JPH0340551Y2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a multi-tasking robot that can perform two types of work.

[Prior art]

In general, a work robot is used to perform a certain type of work on a workpiece, and conventional work robots include, for example, transfer robots, in which the transfer member for supporting the workpiece is attached to an arm. It was attached to the tip, and the workpiece was supported by the conveyance member, and the workpiece was conveyed by moving the conveyance member in this state (see, for example, Japanese Patent Laid-Open No. 160085/1985).

However, with such conventional transport robots,
As mentioned above, since the transport member is attached to the tip of the arm, the load on the robot is large, and if the weight of the work is large, there are problems such as the need for a robot with a considerably large carrying capacity. It was hot.

[Purpose of invention]

The present invention was developed in this conventional situation, and not only can one work robot perform two jobs, that is, work on a workpiece and transport the workpiece, but also allows the robot to move the arm during work. It is an object of the present invention to provide a complex work robot that can reduce such inertial force, minimize the load applied to the tip of the robot arm when transporting a workpiece, and secure the maximum workpiece transport area.

[Structure of the idea]

The present invention is an articulated compound work robot that has a work tool for working on a workpiece and a workpiece transport member for transporting the workpiece, and the work tool is attached to the tip of an arm attached to the robot body. At the same time, a support member for removably supporting the work transfer member is provided at the intermediate portion of the arm, and when the work is transferred, the work transfer member is supported so that the work support portion is located below the tip of the arm. This allows a single robot to work on the workpiece and transport the workpiece, and also prevents a large load from being applied to the tip of the robot arm when transporting the workpiece. In this case, the inertia force applied to the arm can be kept small, and 1
This has the effect that a single robot can perform two tasks with high precision: working on the workpiece and transporting the workpiece.

〔Example〕

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

1 to 3 show one embodiment of the present invention, and in the figures, 1 is a composite work robot whose base 2 is fixed on a foundation 3a formed on a floor 3, and this is a robot for handling workpieces. This is for carrying out transportation work and welding work. An arm support 4 of the robot 1 is rotatably provided on the base 2, and an arm 5 is rotatably attached to the upper end of the arm support 4.

A mounting bracket 16 is attached to the distal end 5a of the arm 5 so as to be rotatable around the axis A of the arm 5, and an intermediate bracket 17 is attached to this so as to be rotatable around the axis B of the mounting bracket 16. A welding gun 18, which is a working tool for performing welding work on a workpiece, is attached to the intermediate bracket 17 so as to be rotatable about the axis C of the intermediate bracket 17.

Furthermore, a support member 6 is attached to the intermediate portion 5b of the arm 5 for supporting a supported portion of a workpiece conveyance member, which will be described later. The support member 6 is
Upper and lower mounting brackets 6a and 6b with a semicircular cross section
The yawing member 7 is rotatably attached to the lower surface of the lower mounting bracket 6b, and the yawing member 7 has a support with a rectangular shape on the side. An engagement member 8 as a member is fixed. The engagement member 8
consists of a substrate 8a, two rods 8b implanted below the substrate, and an engagement pin 8c connecting the tips of the rods 8b.

Reference numeral 9 denotes a workpiece conveyance member for supporting the workpiece, and an engagement member 10 is fixed to the upper end of the supported portion 9a of the workpiece conveyance member 9. The engaging member 10 is formed with a fitting hole 10a into which the rod 8b and the engaging pin 8c of the engaging member 8 are inserted.
A piston sliding hole 10b is formed on the right side of the fitting hole 10a in FIG. 3, and the piston rod 1 of the engaging piston 11 inserted into the sliding hole 10b
1a is a guide hole 10 formed in the engaging member 10;
It is designed so that it can be engaged with the upper side of the engagement pin 8c through the engagement pin 8c. Note that 12a and 12b are air hoses for supplying compressed air into the piston sliding hole 10b, and in this way, the engaging member 10 is detachably attached to the engaging member 8.

Further, the supported portion 9 of the workpiece conveying member 9
A support part 9b is integrally formed upward on the side of the arm support part 4 from a, and a contact part 9c formed at the upper end of the support part 9b is connected to the rear part 5 of the arm 5.
c It is designed so that it can come into contact with the lower surface.

A work support portion 9d for supporting the work is formed in a portion of the work transfer member 9 located below the tip end portion 5a. The workpiece support portion 9d includes a roughly T-shaped base 9e, approximately L-shaped locking portions 9f and 9g rotatably attached to both ends of the base portion 9e, and each of the locking portions 9f and 9g.
It consists of drive cylinders 12a and 12b for rotating.

Also, on the right side of the floor 3 in Figure 1, there is a jig stand 1.
9 is installed, and the workpiece 2 is placed on the jig stand 19.
A plurality of mounting tables 19a are formed on which the workpieces 20 are placed, and each mounting table 19a is provided with a clamper (not shown) for fixing the workpiece 20.

Next, the operation will be explained.

The composite work robot 1 of this embodiment has a workpiece 20.
Welding and transportation work will be carried out.

When performing the above welding work, the workpiece conveying member 9 is removed from the arm 5, and therefore, this welding work is performed in exactly the same way as welding work by a conventional welding robot. First, an operator places the workpiece 20 on the mounting table 19a of the jig table 19 and fixes it with a clamper. In this state, the work piece 2 is placed between the upper and lower tip parts of the welding gun 18.
Each rotating part operates so that the welding point 0 is located, and the predetermined welding point is held by the tip.
In this state, a current flows between the upper and lower chip portions, and welding is performed at each point in sequence in this manner.

Next, when carrying out the welded workpiece 20 to a predetermined carrying-out position, the workpiece conveying member 9 is first attached to the arm 5. In this case, the engaging piston 11 of the workpiece conveying member 9 is retracted, so that the piston rod 11a is inserted into the guide hole 10.
immersed in c. Moreover, the drive cylinder 12a,
12b is contracted, so the locking parts 9f, 9
g has been rotated to the position shown by the dashed line in FIG.

In this state, the rod 8b of the engaging member 8 and the engaging pin 8
c into the fitting hole 10a, and further move the engagement piston 11 forward. Then, the piston rod 11a engages with the upper side of the engagement pin 8c, and at this time, the contact portion 9c of the support portion 9b engages with the rear portion 5c of the arm 5.
In this way, the workpiece conveying member 9
is attached to arm 5.

Then, the workpiece 2 is moved by the workpiece support section 9d.
0, the locking parts 9f and 9g of the workpiece support part 9d are inserted into the opening 20a of the workpiece 20, and in this state, the drive cylinders 12a and 12b are extended, so that the locking parts 9f and 9g are It rotates to the position shown by the solid line in Figure 2, and its tip is attached to the work 20.
The workpiece 20 is thereby supported by the workpiece conveying member 9. And in this case,
The workpiece conveyance member 9 of this embodiment has a distal end 5a to which a welding gun 18 is attached to the arm 5.
Instead, it is supported at the middle part 5b closer to the base 2 and the rear part 5c even closer to the base 2, so the arm 5 is not supported like the conventional structure.
There is no possibility that a large load will act on the tip end 5a.

In this state, arm 5 moves upward and further rotates,
As a result, the work 20 is carried out to a predetermined carry-out position, where the drive cylinders 12a and 12b are contracted to release the lock between the locking parts 9f and 9g and the work 20, and as a result, the work 20 is moved to this carry-out position. will be placed on.

When the carrying out operation is completed, the workpiece conveying member 9 is removed from the arm 5 and placed at a conveying member mounting position (not shown).

In this way, in this embodiment, the intermediate portion 5 of the arm 5
Since the workpiece conveyance member 9 is detachably supported at b, it is possible to perform not only welding work but also conveyance work, and moreover, the tip 5a of the arm 5 can be removed during conveyance.
Since it is possible to prevent a large load from being applied to the robot, the entire device can be downsized by using a robot with a small carrying capacity, and the accuracy of the conveyance work can be improved.
Further, since the contact portion 9c of the support portion 9b is configured to contact the rear portion 5c of the arm 5, the workpiece conveyance member 9 can be reliably attached to the arm 5.

Furthermore, when working on a workpiece, the workpiece transport member 9, which is required to transport the workpiece, is removed from the robot arm 5, so the inertial force applied to the arm 5 is reduced. It is possible to speed up the operation of the robot, and the play in the arm 5 of the robot is less likely to change over time, making it possible to improve work accuracy, maintenance, etc.

In the above embodiment, a welding gun is installed as a working tool, but the working tool is not limited to a welding gun. For example, a painting gun, a sealer filling gun, etc. can be installed. Of course. Further, in the above embodiment, the case where the support portion 9b is provided has been described, but in the present invention, the support portion 9b is not necessarily required.

[Effect of idea]

As described above, according to the compound work robot according to the present invention, a work tool is attached to the tip of the arm of the robot, and a workpiece transporting member that performs supporting motion for transporting the workpiece is installed at the intermediate part of the arm when transporting the workpiece. Since the support member is installed to support the workpiece conveyance member so that the workpiece support part of the workpiece conveyance member is located below the tip of the arm when the workpiece is conveyed by the robot via the conveyance member,
This has the effect of being able to perform two tasks: working on the workpiece and transporting the workpiece. In addition, since the workpiece transport member for transporting the workpiece is removed from the robot's arm during work, the inertial force applied to the arm is reduced, thereby increasing the speed of the robot's work during work. In addition, there is an effect that the rattling of the robot arm is less likely to change over time, resulting in superior work accuracy and maintenance. Furthermore, since the workpiece transfer member is attached to the middle of the arm, it is possible to prevent a large load from being applied to the tip of the robot arm during transfer. This has the effect of improving the accuracy of conveyance work.

[Brief explanation of the drawing]

FIG. 1 is a configuration diagram showing a state in which the conveyance member of a composite work robot according to an embodiment of the present invention is removed;
The figure is a configuration diagram showing the state in which the conveyance member is attached.
FIG. 3 is a partially sectional side view showing the engaging member portion. 1...Complex work robot, 5...Arm, 5a
...The tip of the arm, 5b...The middle part of the arm,
9...Work conveying member, 9a...Supported part, 9d
... Work support part, 18 ... Work tool (welding gun),
20...Work.

Claims (1)

[Claims for Utility Model Registration] It has an arm whose one end is supported by the robot body, a working tool for working on a workpiece is attached to the tip of the arm, and adjacent arms are rotated in a complementary manner to each other. The robot is a multi-joint type robot, in which a workpiece transporting member for supporting the workpiece is attached to the intermediate part of the arm only when transporting the workpiece, and the robot can transport the workpiece through the transporting member. A composite working robot characterized in that a support member is provided to support the workpiece conveyance member so that the workpiece support part of the workpiece conveyance member is positioned below the tip of the arm during conveyance.