JPH1027022A - Positioning assistance arm - Google Patents

Abstract

(57) [Problem] To provide a positioning assistance arm having both advantages of an assistance arm and an advantage of a robot. SOLUTION: Each axis (10,14,15,
16), motors (13, 17, 18, 20) are attached, and by operating the operation panel 19, at one time, it is merely a helping arm, and at other times, like a robot,
At other times, it can function to assist the worker's work. The teaching data is stored in the controller 25, and when the robot 25 operates to assist the operator similarly to the robot, the operation of the motors (13, 17, 18, 20) is controlled based on the teaching data. Is done.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a positioning assisting arm in which a power source is added to a so-called assisting arm so that the assisting arm can sometimes operate as an assisting arm and sometimes as an auxiliary robot.

[0002]

2. Description of the Related Art Conventionally, an assisting arm as shown in FIG. 10 has been used in order to reduce a burden when a heavy object is transported. In this assisting arm, the weight of the work is offset by the cylinder 12 attached to the arm 10. The arm 10 can move up and down, can pivot with respect to the main shaft 14, and can slide its front end in the front-rear direction, so that the work can be transported freely.

[0003]

However, such a conventional assisting arm can assist in transporting a heavy object (work). However, when the assisting arm is used as a part of a working device, there are many problems. Failure occurs.

For example, when a work is mounted on a portion to be mounted while a heavy object is supported by the assisting arm, the transfer cannot be performed as desired due to the difficulty of easy transport. Sometimes it takes time to work.

SUMMARY OF THE INVENTION The present invention has been made to solve such a conventional problem. A power source is added to an assisting arm, sometimes as an assisting arm, and sometimes as an auxiliary robot. It is an object of the present invention to provide a positioning assisting arm having both the advantages of the assisting arm and the robot.

[0006]

The present invention for achieving the above object is constituted as follows for each claim.

According to a first aspect of the present invention, a driving arm for driving the arm is provided to an assisting arm having an arm for transporting the work to a desired position and a gravitational balance mechanism for balancing the weight of the work with gravity. Means, an assist mode in which the work can be transferred by the worker by disconnecting the drive means and the arm, and a positioning mode in which the work is automatically transferred by connecting the drive means and the arm. A positioning assisting arm provided with control means for realizing the positioning assisting arm.

With this configuration, by using the assisting mode and the positioning mode properly, both the advantages of the assisting arm and the advantages of the robot can be provided. For example, the assisting arm is installed on a continuous line and conveyed. The worker can work while following the work.

According to a second aspect of the present invention, there is provided an arm for transferring a work to a desired position, a gravity balance mechanism for balancing the weight of the work with gravity, a driving unit for driving the arm, and a driving unit for driving the arm. A clutch for interrupting connection to the arm, a storage unit for storing a transfer locus of the work taught in advance, a switch for instructing setting to a positioning mode, and setting the positioning mode when the switch is turned on; The drive unit is operated so that the clutch is connected and the workpiece is transported according to the transport trajectory stored in the storage unit, and when the workpiece reaches a desired position, the setting mode is changed from the positioning mode to the assisting mode. And control means for disengaging said clutch.

With this configuration, the positioning mode is set by turning on the switch, and the arm moves based on the transport trajectory stored in the storage means. That is, in the positioning mode, it functions in the same manner as a normal transfer robot. Then, when the workpiece is transported to a preset position, the positioning mode is automatically released and the mode is changed to the assisting mode, so that the arm functions as a normal assisting arm.

According to a third aspect of the present invention, there is provided an arm for transferring a work to a desired position, a gravity balance mechanism for balancing the weight of the work with gravity, and a driving means including a servomotor for driving the arm. A clutch for interrupting the connection between the drive unit and the arm, a storage unit for storing a transfer trajectory of the work taught in advance, a switch for instructing setting to a positioning mode, and a positioning mode when the switch is turned on. The servomotor is operated so that the work is conveyed according to the conveyance trajectory stored in the storage means while the clutch is connected, and when the work reaches a desired position, the positioning mode assists. Control means for changing the setting to the mode, disengaging the clutch and simultaneously releasing the servo control of the servo motor; A positioning aid arm, characterized in that it comprises.

