WO2013057788A1

WO2013057788A1 - Work unit and work unit manufacturing method

Info

Publication number: WO2013057788A1
Application number: PCT/JP2011/073914
Authority: WO
Inventors: 大介入間; 邦行清水
Original assignee: 株式会社安川電機
Priority date: 2011-10-18
Filing date: 2011-10-18
Publication date: 2013-04-25
Also published as: CN103889665A

Abstract

This work unit (100) is provided with: a positioner (10) that positions a workpiece (W); an end effector (22) that performs work on the workpiece (W); a robot (20) on which the end effector (22) is installed; and an enclosure (30) having side surfaces (32) and a floor surface (34). The floor surface (34) has a support area (34a) on which the positioner (10) is installed and an open area (34b) that is located in the range of motion of at least either the positioner (10) or the workpiece (W).

Description

Work unit and work unit manufacturing method

The present invention relates to a work unit and a work unit manufacturing method.

Industrial robots have been introduced to production sites for various purposes, such as to stably produce high-quality products, or to free humans from work involving fatigue. A typical industrial robot repeatedly operates according to preset teaching contents (see, for example, Patent Document 1).

Patent Document 1 discloses an arc welding robot system including an arc welding robot and a positioner. In the arc welding robot system of Patent Literature 1, appropriate welding is performed by controlling the positioner and the arc welding robot so that the arc welding robot is in a predetermined position and posture with respect to the workpiece positioned by the positioner. .

JP 2006-341283 A

However, the arc welding robot system (work unit) of Patent Document 1 may be relatively large. In this case, the installation volume for performing work becomes relatively large, and the work place cannot be effectively used. Also, if the work unit is relatively large, the cost for transporting the work unit may increase.

One aspect of the present embodiment has been made in view of the above-described problems, and an object thereof is to provide a work unit that can be reduced in size and a method for manufacturing the work unit.

A work unit according to an aspect of the present embodiment includes a positioner that positions a work, an end effector that performs work on the work, a robot to which the end effector is attached, and an enclosure having a side surface and a floor surface. The floor surface has a support area to which the positioner is attached and an open area located in at least one of the movable areas of the positioner and the workpiece.

A work unit manufacturing method according to an aspect of the present embodiment includes a step of attaching a robot to a positioner, and a step of installing the positioner and the robot in an enclosure having a side surface and a floor surface. In the step of installing the robot, the floor surface has a support area to which the positioner is attached and an open area located in a movable range of at least one of the positioner and the workpiece.

The work unit manufacturing method according to one aspect of the present embodiment includes a step of attaching a robot to a positioner and a step of transporting the positioner and the robot after attaching the robot to the positioner.

According to one aspect of the present embodiment, it is possible to provide a work unit that can be reduced in size and a method for manufacturing the work unit.

It is a schematic diagram of the work unit of this embodiment. It is a schematic diagram of the positioner in the work unit of this embodiment. It is a schematic diagram of the work unit of this embodiment. It is a schematic diagram of the work unit of this embodiment. It is a flowchart for demonstrating the working unit production method of this embodiment. It is a flowchart for demonstrating the working unit production method of this embodiment. It is a flowchart for demonstrating the working unit production method of this embodiment.

Hereinafter, embodiments of a work unit and a work unit manufacturing method disclosed in the present application will be described with reference to the drawings. However, embodiments of the present invention are not limited to the following embodiments.

FIG. 1 shows a schematic diagram of a work unit 100 of the present embodiment. The work unit 100 performs work on the workpiece W. The work unit 100 includes a positioner 10, a robot 20, and an enclosure 30.

The workpiece W is attached to the positioner 10, and the positioner 10 positions the workpiece W. For example, the positioner 10 changes at least one of the position and posture of the workpiece W. The positioner 10 is preferably configured to rotate the workpiece W with respect to each of a plurality of axes. For example, the positioner 10 may be a biaxial positioner. Alternatively, the positioner 10 may be a 3-axis or 4-axis positioner.

The end effector 22 that performs work on the workpiece W is attached to the robot 20. For example, the robot 20 includes an end effector 22 and a robot arm 24 to which the end effector 22 is attached. The positioner 10 controls the position and orientation of the workpiece W and the robot arm 24 controls the position and orientation of the end effector 22 so that the end effector 22 can perform work at an appropriate angle (direction) with respect to the workpiece W. Control.

For example, the robot arm 24 is preferably an articulated type including a plurality of actuators. In this case, the robot arm 24 is composed of a plurality of arms, and each actuator has a servo motor. The position and posture of the end effector 22 are controlled by driving each actuator of the robot arm 24. The end effector 22 is typically attached to the tip of the robot arm 24.

