JPH07328874A - Desktop type robot - Google Patents

Abstract

PURPOSE:To smoothly insert and remove a work object not from the front but from the side in the installation or the like by projecting a horizontal arm to the work table side from the upper end side of a column, and forming it as a cantilever type. CONSTITUTION:Height adjustable plural installing positions are arranged in the upper vicinity of a column 2. A horizontal arm 3 projecting to the work table 1 side is arranged in a proper height position so as to be freely mountable and demountable by using these installing positions. A Y direction moving part 7 is arranged on this horizontal arm 3 so as to be movable in the horizontal direction. A tool installing part 11 is arranged in this Y direction moving part 7 so as to be movable in the vertical direction. A work installing moving pedestal 15 is arranged on this work table 1 so as to be movable in the longitudinal direction. In this way, since the horizontal arm 3 is formed as a cantilever type, a work object can be easily arranged on the work installing moving pedestal 15 of the work table 1.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is a tabletop type for screw tightening in which the height of an initial setting position of a tool mounting portion can be arbitrarily adjusted, and a horizontal arm is cantilevered to easily install a workpiece. It is about robots.

[0002]

2. Description of the Related Art In recent years, a production equipment line using a robot as a production equipment has been established. However,
The workpieces have various sizes and shapes from large ones to small ones, and it has been difficult for one type of robot to handle them. In order to use one type of robot, a spacer (inclusion) was inserted into the gate shape and the height was adjusted.

[0003]

However, it is desired that one kind of robot can handle the workpieces of various sizes and shapes from large to small. In particular, recently, it is desired to be able to deal with various shapes. Also, as for workability, it is common to have one person occupy each one, but due to the efficiency of assembly work, if they are placed on both sides of assembly work, both the front person and the back person can work. Sometimes it is necessary to be able to do so.

[0004]

Therefore, as a result of earnest studies to solve the above problems, the inventor found that the invention was located at a work table and one side end of the work table. A column, a horizontal arm protruding from the upper end side of the column to the work table side, a Y-direction moving portion movably provided in a Y direction that is horizontal to the horizontal arm, A Y-direction driving means for driving the direction moving portion in the Y direction, a tool mounting portion provided so as to be movable in the Z direction which is the vertical direction with respect to the Y direction moving portion, and a Z for driving the tool mounting portion in the vertical direction. A direction driving means, and a work mounting movable base provided on the work table so as to be movable in an X direction which is a front-back direction orthogonal to the Y direction and the Z direction.
By using a table-top type robot or the like equipped with the X-direction driving means for driving the workpiece mounting pedestal in the front-back direction, which is the X-direction, the work piece can be easily installed, and the above problems are solved. .

[0005]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will be described in detail with reference to the drawings. Reference numeral 1 is a work table having a substantially square shape with a side length of about 50 cm inside and outside and a thickness of about 15 cm inside and outside. Is a plate body made of a metal plate. At one end of the working table 1, a single vertical plate-shaped column 2 is erected.

A plurality of height-adjustable mounting positions are arranged near the upper part of the column 2, and a horizontal arm 3 projecting toward the working table 1 is detachably provided at an appropriate height position. Has been. Specifically, as shown in FIGS. 6 and 7, as a plurality of mounting positions whose height can be adjusted, upper and lower three-stage or upper and lower two-stage mounting holes p, p, ... Are provided. The horizontal arm 3 is erected at a proper height by being screwed into female thread portions engraved at both ends of the horizontal arm 3 with fasteners 4 such as setscrews.

Further, the column 2 is provided so as to be movable in the front-back direction of the work table 1 (equal to the X direction in the left-right direction in FIGS. 4 and 5) by the driving force of the column position moving means 5. There is. Specifically, the moving portion 2a at the lower end of the column 2
Is screwed into a screw rod 6 which is horizontally supported inside the work table 1, and the moving portion 2a can be moved in the front-back direction of the work table 1 by the rotation of the screw rod 6. It is provided in. The screw rod 6 is rotated in the forward and reverse directions by driving the column position moving means 5 such as a pulse motor.

