JPS60255382A - Air-actuated 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 (Field of Industrial Application) The present invention relates to various industrial robots in which a robot arm is driven by a pneumatic actuator.

(Prior Art) In the above-mentioned pneumatically operated robot, the robot arm can be freely moved manually by leaving the pneumatically operated actuator for driving the robot arm in a free state. Moreover, this type of pneumatically operated robot usually uses a balance pneumatically operated actuator to provide the robot arm with a balance moment corresponding to the weight of the robot arm and the workpiece holding attachment. During teaching work to teach the control device the movement path of the robot arm, the pneumatic actuator for driving the robot arm is set in a free state, and balance air pressure is supplied only to the balance pneumatic actuator, thereby controlling the robot arm. Direct manual movement of the tip, so-called direct teaching, is possible.

(Problem to be solved by the invention) As mentioned above, pneumatically operated robots are generally capable of direct teaching, but in order to improve accuracy by making the teaching position correspond to the work actually handled, In many cases, teaching work is performed using workpieces that are handled separately. In such a case, it is fine as long as the work is lightweight, but direct teaching becomes extremely difficult when handling a heavy work.

The present invention has been made to solve these problems.

(Means for solving the problems) That is, the pneumatically operated robot of the present invention has robot 1. /) In a robot whose arm is driven by a pneumatically actuated actuator, a pneumatic supply system that supplies pneumatic pressure for balance to the actuator in addition to a pneumatic supply system that supplies pneumatic pressure for driving the robot arm to the pneumatically actuator. A supply system is provided, and both pneumatic supply systems are configured to be able to be used selectively, and the balance pneumatic supply system includes pressure adjustment means for switching the balance moment applied to the robot arm into at least a plurality of stages. It is made up of the following.

(Example) An example of the present invention will be described below based on the attached illustrative drawings.

In Figures 1 and 2, 2 is the base, and 2 is the base 1.
a rotary table rotatably supported on the top about a vertical axis 3;
Reference numeral 4 designates a longitudinally swinging arm that connects the rotary table 2 and the intermediate member 5, and 6 represents a vertically swinging arm that connects the intermediate member 5 and the tip member 7.

The longitudinal swinging arm 4 has a pair of front and rear parallel swinging links 8a.
, 8b, which allows the intermediate member 5 to be moved in the front-rear direction with respect to the rotary table 2 while maintaining a constant posture.

The vertically swinging arm 6 has a pair of upper and lower parallel swinging links 9a.
, jb, and is configured to move the tip member 7 vertically relative to the intermediate member 5 while keeping its posture constant. Although not shown, the robot hand is attached to the tip member 7 via a suitable actuator. 10
is a pneumatic actuator that rotates the rotary table 2 within a predetermined range with respect to the base 1, and is attached to the base 1. 11. For example, it is a pneumatic actuator for driving a front and rear swinging arm attached to the rotary table 2, and swings the link 8a within a predetermined range via a drive shaft 12 on the rotary table 2 side. Reference numeral 13 denotes a pneumatic actuator for driving the vertically swinging arm attached to the intermediate member 5, which swings the link 9b within a predetermined range via the drive shaft 14 of the five intermediate members. Further, 15 is a pneumatically operated actuator for a balancer that acts on the vertically swinging arm 6, and is attached to the intermediate member 5 on the side opposite to the side where the pneumatically operated actuator 13 for driving the vertically swinging arm is located. The link 9b of the vertically swinging arm 6 is connected to the drive shaft 1.
4 to force upward. 16 is a pulse encoder that is linked to the rotation of the rotary table 2. A pulse encoder 17 is linked to the swinging of the longitudinal swinging arm 4, and is linked to the link drive shaft 12. A pulse encoder 18 is linked to the swinging of the vertical swinging arm 6, and is linked to the link drive shaft 14.

According to the above-mentioned pneumatically controlled robot, each actuator 10, 11, 13 is pneumatically actuated to rotate the rotary table 2 with respect to the base 1, to swing the longitudinal swing arm 4 with respect to the rotary table 2, and to A workpiece holding axotiment that is attached to the tip member 7 by causing the tip member 7 to perform a predetermined movement consisting of a combination of vertical swinging of the vertically swinging arm 6 relative to the intermediate member 5? a (FIG. 1 schematically shows the aquenchment 7a) can be moved along a preset movement trajectory to automatically perform the desired work. On the other hand, pressure is applied to the balancer pneumatic actuator 15 so as to correspond to the downward moment acting on the vertically swinging arm 6 (the downward moment when the workpiece 19 is not held by the workpiece holding axotiment 7a). Adjusted pressure air is supplied to impart an upward balance moment to the vertically swinging arm 6.

