JPS5890484A - Prefabricated robot - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a robot that performs assembly operations such as tightening screws and transferring parts, and particularly relates to an articulated robot.

Conventionally, for assembly purposes, automatic assembly machines such as robots that perform cubic positioning using an orthogonal coordinate system, or machines that give rotational motion only to the axis and perform positioning using an orthogonal coordinate system for the upper and lower parts, are used.
Robot-like automatic assembly machines using a so-called cylindrical coordinate system have been put into practical use.

In addition, recently, the Special Publication No. 51-27063. Special Public Service 1973-
Handling devices with multiple joints, such as the one seen in 46986, began to appear.

These robotic automatic machines or handling devices vary in the degree of freedom and direction of movement in space, the degree of rigidity and direction, ease of control, etc., and each has advantages and disadvantages.

From a practical point of view, it is very important to make the structure as simple as possible and achieve cost benefits, and the direction of freedom and rigidity can be changed depending on the needs of the moment. Robots are desired.

The present invention satisfies these demands, and allows a single robot to combine a so-called vertically articulated robot,
The purpose is to provide a robot that has the functions and characteristics of both horizontally articulated robots.

The structure of the present invention will be explained below. Figure 1.

FIG. 2 is a diagram for explaining the present invention in detail, and the first
The figure shows an example of using it as a vertical joint, and Figure 2 shows an example of using it as a horizontal multi-joint.

A bearing 1' is mounted on the column 1 on an axis perpendicular thereto. A first arm 6 is rotatably mounted on this bearing 1'. The first arm above is the handle 3
It rotates on the above-mentioned axis, its rotational position is detected by a sensor 4, and its rotational movement is locked by a lock bolt 2.

At the tip of the 17th arm 6, in a direction perpendicular to the axis,
The second arm 6 is attached so as to have a center of rotation. This second arm 6 is driven by a motor 11, and its rotation angle is detected by a sensor 12. A third arm 7 is attached to the tip of the 21st arm so as to be rotatable on an axis in the same direction as the center of rotation of the second arm, and the third arm 7 is driven by a motor 13 and a sensor 14. The rotation angle is detected. Further, a tool holding arm 8 is attached to the tip of the third arm 7 so as to be rotatable on an axis in the same direction as the center of rotation of the second arm 6, and a motor 15 is also attached to the tip of the third arm 7.
Then, the rotation angle is detected by the sensor 16. A tool holder 9 is attached to the tool holding arm 8 so as to be rotatable on an axis in the same direction as the center of rotation of the first arm, and its rotational position is detected by a sensor 19, and the tool holder 9 is fixed by a lock bolt 9'. Ru.

FIG. 2 shows a state in which the first arm 6 and the tool holding arm 8 in FIG. 1 are each rotated eoO.

FIG. 6 is a block diagram illustrating the configuration of a controller that drives and controls the robot of the present invention.

Between the main controller 24, the horizontal multi-joint system coordinate calculation unit 27° and the vertical multi-joint system coordinate calculation unit 28, there are
Input position information cable 26 and output position information cable 2
e and a calculation section selection cable 29. In addition, the sensors 11, 13, and 15 shown in FIG.
The motors 12 and 12 are connected by a rotation angle detection cable 21.
14 and 16 are connected to each other by a drive cable 23, and the sensor 4 and 19 are connected to each other by a state detection cable 22.

Now, in the case of the configuration shown in FIG. The coordinate calculation unit 28 is selected, and the sensor 1
2, 14, 16 and motors 11, 13, 15, the tip of the tool 10 is controlled to a predetermined position on the plane of the figure. At the same time, the orientation of the tool on the same plane is also controlled. rock bolt 2
, when using handle 3 and setting it to the state shown in Figure 2,
The main controller 24 determines by the sensors 4 and 19 that the tool 10 is set in a horizontal multi-joint configuration, and the tool 10 is position-controlled on a plane that is perpendicular to FIG. 2 and parallel to the first to third arms. Ru.

In general, during the sub-assembly stage of assembly work, work is often done on the same plane as shown in Figure 4.In the stage of assembling the finished product, work is often done on the same plane as shown in Figure 3, such as an inclined surface 17, 18 or a flat surface 3o with a step. It is necessary to work on different planes, such as the plane 31 that forms a right angle.

Needless to explain, to assemble a product like the one shown in Figure 3,
The configuration shown in FIG. 1 is suitable, and the configuration shown in FIG. 2 is suitable for flat work as shown in FIG.

As described above, the present invention has the great feature that one robot can perform different functions, and the sensor detects the configuration and automatically switches the coordinate calculation. error-free;
It has remarkable effects such as improved efficiency.

[Brief explanation of the drawing]

FIG. 1 is a diagram illustrating the structure of the robot of the present invention when configured as a vertically articulated robot, and FIG. 2 is a diagram illustrating the structure when the robot shown in FIG. 1 is configured as a horizontally articulated robot. , 3 and 4 are diagrams showing the form of a product to be assembled by the robot of the invention, and FIG. 5 is a block diagram showing the configuration of the controller of the robot of the invention. 1---... Column, 1' e-shaft/fist/-bearing, 5
"...First arm, 6----Second arm, 10.1111.Third arm, 8...Tool holding arm, 9...Tool ho/ l/ p”ζ 1o・
......sensor, 15...0 motor, 24...
. . . Main control device, 28 . . . Vertical multi-joint system coordinate calculation section, 29 . . . Horizontal multi-joint system coordinate calculation section.

Claims (2)

[Claims] (1) A bearing installed perpendicular to the column, a first arm supported by this bearing, and a rotating shaft at the tip of the first arm that rotates on a rotation axis perpendicular to the rotation axis of the first arm. A third arm is attached to the tip of the second arm so as to rotate on a rotation axis in the same direction as the rotation axis of the second arm, and a tool holding arm mounted at the tip so as to rotate on a rotation axis in the same direction as the rotation axis of the second arm; a senna that detects and drives the rotation angle of the second and third arms; An assembly robot consisting of a motor. (2) The assembly robot according to claim 1, comprising a tool holder attached to the tip of the tool holding arm so as to rotate on a rotation axis in the same direction as the rotation axis center of the first arm. (barrel) It has a vertical multi-joint system coordinate calculation section and a horizontal multi-joint system coordinate calculation section, and depending on the configuration of the robot body, the main controller automatically selects either coordinate calculation section and controls the position. An assembly robot according to claim 1, which is configured to perform the following.