JPH04115885A - Traveling robot and device therewith - Google Patents

Abstract

PURPOSE:To facilitate workability and maintenance inspection, by providing a control part which controls four axes including a traveling axis to the three axes of a horizontal articulated robot in order to rotate, revolve and reciprocate a work with its holding. CONSTITUTION:A wrist rotating axis 1d which composes a horizontal articulated type robot rotates a work with its holding, a vertically moving axis 1c moves the wrist rotating axis 1d vertically, a front arm rotating axis 1f revolves on the circumference while vertically holding this vertically moving axis 1c at the tip of a front arm 1b, and a traveling axis 2 controls the wrist rotating axis 1d, vertically moving axis 1c and front arm rotating axis 1f of the horizontal articulated robot 1a and traveling axis 2 so that the traveling axis 2 may reciprocates the horizontal articulated robot 1a. Consequently the work is rotated with its holding, moved vertically, revolved and reciprocated.

Description

[Detailed Description of the Invention] [Field of Industrial Application] These inventions relate to a traveling robot that transfers a workpiece, and an apparatus equipped with the traveling robot that processes, assembles, or inspects the workpiece. It is something.

[Conventional technology]

2. Description of the Related Art Apparatuses that process, assemble, or inspect workpieces are sometimes equipped with a traveling robot that performs transfer operations such as loading, attaching, and unloading the workpieces.

6 to 8 are a front view, a side view, and a plan view, respectively, of a conventional traveling robot.

In the figure, (1) is a horizontally articulated robot, which consists of four axes: the rear arm (la), forearm (lb), vertical axis (lc), and wrist rotation axis (ldl). (le) is the robot controller. , (2) is a running axis for moving the horizontally articulated robot (1) forward or backward, and (2a) is a running axis controller.

In Fig. 9, (3) is a machining center, (3a)
is the main spindle of the machining center (3) that performs machining work, (
3b) is the processing tool, (3C) is the replacement tool, (3d) is the processing tool storage device of the automatic tool changer, (3e) is the changer part of the automatic tool changer, (3f) is the X direction, the Y direction Or a table device that operates in the X-Y compound direction (3
g) is a parts mounting device that positions and fixes parts that will be parts for machining, (3h) and (31) are automatic doors, (4) is a part that will be parts for machining, and (4a) is before processing as a workpiece. Part, (5) is part (4) and part before processing (4a
) is a parts stand. Arrows J1, J2, Js, J
4 indicates the direction of movement of the horizontally articulated robot (1), and arrow S indicates the direction of movement of the running axis (2). Furthermore, arrow
, Y indicates the operating direction of the table device (3f), and arrow Z
indicates the operating direction of the main shaft (3a) and the processing tool (3b).

Next, the operation will be explained.

The machining center (3) operates the main spindle (3a), table fixture (3F), and automatic tool changer (3d) based on programmed data to machine the part (4) into a predetermined shape and size. When the machining is completed, the parts mounting device (3g) unclamps, and the automatic m (3h), (3
1) opens, horizontally articulated robot (1) and running axis (2) open.
) based on the programmed data, each axis arrow J
1 to J4 and the parts that have been processed in the direction of arrow S (4
) and transfer it to the parts table (5). Next, the unprocessed part (4a) is grasped and transferred to the parts mounting device (3g), the parts mounting device (3g) clamps and fixes the unprocessed part (4a), and the automatic door (3h), (31) is closed, and the machining center [3] starts machining.

[Problems to be Solved by the Invention] Since conventional traveling robots and devices with traveling robots are configured as described above, the horizontally articulated robot (1) and traveling axis (2) of the machine tool are configured as described above. Since it was configured and used in combination with a machining center (3),
During maintenance and inspection of the main shaft (3a) of the machining center (3), replacing the machining cutter (3b) and replacement cutter (3c), and changing the setup of the parts mounting bag N (3g), it may become an obstacle to the work, or From the outside of the machining center (3), remove the parts mounting bag H (3g
), even if component (4) is lightweight, a relatively large horizontally articulated robot +11 with long arms is required.

