JPS58137579A - Industrial robot - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] The present invention relates to industrial robots.

Conventionally, in industrial robots, vertical supports and
An operating arm is provided which is connected to the upper end of the support and which swings only in the horizontal direction above the workpiece without being displaced in the vertical direction.

However, in the above robot, when assembling a part onto a workpiece by installing an assembly point at the tip of the operating arm, conventionally the operating arm was moved for ms each time a part was assembled to detach from the workpiece. The work efficiency was poor because the parts that were in the same position were sent to the MR machine.

An object of the present invention is to enable parts to be assembled onto a workpiece in a short time and efficiently by supplying and holding the parts below the assembling apparatus.

An example of the implementation of the present invention will be explained with reference to the drawings. In Fig. 1, (4) is an assembly twin made of conveyor tatami mats, and a workpiece (&) is attached on this line (2).

■) An industrial robot installed at -1lil of the welfare assembly line (4), it is connected to the upper end of the vertically erecting pillar () and the jin pillar (), without folding in the vertical direction. It consists of an operating arm (e) that swings only in a horizontal plane above the workpiece (a).

The above-mentioned support column [has]) is connected to the above-mentioned assembly line (
4) The base (1) K installed on the coast side is constant.

On the other hand, the actuating arm (c) is the iris arm (at) and the 27th
- Lit from the 1s17-mu (・1) is connected to the upper end of the above-mentioned column in a perpendicular manner, and is connected to the lower end of the column via a transmission mechanism (not shown).
It is now mandated by Ta (2).

The II3 arm (C8) is connected to the first arm (cl) so that it can swing horizontally independently.

(3) is the position of the motor (3) installed at the left end of the drawing in the above-mentioned l arm (cl).
The rolling force is transmitted to the @27-arm (C3) via a transmission mechanism (not shown), causing the carpet arm (as) to swing.

Therefore, the above-mentioned actuating arm (c) costs $17-m (esM)
Due to the oscillation, the entire part is swung in a horizontal plane, and at the same time, the 17th arm (as) is swung independently, so that the tip corresponds to a predetermined position above the workpiece. Positioned as follows.

An assembling device for assembling parts onto the workpiece is provided at the tip of the operating arm (e), that is, the tip of the ss arm (@S) in the above-mentioned A screw (4) is shown as an example, and a screw tightening device 0) for tightening the screw (4) is shown as an example of an assembly device.

The screw tightening device (d) consists of an air motor (dx) and a rotating driver (d2) connected thereto, a support member (5) and a support frame (7) connected thereto via nine air cylinders (6). is supported by

The support frame (7) consists of two platens (7aX7b) corresponding to the upper and lower sides of the second arm (cl) and four rods (7cX7d) connecting them, and the upper platen (7m). The two rods (7d)' on the far side of the air cylinder (which supports the air cylinder) and which are separated from the air cylinder (C2) are inserted into the support member (5), and the member (5) is screwed down. It guides the vertical movement of the tightening device (d).

(8) is the above ta! The operating rod (8m) is installed on the upper surface of the light leakage part of the arm (C2) with a nine air cylinder.
(7b) K-connected to the lower platen) (7b).

The air cylinders (6) (a) and the corresponding eight rods (7dX7c) are arranged to form a triangular cross section of 1 m, and are screwed together by the inertial force caused by the swinging of the actuating arm (e). To prevent the device (6) from wobbling,
The support structure of the device in the actuating arm (e) is provided with great rigidity.

Therefore, the screw tightening device G) drives the air motor (dx) to drive the air cylinder (8) on the second arm (C2) and the air cylinder (7a) on the upper platen (7a) in a round shape. By extending 6), the device (d) is lowered and its driver (b) rotates while moving the workpiece (I).
The screw (4) is tightened to L), and the screw (4) is supplied to the supply 11i (•) provided below the screw tightening device (2)), and is also supplied to the underarm supply S (•). It is held by a holding part (f) that is arranged continuously below.

