JPH01193131A - Industrial assembling robot - Google Patents

Abstract

PURPOSE:To make it possible to prevent the operating arm of an assembling robot from the reactive force of pressing pressure by receiving the pressing force produced during pressing a press-in part by a pressure frame through a pressing tool and a pressing pressure operating means, and forming the pressing pressure operating means and the pressure tool such that they may be moved by the operating arm of the robot. CONSTITUTION:After a hydraulic cylinder 9 is moved above a part-feeder 8, oil is filled between pistons 9B, 9C, and only the piston 9C is lowered to the lower end, and a pressing tool 7 is engaged with a press-in part S above the feeder 8. Next, pressurized oil is supplied to the underside of the piston 90 to raise a rod 9D, and an operating arm 3d moves the hydraulic cylinder 9 to a specified position above a workpiece W. When oil is filled between the pistons 9B, 9C again, only the piston 9C presses the lowered press-in part S against the workpiece W and stops, and the oil pressure rises to raise the piston 9B and abut the top face of a rod 9F on the pressure receiving part of a pressure plate 6b. On the other hand, the piston 9C pressurizes the press-in part S by gradually increased force with the compression of a spring 9E, and the rod 9F abuts on the pressure plate 6b to stop the retract of the press-in part, and thus the preesing is completed.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an industrial assembly robot device suitable for press-fitting a mechanical element such as a ball bearing into a machine case such as a gear box.

[Conventional technology]

The working arm of an industrial robot has a working tool such as a welding rod or spray gun at one end, and the other end is supported by a base via one or several joints, and the working arm carries a working tool according to a preset program. It moves to a predetermined position. In order to perform this movement quickly and accurately, it is necessary to reduce the inertial weight of the working arm, joints, etc., and the rigidity cannot be increased unnecessarily. Therefore, general industrial robots
It is mainly used for light work such as welding, painting, and tightening small diameter screws.

[Problem to be solved by the invention]

Incidentally, in recent years, due to the demand for further improving the workability of assembly work, it has become desirable for industrial robots to be able to perform press-fitting work as well.

However, as described above, it is difficult to increase the rigidity of conventional industrial robots, so that when a pressing reaction force acts on the working arm, the working arm or joint may be damaged. For this reason, in order to reduce as much as possible the pressure reaction force that occurs during press-fitting work on the assembly robot, there is a pressure-receiving frame fixed to the base, and a pressure-receiving frame that faces inside this pressure-receiving frame and presses the press-fit object. It is conceivable to include an assembly mouth pot having a working arm provided with a pressing tool for doing so, and a pressing operation means that acts on the pressing tool and the pressure receiving frame.

However, if the positional relationship between the pressure actuating means and the pressure receiving frame is fixed, the area where press-fitting can be performed most effectively is restricted to the vicinity of the press actuating means. There is a risk that you may not be able to fully demonstrate your abilities. On the other hand, in order to compensate for this point, it is conceivable to arrange, for example, a plurality of pressing actuating means, but this has the disadvantage that the structure becomes extremely complicated. The present invention was developed in view of the above circumstances, and has a simple structure, which allows effective press-fitting to be carried out at any position on the pressure receiving frame without being restricted by the position of the pressing actuating means. The present invention provides an industrial assembly robot device.

[Means to solve the problem]

An industrial assembly robot device according to the present invention includes a pressure receiving frame fixed opposite to the surface of a base and having a flat and wide pressure receiving part, a pressing tool that faces into the pressure receiving frame and presses a press-fitted object, and The apparatus is equipped with an assembly robot having a working arm provided with a pressing actuating means that acts on the pressing tool and the pressure receiving section.

[Effect]

In the robot device of the present invention, the pressing reaction force when press-fitting a press-fit object is received by the pressure receiving frame from the pressing tool via the pressing actuating means, and the pressing actuating means and the pressing tool move as the actuating arm moves. Begins to move.

〔Example〕

Hereinafter, one embodiment of the present invention will be described in detail with reference to the drawings. FIG. 1 is a sectional view showing the main parts of an industrial assembly robot device according to the present invention, and FIG. 2 is a plan view showing the main parts. In these figures, the reference numeral l indicates a bed serving as a base, and a chain conveyor device 2 for conveying the press-fitted material W is provided on the top surface of the bed. It is configured to be conveyed in a vertical direction. Reference numeral 3 designates an assembly robot fixed to the side of the bed 1, which includes a main column 3a, a side arm 3b rotatably connected to the upper end of the main column 3a, and a working arm 3d supported by the side arm 3b via a joint 3C. It consists of

4 and 5 are pulse motors, one pulse motor 4 is provided at the lower end of the main column 3a, and rotates the horizontal arm 3b about the axis 4a as shown by the imaginary line in FIG. The pulse motor 5 is supported by the side arm 3b symmetrically with the working arm 3d, and similarly rotates the working arm 3a about the axis 5a. Reference numeral 6 denotes a pressure-receiving frame located above the object W to be press-fitted, and is composed of three pillars 6a erected on the bed 1 and a pressure-receiving plate 6b firmly supported by the pillars 6a. . The working arm 3d faces into the pressure receiving frame 6 and performs press-fitting work. The pressure receiving plate 6b has a flat plate shape and is fixed to the bed 1 by a support 6a, and a flat and wide pressure receiving part facing the surface of the bed 1 is formed on the bed side of the pressure receiving plate 6b. There is.