The horizontal arm 3 has a Y in the horizontal direction.
A Y-direction moving unit 7 is provided so as to be movable in the direction, and Y-direction driving means 8 such as a pulse motor for driving the Y-direction moving unit 7 in the Y direction is provided. Specifically, as shown in FIGS. 11 and 12, the horizontal arm 3 has a rectangular cross-section, the pulleys 9 and 9 are axially supported on both sides inside, and the belt 10 is provided between the pulleys 9 and 9. Wrapped around the belt 10
Is rotatably provided by the Y-direction drive means 8. A protrusion provided on the Y-direction moving portion 7 is fixed to an appropriate position on the belt 10. As a result, the Y-direction moving portion 7 having a box shape and an inverted L shape when viewed from the side is provided so as to be movable to an appropriate position in the Y direction with respect to the horizontal arm 3.

Further, as shown in FIG. 11, a tool mounting portion 11 is provided so as to be movable in the Z direction which is the vertical direction with respect to the Y direction moving portion 7, and the tool mounting portion 11 is vertically movable. A Z-direction driving means 12 for driving is provided. That is, a screw rod 13 is vertically provided inside the Y-direction moving portion 7, a part of the screw rod 13 is screwed into a part of the Y-direction moving portion 7, and a lower end of the screw rod 13 is , Is pivotally supported by the main plate 11a of the tool mounting portion 11. Accordingly, the screw rod 13 is rotated by the drive of the Z-direction drive means 12, and the tool attachment portion 11 is provided so as to be able to move up and down.
Guide rods 14 and 14 are provided on the left and right sides of the screw rod 13, and both guide rods 14 and 14 are simultaneously moved up and down, and the tool mounting portion 11 is accurately moved up and down without displacement.

A tool mounting bracket 11b is fixed to the front side of the main plate 11a of the tool mounting portion 11, and an electric screwdriver D is vertically removably provided in a notch of the tool mounting bracket 11b. There is.

Further, as shown in FIGS. 13 and 14, at a substantially central position in the width direction on the work table 1, it is provided so as to be movable in an X direction which is a front-back direction orthogonal to the Y direction and the Z direction. Further, a work mounting movable base 15 is provided, and the work mounting movable base 15 is provided with an X-direction driving means 16 such as a pulse motor for driving the work table 1 in the front-back direction (X direction). Specifically, pulleys 17 and 17 are axially supported in front and rear of the working table 1, and a belt 18 is wound around the pulleys 17 and 17, and the belt 18 is connected to the X-direction driving means 16. It is rotatably provided. A projecting piece provided on the lower side of the workpiece mounting pedestal 15 is fixed to an appropriate position of the belt 18, whereby the workpiece mounting pedestal 15 is movably provided at an appropriate position in the X direction. There is. The work piece Q is placed on the work table 1 and work such as screw tightening is performed.

Further, as a modified example of the first embodiment, the horizontal arm 3 is provided at an appropriate height position near the upper side of the column 2, and the height of the horizontal arm 3 is adjusted. Is an arm height movement adjusting means 19 such as a pulse motor.
It can be driven by. As a result, the height of the horizontal arm 3 can be set at any position. Specifically, as shown in FIGS. 8 to 10, screw rods 20a are vertically provided at both ends of the horizontal arm 3, and both screw rods 20a are connected to the belt 2 via a pulley.
0b, and a part of the screw rod 20a is screwed into a part of the protrusion 2c of the column 2. The upper and lower ends of the screw rod 20a are pivotally supported by the upper and lower plate portions of the horizontal arm 3. . Thereby, by driving the arm height movement adjusting means 19,
The screw rod 20a is rotated so that the horizontal arm 3 is vertically movable. Guide rods 21 and 21 are provided on the left and right sides of the screw rod 20a, and both guide rods 21 and 21 are simultaneously moved up and down, and the horizontal arm 3 is accurately moved up and down without displacement. The other structure is the same as that of the first embodiment.

