JPS6135420Y2 - - Google Patents

Description

[Detailed description of the invention] Technical field of the invention The invention is a double-arm handling robot, in particular, a double arm that is linked to a machine tool and quickly attaches and detaches a workpiece.
The invention further relates to a double-arm handling robot capable of processing a plurality of workpieces.

Technical background of the invention Conventional robots that are linked to machine tools and used for supplying materials have a mechanical hand that rotates to change the workpiece and grips it both upward and downward.
Installation and removal work was performed using one arm.

Problems with the Background Art The conventional method described above is simple and effective when machining with lathes, but when changing workpieces in a milling machine or machining center, etc., multiple workpieces are mounted on the machine table. By necessity, a single arm was slow, making this type of work inefficient.

Purpose of the invention The present invention was made with the aim of solving the above problems, and the object is to provide a handling robot that can exchange multiple workpieces in a short time and enable effective machining. It is an object.

Summary of the invention This invention has a main body frame on the front of the machine tool that can move forward and backward via rails, and a pair of arms each having joints and capable of two-stage movement are attached to the main body frame. The arms are bent by motors attached to their respective joints, and mechanical hands are actuated by motors attached to the tips of each arm.The vertical movement of each arm is controlled by motors attached to the main body frame. The system is designed to perform nine-axis control over the entire operation.

Embodiment of the invention An embodiment of the invention will be described below with reference to the drawings.

FIG. 1 is a configuration diagram of an embodiment of a handling robot according to the present invention, in which FIG. 1A is a partially cut-away plan view, and FIG. 1B is a partially cut-away side view.

In the figure, 1 and 2 are two arms, and DC motors 3c and 4c are located at the joints in the middle.
It is divided into two portions 1a, 1b and 2a, 2b via the. Further, curvatures facing inward are provided between the attachment starting point and the tip of each of these arms, and the curvatures of each arm form a shape that surrounds each other. The divided arms 1a and 2a are directly driven by the DC motors 3c and 4c. Furthermore, pulse motors 3d and 4d are attached to the tips of the arms 1a and 2a, and mechanical hands 5 and 6 are further linked to control the direction of the workpiece. The arms 1b and 2b are connected to a vertical block 11 attached to the main body frame 12 , and are attached to the vertical block 11.
The timing belt 3 is driven by the DC motors 3b and 4b.
The shafts 3e and 4e of the arms 1b and 2b, which are decelerated via the shafts 3e and 4g, are driven. body frame
The left and right blocks 11 provided at 12 are moved up and down by DC motors 3a and 4a. Further, this vertical block 11 is supported by linear motion bearings 7, 8, 9, and 10, and is incorporated into the main body frame 12 . Reference numeral 13 denotes a control CRT, which is attached to the main body frame 12 . 4
f is a belt cover, 4h is an encoder, and 6a is a finger portion of the mechanical hand 6.

On the other hand, the main body frame 12 is mounted on a rail frame 16 that can slide back and forth, and the rail 1
8. Constructed to be freely movable using linear motion bearings 19 and the like. The rotation of the DC motor 14 is controlled by the ball screw 1 via the timing belt 15.
7 and causes the main body frame 12 to move back and forth. 16a is a bearing for a ball screw, and 12a is a base for the main body frame 12 .

Next, the operation of the present invention will be explained with reference to FIG.
FIG. 2a is an explanatory diagram showing the working area of the pair of arms according to the present invention, and FIG. 2b is an explanatory diagram showing the vertical movement of the pair of arms according to the present invention.

Note that the overall operating mechanism is omitted because it is simply sequence control, and only the working area for the double arm will be explained.

The arm 1 is composed of two parts 1a and 1b, and above all, the arm 1b rotates on a dashed line with a radius R _B , moves backward by C°, and turns D° toward the center. 1a turns with radius R _A. Therefore, the arm 1 can also perform a large pivoting movement with a maximum radius R _A +R _B .

Although the above explanation has been made regarding one arm 1 , the operation is similar for the other arm 2 as well. Figure b shows the vertical movement range E of the arms 1 and 2 , which is achieved by the movement of the vertical block 11. In the figure, 5 and 6 are mechanical hand parts, 12
As mentioned above, is the main body frame. Further, points F and G indicate the loader point and unloader point of the workpiece.

It goes without saying that by enlarging the turning angle D° shown in FIG.

Effects of the invention As explained above, according to the invention, two arms, each divided into two parts, are mounted on the main body, which can move forward and backward, and the mechanical hand attached to the tip of the arm is driven by a pulse motor. At the same time, the left and right arms, which are divided into two, are driven separately.
It is driven by a DC motor and can also be moved vertically by a separate DC motor, so the
Not only can workpieces be automatically fed quickly to a milling machine or machining center, but software limits can be set using a computer for the drive by the DC servo motor and the operation of the left and right arms, greatly simplifying the machining process and procedures. Efficiency can be greatly improved. In addition, since the two-divided arm has a curvature and is rotatable via the joint, each arm moves with a different radius of rotation, resulting in a complex trajectory other than a simple circular motion. It is possible to draw a trajectory of movement and expand the work area.

[Brief explanation of the drawing]

FIG. 1 is a configuration diagram of an embodiment of a handling robot according to the present invention, in which FIG. 1A is a partially cutaway plan view, FIG. 1B is a partially cutaway side view, Figure 2 is an explanatory diagram of the operation, Figure a is an explanatory diagram showing the working area of a pair of arms, Figure b
FIG. 2 is an explanatory diagram showing the vertical movement of a pair of arms. 1 , 2 ...Arm, 1a, 2a, 1b, 2b...
...Divided arm, 5, 6... Mechanical hand, 11... Upper and lower block, 12 ... Body frame, 16... Rail frame, 16a... Bearing, 17... Ball screw, 18... Rail, 19
...Bearing bearing.

Claims (1)

[Scope of utility model registration request] A handling robot having a frame provided on a base so as to be freely advanced and retracted, a pair of supports provided on the frame so as to be movable up and down, and an arm rotatably supported at one end on each support, Each of the pair of arms has an inward curvature between the mounting point and the tip, and is attached in a shape that surrounds each other, and each arm is divided into two parts, and a motor is provided at each division position to connect the joint part. and each of the divided arms is operated with a different radius of rotation by a motor provided at the joint and a motor provided at the base of each support.
A handling robot characterized in that it has a movable shaft structure, is equipped with a mechanical hand at the end of each arm, is driven by a pulse motor, and has the series of operations described above as a program processing operation.