WO2015087856A1 - ロボットセル - Google Patents
ロボットセル Download PDFInfo
- Publication number
- WO2015087856A1 WO2015087856A1 PCT/JP2014/082503 JP2014082503W WO2015087856A1 WO 2015087856 A1 WO2015087856 A1 WO 2015087856A1 JP 2014082503 W JP2014082503 W JP 2014082503W WO 2015087856 A1 WO2015087856 A1 WO 2015087856A1
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- WO
- WIPO (PCT)
- Prior art keywords
- workpiece
- robot
- work
- polishing
- cell
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J21/00—Chambers provided with manipulation devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q37/00—Metal-working machines, or constructional combinations thereof, built-up from units designed so that at least some of the units can form parts of different machines or combinations; Units therefor in so far as the feature of interchangeability is important
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/047—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers the gripper supporting the workpiece during machining
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/02—Frames; Beds; Carriages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0018—Bases fixed on ceiling, i.e. upside down manipulators
Definitions
- the present invention relates to a robot cell for machining a workpiece.
- a plurality of arm members are sequentially connected to each other via joints to form a robot arm, and a robot hand is attached to the tip of the robot arm.
- An articulated robot typically a 6-axis articulated robot, has a high degree of freedom in moving a robot hand attached to the tip of a robot arm.
- Patent Documents 1 and 2 Conventional examples of such robot cells are shown in Patent Documents 1 and 2.
- the robot In Patent Documents 1 and 2, the robot is arranged on the floor, and in Patent Document 3, the robot is arranged on the ceiling.
- an object of the present invention is to improve the space efficiency of a robot cell for processing a workpiece held by a robot hand with a processing device.
- the present invention provides a robot cell for processing a workpiece.
- a robot and a processing apparatus for processing the workpiece that is installed inside the cell housing and is held by the robot hand are provided.
- the processing apparatus includes a processing surface on which the workpiece held by the robot hand is pressed and processed by the robot.
- the machining surface is elastically movable with respect to the pressing direction of the workpiece.
- the processing device is elastically movable together with the processing surface with respect to the pressing direction of the workpiece.
- the processing apparatus is a polishing machine
- the processing surface is a polishing surface for polishing the workpiece.
- it further comprises manual adjustment means for manually adjusting the amount of pushing of the workpiece against the machining surface.
- a plurality of the processing devices are installed inside the cell housing, and at least one of the processing devices is installed on a side wall of the robot cell.
- the processing device is a polishing machine including a polishing surface for polishing the workpiece, and the polishing surface extends in a substantially vertical direction.
- space efficiency can be improved in a robot cell for processing a workpiece held by a robot hand with a processing device.
- FIG. 8 The figure which looked at the inside of the robot cell by one Embodiment of this invention from the side.
- the front view of the robot cell shown in FIG. The figure which looked at the inside of the robot cell shown in FIG. 1 from upper direction.
- positioned inside the robot cell shown in FIG. The figure which looked at the inside of the robot cell by other embodiment of this invention from diagonally upward.
- the side view of the robot hand shown in FIG. FIG. 8 is a perspective view showing a part of the robot hand shown in FIG. 7.
- FIG. 10 is a schematic diagram showing a part of the robot hand shown in FIGS. 7 to 9 together with a first drive source, a second drive source, and a vacuum source.
- the side view of the robot hand shown in FIG. FIG. 14 is a schematic diagram showing a part of the robot hand shown in FIGS. 12 and 13 together with a first drive source and a second drive source.
- FIG. 17 and FIG. 18 The schematic diagram which showed a part of robot hand shown in FIG. 17 and FIG. 18 with the 1st drive source and the 2nd drive source.
- FIG. 8 is a schematic side view for explaining a workpiece positioning operation in the robot hand shown in FIG. 7 and showing a forward projecting state.
- FIG. 21 is a schematic plan view corresponding to FIG. 20.
- the typical top view which showed the state which moved the short side side positioning contact piece to the positioning position from the state shown in FIG.
- FIG. 26 is a schematic plan view corresponding to FIG. 25.
- maintained with the robot hand shown in FIG. 7 was grind
- FIG. 29 is a bottom view of the work reversal support device shown in FIG. 28.
- FIG. 28 is a side view for demonstrating operation
- FIG. 29 is a side view for explaining the operation of the work reversal support device shown in FIG. 28, and shows a work clamping state.
- the robot cell according to the present embodiment is used for polishing a workpiece.
- the workpiece to be processed is typically a substantially flat plate-shaped workpiece, or a workpiece having a short side wall rising from (part of) a side edge of the flat plate.
