WO2017081722A1

WO2017081722A1 - Operation execution device

Info

Publication number: WO2017081722A1
Application number: PCT/JP2015/081455
Authority: WO
Inventors: 政利藤田; 児玉　誠吾
Original assignee: 富士機械製造株式会社
Priority date: 2015-11-09
Filing date: 2015-11-09
Publication date: 2017-05-18
Also published as: JPWO2017081722A1; JP6619817B2

Abstract

Provided is an operation execution device whereby more operations can be simultaneously executed in parallel and operating efficiency can be further increased. An operation execution device (100) is provided with three or more robot arms (1), two or more other robot arms (1) are disposed in the range of movement of the robot arms (1), and three or more of the robot arms (1) can access an operation range of a work piece (W) which is an operation object. The robot arms (1) may be configured so as to perform, on the work piece (W) one or more of an assembly operation for installing a component, a processing operation for applying processing, an application operation for applying a viscous material, a heating operation for heating, a treatment operation for performing a predetermined chemical and/or physical treatment, and an inspection operation for inspecting.

Description

Work execution device

The present invention relates to a work execution device.

Conventionally, as a work execution device having a robot arm, for example, when one arm of a double-arm robot is assembling one part, the other arm holds the other part to prepare for assembling. Has been proposed (see, for example, Patent Document 1). In this apparatus, productivity can be improved. As a work execution device, one in which the base end portions of two robot arms are fixed at diagonal positions of a gantry has been proposed (see, for example, Patent Document 2). In this apparatus, the cooperative operation possible area can be widened and the workability is good.

JP 2006-35346 A JP 2011-240443 A

By the way, in product assembly work in factories such as electronic equipment, when the work that humans have done is converted into a robot, it is difficult to arrange the robot arm narrowly adjacent because the robot arm is wide. As shown in Patent Documents 1 and 2, there are at most two robot arms, and it cannot be said that the working efficiency is sufficient.

The present invention has been made in view of such a problem, and a main object of the present invention is to provide a work execution device that can execute more work in parallel and further improve work efficiency.

The present invention adopts the following means in order to achieve the main object described above.

The work execution apparatus of the present invention includes three or more robot arms, and two or more other robot arms are disposed within a movable range of the robot arm, and three or more of the robot arms are work targets. The work area of a work can be accessed. In this apparatus, two or more other robot arms are disposed within the movable range of the robot arm, and three or more of the robot arms can access the work area of the work to be worked. In this apparatus, by arranging the robot arm closer, more work can be executed on the workpiece simultaneously and work efficiency can be further improved.

In the work execution device according to the present invention, the robot arm may be disposed to face the work area. With this apparatus, work can be performed from both sides, and work efficiency is good.

In the work execution device of the present invention, two or more robot arms may be arranged in parallel to the workpiece transfer direction. In this apparatus, since the robot arms are linearly arranged, it is easy to work on the workpiece.

In the work execution apparatus of the present invention, all of the robot arms may be arranged so that the movable range of the robot arm is within the work area of the workpiece. In this apparatus, since a plurality of operations can be performed simultaneously, work efficiency can be further improved.

In the work execution apparatus of the present invention, the robot arm performs assembly work for assembling parts, processing work for processing, coating work for applying viscous material, heating work for heating, and chemical and / or physical predetermined processing. One or more of the processing work and the inspection work for performing the inspection may be performed on the workpiece. Assembly work includes, for example, fastening work for fastening members such as screws, bolts and nuts, connector insertion work, wiring work work, component fitting work, member mounting work, pressing work to hold the work 1 or more of these. Examples of the machining operation include one or more of a deformation operation for deforming a workpiece such as a press, a cutting operation for removing at least a part of the member, and a cutting operation. Examples of the application operation include one or more of an operation of applying an adhesive as a viscous material, an operation of applying a conductive material such as a solder paste, and an operation of applying a lubricant such as grease. Examples of the heating operation include one or more of an operation for thermosetting a resin and the like, an operation for heat-deforming the resin and the like, a reflow operation for melting and solidifying solder and the like, an operation for removing the organic material by heating, and the like. Examples of the processing operation include one or more of a surface modification operation using laser or plasma, a surface finishing operation using polishing, a coating operation for providing a protective layer on the surface, and the like. The inspection work includes, for example, work for inspecting one or more work results among assembly work, processing work, coating work, heating work, processing work, and the like.

