JPH07223179A - Double arm robot - Google Patents

Abstract

PURPOSE:To provide a double arm robot capable of easily and shortly integrating a work having a part connected to both ends of a cable. CONSTITUTION:A body 7 has arms 1A, 1B on both the side surfaces of through a turning motors 3A, 3B provided in such a manner as to be vertically movable. The arm 1A has an arm 1C and an end effecter 2A in order on the top end, and the arm 1B has an arm 1D and an end effecter 2B on the top end. The body 7 gas an arm 1F vertically turned by a motor 3C on the front side. The arm 1F has an end effecter 2C on the top end through an arm 1G. A motor unit 3 and a connector 6 are carried and positioned by the end effecters 2A, 2B, and a cable 11 is positioned by the end effecter 2C.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a playback type industrial robot, and more particularly to a multi-arm robot.

[0002]

2. Description of the Related Art FIG. 12 is a perspective view showing a conventional horizontal articulated industrial robot (hereinafter, simply referred to as a robot) in which components with harnesses are assembled.

In FIG. 12, a pair of ball screws (not shown) are provided vertically in parallel on the front side of the body 27 of a horizontal articulated multi-arm robot installed on one side of the base conveyor 8. On both sides of the screw, guide parts not shown in detail are provided in parallel with the ball screw.

A nut portion (not shown) is fitted to these ball screws, and substantially U-shaped support portions 13a and 13b are fixed to the front surface of the nut portion with the opening sides facing forward. The lower end of each ball screw is connected to a pair of uniaxial drive motors (not shown).

A motor 13A for a two-axis drive unit is vertically mounted on the upper portion of the support unit 13a with the rotating output shaft facing downward. A base end of a biaxial arm 21A is connected to the output shaft of the motor 13A, and a triaxial motor (not shown) that rotates about the turning shaft 21a is housed at the tip of the arm 21A. .

A base end of a three-axis arm 21C is connected to an output shaft of the three-axis motor, and a tip of the arm 21C is for a four-axis shaft (not shown) which rotates about a rotary shaft 21c. A motor is housed, and the center shaft of the end effector 22A is connected to the output shafts of the four-axis motor.
The end effector 22A has a pair of pawls, which are pneumatically actuated, on the lower surface side.

Similarly, the motor 13 is provided above the support 13b.
A two-axis drive motor 13B having the same shape as A is vertically mounted with the rotating output shaft facing downward. This motor
The output shaft of 13B is connected to the base end of a biaxial arm 21B, which is the same product as the arm 21A, and the tip of this arm 21B is
A motor for three axes (not shown) that rotates about the pivot shaft 21b is housed.

An arm is attached to the output shaft of the three-axis motor.
The base end of the arm 21D for 3 axes which is the same as 21C is connected,
A motor for four shafts (not shown) that rotates about the rotary shaft 21d is housed at the tip of the arm 21D, and the output shaft of the motor for four shafts has an end effector 22B that is the same as the end effector 22A. The central axes are connected. The end effector 22B has a pair of claws, which are not shown in detail, which are operated by air pressure, on the lower surface side.

On the upper surface of the base conveyor 8, the frames 9 sent from the right side in FIG. 12 are placed at predetermined intervals,
Of these, the frame 9 on which the parts are assembled in the previous step is placed on the right frame 9, and the motor unit 4 and the like attached as described below are added to the middle part. Each frame 9 is positioned by a positioning mechanism (not shown) provided on both sides of the base conveyor 8.

A pallet (not shown) is provided on the left side of the body 27, and the motor unit 4,
An assembly component 10 including a connector 6 and a harness 11 that connects them is placed at a predetermined position.

In the thus constructed multi-arm robot, when the assembling part 10 shown on the left side is assembled to the frame 9 conveyed to the front, the left and right arms are drawn.
At 12, the connector 6 and the motor unit 3 are swung to the left side, and then swung to the base conveyor 8 side to
Motor unit 4 and connector 6 as shown in the center of 12
Assemble in place. When this assembly is completed, the base conveyor 8 is driven at a predetermined pitch by a signal sent from the robot, and the above assembly work is repeated thereafter.

