JPS6137517Y2 - - Google Patents

Description

[Detailed Description of the Invention] The present invention relates to an illumination magnification device for a workpiece that is intended to facilitate precise teaching in a playback type industrial robot.

In the aforementioned industrial robots, such as plasma fusing robots, in order to precisely and accurately teach press-formed workpieces with complex shapes such as flat surfaces, curved surfaces, recesses, and protrusions, conventionally the indoor lighting is brightened. The worker was holding a magnifying glass in one hand and operating a remote control panel for teaching torch positioning with the other hand. However, no matter how bright the room is, the torch mount, the torch, the protruding part of the workpiece, or the worker himself may cast a shadow, causing the workpiece to become dark or hidden, which can cause eye strain for the worker. Furthermore, operating the panel with one hand requires considerable skill and requires a long teaching time, making the work extremely physically and mentally tiring for the operator.

In view of the above-mentioned circumstances, the present invention has been developed by attaching a control shaft rotatable around a vertical axis to a support member that can move in at least one dimension, attaching a processing tool mount to the control shaft, and attaching the processing tool mount to the processing tool mount. In an industrial robot that makes it possible to control the relative position of the processing tool and the workpiece by aligning the processing point at the tip of the processing tool with the vertical axis, the control shaft is connected to the control shaft above the flange whose base is formed at the lower end of the control shaft. a mounting arm that covers the short tubular base with a moderate frictional force and extends outward horizontally; and a movement adjustment member that is slidably fitted onto the mounting arm and can be fixed to the mounting arm at an arbitrary distance from the vertical line. , a vertical support rod attached to the movement adjustment member so as to be adjustable in the vertical direction, and an outer surface of an annular hollow outer cylinder that has a built-in ring light, has a lower surface open or is covered with a transparent material, and has a magnifying lens mounted inside the hollow hole. and a lighting device magnifying glass pivotally mounted to the lower end of the support rod so as to be swingable by appropriate frictional force,
The magnifying lens is characterized in that its relative position with respect to the processing tool can be changed while maintaining the state in which the optical axis of the magnifying lens forms an acute angle with the vertical axis and passes through the processing point, and the torch is It is an object of the present invention to provide an illumination/magnifying glass device that can constantly illuminate the vicinity of a processing point and magnify the part to be processed, no matter what posture it takes.

A detailed description will be given below based on the embodiments shown in the drawings. Reference numeral 1 denotes a support member that is a part of the plasma fusing robot, and is movable in three orthogonal axes directions (arrow X, Y, and Z directions). Reference numeral 2 denotes a reversible motor with a speed reducer and a brake installed on the upper surface of the tip end of the support member 1, and a control shaft 2a is led out vertically downward. Reference numeral 3 designates a torch mount as a processing tool mount, which includes a rotary plate 3a whose center portion is fixed to the intermediate portion of the control shaft 2a, and a vertical member 3b hanging from an eccentric position on the lower surface of the rotary plate 3a.
and an inclined bracket 3c fixed to the outer surface of the lower end of the vertical member 3b, and the entire torch mount ₃ can be swung around the vertical axis L1 (in the direction of the arrow Φ) by driving the motor 2.

Reference numeral 4 denotes a reversible motor with a reducer and a brake installed on the outer surface of the inclined bracket 3c, and a bent torch holding fitting 5 is fixed to the end of the output shaft led out inward, so that the inclined axis is at an angle of 45 degrees with respect to the horizontal. It is designed to be able to swing around L ₂ (in the direction of arrow α), and the tip of the torch holding metal fitting 5 is designed so that the central axis L ₃ maintains an attitude angle of 45° with respect to the inclined axis L ₂ as a processing tool. A plasma cutting torch 6 is attached.

The torch 6 is designed so that a melting nozzle (not shown) and a teaching dummy nozzle 6a (Fig. 1) can be selectively attached to the tip, and the dummy electrode 6b of the dummy nozzle 6a has a dummy electrode 6b at the tip. A fusing point P as a machining point is made to coincide with the intersection of the vertical axis _L1 and the inclined axis _L2 . Therefore,
No matter how the orientation of the torch 6 changes due to the rocking of the entire torch fixture 3 and the rocking of the torch holding metal fitting 5, the fusing point P remains unchanged.

Reference numeral 7 denotes an illumination magnifying glass device which is removably attached to the lower part of the control shaft 2a and has the following configuration.

Reference numeral 8 designates a mounting arm, and the short tubular base 8a is wrapped around split bushes 9a and 9b with lower end flanges for preventing falling off, which can be wrapped above the flanged portion formed at the lower end of the control shaft 2a, with an appropriate frictional force, and the base A round bar 8b extends horizontally outward in the radial direction from the outer circumferential surface of 8a.
Reference numeral 10 denotes a movement adjusting member in which a hole 10a is slidably fitted onto the round bar 8b, and the inner diameter of the hole 10a is reduced by screwing in a threaded knob 10b to tighten the round bar 8b. 10 is fixed at an arbitrary distance from the vertical axis _L1 .

Reference numeral 11 is a commercially available magnifying glass with a lighting device, in which a ring light 11b is built into an annular hollow outer cylinder 11a with one side open, the open side is covered with a transparent acrylic resin plate 11c as a transparent material, and the center hole of the hollow outer cylinder 11a is closed. A magnifying lens 11d is attached to the camera. Reference numeral 12 denotes a support rod whose base portion is pivotably pivoted to the outer surface of the hollow outer cylinder 11a with an appropriate frictional force, and the free end thereof is a hole formed in the extension of the movement adjustment member 10 in the vertical direction. (not shown) and screwed knob 1.
It can be fixed at any height position by screwing in 0c. Reference numeral 13 denotes a ballast for lighting equipment fixed to the lower surface of the rotary plate 3a, and 14 a lead wire having one end connected to the ring light 11b and a plug 14a attached to the other end.
3 and the switch 13a provided on the ballast 13
The ring light 11b is turned on and off by the switching operation.

Thus, the illumination/magnifying glass device 7 includes a mounting arm 8, a movement adjustment member 10, a magnifying glass with a lighting device 1
1. The support rod 12 and lead wire 14 are stored in an assembled state, and only the stabilizer 13 is permanently installed on the rotating plate 3a. When teaching, the base 8a of the mounting arm 8 is inserted into the control shaft 2a and once held upward, the split bushes 9a and 9b are fitted above the flange at the lower end of the control shaft 2a, and the mounting arm is inserted again. 8 is lowered, the base 8a fits onto the split bushes 9a, 9b and is prevented from falling off by the lower end flanges of the split bushes 9a, 9b. Next, insert the plug 14a into the ballast 13 and turn on the switch 13a to turn on the ring light 11b. Then, by adjusting the rotation of the mounting arm 8, adjusting the horizontal movement of the movement adjustment member 10, adjusting the vertical movement of the support rod 12, and adjusting the rotation around the longitudinal axis of the support rod, the magnifying glass with lighting device 11 is moved to the torch mount 3. The optical axis M of the magnifying lens 11d is aligned with respect to the vertical axis _L1 by adjusting the posture angle by swinging the magnifying glass 11. The dummy electrode 6b forms an acute angle (for example, 45°).
The tip is brightly enlarged and visible in line with the tip (that is, the fusing point P).

In this way, preparations for teaching are completed, and the support member 1 is
By moving in the Y and Z axis directions, swinging the torch mount 3 in the Φ direction, and swinging the torch 6 in the α direction, the fusing point P is accurately aligned with the fusing line to be taught on the workpiece W through the magnifying glass 7. teaching. At this time, if the magnifying glass 11 is likely to collide with the protrusion of the workpiece W, the collision can be avoided by appropriately rotating the mounting arm 8 by hand while keeping the fusing point P illuminated.

When finishing this teaching and moving on to the automatic fusing operation, follow the above-mentioned reverse order, that is, turn off the switch 13a, remove the plug 14a, and remove the integrated assembly of the illumination/magnifying glass device 7 excluding the ballast 13, as well as the split button. Remove 9a and 9b. Then, the dummy nozzle 6a and dummy electrode 6b may be removed from the tip of the torch 6, and a fusing nozzle may be attached in their place.

As detailed above, according to the lighting/magnifying glass device of the present invention, the magnifying glass with lighting device is attached to the torch mount so that it swings integrally with the torch mount,
Since the part to be processed is constantly illuminated from diagonally above facing the torch 6 and the part can be viewed in an enlarged manner, complex and precise teaching can be easily performed without tiring the operator's eyes.

[Brief explanation of drawings]

The drawings all show one embodiment of the present invention, and Fig. 1 is a perspective view of the vicinity of the torch mount showing how the illumination/magnifier device is installed, and Fig. 2 is an explanatory view showing how to install the mounting arm. , FIG. 3 is a sectional view of the magnifying glass with illumination device. In the figure, 1 is a support member, 3 is a torch fixture, 6 is a torch, 7 is an illumination/magnifying glass device, 8 is a mounting arm, 10 is a movement adjustment member, and 11 is a magnifying glass with a lighting device.

Claims (1)

[Scope of utility model registration request] A control shaft 2a rotatable around a vertical axis L1 is attached to a support member ₁ movable in at least one dimension, a processing tool attachment 3 is attached to the control shaft 2a,
In the industrial robot, the relative position between the processing tool 6 and the workpiece W can be controlled by aligning the processing point P at the tip of the processing tool 6 attached to the processing tool attachment ₃ with the vertical axis L1. A short tubular base 8a is mounted on the control shaft 2a above the flange formed at the lower end of the shaft 2a and extends horizontally outward, and is slidably fitted onto the mounting arm 8. A movement adjusting member 10 that can be fixed to the mounting arm 8 at an arbitrary distance from the vertical axis _L1 , a vertical support rod 12 that is attached to the movement adjusting member 10 so as to be able to move vertically, and a ring light 11b.
The outer surface of an annular hollow outer cylinder 11a, which has a built-in lower surface open or covered with a transparent material 11c and a magnifying lens 11d mounted inside the hollow hole, is pivoted to the lower end of the support rod 12 so as to be swingable by an appropriate frictional force. and a magnifying glass 11 with a lighting device, the magnifying lens 11
While maintaining the state in which the optical axis M of d passes through the processing point P forming an acute angle with the vertical axis _L1 ,
An illumination/magnifying glass device for an industrial robot, characterized in that the relative position with respect to the processing tool 6 can be changed.