In the work execution apparatus of the present invention, the robot arm includes a tip portion that works on an object to be worked, a first motor, a ball screw having an axis disposed in the axial direction of the first motor, and the tip portion. A pulley that is disposed on the pulley and includes a belt that includes the first motor and the ball screw, is connected to the ball screw, and moves in the axial direction of the first motor; The first arm provided with the first drive unit, the drive force of the second motor and the second motor are orthogonally decelerated, and the drive force of the bevel gear mechanism or the second motor provided with the first arm And a second arm provided with a second drive part that has any of a wave gear mechanism that decelerates by differential between an ellipse and a perfect circle and that rotates the first arm. Also good. In this robot arm, since the first arm on the distal end side is provided with a first drive unit that is rotationally driven by a belt including a motor and a ball screw, the first arm can be made thinner. In addition, the second arm provided with the first arm is provided with a second drive unit having a bevel gear mechanism that can be reduced in the orthogonal direction and made compact in the rotation axis direction. In addition, the operation accuracy can be ensured. Alternatively, the second arm provided with the first arm is provided with a second drive unit having a wave gear mechanism that decelerates by the difference between an ellipse and a perfect circle, thereby achieving compactness and ensuring operation accuracy. can do. For this reason, in this robot arm, the distal end side working on the work target is more compact and sufficient operation accuracy can be ensured. In this work execution device, by using such a robot arm, a plurality of robot arms can be arranged close to each other, and more work can be executed simultaneously on the work to further improve work efficiency. Can do.

1 is a schematic explanatory diagram of a work execution device 100. FIG. The perspective view of the work execution apparatus 100. FIG. Explanatory drawing of the movable range 105 and arrangement | positioning position of the robot arm 1. FIG. 1 is a schematic explanatory diagram of an arm robot 1. FIG. Explanatory drawing of the 1st drive part 11 with which the 1st arm 10 is provided. Explanatory drawing of the 2nd drive part 21 with which the 2nd arm 20 is provided. The block diagram showing the electrical connection relation of the arm robot. Schematic explanatory drawing of another arm robot 1B.

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic explanatory diagram of a work execution apparatus 100 which is an example of the present invention. FIG. 2 is a perspective view of the work execution apparatus 100. FIG. 3 is an explanatory diagram of the relationship among the movable range 105 of the robot arm 1, the position where the robot arm 1 is disposed, and the work area 106. FIG. 4 is a schematic explanatory diagram of the arm robot 1. FIG. 5 is an explanatory diagram of the first drive unit 11 provided in the first arm 10. FIG. 6 is an explanatory diagram of the second drive unit 21 provided in the second arm 20. FIG. 7 is a block diagram showing the electrical connection relationship of the arm robot 1. The left and right direction (X axis), the front and rear direction (Y axis), and the up and down direction (Z axis) of the work execution apparatus 100 are as shown in FIGS. Further, since the robot arm 1 is movable in all directions, there is no specific direction to be fixed. However, for convenience of explanation, the direction shown in FIGS. ), The front-rear direction (Y-axis) and the up-down direction (Z-axis).

The work execution device 100 is configured as a device that performs a plurality of predetermined operations on an object (work W) to be worked. The work execution apparatus 100 includes three or more robot arms 1, a base 101 on which the robot arm 1 is disposed, a transport unit 102 that transports and fixes a work W to a work area 106 where a predetermined work is performed, and the entire apparatus. And a system control unit 104 for controlling the system. Here, in the work execution apparatus 100, three robot arms 1 are arranged in parallel with the workpiece W conveyance direction (left and right direction in FIGS. 1 and 2), and the robot arm 1 faces the work area 106 therebetween. An example in which six units are arranged as a whole will be described.

The arm robot 1 is configured as a device that performs a predetermined work on an article to be worked. The article to be worked on is not particularly limited, and examples thereof include various parts such as mechanical parts, electrical parts, electronic parts, chemical parts, foods, biotechnology, biological items, and the like. Examples of the predetermined work include a process of collecting, moving, and arranging from an initial position to a predetermined position, and a process of deforming, connecting, and joining a predetermined part.