Furthermore, in addition to the robot controller (1e), a travel axis controller (2a) is required, resulting in large and expensive equipment, and furthermore, there are problems such as the installation area of the equipment is also large.

These inventions were made to solve the above-mentioned problems, and they provide a relatively small and lightweight traveling robot that can be easily mounted on the ceiling of processing, assembly, or inspection equipment, and the above-mentioned traveling robot. The object of the present invention is to obtain a device with a traveling robot that is easy to work with, easy to maintain and inspect, and can save space.

[Means to solve the problem]

The traveling robot according to the first invention includes a wrist rotation axis that can grip and rotate a workpiece, a vertical movement axis that can move the wrist rotation axis up and down, and a circular movement while holding the vertical movement axis vertically at the tip of a forearm. a horizontally articulated robot part having a three-axis configuration consisting of a forearm rotating shaft that can rotate on the circumference; a traveling axis that can reciprocate the horizontally articulated robot part; and a horizontally articulated robot part that grips and rotates the work, and The robot is equipped with a control section that controls four axes including the traveling axis in addition to the three axes of the horizontally articulated robot section for reciprocating motion.

Further, the device with a traveling robot according to the second invention is a device for processing, assembling, and inspecting a workpiece, and the device is a device for processing, assembling, and inspecting a workpiece. The traveling robot has a horizontally articulated robot section mounted on the ceiling of the device so as to be able to reciprocate.

[Operation] In the control unit in the first invention, the wrist rotation axis constituting the horizontally articulated robot unit grips and rotates the workpiece, the vertical movement axis moves the wrist rotation axis up and down, and the forearm rotation axis rotates the forearm. a wrist rotation axis of the horizontally articulated robot section, which rotates on the circumference while holding the vertically moving axis vertically at the tip of the horizontally articulated robot section;
The vertical movement axis, the forearm rotation axis, and the traveling axis are controlled to grip and rotate the workpiece, cause it to move up and down, rotate, and reciprocate.

Further, the traveling robot in the second invention is installed on the ceiling of a device for processing, assembling, and inspecting workpieces, and the horizontally articulated robot part moves reciprocatingly on the ceiling of the device. Transfer the work.

[Embodiments of the Invention] Examples of the first and second inventions will be described with reference to FIGS. 1 to 5. In the drawings, the same reference numerals as in the conventional example indicate the same or equivalent elements as in the conventional example.

1 to 3 are a front view, a side view, and a plan view, respectively, of a ceiling-mounted horizontally articulated robot as a traveling robot as an embodiment of the first invention.

In the figure, (IA) is the rear arm (la) of the conventional example, and the wrist rotation axis (l) that can rotate while gripping the workpiece is shown.
d), the wrist rotation axis (ld) is a vertical movement axis [1cl] that can move up and down, the above-mentioned vertical movement axis (lc) is attached to the tip of the forearm (1b)
) can be rotated around the circumference while holding the forearm vertically (
A horizontally articulated robot (LEL) with a 3-axis configuration consisting of
is a robot controller that controls the running axis (2) that moves the horizontally articulated robot [lAl forward or backward, and is the same as the running axis controller (2e) in the conventional example.
is omitted.

FIGS. 4 and 5 are diagrams of a device with a traveling robot as an embodiment of the second invention.

In the figure, a traveling axis (2) for moving the above-mentioned horizontally articulated robot CIA forward or backward is provided on the ceiling of the machining center (3), and the horizontally articulated robot (IA) moves along this traveling axis ( 2) is assembled so that it can reciprocate.

Next, the operation will be explained.

At the time of starting, the horizontally articulated robot (IA) is suspended from the end of the traveling shaft (2) protruding from the machining center (3), and the side automatic ffl [3jl of the machining center (3) is opened.

Next, based on the data programmed in advance in the robot controller (le), the horizontally articulated robot I-(I
A) moves onto the unprocessed component (4a) on the component placement table (5) and grips the unprocessed component (4a).

The horizontally articulated robot (IA) grasps the part to be processed (4a) and moves it to the part mounting device (3) in the machining center (3).
g) Move to position and transfer the unprocessed part (4a) onto the part mounting device (3g).