Next, a second embodiment of the present invention is, as shown in FIG. 15, a case in which the support column 2 is fixed to a rear position on one side of the work table 1 in the first embodiment.
The other constituent members are the same as those in the first embodiment and are designated by the same reference numerals, and the description thereof will be omitted.

Next, in the third embodiment of the present invention, as shown in FIG. 16, in the first embodiment, one end of the horizontal arm 3 is fixed to an appropriate height position of the column 2, and the height is increased. The other constituent members are the same as those in the first embodiment and are denoted by the same reference numerals, and the description thereof will be omitted.

Further, in order to move the support column 2 in the front-back direction, as shown in FIG. 14, the knob 22 may be manually rotated as appropriate. In the figure, 23 is a start switch and 24 is an emergency stop switch.

The point data input means 31 inputs point data including the screw tightening position, the screw length L, the screw pitch P, etc., and the information from the point data input means 31 is centrally processed. After being transferred to the device 30, the central processing unit 30 transfers the information to the point data display means 32 according to this information and displays the point data.

The point data storage means 33 is a memory for storing the point data input by the point data input means 31, and the actual screw tightening operation is performed according to the stored contents.

After the screw tightening command means 34 is input to the point data input means 31, the X direction drive means 16, the Y direction drive means 8 and the Z direction drive means 12 are stored in the point data storage means 33 and controlled. And is connected to a central processing unit (CPU) 30. Based on the point data, it has a function of controlling each X motor, Y motor, and Z motor through the X-direction driving means 16, the Y-direction driving means 8, and the Z-direction driving means 12. A sensor for positioning is connected to each shaft pedestal or shaft.

In some cases, the screw tightening speed stored in the point data storage means 33 is held as a constant output in the screw tightening command means 34 immediately after the screw tightening is started. The point data storage unit 33 and the screw tightening command unit 34 may maintain the screw tightening speed by themselves.

In order to bring the horizontal arm 3 to a desired height position, in the case of electronic control, the arm height movement adjusting means 19 is appropriately driven to move the horizontal arm 3 up and down. In the case of manual control, the fixing tool 4 is fixed to the hole position and the horizontal arm 3 is erected at an appropriate position of low, middle and high.

Further, the support 2 is attached to the work table 1
In order to install the column 2 at an appropriate position in the front-back direction, the column position moving means 5 is appropriately driven, and the column 2 is moved to an appropriate position in the front-back direction with respect to the work table 1 by rotating the screw rod 6. Set up.

After the horizontal arm 3 is moved to an appropriate position by the arm height movement adjusting means 19, the arm height correction value data storage means 35 for storing the correction value data for the changed position, and the support 2 After the column is moved to an appropriate position by the column position moving unit 5, the column correction value data storage unit 36 for storing the correction value data of the changed position is provided.

The correction point data storage means 37 stores the position (including the height) of the horizontal arm 3 and the column 2 even after the height position of the horizontal arm 3 is changed or after the position of the column 2 in the front-rear direction is changed. Even after the change, it is corrected as the proper position of the point data.

Next, the operation of the present invention will be described with reference to the flow chart. First, the overall flow is as shown in FIG. The point data is cleared and initialized, and then the point data input means 31 is used to tighten the screw (each X direction, Y direction,
(Z direction position), screw length L, point data including screw pitch P, etc. are input (see S1). At this time, the contents are displayed on the point data display means 32 as needed. When the input is completed, the process proceeds to S2, and if re-input or an input error occurs, No is selected and the process returns to S1.

In S3, it is selected whether or not the program is executed as it is. If it is not executed, the program is executed as it is in S4, and if it is executed, the program is executed in S13.
Next, in the case where the height of the horizontal arm 3 can be automatically adjusted to an arbitrary position, at this time, when changing the height of the horizontal arm 3 in S4, Yes is selected and S5 is selected.
If not changed, select No and go to S9.