The arm robot 1 includes a first arm 10, a second arm 20, a third support part 30, a pedestal part 40, a tip part 50, and a control part 60 (see FIG. 7).

The first arm 10 is a longitudinal member in which a distal end portion 50 for working on an article to be worked is disposed. The first arm 10 is provided therein with a first drive unit 11 that rotationally drives the tip 50. As shown in FIGS. 5 and 7, the first drive unit 11 includes a first motor 12, a shaft 13, a ball screw 14, a first pulley 15, a second pulley 16, a belt 17, and a slide 18. I have. The first motor 12 is a power source that rotationally drives the distal end portion 50, and its rotation shaft is disposed in the longitudinal direction of the first arm 10 (the front-rear direction in FIGS. 4 and 5). A brake unit 19 is disposed at the rear end of the first motor 12, and the rotation of the rotating shaft is fixed by the brake unit 19 even when power supply to the first motor 12 is stopped. The ball screw 14 is provided with a shaft 13 in the rotation axis direction of the first motor 12, and the slide 18 moves in the front-rear direction as the shaft 13 rotates. The shaft 13 is directly connected to the rotation shaft of the first motor 12. In the first arm 10, the first pulley 15 in which the distal end portion 50 is disposed is disposed on the distal end side, and the second pulley 16 is disposed on the rear end side. The first pulley 15 and the second pulley 16 are pivotally supported by the housing of the first arm 10 so as to be rotatable. In the first pulley 15, a base portion 51 of the distal end portion 50 is disposed so as to be rotatable with respect to the first arm 10.

The belt 17 is stretched around the first pulley 15 and the second pulley 16. The belt 17 is preferably formed of a material that does not easily expand and contract from the viewpoint of ensuring operation accuracy. The belt 17 may be a carbon belt. For example, the carbon belt may have a carbon core wire inside a resin (for example, high-strength urethane or high-strength nylon). A slide 18 connected to the ball screw 14 is fixed to the belt 17. In the first drive unit 11, when the shaft 13 is rotationally driven by the first motor 12, the slide 18 moves in the longitudinal direction of the shaft 13 via the ball screw 14. Further, in the first drive unit 11, when the slide 18 moves in the front-rear direction, the belt 17 slides in the front-rear direction, and the linear movement of the belt 17 is converted into a rotational motion via the first pulley 15, and the tip 50 Rotate. The belt 17 encloses the first motor 12, the shaft 13, and the ball screw 14 inside the first pulley 15 and the second pulley 16. For this reason, the first arm 10 is made more compact than that in which the first motor 12 and the ball screw 14 are provided outside the belt 17.

The second arm 20 is a longitudinal member in which the first arm 10 is disposed, as shown in FIG. The second arm 20 is provided with a second drive unit 21 that rotationally drives the first arm 10 on the distal end side thereof. The second drive unit 21 includes a bevel gear mechanism 23 on which the first arm 10 is disposed. As shown in FIG. 6, the bevel gear mechanism 23 is a gear mechanism that orthogonally reduces the driving force of the second motor 22. The bevel gear mechanism 23 meshes with a pinion 24 of a spiral bevel gear (spiral bevel gear), a first gear 25 on which teeth meshing with a spiral bevel of the pinion 24, and teeth provided on the shaft of the first gear 25. And a second gear 26. The pinion 24 is fixed to the rotating shaft of the second motor 22 and transmits a driving force to the first gear 25 that is pivotally supported in a direction orthogonal to the rotating shaft. More preferably, the bevel gear mechanism 23 is a bevel gear mechanism in which the pinion 24 and the first gear 25 are offset. Since these gears are offset, it is possible to further reduce the size. The first arm 10 is disposed on the second gear 26, and the first arm 10 is rotationally driven by the driving force of the first gear 25. The second arm 20 includes the bevel gear mechanism 23 with the axial direction of the second motor 22 as the longitudinal direction, and thereby accommodates the second motor 22 therein.

The third arm 30 is provided with the second arm 20. The third support part 30 is provided with a third drive part 31 for rotating the second arm 20 on the distal end side thereof. The third drive unit 31 includes a bevel gear mechanism 33 provided with the second arm 20 and a third motor 32 that drives the bevel gear mechanism 33. The third motor 32 has a larger rated output than the second motor 22. The bevel gear mechanism 33 is assumed to be the same mechanism as the bevel gear mechanism 23, and the description thereof is omitted.

The pedestal portion 40 supports the third support portion 30 via a support shaft 41 formed in the vertical direction. The pedestal portion 40 is provided with a motor, and the support shaft 41 is rotated by the motor.

The front end portion 50 is for working on an object to be worked. As shown in FIGS. 4 and 5, the distal end portion 50 includes a base 51, a mounting portion 52, a sampling member 53, an imaging unit 54, and a drive portion 58. The base 51 is disposed on the first pulley 15 of the first arm 10, and a flat plate-shaped disposing part 51 a is formed on the tip side thereof. A mounting portion 52 and an imaging unit 54 are disposed on the lower surface of the placement portion 51a. The mounting part 52 is detachably mounted with a sampling member 53 for sampling an article. The sampling member 53 is configured as, for example, a mechanical chuck that has a plurality of claw portions and grips and samples an article. The sampling member 53 is driven by the drive unit 58 and rotates together with the mounting unit 52, and performs a gripping operation of the article such as opening and closing of the claw portion. The collection member 53 may be, for example, an adsorption nozzle that adsorbs and collects articles by pressure. The base 51 may have a movable shaft that can change the direction of the arrangement portion 51a, and may be configured so that the direction of the sampling member 53 can be rotated in the vertical direction. The imaging unit 54 includes an irradiation unit 55 and an imaging unit 56. The irradiation unit 55 is, for example, illumination that is arranged in a circular shape on the outer periphery of the imaging unit 56, and irradiates light around the work target article and the work target. The imaging unit 56 is a camera that captures an image of the work target item and the work target. The imaging unit 54 outputs the captured image data to the control unit 60.

The control unit 60 is configured as a microprocessor centered on a CPU and controls the entire apparatus. The control unit 60 outputs signals to the first motor 12, the second motor 22, the third motor 32, and the drive unit 58. In addition, the control unit 60 inputs a signal from the imaging unit 54. The first drive unit 11, the second drive unit 21, and the third drive unit 31 are equipped with position sensors (not shown), and the control unit 60 inputs each position information from these position sensors while driving each drive. Control the motor of the unit. In the arm robot 1, the control unit 60 grasps the position and direction of the article to be worked using the image captured by the imaging unit 54, and performs predetermined processing on the article. In the arm robot 1, more accurate processing (collection processing and arrangement processing) can be performed on the article.

The arm robot 1 is created so that the first arm 10, the second arm 20, and the third support portion 30 can be made as compact in the width direction (left-right direction) as possible. The arm robot 1 employs the belt-driven first drive unit 11 to make the first arm 10 lighter and thinner. For example, the width L1 (FIG. 4) of the first arm 10 can be formed to be 60 mm or less, and can be formed to be 50 mm or less. The first arm 10 may have a width excluding wiring of 50 mm or less, and may be 40 mm or less. Further, the arm robot 1 employs the second drive unit 21 and the third drive unit 31 of the bevel gear mechanism, thereby ensuring the output capable of holding the mass on the distal end side and the positional accuracy and reducing the size. It is said. For example, the width L2 of the second arm 20 may be formed to be 100 mm or less, and may be formed to be 90 mm or less. The second arm 20 can be formed to have a width excluding wiring of 90 mm or less, or can be formed to 80 mm or less. Further, the width L3 of the third support part 30 can be formed to be 70 mm or less, or can be formed to be 60 mm or less. The tip 50 can be formed with a width L0 of 40 mm. The pedestal portion 40 can be formed with a width L4 of 150 mm or less. In addition, if all the arms are belt drive type drive units, the arm robot accumulates belt deflection and the like, and it is difficult to ensure position accuracy at the tip. In addition, when all arm robots are used as the drive unit of the gear mechanism, the arm robot has a large width at the tip, which makes it difficult to make it compact and difficult to perform fine work.

