JPS606393A - Robot for wiring 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] [Field of Application of the Invention] The present invention relates to automation of wiring work in which wire rods are laid on wiring boards, and in particular to industrial robots and tools attached to their wrists. The present invention relates to a device for forming a harness on a board.

[Background of the invention]

Conventional wiring machines whose purpose is to print a harness surface on a wiring board use an X-Y table to move the wiring head freely over the wiring board, which is then held in advance by winding it onto a reel or other method. A commonly used method is to sequentially send out wire rods according to the movement of a wiring head of a wire rod discharge section to form a desired wiring pattern on a board.

In this case, pins are driven into the wiring board at several locations along the wiring route, such as the starting point, the ending point, and the bend, and one end of the wire is fixed to the starting point bin by winding or other methods. For this purpose, the wire is stretched under tension to form the required pattern along the position of the bottle.

In such conventional wiring machines, the problem is that the shape of the wire cannot be maintained unless both ends of the wire are properly fixed and tensioned because the wire does not have a shape that matches the wiring pattern. Furthermore, in the case of harnesses with only a few wires each, it takes time to fix and carry out the fixing of both ends, and if there are many types, it becomes complicated to replace the pins, which impedes the efficiency of wiring work. Was.

[Purpose of the invention]

The present invention aims to improve the conventional wiring machines as described above.

[Summary of the invention]

In order to achieve the above-mentioned object, the present invention provides a main body member that can move in a linear direction with a fixed hand that has a function of gripping and fixing a wire rod, a driving function, and a braking function. A running band having a wire straightening function and a means for expanding and contracting in a linear direction is disposed on the main body member, and a means for fixing the expanding and contracting means to a fixed hand is provided, and the main body has these. The traveling hand is kept at a standstill relative to the fixed wire rod which moves straight with the linear movement speed of the member and the speed of the expansion/contraction means being the same, and the fixed hand is placed close to or apart from the wire rod to be gripped. A straight line is formed, and the orthogonal fixing means is released to rotate the traveling hand horizontally and radially about the fixed hand, thereby forming an arbitrary curve in the wire.

[Embodiments of the invention]

Next, one embodiment of the present invention will be explained with reference to FIG. 1 and FIG. 2.

FIG. 1 is an external view showing the configuration of a main body of a wiring robot used in the present invention, and FIG. 2 is a perspective view showing an example in which the wiring tool of the present invention is attached to the wiring robot shown in FIG.

In FIG. 1, 1 is a swing base, 2 is a swing frame fixed on the swing base 1, 5 is a motor base fixed on the swing frame 2, and 4, 5.6 are fixed on the motor base 3. Reference numeral 7 indicates a pair of upper arms standing parallel to each other on the rotating frame 2, 8 indicates a forearm whose one end side is supported by the upper end of the upper arm 7, and 9 indicates a pair of upper arms supported on the upper end of the upper arm 7, and 9 indicates a pair of upper arms supported on the other end of the forearm in the forearm direction. The wrist 1o rotatably supported by the wrist 9 is a rotary plate rotatably attached to the tip of the wrist 9, and these constitute the robot body.

The rotating frame 2 rotates in the direction of the arrow by driving the motor 4, and tilts the upper arm 7 in the direction of arrow B by driving the motor 5, thereby making the forearm 8 tiltable in the direction of arrow C. In order to drive the motor 6, the wrist 9 is made rotatable in the direction of the arrow.

The wrist 9 can move in a straight line by a combination of these operations or by rotation of the wrist 9 itself, and is provided with a rotary plate 1o that rotates freely at its tip.

The present invention provides a fixed hand for gripping and fixing a wire, and a traveling hand having a straightening function for pulling out the wire, to the wrist 9 of the wiring robot configured as described above.
A mounting bracket 12 is fixed to the rotary plate 1o at the tip, and a support plate 21 is fixed to the back of the wrist 9 as shown in FIG.
8 is fixed, and a motor 26 is fixed to one side of the slide shafts 17, 17 via a mounting plate 62, and a mounting plate 61 is fixed to the other side, and a straightening roller 20 is attached to this. A traveling hand 19 is provided to protrude downward.