- the material of the workpiece may be a non-magnetic material or a magnetic material, and is typically a non-magnetic metal such as an aluminum alloy or a magnesium alloy.
- the robot cell 1 includes a cell housing 2 that forms a rectangular parallelepiped as a whole, and this cell housing 2 has four side walls 2A and a ceiling disposed at the upper end of the side walls 2A. 2B and a bottom wall 2C arranged at the lower end of the side wall 2A.
- a horizontal work table 3 extending in the horizontal direction is provided at the center in the vertical direction inside the cell housing 1, and a work space 4 is formed above the horizontal work table 3.
- a 6-axis articulated robot 5 is arranged in a ceiling manner.
- the robot 5 includes a base 6 fixed to the ceiling 2B of the cell housing 2, a robot arm 7 having a base end connected to the base 6, and a robot hand 8 attached to the tip of the robot arm 7. Yes.
- a plurality of types of robot hands 8 are prepared in advance for proper use according to the application, and are detachably attached to the tip of the robot arm 7.
- the robot hand 8 that is not being used is placed on the hand table 9 (FIG. 4).
- the tray lifting devices 10A and 10B on the supply side and the payout side and the control device 11 are arranged on the lower side of the horizontal work table 3.
- the control device 11 controls the robot 5, the processing device 12 (FIGS. 3 and 4), the tray lifting and lowering devices 10A and 10B, and the like.
- the supply side tray lifting / lowering device 10A has a supply side lifting / lowering portion 15A that sequentially raises a plurality of trays 14 storing workpieces 13 before processing, and the payout side tray lifting / lowering device 10B includes a plurality of processing workpieces 13 stored. There is a payout side lifting / lowering portion 15B for sequentially lowering the tray 14.
- a plurality of workpieces 13 (eight in FIG. 3) are accommodated in one tray 14, and a plurality of trays 14 are stacked on each of the supply side elevating unit 15A and the payout side elevating unit 15B. Set by.
- a pair of work doors 18A and 18B are provided above the carry-in door 16 and the carry-out door 17 in front of the cell housing 2 so as to be opened during maintenance and allow access to the inside of the robot cell 1.
- An operation panel 19 of the robot cell 1 is provided on one 18A of the pair of work doors 18A and 18B.
- the work space 4 inside the cell housing 2 includes a plurality of processing devices 12 (12 ⁇ / b> A, 12 ⁇ / b> B, 12 ⁇ / b> C) for processing the workpiece 13 held by the robot hand 8. 12D) are installed.
- polishing machines 12A, 12B, and 12C are installed on the horizontal work table 3. All of these three types of polishing machines (processing devices) 12A, 12B, and 12C perform polishing by pressing the workpiece 13 against the traveling polishing belts (processing surfaces) 20A, 20B, and 20C.
- polishing belts (processed surfaces) 20A, 20B, and 20C of the belt type polishing machines 12A, 12B, and 12C are elastically movable in the direction in which the workpiece 13 is pressed.
- an electric router 12D and a polishing brush 12E are installed on the side wall 2A of the cell housing 2.
- the polishing brush 12E is used to polish the workpiece 13 by rubbing the workpiece 13 against the polishing surface (processing surface) 21 thereof.
- the electric router 12 ⁇ / b> D performs polishing on the workpiece 13 by pressing the workpiece 13 against the polishing surface (processing surface) 24 of the rotary polishing member 23 that is rotationally driven by the drive motor 22. .
- a suction duct 25 (FIG. 4) for collecting polishing powder scattered during polishing is provided in the vicinity of the electric router 12D.
- the electric router 12D is provided so as to be movable through an LM guide 26 fixed to the cell housing 2, and in a direction in which the work 13 is pressed by a resilient means 27 such as an air cylinder. It can move in a resilient manner.
- an air blow nozzle 28 for blowing away the abrasive powder adhering to the work 13 at the time of polishing with air is provided on the side wall 2A of the robot cell 2 below the electric router 12D and the polishing brush 12E. ing.
- a work reversal support device 29 for supporting the front and back reversal of the work 13 in the robot hand 8 is installed.
- the work reversal support device 29 will be described in detail later with reference to FIGS.
- the three types of belt type polishing machines 12A, 12B, and 12C, the electric router 12D, the polishing brush 12E, the air blow nozzle 28, and the work reversal support device 29 are all located in a region on the rear side of the work space 4 in the cell housing 2. Has been placed.
- a supply side opening 30A in which the supply side tray 14 is arranged On the front side of the horizontal work table 3, there are formed a supply side opening 30A in which the supply side tray 14 is arranged and a payout side opening 30B in which the payout side tray 14 is arranged.
