JPH06320475A - Industrial robot - Google Patents

Abstract

PURPOSE:To facilitate variation of constitution of a system which is attended with variation of a hand tool and a drive part. CONSTITUTION:A robot body 21 is formed such that it is separated into a body main part 22 and a conveyance unit 23 having a hand 38. An arm changer 29 on the fixed side is arranged to the division arm 28 of the body main part 22 and meanwhile, an arm changer 41 on the mounting and demounting side is arranged to the division arm 36 of the conveyance unit 23 and removably connected thereto. A connector for feeding a power and a signal is arranged to the arm changer 29 on the fixed side and the arm changer 41 on the mounting demounting side. When the conveyance unit 23 is connected to the body main part 22 and electrical connection therebetween is also simultaneously performed. A control panel 46 and control devices 31, 34, 35, and 40 to energize and control servo motors 30, 32, 33, and 39, respectively, for respective shafts are connected together in series through a cable for feeding power and a signal to form a dispersion processing type controller.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial robot that uses a predetermined hand tool to carry out tasks such as transporting parts, assembling parts, and tightening screws.

[0002]

2. Description of the Related Art As shown in FIG. 5, a main body 1 of an industrial robot, for example, a horizontal articulated robot is mounted on a base 2.
The right end of the first turning arm 4 is connected via the vertical shaft 3,
A second turning arm 5 is connected to the left end of the first turning arm 4, and a hand 7 is connected to the left end of the second turning arm 5 via a rotary shaft 6.

Of these, the vertical shaft 3 (first swing arm 4)
Is vertically moved by a vertical shaft motor (not shown) provided on the base 2, and the first swivel arm 4 is swung horizontally with respect to the vertical shaft 3 by a first swivel motor 8 to make a second swivel motion. The arm 5 is horizontally swiveled with respect to the first swivel arm 4 by the second swivel motor 9, and the hand 7 (rotary shaft 6) is vertically driven with respect to the second swivel arm 5 by the rotary motor 10. It is designed to rotate about an axis. The motors 8, 9, 10 and the like are controlled by the robot controller 11.

[0004]

By the way, in recent years, while work speed and precision of industrial robots have been increased,
It has been required to reduce the quantity of various products in the assembly work performed by the industrial robot.

However, in the above-mentioned conventional robot, when it is desired to change the system configuration such as changing the drive axis of the arm, the structure of the robot body 1 is changed (disassembly of the drive unit, assembly, cable, etc.). It is necessary to change the configuration of the motor driver of the robot controller 11 and change the system software.
For this reason, conventionally, it is substantially impossible to change the system configuration of the robot, and it is necessary to make a very simple change such as exchanging a tool (hand 7) within a range in which work contents can be limited. It was stopped.

The present invention has been made in view of the above circumstances, and an object thereof is to provide an industrial robot capable of easily changing a system configuration such as a change in a hand tool or a driving unit. .

[0007]

In an industrial robot of the present invention, a robot body is separately configured into a main body portion on a base side and a working portion on an arm tip side provided with a hand tool. Each axis is configured to be driven by a distributed processing type controller, and the main body main part and the working part are detachably connected via an automatic arm changer having connectors for power supply and signals. However, it has a feature.

Further, in this case, it is more effective if each of the control devices constituting the distributed processing type controller is connected in series by a power supply cable and a signal cable. Further, the control device provided on the side of the working unit may be configured to store data regarding the working unit.

[0009]

According to the above means, the main body of the robot is divided into the main body on the base side and the working section on the arm tip side including the hand tool, and these are detachably connected via the automatic arm changer. Therefore, the structure of the system configuration can be easily changed by removing the working unit and mounting another working unit. Each axis of the robot body is driven by the distributed processing type controller, and the automatic arm changer is provided with connectors for power supply and signals. Will be changed.

Further, in this case, if each control device constituting the distributed processing type controller is connected to the series by a power supply cable and a signal cable, the number of cables can be reduced, and further, ,
If the control unit provided on the working unit side is configured to store the data related to the working unit, it is possible to securely and easily change the system software and check the system by accessing from the main unit side of the main unit. Can be done.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to an assembling robot will be described below with reference to FIGS. First, FIG. 1 schematically shows an external configuration of an assembling robot according to the present embodiment, in which the robot body 21 is
The main body portion 22 on the base side and the transport unit 23, which is a working portion on the arm tip side, are connected to each other.

Of the main body portion 22, the base end portion (right end portion in the figure) of the first turning arm 26 is connected to the upper end of the vertical shaft 25 provided on the base 24, and the first turning arm 2
A base end portion of a split arm 28 that constitutes a base end side half portion of the second swivel arm 27 is connected to a tip end portion (left end portion in the figure) of 6. Further, a fixed side arm changer 29 is provided at the tip of the split arm 28.

