JPH07115311B2 - Spherical work robot device - Google Patents

Description

TECHNICAL FIELD The present invention relates to a spherical work robot suitable for work on a spherical surface or a curved surface.

(Prior Art) Conventionally, the present applicant has proposed Japanese Patent Application Laid-Open No. 60-71178 as a robot suitable for work on a spherical surface or a curved surface. In this, a first arm is attached to a rotatable first rotation shaft installed on a base, the first arm is rotatable, and its axis is the first
A second rotating shaft is attached so as to be orthogonal to the axis of the rotating shaft, and the axis of the second arm attached to the second rotating shaft is orthogonal to the axis of the second arm and is the same as the axis of the first rotating shaft. It is characterized in that the tool shafts are installed so as to intersect with each other, a mounting tool is attached to the tip end portion of the tool shafts, and a rotary drive mechanism is connected to each of the first rotary shaft and the second rotary shaft. The center of curvature of the sphere is
By matching the intersection of the rotation axes, the axis of the tool axis matches the normal of the curved surface, so the robot compliance becomes large in the curved surface (circumferential) direction and small in the tool axis direction. Even if there is a deviation from the insertion axis, the tip of the work piece is passively corrected by using chamfering as a guide without twisting, and a wide working area covering the entire spherical surface can be obtained.

(Problems to be Solved by the Invention) However, in order to install the work W on the line shown in FIG. 4 outside the robot installation base 1, the first arm 2 and the second arm 3 install the work depending on the location. The first rotating shaft and the second rotating shaft are the fifth
As shown in the figure, there was a problem that it could not rotate more than 360 ° and could not fully utilize the feature that a wide working area covering the entire spherical surface could be obtained.

(Means for Solving Problems) An object of the present invention is to solve the above problems. A first arm is attached to a rotatable first rotating shaft installed in a base, and the first arm rotates. A second rotating shaft is attached so that its axis is orthogonal to the axis of the first rotating shaft, and the axis of the second rotating shaft is attached to the tip end of the second arm attached to the second rotating shaft. In a robot in which a slide shaft is installed so as to be orthogonal to the work shaft, a work tool is attached to the tip end of the slide shaft, and a rotary drive mechanism is connected to each of the first rotary shaft and the second rotary shaft. It is characterized in that the base of the first arm is fixed to a rotary cylinder that rotates around the center of the workpiece so that the first arm can freely rotate the outer circumference of the work 360 degrees.

Hereinafter, a specific description will be given based on the first embodiment of the present invention shown in FIG. A rotary cylinder 3 is axially supported by bearings 2a and 2b on the outer circumference of a hollow cylindrical portion 1a protruding from one end of the base 1. The rotary cylinder 3 is connected to the pulley 4 at one end 3a, and the pulley 4 is connected to the base 5a of the first arm 5. A motor 7 is provided on a bracket 6 provided on the base 1 so that its axis is parallel to the rotary cylinder 3. A pulley 9 is connected to an output shaft 7a of the motor 7 and is rotationally connected to the pulley 4 by a timing belt 10. An axis OB orthogonal to the axis OA of the first arm at the tip 5b of the first arm 5
A rotary shaft 11 is pivotally supported on the. Second at the tip of the rotary shaft 11.
The base 12a of the arm 12 is connected. Also, the rotating shaft 11
The other end of the motor is rotationally connected to a motor 13 provided on the first arm 5. An axis which is orthogonal to the axis OB of the second arm and coincides with the axis OA of the first arm at the tip portion 12b of the second arm 12.
A sliding shaft (spline shaft) 14 is rotatably supported on the OC so as to be slidable and rotatable in the axial direction. 15 is a sliding shaft (spline shaft) 14
It is a spline bearing for slidingly guiding and is pivotally supported by the rotary bearing 16 on the tip portion 12b of the second arm 12. A pulley 17 is coupled to the spline bearing 15, and an output shaft of a motor 18 provided on the second arm 12
A pulley 19 connected to 18a and a timing belt 20 are rotationally connected.

Further, the sliding shaft 14 has a pulley 22 connected at its one end to the output shaft 21a of the motor 21 provided on the second arm and a pulley 24 rotationally connected to the timing belt 23 at one end thereof. A nut 27 that is screwed into a ball screw 26 that is pivotally supported by the second arm 12 is connected to a connecting tool 28. 29 is a hand (work tool) provided at the other end of the sliding shaft 14.

On the other hand, in the hollow cylindrical portion 1a, a hollow work supporting shaft 31 is slidably supported coaxially with the first arm shaft OA by sliding bearings 30a and 30b. An X table 32 that slides at a right angle to the axis OA is provided at one end 31a of the workpiece support shaft 31 on the arm side.
The drive unit 33 is provided. The table 32 has a built-in drive unit of a Y table 34 that slides at a right angle to the sliding direction of the X table 32 and the axis OA. On the Y table 34, a spherical work 35 is provided with its center aligned with the point O. At the other end 31b of the work support shaft 31, one end of the work support shaft 31 is connected to an output shaft 36a of a motor 36 provided on the base 1 by a coupling 37, and is rotatably supported by bearings 38a and 38b and screwed into a ball screw 39. Nut 40 and connecting plate 41
Are connected by. 42 is the X table 32 and the Y table
A cable / air tube provided in a hollow work support shaft 31 for supplying electric power or the like for driving 34.

Reference numeral 43 is a cable / air tube for driving and controlling each motor / working tool, and is provided in a coil shape so as to be coaxial with the rotation axis at the rotation bases of the first arm 5 and the second arm 12. (43a, 43b).

