JPH10296665A - robot - Google Patents

Abstract

(57) [Problem] To provide a robot capable of changing the direction of a chuck claw at the same work position on a work. The present invention provides a first moving unit having a first moving member which can reciprocate by operating a first reciprocating driving source, and a first moving member having a first moving member which is operated by a second reciprocating driving source. A robot having a second moving member 22 movable in a direction intersecting with the moving direction, and a second moving unit 20 connected to the first moving member 16 and movable integrally therewith; A working unit 40 having a swing arm 33 movable integrally with the second moving member 22 and swingable with respect to the second moving member 22, and having a chuck claw 51 capable of holding components on the swing arm 33. Are integrally connected.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot provided with a chuck claw capable of holding a component at the tip of a working unit.

[0002]

2. Description of the Related Art Conventionally, for various operations such as fastening screws to a workpiece and inserting parts, a robot having an orthogonal coordinate type robot equipped with an XY moving unit and a working unit corresponding to the various operations is used. ing. A description will be given of a type of such a robot that performs screw tightening. A screw tightening driver serving as a work unit includes a driver bit that is rotatable under the driving of a motor and that can reciprocate by operating a cylinder. And a chuck claw capable of holding a screw on the moving path of the moving object. The chuck claws are rotatably connected to a chuck body for guiding a driver bit in a pair of left and right parts, and are normally urged to be closed by a spring. In addition, a holding hole is formed on the opposing surface of the chuck claw on the moving path of the driver bit, so that a screw sent from the screw supply device can be fitted.

[0003]

However, in the above-mentioned conventional robot, when the working unit is assembled to the orthogonal coordinate type robot, the direction of the chuck jaws is always constant, and the chuck jaws at the same position on the work are always fixed. For example, when working on a work having many projections, the orientation of the chuck jaws cannot be changed in accordance with the projections, and the chuck jaws interfere with the projections and expand. Problems such as being unable to open occur.

[0004]

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and has as its object to provide a robot capable of changing the direction of chuck claws at the same working position. In order to achieve this object, the present invention provides a first moving unit including a first moving member that can reciprocate by operating a first reciprocating drive source, and a first moving member that operates by operating a second reciprocating drive source. A robot having a second moving member movable in a direction intersecting with the moving direction and having a second moving unit connected to the first moving member and movable integrally therewith; A pivotable pivot arm is connected to the member, and a working unit having a chuck claw capable of holding components is integrally coupled to the pivot arm.

[0005]

Embodiments of the present invention will be described below with reference to the drawings. 1 to 4, reference numeral 1 denotes a robot, which includes a first mobile unit 10, a second mobile unit 20 extending and assembled in a direction perpendicular to the first mobile unit 10, and a second mobile unit 20. 20
And a working unit 40 provided in the turning unit 30. In the embodiment of the present invention, two directions perpendicular to each other on the horizontal plane are distinguished by arrows X and Y, and a vertical direction perpendicular to the arrows X and Y is represented by arrow Z.

The first mobile unit 10 includes a case 11
It has a ball screw mechanism 12 which is an example of a first reciprocating drive source housed therein. The ball screw mechanism 12 is screwed to the screw shaft 13 rotatably supported in the case 11, a motor 14 for driving the screw shaft 13 to rotate, and the screw shaft 13. And a first moving member 16 fixed to the bearing member 15 so that the ball screw mechanism 12 can reciprocate in the direction of the arrow X. .

The second moving unit 20 has a ball screw mechanism 21 which is an example of a second reciprocating drive source and extends in a direction perpendicular to the ball screw mechanism 12 of the first moving unit 10. This ball screw mechanism 21
Screw shaft 23 rotatably supported in second moving member 22
And a motor 24 for rotationally driving the screw shaft 23, and a bearing member 25 screwed to the screw shaft 23 and movable along with the rotation of the screw shaft 23. Is connected to the first moving member 16 extending along the side surface of the second moving member 22, and the ball screw mechanism 2
The second moving member 22 is configured to move in the arrow Y direction by the operation of 1.

The turning unit 30 has a bracket 31 attached to an end face of the second moving member 22 of the second moving unit 20. The bracket 31 has a direct drive motor 32 (hereinafter referred to as a DD motor 32). ) Is fixed. A turning arm 33 extending in the horizontal direction is connected to the DD motor 32.
The motor 32 is configured to be capable of turning on a horizontal plane in response to the driving of the motor 32.

The working unit 40 has a base 41 fixed to the swing arm 33, and a guide shaft 42 is slidably mounted on the base 41 so as to extend in the direction of arrow Z. A cylinder 43 is provided on the base 41, and a driver base 44 slidable along the guide shaft 42 is connected to the cylinder 43. The driver base 44 is connected to the guide shaft 42 by a tension spring 45, and is always kept in a state of being pulled up by the force of the tension spring 45. A driver bit 47 that is rotatable in response to driving of a motor 46 is disposed on the driver table 44, and is configured to reciprocate integrally with the driver table 44 by the operation of the cylinder 43.