The supply part () has a cylindrical shape, and its upper end is connected to the lower platen (7b) of the support frame (7).
The driver (d2) of the screw tightening device (a) is inserted through the upper end and loosely fitted together.

(9) is a conduit connected to the lower outer periphery of the supply S (.), and by connecting this conduit (9) to the screw supply device (2) via a hose, the scissors device The screw (4) is supplied from (2) to supply all (.).

The hose barrel has a movable property), an actuating arm (a
), the cross-sectional shape is maintained even if the screw tightening device (d) is moved according to the screw tightening location of the workpiece (JliII). ], the screw (4
) is slowed down by supplying S(・).

Further, the feeding device (2) is equipped with a tray I that aligns and transfers screws (4) while vibrating, and feeds 11 screws (4) from this bowl feeder under pressure using compressed air. The pressure feeding device (transfer) is configured to supply fl(e) by means of the hose.
It is connected to the.

On the other hand, the holding part (f) has two half members (lk) (1
2b), and these half members (12aX12b)
T-elastic material (for example, rubber O-liner (b)) is connected to form a stepped cylindrical shape, and the lower end of the small diameter portion (fl) can be opened and closed.

α◆ is a C-shaped R portion formed at the lower part of the inner periphery of the small diameter portion (fl), and the head (am) of the screw (4) is engaged with this stepped portion α◆. Insert the screw (4) into its threaded part (4
b) protrudes from the lower end of the small diameter portion (fl) and is held by a round cord.

The sakaki is a cylindrical guide that fits into the inner circumference of the large diameter part (f) of the holding part (f).
(f) is connected to the lower end of the supply S(·).

The upper part of the guide (2) fits into the outer periphery of the lower end of the supply 1t(e) and is removably attached with a set screw Sakaki, and the protrusion (b) on the outer periphery of the middle part fits on the outer periphery of the lower end of the supply 1t(e). Large diameter part (f
2) Fits into the nine grooves (G) formed on the inner periphery and holds the
1(f) is locked.

Therefore, such an industrial robot (B) is shown in the operating arm (e) with the screw (4) held in the above-mentioned retainer #(f).
The mosquito device (d) is moved by swinging the screw tightening device (d) at the tip to a predetermined position, and then lowering the screw tightening device (d) in two steps as described above and driving it.
)'s driver (d2) lowers while rotating and holds it.
σ) and -II (shaft) of the screw (4) in the screw (σ).
4) Lower it while rotating it and attach it to the workpiece (&).

When the screw (4) is tightened, m(f) is held as follows:
Its lower end is pushed open as the SIA part (4a) of the four screws passes, and elastically holds the copper part (shaft).

Therefore, the screw (4) is reliably screwed into the screw hole (not shown) of the workpiece (a) while maintaining its vertical posture t-.

When the above screw tightening work is completed, the screw tightening device (
d) is moved upward, and the holding m<t> is closed by the elastic force of the 0 ring.

However, if the screw (4) is tightened to the workpiece (a) in one place, the screw tightening device (d) will wait above until the next workpiece (a) is sent. , During this waiting period, the screw supply device k (C) is supplied with the supply section (・
) by supplying the screw (4) to the holding part (f) and holding it in the holding part (f), screw tightening work to the SR workpiece (a) can be performed.
ll can be done instantly.

On the other hand, when tightening the screws (4) to the workpiece (&), there are multiple screws in one place! If the screw tightening work at one place is completed and the screw tightening device (d) is moved to the next place by the actuating arm (・), hold the screw (4) t. Part (f
) and hold it there, the above movement is completed and the next screw tightening operation can be carried out immediately at the next point.

Next, modifications of the holding portion shown in FIGS. 6 to 9 will be explained.

First, the holding part (f') shown in FIGS. 6 and 117 is made of the same material such as spring steel and has a stepped cylindrical shape, and its large diameter 111 (h) is the lower end of the supply part (e). It is fitted and attached to the outer periphery.

For example, nine cuts 9 are formed in four places extending in one direction of the shaft, and the holding part (f) can be opened and closed freely by these cuts 9 (to), and the screw (4)'fr is elastically held. It is supposed to be done.