Next, the operation will be described. Each motor 7, 1
By operating 3, 18, and 21, the first arm 5, the second arm 12, and the sliding shaft 14 can be rotated and the sliding shaft 14 can be slid. When the second arm 12 is rotated, the tip of the work tool 29 moves in the meridian direction of the work 35 assuming that the axis OA is the other axis. If the first arm 5 is rotated while the second arm 12 is tilted at a certain angle, the work 35 moves in the direction of the latitude line. When the sliding shaft 14 is further slid, the work tool 29 slides in the direction of the center O of the sphere, so that the work tool 29 can take a work area in a spherical shape.

Further, since the position of the work 35 in the three-dimensional space can be adjusted by slidingly driving the X table 32, the Y table 34, and the work support shaft 31, respectively, the center of the displaced sphere and the center of curvature of the free-form surface can be adjusted. Can be matched with O,
It is also possible to move the sliding shaft 14 in a direction that does not coincide with the center of the sphere.

The first arm 5 can obtain a rotation angle of 360 ° or more,
Since the work area of the second arm 12 is limited only by the range of the rotation angle at which the work tool 29 and the support shaft 31 interfere with each other, the work area that can be taken by the robot is supported by the support shaft 31 of the work 35 on the surface of the work 35. Can take all sides except parts.

In addition, the cables and air tubes that are placed are coiled at their movable parts, so twisting of the cables and air tubes is converted into bending, avoiding damage to the cables and air tubes themselves, and making one rotation of each arm. It is possible to follow the above rotation angles. Further, since the work support shaft 31 is hollow, the cable / air tube can be arranged in the work 35 direction.

In particular, since the first arm 5 can obtain a rotation angle of 360 ° or more, the first arm 5 can always move the shortest distance on the spherical surface. In other words, if there is an interfering component in the rotation range, it may not be possible to reach the place unless it rotates about one turn for the movement of the place, whereas in the case of the present invention, the movement of the place is always less than a half turn as shown in FIG. can do.

FIG. 2 shows a second embodiment of the present invention. First arm (a)
The base (a) is not formed into a ring shape, and the base (b) having a wide opening (b) formed at one end is pivotally supported by the bearing (c) and the work (d) is provided at one end (e). The work supporting column (e) is fixed to the final output part (f) of the X, Y, Z table (f) provided inside the base (b). (G) Z-axis part, (H) Y table, (L) Y table drive motor, (N) X table, (L) X
It is a table drive motor.

Further, (e) is a motor for driving the first arm (a) provided on the base (b), and the gear (wa) fixed to the output shaft (a) of the motor is the first arm of the first arm (a). Arm
Meshes with a gear (F) provided coaxially with the rotation axis of the.

The second embodiment has an advantage that the position movement amount of the workpiece in the three-dimensional space can be made larger than that of the first embodiment. Therefore, it can be applied to the transfer and transfer of the work by using the X, Y, and Z tables, and the range in which the center of curvature of the work and the center of curvature of the work can be widened. By using the work, not only spherical work but also complicated work can be performed on a considerably large surface of the work without changing the work.

(Effect) The present invention has the first rotary shaft installed on the base,
An arm is attached to the first arm, a second rotary shaft is attached to the first arm so that its axis is orthogonal to the axis of the first rotary shaft, and the tip of the second arm attached to the second rotary shaft, A sliding shaft is installed so that its axis is orthogonal to the axis of the second rotating shaft, and a work tool is attached to the tip of the sliding shaft, and the first rotating shaft and the second rotating shaft each have a rotary drive mechanism. In the robot connected to the robot, the base of the first arm is fixed to the rotary cylinder that rotates around the sark support shaft so that the first arm can freely rotate the outer circumference of the work 360 degrees. It is possible to minimize the range of interference with the robot, and therefore it is possible to fully utilize the wide working range of the robot.

Further, since the compliance of the robot is large in the curved surface (circumferential) direction and small in the tool axis direction, when the robot of the present invention is used for the assembly work, there is an effect that the insertion work with less twisting can be performed.

Further, if the above features are utilized, it can be applied not only to the assembling work but also to other works such as machining.

[Brief description of drawings]

1 is a cutaway front view of the essential parts of a first embodiment of the present invention, FIG. 2 is a cutaway front view of the essential parts of a second embodiment of the present invention, and FIG. 3 is an explanatory view of the first arm operation of each of the above embodiments, FIG. 4 is an external perspective view of the conventional device, and FIG. 5 is an explanatory view of the operation of the first arm of the conventional device. 1 ... Base, 1a ... Hollow cylinder 3 ... Rotating cylinder 5 ... First arm, 5b ... First arm tip 7 ... Motor 11 ... Rotating shaft 12 ... Second arm, 12a. 2nd arm base 13 …… Motor 14 …… Sliding shaft (spline shaft) 15 …… Spline bearing 18 …… Motor 21 …… Second arm 31 …… Workpiece support shaft 35 …… Spherical work I …… 1 Armro …… Base Ni …… Work E …… Work support pillar F …… X, Y, Z table …… Drive motor

Claims (1)

[Claims] 1. A first rotating shaft mounted on a base, to which a first arm is attached, wherein the first arm is rotatable, and the second rotating shaft is rotatable about the axis of the first rotating shaft. And a slide shaft is installed at the tip of the second arm attached to the second rotary shaft so that its axis is orthogonal to the axis of the second rotary shaft, and a work tool is attached to the tip of the slide shaft. In a robot equipped with a rotary driving mechanism connected to each of the first rotary shaft and the second rotary shaft, a base of the first arm is fixed to a rotary cylinder that rotates around a work supporting shaft, and the first arm is mounted on the workpiece. A spherical work robot device that can rotate the outer circumference 360 degrees freely.