In addition, a support base 14 that projects at right angles is attached to the slide side of the slide block 16, and the shaft 1 of the large gear 16 is attached to this.
5 is rotatably mounted, and a cylinder 30 that brakes the rotation of this large gear 160 is fixed to the mounting bracket 12.

Further, a motor 22 for driving the large gear 16 is attached to a support plate 21 protruding from the back of the wrist, and its shaft 24
A brake 23 is provided at the shaft end, and a small gear 25 is provided at the end of the shaft, which meshes with the large gear 16.

Note that 27 is a wire rod guide provided horizontally protruding from the hand support base 14, through which the wire rod 29 is passed, and the running hand 1
It is supplied to the fixed hand 11 via the correction roller 20 of No. 9. Further, 28 is a wiring board.

In the present invention, since the wiring tool is configured as described above, for example, if the brake 23 and cylinder 30 are released and the motor 22 is driven, the fixed hand 11 will rotate at a fixed position.

In this case, since the shaft 15 of the large gear 16 and the support base 14 are in a sliding relationship, the support base 14 does not move.

However, when only the brake 23 is applied, the fixed hand 11 does not rotate and the support base 14 follows the movement of the rotary plate 10, and by rotating the rotary plate 10, the traveling hand 1
9 can be moved radially in the horizontal direction around the fixed hand 11, and this movement is used to form a bent portion of the wire.

In addition, when the brake 23 and cylinder 30 are locked, the rotating plate 10 cannot be rotated, and if the motor 26 is rotated forward in this state, the traveling hand 19 moves straight away from the fixed hand 11. If it rotates in the opposite direction, it will approach the fixed hand in a straight line.

Furthermore, since the wiring work robot body to which these wiring tools are attached is also structured to be able to move in a horizontal straight line, the horizontal movement speed of the main body and the separation or approach speed of the traveling hand 19 are kept the same. If the robot body itself is moved toward the traveling hand 19 side and the motor 26 is rotated in the opposite direction, the movement of the fixed hand 11 will be
The traveling hand 19 is in a relatively stopped state, and the fixed hand 11 approaches it. When the robot body approaches, the movement of the robot body is stopped, the fixed hand 11 is fixed, and the motor 26 is switched to forward rotation, so that the traveling hand 19 linearly separates from the fixed hand 11 by one pitch.

These operations are used to form straight lines in the wire.

Further, since the wire rod 29 is supplied to the fixed hand via the straightening roller 2o of the traveling hand, the wire rod 29 between the hands can be made straight.

The present invention automatically controls these operations to form curved portions and straight lines of the wire on the board.

Next, the operation of the wiring work robot of the present invention to form a curved part on a wire rod will be explained with reference to FIGS. 6(a), (b), and (C). ), (C), and (d) to explain the straight line forming operation.

In FIGS. 3 and 4, 11 is a fixed hand; 16 is a fixed hand;
1 is a slide block that supports the fixed hand 11; 17 is a slide shaft of the slide block 13; 31 is a mounting plate attached to the slide shaft 17, to which the traveling hand 19 is fixed. Reference numeral 62 denotes a motor mounting plate provided at the other end of the slide shaft, and when the motor attached to this mounting plate rotates in the forward direction, the traveling hand 19 moves straight in the direction of arrow A, and by forward rotation, it moves straight in the opposite direction. . A wire 29 is supplied to the stationary hand 11 via the traveling hand 19.

