JPS60141485A - Composite robot device for 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 Technical Field of the Invention The present invention relates to a composite robot device for work.

Conventional Technology and Problems Conventionally, a wrist device has been provided at the tip of a jointed robot arm that can move jointly, and work equipment such as a welding gun, a painting gun, etc., has been attached to this wrist device. Articulated arm type robots are used which are able to perform necessary tasks according to numerical control programs. Although such articulated arm robots can perform sufficient functions on their own for limited and relatively monotonous tasks,
When performing complex work or when it is necessary to move a heavy object that exceeds the capacity of one articulated arm I-1 robot, two articulated arm robots can be cooperatively controlled. It becomes necessary to perform tasks simultaneously or to divide one task between two arm-shaped lohonotos. However, in the past, when using two or more articulated arm robots, it was common to arrange them in parallel on the same fixed plane, resulting in interference between the robots and the robot's working capacity. This resulted in a decline in performance and limited collaborative work areas.

Purpose of the Invention In view of the above-mentioned problems, the present invention provides a composite robot device for work that allows two jointed arm type robots to perform cooperative work efficiently, and further increases the cooperative work area. The purpose is to

Structure of the Invention According to the present invention, the above-mentioned object is achieved by attaching the 11i to the -L portion of the support leg erected on the horizontally rotatable support base.
A torso casing having a front surface, a back surface, and a double seat is supported so as to be movable up and down θ, and articulated arm-type robots 1 are placed on both sides of the torso casing, and the W of the torso casing is Take it on the surface (=J
A working complex robot, characterized in that the rotational movement of the support base, the vertical movement of the trunk casing, and the movement of each joint of the two jointed arm types are controlled by a numerical control device.・71・Achieved by equipment.

Example Hereinafter, the present invention will be described in detail with reference to the drawings.

1 to 3 show one embodiment of the present invention. Referring to these figures, the working composite robot 1 is equipped with a fixed base 11 installed on the floor with a substantially horizontal installation surface, and the fixed base II has a support 12 on the floor. It is rotatably supported around an axis perpendicular to the installation surface. The driving force of the motor I3 provided in the fixed base 11 is transmitted from the speed reducer 14 through the small pinion 15 to the large pinion I6 fixed to the right support 12.

Two support legs 17, 18 are erected parallel to each other on the support stand 12''. Here, two support legs 17
．． 18 are each covered by a bellows-shaped cover 19,20. Note that the number of support legs is not limited to two, for example, one
It may be a book.

At the top of the support leg 17.18 are a front side 21a and a back side 21.
A body casing 2J having a body casing 2J and both sides 21c and 21d is supported so as to be movable up and down. Here 1. Support leg 1
A motor 23 is mounted on a stand 22 fixed to the upper end of 7.18, and a ball screw shaft 24 extending in the vertical direction is connected to the output shaft of this motor 23. A hole screw nut 25 that is screwed onto this ball screw shaft 24 is removed. When the ball screw nut 24 is turned by the driving force of the motor 23, the ball screw nut 25 moves upward together with the body housing 21. There are multiple Kai I rails 2G extending in direction 6, and B1
11 part housing 2I has each kite rail 26G, two pairs l.
There is a linear amorning kite 27 that engages the t1 dynamic river 111.

On both side surfaces 2IC and 21d of the trunk housing 21, jointed arm type spout throats 28 and 29 of the same shape are provided, respectively. Here, for L1 bots 28 and 29L, the torso f) 1 - the side surfaces 21c and 21 of the housing 21 (inside 6 □ 2 fixed arm support part 30 and the fixed arm 'j1 part 30) A rotary arm support part 31 rotatably provided around a first axis Z along the center of the fixed arm support part 30, and a first support part BiZ for the rotary arm support part 316..1. The first arm 324, the first arm 324, the first arm 324, and the second
The second arm 33 is rotated around the third arm U which is in the i17th line on the axis W. 634 is a first wrist arranged in T color and rotatable around a fourth axis γ which is aligned with the second arm 3 and perpendicular to the third axis U. a base 35, and a fourth
A second hand-colored base 3G is rotatably provided around a fifth axis β that is perpendicular to the axis γ, and a sixth axis α that is perpendicular to the fifth axis βG is attached to the second wrist ankle part 36. It has a wrist tip 37 which is rotatably installed around the wrist. Of course, here, the articulated arm type robot robot (28, 29) can perform output movements around 6 legs. Jointed arm robot28.
Movement around each of the 29 axes is driven by 6 motors. In addition, the jointed arm type roboto 1-28.29 is
The present invention is not limited to the two configurations, and any other type of articulated arm type Ropono 1 may be applied.