A chuck table 48 is fixed below the guide shaft 42, and a chuck unit 49 is mounted on the chuck table 48. The chuck unit 49 includes a chuck body 50 configured to guide the driver bit 47 and a pair of left and right chuck claws 51 rotatably attached to the tip of the chuck body 50. The chuck pawl 51 is configured to be always closed by being biased by a spring 52, and the driver bit 47
The holding hole 51a which can fit and hold the supplied screw on the moving path is formed separately.

The operation of the first moving unit 10, the second moving unit 20, and the turning unit 30 is configured to be controlled by control means (not shown). The operation of the first moving unit 10, the second moving unit 20, and the turning unit 30 is set according to the shape, so that the working unit 40 can be moved to the same position on the work from a plurality of directions. Have been.

In the robot 1, a screw sent from a screw supply device (not shown) by air pressure or the like is fitted and held in a holding hole 51 a of the chuck claw 51. In this state, the ball screw mechanisms 12 and 21 of the first moving unit 10 and the second moving unit 20 respectively operate to move the first moving member 16 and the second moving member 22, respectively, and the DD motor of the turning unit 30 3
2 drives and turns the turning arm 33 to move the work unit 40 onto the screw hole provided in the work.
Subsequently, in response to the operation of the cylinder 43, the driver table 44 and the chuck table 48 are integrally lowered to a predetermined position,
First, the chuck table 48 comes into contact with a stopper (not shown) and stops. For this reason, the screw held by the chuck pawl 51 is pushed out of the chuck pawl 51 by the driver bit 47 that continues to descend together with the driver base 44, and the driver bit 47 is rotated by the driving of the motor 46, and the screw of the work is rotated. Tightened into the screw hole.

In the screw tightening operation described above, the combination of the positioning of the first moving unit 10 and the second moving unit 20 by the orthogonal movement and the positioning of the turning unit 30 by the turning movement as shown in FIG. The work unit 40 can be moved to a position from a plurality of directions. For example, a protrusion is provided adjacent to a screw hole, and the arrangement of the protrusion is sequentially screwed to a plurality of workpieces different from each other. In the case where it is necessary to perform chucking, the chuck claws 51 are sequentially arranged in accordance with the arrangement of the projections.
It is possible to change the direction and perform screw tightening work.

In the embodiment of the present invention, the first moving means and the second moving means move in directions orthogonal to each other, but move not only in the orthogonal direction but also in the direction in which the two moving means intersect. If they do, the obtained effects are the same. In addition, the work unit that performs screw tightening has been described, but this is also a pick-and-place unit used to supply a component to a predetermined position on a work, for example, by gripping a component with a chuck claw, The effect obtained is the same as long as the working unit is provided with a chuck claw or a hand configured to be expandable.

[0015]

As described above, in the robot of the present invention, the directions of the chuck claws at the same position on the work can be freely changed by the operation of the first moving unit, the second moving unit and the turning unit. For example, even for a plurality of workpieces provided with differently arranged protrusions in the vicinity of the work position, the orientation of the chuck claws is adjusted so that the chuck claws do not interfere with the protrusions at the time of expansion, and There is an advantage that the fastening operation or the component insertion operation can be reliably performed.

[Brief description of the drawings]

FIG. 1 is a front view of a robot according to the present invention.

FIG. 2 is a plan view of the robot according to the present invention.

FIG. 3 is a side view of the robot according to the present invention.

FIG. 4 is a partially enlarged cross-sectional view of a main part of a side surface near a chuck claw in a working unit of the robot according to the present invention.

FIG. 5 is an explanatory diagram showing an operation state of the robot according to the present invention.

[Explanation of symbols]

 Reference Signs List 1 robot 10 first moving unit 12 ball screw mechanism 16 first moving member 20 second moving unit 21 ball screw mechanism 22 second moving member 30 turning unit 32 DD motor 33 turning arm 40 work unit 43 cylinder 46 motor 47 driver bit 51 Chuck claw

Claims (3)

[Claims] 1. A first moving unit having a first moving member reciprocally movable by an operation of a first reciprocating drive source, and a direction intersecting a moving direction of the first moving member by an operation of a second reciprocating drive source. A robot having a second moving member movable to the first moving member, the second moving unit being connected to the first moving member and being movable integrally therewith, wherein the second moving member is movable integrally with the second moving member. A robot provided with a turning arm that can turn with respect to the second moving member, and a working unit having a chuck claw capable of holding components is integrally connected to the turning arm. 2. The robot according to claim 1, wherein the chuck pawl has a pair of structures urged to be always closed. 3. A control means which can be set to operate the first moving member, the second moving member, and the turning arm to position the chuck pawl at a same position on the work from a plurality of directions. The robot according to claim 1, wherein the robot performs the operation.