- the uppermost tray 14 is installed in the work space 4 through the supply-side opening 30A.
- a payout side tray 14 for storing the processed workpiece 13 is disposed in the work space 4 via the payout side opening 30B.
- the pressing amount of the work 13 with respect to the processing surfaces 20A, 20B, 20C, 21 of the processing device 12 by the robot hand 8 is controlled by the control device 11 shown in FIG. Can be adjusted manually.
- the operation panel 19 and the control device 11 function as manual adjustment means in the present invention.
- the robot cell 1 processes the workpiece 13 held by the robot hand 8 with the various processing devices 12 installed in the robot cell 1. For this reason, the robot 5 of the robot cell 1 in the present embodiment is required to have a more complicated movement than when the workpiece is simply transported by the robot.
- various processing apparatuses 12 for processing the workpiece 13 held by the robot hand 8 are installed in the cell casing 2 and the robot 5 is connected to the cell casing 2.
- the space efficiency is greatly improved, and the robot 5 that moves in a complicated manner is prevented from interfering with surrounding devices and structures.
- the processing surfaces (polishing surfaces) 20A, 20B, 20C, and 21 can move elastically in the pressing direction of the workpiece 13. For this reason, when setting the pressing operation of the workpiece 13 by the robot 5, the movement widths of the processing surfaces (polishing surfaces) 20A, 20B, 20C, and 21 can be used as an allowable error in the robot operation.
- the movement width of the processing surfaces (polishing surfaces) 20A, 20B, 20C, and 21 can be used as an allowable error during the robot operation, which is complicated to the robot 5 within the limited work space 4 in the robot cell 1. It is effective in realizing a desired machining operation while making a smooth movement and avoiding interference with surrounding equipment and structures.
- the teaching operation of the robot operation becomes easy. For this reason, even when a plurality of the same robot cells 1 are installed in the factory, the teaching data created off-line can be shared by all the robot cells 1.
- the trial run adjustment of the robot cell 1 is sufficient to perform fine adjustment while confirming the actual operation of the robot 5 at the site, for example, at the shipping site before being carried into the site.
- This fine adjustment can be performed by an on-site worker using the operation panel 19.
- FIG. 6 shows a modification of the robot cell 1 described above, and three types of belt type polishing machines 12A, 12B, and 12C are all installed on the side wall 2A of the cell housing 2.
- the polishing surfaces 20A, 20B, and 20C of the belt type polishing machines 12A, 12B, and 12C extend in a substantially vertical direction (gravity direction).
- the polishing powder generated during the polishing process drops due to gravity.
- the belt type polishing machine By arranging the dust collection duct below 12A, 12B, and 12C, the abrasive powder can be easily and reliably recovered.
- the robot hand 8 As shown in FIGS. 7 to 10, the robot hand 8 according to the present embodiment has a hand base 31 attached to the tip of the robot arm 7, and the hand base 31 has a workpiece 13 being transported and processed. Work holding means 32 for holding is provided.
- the work holding means 32 has four suction portions 33 for holding the work 13 so as to be releasable by being sucked onto the surface of the work 13.
- Each suction portion 33 is configured to be elastically deformable in a direction parallel to the surface of the work 13 in a state where the work 13 is sucked.
- each suction part 33 is configured by a bellows type vacuum suction pad.
- the robot hand 8 further includes a workpiece positioning unit 34 for positioning the workpiece 13 held by the workpiece holding unit 32 at a predetermined position with respect to the workpiece holding unit 32.
- the workpiece positioning means 34 has six positioning abutting members 35 for abutting against the workpiece 13 and positioning the workpiece 13 at a predetermined position.
- the positioning contact member 35 includes three pairs of positioning contact pieces 36A and 36B that sandwich the workpiece 13 from both sides at the positioning position. Of the three pairs of positioning contact pieces 36A and 36B, the two pairs of positioning contact pieces 36A sandwich the long side of the workpiece 13, and the remaining pair of positioning contact pieces 36B is the workpiece. The short side of 13 is clamped.
- the clamping direction of the workpiece 13 by the positioning contact piece 36A on the long side of the workpiece is orthogonal to the clamping direction of the workpiece 13 by the positioning contact piece 36B on the short side of the workpiece.
- the width of the positioning contact piece 36B on the work short side is larger than the width of the positioning contact piece 36A on the work long side.
- the tip of the positioning contact piece 36A on the long side of the workpiece protrudes inward.