Here, the end effector 22 is a welding torch. As an example, the welding torch is used for arc welding or spot welding. Alternatively, the welding torch may be used for laser welding, plasma welding, or the like. Typically, the welding torch 22 performs welding along the weld line of the workpiece W.

Note that the end effector 22 may apply a sealing material to the workpiece W. Alternatively, the end effector 22 may perform other processing such as deburring and drilling of the workpiece W.

The enclosure 30 has a side surface 32 and a floor surface 34. Here, a part of the side surface 32 is open, and the operator can enter the enclosure 30 from that part. The side surface 32 of the enclosure 30 may be removable from the floor surface 34.

The floor surface 34 has a support region 34a to which the positioner 10 is attached and an open region 34b located in at least one movable region of the positioner 10 and the workpiece W. Here, when the floor surface 34 is viewed from the normal direction, the open area 34b of the floor surface 34 is rectangular, and the boundary between the support area 34a and the open area 34b is defined by three sides.

In the work unit 100 of the present embodiment, the floor surface 34 of the enclosure 30 is provided with not only a support region 34a that supports the positioner 10 but also an open region 34b that is positioned in at least one movable region of the positioner 10 and the workpiece W. ing. For this reason, the open area 34b can be used as a movable range of at least one of the positioner 10 and the workpiece W. Therefore, the lowermost position of at least one of the movable portions of the positioner 10 and the workpiece W can be made lower than the upper surface of the support region 34a, thereby reducing the length of the positioner 10 and the work unit 100 in the height direction (vertical direction). can do.

Note that the turning radius of the positioner 10 around the horizontal plane is determined by the positioner 10 itself, but the turning radius of the workpiece W to which the positioner 10 is attached varies depending on the workpiece attached to the positioner 10. In the work unit 100 of the present embodiment, since the open area 34b is provided, it is possible to work on a relatively large work W. For example, by providing the open area 34b on the floor surface 34, the turning radius of the workpiece W attached to the positioner 10 can be increased by about 200 mm corresponding to the thickness of the support area 34a.

Also, typically, when the end effector 22 performs work on the work W, the end effector 22 works on the work W above the open area 34b of the floor surface 34. Further, when the end effector 22 performs work on the work W, work waste may occur. In the work unit 100 of the present embodiment, since the open area 34b is provided, it is possible to easily clean the work waste generated during the work. In particular, when the end effector 22 is a welding torch, work debris is easily generated, and the effect of facilitating cleaning by the open region 34b is high.

Here, the robot 20 is attached to the positioner 10, and the positioner 10 is used as a base for the robot 20. As described above, since the positioner 10 and the robot 20 are integrally formed, the floor area of the work unit 100 can be reduced and space saving can be realized. Further, since the positioner 10 and the robot 20 are integrally formed, the positioner 10 and the robot 20 do not have to be re-aligned when the location of the work unit 100 is changed and reproduced. The work place can be easily changed and reproduced.

Note that a 7-axis robot arm is preferably used as the robot arm 24. In the work unit 100 of the present embodiment, the robot 20 is mounted above the positioner 10 and the distance between the positioner 10 and the robot 20 is relatively short, but the robot arm 24 is a 7-axis robot arm. In addition to increasing the freedom of the position and orientation of the end effector 22, various working postures can be realized, and the length of the working unit 100 in the front-rear direction and the left-right direction can be reduced to save space.

Further, in the work unit 100 of the present embodiment, a shutter 42 is installed in the enclosure 30. The shutter 42 operates so that an open portion of the side surface 32 can be opened and closed. Thereby, it is possible to prevent an operator from inadvertently entering the enclosure 30 during the operation of the robot 20. For example, the shutter 42 is a roll-up shutter.

In addition, it is preferable to install the sensor 44 on the side surface of the support region 34 a on the floor surface 34 of the enclosure 30. By installing the sensor 44 in this way, it is possible to appropriately monitor the operator's entry. A line sensor may be used as the sensor 44. Alternatively, an area sensor may be used as the sensor 44.

In addition, it is preferable that the activation box 50 is disposed outside the side surface 32 of the enclosure 30. The work unit 100 is activated by the activation box 50. When the work unit 100 is activated, the shutter 42 is lowered and the operation of the robot 20 is started. However, when the sensor 44 detects any object, the shutter 42 does not go down and the operation of the robot 20 does not start.

FIG. 2 shows a schematic diagram of the positioner 10 in the work unit 100 of the present embodiment. In FIG. 2, a biaxial positioner 10 is shown as an example of the positioner 10.

