JPS61244450A - Working robot device - Google Patents

Abstract

PURPOSE:To make it possible to simplify the entire structure of a working robot device, by incorporating a tool head and tool exchange stations for tools to a self-travelling type multi-joint robot disposed in a working station, in one unit body structure. CONSTITUTION:When actuating arms 10, 11 of a multi-joint robot 3 engage a first coupling member 14 attached to the front end thereof, with a second coupling member 15 attached to a tool head 4, a specified tool head 4 selected in accordance with a machining program for a workpiece is clamped in a tool head exchange station 5. In this condition the robot rotate toward a tool exchange station 7 for a tool 6, and the selected and specified tool 6 is clamped by a chuck mechanism 40 on the tool head 4 in accordance with the workpiece machining program. Thus, the robot device may have a simple entire structure with a less failure occurring frequency, thereby it is possible to sustain a highly productive and accurate operating condition for a long time.

Description

[Detailed description of the invention] Industrial Emperor and Minute! The present invention relates to a working robot device, and more specifically, a grinding head and a tool changing device are integrally connected to the main body of a self-propelled robot used for the purpose of finishing polishing a press mold, for example. will be set up,
The present invention relates to a polishing robot device.

It is well known that various unmanned devices such as automatic welding robots are used in body assembly lines for automobiles. In order to improve productivity and save labor on the manufacturing line while maintaining product quality at a good level, the introduction of the above-mentioned work robots is an essential requirement, but due to the type of work and the characteristics of the work, There are many industrial fields where the use of work robots is restricted.

For example, after a press mold is roughly finished with a cutting tool such as a ball end mill, pick feed marks ( The final product is finished by removing the cutting grooves (cutting grooves), but this type of finishing process has traditionally been carried out manually by skilled workers, reducing the manufacturing cost of press molds and Significant limitations were recognized in trying to improve dimensional accuracy.

In other words, even if an existing robot is used to finish polishing a press mold or injection mold (hereinafter referred to as a workpiece) that has a pink feed mark on a free-form surface, the grinding wheel or grinding wheel drive head will not work properly. Since the automatic exchange device is subject to various constraints on the operating system or needle setting, it is difficult to quickly and accurately select and supply a grinding wheel and its drive head that are adapted to the surface characteristics of the mold to the work robot. It was extremely difficult.

Furthermore, in conventional work robots, only the main body of the robot is placed at the work station so that it can move freely, and tools, such as cutting tools, polishing tools, inspection tools such as length measurement sensors, or nut runners, etc. Practically no self-propelled means are provided for assembly work tools. For this reason, the main body of the robot has to frequently move back and forth between the tool changer installed separately at the work station and the work position, which poses a major obstacle to improving work efficiency.

The main purpose of the present invention is to provide an automatic tool exchange function that can eliminate the above-mentioned practical limitations observed in conventional automatic working robots, for example, robot devices for polishing and finishing workpieces having free-form surfaces. The object of the present invention is to provide a working robot device with improved performance.

Another main object of the present invention is to provide a workpiece processing robot device consisting of an articulated polishing robot having a simple structure and excellent operational stability, and a tool exchange device thereof.

In view of this purpose of the ruta, the present invention provides a self-propelled articulated robot (3) placed at a work station with a tool head (
4) exchange station (5), as well as tools (6)
The gist is a working robot device in which exchange stations (7) are connected in an integrated structure.

To explain the operating procedure of the device of the present invention, for example, in the case of a work robot device for processing a workpiece, the operating arm of the articulated robot (3) connects the first joint member (14) attached to its tip with the tool. A specific tool head (4) selected according to the workpiece program is clamped by engaging with the second joint member (15) attached to the head (4), and in this state, the tool (6) is replaced. The tool rotates to the station (7), and the chuck mechanism (40) attached to the tip of the tool head (4) clamps a specific tool (6) selected according to the machining program of the workpiece, thereby machining the workpiece. Complete the standard process.

Figure 1 shows the articulated robot (3) and tool head (4).
FIG. 2 is a front view illustrating the overall structure of the apparatus of the present invention, in which an exchanging station (5) for tools (5) and an exchanging station (7) for tools (6) are mounted on a common movable frame (2). FIG. 2 is a partially enlarged front view of the tool head (4), for example, the exchange station (5) of the grinding head (4), and FIGS. 3 to 6 show the exchange station (5) and the articulated robot. FIG. 3 is a partial cross-sectional view of each component to explain the state in which it cooperates with the actuating arm in (3). Figure 7 shows the tool (6) exchange station (
FIG. 7) is a plan view illustrating the overall structure of FIG.

In these drawings, the articulated robot (3) includes a body member (9) rotatably supported on a base (8) along a horizontal plane, and a body member (9) rotatable along a vertical plane on the upper side of the body member. The upper arm member (10) is rotatably supported, and the lower arm member (10) is rotatably supported around the end of the upper arm member (10).
11), and a wrist member (12) with a fingertip member (13) attached to the tip of the lower arm member.
The wrist member (12) is configured to be rotatable about the tip of the lower arm member (11) and swing on the same plane with respect to the axis of the lower arm member (11). The wrist member (12) is pivotably supported on the wrist member (12).
The fingertip member (13) attached to the lower arm member (11
) is configured to be able to rotate left and right about the axis of the fingertip member (13) as the center of rotation.

