JPS6336911B2 - - Google Patents

Description

[Detailed Description of the Invention] Conventionally, in manufacturing and designing product mounting jigs for industrial robot machines such as welding robot machines, painting robot machines, and assembly robot machines, designers read information from catalogs and specifications of the robot machine. Based on this, the dimensions of the product mounting jig were determined by assuming the operating locus of the torch or finger in three-dimensional space, which had the drawback of requiring a large amount of time, usually several hours.

In addition, when performing operation experiments by directly mounting the completed product mounting jig on a robot machine, it is necessary to press the remote control button in a step-by-step manner because the drive of the multi-joint mechanism is a complex control system. However, it can only be operated by engineers who have received special training, and even those engineers have the disadvantage that it takes a long time.

The present invention provides a mounting jig for an industrial robot machine that allows anyone to quickly obtain design and manufacturing dimensions, angles, and placement of the mounting jig by empirically drawing the three-dimensional operating locus of the processing section of the industrial robot. The purpose of the present invention is to provide a learning device in which a mounting jig is placed on one side of the work table, and the distal end is braked by a bullet to the extent that the joint can maintain a relatively rotated state. supports a multi-joint arm for training that can move up and down and back and forth on a work table so as to be able to rotate horizontally, and at the tip of the multi-joint arm is a lower wrist that bends and extends with respect to the lower wrist, and a lower wrist that bends and extends with respect to the lower wrist. The wrists are sequentially connected jointly, the joints are braked by a bullet to the extent that these joints can be maintained in a relatively rotated state, and learning materials are attached to the front wrist via a holder. It is characterized by this.

Hereinafter, an embodiment of the present invention applied to a learning device for a product mounting jig for a welding robot machine will be explained with reference to the drawings.The work table A on which the product mounting jig is placed has vertical and horizontal lines arranged at regular intervals on the board surface. , for example, 100mm
A surface plate 1 with screw holes 2 bored at the intersections thereof, and scales sequentially left and right from base lines X ₀ and Y ₀ orthogonal at the center, and a surface plate 1 that rotates integrally with the surface plate 1. Rotatably supports the stand 3 and an operation handle 4a
It is composed of a pedestal 4 having a handle 5a and an elevating part 7 that supports the pedestal 4 via a universal ball joint 5 that can be released and fixed and is mounted on a traveling platform 6. The lifting section 7 has a screw column 10 having a handle 9 screwed onto a screw post 8.

The multi-joint arm B is mounted on a traveling base 12 that can be attached to and detached from the traveling base 6 with a pin 11, and is made of a lightweight square pipe material, and has an upper arm 13 in the front-rear direction whose tip faces onto the surface plate 1. The base of the vertical arm 14 is connected to the upper part of the vertical arm 14 so as to be mutually rotatable at a second joint 15, and the lower end of the vertical arm 14 is connected to a swivel base 17 supported on a screw post 16 so as to be horizontally rotatable. The screw post 16 is connected to the support 18 of the carriage 12 at a first joint 19.
It is incorporated into the upper screw column 16a together with a screw handle 16b.

In addition, the lower part of the vertical auxiliary link 20 connected to the base of the upper arm 13 by the second auxiliary joint 15a,
Lateral auxiliary link 2 whose one end is connected to the first joint 19
The vertical auxiliary link 20 is connected to the other end thereof by a first auxiliary joint 22, and a balance weight 23 is attached to the lower part of the vertical auxiliary link 20.

The learning materials attachment part C includes a lower wrist 2 which is suspended from the upper arm 13 by a third joint 24 so as to be tiltable back and forth.
5, a front wrist 26 whose base is supported so as to be horizontally rotatable as shown in FIG. A holder 29 for holding a flexible member 28 is removably attached to the finger lever 27.

As shown in FIG. 2, the third joint 24 is braked by superimposing disc springs (or coil springs) 30 on the sides of the upper arms 13, 13 and tightening them with nuts. The joints 15, 15a, 19, and 22 are also omitted from illustration, but like the third joint 24, they are braked with disc springs, etc., and the base of the front wrist 26 is a nut as shown in FIG. The brake is applied by the pressing force of the tightened disc spring 30.

In addition, a plurality of mounting holes 13a are bored at the base of the upper arm 13 at intervals, and by changing the mounting positions of the second joint 15 and the second auxiliary joint 15a, the protrusion of the upper arm 13 can be increased. The height can be adjusted.

Next, to explain the action, the handle 5
By holding and pushing a and 9, you can move the entire device, and by removing pin 11, the carriages 6 and 1 can be moved.
2 can be moved separately to the desired location.

Furthermore, the operating range of the third joint 24 is within the lines A to F in FIG. 5 when viewed from the side, and is the area surrounded by the circle and H as shown in FIG. 6 when viewed from the top. is about 30 vertically and horizontally as shown by the null in Figure 5.
The operating range of the third joint 24 is set to be the same as that of an actual welding robot machine.

That is, the upper arm 13 and the lateral auxiliary arm 21
Since the vertical arm 14 and the vertical auxiliary arm 20 form a parallelogram and each joint is braked, the vertical arm 14 tilts back and forth by 45 degrees in FIG. 5, and the upper arm 13 tilts upward. 30 degrees, downward
When it is tilted at 45 degrees with respect to the vertical arm 14 and eventually pushed and pulled back and forth and up and down while holding the holder 29, the third joint 24 is arbitrarily moved within the range shown in FIG. 5 in a braked state as described above. By holding the auxiliary handle 32 attached to the third joint 24 and swinging it in the left and right directions, the screw post 16 can be rotated 360 degrees in the horizontal direction as shown in FIG.

Further, the lower wrist 25 moves up and down approximately 180 degrees on the front side about the third joint 24, and the front wrist 26 rotates 360 degrees about the shaft portion 25a.

Then, at an appropriate place, for example, when learning and operating a device for welding round bars orthogonally, a product mounting jig 31 as shown in Figs. 11 and 12, which was manufactured based on experience, is used. , place it on the surface plate 1 and attach it to the screw hole 2 with a bolt, and attach the same material 34 as the welding rod to the chuck 33 of the material 28, and attach the tip of the material 34 to the chuck 33 of the material 28 as shown in FIGS. 11 and 12. As shown in FIG. 9, when the surface plate 1 is moved along the joint edge and at the same time tilted in any direction, up, down, front, back, left, and right, the product mounting jig 31 shown by the chain line in FIG.
The proper mounting angle can be obtained.

At that time, if the width l of the rising part of the product mounting jig 31 is too wide and welding is not possible within a range of about 90 degrees as shown in Fig. 12, the width of the rising part is changed to l' as shown in Fig. 10. By doing so, it is possible to very easily know the shape, mounting angle, and horizontal rotation angle of the product mounting jig 31 that can weld the entire circumference.

Furthermore, the heights of the work table A and the multi-joint arm B can be easily obtained by raising and lowering them.

Furthermore, a chuck 34a can be attached to the chuck 33 as shown in FIG. 3, or an adhesive tube 34b can be attached as shown in FIG.

In addition, if the universal ball joint 5 is not installed on the work table A and the surface plate 1 is fixed, a block of an appropriate size can be placed between the product mounting jig 31 and the surface plate 1 in any direction. It may be possible to deal with this by putting it in. However, the configuration as in the above embodiment is more efficient;
And accurate data can be obtained.

As mentioned above, the present invention is such that one side of the work table on which the mounting jig is placed is braked with a bullet to the extent that the joint part can maintain a relatively rotated state, so that the tip part can move up and down on the work table. A multi-joint arm for training that can move back and forth is supported so as to be horizontally pivotable, and a lower wrist that bends and extends with respect to the lower wrist and a front wrist that rotates with respect to the lower wrist are sequentially articulated at the tip of the multi-joint arm. The machine is connected to the joints and braked by a bullet to the extent that these joints can be held in a relatively rotated state, and the learning material is attached to the front wrist via a holder, so that the workpiece can be By simply attaching it to the mounting jig, placing the mounting jig on the work table, and manipulating the wrist suspended from the multi-jointed arm, even a person without special training can easily determine the shape and mounting angle of the mounting jig. and height etc. can be obtained extremely quickly and with high precision.

Furthermore, since the joints of the multi-jointed arm are braked, three-dimensional learning operations can be easily performed.

[Brief explanation of the drawing]

The drawings show one embodiment of the invention,
Figure 1 is a perspective view of a mounting jig training device for industrial robots, Figure 2 is a sectional view of the joint, Figures 3 and 4 are side views showing other examples of learning materials, and Figure 5 is a Figure 6 is a plane trajectory diagram of the third joint and surface plate, Figure 7 is a plan view of the surface plate, Figure 8 is a side view of the same as above, Figure 9 is a side view showing the learning operation. 10 is a plan view of the same as above, FIG. 11 is a perspective view showing the first stage learning operation, and FIG. 12 is a plan view of the same. A...Work table, B...Multi-joint arm, C
...Study material attachment part, 1 ... Surface plate, 13 ... Upper arm, 14 ... Vertical arm, 15 ... Second joint, 19
...first joint, 24...third joint, 25...lower wrist, 26...front wrist.

Claims (1)

[Claims] 1. On one side of the work table on which the mounting jig is placed,
A multi-joint arm for training, which is braked by a bullet to the extent that the joints can maintain a relatively rotated state and whose tip can move up and down and back and forth on a work table, is supported so as to be horizontally rotatable. To the extent that the lower wrist, which bends and extends with respect to the tip of the articulated arm, and the front wrist, which rotates with respect to the lower wrist, are sequentially articulated and the joints can be maintained in a relatively rotated state. 1. A learning device for a mounting jig for an industrial robot machine, characterized in that a learning material is attached to the front wrist via a holder.