JPS6135419Y2 - - Google Patents

Description

[Detailed description of the invention] Industrial application field The present invention is a tip that improves the accuracy of tip alignment during load transfer by separately controlling vertical load support and alignment during horizontal movement. Regarding control robots.

Conventional Technology and Problems to be Solved Conventionally, robots for transporting loads such as cargo, workpieces, tools, etc. to predetermined positions generally have a support column 1 that stands upright on a base, as shown in Fig. 3. A driving device 2 for rotating is provided on the upper part, and the device 2 has telescopic and
An actuating arm 3 that moves up and down is attached, and an actuating tip part 4 consisting of a holding part for holding a load and a processing tool for machining a workpiece is provided at the tip of the arm 3. All operations for raising and lowering the section 4 and moving it horizontally are performed by a control device 5 provided on the support column 1 side. However, the weight of the load held by the actuating tip 4 is not always constant, and the changes in weight and moving speed are not always constant, and due to changes in weight and moving speed, the actuating arm 3 has a large amount of inertia. As the deflection occurs, its value changes, and even if the actuating tip 4 is conveyed using the specified position data, the actual load position will deviate from the specified position. Moreover, the rotational driving of the drive device 2 is also a major factor in reducing accuracy because there is a distance from the drive section to the operating tip 4. In other words, in conventional robots, when carrying an object while holding it in the robot's arm, the arm is driven by the base of the arm, making it impossible to accurately control the position due to arm flexure, inertia, rotation mechanism, etc. There are drawbacks. In addition, as the length of the arm from the drive part at the base of the arm to the actuation part at the tip increases, the structure of the arm must be made more solid and the driving force must be increased, which increases mechanical inertia and makes the device larger. There is a drawback that it does. Therefore, when attempting to accurately lift and move a load, as well as placing it in a predetermined position, conventionally, a single robot is used to perform the work, and a computer or the like is used to perform complex correction (correction) calculations. I am trying to give a position command. Therefore, the robot control method becomes complicated and expensive.

Therefore, the present invention improves the accuracy of tip positioning during load transfer by dividing and combining the capabilities and functions of the robot and separately controlling vertical load support and positioning during horizontal movement. The purpose is to provide an advanced control robot that eliminates all drawbacks.

Means for Solving Problems In order to achieve the above object, the present invention is constructed by mechanically linking a gravity control device, which is a gravity control robot, and a position control device, which is a position control robot. The position control device is configured to control the horizontal movement of the working tip of the gravity control device so that the tip can be accurately aligned.

Embodiments The present invention will be described below based on embodiments shown in the drawings. FIG. 1 is a perspective view of the two robots in use, showing a state in which they are combined. In the figure, the present invention shows a gravity control device 10 which is a gravity control robot.
It is configured by combining a position control device 11 which is a position control robot.

The gravity control device 10 is provided with a drive device 2 on the top of a column 1 for rotating and supporting a vertical load to control the position in the vertical direction. is attached to the arm 3, and the arm 3 has a tip portion 4 which operates with a load holding portion 6 provided at the lower end. In the above embodiment, the actuating arm 3 has a parallel sink structure, and the arm 3 has a distal end portion 4 that is rotatable and movable up and down.
A balance spring 7 is attached to the operating arm 3. Moreover, not only a load holding part but also a workpiece processing tool can be attached to the lower end of the tip part 4.

The position control device 11 is composed of a guide device 12 and a drive control device 13. Guide device 12
is the guide rail 14y in the Y-axis direction and the X
It is configured to be combined with an axial guide rail 14x and supported by a support portion 15. The drive control device 13 includes a guide rail 14
The drive carriage 16x is configured to run on the guide rail 14x with a drive carriage 16x mounted thereon, and the drive carriage 16y is run on the guide rail 14y.

Drive truck 16 that constitutes the drive control device 13
A travel drive device that runs along guide rails 14x and 14y is provided inside the drive carriage 16y and the drive carriage 16y, respectively.

A telescopic mechanism 8 that expands and contracts downward is provided at the lower part of the drive cart 16y of the drive control device 13 described above, and the drive control device 13 and the tip portion 4 of the actuating arm 3 are linked via this telescopic mechanism 8. It will be done. However, the drive control device 13 constitutes a linking section with the gravity control device 10.

