JPS6023955B2 - Reaction force receiving device for high-power industrial robots - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION Object of the Invention (Technical Field of the Invention) The present invention relates to a reaction force receiving device for a high-power industrial robot.

(Prior art and its problems) Conventionally, an industrial robot is equipped with a working arm that moves in the X-axis direction and the Y-axis direction, and the end of the working arm performs a predetermined task on a workpiece on a worktable by a downward motion. For example, some devices are equipped with tools for press-fitting or drilling parts.

In such industrial robots, during work, the reaction force of the high output load applied to the tool acts on the working arm, and the reaction force causes the working arm to jump up using the base end supported by the moving mechanism as a fulcrum. As a result, problems such as the insertion position of the part relative to the workpiece are shifted or the drilling hole is tilted. (Technical Problem to be Solved by the Invention) A technical problem to be solved by the present invention is to provide a means for canceling the reaction force acting on the working arm to prevent the working arm from jumping up.

- "Structure of the invention" (Technical means for solving technical problems) To determine the above problems <The technical means taken by the present invention includes a working arm that moves in the X-axis direction and the Y-axis direction, In a high-power industrial robot, in which a tool is attached to the tip of the working arm to perform a predetermined work on a workpiece on a work table by downward movement, the tool is fixed adjacent to the side of the work table below the tip of the working arm. A base is installed, and on this fixed base, an electromagnet is provided on the lower surface of the tip of the working arm to attract the working arm at its working position.

(Operation of the technical means) According to the above means, the working arm is attracted by the electromagnet in contact with the lower surface of the tip of the working arm in the working position, and the fulcrum of the working arm moves from the base end to the tip attracted by the electromagnet. , the reaction force acting on the working arm is canceled by the attraction action of the electromagnet.

"Effects of the Invention" According to the configuration of the present invention as described above, by attracting the lower surface of the tip of the working arm near the working end of the reaction force with an electromagnet, the reaction force acting on the working arm is effectively canceled. This prevents the working arm from jumping up and allows the user to carry out predetermined work with high precision.

``Embodiment'' An embodiment of the present invention will be described below with reference to the drawings.

The industrial robot A of this embodiment performs the work of press-fitting a part 12 into a workpiece 11 such as a crankcase.
A work arm 3 is installed on one side of the work table B for transferring the workpiece 11 and moves in the X-axis direction and the Y-axis direction, and a fin magnet is used as a means for canceling the reaction force acting on the work arm 3. 10.

The part 12 is stored in a magazine 13 installed on the opposite side of the industrial robot A across the work table B, and the tool 8 at the tip of the working arm 3 takes out the part 12 from the magazine 13 and places it on the workpiece 11 at a predetermined location. It is press-fitted into the location.

The base end of the working arm 3 is placed on the machine base 1 via the support base 2.
It is supported so that it can slide in the axial direction and the Y-axis direction,
It is moved together with the support base 2 in the Y-axis direction parallel to the workpiece transfer direction of the work table B via the pulse motor M and the feed mechanism a, and perpendicular to the workpiece transfer direction via the pulse motor M and the feed mechanism a'. It is adapted to be moved on the support stand 2 in the X-axis direction.

A plurality of tools 8 at the tip of the working arm 3 are attached to the outer periphery of the turret head 7 which is rotatable in a vertical plane, and together with a support plate 6 that supports the turret head 7, the tools 8 are moved along the holder 4 at the tip of the working arm 3 by the operation of the hydraulic cylinder 5. The device moves up and down, and the held part 12 is inserted into the workpiece 11 by the downward movement.

A fixed base 9 is installed below the tip of the working arm 3 of the robot A and adjacent to the side of the working table B, and an electromagnet 10 is installed on the fixed base 9. The electromagnet 1 comes into contact with the lower surface of the tip of the working arm 3 in the working position and attracts the working arm 3.
The working arm 3 is formed into a vertically long rectangular shape large enough to be attracted within the movement range of the working arm 3 in the Y-axis direction, and is demagnetized when the working arm 3 moves.

The industrial robot A of this embodiment as described above moves the tool 8 to a predetermined position on the workpiece 11 by moving in the X-axis direction and the Y-axis direction while sliding the working arm 3 on the electromagnet 10 in a demagnetized state. position.

When the working arm 3 stops at the working position and the tool 8 is positioned, the electromagnet 10 is excited and attracts the lower surface of the tip of the working arm 3, and the branch of the working arm 3 is attracted from the base end by the electromagnet 10. When the tool 8 is lowered and press-fits the part 12, the reaction force that acts on the working arm 3 is canceled by the adsorption action of the electromagnet 10, and the lifting of the working arm 3 is prevented. It is something that can be prevented.

[Brief explanation of the drawing]

FIG. 1 is a cross-sectional side view showing one embodiment of the device of the present invention, and FIG.
The figure is a plan view of the same. In addition, in the figure, A......industrial robot, B...
...Working table, 3...Working arm, 8...
...Tool, 9...Fixed base, 10...
·electromagnet. Figure 1 Figure 2

Claims (1)

[Claims] 1. In a high-power industrial robot equipped with a working arm that moves in the X-axis direction and the Y-axis direction, and a tool that performs a predetermined work on a workpiece on a worktable by downward movement is attached to the tip of this working arm. A fixed base is installed below the tip of the working arm adjacent to the side of the work table, and an electromagnet is provided on the fixed base to contact the lower surface of the tip of the working arm at the working position and attract the working arm. Reaction force receiving device for high-power industrial robots.