JPS62140792A - Industrial robot device - 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] [Industrial Application Field] The present invention relates to an industrial robot equipped with a rotary tool at the tip of an arm for machining a broken workpiece. Until the bottom of the rotation -
This invention relates to an industrial robot device in which the back gap of the ff11 female gear train, the thrust of the bearing portion, the gap in the radial direction, etc. are maintained in one direction.

[Conventional technology]

In an industrial robot device that processes a workpiece by driving a rotary tool provided at the tip of the arm, the robot arm is raised, lowered, and rotated to determine the position of the rotary tool for cutting, polishing, etc. relative to the workpiece. The operation is performed by operating a large number of drive mechanisms such as gear trains or bearings.

[Problem that the invention seeks to solve]

In the conventional industrial robot body as described above, there is a possibility that the gap between the transmission mechanism within the drive unit that determines the position of the rotary tool at the tip of the arm may significantly affect machining accuracy. For example, in a gear train that forms the rotation mechanism provided on the rotation shaft of a robot arm, the amount of back clearance (puncture) between the gears at the tip of the arm may be several times larger or smaller than 1.ll at the tip of the arm. The above magnified displacement may cause machining or robot operation 1/[Depending on the circumstances, this displacement may result in a direct machining error, or may damage the workpiece, the arm tip, or the robot device. There were some problems.

This invention was made to solve the above-mentioned problems, and even if there is a gap between the mechanical elements that constitute the rotating part and the lifting part for moving the position of the rotary tool at the end of the arm, The purpose of this invention is to obtain an industrial robot device that performs processing with high precision and is free from the risk of damaging the robot device.

[Means for solving problems]

The industrial robot tube assembly according to the present invention includes a constant tension balancer installed at a fixed point remote from the robot device, and a wire rope wrapped around the balancer and stretched around the tip of the robot arm. It is designed to apply a constant tensile force to the

[Operation] In this invention, τ always applies a constant tensile force to the tip of the 0-bond arm, so the gap between gear trains and bearings that make up the rotating section or lifting section of the robot arm is always kept in one direction. Therefore, when the robot arm rotates or changes direction when moving up and down, the above-mentioned gap causes positional fluctuations of the rotary tool provided at the end of the arm 'I'C, or shocks to the rotary tool, the robot arm, and the robot body are prevented. Prevent occurrence.

[Embodiments of the invention]

1 and 2 are diagrams showing the configuration of a robot device according to an embodiment of the present invention, respectively. FIG. 1 is a front view when a vertical tensile force is applied to the tip of the robot arm, and FIG. is a top view when a horizontal tensile force is applied to the tip of the robot arm.

In Figure 1, (1) is the robot body, (2) is the lifting axis, (3) is the robot arm, (4) is the drive device that rotates the stiff robot arm (3), and (5) is the rotary tool. , (6) is the drive machine of this rotary tool, (7) is the workpiece,
(8) is the work table, (9) is the balancer with constant tension characteristics, αq is the ceiling, αυ is the wire rope hanging the rebalancer (9) from the ceiling αQ, (2
) is a rose.

The wire rope is wound around the robot arm (9) and stretched over the tip of the robot arm (3).

In Figure 2, (11, (3), (4), (s)
-(9) and (6) are completely the same parts as the same reference numerals in FIG. 1, and (g) is a wire rope connecting the wall @ and the balancer (9).

In the industrial robot device configured as above,
In the case of Figure 1, the balancer (
9) and the tip of the robot arm (3), a constant tensile force is always applied upwards around the lifting axis (2). 2
) and the vertical gap in the transmission mechanism that constitutes the drive machine of the robot arm (3) ff: Swivel drive machine (
The clearance in the thrust direction in the bearing part of 3) and the clearance in the thrust direction in the bearing part of the drive machine (6) that drives the rotary tool (5) are all kept in one direction.
) surface, the vertical position of the rotating tool (5) always maintains a predetermined value even if there are fluctuations in machining pressure, such as cutting pressure due to millimeter 7g cutters, so machining can be performed while maintaining the vertical dimension with high precision. You can do it.

In addition, in the case of Fig. 2, a constant pulling force is always applied clockwise around the drive machine (4) to rotate the robot arm (3). Back gap of engagement in rows (bank rush)
horizontal direction (X-X and Y-
The position of the rotary tool (5) in the X-X direction is not affected by fluctuations in machining pressure, and even if the machining feed direction in the Y-Y direction in the figure is changed, the position of the rotary tool (5) in the X-X direction is The position of does not change.

In addition, in the above embodiment, a case was explained in which a pulling force is applied to the tip of the robot arm (3) in either the vertical or horizontal direction, but as shown in FIG.
-Y), with respect to the vertical direction (Z-Z), the rotary tool (5
) in the direction that applies the tensile force that matches the machining φ condition
, β are selected, the balancer (9) is hooked from the fixed point 05, and the wire rope (6) is stretched over the tip of the robot arm (3). Then, the tensile force of the balancer (9) becomes α, β.
Since the gap between the gear train and the bearing in the robot device is maintained in one direction according to the component force determined by , the same effect as in the above embodiment is achieved.

〔Effect of the invention〕

As explained above, this invention is configured so that a constant tensile force is always applied to the tip of the robot arm to maintain the gap in one direction in mechanical elements such as gear trains and bearings in the robot device. It is possible to perform high-precision machining without fluctuations in the position of the rotary tool due to the shadow of the gap on the machine elements mentioned above when changing the machining pressure and switching the machining feed direction, and to reduce the gap when changing the machining feed direction. This has the advantage of producing an industrial robot device that does not cause S-stroke.

[Brief explanation of drawings]

1 and 2 are block diagrams showing an embodiment of an industrial robot apparatus according to the present invention, and FIG. 6 is a block diagram showing an industrial robot apparatus according to another embodiment of the present invention. In the figure, (1) is the robot body, (2) is the lifting axis,
(3) is a robot arm, (4) is a drive machine, (5) is a rotary tool, (7) is a workpiece, (9) is a balancer, □□□
is wire rope. Note that the same reference numerals in the figures indicate the same parts. Agent Patent Attorney Tadashi Sato Year 1 Figure 1: Rohoninto book 2: + Ship S: Rotary tool 7: Saihiro Karoe Item 9: Balancer 12, wire loaf. Figure 2××

Claims (1)

[Claims] In an industrial robot device in which a rotary tool is installed at the tip of a robot arm and a workpiece is machined by robot operation, there is a constant tension balancer connected to a predetermined fixed point, and the robot arm that is wound around the balancer. An industrial robot comprising a wire rope suspended at the tip thereof, and a gap in a transmission mechanism in a robot arm rotation part and a lifting part is always maintained in a fixed direction by the tensile force of the balancer. Device.