The guide device 12 of the position control device 11, which is the position control robot described above, is configured as a frame or the like in an arbitrary shape so as to convey a load to a predetermined range corresponding to the target work range of the robot. Ru. In its configuration, gravity is applied to one robot 1.
Since the load is shared by 0, the structure may have enough strength to absorb the drive inertia of the drive truck 16 and the like.

Next, the operation of the robot in the above embodiment will be explained. The vertical movement of the robot arm tip 4 linked to the position control device 11 by the telescoping mechanism 8 is carried out via the drive device 2 based on a command from the control device 5. For movement in the direction, program position data is given to the drive control device 13, and the drive carts 16x, 16
This is done by running the guide rails 14x and 14y on the guide rails 14x and 14y, respectively. That is, when the driving carts 16x, 16y are moved in the illustrated X-Y direction, the tip 4 of the robot arm linked to the driving cart 16y also moves in the same direction. This horizontal movement of the tip 4 is carried out integrally with the drive control device 13 of the position control device 11 by the rotation of the drive device 2 as the gravity control device 10 and the expansion and contraction of the operating arm 3. be. In this state, the actuating part is suspended below the linking part between the tip 4 of the gravity control device 10 and the position control device 11, and the linking part is controlled to move, so that the actuating part is moved in the same direction. This is to accurately control the tip position by following the same distance.

Next, other embodiments will be described. FIG. 2 is a perspective view showing a modification of the position control device. In the figure, the guide device 12 of the position control device 11 is
Drive truck 16 for axial guide rail 14x
x is attached so that it can move laterally in the X-axis direction, and the guide rail 14x is directly fixed and supported on the robot support 1 by a support section 15 consisting of two horizontal bars. ing.

The tip portion 4 of the robot arm has a telescopic mechanism 8.
It moves up and down through the handle, and a gripping tool, processing tool, etc. is attached to the lower end.

Effects of the invention Since the present invention is constructed as described above, the functions of the robot are divided into two in the load conveyance work, and one robot is responsible for the lifting and lowering work, and the other robot is responsible for the horizontal movement work. Let them do it;
By mechanically combining these two robots, the position of the operating tip is controlled, making it possible to accurately transport the load to a predetermined position.

Moreover, by arbitrarily assembling the guide device of the position control device, which is one of the robots, the tip of the robot can have an arbitrary working range with accuracy, and the tip can be expanded and contracted. Since it is linked to the drive control device via the drive control device, it is possible to accurately control the position in the vertical direction.

Furthermore, since the tip portion is located below the drive control device via the expansion and contraction mechanism, there is an effect that the space above the drive control device can be used freely.

[Brief explanation of the drawing]

1 and 2 are perspective views showing an embodiment of the present invention, and FIG. 3 is a perspective view showing an outline of a robot to which the present invention can be applied. 1: Strut, 2: Drive device, 3: Operating arm,
4: Tip part, 5: Control device, 6: Load holding part,
7: Balance spring, 8: Linking section, 10: Gravity control device, 11: Position control device, 12: Guide device, 1
3: Drive control device, 14 (14x, 14y): Guide rail, 15: Support part, 16 (16x, 16
y): Drive truck.

Claims (1)

[Claims for Utility Model Registration] The gravity control device 10 is constructed by linking a gravity control device 10 that controls the position in the vertical direction and a position control device 11 that controls the position in the horizontal direction. The support column 1 is provided with a drive device 2 for swing driving, supporting a vertical load, and controlling the position in the vertical direction.
The position control device 11 is configured by attaching an actuation arm 3 to the horizontal guide rail 1 and providing a distal end portion 4 serving as an actuating portion at the distal end of the arm 3.
4, a guide device 12 consisting of a support section 15, and a drive control device 13 built into the guide device 12, which extends and contracts the tip portion 4 of the gravity control device 10 in the vertical direction to the drive control device 13 of the position control device 11. The gravity control device 10 is configured to be connected via a telescopic mechanism 8 so that the tip portion 4 is positioned below the linking portion so that the linking portion moves horizontally on the horizontal guide rail 14. In addition, the position control device 11 controls the horizontal movement of the distal end portion 4 of the gravity control device 10 by the drive control device 13, which is a linking section, and controls the position in the vertical direction by sharing the gravity for the linking section. A tip control robot characterized in that it controls the horizontal position of a tip portion 4 located below.