- the workpiece positioning means 34 further includes a front projecting position in which the positioning contact pieces 36A and 36B project forward from the workpiece holding surface 37 of the workpiece holding means 32, and a rearward retracted position in which the workpiece abutting pieces 36A and 36B are retracted rearward from the workpiece holding surface 37. It has a front / rear position switching means 38 for switching.
- the front / rear position switching means 38 has a pair of front / rear operation air cylinders 39, and each contact piece support member 40 is provided at the tip of the piston 39 ⁇ / b> A of each front / rear operation air cylinder 39. ing. Each contact piece support member 40 is fixedly provided with a positioning contact piece 36B on the short side.
- Each front / rear operation air cylinder 39 is fixed to each cylinder support member 41, and each cylinder support member 41 is linearly moved by a first LM guide 42 fixed to the hand base 31 portion. Supported as possible.
- Each cylinder support member 41 is linearly driven in the long side extending direction (first inward / outward direction) D1 of the workpiece 13 by the first drive source 43 shown in FIG. Thereby, the position of the pair of positioning contact pieces 36B on the short side is determined from the positioning position when positioning the workpiece 13 at a predetermined position, the outwardly expanded position outside the positioning position, and the positioning position. Is also switched between the inward and backward retracted positions.
- Each second LM guide 44 is provided on the inner surface of each contact piece support member 40, and each positioning contact piece 36A on the work long side is supported by each second LM guide 44 so as to be linearly movable. Has been.
- the linear motion direction by the second LM guide 44 is orthogonal to the linear motion direction by the first LM guide 42.
- Each positioning contact piece 36A on the long side of the work is linearly driven in the short side extending direction (second inward / outward direction) D2 of the work by the second drive source 45 shown in FIG. Accordingly, the position of the pair of positioning contact pieces 36A on the long side is determined from the positioning position when positioning the workpiece 13 at a predetermined position, the outwardly expanded position outside the positioning position, and the positioning position. Is also switched between the inward and backward retracted positions.
- the positioning contact pieces 36A and 36B are positioned at predetermined positions by the first LM guide 42, the first drive source 43, the second LM guide 44, and the second drive source 45 described above.
- the workpiece positioning means 34 is configured to switch between the current positioning position, the outwardly expanded position outside the positioning position, and the inward retracted position inside the positioning position.
- the inward retracted positions of the positioning contact pieces 36A and 36B are held by the work holding means 32 when viewed in the axial direction of the robot arm 7 (direction perpendicular to the work surface) as shown in FIG. It is a position that overlaps the workpiece 13 that has been made.
- the abutting piece support member 40 moves in the front-rear direction (arm axis direction) D3 by the forward and backward movement of the piston 39A of the front-rear operation air cylinder 39 shown in FIG.
- the front protruding position and the rear retracted position of the positioning contact piece 36A on the long side and the positioning contact piece 36B on the short side are switched. Switching between the forward projecting position and the rear facing position will be described later with reference to FIGS.
- Each suction part 33 of the work holding means 32 is evacuated by the vacuum source 46 shown in FIG. 10, thereby sucking and holding the surface of the work 13.
- vacuum breaking air is supplied to each suction part 33, the vacuum state in each suction part 33 is released, and the work 13 is released.
- FIG. 11 shows a state in which a plurality of workpieces 13 (eight in the example of FIG. 11) to be processed in the robot cell 1 are accommodated in the tray 14.
- Each tray 14 is formed with a storage recess 14 ⁇ / b> A for storing each workpiece 13, and the inner periphery of the storage recess 14 ⁇ / b> A is slightly larger than the outer periphery of the workpiece 13. Thereby, a certain amount of gap is formed between the inner periphery of the storage recess 14 ⁇ / b> A and the outer periphery of the work 13.
- the robot cell 1 processes the workpiece 13 held in the robot hand 8 by the processing device 12 installed therein. For this reason, if the workpiece 13 is not accurately positioned at a predetermined position with respect to the workpiece holding means 32 of the robot hand 8, the machining quality of the machining device 12 may vary, or the workpiece 13 may be machined itself. Becomes impossible.
- the distance between the surface of the workpiece 13 and the processing surfaces 20A, 20B, 20C, and 21 of the polishing machines 12A, 12B, and 12C and the electric router 12D affects the processing quality. It is extremely important to accurately position the workpiece 13 at a predetermined position with respect to the holding means 32.
- the workpiece 13 in the storage recess 14A of the tray 14 is once held and taken out by the workpiece holding means 32, and then the workpiece 13 is held by using the workpiece positioning means 34. Is moved to a predetermined position to correct.
- the suction part 33 of the work holding means 32 is brought into contact with the work surface, and the surface of the work 13 is sucked and held by the suction part 33 using the vacuum source 46 shown in FIG. After that, the work 13 is pulled up and taken out from the storage recess 14 ⁇ / b> A of the tray 14.