In the above embodiment, the operating arm of the articulated robot (3) is constituted by a rotating member having six degrees of freedom and a swinging arm; however, the structure of the articulated robot (3) is as follows. The illustrative description should not be construed as limiting, but as long as it is possible to impart a selective exchange operation to a plurality of tool heads (4) arranged at the exchange station (5) of the tool bed (4). , any structure of articulated robot with degrees of freedom other than 6 can be used. However, in any articulated robot, the fingertip member (13) has a first joint that removably engages with a second joint member (15) attached to the tool head (4). The member (14) is attached,
Correspondingly, the changing station (5) of the tool head (4) is provided with the first
An engagement/detachment mechanism (16) is provided for causing the joint member (14) and the second joint member (15) to work together in a detachable manner. 2 to 6 show the first joint member (1
FIG. 4) is an explanatory diagram illustrating the structure and operating state of the second joint member (15) and the engagement/attachment mechanism (16) for these joint members. As seen in these drawings,
The first joint member (14) attached to the fingertip member (13) of the articulated robot (3) has a pressure spring (1
7) and a proximity switch or phototube device (1) for detecting the completion of the fixing operation to the second joint member (15).
8), and the lock pin (19) is supported vertically movably by aligning the axis with the pressure spring (17). The lower end of the lock pin is connected to a pressure spring (
17) and protrudes from the lower surface of the main body of the first joint member (14), forming an engagement portion with a fitting hole (20) drilled in the second joint member (15). . On the front surface of the first joint member (14), two fitting protrusions (21), (21) are arranged in parallel with each other with their axes oriented in a substantially horizontal direction as shown in FIGS. 3 and 6. a second joint (only one is shown in the drawing) and correspondingly secured to the side end face of the tool head (4) so as to be able to face the first joint member (14); The member (15) has fitting holes (22) for the fitting projections (21), (21), (
22) is provided.

The exchange station run (5) of the tool head (4) utilizes the engagement/disengagement motion between the first joint member (14) and the second joint member (15) to replace the tool head (4), e.g. A lock pin (19) is a device that transfers the briding head to the operating arm of the multi-joint robot (3), and is basically supported so as to be able to move up and down under the force of the pressure spring (17). In addition, a fluid pressure cylinder mechanism (26) consisting of a piston rod (24) with a pressure piece (23) and a cylinder (25) that generates vertical displacement for attaching and detaching the tool head (4), such as an air cylinder mechanism, is used. A flat upper surface (19) that functions as a guide member for the lock pin (19) in synchronization with the air cylinder mechanism.
It consists of a guide block (28) with a
There is ζ. In addition, in Fig. 2, the fluid pressure cylinder mechanism (2
6) and guide block (28) are shown in the figure, but in reality, these components are articulated in a plurality of tool heads (4) disposed at the exchange station (5). A plurality of sets are arranged at predetermined intervals on the support frame (29) so as to transmit the operation of attaching and detaching the robot (3) to the operating arm.

In addition, the changing station (5) for the tool head (4) is provided with an auxiliary fixed positioning device for the tool head (4), which is fixed to the support frame (29) under the bias of a pressure spring (30). Two clamping members (32), (3
A clamper mechanism (33) consisting of 2) is provided.

When replacing the tool head (4), the positioning pin (35) fixed to the main body of the tool head (4) is inserted into the notch groove (34) formed at the upper end of the clamping member (three prongs). When the first joint member (14) and the second joint member (15) are disengaged from each other, the tool head (4) is separated from the articulated robot (3). ) is firmly fixed on the support frame (29).

A first joint member (14) having the above structure is attached to the fingertip member (13) of the articulated robot (3), and correspondingly a second joint member (14) is attached to the tool head (4). A joint member (15) is attached. Articulated robot (3
) when installing a specific tool head (4), selected according to the workpiece program, on the working arm of the workpiece.
The lower end of the lock pin (19) is pressed against the upper surface (27) of the guide block (28) to reduce the protruding length of the lock pin from the lower surface of the main body of the first joint member (14). The joint member (14) is brought close to the tool head (4), and the lower end of the lock pin (19) is fitted into the fitting hole (20) under the bias of the pressure spring (17). At the same time, by fitting the fitting protrusions (21), (21) into the fitting holes (22), (22), the first joint member (14) and the second joint member (15) are made into an integral structure. Link.

On the other hand, when removing the used tool head (4) from the articulated robot (3), it is necessary to release the state of engagement between the first joint member (14) and the second joint member (15). be. For this reason, the lock pin (19) of the tool head (4) placed on the support frame (29) is attached to the piston rod (29).
The lock pin (1) is pushed upward against the pressing force of the pressure spring (17) by the pressing piece (23) fixed to the tip of the first joint member (14).
9) to release the engagement state between the lock pin (19) and the fitting hole (20), and in this state, insert the lower end of the lock pin (19) into the flat part of the guide block (28). Slide along the upper surface (27) and insert the fitting protrusion (21).
, (21) and the engagement holes (22), (22) are released. The tool head (4) is thus separated from the working arm of the articulated robot (3) and locked onto the support frame (29) of the replacement station run (5).

