JPS58137580A - 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 an industrial robot, and more particularly, the present invention relates to an industrial robot, and more particularly, the invention includes an actuating arm that swings only within a predetermined horizontal plane above a workpiece;
This invention relates to a robot equipped with an assembly device at the tip of a working arm for assembling parts to a workpiece below it.

Conventionally, in this type of robot, there is one in which the entire operating arm is moved up and down to position the assembly device at the tip thereof at a predetermined height position relative to the workpiece.

In this case, the actuating arm performs two types of movements: horizontal swinging and vertical vertical movement, so in order to avoid any hindrance to the movement of the actuating arm, the actuating arm is moved downward. Work spelling errors must be greatly reduced.

The present invention limits the movement of the actuating arm only within the horizontal plane above the workpiece, and allows only the assembly device at the tip of the arm to move up and down, thereby reducing the work space required. purpose.

To explain an example of the #4 collection from this project, in Figure 1, (4) is an assembly line consisting of conveyors, etc.
A workpiece (false) is placed on this line (4).

忤) is an industrial robot installed on the assembly line (4), and is represented by a column (b) and an operating arm (c).

The pillar (b) stands vertically, and the top S is identified with the base (1).

On the other hand, the operating arm (c) is connected to the upper end of the column (b) orthogonally thereto, and swings only within the horizontal mountain above the upper Ayu workpiece (a). )
and a second arm (C2) that similarly swings in a horizontal plane.

The first arm (cl) is connected to the servo motor (2) at the lower end of the pillar via a transmission mechanism (not shown), and the first arm (cl) is connected to the servo motor (2) at the lower end of the support column.
# is supposed to.

9. The m2 arm (C8) is connected to the first arm (at) so as to be able to swing independently in a horizontal plane, and the first arm (cl) is provided with a companion servo at the left end in the drawing. It is connected to a motor (3) via a transmission mechanism (not shown) and is oscillated.

Therefore, the operating arm (C) is swung entirely in the horizontal plane above the workpiece (5k) by IIy/Ih of the first arm (cl), and at the same time, the second arm (C2)
By swinging independently, the tip end of p is moved to a predetermined position corresponding to above the workpiece (1k).

Then, the tip of the actuating arm (c), that is, the second arm (
An assembling device for assembling parts onto the work piece (C2) is provided at the tip of C2). In this embodiment, a screw (4) is shown as an example of the part to be assembled, and the screw (4) is shown as an example of the assembling device.
) - shows a screw tightening device 1k (d).

The screw tightening device t (d) includes a holder 11i (dt) that temporarily holds the screw (4), and a holder 11i (dt) that is located above this holder (dt) to tighten the screw (4) from there to the workpiece (&) below. It is provided with a screw tightening means (d2) for tightening.

The holding part (dl) is spaced apart from the tip of the second arm (C2) and is located below it, and is pushed down in the vertical direction, and is divided into two upper and lower members (5 bars 6) and has a cylindrical shape. There is.

(7) The conduit (7) connected to the lower outer periphery of the upper material member (#'i) is connected to the screw feeding device (g) via the flexible tube (8). , the device (g)
The screw (4) is supplied from the holding part (dl) to the holding part (dl).

The feeding device (6) includes a bowl feeder (.) equipped with a tray (9) that transfers screws (4) while vibrating, and a bowl feeder (e) that feeds screws (4) one by one by compressed air. Pressure feeding device [(f) and Karana 9,
The pumping device t (f)-Ji M hoist' ° auxiliary pipe (8)
It is connected to the holding fW (dt).

On the other hand, the upper member (6) of the holding tk15 (dt) is removably connected to the lower end of the upper member (5) by means of a set screw, and screws (4) t- Locking portions (6a) and (6b) are provided for locking.

These locking portions (6a) (1!ib) are formed by partially protruding the circumference I11 of the upper member (6) inward, and due to the elasticity of the material itself) are part of the screw (4) (shaft). ) and threaded part (4
b) is elastically locked to hold the screw (4).

Then, such holding @ (dl) is carried out via the support frame o1 to the second
It is attached and supported by the arm (C2).

The support frame α has two brackets (txt) (llb) corresponding to the upper and lower sides of the second arm (C2), and these brackets (lla) (nb) to the second arm (C2) II.
4 rods (lie) connecting I and the opposite side
(lld) and the lower plattan) (
A holding part (dl) is attached to the lower end of the opening Sα provided in
The upper ends of the upper member (5) are connected.

In addition, the two rods (ll) of the second arm (C2) hook
The arms (C2) are slidably inserted into the arms (C2) to guide the vertical movement of the support frame Ql.

On the other hand, the screw tightening means (d consists of an air motor (2) and a driver a◆ connected to it and rotating at the same time), and its air motor (6) is the supernatant of the support frame (b).
It fits loosely into the notch (b) formed in (lla), and is mounted and supported by the #J distribution bracket (l1m) via the support member (b) and the air cylinder (b) connected to it. .

The support member Sakaki is the upper bracket (l1m) of the support frame I.
Two rods (lids) located further down and nine inches apart from the second arm (C2) are inserted through the rods and loosely fitted therein, and are supported by the scissor rods (lids) so as to be vertically slidable.

9. The air cylinder (b) is connected to the upper platen above)
(l1m) installed upward and its operating rod (17m)
inserts the wheat bracket (l1m) into the supporting member (2).
) is connected to.

