JPS59224273A - 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] Industrial Application Field The present invention relates to an industrial robot, and more specifically, it has a turret-like multi-hand capable of grasping, transferring, and assembling a plurality of different objects at once. Regarding industrial robots.

Conventional configuration and its problems Conventional robots are Cartesian coordinate robots with two X-slide units attached to the Y-axis slide unit and two hands attached to their tips, so up to two types of robots can be used. However, it is not suitable for high-mix, low-volume production, and has the disadvantage of requiring the hand to be replaced each time, resulting in switching loss.

Recently, robots with multiple hands shaped like a turret have appeared, but they are not installed as a handling unit, but are installed as one of the driving components of the X slide unit. It has the disadvantage that it cannot be replaced and has little versatility.

Furthermore, recent Cartesian coordinate robots with multiple turret-like hands have a movement range that extends to the periphery of the base on which the robot is fixed, resulting in a lack of work safety and limited space production. It has the disadvantage of reduced performance.

OBJECTS OF THE INVENTION The present invention consists of 1. This eliminates the above conventional drawbacks,
The turret-shaped Martino is suitable for high-mix, low-volume production, is easy to replace with other handling units, is highly versatile, has excellent safety, is highly economical, and is highly practical.
The purpose is to provide an industrial robot with a command.

Structure of the Invention The present invention provides a component station that holds a plurality of component pallets on the top surface of a base, an X slide unit that is provided with a single assembly jig, moves linearly in the It consists of an X slide unit that has a Y slide unit that moves linearly in a direction, and a Z slider that moves linearly in a direction perpendicular to both the X and Y directions, and its linear movement range in both the X and Y directions is an area within the upper surface of the base. A certain Cartesian coordinate robot and one end of the Z slider,
The main body is attached at an inclined angle to the top surface of the base, the turret is rotatable around the axial direction of the main body, and multiple detachable hands are provided on the outer periphery of the turret. The handling unit, which mainly consists of the main body, turret, and multiple hands, is Z
It is removably attached to the slider and controls the operation of the handling unit and Cartesian coordinate robot.
It is characterized by being controlled by a control device, and can grip, transfer, and assemble different items using multiple hands, making it suitable for high-mix, low-volume production.

Further, it is not incorporated as one of the components of the X slide unit, but can be attached as a handling unit, and can be easily replaced with another handling unit, making it highly versatile.

Furthermore, since the movement range of the robot is within the base, it is possible to realize an industrial robot with turret-shaped multi-hands that is highly safe, economically effective, and practically excellent.

DESCRIPTION OF EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. 1 and 2.

In Figures 1 and 2, 1 is the base, 2°3.4
．． Reference numeral 5 designates a parts pallet constituting a parts station 6 provided on the upper surface 8 of the base 1, and T represents a single assembly jig. 9 is an X slide unit that moves linearly in the X direction by a motor, 10 is a Y slide unit that moves linearly by a motor in the Y direction perpendicular to the X direction, and 11 is a Z slider that moves linearly in a direction perpendicular to both the x and Y directions. It is an X slide unit having 12. With these configurations, a Cartesian coordinate robot 13 is formed.

Hunt ring unit 21ij: detachably attached to the Z slider 12, mainly connected to the main body 14'',
A plurality of detachable hands 15.16. are provided on a turret-shaped periphery that is rotatable about the axial direction of the main body 14.
17.18.

Further, the main body 14 is attached to the Z slider 12, but it is attached so as to form an inclined angle with respect to the upper surface 8 of the base 1, so that it is not restricted by the height of the article 22 to be assembled. ing.

Reference numeral 20 denotes an NC control device that controls the operations of the Cartesian coordinate robot 13 and the handling unit 21. With the above configuration, the industrial robot 23 is formed.

The operation will be explained below. First, the X slide unit 9. Y slide unit 10. An XYZ orthogonal coordinate robot 13 is configured by the Z-axis slide unit 11 and the Z-axis slide unit 11 .
It can be positioned at any arbitrary position within the plane of the upper surface 8 of.

When gripping, transferring, and assembling articles A, B, C, and D, at the parts station 6, the hand 15 corresponding to article A is first positioned and driven to grip article A. Thereafter, the turret 19 rotates until the punt B is located directly above the article B, and the Cartesian coordinate robot 1
3 is X, Y.

It is positioned in the Z direction and grips article B.

In this way, the articles A, B, C, and D are sequentially gripped by the multi-hands 15, 16, 17, and 18 arranged in a turret shape, and then the robot 13 moves to the X.

By moving in the Y and Z directions, it is transferred to the assembly jig 7 and assembled there.

Next, an example of how the handling unit 21 is utilized will be explained with reference to FIG. 12 is a Z slider, 24 is a servo motor, 25 is a speed reducer, 14 is a main body attached to the Z slider 12, and 26 is a turret shaft provided inside the main body 14 so as to be rotatable around the axial direction of the main body 14. It is. A joint 27 connects the reducer 25 and the turret shaft 26. 28 and 29 are bearings that ensure smooth rotation of the turret shaft. Reference numeral 30 denotes an air supply hole provided on the side of the main body 14, and only a single air supply hole is provided. 31 is 4 hands 15. ．． It is a turret disk with 16°17.18 arranged in a turret shape at a predetermined angle and is attached to the tip of the turret shaft. Also,
The four hands are detachably attached to the turret board 31.