Here, the tip 50 will be described. The distal end portion 50 of the robot arm 1 is configured as a replaceable unit depending on the work content to be performed on the work W to be worked. The tip portion 50 performs, for example, an assembling operation for assembling parts, a processing operation for performing processing, a coating operation for applying a viscous material, a heating operation for heating, a processing operation for performing chemical and / or physical predetermined processing, and an inspection. One or more of the inspection operations may be performed on the workpiece W. Assembly work includes, for example, fastening work of fastening members such as screws, bolts, nuts, connector insertion work, wiring work work, part fitting work, pressing work to hold the member mounting work, etc. 1 or more of them. The tip portion 50 may be provided with a fastening work portion that performs one or more of attachment, rotation, and fixing of the fastening member when fastening work is performed. The tip portion 50 may be provided with an insertion operation portion that performs one or more of attachment, insertion, and fixation of the connector when performing the insertion operation. The tip portion 50 may be provided with a handling work portion that performs one or more of wiring attachment, insertion, and positioning when performing the handling work. The tip portion 50 may be provided with a fitting work portion for collecting and fitting a part when performing the fitting work. The tip portion 50 may be provided with a pressing work portion for pressing a component when the pressing work is performed.

Examples of the processing work include one or more of a deformation work for deforming the work W such as a press, a cutting work for removing at least a part of the member (work W), and a cutting work for cutting at least the member (work W). . The tip portion 50 may be provided with a deformation working portion that deforms the workpiece W by applying pressure when performing the deformation work. The tip portion 50 may be provided with a cutting operation unit for cutting the workpiece W when performing the cutting operation. The tip portion 50 may be provided with a cutting operation portion for cutting the workpiece W when performing the cutting operation. Examples of the application operation include one or more of an operation of applying an adhesive as a viscous material, an operation of applying a conductive material such as a solder paste, and an operation of applying a lubricant such as grease. The tip portion 50 may be provided with a supply operation portion that supplies a viscous material when performing an application operation. Examples of the heating operation include one or more of an operation for thermosetting a resin and the like, an operation for heat-deforming the resin and the like, a reflow operation for melting and solidifying solder and the like, an operation for removing the organic material by heating, and the like. The tip portion 50 may be provided with a heating operation portion that heats the workpiece W in a contact state or a non-contact state when performing the heating operation. Examples of the processing operation include one or more of a surface modification operation using laser or plasma, a surface finishing operation using polishing, a coating operation for providing a protective layer on the surface, and the like. The tip portion 50 may be provided with a surface modification working section that irradiates the workpiece W with laser and / or plasma when performing the surface modification work. The tip portion 50 may be provided with a surface finishing operation portion for polishing the workpiece W using an abrasive member when performing the surface finishing operation. The tip portion 50 may be provided with a covering operation portion for providing a protective material on the workpiece W when performing the covering operation. The inspection work includes, for example, work for inspecting one or more work results among assembly work, processing work, coating work, heating work, processing work, and the like. The tip portion 50 includes an inspection work unit that inspects one or more work results among an assembly work, a processing work, a coating work, a heating work, a processing work, and the like when the work is performed. do it.

As shown in FIGS. 1 and 2, the base 101 is provided to fix and fix each robot arm 1 and the transport unit 102. The base 101 is provided with a transport unit 102 in the center thereof, and the robot arms 1 are arranged and fixed on both sides of the transport unit 102.

The transfer unit 102 is, for example, a unit that carries in and carries a workpiece W such as a substrate, fixes it in the work area 106, and carries out the workpiece W. The transport unit 34 has a pair of conveyor belts provided at intervals in the front and rear direction of FIG. 1 and spanned in the left-right direction. The workpiece W is conveyed by this conveyor belt. In addition, when the work execution apparatus 100 performs a work of attaching a component to a substrate, the substrate to be transported is the work W that is a work target, and the attached component also corresponds to the work W that is a work target.

The system control unit 104 is configured as a microprocessor centered on a CPU and controls the entire work execution apparatus 100 (see FIG. 1). The system control unit 104 outputs a signal to each robot arm 1 and the transfer unit 102 to drive and control them.

The work execution device 100 includes three or more robot arms 1, and two or more other robot arms 1 are disposed within a movable range 105 of the robot arm 1. Further, in the work execution device 100, three or more of the robot arms 1 can access the work area 106 of the work W that is the work target. As shown in FIG. 3, the work execution device 100 is close to each other so that at least a part of the pedestal portions 40 of all the other robot arms 1 are within the movable range 105 (circle in FIG. 3) of the robot arm 1. Thus, it is arranged on the base 101. Further, in this work execution apparatus 100, the pedestal 40 of the robot arm 1 is arranged on the base 101 so that the work area 106 where the workpiece W is placed can be accessed by all the tips 50 of the robot arms 1. It is installed. In this work execution apparatus 100, since all robot arms 1 can access the work W, the maximum work can be performed in parallel. In addition, since the work execution apparatus 100 includes the robot arm 1 in which the first arm 10 on the distal end side is formed thinner, even if the robot arms 1 are arranged adjacent to each other within a narrow range, the work can be performed without interfering with each other. Can be performed in parallel. Each robot arm 1 is preferably arranged such that the overlapping range with the movable range 105 of another adjacent robot arm 1 is at least 30% or more in area ratio. For example, the overlapping range may be 40% or more, or may be 50% or more. Each robot arm 1 is preferably disposed on the base 101 at a distance (for example, 240 mm or less) that is not more than three times as large as the width of the robot arm 1. If the distance between the robot arms 1 is too short, the arms of the robot arms 1 are likely to interfere with each other. If the distance between the robot arms 1 is too long, the number of operations that can be performed simultaneously is reduced. For this reason, it is preferable to set the arrangement interval of the robot arm 1 (the pedestal portion 40) within an appropriate range according to the width dimension of the robot arm 1 and the work content. As shown in FIG. 3, the area where the movable ranges 105 of all the robot arms 1 overlap is the maximum work area 108 (FIG. 3, one-dot chain line). Even if it exists, each robot arm 1 can perform each work in parallel.

Next, the operation of the work execution apparatus 100 according to the present embodiment configured as described above, particularly the process of performing three or more tasks on the workpiece W arranged in the work area 106 in time parallel will be described. For example, it is assumed that the arm robot 1 of the work execution apparatus 100 includes a tip portion 50 that performs a screw tightening work, a component pressing work, a wiring handling work, an adhesive application work, and a heating work. . In this case, the system control unit 104 obtains in advance the timing and position at which each robot arm 1 does not interfere, and based on that, each robot arm 1 presses a part (work W) and collects a screw. A process in which the working unit performs screw tightening and, in parallel with this, applies an adhesive at another part and heats it, including a state in which three or more arms are folded over. Or work execution device 100 is good also as what performs a series of work performed continuously, for example, performing assembly, processing, predetermined processing, and inspection. For example, it is assumed that each robot arm 1 includes a tip portion 50 that performs a plasma irradiation operation, an adhesive application operation, a component (work W) mounting operation, and an inspection operation for a portion where the operation has been performed. The system control unit 104 may cause the robot arm 1 to sequentially perform a series of operations performed continuously. Further, in the work execution apparatus 100, a plurality of robot arms 1 may cooperate to perform one work. For example, in the screw tightening operation, one robot arm 1 may hold the workpiece W, one robot arm 1 may dispose the screw in the screw hole, and one robot arm 1 may perform the operation of tightening the screw. In the wire fixing operation, one robot arm 1 holds one end side of the wire, one robot arm 1 holds the other end side of the wire, and one robot arm 1 passes the intermediate portion of the wire to the groove portion. It is good also as what performs the work to insert. In addition, in the part fitting operation, one robot arm 1 may fix the work W to be worked into which the part is fitted, and one robot arm 1 may perform the work of fitting the part into the work W. Further, in the inspection work, it is assumed that the plurality of robot arms 1 are provided with respective inspection terminals, and that each robot arm 1 simultaneously accesses the work W to be inspected and performs each inspection work. Also good.

Here, the correspondence between the components of the present embodiment and the components of the present invention will be clarified. The robot arm 1 of the present embodiment corresponds to a robot arm, the tip 50 corresponds to a tip, the first arm 10 corresponds to a first arm, and the second arm 20 corresponds to a second arm.