Here, the senryo tip g8 of the jointed arm robot 28.29
37 and Roboso 1 to Hunt '31139 are available. It is also possible to attach other work equipment to the wrist tip 37, such as a welding can, a painting can, etc.

The jointed arm robots 28 and 29 are shown in FIG. 4; 1.
4. (4.1) When the first lithe line Z along the center of the fixed arm support part 30 is directed toward the side external force of the body part housing 21, the 11:1 surface 21 of the body part stopper body 21 is It is also possible to install it so that it is inclined.In this case, the angle of inclination of the axis Z is (
911 heart is 130 degrees. 2 settings - 3 I 2, 2 can be done.

As shown in Figures 1 and 2, the body housing 2I0)1
Go (1 to 4 is a v1ftn housing 41 with a front surface 41a)
is provided for horizontal rotation and vertical oscillation via the mountain device 40 (L1). The 1-1 device 40 is installed on the upper surface 21 of the body casing 21 (the bow is movable under water), and the H2
, the rH section housing 4I is a portable device i'Z 40L. I
It is connected to two rotations i'J and ii around the horizontal axis. 10 fi (+, 1 te 1 device 4
A motor 42 for rotationally driving the 0 is provided,
The C device 40 is provided with a motor 43 for swinging the head ratio body 41 in the two-horn direction.

1 ([1 part housing 41 (1) +iii side 41 side 1a
A pair of video sensors 44, 45, which are known per se, are provided.

As shown in FIGS. 2 and 3, the front surface 2 of the body housing 21
The 6J video display panel 46 is numbered 1a.

Here, the image display panel 46 includes a liquid crystal panel 4 [; A light source lamp (not shown) is provided on the rear blade. Since the video display panel 46 having the structure shown in 2 is small in thickness, when it is mounted on the body casing 21, there are holes 1-1 inside the body casing 21 for supporting legs 17, 18, etc. You can secure enough space.

A numerical control device 47 is arranged on the back surface 21b of the body housing 21. The detection signals of the hiteo sensor 44 and 45 are input to the numerical control device (647).

The numerical control device 47 controls the two drive motors of each part in response to the detection signals from the video sensors 44 and 45. The video display panel 46 can display the working status of the pot 38339, and can also display other video information.

The numerical control device 47, signal cables for the articulated arm type ROHONO L □28.29, etc., moving power cables (indicated by tQ 48) are connected from the inside of the body housing 21 to the support legs 17.1.
It is led to the floor through the inside of 8, and jha II 6' is 1.
These cables 48f will not cause 1; ψ to work on the r:J pot in the evening of the first H announcement.

1. In the working composite Ron J muff 1 and device having the configuration described in 11.
The two joints) 1÷ type Ropono 1-28.29 are checked by the numerical control device 47G, 2, L and the whisper control f: 1ll-'I Is that so? (
This allows you to efficiently perform multiple tasks and shared tasks.

Since the two jointed arm type I-1 pots 28 and 29 are provided on opposite sides 21c and 21d, the interlocking area of each jointed arm type I-1 pore 1-28 and 29 can be maximized until
It can be used for two jointed arm type 1
1 point: , 1-28.29 It is possible to prevent the work area from decreasing due to mutual interference and 2 points. In addition, the two jointed arm types 1-10) l-28, 29 are 11 that can be moved by Yz.
Since the FI tall case 21 is set aside,
With the cooperation of the workpieces, the use of the LJ Imperial Works will be greatly expanded.