This configuration operates in the same manner as the second configuration.

According to a fourth aspect of the present invention, there is provided an arm for transferring a work to a desired position, a gravity balance mechanism for balancing the weight of the work with gravity, a driving unit for driving the arm, and a driving unit for driving the arm. A clutch for interrupting connection to the arm, a storage unit for storing a transfer locus of the work taught in advance, a switch for instructing setting to a positioning mode, and setting the positioning mode when the switch is turned on; The drive unit is operated so that the clutch is connected and the workpiece is transported according to the transport trajectory stored in the storage unit, and when the workpiece reaches a desired position, the setting mode is changed from the positioning mode to the assisting mode. First control means for changing and disengaging the clutch, and the switch being turned on again after the work reaches a desired position. Then, the work is pressed against a member to be assembled with a desired force in accordance with the current data stored in the storage means while the clutch is connected, and when the work is completed, the clutch is disconnected. Means for assisting positioning.

With this configuration, the positioning mode is set by turning on the switch, and the arm moves based on the transport trajectory stored in the storage means. That is, in the positioning mode, it functions in the same manner as a normal transfer robot. Then, when the workpiece is transported to a preset position, the positioning mode is automatically released and the mode is changed to the assisting mode, so that the arm functions as a normal assisting arm. Then, when the switch is turned on, an operation is performed in which the work is pressed against the member to be assembled with a desired force. For example, the assisting arm can be used as an aid when an operator performs screwing or the like. become able to.

According to a fifth aspect of the present invention, there is provided an arm for transferring a work to a desired position, a gravity balance mechanism for balancing the weight of the work with gravity, a servomotor for driving the arm, and the arm. Auxiliary power means for generating a pressing force for pressing the work against the member to be assembled, a clutch for intermittently connecting the drive means to the arm, and a storage means for storing a transfer locus of the work taught in advance. And a switch for instructing setting to the positioning mode, and when the switch is turned on, the mode is set to the positioning mode, the clutch is connected, and the workpiece is transported according to the transport trajectory stored in the storage means. When the work reaches the desired position, the servo motor moves from the positioning mode to the assist mode. When the switch is turned on again after the work reaches a desired position, the auxiliary power means operates. ,
Pressing the work against a member to be assembled with a desired force,
When the work is completed, a second stop of the auxiliary power means is performed.
A positioning assisting arm having control means.

It is desirable that a servo motor or an air motor be used as the auxiliary power means. When the switch is turned on again after the work reaches a desired position, the second control means connects the clutch and applies the work in accordance with the current data stored in the storage means. At the same time, the auxiliary power means is operated to press the work against the member to be mounted with a desired force, and when the work is completed, the clutch is disengaged and the auxiliary The power means is stopped.

With this structure, the operation is the same as that of the structure described in claim 4. However, when a large pressing force is required due to the provision of the auxiliary power means, the servo motor is operated. The size of the motor can be reduced. At the same time, since the current capacity can be small, there is an economical advantage that the servo motor amplifier can be small-sized.

In the invention according to claim 8, the control means constituting the invention according to any one of claims 1 to 3 is further provided with a teaching mode in which the trajectory of the arm is stored in the storage means as a work trajectory. It is characterized by: Further, according to the ninth aspect of the present invention, the third control in which the trajectory of the manually operated arm is stored in the element constituting the invention of the fourth or fifth aspect as the workpiece transfer trajectory in the storage means. It is characterized in that means are further provided.

With this configuration, teaching can be performed in the same manner as a general robot, so that it is possible to flexibly cope with a layout change at a production site.