Further, as shown in FIG. 2, the vertical shaft 25, and thus the first swing arm 2 is provided in the base 24.
A vertical drive servomotor 30 serving as a drive source for vertically moving 6 is provided, and a control device 31 for controlling energization of the vertical drive servomotor 30 is also provided.

Further, the first turning arm 26 is located at the base end side above the first turning arm 26 and serves as a drive source for turning the first turning arm 26 horizontally with respect to the vertical shaft 25. A turning servo motor 32 is provided,
A second turning servomotor 33, which is located at the tip end side and serves as a drive source for turning the split arm 28 (second turning arm 27) horizontally with respect to the first turning arm 26.
Is provided. The first turning arm 26 is provided with control devices 34 and 35 for controlling energization of the first turning servo motor 32 and the second turning servo motor 33, respectively.

On the other hand, the transport unit 23 which is the working section
Is provided with a rotary shaft 37 at the distal end of a split arm 36 that constitutes the distal half of the second swivel arm 27, and a hand 38 as a hand tool at the lower end of the rotary shaft 37. . The split arm 36 is provided with a rotation servomotor 39 for rotating the rotation shaft 37 and thus the hand 38 with respect to the second swivel arm 27 about a vertical axis, and the rotation servomotor 39 is provided. A control device 40 for controlling energization of 39 is provided.

In the carrying unit 23, the detachable arm changer 41 provided on the split arm 36 is
By being detachably connected to a fixed-side arm changer 29 provided on the split arm 28, the main body 2
It is designed to be connected to 2. At this time, as shown in FIG. 3, the fixed arm changer 29 and the detachable arm changer 41 are provided with connectors 42 and 43 for power supply and signal, respectively, and the transport unit 2
When 3 is connected to the main body portion 22, both are electrically connected at the same time. The fixed arm changer 29 and the detachable arm changer 41 are also provided with connectors 44 and 45 for supplying air.

The robot body 21 constructed as described above
A control panel 46 storing a work program and the like is connected to the. The control panel 46 has various operation switches and is connected to a power source. A control device 3 for controlling the servomotors 30, 32, 33, 39 of the respective axes of the control board 46 and the robot body 21.
A distributed processing type controller is composed of 1, 34, 35 and 40. At this time, as shown in FIG.
Control board 46 and each servo motor 31, 34, 35, 40
Are connected in series by a power supply cable 47 and a signal cable 48. As described above, the connectors 42 and 43 are provided between the control device 35 and the control device 40.
It is designed to be connected by.

Now, in this embodiment, FIG. 4 and FIG.
As shown in FIG. 5, in addition to the above-described transport unit 23, a transport unit 49 with an additional shaft as a working unit and a screw tightening unit 50 are prepared. Of these, in the transport unit 49 with an additional shaft, a block 55 is connected to a split arm 52 connected to the main body portion 22 by a detachable arm changer 51 via a rotation shaft 54 rotated by a rotation servomotor 53. Then, the block 55 is swung by the turning servomotor 56 about the horizontal axis.
7 is connected, and a hand 58, which is a hand tool, is connected to the turning shaft 57. The rotation servomotor 53 and the turning servomotor 56 are respectively provided in the control device 5.
Energization is controlled by 9 and 60 (see FIG. 2).

In the screw tightening unit 50, a split arm 62 connected to the main body portion 22 by a detachable arm changer 61 is attached to a divided arm 62, and a screw tightening module 64 as a hand tool driven by a rotation servomotor 63.
It is configured by connecting. The rotation servo motor 6
3 is also a control device 65 constituting a distributed processing type controller
The energization is controlled by.

Then, in the memories (not shown) of the control units 40, 59 (60) and 65 respectively provided in the transport unit 22, the transport unit 49 with an additional shaft and the screw tightening unit 50 as the working section, Arm function data related to the model of the corresponding working unit is stored.

In the assembling robot configured as described above, the work is executed in a state where the predetermined working unit (for example, the transport unit 23) is connected to the main body unit 22 via the arm changers 29 and 41. To be done. At this time, the control panel 4
The robot body 2 according to the programs stored in 6
The servo motors 30, 32, 33, 39 of the respective axes of 1 are the respective control devices 31, 34, 35, 4 provided in a distributed manner.
It is controlled by 0 so that a predetermined work is executed.

Here, when the system configuration of the assembling robot is changed due to a change in the type of work, the transport unit 23 is detached at the arm changers 29 and 41, and another work unit (for example, an additional shaft). Attached transport unit 49)
The main body 22 of the
(Fixed arm changer 29). This makes it possible to easily change the mechanical structure of the system configuration. Further, since the control units 59 and 60 for controlling the respective axes (the rotation servo motor 53 and the turning servo motor 56) included in the additional-axis-carrying unit 49 are provided in the additional-axis-carrying unit 49, the main body is provided. Main part 22
There is no need to change the motor driver on the side.

