JPH0615151B2 - Industrial robot - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to an industrial robot used as a cutting machine such as a drill machine.

[Prior Art] Recently, industrial robots have made remarkable progress, and various kinds of robots have been introduced and are operating in the factory. In particular, dedicated robots have become widespread in the work fields of transportation, assembly, welding, painting, etc., contributing to the improvement of work efficiency.

However, most of the conventional industrial robots are used for work such as transportation, assembling, welding, and painting as described above, and although these performances have advanced remarkably, cutting processing such as end mills and drills However, a robot with sufficient performance has not yet been developed in the processing field such as grinding.

That is, as a robot for performing the cutting and grinding processes as described above, the robot main body is provided with an arm portion extending in a substantially horizontal direction from the robot main body, and is vertically moved to the tip of the arm portion. A configuration is known in which an up-and-down moving part is attached and a processing tool is attached to the up-and-down moving part. In such a processing robot,
Not only the rigidity, waterproofness, and dustproofness required for each processing are required, but it must be ensured that the processing accuracy is higher than a predetermined level. In this processing robot,
It is not so difficult to raise the rigidity, waterproof and dustproof performance to the required specifications, but it is not easy to improve the processing accuracy.

That is, in the case of a robot used for assembly work, since it is a part of receiving and delivering parts, or a simple assembly work, only the accuracy of simple repetitive work at each assembly point is required, and if its reproducibility is a predetermined accuracy. Good.

In the case of a welding or painting robot, the accuracy may be lower than that of the assembling robot, and the accuracy of about 1/10 to 1/100 is sufficient as compared with the cutting robot.

On the other hand, in the case of a cutting robot, it is not only necessary to move the machining tool to a predetermined machining position with respect to the workpiece, but the movement path of the tool during machining greatly affects machining accuracy. Therefore, the parallelism and perpendicularity (hereinafter referred to as static accuracy) of each moving axis with respect to the machined surface are required to be higher than the actual machining accuracy (hole accuracy).

[Problems to be Solved by the Invention] However, in the conventional case, no matter how much the machining accuracy of the parts to be used is raised to the limit, the simple repetitive work in the current assembling robot due to the accumulated error due to the combination of the parts. However, there was a problem that the static accuracy equivalent to the accuracy (about 0.02 to 0.1 mm) could not be secured.

This has been an obstacle to the spread and introduction of cutting and grinding robots.

The present invention has been made based on the above circumstances, and an object thereof is to provide an industrial robot in which the static accuracy of the robot is improved and which can be applied to a robot for cutting or grinding. is there.

[Means for Solving the Problem] In the present invention, in a robot for machining, a machining tool is moved in parallel between the installation surface and the installation surface of the robot body and the installation surface of the robot body. And a first adjusting member for adjusting so that the processing tool is adjusted so as to move vertically between the tip of the arm portion and the vertically moving portion with respect to the installation surface of the robot body. Two adjusting members are provided.

[Operation] According to the present invention, the first adjusting member for adjusting the processing tool to move parallel to the installation surface of the robot body is interposed between the installation surface and the installation surface of the robot body. Therefore, the machining tool can be moved in parallel with the surface to be installed in the X and Y directions with high accuracy, and the machining tool can be moved vertically between the tip of the arm and the vertically moving part with respect to the surface to be installed of the robot body. Since the second adjusting member for adjusting so as to move is provided, the processing tool can move with high accuracy in the direction perpendicular to the surface to be installed, that is, the Z direction, and the static accuracy is significantly improved.

[Embodiment] The present invention will be described below based on a first embodiment shown in FIGS. 1 and 2.

In the figure, 1 is a column, and this column 1 constitutes the robot body of the present invention. The column 1 has U-shaped sides, and servo motors 3a and 3b and speed reducers 4a and 4b are provided on the upper portion 2a and the lower portion 2b, respectively.

A servomotor 3a installed on the upper portion 2a drives the upper rotary shaft 5a to rotate via a speed reducer 4a. The upper rotary shaft 5a is projected downward from the upper part 2a of the column 1. The upper rotary node 6a is attached to the projecting end, and the upper base arm 7a extends horizontally to the upper rotary node 6a. Are connected together. Servo motor 3
The upper base arm 7a is pivoted in a horizontal plane by the rotation of a.

The servomotor 3b installed on the lower portion 2b drives the lower rotating shaft 5b to rotate via the speed reducer 4b. The lower rotary shaft 5b projects upward from the lower part 2b of the column 1 and faces the upper rotary shaft 5a with a space therebetween. A lower rotary node 6b is attached to the protruding end of the lower rotary shaft 5b. ing. In this lower rotary node 6b, a lower base end arm 7b extends in the horizontal direction and is continuously provided. The lower base end arm 7b is also swung in a horizontal plane by the rotation of the servo motor 3b.

The upper base arm 7a and the lower base arm 7b can rotate integrally in the same direction, and can rotate independently of each other.

An upper end arm 9a and a lower end arm 9b are rotatably connected to the upper base end arm 7a and the lower base end arm 7b via pivots 8a and 8b, respectively.

Also, the upper tip arm 9a and the lower tip arm 9b
The tips of the are connected by a connecting shaft 10 so as to be rotatable relative to each other.

A working head 11 is fixed to the tip of the upper tip arm 9a or the lower tip arm 9b. The working head 11 includes a frame 12 having a U-shaped side surface and a vertically moving portion 13
Is provided.

The vertical movement unit 13 has a servo motor 14 mounted on the upper end of the frame 12, and a screw rod 15 connected to the servo motor 14 spanning between the upper and lower ends of the frame 12 to serve as a servo motor. The screw rod 15 is rotated by 14. The screw rod 15 has a vertical slider 1
6 is attached by screw engagement, and the slider 16 is moved up and down as the screw rod 15 rotates. The slider 16 does not rotate with the rotation of the screw rod 15.

A bearing box 17 is connected to the upper and lower sliders 16, and a machining motor 18 is attached to the upper end of the bearing box 17. A drive shaft 19 is rotatably pierced through the bearing box 17, and the drive shaft 1
The upper end of 9 is connected to the processing motor 18, and the lower end of the chuck 2 projects from the lower surface of the bearing box 17,
It has 0. A processing tool 21 such as a drill is detachably attached to the chuck 20. In addition,
The processing tool 21 is attached to the chuck 20 so that its axis is vertical.

Further, the processing tool 21 can be replaced according to the hole diameter to be processed.

Reference numeral 22 indicates a workpiece to be processed.

The column 1 constituting the robot main body is used by installing the installation surface 25 at the lower end on an installation surface 26 such as a floor surface, and between the installation surface 25 and the installation surface 26. The first spacer 27 is inserted as a first adjusting member. The first spacer 27 may be a plate, a block, or a telescopic leg, but the processing tool 21 may be a surface to be installed 2 such as a floor surface.
The tilt of the column 1 is adjusted so that the column 1 can be moved in parallel. Note that this inclination adjusts not only the X direction but also the Y direction.

In addition, a second spacer 28 is inserted as a second adjusting member between the tip of the lower tip arm 9b and the frame 12 that constitutes the vertical movement portion 13 of the work head 11. The second spacer 28 is composed of a plate, a shim, etc., and is adjusted so that the upper and lower sliders 16 move vertically with respect to the installation surface 26 of the robot body. That is, the degree of inclination between the lower tip arm 9b and the frame 12 is adjusted.

Further, a third spacer 29 is inserted as a third adjusting member between the vertical slider 16 and the bearing box 17. The third spacer 29 is composed of a plate, a shim, or the like, and is adjusted so that the processing tool 21 moves vertically to the installation surface 26 of the robot body. That is, the vertical slider 16 and the bearing box 17
It adjusts the degree of inclination between and.

The operation of the embodiment having such a configuration will be described.

When the servo motors 3a and 3b provided on the upper part 2a and the lower part 2b of the column 1 are rotated, the speed reducers 4a and 4
The upper and lower proximal arms 7a, 7b are swung in the horizontal plane via b, and therefore the upper and lower distal arms 9a, 9b are also swung in the horizontal plane. Therefore, the processing tool 21 of the work head 11 is moved horizontally.

In this case, by adjusting the respective rotation amounts of the upper and lower servo motors 3a and 3b, the machining tool 21 is moved in the X and Y directions within a region shown by a dot, a dot, and a two-dot chain line passing through the dot in FIG. It can be moved.

Therefore, the processing tool 21 can be moved to the upper position facing the predetermined processing position of the work 22.

When the processing tool 21 is opposed to a predetermined position on the work 22, the processing motor 18 in the vertical movement unit 13 is rotated, and thereby the processing tool 21 is rotated via the drive shaft 19. Further, the servo motor 14 is rotated to rotate the screw rod 15. As a result, the up / down slider 16 is moved in the Z direction, that is, downward, so that the rotating machining tool 21 is brought closer to the work 22 to start perforation, and this operation is continued for a predetermined time to perforate a predetermined depth. Is done.

In the processing robot that operates as described above, the first adjustment spacer 27 is interposed between the installation surface 25 at the lower end of the column 1 and the installation surface 26 such as the floor surface. If the inclination of the column 1 is adjusted by the first spacer 27, the parallelism of the machining tool 21 when it is moved in the X and Y directions, that is, when it is moved in parallel to the installation surface 26. Can be set with high accuracy.

In this case, the heights from the surface to be installed 26 to the processing tool 21 are measured at points, points, and points shown in FIG. 2, and the first adjustment spacer 27 is adjusted so that these measured values are below the target value. Adjust the tilt of column 1.

Further, since the second adjusting spacer 28 is inserted between the tip of the lower tip arm 9b and the frame 12 which constitutes the vertical moving portion 13, the lower tip arm 9b and the frame 1 are arranged.
By adjusting the degree of inclination between the two, the vertical slider 16 can be adjusted to move vertically with high accuracy when the slider 16 moves up and down.

In this case, the verticality is adjusted in both the X and Y directions shown in FIG.

Further, since the third adjusting spacer 29 is inserted between the vertical slider 16 and the bearing boss 17, the inclination of the vertical slider 16 and the bearing box 17 is adjusted by the third spacer 29. By making adjustments in both the X and Y directions shown in FIG. 2, the processing tool 21 can be moved vertically with respect to the installation surface 26 with high accuracy.

That is, since the installation attitude and the assembly error of the mounting portion and the connecting portion are adjusted by the adjustment spacers 27, 28, 29, the static accuracy is improved.

Therefore, the path from the processing start to the processing end by the processing tool 21 can be set with high accuracy, and the cutting processing and the grinding processing can be realized with high accuracy.

The present invention is not limited to the above embodiment.

That is, FIGS. 3 and 4 show examples in which the present invention is applied to industrial robots of different types.

In the example of FIG. 3, 30 is a robot body, 31 is a base arm, 32 is a base arm turning motor, 33 is a tip arm, 34 is a tip arm turning motor, and other configurations are the same as those of the first embodiment. Similar to the example.

Also in this case, the adjustment accuracy can be improved by adjusting the installation posture and the assembly error of the attachment portion and the connection portion by the adjustment spacers 27, 28, and 29.

In the example of FIG. 4, 40 is a robot body, 41 is a swivel arm, 42 is an arm swivel motor, 43 is an up-and-down moving part, and other configurations are the same as in the first embodiment.

Also in this case, the adjustment accuracy can be improved by adjusting the assembling error by the adjusting spacers 27, 28, 29.

Furthermore, in each embodiment, the case where the first, second, and third adjustment spacers 27, 28, and 29 are used has been described. However, the accuracy of the machining tool 21 in the direction perpendicular to the installation surface 26 is improved. Only one of the second adjusting spacer 28 and the third adjusting spacer 29 may be used for the protrusion, and depending on the type of processing and the type of tool, the slider 1 may be used.
There is also a type that does not have the bearing box 17 etc. in 6,
If at least the second adjusting spacer 28 is provided, the initial purpose can be achieved.

[Effects of the Invention] As described above, according to the present invention, the processing tool is moved in parallel with the installation surface with high accuracy by the first adjusting member provided between the installation surface and the installation surface of the robot body. The second adjusting member provided between the tip of the arm portion and the vertically moving portion enables the machining tool to move vertically with high precision with respect to the surface to be installed. It can be adjusted and the static accuracy is greatly improved. For this reason, it is possible to secure a high accuracy of the path until the end of processing, and it is possible to achieve high performance by introducing it into cutting processing or grinding processing.

[Brief description of drawings]

1 and 2 show a first embodiment of the present invention, FIG. 1 is a side view of a processing robot, and FIG. 2 is a plan view thereof.
3 and 4 show the second and third aspects of the present invention, respectively.
It is a side view which shows the Example of. 1 ... Column 3a, 3b ... Servo motor, 4a, 4
b ... reducer, 5a, 5b ... rotary shaft, 7a, 7b ...
Base arm, 9a, 9b ... Tip arm, 11 ... Work head, 12 ... Frame, 13 ... Vertical movement part, 14
...... Servomotor, 15 ...... Screw rod, 16 ...
... Upper and lower sliders, 17 ... Bearing box, 18 ... Processing motor, 19 ... Drive shaft, 21 ... Processing tool, 22
…… Work, 25 …… Installation surface, 26 …… Installation surface, 27
...... First adjusting spacer, 28 ...... Second adjusting spacer, 29 ...... Third adjusting spacer.

Claims (2)

[Claims] 1. A robot main body, an arm portion extending from the robot main body in a substantially horizontal direction, an up-and-down moving portion provided at a tip of the arm portion and vertically moved, and attached to the up-and-down moving portion. In an industrial robot provided with a processing tool, adjusting the processing tool so as to move parallel to the installation surface of the robot body between the installation surface and the installation surface of the robot body. While interposing the adjusting member of, between the tip of the arm portion and the vertical movement portion,
An industrial robot comprising a second adjusting member for adjusting the processing tool so as to move vertically with respect to a surface to be installed of the robot body. 2. A third adjusting member for adjusting the axial direction of the machining tool so that the axial direction of the machining tool is in a vertical direction with respect to the surface to be installed of the robot body, between the vertically moving part and the machining tool. The industrial robot according to claim 1, characterized in that: