JPS5856781A - Prefabricated 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 articulated assembly robot.

In conventional robots of this type, the operating area of the robot occupies a large area, and when introduced into an assembly line,
The operating parts of the robot were fixedly disposed at predetermined assembly positions. Generally, when automating an assembly line, it is often difficult to automate all assembly stations at once, and it is common for one person and a robot to coexist.

In addition, in cases where it is necessary to automate manual assembly, or to switch from robot assembly to manual assembly due to robot failure, etc., it may be necessary to add, replace, or move robots. Become. In such cases, in conventional robots of this type, the robot operating section occupies a large area and is fixedly installed, making it difficult to add, replace, or move the robot. There are drawbacks.

An object of the present invention is to provide a flexible multi-jointed assembly robot that can be easily expanded, replaced, moved, etc.

In the present invention, the entire robot is slidably disposed on a guide rail provided parallel to an assembly conveyor, thereby making it easy to add, replace, move, etc. the robot, and furthermore, By separately arranging the drive unit, the robot can be easily replaced with a robot having a different operating range, depending on the required functions of the robot, thereby achieving the above object.

Hereinafter, one embodiment of the present invention will be described based on the drawings.

1 to 3, an arm support 14 is rotatably supported on a bearing 12 fixed at the center of the upper surface of a pedestal 10 in the direction C in FIG. A 17th arm 16 is supported on the stand 14 so as to be swingable in the direction C in FIG. 3, that is, in a vertical plane. A second arm 18 is supported by the first arm 16 so as to be able to swing freely in the direction C in FIG. It is supported so as to be swingable in the direction shown in FIG. 3, that is, in a vertical plane, and swingable in the direction B. At the tip of this third arm 20, a tamper 251 @ 22 is attached, and a motor 26, 28, 30, 32 in the drive section 24
．． 34, each corresponding roller chain 36
．． 3B, 40.42.44, from each motor side sprocket throat 46.48.50.52.54 to each actuating part side sprocket throat 56.58.60.62.6
4, each part of the actuating section 66 consisting of the bearing stand 12, the arm support stand 14, the first to third arms 16.1g, 20, etc. is actuated, and eventually the gripping mechanism 22 is caused to perform a predetermined operation. It is configured to give Also, the pedestal l
O is attached to an assembly conveyor 70 via a side U-shaped moving guide 67 over two guide rails 68 so as to be movable in the X direction.

FIG. 3 shows the operating section 66 of the robot, and FIG. 4 shows a schematic structure enlarged along the line EV-IV in FIG. 3.

The bearing stand 12 has the sprocket throat 56 at its lower end.
．． 58.60.62.64 with connecting shaft 72.74.
76, 78, and 80 are independently rotatably supported on the same central axis.

The upper end of the connecting shaft 72 is provided integrally with the arm support 14, and a bevel gear 84 that meshes with a bevel gear 82 that is integral with the Fi 17-m 16 is integrally fixed to the upper end of the connecting shaft 74. A bevel gear 90 that meshes with a bevel gear 88 that is integral with the sprocket 86 is provided integrally with the sprocket 86.
A bevel gear 92 fixed to the upper end of the connecting shaft 78 is installed at sprocket 9°4 so as to mesh with a bevel gear 96 of the same body. Also, a bevel gear 98q fixed to the upper end of the connecting shaft 80, a bevel gear 102 that is integral with the sprocket 100,
Each bevel gear 82 is provided to mesh with the connecting shaft side bevel gears 84, 90, 92 and 98.
．． 88, 96 and 102 are each rotatably supported by a shaft 104, and this shaft 104 is supported by the arm support base 14. Furthermore, the sprocket 86.94
．． 100 is roller chain 10.6.108.11
0 to each tin rocket 114, 116, 118 which is rotatable about an axis 112. This shaft 112 is supported at the upper end of the first arm 16, and is provided integrally with the tin rocket 114Fi1g2 arm]8.
are installed in the same body.

FIG. 5 shows an enlarged schematic structure of V-V@ in FIG.
The sprocket 128 and the sprocket 130 are integrally connected to the spur gear 132 and the spur gear 134, respectively, and are rotatably installed on a shaft 136 supported by the 27th mul. Furthermore, spur gears 138 and 140 are meshed with the spur gears 132 and 134, respectively, and bevel gears 142 and 144 are integrally provided with these spur gears 138 and 140, respectively, and these spur gears 138 and 142 and spur gear 14
A bevel gear 144 is rotatably mounted on a shaft 146 supported by the second arm 18 . Further, the bevel gear 1421144 meshes with a bevel gear 150 fixed to the 37th arm 20 that is rotatably supported by a shaft 148 that is rotatably provided around a shaft 146, and furthermore,
Bevel gears 142, 144 and spur gears 13g, 140.
The bevel gear 1501 and shafts 146 and 148 are installed to constitute a differential gear mechanism.

In the articulated robot configured in this way, when the motor 26 of the drive unit 24 is driven, the tin rocket 46 rotates and is connected to the sprocket 56 via the roller chain 36.
rotates, and the arm support base 14 is moved to the third position via the connecting shaft 72.
It is operated in the true direction in the figure. The actuating section 66 of the robot will move in the true direction.

When the motor 28 is driven in the same way, one stripe location) 4
B, the first arm 1 via the roller chain 38, sprocket 58, connecting shaft 74 and bevel gears 84 and 82;
The six multi-actuating parts 66 are swung in the direction B in FIG.