In the work execution apparatus 100 of the present embodiment described above, three or more robot arms 1 are provided, and two or more other robot arms 1 are disposed within the movable range 105 of the robot arm 1. 3 or more of them can access the work area 106 of the work W that is the work target. In this work execution device 100, by placing the robot arm 1 closer, more work can be executed on the workpiece W in parallel and work efficiency can be further increased. Further, since the robot arm 1 is disposed so as to face the work area 106, work can be performed on both sides of the work W from both sides, and work efficiency is good. Furthermore, since two or more robot arms 1 are linearly arranged in parallel to the workpiece W conveyance direction, it is easy to perform work on the workpiece W. Furthermore, since all of the robot arms 1 are arranged so that the movable range 105 of the robot arm 1 is within the work area 106 of the work W, a plurality of work can be performed simultaneously, and work efficiency is improved. Can be further enhanced.

Further, the robot arm 1 performs an assembly operation for assembling parts, a processing operation for performing processing, a coating operation for applying a viscous material, a heating operation for heating, a processing operation for performing a chemical and / or physical predetermined processing, and an inspection. One or more of the inspection operations are performed on the workpiece W. In the work execution apparatus 100, the robot arm 1 can perform the above-described various works on the workpiece W. Furthermore, the robot arm 1 is more compact at the front end side where the work is performed on the work target and can sufficiently ensure the operation accuracy due to the configuration of the first arm 10. In the work execution apparatus 100, by using such a robot arm 1, a plurality of robot arms 1 can be arranged close to each other, and more work can be performed simultaneously on the work W to improve work efficiency. Can be further enhanced.

It should be noted that the present invention is not limited to the above-described embodiment, and it goes without saying that the present invention can be implemented in various modes as long as it belongs to the technical scope of the present invention.

For example, in the above-described embodiment, all the other robot arms 1 are disposed within the movable range 105 of the robot arm 1, but two or more other robots are disposed within the movable range 105 of the robot arm 1. If the arm 1 is provided, it is not particularly limited to this. The robot arm 1 is preferably arranged close to the robot arm 1 but may be arranged with a little clearance so that it is not difficult to avoid (does not interfere with) each operation.

In the above-described embodiment, all of the robot arms 1 can access the work area 106 at the same time. However, three or more of the robot arms 1 can access the work area 106 of the work W that is the work target. If so, it is not particularly limited to this. It is preferable that more robot arms 1 can access the work area 106 at the same time. However, the robot arm 1 may be arranged with a little clearance so that it is not difficult to avoid (does not interfere with) each operation. Good.

In the above-described embodiment, the work execution apparatus 100 includes the six robot arms 1, but is not particularly limited as long as it includes three or more robot arms 1. Further, although the robot arm 1 is disposed to face the work area 106, the robot arm 1 may not be particularly opposed. In addition, two or more robot arms 1 are arranged in parallel (on a straight line) with respect to the workpiece conveyance direction. However, the robot arm 1 is not particularly limited thereto, and may not be parallel to the conveyance direction. It does not have to be arranged on a straight line. For example, the robot arm 1 may be arranged on a circle having a work area 106 at the center.

In the above-described embodiment, the work execution apparatus 100 has been described as performing various predetermined tasks. However, the work execution device 100 may appropriately perform tasks other than those exemplified above.

In the above-described embodiment, the robot arm 1 has been described as including the pedestal portion 40. However, the robot arm 1 is not particularly limited thereto, and a plurality of robot arms 1 may be provided on one pedestal portion 40. Good. In this case, it suffices that two or more other robot arm placement sites are within the movable range of the robot arm.

In the embodiment described above, in the robot arm 1, the second drive unit 21 and the third drive unit 31 are provided with the bevel gear mechanism, but may be provided with a wave gear mechanism instead. FIG. 8 is a schematic explanatory diagram of another arm robot 1B provided with

wave gear mechanisms

23B and 33B. The arm robot 1B includes a second drive unit 21B having a wave gear mechanism 23B and a third drive unit 31B having a wave gear mechanism 33B. In the wave gear mechanism 23 </ b> B, the second motor 22 is disposed in a direction orthogonal to the longitudinal direction of the second arm 20. The wave gear mechanism 23B is configured as a harmonic drive (registered trademark) including a wave generator 24B, a flex spline 25B, and a circular spline 26B. The wave generator 24B is a component in which a thin ball bearing is combined with the outer periphery of an elliptical cam. The flex spline 25B is a thin cup-shaped metal elastic body, and is a component in which teeth are carved on the outer periphery of the opening. The circular spline 26B is a rigid ring-shaped part, and has fewer teeth on the inner periphery than the flexspline 25B. The explanation of the wave gear mechanism 33B is omitted because it is the same as the wave gear mechanism 23B. In this arm robot 1B, by using the wave gear mechanism, the second arm 20 and the third support unit 30 that support the first arm 10 can sufficiently ensure the operation accuracy. The arm robot 1B may include a wave gear mechanism in either the second arm 20 or the third support unit 30.