[0012]

However, in the robot constructed as described above, when the motor unit 4 and the connector 6 are assembled in a predetermined position by the pair of end effectors 22A and 22B, the wiring route of the harness 11 is predetermined. Can not be regulated on the route.

Therefore, in the conventional work assembling work, as shown in FIG. 11 (a), a pair of clips 14 made of nylon are erected so as to be opposed to the frame 9, and these clips 14 are attached. Insert the harness 11 between them, or as shown in FIG. 11 (b), install the inverted L-shaped guide 15 upright at a predetermined position,
With this guide 15, you can change the direction of the harness 11,
As shown in FIG. 11 (c), a cylindrical pin 16 is provided at a predetermined position.

However, this method is not suitable for these clips.
Since the work of fixing 14 and the guide 15 and the pin 16 to the frame 9 is required, the pre-work for assembly is increased.

If the harness 11 is not wired in a predetermined route, it may not only hinder the assembling work of the parts to be assembled in the next step, but also may be crushed by the assembling parts and damage the coating. There is also.

Therefore, an object of the present invention is to provide a multi-arm robot which can easily perform not only the parts but also the wires in the assembly work for assembling the parts with electric wires by the robot.

[0017]

According to a first aspect of the present invention, a horizontal articulated arm whose base ends are connected to both side surfaces of a fixed portion and a base end is connected to one surface between both side surfaces of the fixed portion. Is a multi-arm robot including a vertical articulated arm, and a drive unit that individually drives the horizontal articulated arm and the vertical articulated arm.

Further, according to a second aspect of the present invention, a horizontal articulated arm having a base end connected to both side surfaces of the fixed portion so as to be vertically movable, and a base end connected to one surface between both sides of the fixed portion. And a vertical multi-joint arm, an end effector provided at the end of the horizontal multi-joint arm and the vertical multi-joint arm, and a drive unit that individually drives the horizontal multi-joint arm, the vertical multi-joint arm, and the end effector. It is a multi-arm robot.

Further, according to a third aspect of the present invention, a horizontal articulated arm having a base end connected to both side surfaces of the fixed portion so as to be vertically movable, and a base end connected to one surface between both sides of the fixed portion. The vertical articulated arm, the first end effector provided at the tip of the horizontal articulated arm for gripping the work, and the work gripped by the first end effector provided at the tip of the vertical articulated arm are connected. A multi-arm robot including a second end effector for positioning an electric wire, a horizontal multi-joint arm and a vertical multi-joint arm, and a drive unit for individually driving the first end effector and the second end effector.

[0020]

According to the first aspect of the present invention, the pair of works are conveyed by the tips of the pair of horizontal articulated arms, and the electric wires connecting the works are positioned by the tips of the vertical articulated arms.

Further, in the inventions of claims 2 and 3, the pair of works is conveyed by the end effector at the tip of the pair of articulated arms, and the electric wire connecting the works is of the vertical articulated arm. Positioned by the end effector at the tip.

[0022]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a multi-arm robot of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view showing a multi-arm robot of the present invention, and is a view corresponding to FIG. 12 shown in the prior art.

In FIG. 1, a pair of ball screws (not shown) are provided in parallel in the vertical direction on the left side of the body 7 of a horizontal articulated multi-arm robot installed on one side of the base conveyor 8. On both sides of the ball screw, guide parts not shown in detail are provided in parallel with the ball screw.

A nut portion (not shown) is fitted to these ball screws, and substantially U-shaped support portions 3a and 3b are symmetrically fixed to the front surface of the nut portion with the opening side facing outward. ing. The lower end of each ball screw is connected to a pair of uniaxial drive motors (not shown).