The positioner 10 has a holding surface 12 to which the workpiece W is attached. The workpiece W shown in FIG. 1 is held on the holding surface 12 by a holding member (jig) (not shown). The holding surface 12 may be replaceable depending on the workpiece W. Further, the positioner 10 has a rotating shaft 14a for tilting the holding surface 12 to which the work W is attached by a motor (not shown), and a rotating shaft 14b for rotating the holding surface 12 to which the work W is attached by a motor (not shown). ing.

FIG. 3 shows a schematic diagram of the work unit 100 of the present embodiment. As the rotating shaft 14a shown in FIG. 2 rotates, the workpiece W attached to the positioner 10 tilts, and the position and orientation of the workpiece W can be changed.

Note that, as described above, it is preferable to perform welding using the work unit 100 of the present embodiment. For example, the welding is performed along a weld line that is a line to be welded (line to be welded).

The work unit 100 of this embodiment is preferably used for performing automatic arc welding or semi-automatic arc welding. When performing automatic arc welding or semi-automatic arc welding, it is preferable that the line actually welded with respect to the weld line does not deviate by more than about half the wire diameter.

In the same work unit 100, a different work may be performed on the work W by exchanging at least one of the work W, the positioner 10, and the end effector 22.

Moreover, it is preferable that the enclosure 30 is configured to be movable. For example, it is preferable to attach the vehicle to corners (typically, four corners) on the back surface of the support region 34a of the floor surface 34. As a result, the work unit 100 can be moved easily.

Here, an example of the work unit 100 of the present embodiment will be described with reference to FIG. In the work unit 100 shown in FIG. 4, the work unit 100 is moved (for example, change of the arrangement of the work unit 100 in the factory) by providing a wheel 36 on the back surface of the support region 34 a on the floor surface 34 of the enclosure 30. It can be done easily.

Further, by attaching a wheel 36 to the back surface of the support area 34a of the floor surface 34 of the enclosure 30, the height of the floor surface 34 of the enclosure 30 relative to the floor supporting the work unit 100 (between this floor and the floor surface 34). The distance) becomes larger, and thus the turning radius of the work W attached to the positioner 10 can be further increased. Here, nothing is provided on the upper surface of the enclosure 30, but a duct may be provided on the upper surface of the enclosure 30 to collect dust. Alternatively, the upper surface itself of the enclosure 30 may be omitted.

In the work unit 100 shown in FIG. 4, the robot controller 40 is arranged in the enclosure 30. Although not shown here, a welding power source may be arranged in the enclosure 30.

The robot controller 40 has, for example, a storage device that stores teaching data and a processor that sends commands to the robot 20. Teaching can be performed using the robot controller 40 by storing the positions of the end effector 22 and the robot arm 24 during each operation. Note that the robot controller 40 may control not only the robot 20 but also the positioner 10.

For example, in teaching, a certain position in the space of the positioner 10 and the robot 20 and another position are stored, and a locus between these points is corrected by calibration. Typically, calibration of the positioner 10 and the robot 20 is performed using an encoder.

In the above description, the robot 20 is attached to the positioner 10, but the present embodiment is not limited to this. The robot 20 may be disposed at a location different from the positioner 10 in the support area 34 a of the floor surface 34. However, as described above, the robot 20 is preferably attached to the positioner 10.

Such a work unit 100 can be manufactured as follows. Here, the working unit manufacturing method of the present embodiment will be described with reference to FIG.

First, the robot 20 is attached to the positioner 10 in S502. For example, the robot 20 is attached above the positioner 10.

Next, in step S504, the positioner 10 and the robot 20 are installed in the enclosure 30. The work unit 100 is manufactured as described above.

In the work unit 100 manufactured as described above, the robot 20 is attached to the positioner 10, and thus the space for the work unit 100 can be saved.

In addition, the positioner 10 and the robot 20 may be installed in the enclosure 30 before the positioner 10 and the robot 20 are transported to a predetermined place, or after the positioner 10 and the robot 20 are transported. Good.

Here, with reference to FIG. 6, another working unit manufacturing method of the present embodiment will be described. First, in S <b> 602, the robot 20 is attached to the positioner 10.

Next, in S602a, the positioner 10 and the robot 20 are transported. Here, since the robot 20 is attached to the positioner 10 as described above, the positioner 10 and the robot 20 are transported without changing the relative position of each other.

Next, in step S <b> 604, the positioner 10 and the robot 20 are installed in the enclosure 30. The work unit 100 is manufactured as described above. As described above, since the relatively small positioner 10 can be used by the open region 34b of the floor surface 34, the conveyance can be easily performed.

In addition to S602a or instead of S602a, the work system 100 may be transported in S604a after the positioner 10 and the robot 20 are installed in the enclosure 30 in S604. Here, as described above, since the robot 20 is attached to the positioner 10, the positioner 10 and the robot 20 are transported without changing their relative positions.