[0020]

The present invention configured as described above has the following effects for each claim. According to the first aspect of the present invention, an assist mode in which the connection between the driving means and the arm is cut off and the worker can carry the work, and the work is automatically carried by connecting the driving means and the arm. Since the control means for realizing the positioning mode is provided, by using the assisting mode and the positioning mode properly, both the advantages as the assisting arm and the advantages of the robot can be provided.

According to the second aspect of the present invention, when the switch is turned on, the positioning mode is set, the clutch is connected, and the workpiece is transported according to the transport locus stored in the storage means. When the driving means is operated, and when the work reaches a desired position, the setting mode is changed from the positioning mode to the assisting mode and the control means for disconnecting the clutch is provided. When the arm moves based on the stored transport trajectory and the workpiece is transported to a preset position, the positioning mode is automatically released and the mode becomes the assisting mode, and functions as a normal assisting arm. . Therefore, the advantage of the assisting arm and the advantage of the robot can be provided together, and the device functions as a useful auxiliary device in the field.

According to the third aspect of the invention, the same effect as the second aspect of the invention can be obtained.

According to the fourth aspect of the present invention, the positioning mode is set by turning on the switch, the arm moves based on the transport trajectory stored in the storage means, and reaches a preset position. When the work is conveyed, the positioning mode is automatically released and the mode becomes the assisting mode, which can function as a normal assisting arm. Then, when the switch is turned on, the work is moved to a desired force against the member to be assembled. Since the pressing operation is performed in the positioning mode, the robot can function as a simple robot in the positioning mode, as an assisting arm in the assisting mode, and thereafter as a work assisting device.

According to the fifth to seventh aspects of the present invention, when functioning as an auxiliary device for work, the work is pressed against the member to be assembled by the auxiliary power means with a desired force. When a large pressing force is required, the size of the servomotor can be reduced. At the same time, since the current capacity can be small, there is an economical advantage that the servo motor amplifier can be small-sized.

[0025] According to the invention described in claims 8 and 9,
A teaching mode is provided to store the trajectory of the arm in the storage means as the work trajectory, so that teaching can be performed in the same way as a general robot, and it is possible to flexibly cope with layout changes at the production site. .

[0026]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of a positioning assisting arm according to the present invention will be described below. FIG. 1 is an external view of a positioning assisting arm of the present invention.

The thing shown in this figure is a stationary type which is fixedly installed on the site. Although not shown, there is also a follow-up type that can work while following a conveyed work.

The positioning assisting arm can cooperate with an on-site worker. In other words, it has a balancer function used to reduce the load on the operator when carrying heavy objects, and a robot function that can reproduce and operate the taught points. The mode performing the balancer function is referred to as “assisting mode”, and the mode performing the robot function is referred to as “positioning mode”.

The assist mode is a mode that is set when an operator performs an operation that is difficult to perform positioning, and the positioning mode is a mode that is set when a simple operation such as transferring a work is performed.

The positioning assisting arm having the above-described functions is constituted as follows.

As shown in the drawing, a cylinder 12 for gravity balance is attached to the arm 10. This arm moves a main shaft 14 in a vertical direction by a motor 13. An arm 16 for moving the hand 15 is provided at the distal end of the arm 10. The arm 17 is moved forward and backward by a motor 17. Operation panel 1 on hand 15
The hand 15 is rotated by a motor 18. Further, the arm 10 can be turned with respect to the main shaft 14, and this turning is performed by a motor 20. As will be described later, these motors are provided with clutches, and the main shaft 14 is provided with an air motor for assisting the turning force of the arm 10. An operation panel 19 described later is attached to the hand 15.

A controller 25 is connected to the positioning assisting arm.
Reference numeral 5 has a function of controlling the rotation of four motors 13, 17, 18, and 20. Note that these motors are low power servo motors of 80 W.

FIG. 2 is a diagram showing the configuration of the main shaft 14 shown in FIG. A pulley 20 </ b> A is attached to the motor 20, and a pulley 22
A is connected. A clutch 23 is attached to an output shaft of the speed reducer 22, and is connected to gears 24A and 24B.
The main shaft 14 is attached. An encoder 26 for indirectly detecting the rotational position of the main shaft 14 is provided on the shaft of the gear 24A.
And a brake 30 for stopping the shaft.

Therefore, when the motor 20 rotates, the main shaft 14 rotates via the clutch 23 and the arm 10 turns, and when the clutch 23 is disengaged, the arm 1 rotates.
0 is free.

An air motor 27 is attached to the output shaft of the motor 20. The air motor 27 can assist the turning force of the arm 10 by itself or in cooperation with the motor 20. The air motor 27 is provided. This is the only axis that is used. The other three axes (the vertical axis of the arm 10, the advancing / retreating axis of the arm 16, and the rotating axis of the hand 15) also have the same configuration as this axis, and therefore the detailed description of the structure is omitted.

FIG. 3 shows the arrangement of various buttons on the control panel 40 provided in the controller 25.

The power lamp 41 is a lamp that lights up when the power is turned on in order from the top. The indicator lamp 42 indicates the state of the positioning assist arm. The emergency stop button 43 is a button that is pressed when performing an emergency stop. Both buttons 44 for operation preparation ON and operation preparation OFF,
These buttons are operated when the positioning assist arm is brought into the operation preparation state or when the operation is terminated. The changeover switch 45 is a switch that switches when the positioning assisting arm is automatically operated or when teaching work is performed. The abnormality reset switch 46 is a switch used to reset the indicator lamp 42 which is turned on when an abnormality has occurred or to reset the operation of the controller 25. Start, hold button 47
Is a button to be pressed when the positioning assisting arm is operated or its operation is held. FIG. 4 shows the hand 1
FIG. 5 is a diagram showing an arrangement of various buttons on an operation panel 19 attached to the control panel 5.

When the changeover switch 45 of the control panel 40 is set to "automatic", the start button 51 functions as a button for setting the positioning mode. When “Teach” is set,
Functions as a button for storing the coordinates of the teaching point. When the changeover switch 45 is set to “automatic”, the stop button 52 functions as a button for setting the start mode to the assisting mode. When set to “teach”, it functions as a button for storing the coordinates of the last taught point on condition that it is pressed at the same time as the start button 51.

The emergency stop button 53 is a button to be pressed when making an emergency stop. The indicator lamp 54 displays operations such as reproduction, teaching, and stop.

FIG. 5 is a schematic configuration diagram of a control system of the positioning assisting arm according to the present invention.

The teaching pendant 55 is connected to the controller 25 and is used for teaching work and for manually operating the positioning assist arm. As described above, the operation panel 19 performs the same operation as that of the teaching pendant 55. The teaching pendant 55 is provided with a display 55A and a keyboard 55B, and the display 55A displays teaching data.
Outputs an editing instruction.

The teaching program input / editing section 56 has a teaching program input / edit routine and a teaching program translation routine. The teaching program input / edit routine is a routine for editing the teaching program according to an editing instruction from the keyboard 55B. In addition, this is a routine for inputting a current position when the clutch is released from a counter board 65 described later and grasping the current position. The teaching program translation routine is a routine for translating the teaching program so that the central processing unit 60 can process the teaching program based on the origin teaching program from the teaching program input / edit routine.

The teaching data storage memory 57 stores translation teaching data translated by a teaching program translation routine. The trajectory data storage memory 58 is a part that stores the trajectory data of the hand 15.

The motor drive section 59 has a target trajectory generation routine and a feedback control routine. The target trajectory generation routine generates trajectory data from the position data stored in the teaching data storage memory 57 and sends it to the trajectory data storage memory 58. The feedback control routine takes out orbit data stored in the orbit data storage memory 58 as target orbit data,
Further, this is a portion for inputting a current position from two counter boards 63 and 65, which will be described later, and generating speed data from a difference between the target trajectory data and the current position.

