JPS5930681A - Robot for mounting or demounting work - 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 workpiece loading/unloading robot used for industrial openings, IJ Watts, and in particular machine tools.

Robots are in use today that feed workpieces to machine tools, remove processed workpieces, and stack them at predetermined locations.

Such robots are mounted on a fixed base,
It is designed to be rotated +rIJ around the vertical hII line of this base or to be moved up and down along this axis.

Furthermore, since the base is often installed in front of the machine tool, it is not easily accessible even when an operator needs to perform confirmation work on the machine tool itself. For this reason, the base must be mounted away from the machine tool, requiring a large amount of space.

The present invention was developed in view of the above problems, and allows the fourth rotor to easily approach the machine tool when the rodet is not in operation, and allows optimal use of the limited space when the rosette is in operation. Another object of the present invention is to provide a rosette for attaching and detaching a workpiece with a simple structure.

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a perspective view of a workpiece attachment/detachment rosette according to the present invention. ryyg, to 1 is attached to base 2. Base 2
As shown in the figure, it is formed long in the horizontal direction and is installed parallel to the longitudinal axis of a machine tool, such as a lathe. Base 2
Akanesake Operator's thighs are more desirable.

A horizontally movable member 3 is attached to the base 2, and this
is driven along one horizontal line. A vertically movable member 4 is attached to the horizontally movable member 3. Reference numeral 5 denotes a motor for driving the diabetic movable member 4. A horizontal plate 6 is attached to the vertically movable member 4, and a vertically extending support plate 7 is attached to one end of the horizontal plate 6.

An arm 8 is mounted on the support plate 7 so as to be rotatable in a plane perpendicular to the horizontal axis of the base 2. That is, arm 81r.
It is fixed to a channel member 9, which is rotatably attached to the open side of the horizontal plate 6 of the vertical support plate 7, and is driven by a motor 1o. This motor 1oK is equipped with a speed reduction mechanism consisting of a harmonic drive mechanism.

A second arm 11 is attached to the tip of the arm 8 so that its axial position can be adjusted. 12 is the 27th-no.1
The center of the arm 8 and the second arm is transferred to the hand 12 by a motor 13 attached to the rear end of the arm 8 and a transmission mechanism provided inside the arm 8 and the second arm 11. It is natural that the original function of gripping the workpiece is given by 4=J. The operation of each drive device is controlled by a control device 14.

2 and 3 are a front view of FIG. 1 with only the elements 1 to 1 taken out for explaining the movement of the horizontally movable member 3, and a sectional view taken along the line III--III of FIG. 2. LM in which a rectangular plate 15 extends along the upper and lower sides of the base 2
It is guided along the horizontal axis of the base 2 by a guide 16 . Therefore, the upper and lower ends of the rectangular plate 15 are provided with ribs 17 that are slidably engaged with the LM guide 16. L
A 1/C, t'-thread thread 18 extends parallel to the M guide 16,
It is screwed into a nut member 19 fixed to the trowel surface of the rectangular plate 15.

71? - The screw 18 is connected to the pulley 21° belt 22. by the motor 2o. Reversible l/i: driven via pulley 23. Therefore, the rectangular grate 15 is driven along the longitudinal axis of the base 2 according to the rotation angle of the motor 2o. Ru. The LM guide 16 and Zoll screw 18 are properly held on the base.

FIG. 4 is a cross-sectional view of the vertically movable member 4 attached to the rectangular member 15, seen from the opposite direction from FIG. A rectangular member 15 is fitted into the outer frame member 24 of the horizontally movable member 3. Therefore, the horizontally movable member 3 is movable in the horizontal direction together with the rectangular member 15. The vertically movable member 4 can be guided by the outer frame member 24 in the same manner as the guide 16 described above, or alternatively by a ball spline.

The vertically movable member 4 is driven in the vertical direction by the ball screw 25 and the cuff 1 member 26. 71? -Runeji 2
5 is driven by a motor 5 (FIG. 1) mounted on one extended end of the rectangular member 15.

The above-mentioned load shaft is movable along the horizontal longitudinal axis of the base 2, the vertically movable member 4 is movable in the vertical direction with respect to the horizontally movable member 3, and the arm 8 is movable along the horizontal first axis of the base 2. No. 12 is attached to base 2 on axis 1151 parallel to
and can be rotated without touching the floor. In addition to its original function, the hand itself can rotate around the central axis of the arm 8.

Since the robot can move along the longitudinal horizontal direction of the base 2, it is possible to move the robot when the operator is required to check the machine tool itself when it is installed facing a machine tool. The robot can be easily moved along the base, which allows the robot to be placed closer to the machine tool and saves space. Further, the unprocessed workpiece and the processed workpiece are arranged on opposite sides of the robot's machine tool, and the robot according to the present invention has a configuration that allows not only the workpieces to be attached and removed, but also the orderly arrangement of these workpieces. Furthermore, by making the robot movable in the horizontal axis direction, these workpieces can be arranged efficiently in a smaller space. Furthermore, by allowing the robot to be installed closer to the machine tool, the robot can be made more compact.

As explained above, according to the present invention, the workpiece attachment/detachment getter can be made into a more l''-shaped getter, which has the effect of more effective space utilization.

[Brief explanation of drawings]

Fig. 1 is a perspective view of an example of a rotary pit for attaching and removing a workpiece according to the present invention, and Fig. 2 shows the operation of the horizontally movable member i9. FIG. 3 is a sectional view taken along the line I11--1 in FIG. 2, and FIG. 4 is a sectional view for explaining the operation of the vertically movable member. 2... Base, 3... Horizontally movable member, 4... Vertically movable member, 8... Arm, 12... Hand, 14...
・Control device, patent applicant: FANUC Co., Ltd. Patent agent: Akira Aomizu, patent attorney Kazuyuki Nishidate, patent attorney Kyosuke Nakayama Patent attorney Akiyuki Yamaguchi No. 17

Claims (1)

[Claims] A first member movably mounted on the base along a horizontal axis, and a second member movably mounted vertically up and down on the first member.
a member, an arm member rotatably attached to the second member around an axis parallel to the horizontal axis, and an arm member rotatably attached to the optical exterior of the arm member around the longitudinal axis of the arm member; A robot for loading and unloading workpieces, which is comprised of a loading means that is operated by the robot, and a means for driving and controlling each of the above-mentioned members.