- the positioning contact pieces 36A and 36B of the workpiece positioning means 34 need to be in the rearward retracted position as shown in FIG. It does not have to be in the retracted position and may be in the outwardly expanded position. In short, it is sufficient that the workpiece positioning means 34 does not interfere with the workpiece 13 or the tray 14 during the workpiece 13 suction operation by the workpiece holding means 32.
- the positioning contact piece 36 ⁇ / b> A on the long side and the positioning contact piece 36 ⁇ / b> B on the short side are moved. Move to the outward expansion position. If the positioning contact pieces 36A and 36B are already in the outward expansion position during the workpiece 13 suction operation, this expansion operation is unnecessary.
- the outwardly expanded positions of the positioning contact pieces 36A and 36B are determined by the work holding means 32 as shown in FIG. 14 when viewed in the axial direction of the robot arm 7 (direction perpendicular to the work surface). This is a position outside the outer periphery of the held work 13.
- the outward expansion position is set in consideration of the size of the gap between the inner periphery of the storage recess 14A of the tray 14 and the outer periphery of the work 13, that is, the positional deviation of the work 13 in the storage recess 14A.
- the long side positioning contact piece 36 ⁇ / b> A and the short side positioning contact piece 36 ⁇ / b> B at the outward expansion position are replaced with the first drive source 43 and the first drive source 43.
- the second drive source 45 is driven and moved to the positioning position.
- the short-side positioning contact piece 36B is used as the first drive source.
- the workpiece 13 is positioned in the workpiece long side extending direction D ⁇ b> 1 in a state where the workpiece 13 is held by the workpiece holding means 32.
- the positioning contact piece 36A on the long side is moved to the positioning position by the second drive means 45 as shown in FIG.
- the workpiece 13 is positioned in the workpiece short-side extending direction D ⁇ b> 2 while being held by the workpiece holding means 32.
- the suction portion 33 of the workpiece holding means 32 has a shape that is deformed and deviated from the normal shape. That is, since the suction portion 33 can be elastically deformed in a direction parallel to the surface of the workpiece 13, when the workpiece 13 is moved by the positioning contact pieces 36A and 36B, as shown in FIG. Deform.
- each suction portion 33 returns to a normal shape, and each suction portion 33 moves to a predetermined position on the surface of the work 13 as shown in FIG. The workpiece 13 is sucked and held at the position.
- the tip of the positioning contact piece 36A on the long side of the workpiece protrudes inward.
- the workpiece 13 can be received by the protruding portion, and the workpiece 13 can be reliably prevented from falling.
- the front / rear operation air cylinder 39 is driven to retract the positioning contact pieces 36A, 36B to the rearward retracted position. Subsequently, the positioning contact pieces 36 ⁇ / b> A and 36 ⁇ / b> B are retracted to the inward retracted position by the first drive source 43 and the second drive source 45.
- FIG. 27 shows a state where the workpiece 13 positioned at a predetermined position by the above operation is held by the workpiece holding means 32 of the robot hand 8 and processed by the processing surfaces (polishing surfaces) 20A, 20B, and 20C of the processing device 12. It shows how to do.
- the positioning contact pieces 36A and 36B are retracted to the inward retracted position, as shown in FIG. 27, when the side peripheral surface of the workpiece 13 is polished, the positioning contact pieces 36A and 36B. Can be prevented from interfering with the processing surfaces (polishing surfaces) 20A, 20B, and 20C of the processing device 12.
- the robot hand 8 since the robot hand 8 itself has a positioning function for the workpiece 13, there is no need to arrange a dedicated device only for positioning the workpiece 13.
- the limited work space 4 in the robot cell 1 can be used effectively.
- the work holding means 32 that sucks and holds the surface of the work 13 is used, and when the work 13 is processed, the positioning contact pieces 36A and 36B are retracted backward. Since it can be retracted to the position and the inward retracted position, for example, polishing of the side peripheral portion of the workpiece 13 can be performed without any trouble.
- the robot hand 8 holds the work 13 by sucking the surface of the work 13 by the suction portions 33 of the work holding means 32, but depending on the type of the work 13 and the processing content, In some cases, the processing device 12 processes the surface of the workpiece 13 facing upward in the stored state. In this case, the work 13 taken out from the tray 14 by the robot hand 8 needs to be turned over by the robot hand 8 after being reversed.
- the workpiece reversal support device 29 is for assisting inversion of the work 13 in the robot hand 8 in such a case, and preferably, the ceiling 12B of the robot cell 1 as shown in FIG. Installed.