The above-described teaching program input / editing section 56 and motor driving section 59 are generally controlled by a central processing section 60. The teaching data is input to the central processing unit 60 from the teaching data storage memory 58.

The D / A board 61 receives the speed data calculated by the feedback control routine and outputs an analog speed command. Servo amplifier 6
Numeral 2 is for controlling the operation of, for example, the servo motor 20 for driving each axis upon receiving a position signal from, for example, the encoder 26 for indirectly detecting the position of the axis. The pulse signal from the encoder 26 attached to the axis of the servomotor 20 is counted by the counter board 63 and provided to the feedback control routine as information on the current position.

The pulse signal from the encoder 64 for directly detecting the position of the axis is counted by the counter board 65 and supplied to a teaching program input / edit routine as information on the current position. The information on the current position from the counter board 65 is valid only when the clutch is released. Also, in this figure, only one axis is shown for the servo amplifier, the servomotor, and the encoder, but actually there are four axes.

The editing device signal processing unit 66 includes the central processing unit 6
The peripheral device 68 is driven through the I / O board 67 in response to the control signal from the control signal 0. In the positioning assisting arm of the present invention, an electromagnetic valve (not shown) of the air motor 27, the clutch 23, the brake 30, and the like are driven.

Hereinafter, the operation of the positioning assisting arm according to the present invention will be described with reference to the flowcharts of FIGS.

In these flowcharts, it is assumed that a work placed on a temporary table is gripped and the work is screwed to a vehicle.

The flowchart of FIG. 6 describes the above operation procedure for only one axis.

Since the positioning assisting arm is set to the assisting mode when the start button 51 of the operation panel 19 is not operated, first, the worker A moves the positioning assisting arm by hand and places it on the temporary table. The placed work is gripped by the hand 15 (S1). When the worker A presses the start button 51 in this state (S2), the central processing unit 60
Turns on the clutch 22 (S3), and drives the motor drive unit 59.
Then, the motor of each axis is moved based on the position data stored in the teaching data storage memory 57 and the trajectory data stored in the trajectory data storage memory 58, and the work is automatically conveyed to a predetermined position while avoiding interference. . Therefore, the positioning assisting arm is set to the positioning mode until it is transported to the predetermined position. Positioning feedback control is a feedback control routine,
D / A board 61, servo amplifier 62, encoder 2
6, 64 and the counter boards 63 and 65. The control by these is the same as the general feedback control, so that detailed description of this control is omitted here (S4, S5).

When the work is transported to the predetermined position, the clutch 22 is automatically turned off, and the positioning assist arm is set to the assist mode again (S6). The worker B moves the arm by hand to adjust the work to a predetermined position of the vehicle (S7). When the start button 51 is pressed again in this state (S
8) The clutch 22 is turned on (S9), and the positioning assist arm is set to the positioning mode again. Next, the motor drive unit 59 moves the motor of each axis based on the position data stored in the teaching data storage memory 57 and the trajectory data stored in the trajectory data storage memory 58,
The work is performed by pressing the work with a predetermined force (S10, S10).
11). As described above, when the work is pressed against the vehicle, for example, it is necessary to press the work in a direction against gravity to perform the screwing work, or to perform the screwing work while following the conveyed work. In particular, the work can be facilitated when there is a problem.

When the operation is completed, the positioning assisting arm is returned to the origin position based on the teaching data. When the arm reaches a predetermined position, the clutch 22 is turned off and the assisting mode is set (S12 to S15).

As described above, when the assisting mode and the positioning mode can be switched as necessary, when a heavy work is conveyed in a small place, the work can be conveyed without causing interference with other objects. This makes it possible to easily attach a work at a position where attachment is difficult.

In other words, by setting the positioning assisting arm in the positioning mode, it is possible to provide a part that a human is not good at, and by setting the assisting mode, an automatic machine such as a robot is not strong. For example, by allowing a worker to perform work such as screwing a soft work,
In the robot, humans can perform unsatisfactory movements, and conversely, humans can perform unsatisfactory movements.

FIG. 7 is a flowchart showing a process in which only the screw tightening work of the work is performed by the operator.

First, when the processing is started, the servo of the motor of each axis is turned on and the clutch 22 is turned on (S2).
1). Next, the positioning assisting arm moves each axis based on the position data stored in the teaching data storage memory 57 and the trajectory data stored in the trajectory data storage memory 58, and causes the hand 15 to grip the workpiece to a predetermined position. (S22 to S24). When a predetermined position is reached, the servo is turned off and the clutch 22
Turn off. That is, when the vehicle reaches the predetermined position, the assist mode is automatically set (S25). In the processing so far, the positioning assisting arm is set to the positioning mode, and performs the same operation as the robot. When the vehicle reaches a predetermined position, the mode is automatically switched to the assisting mode.

Next, the operator moves the arm by hand to adjust the work to a predetermined position on the vehicle (S26). When the start button 51 is pressed again in this state (S27), the servo and the clutch 22 are turned on (S28), and the positioning assist arm is set to the positioning mode again. Next, the motor drive unit 59 moves the motor of each axis based on the position data stored in the teaching data storage memory 57 and the trajectory data stored in the trajectory data storage memory 58, and presses the workpiece with a predetermined force. (S28, S2)
9). As described above, when the work is pressed against the vehicle, for example, it is necessary to press the work in a direction against gravity to perform the screwing work, or to perform the screwing work while following the conveyed work. In particular, the work can be facilitated when there is a problem.

When the operation is completed, the positioning assisting arm is returned to the origin position based on the teaching data. When the arm reaches a predetermined position, the servo and the clutch 22 are turned off and the assisting mode is set (S30 to S33). ).

The flowchart shown in FIG. 8 is such that the air motor 27 is added to the power when the work is pressed against the vehicle.

First, when the processing is started, the servo of the motor of each axis is turned on, and the clutch 22 is turned on (S4).
1). Next, the positioning assisting arm moves each axis based on the position data stored in the teaching data storage memory 57 and the trajectory data stored in the trajectory data storage memory 58, and causes the hand 15 to grip the workpiece to a predetermined position. (S42 to S44). When a predetermined position is reached, the servo is turned off and the clutch 22
Turn off. That is, when the vehicle reaches the predetermined position, the assist mode is automatically set (S45). In the processing so far, the positioning assisting arm is set to the positioning mode, and performs the same operation as the robot. It should be noted that, as described above, when the vehicle reaches the predetermined position, the mode is automatically switched to the assisting mode.

Next, the operator moves the arm by hand to adjust the work to a predetermined position on the vehicle. The reason for allowing the operator to perform the positioning in this way is that a human can perform the operation more quickly and accurately than using a machine (S4).
6). When the start button 51 is pressed again in this state (S4
7) The servo and clutch 22 are turned on (S48), and the positioning assist arm is set to the positioning mode again. Next, in the motor drive unit 59, the position data and the trajectory data storage memory 5 stored in the teaching data storage memory 57 are stored.
The motor of each axis is moved based on the trajectory data stored in 8 and the work is pressed by a predetermined force.
At the same time, the air motor 27 operates to assist the pressing operation. By causing both the servo motor and the air motor 27 to perform the pressing force in this manner, even when a large pressing force is required, it is not necessary to increase the capacity of the servo motor so much. It is not necessary to increase the capacity of the servo amplifier for controlling the control. By operating in this manner, the machine can be assisted by humans to facilitate the work, and the worker can work with both hands (S48 to S50). When the work is finished and the start button 51 is pressed again (S51, S52), the air motor 27
Is turned off (S53), the positioning assist arm is returned to the origin position based on the teaching data, and when it reaches a predetermined position, the servo and clutch 22 are turned off and the assist mode is set (S54 to S56). .

The above are three typical operations of the positioning assisting arm according to the present invention. Next, the positioning assisting arm of the present invention has a function capable of teaching a transfer path, similarly to a normal robot. The procedure of this teaching operation will be described with reference to the flowchart of FIG.

This teaching can be performed by setting the changeover switch 45 of the control panel 40 to the teaching position.

When the changeover switch 45 is set to the teaching position, the clutch is turned off at the same time as the servo is turned off, and the positioning assist arm is set to the assisting mode, that is, the mode in which the operator can freely move the hand with the hand. Is done. When the clutch 22 is turned off, the connection with the speed reducer 23 is disconnected, so that even if the speed reducer has a high reduction ratio, the arm 10 can be moved lightly. In addition,
If there is a clutch on another shaft, that clutch is naturally turned off (S61).

The operator moves to the positioning point by holding the tip of the arm. Specifically, it is to position the hand 15. When teaching that point,
The start button 51 of the operation panel 19 is pressed. When the start button 51 is pressed, the value of the encoder (for example, the encoder 64) of each axis at that time is input to the teaching program input / edit unit 56 via the counter board (for example, the counter board 65). That is, the position of each axis is grasped by the value of the encoder directly attached to the axis, and at the time of playback, the value of this encoder is converted to the value of the encoder attached to the motor (S
62, S63).

The same operation is performed for each point to be taught, and the start and stop buttons 51 and 52 are simultaneously pressed for the last point. Thus, the teaching operation ends (S64).

As is apparent from the above description, the positioning assisting arm of the present invention sometimes serves as a mere assisting arm, sometimes as a robot, and sometimes assists a worker's work. Work that humans are not good at (for example, transporting heavy objects in a small place), work that robots are not good at (for example, attaching work to flexible objects), or only humans In such a case, it is possible to perform a difficult task (a task of mounting while lifting a heavy object) or the like by compensating for the lack of a human and a robot respectively.

Further, since the positioning assisting arm of the present invention does not require a complicated mechanism or control system unlike a robot, it can be produced at a very low cost, and by arranging a large number at a production site, it is possible to produce a positioning assist arm. You will be able to work efficiently.

[Brief description of the drawings]

FIG. 1 is an external view of a positioning assisting arm of the present invention.

FIG. 2 is a diagram showing a configuration of a main shaft 14 shown in FIG.

FIG. 3 is a diagram showing an arrangement of various buttons on a control panel provided in a controller.

FIG. 4 is a diagram showing an arrangement of various buttons on an operation panel attached to the hand.

FIG. 5 is a schematic configuration diagram of a control system of a positioning assisting arm according to the present invention.

FIG. 6 is an operation flowchart of the positioning assisting arm according to the present invention.

FIG. 7 is an operation flowchart of the positioning assisting arm according to the present invention.

FIG. 8 is an operation flowchart of the positioning assisting arm according to the present invention.

FIG. 9 is an operation flowchart of the positioning assisting arm according to the present invention.

FIG. 10 is a diagram for explaining the operation of a conventional assisting arm.

[Explanation of symbols]

10, 16: arm, 12: cylinder, 14: spindle, 15: hand, 13, 17, 18, 2
0 ... motor, 19 ... operation panel, 25 ... controller.

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Jin Sekiguchi 2 Takaracho, Kanagawa-ku, Yokohama, Kanagawa Prefecture Inside Nissan Motor Co., Ltd. (72) Inventor Ikuo Kishida 2 Takaracho, Kanagawa-ku, Yokohama City, Kanagawa Nissan Motor Co., Ltd.

