JPS60242939A - Attachment for robot - Google Patents

Abstract

PURPOSE:To enable machining without increasing the rigidity of arm by providing a foot section to the attachment body of robot to be fixed to the drive arm of robot while providing a section to be adsorbed to the machining face at the tip. CONSTITUTION:When performing machining such as drilling, an attachment body 1 is fixed to the drive arm 4 of robot then it is moved through the drive arm 4 to predetermined position then the machining face A will adsorb the section comprised of a foot section 5, an electromagnet 6, a cover 7, a spring 8, etc. to secure the entirety. Under this state, a rotary tool 11 is driven axially to perform machining of said face A. Here, the majority of axial reaction or dynamic load to be produced when machining is born at the adsorbing section to prevent transmission to the drive arm 4 of robot. Consequently, machining can be performed without increasing the rigidity of arm of robot.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to an attachment for a robot, and particularly to an attachment suitable for performing machining such as drilling using a robot.

(Prior Art) In recent years, robots have come to be used not only for setting and unloading workpieces, but also for machining work.

By the way, when attempting to perform machining using a robot, the robot is required to have high positioning accuracy, and
The arm is required to withstand large reaction forces and dynamic loads (fluctuating loads) that occur during machining operations. Therefore, in conventional machining robots, the arm is made thicker to increase its rigidity to ensure positioning accuracy and to withstand large reaction forces and dynamic loads.

(Problem to be solved by the invention) However, if the robot's arm is made thicker and its rigidity is increased as described above, the weight of the robot itself becomes large, which deteriorates the robot's maneuverability. Therefore, the disadvantage is that it is not possible to perform work quickly.

Therefore, the present applicant has proposed a structure in which one end of a sub-arm that allows movement of the tip of the main arm is attached near the tip of the main arm of the robot, and the other end of the sub-arm is attached to a reference part for positioning. He proposed a robot (Japanese Patent Application No. 134214/1983). This robot is characterized in that the sub-arm shares the reaction force and dynamic load during processing, and the sub-arm attached to the positioning reference section improves the positioning accuracy of the tip of the main arm. . Although this robot can certainly perform the above functions, using the sub-arm as described above would complicate the structure of the entire robot, and the sub-arm itself would also have a fairly complex structure. This has the disadvantage of increasing the overall cost.

This invention attempts to solve the above-mentioned drawbacks, and its purpose is to be able to perform machining such as drilling without increasing the rigidity of the robot arm as in the past.
Moreover, the object is to provide a robot attachment that has a simple structure and can be manufactured at low cost.

(Means for Solving the Problems) Therefore, in the robot attachment of the present invention, legs are provided protruding from the attachment body attached to the drive arm of the robot, and the tips of these legs are attached to the surface of the workpiece. The present invention is characterized in that a suction portion is provided for suctioning the attachment body, and a rotary tool that is axially driven in a direction approaching the workpiece surface is attached to the attachment body.

(Function) As a result of the above, when performing machining such as drilling, the attachment body is attached to the drive arm of the robot, the drive arm moves it to a predetermined position, and the suction part is sucked to the workpiece surface. The whole thing is fixed by letting it do so. In this state, the rotary tool is driven in the axial direction to machine the surface to be machined. In this case, most of the axial reaction force and dynamic load generated during machining will be supported by the suction section, and these forces will be transmitted directly to the robot's drive arm. It can be prevented. Therefore, it is possible to perform machining work with a robot having sufficient maneuverability without increasing the rigidity of the robot arm.

(Embodiments) Next, specific embodiments of the robot attachment of the present invention will be described in detail with reference to the drawings.