A motor 3A for a biaxial drive unit is vertically mounted on the upper portion of the support unit 3a with the rotating output shaft facing downward. A base end of a biaxial arm 1A is connected to an output shaft of the motor 3A, and a triaxial motor (not shown) that rotates about the pivot shaft 1a is housed at the tip of the arm 1A. .

A base end of an arm 1C for three axes is connected to an output shaft of the motor for three axes, and a tip end of this arm 1C is for four axes (not shown) which rotate about a rotary shaft 1c. A motor is housed, and the center shaft of the end effector 2A is connected to the output shafts of the four-axis motor.
The end effector 2A has a pair of claws that are pneumatically operated on the lower surface side.

Similarly, a motor 3B for a two-axis drive unit having the same shape as the motor 3A is vertically mounted on the right side surface of the support unit 3b with the rotating output shaft facing downward. A base end of a biaxial arm 1B, which is the same product as the arm 1A, is connected to the output shaft of the motor 3B, and a tip end of the arm 1B is provided for a not-illustrated three shafts which rotate about the turning shaft 1b. The motor is stored.

The output shaft of this three-axis motor is connected to the base end of a three-axis arm 2B, which is the same product as the arm 1C,
A motor for four shafts (not shown) that rotates about the rotary shaft 1d is housed at the tip of the arm 2B, and the output shaft of the motor for four shafts is the same as the end effector 2A. The central axes are connected. The end effector 2B has a pair of pawls, which are not shown in detail, which are operated by air pressure, on the lower surface side.

Frames 9 sent from the right side in FIG. 1 are placed on the upper surface of the base conveyor 8 at predetermined intervals,
Of these, the frame 9 on which the parts are assembled in the previous step is placed on the right frame 9, and the motor unit 4 and the like attached as described below are added to the middle part. Each frame 9 is positioned by a positioning mechanism (not shown) provided on both sides of the base conveyor 8.

A pallet (not shown) is provided in front of the body 1, and the motor unit 4, the connector 6 and the harness for connecting them shown in FIG. 12 are provided on the upper surface of the pallet.
An assembly component 10 composed of 11 is placed at a predetermined position.

In the thus constructed multi-arm robot, when assembling the assembly component 10 shown on the left side to the frame 9 conveyed to the front, the left and right arms are extended forward in FIG. After gripping the connector 6 and the motor unit 3, the connector 6 and the motor unit 3 are fastened to the base conveyor 8 side, and the motor unit 4 and the connector 6 are assembled in a predetermined place as shown in the central portion of FIG. When this assembly is completed, the base conveyor 8 is driven at a predetermined pitch by a signal sent from the robot, and the above assembly work is repeated thereafter.

Further, a drive unit 3C, not shown in detail, is attached to the front side of the body 7, and the base end of an arm 1F driven vertically and horizontally is connected to the upper portion of the drive unit 3C. The base end of the arm 1G is connected to the tip of the arm 1F via a drive unit (not shown).
The upper end of an end effector 2C driven by a driving unit (not shown) is connected to the tip of the end effector 2C.
At the lower end of C, a pair of claws is projected.

At the same time as the operations of the arms 1A, 1C and the end effector 2A and the arms 1B, 1G and the end effector 2B, the harness 11 is arranged at a predetermined position by the arms 1F, 1G and the end effector 2C. .

Next, the assembling work of the harness parts by the robot thus constructed will be described with reference to FIGS.
This will be described in more detail with reference to FIGS. 6 and 7. In each figure, the upper stage shows a plan view and the lower stage shows a front view.

In FIGS. 2 (a) and 2 (b), the motor unit 4 and the connector 6 of the supplied parts with harness are gripped by using the end effectors 2A and 2B.

2 (c) and 2 (d), the harness-equipped component is lifted to bring the end effectors 2A and 2B to a predetermined distance, and the harness 11 is made linear. Further, the harness near the work is pressed by the end effector 2C.