Thus, it is preferable to attach the robot 20 to the positioner 10 before transporting the positioner 10 and the robot 20. For example, the positioner 10 and the robot 20 may be mounted on a container or the like and transported by a large vehicle such as a truck in order to ship from a factory to a customer. Alternatively, the positioner 10 and the robot 20 may be transported from one place to another in the factory.

In this case, since the robot 20 is attached to the positioner 10 before conveyance (for example, before shipping from the factory to the customer), the positioner 10 and the robot 20 can be reliably aligned. In addition, since the robot 20 is attached to the positioner 10 before the conveyance, the positioning of the positioner 10 and the robot 20 can be omitted when the positioner 10 and the robot 20 are installed. It can be done in a short time. In addition, when the work unit 100 is manufactured in large quantities and used in different places, the positioner 10 and the robot 20 can be attached before carrying, so that the cost for attachment can be reduced. .

Further, as described above, it is preferable that the positioner 10 and the robot 20 are taught before actual work is performed. In this case, teaching of the positioner 10 and the robot 20 may be performed before conveyance.

Here, another working unit manufacturing method of the present embodiment will be described with reference to FIG. First, in S <b> 702, the robot 20 is attached to the positioner 10.

Next, in step S <b> 702 ′, the positioner 10 and the robot 20 are taught after the robot 20 is attached to the positioner 10 and before the positioner 10 and the robot 20 are transported. Teaching is performed using, for example, the robot controller 40. Note that it is preferable to perform calibration of the positioner 10 and the robot 20 after teaching.

Thereafter, the positioner 10 and the robot 20 are transported in S702a, and the positioner 10 and the robot 20 are installed in S704. The work unit 100 is manufactured as described above. In this embodiment, since teaching of the positioner 10 and the robot 20 is performed before the conveyance, at least a part of teaching to the positioner 10 and the robot 20 can be omitted during the installation after the conveyance. The installation time can be shortened.

Also in this case, in addition to S702a or instead of S702a, the positioner 10 and the robot 20 may be installed in the enclosure 30 in S704, and then the work system 100 may be transported in S704a.

In the work unit 100 manufactured in the method for manufacturing the work unit of the present embodiment described above with reference to FIGS. 5 to 7, an enclosure 30 is provided around the positioner 10 and the robot 20 that are integrally attached. However, the present embodiment is not limited to this. The enclosure 30 around the positioner 10 and the robot 20 may be omitted. Also in this case, after the robot 20 is attached to the positioner 10, the positioner 10 and the robot 20 can be transported with the robot 20 attached to the positioner 10 in the same manner as S602a in FIG. 6 or S702a in FIG. preferable.

In the work unit 100 described above, when the floor surface 34 is viewed from the normal direction, the open area 34b is rectangular, and the boundary between the support area 34a and the open area 34b is defined by three sides. The embodiment is not limited to this. The boundary between the support region 34a and the open region 34b may be defined by three or more sides or an arbitrary curve. Alternatively, the open region 34b may be formed surrounded by the support region 34a so that the boundary between the support region 34a and the open region 34b is closed. For example, the open region 34b may be formed so as to be defined by an opening shape.

DESCRIPTION OF SYMBOLS 10 Positioner 20 Robot 22 End effector 24 Robot arm 30 Enclosure 32 Side surface 34 Floor surface

34a Support area

34b Open area 100 Work unit

Claims

A positioner for positioning the workpiece;
An end effector that performs work on the workpiece; and a robot to which the end effector is attached;
A work unit comprising an enclosure having side and floor surfaces,
The floor has a support area to which the positioner is attached and an open area located in a movable range of at least one of the positioner and the workpiece.
The work unit according to claim 1, wherein the robot is attached to the positioner.
The work unit according to claim 1 or 2, wherein the enclosure is configured to be movable.
The work unit according to any one of claims 1 to 3, wherein the robot arm includes a seven-axis articulated robot arm.
The work unit according to any one of claims 1 to 4, further comprising a sensor disposed on a side portion of the support area of the floor surface.
The work unit according to any one of claims 1 to 5, wherein the end effector includes a welding torch.
Attaching the robot to the positioner;
Installing the positioner and the robot in an enclosure having side and floor surfaces;
In the step of installing the positioner and the robot, the floor surface has a support region to which the positioner is attached and an open region located in a movable region of at least one of the positioner and the workpiece. Unit production method.
The work unit manufacturing method according to claim 7, further comprising teaching the positioner and the robot after attaching the robot to the positioner and before transporting the positioner and the robot.
The step of installing the positioner and the robot includes a step of installing the positioner and the robot on the support area of the floor surface after transporting the positioner and the robot. The working unit production method.