In FIG. 1, reference numeral 1 indicates an attachment body, and this attachment body 1 has a mounting portion 2 extending in the vertical direction and a main body portion 3 extending in the horizontal direction. Of these, the attachment part 2 is a part that is attached to the drive arm 4 of the robot robot. Four legs 5 extending downward parallel to each other are fixed to the lower surface of the main body 3, and an electromagnet 6 is attached to the lower part of each leg 5 to attract the surface to be processed. It is attached. A vibrator-like cover 7 is disposed on the outer periphery of the leg portion 5 and the electromagnet 6 so as to be movable in the vertical direction, and a spring 8 is interposed between the upper end of the cover 7 and the main body portion 3. There is. The guide bar 7 is arranged so that its lower end projects further downward than the lower surface of the electromagnet 6. On the other hand, a through hole 9 is bored approximately in the center of the main body 3, and a drilling tool 10 with an auto feeder is fixed around the through hole 9. Although not shown, this tool 10 has the function of rotating a drill 11 and also driving this drill 11 in the axial direction using its built-in mechanism in response to an external signal. Note that 12 indicates an air pipe, and 13 indicates an air jet port.

When drilling using the above attachment, first attach the mounting part 2 of the attachment body 1 to the drive arm 4 of the robot, drive the arm 4 to move the attachment to a predetermined position, and then At this point, the attachment is gradually brought closer to the workpiece surface.

In this case, the lower end of the cover 7 will first come into contact with the workpiece surface, but as described above, the cover 7
Since a spring 8 is interposed between the attachment body 1 and the attachment body 1, the shock at the time of this contact is absorbed by the spring 8, and transmission of the shock to the attachment body 1 and the robot drive arm 4 is prevented. It is possible.

Then, the attachment is brought closer to the workpiece surface against the force of the spring 8, and when the lower surface of the electromagnet 6 reaches the vicinity of the workpiece surface, the electromagnet 6 is energized, and the electromagnet 6 is adsorbed onto the surface A to be processed. In this state, the tool 10 is driven and drilling is performed while blowing air from the air nozzle 13. At this time, most of the axial reaction force and dynamic load acting on the attachment are supported by the attraction force of the electromagnet 6, and these forces are prevented from being directly transmitted to the drive arm 4. It can be prevented. Therefore, even when performing the above-mentioned drilling work using a robot, there is no need to increase the rigidity of the arm as in the past, and it becomes possible to perform machining work with a robot that has sufficient mobility. .

When the drilling is completed, the electromagnet 6 is de-energized and the attachment is moved upward. At this time, the cover 7 is urged downward by the compressed spring 8. Therefore, electromagnet 6
This will ensure that the surface to be machined is thoroughly cleaned.

In the above-mentioned robot attachment, it is possible to perform machining such as drilling without increasing the rigidity of the robot arm or adding other structures such as a sub-arm to the robot arm. The robot attachment is not limited to the above embodiment, and can be implemented with various modifications. For example, in the above example, the suction part that attracts the surface to be processed is constructed using an electromagnet, but if non-magnetic materials such as plastics are also to be processed, the suction part may be of a vacuum suction type. Sometimes. In addition, in the above example, a drill is used as a rotary tool, but any tool that can be rotated and machined by moving in the axial direction may be used. Specifically, a reamer, etc. Other rotating tools may be mentioned. Furthermore, although the above example shows an example in which a plurality of legs are provided, for example, it is also possible to make the leg a cylindrical body arranged concentrically with the rotary tool, and it is also possible to implement the process with a single leg. be.

(Effects of the Invention) The axotiment for a robot according to the present invention is constructed as described above, and when the axotiment for a robot according to the present invention is used (1), it can be used as described above. It becomes possible to perform machining such as drilling without increasing the rigidity of the robot arm, that is, with a robot that has sufficient mobility and positioning accuracy.

[Brief explanation of drawings]

FIG. 1 is a partially cutaway front view of an attachment for a robot throat according to the present invention, and FIG. 2 is a longitudinal sectional view of the main part showing a state in which an electromagnet is attracted to a workpiece surface. l... Attachment body, 2... Take (1 part, 3...
・・Main body, 4・Drive arm, 5・Legs, 6・
...Electromagnet, 11...Do IJ), A...Working surface.

Claims (1)

[Claims] 1. Protruding legs (5) are provided on the attachment body (1) attached to the drive arm (4) of the robot.
At the tip of 5), there is a suction part (6
), and further comprising a rotary tool (10) attached to the attachment body (1) that is axially driven in a direction proximate to the surface to be processed (A).