In FIGS. 3 (a) and 3 (b), the work with a harness is conveyed onto the parts to be assembled and the motor unit 4 is assembled at a predetermined position by the end effector 2A. Figure 3
In (c) and (d), the end effector 2C, which has lightly pressed the harness 11 in the vicinity of the work, is shifted to the harness bending portion, which is an important point for harness path regulation. Figure 4
In (a), (b), (c), and (d), the end effector 2B is moved around the end effector 2C, and the harness 11 is bent as shown in (a) to (c).

In FIGS. 5A and 5B, the end effector 2A holding the motor unit 4 is removed from the motor unit 4 and replaced with the harness 11 near the important point of harness path regulation.

In FIGS. 5C and 5D, the end effector 2A moves to the important point of the first harness path regulation, and the end effector 2C moves to the next important point of the second harness path regulation. .

6A and 6B, the end effector 2C is centered around the end effector 2C as in FIG.
Move and bend the harness 11. In FIGS. 6C and 6D, the harness 11 and the connector 6 in the desired positions and paths are mounted in the socket 14 of the frame 9.

FIG. 7 shows the harness-equipped component which has been completely routed. By driving the three sets of arms in this way, the harness can be arbitrarily bent and disposed at a predetermined location by repeating the operations of FIGS. 2 to 7.

Next, as shown in FIG. 8, the end effector 2C does not have to be attached to a single arm. For example, the end effector 2C is attached to an arm 1Z constituted by a slide shaft supported by the arm 1D for wiring work. You can also do it.

Further, FIG. 9 shows the head 2D or the head 2
An example is shown in which the front end portion of D is configured to be rotatable so that the motor unit 4 and the connector 6 can be assembled in any posture. This is particularly effective when the connector 6 is inserted into the socket 14.

FIG. 10 shows an example in which a wire 11A is soldered or lapped on both ends of a universal board or a universal wiring board. Conventionally, as in (a), the wires overlap and become thick at one place, and as in (b), they interfere with the wiring work. However, inserting the multi-arm robot of the present invention Therefore, as shown in (c),
It is possible to prevent the wires from overlapping with each other and from hindering other wiring work.

[0045]

As described above, according to the invention of claim 1,
A horizontal multi-joint arm whose base ends are connected to both sides of the fixed part, a vertical multi-joint arm whose base ends are connected to one side between both sides of the fixed part, and a horizontal multi-joint arm and a vertical multi-joint arm. By having a drive unit that drives individually, a pair of works are conveyed by the tips of a pair of horizontal multi-joint arms, and the wires connecting these works are positioned by the tips of the vertical multi-joint arms. In the assembling work for assembling the parts with electric wires, it is possible to obtain a multi-arm robot that can easily perform not only the parts but also the work of arranging the electric wires.

According to the second aspect of the present invention, a horizontal articulated arm having a base end vertically movably connected to both side surfaces of the fixed portion and a base end provided on one surface between both sides of the fixed portion. A vertical articulated arm connected to the horizontal articulated arm, an end effector provided at the tip of the horizontal articulated arm and the vertical articulated arm, and a drive unit for individually driving the horizontal articulated arm and the vertical articulated arm and the end effector. By doing so, the pair of works is conveyed by the end effectors at the ends of the pair of articulated arms, and the wires connecting the works are positioned by the end effectors at the ends of the vertical articulated arms. In the assembling work for assembling, it is possible to obtain the multi-arm robot which can easily perform not only the parts but also the work of arranging the electric wires.

Further, according to the invention of claim 3,
At the tip of the horizontal articulated arm, a horizontal articulated arm whose base ends are connected to both sides of the fixed part so that it can move up and down, and a vertical articulated arm whose base end is connected to one side between both sides of the fixed part A first end effector provided for holding a work, a second end effector for positioning an electric wire connecting the work held by the first end effector provided at the tip of the vertical articulated arm, and a horizontal articulated joint An arm, a vertical multi-joint arm, and a drive unit that individually drives the first end effector and the second end effector are provided, whereby a pair of works are conveyed by the end effectors at the tips of the pair of multi-joint arms, The wires that connect the two are positioned by the end effector at the end of the vertical articulated arm, so only the parts can be assembled during assembly work with the robot to assemble the parts with wires. No, it is possible to obtain a Fukuude robot capable of coordinating 設作 industry wire also easily performed.

