JPS6076930A - Workpiece supporting apparatus - Google Patents

Abstract

PURPOSE:To make the handle side of a robot small-sized and lightweight by shifting the part fixed onto a center-shift absorbing apparatus installed onto a working-base side, in a work supporting apparatus which assembles highly fine parts by driving an industrial robot. CONSTITUTION:An industrial robot body is equipped with a working base 8 and a work supporting apparatus 9 which possesses the center-shift absorbing function. When the first arm and the second arm 4 are controlled, and the center of a rod member 7 is shifted a little relatively with respect to the center of a hole 11a, if the shift dimension is at most the total dimension of a beveling parts 7a and 11b, the rod member 7 is lowered by controlling a lifting body, and then an elastic body 9f is deformed, and the rod member 7 is permitted to automatically coincide with and inserted into the center of the hole 11a on an article 11 to be inserted, and therefore, assembly work can be executed certainly. With such constitution, the handle side of a robot can be made small-sized and lightweight.

Description

[Detailed Description of the Invention] [Technical Field of the Invention] The present invention relates to a workpiece support device in which a workpiece fixing table is provided with a misalignment mechanism, and is particularly suitable for assembling high-precision parts by making full use of industrial robots. The present invention relates to a workpiece support device suitable for.

[Prior art]

Recently, attempts have been made to perform work in the morning by inserting rods with a relative gap of several microns to over ten microns into holes made in parts fixed to the workbench using industrial robots.
In general, the repeatable position accuracy of industrial robots is about plus or minus 50 microns, and in order to ensure higher accuracy than that, the manufacturing cost of industrial robots must be significantly increased.
I', ``It's not easy.

Therefore, in general, the hand side of the robot that grips and transports the bar is provided with a misalignment rI & storage membrane, and the bar held by the hand device is displaced and inserted into the hole of the fixed part on the workbench. Instructions for inserting and assembling are provided. However, since the misalignment absorbing device itself is quite large, it may require a large robot, or the misalignment absorbing device may be restricted to avoid interference with its surroundings, making it impossible to perform a wide range of insertion and assembly operations. was there.

[Summary of the invention]

The present invention solves the above-mentioned drawbacks by providing a misalignment absorbing device on the workbench side and displacing the parts fixed thereon, thereby reducing the size of the robot's nodal side.
The object of the present invention is to provide a workpiece support device that can provide an industrial robot with a wide range of work.

In order to achieve this object, the workpiece support device according to the present invention includes a workpiece fixing table arranged in parallel on a base, and a parallel movement member that provides relative parallel movement in all directions between the base and the workpiece fixing table. The present invention is characterized in that it supports the workpiece fixing table by interposing the workpiece fixing table, and also includes an elastic body for absorbing misalignment of the workpiece fixing table.

Further, in a preferred embodiment of the present invention, the parallel moving member is constituted by at least six parallel links each end of which is connected to a pace pump and a workpiece fixing table by a universal joint, or It is constructed as spheres scattered at points. Furthermore,
The elastic body for absorbing misalignment of the workpiece fixing table is installed in the annular space between one core material provided between the base and the center of the workpiece identification table and the other cylindrical body surrounding a part of this core material. made of rubber.

[Embodiments of the invention]

An embodiment of the present invention will be explained with reference to the drawings.

In the figure, (1) is the main body of the industrial robot, and (2) is supported by this main body (1) in the vertical direction! r Elevating body that moves purely reciprocally, (3) is a first arm that is supported by the elevating body (2) and rotates back and forth on a horizontal surface, (4) is supported at the tip of the first arm (3) and reciprocates on a horizontal surface. The rotating body 2 arm (5) is a rotation axis provided in the vertical direction at the tip of the body 2 arm (4),
(6) is a hand device fixed to the rotating shaft (5), and is equipped with a gripping claw (6a) driven by air pressure or a motor, etc., and vertically grips an insert (7) such as a bar. . (7a) is a mentory part provided all around the tip of the bar (7), (8) is a workbench, (9) is a workpiece support device according to the present invention and has a function of absorbing misalignment. (9a) is a workpiece stand (
8) is the lower plate fixed to the base, (9b) is the lower plate (
The core material planted in the center of 9a), (9c) the lower board (9a
), the upper plate serving as a workpiece fixing stand placed parallel to (9d)
are three links that pivot the lower plate (9a) and the upper plate (9c) so that they can swing in any direction in the plane.
d') and the lower end (9, 311) are formed by spherical bearings. These links have universal joints at both ends (9d
) constitutes a parallel interlocking member of the upper plate (9C). The links (9d) are parallel to each other, and the lower plate (9d)
a) and the upper plate (9C) are configured perpendicularly to K. (9
e) is a cylindrical body to which the upper plate (9c) K is fixed, and the core material (9b)
) is long enough to cover part of the area. (9f) is the core material (9b
) and the cylindrical body (9e), an elastic body such as rubber, α
1 is a gripping device fixed to the upper plate (9c) K, which is equipped with gripping claws (1[]a) driven by air pressure or a motor, etc., and has a hole (11a) into which the bar (7) is inserted. Grasp the object to be inserted, such as a part. (11b) is a hole (
11a) is a mentory part provided all around the entrance part.