When the change of height adjustment is selected and the height of the horizontal arm 3 is adjusted, the program goes to S6 to automatically calculate the positional relationship and to obtain the position data in the Z direction (height). Fix it. Then, when moving the position of one support 2, S9 is selected, and the position of the support 2 is calculated and corrected in S10.

When all the changes are completed in S12, the program moves to the program execution in S14, and the program is executed. That is, the point data storage means 3
The screw tightening command means 34 operates via 3 to start the motor drive based on the point data.

The motor driver continues to drive the motor until the point data no longer exists, and then it is determined whether or not the point data exists. If no point data exists, the screw of the present invention is used. The tightening process is completed.

If only the height of the column 2 is to be adjusted, S
The steps 9 to S14 are omitted, and the steps S4 to S8 and S16 are omitted when only the front-back adjustment of the support column 2 is performed. Also, when the height is adjusted manually, the steps S4 to S8 and S16 are omitted.

[0030]

According to the first aspect of the present invention, the work table 1, the one column 2 located at one end of the work table 1, and the work table 1 from the upper end side of the column 2 A horizontal arm 3 protruding to the side, a Y-direction moving portion 7 movably provided in a Y direction that is horizontal to the horizontal arm 3, and a Y direction that drives the Y-direction moving portion 7 in the Y direction. A driving means 8, a tool mounting portion 11 provided so as to be movable in the Z direction which is the vertical direction with respect to the Y direction moving portion 7, and a Z direction driving means 1 for driving the tool mounting portion 11 in the vertical direction.
2, a work mounting pedestal 15 provided on the work table 1 so as to be movable in an X direction which is a front-back direction orthogonal to the Y direction and the Z direction, and the work mounting pedestal 1
X-direction driving means 1 for driving 5 in the front-back direction which is the X-direction
By making it a desktop robot equipped with 6 and
The height of the initial setting position of the tool mounting portion can be arbitrarily adjusted, and it is possible to handle small and large workpieces. Furthermore, one end of the horizontal arm 3 is a column. 2 Because it is fixed to the upper end side and is a so-called cantilever type, it can be inserted into and removed from the work piece Q smoothly from the side, not from the front side, when installing it, etc., and work efficiency can be improved. .

In a second aspect of the present invention, as a special configuration of this aspect, a plurality of mounting positions whose height can be adjusted are arranged.
The column 2 and the horizontal arm 3 that is detachably provided so as to project from the upper end side of the column 2 to the work table 1 side allow the height of the horizontal arm 3 to be adjusted manually, It can be adjusted appropriately. Conventionally, when the size of the work piece Q is large, the height of the linear arm portion becomes low, and there are cases in which work cannot be performed, insertion of inclusions, replacement of the columns, etc. Although there was a waste of work, according to the present invention, the height of the horizontal arm 3 can be adjusted. By this adjustment, the cantilever and the structure,
There is an advantage that workability can be improved.

Next, in a third aspect of the present invention, as a special configuration of this aspect, the column 2 is attached so as to project upward toward the working table 1 side, and the height of the column 2 is higher than that of the column 2. A horizontal arm 3 movable in any direction,
By providing the arm height movement adjusting means 19 for driving the horizontal arm 3 in the height direction, the height position of the horizontal arm 3 can be automatically adjusted, and the work efficiency is further improved. Can be made.

According to the inventions of claims 4 to 6,
Since the column 2 is provided with the column position moving means 5 for driving the column 2 in claims 1 to 3 in the front-back direction with respect to the work table 1, the column 2 is appropriately moved in the front-back direction with respect to the work table 1. By arranging this position, if this device is placed on both sides of the workbench, both front and back people can work, and a good operation rate is achieved with the minimum number of works. This effect and the above-mentioned cantilever effect can be synergistically improved to further improve workability.