... is formed on the inner periphery of the intermediate portion of the small diameter portion (fl), and is a nine step portion, and this step portion (1) has a screw (4) w4WA1 (4).
a) is designed to be locked.

Therefore, the holding part (f) fully elastically holds the screw (4) by its own elasticity during the screw tightening operation, but the holding section is longer than that of the embodiment described above, and the screw (4) t - Can be held vertically for a long time.

Also, since the tip of the upper holding part (f) can be formed thin, it is advantageous when screwing into a part of a work piece (work piece) that stands up and has a thin wall.

Next, fIp, the holding part (6 is the same member as shown in FIGS. 6 and 7, and is configured in a cylindrical shape with a crest) as shown in FIG. 8 and FIG. ) A plurality of holding means, for example, three leaf springs 91, are used.

In addition, in Fig. 9, two of the three leaf springs (c) are passed through #south, and the remaining one leaf spring? υ is not shown.

^The 11th Era Leaf Spring (Foundation) is provided at a vertically symmetrical position outside the holding part (small diameter part of 6 <1:>, and the middle part is a set screw (2)
It is attached and fixed to the small diameter part (fl) by.

And leaf springs? The upper part of the polisher is bent in a dogleg shape with the castled part as a boundary, and its jll lit ff1l (2
1 m) are each opened in the small diameter part (fl) and are bent inward from the round window hole (2), and the lower part is bent in the same way to form the small diameter m (f
The window hole opened in x) is turned inward.

Therefore, the above-mentioned holding s<i'> locks the head (shaft) of the screw (4) between the bends at the upper part of the plate (c), and the lower end of the plate (c). Insert the threaded part of the screw (4) between the parts (
4b) t i stop.

Therefore, the screw (4) is centered in one direction in the holding part (f), and when the screw (4) is tightened to the workpiece (&), the screw m (4b) is always Since it is elastically held by the screw (4), it is held more securely than in the previous two embodiments.
The meeting can be kept vertical.

In the present invention, the assembling apparatus is not in the working state 111 because the assembling apparatus is provided with a supply part to which SCS products are supplied below the assembling apparatus like a ridge, and a holding part which is located below the supply part and holds the parts. At times, the parts can be delivered to the holding section and held there, and the work of assembling parts to the workpiece can be carried out one after another in a short time and efficiently without having to go to the collecting part 9 one after another as in the past.

%, when assembling multiple parts onto a workpiece, the assembly device can be delivered to the S-product holding section and held there while it is being moved by the actuating arm, resulting in extremely high work efficiency. The intended purpose can be achieved by performing the parts assembly work.

[Brief explanation of the drawing]

Fig. 1 is a front view showing the robot of the present invention, Fig. 2 is a sectional front view showing an enlarged screw tightening device, Fig. 3 is a view in the direction of arrow (1) of Fig. 2, and Fig. 4 is a view from Fig. 2. The CM> arrow view, the ms diagram is an enlarged sectional view of the (V)-(V) edge in Figure 2, the w & 6 diagrams show modified examples of the holding part, @l-, Figure 7 Fi, and the (V) in Figure 6.
JI) - (Vl) - one side view, Fig. 8 shows another modified example of the holding part, Fig. 9 shows the (11) - (U) of Fig. 8.
- It is an enlarged # side view. In the figure (B)...Industrial robot) (C)...Operating arm (d)...Screw tightening device (e)...
Supply section (f) (f) (f)...Holding @ (
a)...Work (4)...Screw

Claims (1)

[Claims] Nine industrial robots are equipped with a column that stands vertically, and an operating arm that is connected to the upper end of the column and swings only horizontally above the workpiece without being displaced in the vertical direction.
An assembling device is provided at the tip of the actuating arm for assembling parts onto the workpiece below it.Below this assembling device is a supply section to which parts are supplied, and below the supply II is a part to which parts are supplied. There are nine structures including the holding part that holds the product.