The transfer of the unprocessed part (4a) is completed, and the part mounting device (3
g) clamps and fixes the part (4a) before processing. Then, the horizontally articulated robot (IA) moves to the machining center (3)
The vehicle returns to the external starting position, and the side automatic door (3j) is closed.

The machining center (3) operates the main spindle (3) based on data programmed into a controller (not shown) in advance.
a), the table device (3f), and the machining center (3) of the automatic tool changer (3d) start machining, and process the unprocessed part (4a) into a predetermined shape and size (fourth
(The figure shows the state during processing).

The unprocessed part (4a) is completed, becomes part (4), and the part mounting device (3g) unclamps it, and the side automatic door (
3j) will be opened.

The horizontally articulated robot (IA) and the traveling axis (2), which were waiting outside the machining center (3), move in the directions of arrows J2 to J4 and arrow S based on the data programmed into the robot controller (1e). works,
Grasp the completed part (4) on the part mounting device (3g), move it to the side outside of the machining center (3), and transfer it to the part placement stand (5) (Figure 5 shows the removal of part (4)). (Fig. 3 shows the state).

Processing is performed by repeating a series of steps in this manner.

In addition, although the case where a machining center was used as a processing device was explained in the above-mentioned example, the same effect as the above-mentioned example can be obtained even if other processing devices are used. Furthermore, an assembly device (automatic assembly machine) or an inspection device other than the processing device may be used to obtain the same effect as the above embodiment.

[Effects of the Invention] As described above, according to the first invention, the horizontally articulated robot section has a three-axis configuration consisting of a wrist rotation axis, a vertical axis, and a forearm rotation axis, and the control section of the horizontally articulated robot section. Since it controls four axes including the traveling axis in three axes, the workpiece can be gripped, rotated, turned, and reciprocated, as well as
This has the effect of providing a relatively small and lightweight traveling robot that can be easily installed on the ceiling of processing, assembly, or inspection equipment.

According to the second invention, the horizontally articulated robot part is reciprocatably assembled to the ceiling of an apparatus for processing, assembling, and inspecting workpieces using the traveling robot according to the first invention, Since the workpiece is configured to be transferred, it is possible to obtain an apparatus with a traveling robot that is easy to work with, easy to maintain and inspect, and can save space.

[Brief explanation of drawings]

1 to 3 are a front view, a side view, and a plan view of a traveling robot as an embodiment of the first invention, and FIG. 4,
FIG. 5 is a bird track diagram of a device with a traveling robot as an embodiment of the second invention, FIGS. 6 to 8 are respectively a front view, a side view, and a plan view of a conventional traveling robot. FIG. It is a bird track diagram of a conventional device with a traveling robot. In the figure, (l^) is a horizontally articulated robot, (lb)
is the forearm, (lc) is the vertical movement axis, (ldl is the wrist rotation axis,
(le) is the robot controller, (If) is the forearm rotation axis, (2) is the travel axis, (3) is the machining center, (3
a) is the main shaft, (3b) is the processing tool, (3c) is the replacement tool, (3d) is the processing tool storage device, (3e) is the replacement surface, (3f) is the table device, (3g) is the parts installation The devices (3h), (31) and (3j) are automatic doors. In addition, in the figures, the same reference numerals indicate the same or equivalent parts.

Claims (2)

[Claims] (1) A wrist rotation axis that can grip and rotate a workpiece, a vertical axis that can move the wrist rotation axis up and down, and a forearm that can rotate around the circumference while holding the vertical axis vertically at the tip of the forearm. a horizontally articulated robot section with a three-axis configuration consisting of a rotating shaft; a running shaft that allows the horizontally articulated robot section to reciprocate; and a horizontal joint that grips, rotates, turns, and reciprocates the workpiece. A traveling robot characterized by comprising a controller for controlling four axes including the traveling axis in addition to the three axes of the shaped robot part. (2) A device for processing, assembling, and/or inspecting workpieces, comprising a traveling robot according to claim 1 for transferring the workpieces, the traveling robot being mounted on the ceiling of the device. A device with a traveling robot, characterized in that a horizontally articulated robot part is attached to the part so as to be able to move back and forth.