JPS5890482A - Portable 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 a small, portable robot.

Generally, a robot is set at a fixed position, a workpiece to be operated by the robot is carried into the fixed position, and after two operations are completed, the workpiece is carried out from there. However, depending on the type, size, shape, etc. of the workpiece, it may not be possible to bring it to the robot setting position. In this case, the use of robots has to be given up and people have to go there and do the manual work, but it would be convenient if such work 1 could be replaced by a portable robot. However, there may be no suitable scaffolding around the workpiece to which the robot is to be set.

Even if a robot could be set up around the workpiece, extending the robot's arm from that remote position to the workpiece would make the robot long and large. If the wrist is inserted inside the workpiece to perform welding or painting, the robot will be particularly large and difficult to carry.

The present invention is based on the idea of fixing the robot to the workpiece itself.If the 0-mouth 4-piece is fixed to the workpiece, the robot itself can be made small and lightweight, which is convenient for transporting the robot. However, the problem is how to attach it to the workpiece. If there is a convenient tubular part on a part of the workpiece, the robot can be attached to the part so as to restrain it from turning, but this is not effective.

Fixing with screws is also an option, but this requires a pilot hole in the workpiece, which is difficult to apply to workpieces that do not like this. on the other hand,
Since the robot is small and removable, its operating range is naturally narrow.

Therefore, there is also the issue of how to proceed with work along a wider workpiece surface or line that does not fit within the operating area.

In the present invention, a suction means is arranged on the attachment part of the robot body, and the suction means is removably attached to the surface of the workpiece itself, which is the target of robot work, so that the entire robot/soto is fixed to the workpiece. be.

Here, the embodiments shown in FIGS. 1 and 2 will be explained. The robot includes a robot body, a mounting portion 10 at its base, and a wrist 90 at the end of its arm. 100 is a welding torch attached to the tip of the wrist 90, from which a conduit cable 102 for the torch extends.

The work 200 is a rectangular hexahedral box with a length of less than 1 m on each side, and its inner corner line, for example,
Welding work along A-B is scheduled. 202 is a window of the workpiece 200, and the robot is carried into the workpiece from there. When the necessary welding work is completed and the robot inside is taken out, the window 202 is closed.

An electromagnet is arranged inside the attachment part 10.

11 is a core therefor, and 12 is a coil. core 11
is pushed by a spring 13 and restrained in place.

Further, the magnetic path open end 14 of the core 11 extends into the workpiece 200 and is attracted to the inner surface thereof. Depending on the nature of the workpiece 200, it may be appropriate to adsorb it to the outer surface of the workpiece 200.

The mounting portion 10 can also be modified as shown at 10' in FIG. A space 15 is formed on the bottom surface of the mounting portion 10' and is open to the workpiece 200 side, and a gasket 16 for air retention is arranged around the space 15. On the other hand, a hose 18 is connected to the hole 1 of the space 15, and when a vacuum pump (not shown) beyond the hose is activated, the mounting portion 10' is attracted to the surface of the workpiece that is in contact with the end of the gasket 16. . Since the electromagnetic type suction means as shown in FIG. 2 cannot be used when the workpiece 200 is a non-magnetic material, it is appropriate to adopt the vacuum suction type shown in FIG. 3 in that case.

The robot body is made up of five sets of degree-of-freedom elements connected in series so that the amount of movement of each element is summed. What is disposed at the forefront near the attachment part 10 is a vertically movable degree of freedom element, and when the servo motor 31 is driven, the movable shaft 32 is moved up and down appropriately by an internal screw mechanism. Arranged at the next stage is a degree of freedom element that rotates around a vertical axis, and when the swing motor 51 integrated with the movable shaft 52 is driven, the arm 52
rotates horizontally. The degree-of-freedom element of the final stage is also of the horizontal rotation type, and when the swing motor 71 attached to the tip side of the arm 52 is driven, the arm 72 is of the three-degree-of-freedom type such as one or more that rotates in the horizontal direction. The wrist 90 attachment point is dimensionally positioned by the robot body.

The wrists 90 are used to control the posture of the work member 100, and are arranged so as to be perpendicular to each other.
191. The second song is equipped with an axis 92.