32 is an air passage, and a turret board 31. It is provided inside the turret shaft 26, the number of which matches the number of four hands, and is independent for each hand. and,
The air passage leads to an actuator 33 that serves as a driving source for each hand. 34, actuator 33
A grip 22 driven by is built into the hand,
The article is gripped by a spring 35 that always acts on the grip 34 in the closing direction, 36 is a Hall sensor that detects the position of the turret plate 31, and 37 is a turret plate 3°
The position of this magnet is sensed by a Hall sensor 36. 20 is turret shaft 2
The rotational positioning of a turret 19 composed of a turret 6 and a turret disk 31 and the work of gripping an article 22 are automatically performed. , , is an NC control device.

The operation of the handling unit 21 configured as described above will be described below.

One end of the main body 14 is integrally attached to the Z slider 12, and a servo motor 24 attached to the main body 14 is driven by the NC control device 20, and its rotation is decelerated by a reducer 25, and the joint The signal is transmitted to the turret shaft 26 connected to the turret shaft 27 . Turret shaft 2
Bearings 28 and 29 are housed on the outer periphery of 6 to ensure smooth rotation of the turret shaft.

The turret 19 has a turret shaft 26 and a turret disk 31
15, . 16, 1
The turret board 31 is rotated and positioned by a required rotation angle according to a command from the ONC control device 20 in which the turrets 7 and 18 are arranged.

When it is a sheep, a single air supply hole 30 provided in the main body 14;
The air passages 32 match and the air drives the actuator 33 of the node 15, actuating the grip 34,
Release the object held by the grip 34.

On the other hand, with respect to the hand 17, the air supply hole 30 and the air passage that can supply air to the hand 17 (not shown) do not match, and the air is cut off.

However, the article 22 held by the hand 17 is held by the elastic force of the spring 36. In this way, the handling operation of the article is carried out through the single air supply hole 3o provided in the main body 14 to the actuator 3 of each hand.
Air is supplied to only the required air passages 32 for the four air passages 32 leading to the air passages 32, and the article 22 held by the required hand is released, and the article 22 held by the other hand is released. The air supply is cut off, and the grip lip 34 is held by a spring 35 that always acts in the closing direction.

As described above, according to this embodiment, an inexpensive and practically excellent industrial robot with a turret-shaped multi-hand capable of grasping, transferring, and assembling a large number of objects at once. can be provided.

In this embodiment, the hand is a mechanical hand, but other methods such as vacuum suction may also be used. In the example, the gripping order of articles A, B, C, and D is changed from A to B −+
It was set as C-+D, but A→C→D→B.

A free gripping order such as B −+ D−+C−+ A is also possible.

Furthermore, although the number of nodes is four in this embodiment, it is possible to increase the number depending on the type of article.

Effects of the Invention As described above, the present invention provides a method for gripping different articles using a plurality of hands. It can be mounted and assembled, making it suitable for high-mix, low-volume production.

Unfortunately, it is not incorporated as a component part of the 2-slide unit, but can be installed as a handling unit, and can be easily replaced with other non-handling units, making it highly versatile.

Furthermore, since the robot's movement range is within the base, it is an industrial robot with talent-like multi-hands that is highly safe, economically effective, and highly practical.

[Brief explanation of the drawing]

Fig. 1 is a perspective view of an industrial robot according to an embodiment of the present invention, and Fig. 2 is a front sectional view of the main parts thereof. ...Parts pallet, 6...Parts station, 7...
・Assembling jig, 8...Top surface, 9...X slide unit, 10...Y slide unit, 1
1...2 slide unit, 12...
Z slider, 13... Cartesian coordinate robot, 14... Body, 15, 16, 17. 18...
... Hand, 19 ... Turret, 20 ...
NC control device, 21...handling unit, 23...industrial robot).

Claims (1)

[Claims] A parts station that holds a plurality of parts pallets on the top surface of a base, an X slide unit that is provided with a single assembly jig, moves linearly in the X direction, and a Y slide unit that moves linearly in the Y direction orthogonal to the X direction. and an X slide unit having two sliders that move linearly in directions perpendicular to both the X and Y directions, and the linear movement range in both the x and Y directions is an orthogonal coordinate type that is an area within the upper surface of the base. a robot; a main body attached to one end of the Z slider at an inclined angle with respect to the top surface of the base;
A handling unit mainly consists of a turret rotatably provided around the axial direction of the main body, a plurality of detachable hands provided on the outer periphery of the turret, and the main body, the turret, and the plurality of hands. Z slider′
- An industrial robot which is detachably attached to the robot and which is operable by an NC control device of the non-endling unit and the orthogonal coordinate robot.