Similarly, by driving the motor 30, the sprocket 50.
Roller chain 40, sprocket 60, connecting shaft 76
, bevel gear 90.88. The second arm 18 (t,b) actuating portion 66 is actuated in the C direction via the tin rocket 86, roller chain 106, and sprocket (114). Further, when the motor 32 is driven, the sprocket 52,
Roller chain 42, sprocket 62, connecting shaft 78
, bevel gear 92.96, tin rocket 94, roller chain 108. Tin rocket! 16.120, roller chain 124, sprocket 128, spur gear 132.
138, bevel gears 142, 150% When the motor 34 is driven, the tin rocket 54, roller chain 44, sprocket 64, connecting shaft 80, bevel gear 98, 102, sprocket 100, roller chain 110, sprocket 118 , 122, roller chain 126, sprocket 130, spur gear 134.140
, the third arm 20 is actuated via the bevel gears 144 and 150, and rocking and rotational movements in the D direction and the garden direction are obtained. At this time, to obtain motion in the D direction, the motors 32 and 34 are driven in opposite directions at the same speed. By driving the motors 32 and 34, the movement in the D18 direction can be obtained by the action of the differential gear mechanism at the right end in FIG. Different speeds of movement are possible.

In this way, the gripping mechanism 22 at the tip of the actuating portion 66
can be given a predetermined behavior.

According to this embodiment as described above, each motor 26, 28, 30, 32, 34 of the drive unit 24 is connected to each corresponding actuator 66.
In addition, since the robot is arranged so as to be movable in the X direction along a moving rail 68 provided parallel to a part of the assembly conveyor 70, the robot It has the advantage of being easy to expand, reduce, replace, move, etc.

In addition, in conventional devices of this type, the robot was fixed to the conveyor 70, so if the robot broke down, the conveyor itself had to be stopped; however, in this embodiment, the robot can be assembled Work efficiency can be improved by simply moving the robot horizontally parallel to the conveyor 70 and allowing the worker to work in their place, or by moving it to an appropriate location and replacing it with another robot. can. Furthermore, since the frame 10 can be moved in close contact with the side of the assembly conveyor 70, there is an advantage that the work can be carried out sufficiently even if the work space is small. 68
Another advantage is that the assembly conveyor 70 does not get in the way.

In addition, it is easy to install a new robot in a work area that has traditionally been done manually, and when a robot that performs operations different from the previously used robot is required, only the actuating part 66 can be replaced. It's okay.

That is, each motor 26, 28, 30, 32 .
34 can be used as long as there is no shortage of capacity, and in assembly lines configured in this way, robots are often standardized and standardized, and in that case, the advantage is that the control unit and programs can be shared. be.

Furthermore, if the parts to be assembled flowing on the assembly conveyor and the robot installed as described above move at the same speed, work efficiency can be further improved. This can be done using a source. Furthermore, the sprocket on the input side of the actuating part 66)
56.58.6.0%62.64 are gathered on the same central axis.

Also from this point of view, the size can be reduced.

In carrying out the implementation, the mechanical power transmission means is not limited to the roller chain, tin rocket, etc. used in the above embodiment, but may also be a power transmission means such as wire rope, metal tape, etc., or a gear train. Other structures may be used as appropriate means. However, using a roller chain has the advantage of reliable transmission and low cost. Further, instead of the fixing machine 411122 attached to the 37th arm 20, a volumetric mechanism or tool such as a welding torch or a painting gun can be added.

Further, when moving the gantry 10 to which the robot actuating section 66 and the driving section 24 are fixed in the X direction in FIG. 1, the detailed driving method has been omitted; Either manual or automatic method may be adopted depending on the work space and the like.

Further, in this embodiment, the number of degrees of freedom of the 6-piece robot with 5 degrees of freedom can be adjusted.

Further, in the above embodiment, the guide rail 68 is directly fixed to the assembly conveyor 70, but the present invention is not limited to this, and may be installed on other members provided in parallel to the assembly conveyor 70. In short, it is sufficient if it is movable in the flow direction of the assembly conveyor 70.

As described above, according to the present invention, there is an effect ψ5 in that a flexible articulated robot for assembly can be provided.

[Brief explanation of the drawing]

Fig. 1 is a perspective view showing an embodiment of the assembly robot according to the present invention, Fig. 2 is a cross-sectional view showing the driving part, Fig. 3 is a side view showing the actuating part, and Fig. 4 is the structure of the first arm. Figure 3 I shows
FIG. 5 is an enlarged schematic sectional view taken along the line V-IV of FIG. 3, showing the structure of the second arm and the third arm. In each figure, the same symbols are used for the same members, %10 is the frame,
12 is a bearing stand, 14 is an arm support stand, 16 is a first arm, 18 is a second arm, 20 is a 37th arm, 22 is a gripping mechanism, 24 is a drive unit, 26.28.3G, 32.34 are A motor, 66 an operating section, 68 a guide rail, and 70 an assembly conveyor. Agent Patent Attorney Shin Kuzuno - (#Yokaichimei) No. 16-6 No. 20 Figure 3

Claims (1)

[Claims] (A drive unit consisting of a plurality of drive motors of an articulated robot having 11 degrees of freedom is separated from a robot actuation unit, and these drive units and the actuation unit are integrally connected using a power transmission means, and An assembly robot characterized in that it is slidably provided along a guide rail provided parallel to the flow direction of an assembly conveyor.