In FIG. 5(a), the aforementioned cylinder 60 is locked and the traveling hand 19 is rotated by reverse rotation of the motor 26.
is stopped close to the fixed hand 11, and the fixed hand 11 grasps the wire 29. Then, in (b),
The lock of the cylinder 30 is released, and the running node 19 is rotated in the direction of arrow A via the rotary plate 10 to remove the wire rod 29.
2 shows that the bent portion 29a has been formed, and then in (C), after confirming that the running node 19 has released the wire 29, the cylinder 60 is locked and the motor 26 (not shown) is turned on. Rotate it in the forward direction and start driving.19
This shows that the wire rod 29 is moved straight in the direction of arrow B by one pitch to form a straight line 29b on the wire rod 29.

In this way, the wire 29 can be bent in any direction 29a or straight lines 29b can be formed.

FIG. 4(a) shows that the traveling hand 19 is brought close to the fixed knot 11 as described above, the fixed hand 11 grasps the wire 29, and the traveling hand 19 releases it, and then ( In b), the forward rotation of the motor 26 causes the traveling hand 19 to move one pitch away from the wire 2.
9 and indicates that the fixed hand 19 has released it. Then, in (C), the robot itself moves straight toward the traveling hand 19 side, and the motor 26 rotates in the opposite direction to prevent the fixed hand 11 from moving forward. , the traveling hand 19 is stopped and the fixed hand 11 is shown to move in the direction of arrow A, and then in (d), the robot itself stops moving, the motor 26 stops rotating in the opposite direction, and the fixed hand 11 moves in the direction of arrow A. This shows that the hand 11 is close to the running hand 19 and grips the wire 29, and at the same time, the running hand 19 releases it, forming a straight line 29b on the wire 29.

The operations (b) and (C) above are then repeated to form a required straight line.

〔Effect of the invention〕

As described above, according to the wiring robot of the present invention, the fixed hand and the running hand are equipped not only with a wire gripping function but also with a wire straightening function, and the running hand rotates around the fixed hand. Since this is a device that moves the wire to form a bent part, or alternatively moves the running hand and fixed hand close to each other to form a straight line, it is possible to create any straight line on the wire without setting up guide pins on the wiring board. It is possible to form an arbitrary bent portion connected to the bent portion.

[Brief explanation of drawings]

Fig. 1 is a perspective view showing a schematic configuration of a core wiring work robot used in the present invention, Fig. 2 is a perspective view showing an example of the wiring tool of the present invention attached to the robot, Fig. 6(a), (b),
(This is an explanatory diagram of the operation of bending the shoe forming path on the wire using the wiring vine shown in Fig. 2, Fig. 4 (a), (b), (C)
, (d) are explanatory diagrams of the path motion for forming a straight line. 9... Wrist, 10... Rotating plate, 11... Fixed hand, 12... Mounting bracket, 13... Slide block, 14 ...Support pace, 15...Shaft, 16...Large gear, 17...Slide shaft, 18...Ball screw, 19... ...... Traveling hand, 20... Correction roller, 21... Support plate, 22... Motor, 26... Brake, 24... ...shaft, 25 ... small gear, 26 ... motor, 27 ... guide, 28 ... wiring board, 29 ...・Wire rod, 30...Cylinder, 31...Traveling hand mounting plate, 32ξ...Tar mounting plate. Representative patent attorney Akira Takahashi. 1st bacteria 2nd quantity and 3rd mortar

Claims (1)

[Claims] A fixed hand that has the function of gripping and fixing the wire rod, as well as driving and braking functions is wired to the main body member that can move in a linear direction. A traveling hand having a means for expanding and contracting is disposed on the main body member, and a means for fixing the expanding and contracting means to the fixed hand is provided, and wired movement of the main body member having the fixed hand and the traveling hand and the extending and contracting hand are provided. The moving hand is brought to a standstill relative to the fixed hand moving straight, with the speed of the means being the same, and the fixed hand is moved close to or apart from the fixed hand to form a straight line on the wire to be gripped, and the fixed hand A wiring work robot characterized in that the means is opened and the traveling hand is rotated horizontally and radially around the fixed hand to form an arbitrary bending part in the wire.