Therefore, by expanding and contracting the air cylinder (b), the screw tightening means (d2) is moved up and down.

On the other hand, the driver α◆ of the screw tightening means (d2) is inserted through the opening S (b) of the lower thick plaque (llb) into the holding part (dl) connected thereto, and the holding part m1 (ds)
They fit loosely inside.

(t4m) is a recessed portion cut out at the lower end of the driver housing ◯, and is formed in a hexagonal cross section to fit into the lis (4m) of the screw (4).

(B) Moves the above screw tightening device @) up and down to tighten the workpiece.
9 air cylinders are provided as means for vertical positioning with respect to ).

This air cylinder member is located above the tip of the second arm (c2).
7ji, and its working rod (tea) pushes through the arm (cg) and connects it to the lower bracket of the support frame Q9.
(llb).

After the screw tightening device #It) is positioned on the horizontal plane above the workpiece (a) by the swinging of the operating arm (e), the air cylinder member is extended and the screw is screwed together with the support frame α. The tightening device ω) is lowered, and the lower end of its holding portion (dl) corresponds to the upper part of the screw hole (b) of the workpiece (a) at a predetermined interval.

The distance between the lower end of this holding part (dl) and the surface of the workpiece (IL) where the screw hole (b) is opened is set to be brighter than the length of the screw (4), and the crease screw (4) is set to the workpiece (IL). Make sure to screw it into the screw hole (end) of the retainer 111 (dx
).

However, by extending the air cylinder at the same time as or after the above-mentioned extension operation of the air cylinder Sakaki, the already rotating driver α◆ descends and the concave ii (14a) at its lower end is screwed (4) Request S - (4
a) and hold while rotating the wrinkle screw (4) #
(dx) is lowered.

The screw (4) that interferes with the internal structure of the holding part (dl) is its III
The i part (4a) pushes open the upper locking part (6a) and comes off from there, and the threaded part (4b) releases the lower locking part (6b).
) and held vertically at tl/m.

sosite, * shi (4) Fi so (D * shi s (4b)
ir' holding 5 (dt) protruding from the lower end (a)
At the same time, the seat part (4b) and the head part (4a) push open the locking part (6b) of the lower shaft and escape from the holding m1 (dl) together with the driver α◆, Tightened by the workpiece (&).

After tightening the screw (4) as described above, turn off the clutch (E), stop the rotation of the driver α◆, then retract the air cylinder oj) and move the driver α◆ upward to tighten the screw ( Remove from part (4a) of 4).

Note that the above-mentioned clutch Shun is a dog clutch), and as mentioned above, the driver α◆ is connected to the air cylinder (B) by fitting the concave 1ts (1 shaft) at its lower end with the IIs (4 m) of the screw (4). By resisting the upward movement of the clutch 4, the clutch 4 is pulled in the axial direction and disengaged.

Then, after the driver α◆ is moved upward as described above, the air cylinder member is contracted to tighten the screw K (d
) is moved up to above the work piece ). If there are multiple screw tightening points on the workpiece (&), move the screw tightening device (d) from the state marked with # to the next screw tightening point on the workpiece body in the horizontal direction again using the operating arm (C). After that, the screw tightening device (d) is lowered to tighten the screw (4).

In addition, if the height positions of the above screw tightening points are different, the amount of descent of the screw tightening device (d) should be adjusted accordingly.
m, or since the lowering means of the screw tightening device (d) is an air cylinder, the lowering amount of the screw tightening device (d) should be set so as to correspond to a lower position of 1 m, and at a higher position. The screw tightening work may be performed with the lower end of the holding member 11 (dt) in contact with the workpiece (&).

9. If high positioning accuracy is required, use a servo motor, ball screw, and T-shape instead of an air cylinder.
A combination of mechanisms can be used.

On the other hand, although the screw tightening device 11 is shown as the component assembling device in the #distribution example, the present invention is not limited to this. good.

In the present invention, the movement of the actuating arm is limited to swinging within a predetermined horizontal plane above the workpiece, such as on a ridge, and the assembly device itself at the tip of the actuating arm is moved up and down to position the workpiece in the vertical direction. Therefore, parts can be assembled at nine different height positions simply by moving the assembling device up and down, and the operating arm is always above the workpiece and does not interfere with it. It is only necessary to release the assembly device so that it does not interfere with the workpiece, and there is no need to release the arm t so that it does not come into contact with the workpiece in its movement path, unlike the conventional actuating arm that moves up and down as a whole.

Therefore, it is necessary to leave a large space below the operating arm.
There is no need for work space.

[Brief explanation of the drawing]

Figure 1 is a front view showing the robot of the present invention, Figure 2 is a front view showing the robot of the present invention.
FIG. 3 is a cross-sectional front view showing an enlarged view of Is, FIG. 3 is a view facing Ill on the right, FIG. 6 is a plan view of the same, and FIGS. In addition, it should be noted that (in the figure)...Industrial robot (resistance...workpiece (c)
)...Operating arm (d)...Screw tightening device (dl)...Holding 5 (4)...Screw support (to)
··Air cylinder

Claims (1)

[Claims] An assembly system that includes an operating arm that swings only within a predetermined horizontal plane above the workpiece, and has a holding station at the tip of the operating arm that holds the part, from which the part is assembled to the workpiece below. An industrial robot equipped with a cough assembly device and a hand Rk that moves it up and down to position it at a predetermined height relative to the workpiece.