Although the embodiments have been described above, the present invention is not limited to the embodiments described in Embodiment 2, and various changes can be made without departing from the scope of the requirements in Part 1. .

Effects of the Invention As is clear from the above explanation, the working complex robot robot 1-device according to the present invention has a structure in which a part of the support 11111 is erected on a substantially horizontally rotatable support base. A body casing having a front, a back and both side surfaces is supported so as to be movable by 10F, an articulated arm type robot is attached to each side of the body casing, and a robot is attached to the back of the body casing. The rotary movement of the support base described in iii, the vertical movement of the trunk casing, and the movement of each joint of the two jointed arm robots are controlled by a multi-digit numerical control device. Therefore, complex work and long-distance IM sending of heavy items are difficult.
The cooperative movement of two articulated arm robots enables efficient operation.

[Brief explanation of the drawing]

FIG. 1 is a partially cutaway perspective view schematically showing a composite robot device for work according to an embodiment of the present invention, FIG. 2 is a half-sectional front view of the composite robot device for work shown in FIG. 1, and FIG. The figure is Figure 2, November I, of the work complex Roto 1 shown in Figure 1.
FIG. 4, a cross-sectional view taken along line I-II, shows another embodiment of the present invention, a composite roof for work, I-device i'? The main part of...
It is a front view. I2 Support stand, 17.18 Support leg body, 21 Torso housing, 21a Front side, 211) Back side, 21 c, 21 (] lj, 11 side, 28.29 Joint arm type 1 box 1-1 40 Port device, 41iiJ1 part housing, 44.45 hito sensor, 47-!5! value control device. +1) Applicant: Fari'tsuku Co., Ltd. Z181 patent agent: Akira Aoki, patent attorney, Nishidate, Japanese patent attorney, Tsuki Nishioka $ Akihiro Patent Attorney L Yama ni J Akira Patent Attorney Nishiyama ff1t ya

Claims (1)

[Claims] 1. 14 supports that can rotate substantially in the water 5F direction.
)7. A body 91i housing having a front surface, a rear surface and both side surfaces is vertically movably supported on a part of the support legs provided, and an articulated arm type robot is attached to each side of the body body housing.
Finally, a numerical control device installed on the back of the body housing controls the rotational movement of the support base, the one-tooth movement of the body body, and the interlocking of each joint of the two articulated arm robots. A composite IJ bot device for working, characterized in that it performs the following operations. 2. Particularly ii'l' In the working composite I7 port 71/device as set forth in claim 1, a head housing having a front surface at the upper part of the body housing can be horizontally rotated and vertically swung. The front side of the body housing has the above numbers:
1. A pair of video sensors connected to a control device are installed.
The working complex is characterized in that the horizontal rotation of the head housing and the ili'l till of the above-mentioned swing-related lino are performed by a numerical control device indicated by d;1. robotic equipment. 3. The composite robot device for work according to claim 1, wherein the two support legs are erected in parallel to each other on the support base. . 4. In the working compound robot device according to claim 1, the articulated arm type robot I. a rotary arm support part rotatably provided around a first axis along the center of the fixed arm support part; and a second axis perpendicular to the first axis with respect to the rotary arm support part. a first arm that is rotatable about a third axis; a second arm that is rotatable about a third axis parallel to the second axis; and a second arm that is rotatable about a third axis that is parallel to the second axis. a wrist device provided at a distal end portion of the wrist device; the wrist device includes a first wrist base portion provided rotatably around a fourth axis perpendicular to the third axis with respect to the second arm; , a second blind 1 base provided to be rotatable around a fifth axis perpendicular to the fourth axis with respect to the first wrist base; 1. A compound 1" bob 1-device for working, characterized in that it has a distal end portion rotatable around a sixth axis perpendicular to the 6th axis. 5. Composite robot for work according to claim 4 7
I. In the apparatus, the 11111th line of the fixed arm support part of the articulated arm robot is directed toward the outside of both sides of the trunk casing toward the 1j; 1 side of the trunk casing. Composite robot for work, characterized by being inclined at
Device.