In the embodiment described above, the bevel gear mechanism of the second drive unit 21 and the third drive unit 31 is a spiral bevel gear, but it may be a bevel gear that is not a spiral bevel. The bevel gear mechanism 23 is a bevel gear mechanism in which the pinion 24 and the first gear 25 are offset, but may not be offset. In this arm robot 1, the distal end side that works on the work target is more compact and can sufficiently secure the operation accuracy. The same applies to the bevel gear mechanism 33.

In the above-described embodiment, the first arm 10 and the second arm 20 are provided. However, the present invention is not particularly limited to this, and a third arm, a fourth arm, or the like may be provided. The third arm can also be provided with a bevel gear mechanism and a wave gear mechanism.

In the above-described embodiment, the belt 17 is a carbon belt, but is not particularly limited thereto, and may be a belt formed of a material other than carbon.

In the above-described embodiment, the imaging unit 54 is provided at the distal end portion 50. However, the imaging unit 54 is not particularly limited thereto, and the imaging unit 54 may not be provided. Also in this arm robot, the tip side working with respect to the work target is more compact, and sufficient operation accuracy can be secured.

The present invention can be used in the technical field of an apparatus that performs processing such as workpiece collection and arrangement.

1, 1B arm robot, 10 1st arm, 11 1st drive unit, 12 1st motor, 13 shaft, 14 ball screw, 15 1st pulley, 16 2nd pulley, 17 belt, 18 slide, 19 brake unit, 20th 2 arms, 21 and 21B second drive unit, 22 second motor, 23 bevel gear mechanism, 23B wave gear mechanism, 24 pinion, 24B wave generator, 25 first gear, 25B flex spline, 26 second gear, 26B circular spline , 30 3rd support part, 31 and 31B 3rd drive part, 32 3rd motor, 33 bevel gear mechanism, 33B wave gear mechanism, 40 pedestal part, 41 support shaft, 50 tip part, 51 base part, 51a arrangement part, 52 mounting part, 53 sampling member, 54 imaging unit, 55 irradiation part 56 imaging unit, 58 drive unit, 60 control unit, 100 work performing apparatus, 101 base plate, 102 transport unit, 104 a system control unit, 105 the movable range, 106 work area 108 up to the working area, W workpiece.

Claims

Three or more robot arms are provided, and two or more other robot arms are arranged within the movable range of the robot arm, and three or more of the robot arms can access a work area of a work to be worked. Is,
Work execution device.
2. The work execution device according to claim 1, wherein the robot arm is disposed opposite to the work area.
The work execution device according to claim 1 or 2, wherein two or more of the robot arms are arranged in parallel to a transfer direction of the workpiece.
The work execution device according to any one of claims 1 to 3, wherein all of the robot arms are arranged so that a movable range of the robot arm is within a work area of the workpiece.
The robot arm is an assembly operation for assembling parts, a processing operation for processing, a coating operation for applying a viscous material, a heating operation for heating, a processing operation for performing chemical and / or physical predetermined processing, and an inspection operation for performing inspection. The work execution apparatus according to any one of claims 1 to 4, wherein one or more of the operations are performed on the workpiece.
The robot arm is
A tip for working on the article to be worked;
A first motor, a ball screw having an axis disposed in the axial direction of the first motor, a pulley having the tip portion disposed thereon, and spanning the pulley, including the first motor and the ball screw, and connected to the ball screw. A first arm having a belt that is moved in the axial direction of the first motor and provided with a first drive part that rotationally drives the tip part;
A bevel gear mechanism that orthogonally decelerates the driving force of the second motor and the second motor and decelerates the driving force of the second motor by differential between an ellipse and a perfect circle. A second arm provided with a second drive unit for rotating the first arm,
The work execution device according to any one of claims 1 to 5, further comprising: