JPS61293786A - Memory and regeneration type industrial 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] [Object of the Invention] (Industrial Application Field) The present invention relates to the improvement of industrial robots, and the present invention facilitates teaching for memorizing operating procedures prior to actual use, especially teaching in a numerical control system. This invention relates to a memory/reproduction type industrial robot that can be used in more advanced fields. (Prior art) In general, the teaching method for memory/reproduction type industrial robots can be roughly divided into two methods: manually moving the operating arm of the robot along the trajectory of the actual object or using a master-slave method, and then using a storage device to move the operating arm of the robot along the trajectory of the actual object. There is a copying method in which the operating procedure is memorized, and a numerical control method in which the movement of the operating arm of the robot is calculated and the operating procedure is memorized.

However, no matter which teaching method is used, the robot must perform movements in three-dimensional directions, and for this purpose the teaching method must be such as to accurately memorize and reproduce displacement positions in each axis direction.

However, until now, it has not been widely adopted as an industrial robot.
Most of the articulated types used are multi-jointed arms on the robot body that have three degrees of freedom in the three axes of the X, Y, and Z axes.
The wrist part consists of jigs and tools such as welding torches attached to the tip of the robot body, and has roughly three degrees of freedom in the X, Y, and Z axes, and has a total of six degrees of freedom. Therefore, teaching using the two-copy method is possible, but
Teaching using a numerical control method requires a complex calculation formula of a six-dimensional equation with six elements, making teaching using numerical control impossible.

(Problems to be Solved by the Invention) The present invention was made in view of the above circumstances, and its purpose is to be small, inexpensive, have a relatively wide range of motion, and also be capable of copying teaching method. In addition to focusing on articulated robots, we developed a memorization/regeneration type industrial robot with a multi-jointed operating arm that has simple calculation formulas, easy teaching using numerical control, and the ability to perform highly accurate work. It is on offer.

[Structure of the Invention (Means for Solving the Problems)] In order to achieve the above object, the memory/reproduction type industrial robot of the present invention includes a support body and sequentially attached to the support body so as to be horizontally rotatable. A multi-joint actuating arm section consisting of a plurality of arms attached to the support body and other arms arranged below the arm attached to the support body, and a tip part of this multi-joint actuating arm section that can be raised and lowered. It consists of a vertical axis attached to the vertical axis, a jig and tool device attached to the vertical axis, and an elevating device for the multi-joint actuating arm section provided on the support body, and the multi-joint actuating arm section allows the robot's The displacement operation in the axial direction and the Y-axis direction and the displacement operation in the Z-axis direction are performed by at least one of the vertical shaft and the lifting device.

(Function) According to the memory/reproduction type industrial robot of the present invention, the degree of freedom of the robot is reduced, and displacement settings in the X and Y axis directions are numerically controlled by manipulating only the angle of the multi-joint operating arm. Teaching becomes easier, and numerical control teaching becomes easier by calculating only the displacement of the jig and tool device in the Z-axis direction. Moreover, since it is an articulated robot that can rotate horizontally and has a multi-joint operating arm with other arms located below the arm attached to the support, it has a wide range of motion in the X and Y axis directions. range.

(Example) Hereinafter, an industrial robot of the present invention will be described with reference to the attached drawings, which are one example.

The robot has a turning disk 2 on a pedestal 1 which is a support.
A first horizontal arm 3 is pivoted at its base end so as to be able to rotate in the horizontal direction by an actuator (not shown). Second horizontal arm 4 that can rotate freely
is pivoted. As a result, the first and second horizontal arms 3, 4 take on a bent shape due to their respective turns. Roughly speaking, a front-facing arm 5 is pivotally attached to the tip of the second horizontal arm 4. This front-facing arm 5 rotates horizontally and maintains the front direction of the robot, that is, parallel to the Y axis, no matter how the first and second horizontal arms 3.4 turn and bend. Link mechanisms 7 and 8 are attached to the arms 3 and 4. Further, the second horizontal arm 4 and the front-facing arm 5 are arranged below the first horizontal arm 3.

In this way, the first and second horizontal arms 3, 4 and the front-facing arm 5 are connected to form a multi-joint operating arm section 6 that pivots only in the horizontal direction.

A welding torch device 11 is suspended from a vertical cylinder 9, which is a vertical shaft, at the tip of the multi-joint operating arm portion 6. The welding torch device 11 consists of a welding torch 12, a horizontal turning motor 13 for horizontally turning the torch 12, and a twisting turning motor 14 for changing the direction of the tip of the welding torch 12, and suspends the welding torch device 11. The vertical cylinder 9 is used to move the torch 12 vertically parallel to the 7th axis by telescopic operation.

Note that 10 is a weight balance spring.

The first and second
The welding torch 12 is suspended with respect to the Z-axis (vertical direction). This is done by raising and lowering the vertical cylinder 9 held in place. Since this displacement in the Z-axis direction is in the range of 300 to 500 mm during welding work, an ordinary cylinder is sufficient for this stroke range, but if necessary, a turning disc may be used during initial rough positioning and during welding work. 2 is equipped with a lifting device that moves the first horizontal arm 3 up and down, allowing for a wider range of Z
Axial movement is possible.

On the other hand, since the second horizontal arm 4 and the front-facing arm 5 are arranged below the first horizontal arm 3, the first horizontal arm 3 poses no obstacle to the turning of the second horizontal arm 4. No.

Therefore, the second horizontal arm 4 can rotate 360 degrees, allowing the multi-joint operating arm section 6 to operate over a wider range. In addition, since the second horizontal arm 4 can rotate 360 degrees, when moving the multi-joint operating arm section 6 to a predetermined position, the second
The horizontal arm 4 can also be operated to move below the first horizontal arm 3. In this case, the turning angle of the second horizontal arm 4 can be made smaller than that in the case where it cannot move below the first horizontal arm 3, and therefore the movement and distance of the multi-joint operating arm section 6 is shortened, and rapid operation is possible.

Next, to explain the teaching by numerical control of the robot configured in this way, the length of the first horizontal arm 3 is R1, the length of the second horizontal arm 4 is R2, the length of the front-facing arm 5 is R3, When the length of the welding torch 12 is R4, the distance in the X-axis direction is A1. A2 and A4, and the distance in the Y-axis direction is 81. B2, B3.84, these X.

Among the distances in the Y-axis direction, A4, B3, and B4 are based on the rotation angle (γ) of the welding torch 12 and the front-facing arm 5, so the displacement At, A2, B1°B2
By calculating only the robot base point 01 with a simple formula
to the tip of the welding torch 12 in the X-axis direction (X
) and the distance in the Y-axis direction (y) can be determined.

That is, X=R1cosα−R2CO3β×X1y=R1s
in a-+-R2 sin β ten Y1 However, X1=A4
, Y1=83184.

From the above, the turning angles (α) and (β) formed by the first and second horizontal arms 3 and 4 can be determined by calculation.

Therefore, displacement settings in the X-axis and Y-axis directions can be numerically controlled using extremely simple equations, and during teaching, displacement settings in the X-, Y-, and Z-axis directions are performed by calculations (xl, yl , zl, ), (X2 , V2
, Z2)-(Xn, Vn, Zn) by sequentially storing the commands. Thermal distortion and assembly errors can be reduced by (α) and (β) by installing the center as necessary.
) The angle and the vertical movement of the vertical cylinder 9 can be corrected.

Of course, in the case of manual tracing teaching, it can be performed by manually rotating the locus of a predetermined object using a teaching roller type, which is the same as in known robots.

In addition, master slap type teaching, which is a form of copy teaching, is also possible, in which a sensor is attached to the tip of the welding torch, a delay device is attached between the master and the robot body, and the vertical cylinder of the master is raised. This is done by lowering the cylinder to a predetermined position on the top surface of a drawing board, determining the starting points of the X and Y axes, and teaching on the drawing.Meanwhile, while feeding back sensor signals, the actual object is moved at a predetermined delay speed. Make the robot body perform the copying operation.

Although the above embodiments have mainly been described with respect to welding robots, the present invention is not necessarily limited to this.
It is also possible to effectively operate it as an assembly robot.

Hereinafter, an embodiment in which the present invention is applied to an assembly robot will be described. In this embodiment as well, the multi-joint actuating arm section that pivots only in the horizontal direction is composed of a first horizontal arm, a second horizontal arm, and a front-facing arm. Further, a vertical cylinder equipped with a gripping tool and capable of being raised and lowered is attached to the tip of this multi-jointed arm. Furthermore, this gripping tool is provided with a turning motor for horizontally turning the gripping tool.

In this embodiment, even when the first horizontal arm and the second horizontal arm turn, the front-facing arm maintains the posture of the part gripped by the gripper, and as a result, the part can be held at any position. can be translated in parallel without applying any rotation. In addition, by rotating the turning motor installed in the gripper by a predetermined angle, the gripper can be moved to Z.
It is also possible to control the posture of the part by rotating it around the axis at an arbitrary angle.

Furthermore, when inserting a component into a hole where it is not necessary to maintain a constant posture of the component, or tightening a screw, a vertical cylinder equipped with a gripping tool may be attached to the tips of the two horizontal arms.

In the assembly robot of this example, when a force is applied in the X-axis direction, the tip of the gripper hardly moves because the softness is small, but when a force is applied in the X-axis direction or the Y-axis direction, the tip of the gripper hardly displaces. Because it is so soft, even a small amount of force causes it to be displaced laterally by a relatively large distance. The same applies to moments, and as a result, it is possible to work with less strain.

Roughly speaking, if the Z-axis is taken in the direction of gravity, this direction is the direction of less softness, so deformation of the multi-joint operating arm due to the weight of the parts being handled can be made extremely small. As a result, there is no need to perform control that takes into account the deformation of the multi-joint actuating arm, and the method of controlling the robot can be simplified.

[Effects of the Invention] As detailed above, the memory/reproduction robot according to the present invention is an articulated robot that facilitates teaching, especially teaching by numerical control. By reducing the displacement in the X and Y axis directions, numerical control teaching becomes easier by calculating only the angle of the multi-joint actuation arm, and by calculating only the displacement in the X axis direction of the jig and tool device. Control teaching becomes easier. Moreover, since it is an articulated robot that can rotate horizontally and has a multi-joint actuating arm section in which other arms are arranged below the arm that is roughly attached to the support body, it is possible to rotate the robot in the horizontal direction. <It has a wide range of motion in the X and Y axis directions, and can be used for fairly complex welding and assembly work in conjunction with numerical control.

[Brief explanation of the drawing]

FIG. 1 is a schematic plan view of a welding robot according to an embodiment of the present invention, and FIG. 2 is a side view of the same. 2...Turning disc 3...First horizontal arm 4...Second horizontal arm 5...Front facing arm 6...Multi-joint operating arm 9...Vertical cylinder 11...Welding torch device 12... Welding torch 13... Horizontal turning motor 14... Torsional turning motor (8733) Agent Patent attorney Yoshiaki Inomata (Baka 1)
given name)

Claims (1)

[Claims] (1) A multiplex system consisting of a support body and a plurality of arms sequentially attached to the support body so as to be able to rotate horizontally, and other arms arranged below the arms attached to the support body. a joint actuating arm section, a vertical shaft attached to the tip of the multi-joint actuating arm section so as to be movable up and down, a jig and tool device attached to the vertical shaft, and the multi-joint actuating arm provided on the support body. The multi-joint operating arm allows the robot to move in the X- and Y-axis directions, and at least one of the vertical axis and the lifting device moves the robot in the Z direction.
A memory/reproduction type industrial robot characterized by being able to perform displacement operations in the axial direction.