JPH0224082A - industrial robot - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a double-handed industrial robot particularly suitable for gripping two workpieces having different shapes.

(Prior art) When a workpiece is to be mounted or removed from a machine tool for continuous machining, etc., the workpiece can be mounted on one side and removed on the other hand.
A double-handed robot as disclosed in Japanese Patent No. 99 is used.

However, since such robots are generally designed to grip relatively small processing workpieces of the same shape, even if configured as a double-hand type, the device itself does not become very large, and it is easy to simply transfer and transfer workpieces. Since it only operates, its mechanism can be constructed relatively simply. However, for example, when assembling an oil filter and an oil strainer to an engine block, the shape can be modified using normal means. If the robot device is configured to grip two different large workpieces at the same time, not only will the robot device itself become larger and larger, but it will also be difficult to assemble it, move it to the inspection position, or change its posture. The problem is that the mechanism for making this happen is extremely complicated.

(Problems to be Solved by the Invention) The present invention was made in view of these problems, and its purpose is to simultaneously grasp and transport two large workpieces with different shapes. The objective is to provide a robot that is small and has a simple structure.

(Means for Solving the Problems) That is, the present invention is a device for achieving the above problems, and includes a rotating device attached to the tip of a robot arm so as to be able to rotate around an axis inclined at 45°. a member, a first robot hunt having a chuck claw at the tip in the axial direction and rotatably attached to one side of the rotating member in a direction perpendicular to the longitudinal direction of the rotating member; and a chuck claw at the tip in the axial direction. and a second member mounted at the tip of the rotating member so as to be able to move in parallel with the longitudinal direction of the rotating member.
By rotating the rotating member, the posture of the work gripped by the first and second robot hands can be changed, and the rotation and axial displacement of these robot hands can be changed. Therefore, inspection and assembly can be done in response to changes in time or deformation.

(Example) Therefore, the illustrated embodiment will be explained below.

A bracket 2 is integrally fixed to the robot arm indicated by reference numeral 1 in the figure, and has a surface 3 mounted at an angle of 45 degrees with respect to the arm axis. A rotary block 8 having a fitting shaft portion 7 inclined at 45° at its tip is mounted on the shaft bearing portion 4 so as to be driven by the air motor 5 on the bracket 2 to rotate.

On the other hand, the above-mentioned rotation block 8 is used to change the posture of the 10th robot hand 10 and the 20th robot hand 30, which will be described later. 10 is attached, and a second robot hand 30 is attached to the tip facing downward along the longitudinal direction.

The tenth robot hand 10 is configured to grip the oil filter F with a chuck claw 20 at the tip, and the cylinder [1] constituting this robot hand 10 is inserted into the rotation block 8 via the rotary joint 12. The rotation block 8 communicates with the air supply device 13 provided in the
is rotatably mounted perpendicular to the side surface of the

] 4 is a piston that slides within this cylinder] 1, and a piston] 6 is slidably fitted into the cylinder [5 provided at the center of this piston 14, and the rod 17 of the piston 16 is The pinion 19, which is formed as a rack rod 18 at the other end and roughly meshes with the rack rod 18, meshes with the rack portion 2 of the chuck claw 20 which is slidably attached in the radial direction, and moves the piston 14. The chuck claws 20 are configured to open and close in conjunction with the chuck claws 20. Further, on the side surface of this cylinder 11, there is a guide bar 22 whose base end is supported by the rotation block 8, as shown in FIG.
The free end supports a block body 23 that rotatably supports the cylinder 11, and a rotary drive body whose base end is supported by the rotary block 8 and whose distal end is supported by the block body 23. 24 (in this embodiment, a nut runner is used) has a dowel 25 fixed to its shaft end.
By meshing with a gear 26 provided on the outer periphery of the tip of the cylinder 11, the gripped oil filter is rotated around its axis.

On the other hand, the second robot hand 30 is configured to grip the pipe portion S, a of the oil strainer S, and the sleeve 31 fixed to the tip of the rotation block 8 has a
The rod 33 of the cylinder 32 attached to the rear end passes through it, and between this sleeve 3 and the flange portion 34 at the tip of the rod 33, a floating ring 35 with a chuck claw 36 at the tip is made of a large number of steel plates. The rod 33 is held movably in the radial direction via the rod 37, and has plungers 38 provided at equal intervals on its periphery.
By contacting the outer circumferential surface of the flange portion 34, the rod 33 is normally positioned so as to be flush with the axis of the rod 33.