Further, with the connection of the transport unit 49 with an additional shaft to the main body portion 22, both of them are electrically connected by the power supply and signal connectors 42 and 43. Power can be supplied from the unit 22 and signals can be transmitted and received between the control devices. As a result, the system configuration can be changed without changing the power supply and signal cables 47 and 48 on the main body 22 side.

The memory (not shown) of the control unit 59 in the additional shaft-equipped transport unit 49 stores arm function data relating to the additional shaft-equipped transport unit 49, so that the main body main unit 22 side ( For example, by accessing from the control panel 46), it is possible to automatically change the system software accompanying the replacement of the model of the working unit. As a result, it is possible to easily and surely reconstruct the system configuration in terms of hardware and software.

As described above, according to this embodiment, the robot main body 21 is divided into the main body main portion 22 and the working portions 23, 49 and 50, which are arranged in the arm changers 29, 41 and 5.
Since it is designed to be detachably connected via 1, 1, 61,
Unlike the conventional one, it is possible to easily change the system configuration, which involves changing the hand tool or the driving unit. As a result, it has become possible to fully meet the demand for a small amount of various types of assembly work.

Further, particularly in this embodiment, the respective control devices 31, 34, 35, 4 constituting the distributed processing type controller.
0, 46, 59, 60, 65 to the power supply cable 4
7 and the signal cable 48 are connected in series, the number of cables 47 and 48 can be reduced, and the structure can be simplified. Further, since the number of cables 47, 48 is small, the connectors 42, 43 can be downsized, and the arm changer can be downsized.

Further, in this embodiment, the working units 23, 4
Since the memory of the control devices 40, 59, 65 provided on the 9, 50 side is configured to store the arm function data relating to the model etc. of the corresponding working units 23, 49, 50, the main body main unit 22 By accessing from the side, it is possible to obtain an advantage that the system software can be changed and the system can be confirmed surely and easily.

The present invention is not limited to the above-described embodiment. For example, four or more replaceable working parts may be prepared, and the invention is not limited to assembly but may be applied to various industrial robots. The present invention can be applied, for example, and can be appropriately modified and implemented without departing from the spirit of the invention.

[0029]

As is apparent from the above description, according to the industrial robot of the present invention, the robot main body is separated into the main body main part on the base side and the working part on the arm tip side provided with the hand tool. In addition to the above, each axis of the robot main body is configured to be driven by a distributed processing type controller, and the main body main part and the working part are connected via an automatic arm changer having connectors for power supply and signals. Since it is detachably connected, it is possible to easily change the system configuration that involves changing the hand tool and the drive unit, and it is possible to sufficiently meet the demand for a small number of different types of work. That is an excellent effect.

Further, in this case, if each control device constituting the distributed processing type controller is connected to the series by the power supply cable and the signal cable, the number of cables can be reduced, and The size of the connector, and hence the automatic arm changer, can be reduced. Furthermore, if the control device provided on the working unit side is configured to store the data relating to the working unit, it is possible to reliably and easily change the system software and check the system. is there.

[Brief description of drawings]

FIG. 1 shows an embodiment of the present invention, and is a diagram schematically showing the overall configuration.

FIG. 2 is a diagram schematically showing an electrical configuration.

FIG. 3 is an enlarged front view of an arm changer portion.

FIG. 4 is a view corresponding to FIG. 1 showing another working unit.

FIG. 5 is a view corresponding to FIG. 1 showing a conventional example.

[Explanation of symbols]

In the drawings, 21 is a robot main body, 22 is a main body, 23 is a transport unit (working part), 24 is a base, 29 is a fixed arm changer, 30 is a vertical drive servomotor, 3
1 is a control device, 32 is a first turning servomotor, 33 is a second turning servomotor, 34 and 35 are control devices, 38
Is a hand (hand tool), 39 is a rotation servomotor, 40 is a control device, 41 is a detachable arm changer,
42 and 43 are connectors, 46 is a control panel, 47 is a power supply cable, 48 is a signal cable, 49 is a transport unit with an additional shaft (working part), 50 is a screw tightening unit (working part), and 51 is a detachable side. An arm changer, 53 is a rotation servo motor, 56 is a turning servo motor, 58 is a hand (hand tool), 59 and 60 are control devices, 61 is a detachable arm changer, 63 is a rotation servo motor, and 64 is a rotation servo motor.
Is a screw tightening module (hand tool), and 54 is a control device.

Claims (3)

[Claims] 1. A robot main body is separately configured into a main body main part on a base side and a working part on an arm tip side provided with a hand tool, and each axis of the robot main body is driven by a distributed processing type controller. The industrial robot characterized in that the main body main part and the working part are detachably connected via an automatic arm changer having connectors for power supply and signals. 2. The control devices forming the distributed processing type controller are connected in series by a power supply cable and a signal cable.
The described industrial robot. 3. The industrial robot according to claim 1, wherein the control device provided on the side of the working unit stores data regarding the working unit.