Explaining the point of this effect in detail, conventionally, as a workability, it is general that one person occupies one machine.
Depending on the efficiency of the line work, it may be necessary for both the front person and the back person to be able to work when they are arranged on both sides of the line work table. When two people work with the robot in front and back, there were some robots whose pillars were fixed in the center.
This makes the work space on one side extremely small, resulting in poor workability. However, in the inventions of claims 4 to 6, the support column 2 is movable back and forth, so that a working space can be widened when working from one side. As a result, not only is it possible to work in the same space as the conventional robot from one side, but it is also possible to perform work from the other side, enabling operation as an extremely effective robot, and the effect of cantilevering and The effect of raising and lowering the horizontal arm 3 is simultaneously achieved.

Further, in the invention of claim 7, the invention according to claim 6
In, the point data input means 31 for inputting the position information of the workpiece Q, the point data storage means 33 for storing the point data, the longitudinal position of the support column 2 and the height position of the horizontal arm 3 are respectively set. Since the table-top robot is provided with the correction point data storage means 37 that corrects and stores the point data even after the change, the height direction of the horizontal arm 3 can be changed,
Even after changing the front-back direction of the column 2, the operation of re-inputting the point data is omitted, which eliminates the need to re-enter the data, and can be operated by one person or two people, dramatically improving work efficiency. Can be increased.

Next, according to the eighth aspect, as a particularly remarkable structure, since the column position moving means 5 for driving the one column 2 in the front-back direction is provided, the same space as that of the conventional robot from one side is provided. Not only is it possible to perform work from, but also work from the other side can be performed, and it can be operated as an efficient robot.

Further, in claim 9, in claim 8,
Point data input means 31 for inputting position information of the work piece Q, point data storage means 33 for storing the point data, and the point data is corrected and stored even after changing the front-back direction position of the column 2. Since this is a table-top type robot having the correction point data storage means 33, the device 2 is arranged on both sides of the flow work table by moving the support column 2 to an appropriate position in the front-back direction with respect to the work table 1. In this case, both the front person and the back person can work, and a good operation rate can be achieved with the minimum number of work. Even in this case, the operation of re-inputting point data can be omitted. There are advantages.

[Brief description of drawings]

FIG. 1 is a block diagram of the present invention.

FIG. 2 is a flowchart of the present invention.

FIG. 3 is a perspective view of the present invention.

FIG. 4 is a side view showing a partial cross section of the present invention.

5 is a cross-sectional view of FIG.

FIG. 6 is a front view showing a partial cross section of a mounting portion between a column and a horizontal arm.

7 (a) and 7 (b) are front views showing a partial cross section of a mounting position between a height-adjusted support column and a horizontal arm.

FIG. 8 is a cross-sectional view in which a horizontal arm automatically moves up and down with respect to a column.

9 is a cross-sectional view of FIG.

FIG. 10 is a sectional view taken along the line GG in FIG.

FIG. 11 is a partially cutaway perspective view showing a configuration in which a Y-direction moving unit moves with respect to a horizontal arm.

12 is a cross-sectional view of FIG.

FIG. 13 is a cross-sectional view showing a drive configuration of a work mounting movable base.

FIG. 14 is a cross-sectional plan view in which the column can be manually moved.

FIG. 15 is a schematic plan view of another embodiment of the present invention in which a supporting column is fixed to a work table.