[Brief description of drawings]

FIG. 1 is a perspective view showing an embodiment of a multi-arm robot of the present invention and an application example of the multi-arm robot.

FIG. 2 is a diagram showing the operation of the multi-arm robot of the present invention,
(A), (c) is a plan view, (b), (d) is a front view.

3A and 3B are diagrams showing an action different from that of FIG. 2 of the multi-arm robot of the present invention, in which FIGS. 3A and 3C are plan views and FIGS. 3B and 3D are front views.

FIG. 4 is a diagram showing an action different from FIGS. 2 and 3 of the multi-arm robot of the present invention, in which (a) and (c) are plan views, and (b),
(D) is a front view.

FIG. 5 is a view showing an action different from FIGS. 2, 3 and 4 of the multi-arm robot of the present invention, (a) and (c) are plan views,
(B), (d) is a front view.

FIG. 6 is a view showing an action different from FIGS. 2, 3, 4 and 5 of the multi-arm robot of the present invention, (a) and (c) are plan views, and (b) and (d) are front views. Fig.

FIG. 7 is a diagram showing a different action of the multi-arm robot of the present invention from FIGS. 2, 3, 4, 5 and 6, and FIG.
(B) is a front view.

FIG. 8 is a plan view showing another embodiment of the multi-arm robot of the present invention.

FIG. 9 is a plan view showing another embodiment of the multi-arm robot according to the present invention, which is different from that shown in FIG.

FIG. 10 is a multi-arm robot of the present invention shown in FIGS.
FIG. 8 is a plan view showing an operation different from those in FIGS. 5, 6 and 7.

FIG. 11 is a perspective view showing an application example of a conventional multi-arm robot.

FIG. 12 is a perspective view showing an application example of a multi-arm robot as an example of a conventional multi-arm robot.

[Explanation of symbols]

1A, 1B, 1C, 1D, 1F, 1G ... Arm, 2A,
2B, 2C ... End effector, 3A, 3B, 3C ... Motor, 4 ... Motor unit, 6 ... Connector, 7 ... Body, 8
… Base conveyor, 9… frame, 10… electric wire, 14… socket.

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[Procedure amendment]

[Submission date] June 23, 1994

[Procedure Amendment 1]

[Document name to be corrected] Drawing

[Name of item to be corrected] Figure 3

[Correction method] Change

[Correction content]

[Figure 3]

Claims (3)

[Claims] 1. A horizontal articulated arm whose base ends are connected to both side surfaces of a fixed portion, a vertical articulated arm whose base end is connected to one surface between both side surfaces of the fixed portion, and the horizontal articulated arm. A multi-arm robot comprising an arm and a drive unit for individually driving the vertical articulated arm. 2. A horizontal multi-joint arm whose base ends are movably connected to both side surfaces of a fixed portion so as to be vertically movable, and a vertical multi-joint arm whose base end is connected to one surface between both sides of the fixed portion. A multi-arm robot comprising: end effectors provided at the ends of a horizontal multi-joint arm and a vertical multi-joint arm; and a drive unit that individually drives the horizontal multi-joint arm, the vertical multi-joint arm, and the end effector. 3. A horizontal articulated arm whose base ends are connected to both side surfaces of the fixed portion so as to be vertically movable, and a vertical articulated arm whose base end is connected to one surface between both sides of the fixed portion. A first end effector that is provided at the tip of the horizontal articulated arm and holds the work, and a wire that connects the work held by the first end effector provided at the tip of the vertical articulated arm A multi-arm robot comprising: two end effectors; a horizontal multi-joint arm, a vertical multi-joint arm, and a drive unit that individually drives the first end effector and the second end effector.