Claims (9)

[Claims] 1. A driving means for driving an arm is provided on an assisting arm having an arm for transferring a work to a desired position and a gravity balance mechanism for balancing the weight of the work with gravity. Control means for realizing an assist mode in which the work can be transported by an operator by disconnecting the arm from the arm and a positioning mode in which the drive means and the arm are connected to automatically transport the work. A positioning assisting arm, characterized in that: 2. An arm for transferring a work to a desired position, a gravity balance mechanism for balancing the weight of the work with gravity, a driving means for driving the arm, and an intermittent connection between the driving means and the arm. A clutch to be engaged, a storage means for storing a transfer trajectory of the work taught in advance, a switch for instructing setting to a positioning mode, and setting the positioning mode when the switch is turned on;
The drive unit is operated so that the clutch is connected and the workpiece is transported according to the transport trajectory stored in the storage unit, and when the workpiece reaches a desired position, the setting mode is changed from the positioning mode to the assisting mode. Control means for changing and disengaging the clutch. 3. An arm for transferring a work to a desired position, a gravity balance mechanism for balancing the weight of the work with gravity, a driving unit including a servomotor for driving the arm, and the driving unit and the arm. A clutch for intermittently connecting the connection, a storage means for storing the transfer trajectory of the work taught in advance, a switch for instructing setting to the positioning mode, and setting the positioning mode when the switch is turned on.
The servomotor is operated so that the work is carried in accordance with the carrying locus stored in the storage means while the clutch is connected, and when the work reaches a desired position, the setting is changed from the positioning mode to the assisting mode. And control means for changing the clutch to release the servo control of the servo motor at the same time. 4. An arm for transferring a work to a desired position, a gravity balance mechanism for balancing the weight of the work with gravity, a driving unit for driving the arm, and an intermittent connection between the driving unit and the arm. A clutch to be engaged, a storage means for storing a transfer trajectory of the work taught in advance, a switch for instructing setting to a positioning mode, and setting the positioning mode when the switch is turned on;
The drive unit is operated so that the clutch is connected and the workpiece is transported according to the transport trajectory stored in the storage unit, and when the workpiece reaches a desired position, the setting mode is changed from the positioning mode to the assisting mode. First control means for changing and disengaging the clutch; and when the switch is turned on again after the work reaches a desired position, the clutch is connected and according to the current data stored in the storage means. A second control unit for pressing the work against a member to be assembled with a desired force and disconnecting the clutch when the work is completed. 5. An arm for transferring a work to a desired position, a gravity balance mechanism for balancing the weight of the work with gravity, a servomotor for driving the arm, and assembling the work via the arm. An auxiliary power unit for generating a pressing force for pressing against a member, a clutch for intermittently connecting the drive unit to the arm, a storage unit for storing a transfer locus of the work taught in advance, and setting to a positioning mode. , And when the switch is turned on, sets the positioning mode,
The servomotor is operated so that the work is carried in accordance with the carrying locus stored in the storage means while the clutch is connected, and when the work reaches a desired position, the setting is changed from the positioning mode to the assisting mode. First control means for changing the clutch and releasing the servo control of the servo motor at the same time, and when the switch is turned on again after the work reaches a desired position, the auxiliary power means is operated, and A second control means for pressing the work against a member to be assembled with a desired force and stopping the auxiliary power means when the work is completed. 6. The positioning assist arm according to claim 5, wherein the auxiliary power unit is a servo motor or an air motor. 7. When the switch is turned on again after the work reaches a desired position, the second control means connects the clutch and performs the control according to the current data stored in the storage means. The work is pressed against the member to be assembled with a desired force, and at the same time, the auxiliary power means is operated to press the work with the desired force against the member to be assembled. When the work is completed, the clutch is disengaged. The positioning assist arm according to claim 5, wherein the auxiliary power unit is stopped together with the auxiliary power unit. 8. The teaching mode according to claim 1, wherein said control means further comprises a teaching mode for storing a trajectory of said arm in said storage means as a work trajectory. The positioning assistance arm as described. 9. The positioning assisting device according to claim 4, further comprising third control means for storing a trajectory of the arm manually operated as a work trajectory in the storage means. arm.