Note that the first joint member (14) has a second joint member (14).
5), or the first joint member (1
A proximity switch or phototube device (18) for detecting the locked state of the second joint member (15) with respect to the lock pin (19) is incorporated in the lock pin (19). A stepped portion (with a different diameter) that changes the distance between the proximity switch or phototube device (18) and the side body portion of the lock pin (19) by changing the length of insertion into the hole (20).
36) is formed.

On the other hand, the tool (6) exchange station (7) is located at the seventh
As illustrated in the figure, a plurality of tools (6), (6), -, for example, a plurality of grinding wheels (6), (6), - with different diameters, selected according to the grinding program of the workpiece.
- A support frame (37) for holding the tool (37) in alignment, and a double-acting cylinder device (38), (39) disposed at one end of the support frame and functioning as an exchange device for the tool (6). It is being The double-acting cylinder device has a known automatic chuck mechanism (4) installed at the tip of the tool head (4).
It is equipped with chuck claws (43) and (44) for selectively driving the idling sleeve (41) and tapered portion (42) of 0) to the tightening side or loosening side of the shafted grindstone (6). .

When attaching the tool (6) to the tool head (4),
The tool head (4) is fixed to the operating arm of the articulated robot (3) based on commands from a computer (not shown).
) is placed on the support frame (37), and the tool to be used, for example, a grindstone with a shaft (6) having predetermined dimensional characteristics.
The shaft (6a) of the whetstone (6) is placed in the chuck claw (not shown) of the automatic chuck mechanism (40).
After inserting the tool head, while maintaining the chuck claw in a relaxed state, insert the tool head into the double-acting cylinder device (38),
(39), the idle sleeve (41) and the tapered part (42) are selectively engaged with the chuck claws (43) and (44), and in this state, the automatic chuck mechanism (40) is operated back and forth. Or use the rotational motion to grind a grindstone with a shaft (6).
is firmly fixed to the tool head, that is, the briding head (4).

In this state, the articulated robot (3) moves toward the workpiece based on the workpiece machining command sent from the computer, starts the motor built in the tool head (4), and finishes the workpiece into a free-form surface. The used grindstone (6) with a shaft to be polished is returned to the double-acting cylinder device (38), (39) in the reverse order of operation to the above-mentioned order, and the sleeve (41) and the taper part (42) The fixation of the shaft (6a) by the automatic chuck mechanism (40) is released by selective engagement with the chuck claws (43) and (44), and after that, the shaft (6a) is released on the support frame (37). 6a) is taken out from the automatic chuck mechanism (40) and stored in a predetermined position on the support frame (37).

The embodiments of the present invention have been exemplified above based on a mold polishing robot device comprising a shafted grindstone and briding head exchange device and an articulated robot having six degrees of freedom. The scope of the rights to the invention should not be construed as being limited by such illustrative description.

For example, using a robot device consisting of an articulated robot having 4 to 5 degrees of freedom and a tool head incorporating a drill and its drive motor, the It is also possible to carry out automatic drilling operations while controlling the axial direction of the drill.

Furthermore, the self-propelled system of the main body of the working robot that is integrated with the tool head exchange station and the tool exchange station is not limited to the description of the above embodiments;
It is possible to arbitrarily select a method such as a wireless guidance method, an infrared guidance method, or a method using an unmanned cart having a self-driving route determination function.

As can be understood from the above description, by using the device of the present invention, selected tool heads and tools can be automatically supplied to a mobile articulated robot.

Furthermore, since the apparatus of the present invention has a simple overall structure, failures occur less frequently, and operating conditions with high productivity and precision can be maintained for a long period of time. Therefore, the present invention exhibits remarkable effects in reducing workpiece processing costs and saving labor in, for example, grinding and polishing finishing of press molds and injection molds having complex free-form surfaces. can do.

[Brief explanation of the drawing]

Figure 1 shows an articulated robot (3) and a tool head (4).
FIG. 2 is a front view illustrating the overall structure of an apparatus of the present invention in which an exchange station run (5) and an exchange station (7) for tools (6) are mounted on a common movable frame (2). FIG. 2 is a partially enlarged front view of the tool head (4), for example, the exchange station (5) of the grinding head (4), and FIGS. 3 to 6 show the exchange station (5) and the articulated robot. FIG. 3 is a partial cross-sectional view of each component to explain the state in which it cooperates with the actuating arm in (3). Figure 7 shows the tool (6) replacement station run (
FIG. 7) is a plan view illustrating the overall structure of FIG. (3) - articulated robot, (4) - tool head,
(5)-・Tool head exchange station, (6)・
- Tool, (7) - Tool exchange stage tongue. Figure 2

Claims (1)

[Claims] (1) A work robot device characterized in that a tool head exchange station and a tool exchange station are integrally connected to a self-propelled articulated robot placed at a work station.