Next, based on FIGS. 3 to 5, the actuator
The control systems 13 and 15 will be specifically explained. In Fig. 3, 20 to 27 are electromagnetic switching valves, 28 to 34 are pressure regulating valves, 35 to 37 are check valves, 38 and 39 are variable throttle valves,
40 to 42 are silencers. According to this pneumatic control system,
The pneumatic pressure regulated by the pressure regulating valve 28 is supplied to the balancer pneumatic actuator 15 via either of the pressure regulating valves 33 or 34 by switching the electromagnetic switching valve 27, and the vertically swinging arm 6 An upward balance moment is applied to balance the workpiece 19 in a state where the workpiece 19 is not set. Switching of the electromagnetic switching valve 27 is performed according to the angle of the vertically swinging arm 6, and when the angle with respect to the horizontal plane is within a certain range, the high pressure regulated by the pressure regulating valve 33 is supplied to the actuator 15, creating a large balance moment. is applied to the vertically swinging arm 6, and when the angle of the vertically swinging arm 6 with respect to the horizontal plane exceeds a certain range, low pressure regulated by the pressure regulating valve 34 is supplied to the actuator 15 and applied to the vertically swinging arm 6. The electromagnetic switching valve 27 is automatically switched so that the balance moment caused by the load is reduced.

On the other hand, the electromagnetic switching valves 20 and 23 are set to O'F as shown in the figure.
When in the F state (automatic operation side), the electromagnetic switching valve 21
．． 22, only the upper moving side electromagnetic switching valve 22 is turned on (
By supplying air pressure to the actuator 13), air pressure adjusted to a constant pressure by the pressure regulating valve 28 is supplied to the normal rotation drive side boat of the actuator 13 via the electromagnetic switching valve 22, 23, The actuator 13 rotates in the normal rotation direction, and the vertical swing arm 6 moves upward. Exhaust air from the actuator 13 passes through the electromagnetic switching valve 21 and the throttle valve 38 to the silencer 40.
more excreted. When only the downward movement side electromagnetic switching valve 21 is turned on instead of the electromagnetic switching valve 22, the air pressure adjusted to a constant pressure by the pressure regulating valve 28 passes through the electromagnetic switching valve 21 and drives the actuator 13 in reverse. is supplied to the side boat, the actuator 13 rotates in the reverse direction, the vertical swing arm 6 moves downward, and the actuator 1
Exhaust from 3 is through electromagnetic switching valve 23, 22 and throttle valve 3.
9 and is discharged from the muffler 41.

When the vertical swinging arm 6 that moves upward or downward reaches the target stop position as described above, the electromagnetic switching valve 21.2
2 are turned ON and the same pressure of air is supplied to both ports of the actuator 13, the vertically swinging arm 6 is positioned at the target stop position, and the vertically swinging arm 6 is moved to the intermediate member 5. A brake means (not shown) that locks the vertically swinging arm 6 into a set position is activated.

Other actuators, that is, the pneumatically actuated actuator 10 for driving the rotary table and the pneumatically actuated actuator 11 for driving the front and rear swinging arms, are similarly pneumatically driven by the same control system as the actuator 13, and the rotation reaches the target position. The table 2 and the longitudinally swinging arm 4 are fixed by the brake means as described above.

When performing direct teaching work, a workpiece 19 of unknown weight is set on the workpiece holding axotiment 7a, and the electromagnetic switching valve 20.23 is turned on to switch to the teaching side. At this time, balance pneumatic pressure is supplied to the balancer pneumatic actuator 15 in the same way as during automatic operation, and the balancer pneumatic actuator 15 is supplied with balance pneumatic pressure in the same way as during automatic operation, and the balancer pneumatic actuator 15 is supplied with balance pneumatic pressure to balance the downward moment acting on the vertical swinging arm 6 when the workpiece 19 is not set. A balance moment of is given.

In this state, all of the electromagnetic switching valves 24 to 26 are in the OFF state as shown in the figure, so the air pressure regulated by the pressure regulating valve 28 is transferred from the electromagnetic switching valve 20 to the electromagnetic switching valve 24 and the first pressure regulating valve 29. , solenoid switching valve 25
, the check valve 36 , and the electromagnetic switching valve 23 to the normal rotation side boat of the pneumatically actuated actuator 13 for vertically swinging arm drive, and the pneumatic pressure for balancing the pressure set by the first pressure regulating valve 29 The vertically swinging arm 6 is urged upward.

