travel, and the like. Further, the robot base 1 is provided with an axis control unit 6, while a main control unit 7 is provided outside, and both control units 6 and 7 are connected by a cable 8. In addition, a vertical shaft 13 is attached to the base 1 so as to be vertically movable and rotatable, and an arm support portion 2 is fixed to the upper end of the vertical shaft 13. Further, a vertical shaft lifting motor 14 and a vertical rotation motor 15 are mounted on the base. Equipped to 1. In the illustrated embodiment, the vertical shaft 13 is formed of a ball spline shaft, and the vertical shaft 13 can be moved up and down by a ball spline composed of the ball spline shaft and the outer cylinder portion 16.
6 is a bearing 1 in a housing 17 provided on the base 1.
Since it is held via 8, the vertical shaft 13 is rotatable. The lower end of the vertical shaft 13 is the holder 19
A nut provided on the holder 19 is rotatably coupled to a ball screw shaft 20 disposed on the side of the vertical shaft 13, and the ball screw shaft 20 is connected to a vertical shaft via a belt transmission mechanism 21. While being connected to the lifting motor 14, the upper end portion of the outer cylinder portion 16 has gears 23, 24.
The vertical shaft 13 is connected to the vertical shaft rotating motor 15 through the above-mentioned motors, and the vertical shaft 13 is vertically moved and rotated by these motors 14 and 15.

As shown in FIGS. 3 and 4, the first arm 31 of the arm 3 composed of the first arm 31 and the second arm 32.
The base end portion is fixed to the first rotating body 33 supported by the arm supporting portion 2 via a bearing, so that the first horizontal axis which is the center of the first rotating body 33 with respect to the arm supporting portion 2. It can be rotated around the heart. Further, a second rotary body 35 is supported by a pivot shaft 34 provided on the rotary side end portion of the first arm 31 via a bearing, and one end portion of the second arm 32 is fixed to the second rotary body 35. As a result, the second arm 32 is rotatably connected to the first arm 31 about the second horizontal axis that is the center of the second rotating body 35. A wrist shaft 37 is rotatably attached to the tip of the second arm 32 by a shaft 36, and the wrist shaft 37 rotatably supports a work shaft mount 38 attached to the tip of the wrist shaft 37. The shaft mounting body 38 is rotatable by a motor 47 around the axis of the wrist shaft 37.
Further, the work shaft mounting body 38 is provided with work shafts 38 ₁ and 38 ₂ which can be rotated by motors 48 in opposite directions around their axes, and work hands 49 (49 ₁ , 49 ₁ , 49 ₁ ,
49 ₂ ) is detachably attached. 37 in the figure
Reference numeral ₁ is a cover that covers the vicinity of the motors 47 and 48 of the wrist shaft 37.

By the way, the first rotating body 33 is connected to an arm driving motor 40 mounted on the arm supporting portion 2, and the first arm 31 is rotated by the motor 40. In addition, inside the first arm 31, the first pulley 4 fixed to the arm support portion 2 is provided.
1 and the second pulley 42 fixed to the second rotating body 35, the main timing belt 43 is wound around,
Inside the second arm 32, a sub timing belt 46 is wound around a third pulley 44 fixed to the pivot shaft 34 and a fourth pulley 45 fixed to the shaft 36. The first arm 31 and the second arm 32 have the same length, the diameter ratio of the first pulley 41 and the second pulley 42 is set to 2: 1, and the third pulley 44 and the fourth pulley 45 have the same diameter. The diameter ratio is set to 1: 2. In this way, when the arm 3 is driven by the arm driving motor 40 and the first arm 31 rotates, the second arm 32 continuously rotates through the main timing belt 43, whereby the second arm 3 is rotated.
2 moves linearly in a direction perpendicular to the first and second horizontal axes, and the shaft 36 at the tip of the second arm 32 moves to the first pulley 41 via the main timing belt 43 and the sub-timing belt 46. Coordinated to maintain a certain posture. Further, a tensioner 58 for applying tension to the main timing belt 43 is provided in the first arm 31, and the idle pulley 59 contacts the main timing belt 43 to adjust the belt tension as shown in FIG. You can do it. Of course, it goes without saying that the sub timing belt 46 is also provided with a similar one. Further, in the second arm 32, an air pipe 6 for rotating the wrist shaft 37 in the horizontal direction.
0, the wrist shaft 37 is driven by the motor 47 via the pulley 50 via the pulley 50, and the work shaft mounting body 38 is rotated via the speed reducers 53 and 54. ing. A harmonic drive reducer is used as the reducer 54.