- the work reversal support device 29 As shown in FIG. 28 (side view) and FIG. 29 (bottom view), the work reversal support device 29 according to the present embodiment is brought into contact with the opposite side portion of the work 13 held by the robot hand 8 and works.
- a pair of workpiece clamping members 47A and 47B for clamping 13 is provided.
- the pair of workpiece clamping members 47A and 47B includes a fixed workpiece clamping member 47A and a movable workpiece clamping member 47B, and clamps the workpiece 13 so that the workpiece 13 is substantially perpendicular to the ceiling surface of the robot cell 1. .
- a ceiling contact table 48 is provided above the workpiece 13 sandwiched between the fixed workpiece clamping member 47A and the movable workpiece clamping member 47B.
- the workpiece reversing support device 29 further includes a workpiece clamping member driving means 49 as shown in FIG. 30, and the workpiece clamping member driving means 49 includes a piston 50A to which the movable workpiece clamping member 47B is attached.
- a pressure cylinder 50 and a cylinder moving means 51 for moving the fluid pressure cylinder 50 in the advancing / retreating direction of the piston 50A are provided.
- the fluid pressure cylinder 50 is preferably an air cylinder.
- the cylinder moving unit 51 includes a traveling member 52 provided with the fluid pressure cylinder 50 fixed thereto, a traveling member LM guide 53 that supports the traveling member 52 so as to be linearly movable, and a traveling drive source that drives the traveling member 52 to travel. 54.
- the position of the fluid pressure cylinder 50 can be switched between the first position shown in FIG. 31 and the second position shown in FIG. 32 by the cylinder moving means 51.
- the fluid pressure cylinder 50 and the cylinder moving means 51 constitute a holding state switching means 55 for switching the position of the movable work holding member 47B between the position in the holding state of the work 13 and the position in the released state.
- the cylinder pressure means 50 is moved to the first position shown in FIG. As shown in 34, the workpiece 13 held by the workpiece holding means 32 of the robot hand 8 is brought into contact with the fixed-side workpiece clamping member 47 ⁇ / b> A and the ceiling-side contact table 48 by the operation of the robot 5.
- the workpiece 13 held by the workpiece holding means 32 of the robot hand 8 is positioned at a predetermined position with respect to the workpiece holding means 32 by the workpiece positioning means 34 described above. For this reason, the operation of the robot 5 enables the workpiece 13 to be accurately aligned with the fixed-side workpiece clamping member 47A and the ceiling-side contact table 48.
- the fluid pressure cylinder 50 is moved to the second position by the cylinder moving means 51 as shown in FIG. Let Subsequently, the fluid pressure cylinder 50 is driven to advance the movable workpiece clamping member 47B, and the workpiece 13 is clamped and held by the fixed workpiece clamping member 47A and the movable workpiece clamping member 47B as shown in FIG. To do.
- the robot 5 is operated based on the work position information grasped in advance, whereby the robot The workpiece 13 can be held at a predetermined position by the sixth workpiece holding means 32.
- the fluid pressure cylinder 50 and the cylinder moving means 51 are driven to release the workpiece 13 from the fixed-side workpiece clamping member 47A and the movable-side workpiece clamping member 47B, and the robot 5 is operated to move the workpiece reversing support device 29 to the workpiece. 13 is taken out.
- the robot 5 processes the workpiece by the processing device 12 while handling the workpiece 13 three-dimensionally.
- the work reversal support device 29 is configured to sandwich and hold the work 13 by the pair of work sandwiching members 47A and 47B, the installation mode of the work reversal support device 29 (installation location and installation) Freedom of posture).
- the installation location can be the ceiling surface of the robot cell 1, thereby effectively using the limited work space 4 in the robot cell 1. Can be used.
- the pair of workpiece clamping members 47A and 47B of the workpiece reversal support device 29 clamp the workpiece 13 so that the robot 5 is positioned on the clamping direction axis A1 of the workpiece 13 (see FIG. 3).
- the operation of the robot 5 when the robot 5 accesses the workpiece reversing support device 29 can be made symmetrical. This makes it easy to secure an operation space for the robot 5 even in the limited work space 4 in the robot cell 1.
- the operator opens the carry-in door 16 on the front side of the cell housing 2 and sets the trays 14 in a plurality of stages on the supply side lifting unit 15A of the supply side tray lifting apparatus 10A.
- a plurality of unprocessed workpieces 13 are placed on each tray 14.
- the supply side elevating part 15A is arranged at the lowest position.