FIG. 16 is a schematic plan view of another embodiment of the present invention in which a horizontal arm is fixed to a column.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Working table 2 ... Post 3 ... Horizontal arm 5 ... Post position moving means 7 ... Y direction moving part 8 ... Y direction driving means 11 ... Tool mounting part 12 ... Z direction driving means 15 ... Work mounting mounting pedestal 16 ... X-direction drive means 30 ... Central processing unit 31 ... Point data input means 33 ... Point data storage means 37 ... Correction point data storage means

Claims (9)

[Claims] 1. A work table, a single post located at one end of the work table, a horizontal arm projecting from the upper end side of the post toward the work table, and the horizontal arm. A Y-direction moving portion that is movable in the Y-direction, a Y-direction driving means that drives the Y-direction moving portion in the Y-direction, and a Z-direction that is a vertical direction with respect to the Y-direction moving portion. And a Z-direction drive means for driving the tool-mounting part in the up-down direction, and moving in the X-direction, which is the front-back direction orthogonal to the Y-direction and the Z-direction, on the work table. A table-top robot comprising: a work mounting movable pedestal that is provided as possible; and an X-direction driving unit that drives the work mounting movable pedestal in a front-back direction that is the X direction. 2. A work table, a single strut located at one end of the work table and provided with a plurality of height-adjustable mounting positions, and the work table from the upper end side of the strut. And a detachable horizontal arm protruding to the side, a Y-direction moving portion provided so as to be movable in the Y direction that is horizontal with respect to the horizontal arm, and a Y direction that drives the Y-direction moving portion in the Y direction. Drive means, a tool attachment portion provided so as to be movable in the Z direction which is the vertical direction with respect to the Y direction movement portion, Z direction drive means for driving the tool attachment portion in the vertical direction, and on the work table. A workpiece mounting movable pedestal provided so as to be movable in an X direction which is a front-rear direction orthogonal to the Y direction and the Z direction, and an X-direction drive means for driving the workpiece mounting movable pedestal in a front-back direction which is the X direction. A table-top robot characterized by To. 3. A work table, one support provided at one end of the work table, and a support attached to the support so as to project upward toward the work table from the support. A horizontal arm movable in the height direction, arm height movement adjusting means for driving the horizontal arm in the height direction, and Y provided so as to be movable in the Y direction which is horizontal with respect to the horizontal arm. Direction moving part, Y direction driving means for driving the Y direction moving part in the Y direction, tool attachment part provided so as to be movable in the Z direction which is the vertical direction with respect to the Y direction movement part, and the tool attachment part Direction driving means for driving the work table in the up-down direction, a work mounting pedestal provided on the work table so as to be movable in the X direction, which is a front-back direction orthogonal to the Y direction and the Z direction, and the work mounting table. Move the pedestal forward and backward in the X direction A desk-top type robot having an X-direction driving means for driving the robot in a direction. 4. The table-top robot according to claim 1, further comprising a column position moving unit that drives the column in a front-back direction with respect to the work table. 5. The table-top robot according to claim 2, further comprising a column position moving unit that drives the column in a front-back direction with respect to the work table. 6. The table-top robot according to claim 3, further comprising a column position moving unit that drives the column in the front-rear direction with respect to the work table. 7. The point data input means for inputting position information of a workpiece, the point data storage means for storing point data, the front-back direction position of the column, and the height position of the horizontal arm according to claim 6. And a corrected point data storage means for correcting and storing the point data even after each of the above is changed. 8. A work table, a single column located at one end of the work table and movable in the front-rear direction with respect to the work table, and the column driven in the front-rear direction. The column position moving means, the horizontal arm protruding from the upper end side of the column to the work table side, and movable in the Y direction horizontal to the horizontal arm and the vertical Z direction orthogonal thereto. A tool mounting portion, a Y-direction driving means for driving the tool mounting portion in the horizontal direction, a Z-direction driving means for driving the tool mounting portion in the vertical direction, and the Y-direction and the Z-direction on the work table. A table-top type robot equipped with a work-mounting mount pedestal that is movable in the X-direction that is orthogonal to the front-back direction, and an X-direction driving unit that drives the work-mounting mount pedestal in the X-direction back-and-forth direction. . 9. The point data inputting means for inputting position information of a work piece, the point data storing means for storing point data, and the point data according to claim 8, even after changing a front-rear direction position of the support column. And a correction point data storage means for correcting and storing the tabletop type robot.