On the other hand, by the motor 48, the motor 48
The drive shaft (output shaft) 55 connected to is rotated so that the work shafts 38 ₁ and 38 ₂ can rotate in opposite directions via the bevel gears 56 ₁ and 56 ₂ . Needless to say, work hands 49 ₁ and 49 ₂ are attached to the work shafts 38 ₁ and 38 ₂ , respectively. Also, the bevel gears 56 ₁ and 56 _{2 are}
The left and right rotations are reversed, the bevel gears 56 ₁ and 56 ₂ themselves are axially movable, and the bevel gears 56 ₁ and 56 ₂ are pressed against the drive side by a wave washer for removing backlash. Further, since the wrist shaft 37 can be rotated in this loading robot, each of the double-handed work hands 49 ₁ and 49 ₂ ,
For example, one hand 49 ₁ holds a work W whose one surface has been processed, the other hand 49 ₂ holds an unprocessed work W, and the wrist shaft 37 is rotated by a motor 47 to allow processing of the unprocessed work. After bringing W to the processing position, the work shaft 38 ₂ holding the unworked work W of the work shaft mounting body 38 is rotated, and the phase of the unworked work W is adjusted by the work hand 49 ₁ . can do.

[0011]

Since the present invention is configured as described above in detail, the wrist shaft of the loading robot is rotatable and a rotatable work shaft mount having a plurality of work hands is provided at the tip thereof. As a result, the operation steps of the robot can be omitted without installing the rotary temporary placing table, and the work can be easily and rapidly phase-adjusted.

[Brief description of drawings]

FIG. 1 is a diagram showing an outline of phase matching by a loading robot of the present invention.

FIG. 2 is a diagram showing a structure of a base according to an embodiment of the present invention.

FIG. 3 is a diagram showing a support portion of an arm and a partial structure of the arm according to the embodiment of the present invention.

FIG. 4 is a diagram showing a support structure of an arm and a partial structure of the arm according to the embodiment of the present invention.

FIG. 5 is a perspective view of a main part of the embodiment of the present invention.

FIG. 6 is a diagram showing a structure around a wrist shaft according to an embodiment of the present invention.

[Explanation of symbols]

1 Base 2 Arm Support 3 Arm 5 Frame 6 Axis Control 7 Main Control 8 Cable 13 Vertical Axis 14 Vertical Elevating Motor 15 Vertical Rotating Motor 16 Outer Cylinder 17 Housing 18 Bearing 19 Holder 20 Ball Screw Axis 21 Transmission Mechanism 23 Gear 24 Gear 31 First arm 32 Second arm 33 First rotating body 34 Pivot shaft 35 Second rotating body 36 Axis 37 Wrist shaft 37 ₁ Cover 38 Working shaft mount 38 ₁ Working shaft 38 ₂ Working shaft 40 Arm Drive motor 41 First pulley 42 Second pulley 43 Main timing belt 44 Third pulley 45 Fourth pulley 46 Sub timing belt 47 Motor 48 Motor 49 Working hand 50 Tensioner 51 Idle pulley 52 Belt 53 Reducer 54 Reducer 55 Drive Axis 56 ₁ Bevel gear 56 ₂ Bevel gear 57 Air piping 58 Tensioner 59 Idle pulley

Claims (1)

[Claims] 1. A base that is capable of traveling on a constant travel line and that is driven by a travel drive means, and an arm support portion that is driven by a rotation drive means that is rotatable about a vertical axis with respect to this base. An arm driven by arm driving means, the base end of which is attached to the arm support, and the tip of which can be bent and extended so as to move linearly, and the arm attached to the tip of the arm. A wrist shaft that is provided in a direction perpendicular to the traveling line and that is rotated by a rotatable rotation driving means, and a plurality of gripping members that are rotatably coupled at one end to a rotatable output shaft in the wrist shaft. A loading robot, comprising: a work shaft mounting body that holds the gripping member that is integral with the wrist shaft.