The driving source for the first bending shaft 91 is another swing motor disposed concentrically and symmetrically with the motor 71, and its power is transmitted via a chain within the arm 71.

The second bending motor 94 for the shaft 92 is the first bending shaft 9.
1 and is placed in one piece.

In Fig. 1, the attachment part 10 is horizontally adsorbed and fixed to the inner surface of the workpiece 200, and the control panel on the workpiece and the wiring between the robots are not shown; the robot has been previously taught. - with its play pack,
Welding work along line A-B is performed. Conditions such as speed, welding voltage, and current are also stored in advance. Since a person fixes the attachment part 10 to the workpiece 200 while supporting the entire robot, its positioning is uncertain.

This problem can be solved, for example, by using the core wire 101 of the welding torch 1[)0 as a contact sensor, and from the positional information of several points on the workpiece surface, the welding start point A and the direction 1 of the line A-B! This problem can be solved by programming in advance a preliminary procedure to be obtained by calculation.

The movement along the line A-B [/1] is mainly accounted for by the degree of freedom of the arm 12. The main role of the arm 52 is to correct the trajectory of the tip of the arm 72 from a circular arc to a tX-ray. For this reason, it is desirable to make the arm 52st as short as possible to reduce size and weight.When the wrist 90 is moved and the direction of the welding torch 100 is changed, the position of the torch tip changes.

The amount of vertical change therein is corrected by the vertical movement of the movable shaft 32.

@If welding of D-E is planned after welding of A-B, weld the attachment part 10 after welding of II & A-B.
Switch to another side of work 200, AECD. In the process, the entire robot is flipped upside down. This kind of change of clothes is done coldly to compensate for the narrowness of the robot's operating range. This work of changing clothes is carried out by supporting the entire robot and cutting off the energization of the coil 12. In the vacuum adsorption type shown in FIG. 3, the space 15 can be returned to normal pressure before proceeding. Even in the event of a commotion, the suction means is removable, and the work of changing clothes can proceed more quickly.

Change the position of the mounting part 10 appropriately, and when all the unscheduled work is finished, carry the robot to another work of the same type as the work next to the work 200 and repeat the same work. The same applies to other works.

The mounting part 10 of the above embodiment is a single one made by 10 companies, but it can be made into a plurality of parts without branching into two or more, and a suction means is arranged in each of them to strengthen the suction force of the whole. You can also do it. Another method is to interpose a screw for adjusting the attachment position between the attachment part of the robot body and the suction means, and to change the position or direction of the attachment part at an angle after the suction means has adsorbed it. .

As explained above, the portable robot of the present invention has its main body attachment part removably suctioned to the surface of a workpiece to be operated by the robot, and suctioned to fix the entire robot to the workpiece. The means are arranged. According to the present invention, since the robot can be fixed to a workpiece, the robot can be made small and lightweight, making it convenient to carry. On the other hand, since a removable suction means is used to fix it,
can be easily and effortlessly spread over most workpieces. In addition, it is also possible to quickly change clothes to compensate for the narrow range of motion that accompanies the reduction in size and weight.

[Brief explanation of the drawing]

Fig. 1 is a four-part cutaway t1 perspective view showing the usage status of the portable robot of the present invention, and Fig. 2 is an enlarged # side view showing the mounting part.
FIG. 3 is a sectional view similar to FIG. 2 showing another embodiment. 10, IQ' is the mounting part, 11-14 and 15-
Reference numeral 18 indicates a suction means, and reference numeral 200 indicates a workpiece.

Claims (1)

[Scope of Claims] t. A suction means for removably adhering to the surface of a workpiece to be operated by the robot is disposed on the attachment part of the CX bot body to fix the entire robot to the workpiece. A portable robot characterized by: 2. Scope of claims! A portable robot in which the suction means according to item II is of an electromagnetic type. (v) A portable robot in which the suction means set forth in claim 1 is of a vacuum suction type. 4. The degree of freedom element that rotates horizontally around a vertical axis, another degree of freedom element similar to the above, and the degree of freedom element that moves in the vertical direction, each of which has a certain amount of movement The portable robot according to claim 1, comprising robot bodies connected in series so as to be connected in series.