- the operator inputs the work type and quantity from the operation panel 19, and presses the start button. Then, the robot 5 selects and chucks the selected robot hand 8 for the workpiece from the plurality of robot hands 8 on the hand table 9.
- the supply-side tray lifting / lowering device 10A raises the supply-side lifting / lowering unit 15A and moves the uppermost tray 14 to a predetermined workpiece acquisition position, that is, the position of the supply-side opening 30A.
- the robot 5 sucks and takes out one of the plurality of workpieces 13 stored in the supply-side tray 14 by the suction portion 33 of the workpiece holding means 32, and performs the workpiece 13 by the positioning operation of the workpiece positioning means 34 described above. Perform positioning.
- the robot 5 conveys the workpiece 13 held by the workpiece holding means 32 of the robot hand 8 to the workpiece reversal support device 29 installed on the ceiling 2B of the cell housing 2, and the workpiece 13 is transferred to the workpiece reversal support device 29. Provisionally hold.
- the robot 5 abuts the suction part 33 of the work holding means 32 on the back surface of the work 13 held by the work reversal support device 29 for suction. As a result, the work 13 is reversed with the robot hand 8 turned over.
- the robot 5 performs a predetermined polishing process on the workpiece 13 using the processing device 12 and blows off the abrasive powder adhering to the workpiece 13 at the time of polishing as appropriate with the air from the air blow nozzle 28 to complete the polishing process. To do.
- the work 13 for which the polishing process has been completed is transported to the work reversal support device 29 by the robot 5, and the reversal operation is performed again.
- the robot 5 moves the workpiece 13 using the workpiece reversing support device 29, and then stores the workpiece 13 in the payout side tray 14 placed on the payout side lifting / lowering portion 15B of the payout side tray lifting device 10B.
- the above-described series of operations are repeated to perform polishing on all of the plurality of workpieces 13 stored in the uppermost supply side tray 14.
- the discharge side tray 14 in which the processed workpiece 13 is stored is lowered by one step by the payout side tray lifting device 10B.
- the robot 5 sucks and holds the empty supply side tray 14 by the work holding means 32 and places it on the discharge side tray 14 in which the processed work 13 is stored.
- the supply-side tray lifting / lowering device 10A raises the supply-side lifting / lowering part 15A by one step, and the next tray 14 in which a plurality of workpieces 13 before processing are stored is formed at a predetermined workpiece acquisition position, that is, the horizontal work table 3.
- the supply side opening 30A is disposed.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
Description
2 セル躯体
2A セル躯体の側壁
2B セル躯体の天井
2C セル躯体の底壁
3 水平作業台
4 作業空間
5 ロボット
6 ロボットの基部
7 ロボットアーム
8 ロボットハンド
9 ハンド置台
10A、10B トレイ昇降装置
11 制御装置
12 加工装置
12A、12B、12C ベルト式研磨機
12D 電動リュータ
12E 研磨ブラシ
13 ワーク
14 トレイ
15A、15B トレイ昇降装置の昇降部
16 搬入扉
17 搬出扉
18A、18B 作業用扉
19 操作パネル
20A、20B、20C 研磨用ベルト(加工面)
21 研磨ブラシの研磨面(加工面)
22 駆動モータ
23 回転研磨部材