Reference numeral 9 denotes a hydraulic cylinder constituting a pressing operation means that acts on the pressure receiving portion of the pressure receiving plate 6b and a pressing tool to be described later.
It is provided at the tip of d. The hydraulic cylinder 9 has a cylinder 9A and two pistons 9B provided inside thereof facing each other.
, 9G, and hydraulic chambers are formed on both sides of the lower piston 9C. A small diameter pressing tool 7 made of an elastic material such as rubber is formed at the lower end of the rod 9D connected to the lower piston 9C. This pressing tool 7 is the object to be pressed W
The press-fitting material S is press-fitted into the shaft hole by pressing the press-fitting material S, and is formed to removably engage with the shaft hole of a ball bearing, which is the press-fitting material S. In other words, the pressing tool 7 and the hydraulic cylinder 9 are provided on the working arm 3d. That is, the hydraulic cylinder 9 is disposed between the pressing tool 7 and the pressure receiving portion of the pressure receiving plate 6b. The upper piston 9B is resiliently pushed downward by the spring 9E, and the top surface of the rod 9F is configured to face the pressure receiving portion of the pressure receiving plate 6b. Note that 8 is a parts feeder that feeds the press-fit material S onto the bed 1.

In the industrial assembly robot device configured in this way, first, after the hydraulic cylinder 9 moves above the parts feeder 8, oil is supplied between the pistons 9B and 90.
Since the back side of the upper piston 9B is supported by the spring 9E, only the piston 9C moves to the lower end, and the pressing tool 7 engages with the press-fit object S on the parts feeder 8. Next, pressure oil is supplied to the lower surface of the piston 9C to pull up the rod 9D, and the working arm 3d moves the hydraulic cylinder 9 to the press-fitted object W.
Move to the specified position above. Here again both pistons 9B,
When oil is supplied between the pistons 9C and 9C, only the piston 9C descends, presses the press-fitted object S onto the press-fitted object W, and stops. This increases the hydraulic pressure between both pistons 9B and 9c, causing the upper piston 9B to rise against the force of the spring 9, causing the top surface of the rod 9F to come into contact with the pressure receiving portion of the pressure receiving plate 6b. During this time, the lower piston 9C pressurizes the press-fit object S with a force that gradually increases with the compression of the spring 9E, and the loft 9F comes into contact with the pressure receiving plate 6b to stop the retreat and press-fit into the press-fit object W with a strong force. Complete.

Therefore, the output of the hydraulic cylinder 9 is exclusively the rod 9D,
9F acts only on the press-fit object S and the pressure receiving plate 6b, and only a negligible force acts on the working arm 3d. Furthermore, since the pressure receiving part of the pressure receiving plate 6b on which the hydraulic cylinder 9 acts is flat and wide, and the pressing tool 7 and the hydraulic cylinder 9 are provided on the working arm 3d, the pressing tool 7 and the hydraulic pressure can be moved by moving the working arm 3d. By moving the cylinder 9, effective press-fitting can be performed at any position within the range of the pressure receiving part. As a result, even if the shape of the press-fitted object W or the press-fitted object S is different and the press-fitting position changes, the press-fitting work can be performed, so that the application can be widened and the versatility of the robot device can be ensured. Can be done.

Furthermore, by moving the hydraulic cylinder 9,
Since the press-fitting work area is widened, the structure can be simplified compared to a structure in which the number of locations for installing the hydraulic cylinders 9 is increased to widen the press-fitting work area.

FIG. 3 is a sectional view of main parts showing another embodiment, and in this figure, the same or equivalent members as those in FIG. This embodiment is simplified by removing the piston 9B and its related parts from the embodiment described above, and there is a gap of 0.1 to 0.3 fi between the upper end of the hydraulic cylinder 9 and the pressure receiving plate 6b. The feature is that a slight gap 14 is formed. That is, when the piston 9C descends to pressurize the press-fitted object S and the press-fitted object S comes into contact with the press-fitted object W, the working arm 3d bends upward due to the reaction force, but once the gap 14 disappears, the subsequent The recursion is stopped and press fitting is performed. Therefore, according to this embodiment, the structure of the hydraulic cylinder 9 can be further simplified and downsized.

〔Effect of the invention〕

As explained above, according to the present invention, there is provided a pressure receiving frame which is fixed opposite to the surface of a base and has a flat and wide pressure receiving part, a pressing tool which faces into this pressure receiving frame and presses a press-fitted object, and Since the assembly robot is equipped with a working arm provided with a pressing actuating means that acts on the pressing tool and the pressure receiving part, the pressing reaction force when press-fitting the press-fit object is transferred from the pressing tool to the pressure receiving frame through the pressing actuating means. It is possible to move the pressing actuating means and the pressing tool by the actuating arm.

Therefore, it is possible not only to reduce as much as possible the pressure reaction force acting on the working arm of the assembly robot during the press-fitting operation, but also to perform the press-fitting operation effectively at any position of the pressure-receiving part. Furthermore, since the press-fitting work area is enlarged by moving the pressing actuating means, the structure is simplified compared to a structure in which the number of locations for installing the pressing actuating means is increased.

[Brief explanation of the drawing]

FIG. 1 is a cross-sectional view showing the main parts of an industrial assembly robot device according to the present invention, FIG. 2 is a plan view showing the main parts, and FIG. 3 is a cross-sectional view of the main parts showing another embodiment. . l...bed, 3...assembly robot, 3d...
... Working arm, 6... Pressure receiving frame, 6b... Pressure receiving plate,
7...Press tool, 9...Hydraulic cylinder. Patent applicant Yamaha Motor Co., Ltd.

Claims (1)

[Claims] A base for supporting an object to be press-fitted, a pressure-receiving frame fixed opposite to the surface of the base and having a flat and expansive pressure-receiving part, a pressing tool that faces into the pressure-receiving frame and presses the object to be press-fitted, and An industrial assembly robot device comprising this pressing tool and an assembly robot having a working arm provided with a pressing operation means that acts on the pressure receiving part.