If only the electromagnetic switching valve 25 of the electromagnetic switching valves 24 to 26 is turned on, the balance air pressure passes through the second pressure regulating valve 30, so that the pressure balance set by the second pressure regulating valve 30 is maintained. The air pressure for the actuator 13
supplied to Also, if only the electromagnetic switching valve 24 among the electromagnetic switching valves 24 to 26 is turned on, the balance air pressure passes through the third pressure regulating valve 31 and the pressure set by the third pressure regulating valve 31 is increased. Balancing air pressure is supplied to the actuator 13 via the electromagnetic switching valve 26 and check valve 37. Then, when two of the electromagnetic switching valves 24 to 26 are turned on, the balance air pressure is set by the fourth pressure regulating valve 32 via the fourth pressure regulating valve 32. Air pressure for balancing the pressure is supplied to the actuator 13.

Here, the set pressures of the first to fourth pressure regulating valves 29 to 32 are set to increase in order from the first to the second, third, and fourth, and the electromagnetic switching valves 24 to 26 are By sequentially switching as shown in FIG. Therefore, the number of hands of the operator who lifts and freely holds the tip of the vertically swinging arm 6 via the handle 7b connected to the tip member 7 or the workpiece holding attachment 7a gradually increases as described above. When the operator senses that the applied balance moment and the weight of the workpiece 19 are approximately in equilibrium, the operator stops switching the electromagnetic switching valves 24 to 26 to maintain the balance air pressure at that pressure. Direct teaching work can be easily performed with the workpiece 19 held in place.

The tip member 7 is equipped with an operation switch that sequentially switches the balance air pressure supplied to the actuator 13 in four stages by operating each of the electromagnetic switching valves 24 to 26 as described above.
It is preferable that an operating switch for the electromagnetic switching valve 20 for switching between automatic operation and teaching be provided on or near the handle 7b connected to the side. Of course,
Although the balance air pressure is configured to be switched in four stages, the number of switching stages is not limited. Alternatively, a pressure adjustment means that can continuously adjust the balance air pressure steplessly may be used.

Furthermore, means for automatically adjusting the pressure of the balance air pressure supplied to the actuator 13 stepwise or continuously (for example, automatically switching the excitation electromagnetic switching valves 24 to 26 at regular intervals as described above) is provided. It can be used even more conveniently by providing a pressure regulating device (a device for adjusting the pressure) and using a pressure regulating stop switch that stops the automatic pressure regulating means at any time and stabilizes the pressure at that time.

(Operations and Effects of the Invention) According to the pneumatically operated robot of the present invention, which can be implemented and used as in the above embodiments, during direct teaching work, the pneumatically operated actuator for driving the robot throat arm that is not in use can be used. By supplying balance air pressure at an appropriate pressure from the balance air pressure supply system, you can set the workpiece for direct teaching work by actually cutting and throating the workpiece, even if the workpiece is heavy. It is almost different from doing it without doing it, and it can be done easily by moving the robot arm.

Moreover, as mentioned above, the pneumatic actuator for driving the robot arm, which has sufficient capacity, is applied, and the large rosette 7X-E-
, d7). Bo, 7) Ae0. There is no need for a special actuator to be added, and the entire structure can be constructed at low cost.

[Brief explanation of drawings]

FIG. 1 is a side view, FIG. 2 is a rear view with the upper part of the base omitted, and FIG. 3 is an explanatory diagram showing the pneumatic control system of the vertically swinging arm. DESCRIPTION OF SYMBOLS 1... Base, 2... Rotating table, 4... Front-rear swing arm, 5... Intermediate member, 6... Vertical swing arm, 7...
...Tip member, 10, 11.13... Pneumatically actuated actuator, 15... Pneumatically actuated actuator for balancer, 19... Workpiece, 20-27... Solenoid switching valve, 28-34...・Pressure regulating valve.

Claims (1)

[Claims] In a robot in which a robot arm is driven by a pneumatically actuated actuator, a pneumatic supply system that supplies pneumatic pressure for balance to the actuator in addition to a pneumatic supply system that supplies pneumatic pressure for driving the robot arm to the pneumatically actuator. The balance pneumatic supply system is provided with a pressure adjustment means for switching the balance moment applied to the robot arm into at least a plurality of stages. A pneumatically operated robot consisting of