24 回転研磨部材の研磨面(加工面)
25 電動リュータ用吸引ダクト
26 電動リュータ用LMガイド
27 電動リュータ用弾発手段(エアシリンダ)
28 エアーブローノズル
29 ワーク反転支援装置
30A 供給側開口
30B 払出側開口
31 ハンド基部
32 ワーク保持手段
33 吸着部
34 ワーク位置決め手段
35 位置決め当接部材
36A 長辺側の位置決め当接片
36B 短辺側の位置決め当接片
37 ワーク保持面
38 前後位置切換え手段
39 前後動作用エアシリンダ
39A 前後動作用エアシリンダのピストン
40 当接片支持部材
41 シリンダ支持部材
42 第1のLMガイド
43 第1の駆動源
44 第2のLMガイド
45 第2の駆動源
46 真空源
47A、47B ワーク挟持部材
48 天井側当接台
49 ワーク挟持部材駆動手段
50 流体圧シリンダ
50A 流体圧シリンダのピストン
51 シリンダ移動手段
52 シリンダ移動手段の走行部材
53 シリンダ移動手段のLMガイド
54 シリンダ移動手段の走行用駆動源
55 挟持状態切換え手段
A1 ワーク反転支援装置のワーク挟持方向軸線
D1 ワーク長辺延在方向(第1の内外方向)
D2 ワーク短辺延在方向(第2の内外方向)
D3 前後方向
Claims (8)
- ワークを加工するためのロボットセルにおいて、
セル躯体と、
前記セル躯体の内部に設置され、前記ワークを保持するためのロボットハンドを有する天吊り式のロボットと、
前記セル躯体の内部に設置され、前記ロボットハンドに保持された状態にある前記ワークを加工するための加工装置と、
を備えたロボットセル。 - 前記加工装置は、前記ロボットハンドに保持された状態にある前記ワークが前記ロボットによって押し付けられて加工される加工面を含む、請求項1記載のロボットセル。
- 前記加工面は、前記ワークの押し付け方向に対して弾発的に移動可能である、請求項2記載のロボットセル。
- 前記加工装置は、前記ワークの押し付け方向に対して前記加工面と共に弾発的に移動可能である、請求項3記載のロボットセル。
- 前記加工装置は研磨機であり、前記加工面は前記ワークを研磨するための研磨面である、請求項2乃至4のいずれか一項に記載のロボットセル。
- 前記加工面に対する前記ワークの押し込み量をマニュアルで調整するためのマニュアル調整手段をさらに備えた、請求項2乃至5のいずれか一項に記載のロボットセル。
- 前記加工装置は、前記セル躯体の内部に複数台設置されており、
複数の前記加工装置のうちの少なくとも一台が、前記ロボットセルの側壁に設置されている、請求項1乃至6のいずれか一項に記載のロボットセル。 - 前記加工装置は、前記ワークを研磨するための研磨面を含む研磨機であり、前記研磨面は略垂直方向に延在している、請求項7記載のロボットセル。
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CN201480067396.XA CN106061691B (zh) | 2013-12-10 | 2014-12-09 | 机器人单元 |
KR1020167018488A KR101969206B1 (ko) | 2013-12-10 | 2014-12-09 | 로봇 셀 |
EP14869118.1A EP3081352A4 (en) | 2013-12-10 | 2014-12-09 | Robot cell |
US15/103,546 US20160325400A1 (en) | 2013-12-10 | 2014-12-09 | Robot cell |
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JP2013-254775 | 2013-12-10 | ||
JP2013254775A JP6397185B2 (ja) | 2013-12-10 | 2013-12-10 | ロボットセル |
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US (1) | US20160325400A1 (ja) |
EP (1) | EP3081352A4 (ja) |
JP (1) | JP6397185B2 (ja) |
KR (1) | KR101969206B1 (ja) |
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JP6366932B2 (ja) * | 2013-12-10 | 2018-08-01 | 川崎重工業株式会社 | ワーク反転支援装置および同装置を備えたロボットセル |
USD784873S1 (en) * | 2015-02-27 | 2017-04-25 | Kawasaki Jukogyo Kabushiki Kaisha | Brake disc for motorcycles |
JP2016190296A (ja) * | 2015-03-31 | 2016-11-10 | セイコーエプソン株式会社 | ロボットシステム |
WO2017094113A1 (ja) * | 2015-12-01 | 2017-06-08 | 富士機械製造株式会社 | ワーク把持装置 |
JP6686644B2 (ja) * | 2016-04-06 | 2020-04-22 | セイコーエプソン株式会社 | ロボットおよびロボットシステム |
WO2018078780A1 (ja) | 2016-10-27 | 2018-05-03 | 三菱電機株式会社 | ワーク搬送装置 |
JP2018161724A (ja) * | 2017-03-27 | 2018-10-18 | ファナック株式会社 | 工作機械システムおよびクランプ方法 |
JP6858142B2 (ja) * | 2018-01-22 | 2021-04-14 | 川崎重工業株式会社 | ロボットハンド |
JP6756761B2 (ja) | 2018-03-27 | 2020-09-16 | ファナック株式会社 | ロボットを用いた生産方法および生産システム |
CN108907847B (zh) * | 2018-06-15 | 2020-05-08 | 昆山科森科技股份有限公司 | 具有自动上下料功能的一体化设备 |
CN110465862B (zh) * | 2019-08-25 | 2021-05-04 | 山东理工大学 | 一种自动化复杂曲面力控高剪低压磨削装置及其加工方法 |
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EP3081352A4 (en) | 2018-02-07 |
JP6397185B2 (ja) | 2018-09-26 |
CN106061691B (zh) | 2019-04-16 |
KR101969206B1 (ko) | 2019-04-15 |
KR20160119067A (ko) | 2016-10-12 |
CN106061691A (zh) | 2016-10-26 |
EP3081352A1 (en) | 2016-10-19 |
JP2015112658A (ja) | 2015-06-22 |
US20160325400A1 (en) | 2016-11-10 |
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