Next, the operation of this embodiment will be explained.

Now, control the first and second arms (3) and (4) to position K as shown in Fig. 2, so that the center of the bar (7) is slightly shifted relative to the center of the hole (11a). However, if this deviation is less than the total dimension of parts 9 (7a) and (11b), you can lower the bar (7) by controlling the elevating body (2). As shown in Figure 4, an elastic body (...(9
f) is deformed, and the rod (7) is inserted into the hole (11) of the object to be inserted.
Since it is inserted automatically in alignment with the center of a), the assembly work can be performed reliably.

General K, mentory part (7a) and (11b)) Since the one-entry dimension is about 0.5 to 1 mm, which is large enough for the repeat position accuracy of industrial robots, it is suitable for industries where the repeat position accuracy is about plus or minus 50 microns. Even in commercial robots, by using the device of the present invention having the above-mentioned misalignment absorbing function, the bar material (7) and the hole (11a) with a small relative gap can be separated.
The insertion and assembly work can be performed reliably.

In other words, the misalignment pick-up device T, which has a complicated structure and is heavy, is used as a workpiece support device (9) installed on the workbench (8) side, and a rotating shaft (5) at the tip of the second arm (4) of the industrial robot is used. ) is equipped with a lightweight and small hand device (6a) equipped with gripping claws (6a).
6), the industrial robot can be made smaller and does not interfere with peripheral equipment.
It is possible to realize an industrial robot device that has a wide work range and a high degree of freedom in work content.

In the 10P embodiment, the lower plate (9a) and the upper plate (9C) are supported by parallel links (9d) and moved in parallel, and the elastic body (
9f), the position of the upper plate (9C) was restored to a constant position, but the number spheres were inserted in a dotted manner between the lower plate (9a) and the upper plate (9c), and the upper plate (9c) ) can be moved parallel to the lower plate (9a), and pressed against the end of the upper plate (9c) with an elastic body to restore it to a fixed position. The device can be realized.

In the above embodiment, the bar (7) and the hole (11a) are vertical, but the bar (7) and the hole (11a) are horizontal, that is, the entire apparatus shown in FIG. 2 is 90'. Even if you lay it down,
A similar effect can be obtained.

Further, although the case where there are three links (9d) is shown, the same effect can be obtained even if there are four or more links.

〔Effect of the invention〕

As explained above, since the present invention is a workpiece support device in which a misalignment absorbing device is provided on the side of the workbench, it is possible to downsize the robot body and to reduce interference with peripheral devices of the p-bot. This makes it possible to provide an industrial robot device with a wide range of work.

It goes without saying that the present invention is applicable not only to automatic assembly using industrial robots but also to automatic assembly in general.

[Brief explanation of drawings]

FIG. 1 is a side view showing a one-cusp embodiment of the present invention, and FIG.
5 is a sectional view taken along the line m--■ in FIG. 2, and FIG. 4 is a side view showing the operating state of the device of the present invention for absorbing misalignment. (1)...Industrial robot body, (2)...Elevating body, (3) (4)...First and second arms, (6)...
・Hand device, (7)... Bar material, (7a)... Mentoring section, (8 N... Workbench, (9a)... Lower plate, (
9C)...Top plate, (9d)...Link, (9f)・
...Elastic body, ao...gripping device, ←η...parts, (
11a)...hole, (1lb)...mentory part Note that the same reference numerals in each figure indicate the same or corresponding parts. Agent Masuo Oiwa 181 Figure 3 Figure 2 Figure 4 Figure 4 Procedural amendment (voluntary) Director General of the Japan Patent Office Hole 1, Indication of case Patent application No. 58-184614 2゜ Title of invention Work support device 3 , Relationship to the case of the person making the amendment Patent applicant address 2-2-3 Marunouchi, Chiyoda-ku, Tokyo Name
(601) Mitsubishi Electric Corporation Representative Hitoshi Katayama 4, Agent address: 2-2-3 Marunouchi, Chiyoda-ku, Tokyo. 6. Details of the amendment (1) Figure 4 of the drawings will be amended as shown in the attached amended drawing. that's all

Claims (4)

[Claims] (1) A workpiece fixing table is arranged in parallel on a base, and a parallel movement member is interposed between the base and the workpiece fixing and fixing table to provide relative parallel movement in all directions. A workpiece supporting device, characterized in that the workpiece supporting device is provided with an elastic body for supporting the workpiece and absorbing misalignment of the workpiece fixing table. (2) The parallel moving member has each end connected to the base and workpiece, respectively.
2. The device according to claim 1, wherein the device comprises three or more parallel links connected to a fixed base by a universal joint. (3) The apparatus according to claim 1, wherein the parallel movement members are spheres provided in a dotted manner on the base or the workpiece fixing table. (4) An annular space between one core material and the other cylindrical body surrounding a part of the core material, in which the elastic body for striking the workpiece fixing base out of center is provided between the base and the center of the workpiece fixing base. 2. A device according to claim 1, characterized in that the device is made of elastic rubber attached to the section.