In the apparatus configured in this way, first, the packet 40 in which the oil filter Ft is stocked (Fig. 3 (a)
)) When the robot that has moved the arm 1 upward operates the air motor 5 and rotates the rotation block 8 by 90 degrees, the 10th bot hand 10 moves to the position occupied by the 20 th bot hand 30, and Chuck jaw 20 at the tip
. . takes a downward hanging position. Next, while in this position, arm 1 is lowered to position chuck claw 20 on the outer peripheral surface of oil filter F, and then Air supply device 13 to cylinder 1
Air is sent to the tip side of 4, the rod 17 is retracted, and the binion 2 which engages with the rack rod 18 at the tip is rotated.
The chuck claw 20 is moved in the closing direction to clamp the oil filter F (FIG. 3(b)), and then the arm 1 moves the tenth bottom hand 1° that grips the oil filter FV to the oil filter detection section, The presence or absence of the oil ring S2 is inspected by a photoelectric detector 4 disposed there.

When the above operations are completed, the air motor 5 is operated again to return the tenth bottom hand 10 to the horizontal position, and the gripped oil filter F% engine block E is moved to the assembly position, where the rotary drive body 24 and tighten the oil filter F to the specified position (Fig. 3 (C)).
. Note that during this assembly operation, if the load on the rotary drive body 24 increases abnormally, an abnormality in the oil filter F is detected by a signal from a pressure detection circuit (not shown), and this is returned to the packet 40. .

On the other hand, this tightening is done immediately before the operation, or after the operation is completed, the robot takes the 20th robot hand 3 in a hanging position.
0 to the base of the oil strainer storage packet 45, and lower the chuck claw 36 to the vibrator portion S of the oil strainer S positioned and held there (see Fig. 4).
a)).

By the way, the oil strainer S is positioned and held by the dowels 46 provided in the packet 45 in advance, but since the shape may be slightly deformed, the second
There may be a slight misalignment between the axis Δ of the zero bottom hashed 30 and the axis B of the pipe portion S1 of the oil strainer S. However, even in this case, if the 20th bottom hand 30 continues to be lowered, it will come into contact with the outer peripheral surface of one of the chuck claws 36 or the pipe portion S, and the floating rigid jig 35 will be moved in the radial direction due to the lateral component force at that time. At the lower end, the cylinder 32 is operated and the chuck claws 36 are closed to grasp the pipe portion S1 of the oil strainer S. After the above gripping operation is completed, the gripped oil strainer St is transferred to the next positioning jig 47, and the oil strainer S is moved by two sets of chuck claws 48 and 49 (Fig. 5) provided there. Chuck the leg S2 and the end of the vibrator. This makes it possible to confirm the exact position of the oil strainer S with reference to the positioning jig 47 (see Fig. 4).
b)), the chuck claw 36 of the 20th bottom hand 30 is brought into contact with the pipe section S of the oil strainer S which has been determined here, and the floating ring 35 is moved by an amount corresponding to the machining error t to correct it. Then, after chucking, it is transferred to the engine processor E and assembled into the required parts.

In the above embodiment, the oil filter F and the oil strainer S are assembled using a robot, but the present invention can also be applied to a robot for assembling other workpieces.

(Effects) As described above, according to the present invention, since the two robot hands are attached to the rotating member with their axes perpendicular to each other, even if the robot hand itself is made as small as possible, In addition to being able to grip two workpieces facing different directions without making them contact each other, the tip of the robot arm is also designed to allow the rotating member equipped with two robot hands to rotate around a 45° tilt axis. Since it is attached to the rotary member, the gripped workpiece can be freely displaced vertically and horizontally by simply rotating the rotary member.

Moreover, since the first robot hand is installed so that it can rotate around its axis, and the second robot hand is installed so that it can move in parallel with its axis, inspection or assembly of the gripped workpiece is extremely easy. Not only is this easier, but it is also possible to perform a smooth gripping operation in accordance with the displacement and deformation of the work to be gripped.

[Brief explanation of the drawing]

Fig. 1 is a side view of a snowmaking machine showing an embodiment of the present invention, Fig. 2 is a plan view of the 10th bottom hand, and Fig. 3 is an explanatory diagram showing the operation of inspecting and assembling a workpiece by the 10th bottom hand. , FIG. 4 is an explanatory diagram showing the operation of positioning and assembling the workpiece by the 20th pot hand, and FIG. 5 is a diagram showing an example of the positioning jig. 1...Robot arm 5...Air motor 8...Rotation block] 0...10th bottom hand 11...Cylinder 17...Rack rod 20...Chuck jaw 24... Rotating drive body 30... 20th pot hand 32... Cylinder 35... Floating ring 36... Chuck jaw F... Oil filter S... Oil strainer

Claims (1)

[Claims] A rotary member is installed at the tip of the robot arm so as to be able to rotate around an axis inclined at 45 degrees, and a chuck claw is provided at the tip in the axial direction, and a chuck claw is provided on one side of the rotary member in the longitudinal direction. The first
a second robot hand, which is provided with a chuck claw at the tip in the axial direction, and is attached to the tip of the rotating member so that the axis can move in parallel to the longitudinal direction of the rotating member. An industrial robot with a robotic hand.