JP2515519Y2 - Tool mounting device for spherical work robot - Google Patents
Tool mounting device for spherical work robotInfo
- Publication number
- JP2515519Y2 JP2515519Y2 JP8151490U JP8151490U JP2515519Y2 JP 2515519 Y2 JP2515519 Y2 JP 2515519Y2 JP 8151490 U JP8151490 U JP 8151490U JP 8151490 U JP8151490 U JP 8151490U JP 2515519 Y2 JP2515519 Y2 JP 2515519Y2
- Authority
- JP
- Japan
- Prior art keywords
- axis
- tool
- arm
- shaft
- attached
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Description
【考案の詳細な説明】 （産業上の利用分野） 本考案は形状を測定しながら作業を行う球面作業ロボ
ットに関するものである。DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention relates to a spherical work robot that performs work while measuring its shape.
（従来技術） ロボットとは別にセンサーや加工工具を具備したツー
ルユニットを配置しワークを加工する際、最初にロボッ
トがセンサーを把持し、該センサーでもってワーク形状
を測定し認識する。次いでセンサーをツールユニットに
戻し、次に加工工具を把持し加工データに基づいて加工
を開始する。通常、ワークを徐々に加工するため、この
動作が複数回繰り返される。(Prior Art) When a tool unit equipped with a sensor and a processing tool is arranged separately from a robot to process a work, the robot first grips the sensor, and the work shape is measured and recognized by the sensor. Next, the sensor is returned to the tool unit, and then the machining tool is gripped and machining is started based on the machining data. Normally, the work is gradually processed, so this operation is repeated a plurality of times.
（考案が解決しようとする課題） ところで上記従来技術においてはツールユニットを設
置しているためスペースが必要となり、また、センサー
と加工工具を何度も交換するのでツールチェンジ時間を
要すばかりでなく、交換の精度（把持精度）にも限界が
あるという問題点があった。(Problems to be solved by the invention) By the way, in the above-mentioned prior art, since the tool unit is installed, a space is required, and since the sensor and the machining tool are exchanged many times, not only the tool change time is required. However, there is a problem in that there is a limit to the accuracy of replacement (grasping accuracy).
（課題を解決するための手段） 本考案は上記問題点を解決することを目的とし、ベー
スに設置した回転自在の第１回転軸に第１アームを取り
付け、該第１アームに回転自在で、かつその軸線が前記
第１回転軸の軸線と直交するよう第２回転軸を取り付
け、該第２回転軸に取り付けられた第２アームの先端部
に、その軸線が第２アームの軸線と直交し、かつ第１回
転軸の軸線と交わるようツール軸を配置するとともに、
前記第１回転軸および第２回転軸の各々に回転駆動源を
配置した球面作業ロボットに於て、前記ツール軸に作業
工具を取り付けるとともに、ツール軸を通る平面内のツ
ール軸近傍部にオフセットして距離センサーを前記第１
回転軸の軸線と第２回転軸の軸線との交点を向くよう配
置したことを特徴とするものである。(Means for Solving the Problem) The present invention is intended to solve the above problems, and a first arm is attached to a rotatable first rotating shaft installed on a base, and the first arm is rotatable. The second rotary shaft is attached so that its axis is orthogonal to the axis of the first rotary shaft, and the axis of the second arm attached to the second rotary shaft is orthogonal to the axis of the second arm. , And arrange the tool axis so that it intersects with the axis of the first rotation axis,
In a spherical work robot in which a rotary drive source is arranged on each of the first rotary shaft and the second rotary shaft, a work tool is attached to the tool shaft and offset in the vicinity of the tool shaft in a plane passing through the tool shaft. The distance sensor is the first
It is characterized in that it is arranged so as to face the intersection of the axis of the rotating shaft and the axis of the second rotating shaft.
（実施例） 次に図示した一実施例に基づいて詳細に説明する。ベ
ース１には回転駆動源を有する第１回転軸２が取り付け
られている。該第１回転軸２にはＬ字型をした第１アー
ム３が取り付けられている。該第１アーム３先端には前
記第１回転軸２の軸線OAと直交するような軸線OBを有
し、回転駆動源を有する第２回転軸４が回転自在に取り
付けられている。該第２回転軸４には第２アーム５が取
り付けられており、その先端には前記軸線OBと平行に工
具取付アーム６が取り付けられている。該工具取付アー
ム６の先端には第２アームに平行移動可能で、かつ軸線
OA上になるよう作業工具７を有するツール軸８が移動可
能に取り付けられている。(Example) Next, it demonstrates in detail based on the Example shown in figure. A first rotary shaft 2 having a rotary drive source is attached to the base 1. An L-shaped first arm 3 is attached to the first rotating shaft 2. A second rotary shaft 4 having an axis OB orthogonal to the axis OA of the first rotary shaft 2 and having a rotary drive source is rotatably attached to the tip of the first arm 3. A second arm 5 is attached to the second rotating shaft 4, and a tool attaching arm 6 is attached to the tip of the second arm 5 in parallel with the axis OB. The tip of the tool mounting arm 6 can move in parallel with the second arm and has an axis line.
A tool shaft 8 having a work tool 7 is movably mounted on the OA.
また、工具取付アーム６先端にはブラケット９を介し
て常に軸線OAを通る平面内で、かつ軸線OAと軸線OBとの
交点Ｏに向くように設定された距離センサー10が取り付
けられている。参照符号11はワーク12の支持棒で回転自
在に取り付けられている。Further, a distance sensor 10 is attached to the tip of the tool attachment arm 6 via a bracket 9 so as to be directed to the intersection O between the axis OA and the axis OB in a plane that always passes through the axis OA. Reference numeral 11 is a support rod of the work 12 and is rotatably attached.
次に動作について第２図を基に説明する。第２アーム
５を反時計回りに回転させワーク12の形状を認識する。
次いで、加工データに基づき作業工具７を上下に作動さ
せワーク12を加工する。つまりセンサー10で加工前の形
状を認識しながら後続する作業工具７でワーク12を加工
する。また、加工された部分が正確か否か調べるには第
２アーム５を一回転させるか、あるいは時計回りに回転
させることによりセンサー10で形状を測定する。Next, the operation will be described with reference to FIG. The shape of the work 12 is recognized by rotating the second arm 5 counterclockwise.
Next, the work tool 7 is operated up and down based on the processing data to process the work 12. That is, the workpiece 12 is machined by the work tool 7 that follows while recognizing the shape before machining by the sensor 10. Further, in order to check whether the processed portion is accurate, the shape is measured by the sensor 10 by rotating the second arm 5 once or rotating it clockwise.
（効果） 本考案は、ベースに設置した回転自在の第１回転軸に
第１アームを取り付け、該第１アームに回転自在で、か
つその軸線が前記第１回転軸の軸線と直交するよう第２
回転軸を取り付け、該第２回転軸に取り付けられた第２
アームの先端部に、その軸線が第２アームの軸線と直交
し、かつ第１回転軸の軸線と交わるようツール軸を配置
するとともに、前記第１回転軸および第２回転軸の各々
に回転駆動源を配置した球面作業ロボットに於て、前記
ツール軸に作業工具を取り付けるとともに、ツール軸を
通る平面内のツール軸近傍部にオフセットして距離セン
サーを前記第１回転軸の軸線と第２回転軸の軸線との交
点を向くよう配置したので、ロボット単体の設置スペー
スで済み、またセンサーと作業工具の交換が必要ないか
ら作業タイムを短縮でき、さらに、正確な形状認識と加
工ができる。(Effect) In the present invention, the first arm is attached to the rotatable first rotation shaft installed on the base, and the first arm is rotatable and its axis is orthogonal to the axis of the first rotation shaft. Two
A second rotary shaft attached to the second rotary shaft
A tool shaft is arranged at the tip of the arm so that its axis intersects with the axis of the second arm and intersects with the axis of the first rotation shaft, and rotation drive is performed on each of the first rotation shaft and the second rotation shaft. In a spherical work robot in which a source is arranged, a work tool is attached to the tool axis, and the distance sensor is offset to the vicinity of the tool axis in a plane passing through the tool axis and the second rotation axis and the second rotation axis. Since it is placed so that it faces the intersection of the axis of the axis, the installation space for the robot itself is sufficient, and since it is not necessary to replace the sensor and work tool, the work time can be shortened, and more accurate shape recognition and machining can be performed.
なお、本実施例は球面作業ロボットについて説明した
が、水平多関節型ロボットや直交座標型のロボットにツ
ール軸とセンサーをオフセットして取り付けても同様な
効果が得られる。Although the present embodiment describes the spherical work robot, the same effect can be obtained even if the tool axis and the sensor are attached to the horizontal articulated robot or the Cartesian coordinate robot in an offset manner.
第１図は本考案の実施例を示す側面図、第２図は第１図
における一部正面図である。 １……ベース、２……第１回転軸 ３……第１アーム、４……第２回転軸 ５……第２アーム、６……工具取付アーム ７……作業工具、８……ツール軸 ９……ブラケット、10……距離センサー 11……支持棒、12……ワークFIG. 1 is a side view showing an embodiment of the present invention, and FIG. 2 is a partial front view of FIG. 1 ... Base, 2 ... First rotary shaft 3 ... First arm, 4 ... Second rotary shaft 5 ... Second arm, 6 ... Tool mounting arm 7 ... Work tool, 8 ... Tool shaft 9 …… Bracket, 10 …… Distance sensor 11 …… Support rod, 12 …… Workpiece
Claims (1)
第１アームを取り付け、該第１アームに回転自在で、か
つその軸線が前記第１回転軸の軸線と直交するよう第２
回転軸を取り付け、該第２回転軸に取り付けられた第２
アームの先端部に、その軸線が第２アームの軸線と直交
し、かつ第１回転軸の軸線と交わるようツール軸を配置
するとともに、前記第１回転軸および第２回転軸の各々
に回転駆動源を配置した球面作業ロボットに於て、前記
ツール軸に作業工具を取り付けるとともに、ツール軸を
通る平面内のツール軸近傍部にオフセットして距離セン
サーを前記第１回転軸の軸線と第２回転軸の軸線との交
点を向くよう配置したことを特徴とする球面作業ロボッ
トにおけるツール取付装置。1. A first arm is attached to a rotatable first rotating shaft installed on a base, and the second arm is rotatable on the first arm and its axis is orthogonal to the axis of the first rotating shaft.
A second rotary shaft attached to the second rotary shaft
A tool shaft is arranged at the tip of the arm so that its axis intersects with the axis of the second arm and intersects with the axis of the first rotation shaft, and rotation drive is performed on each of the first rotation shaft and the second rotation shaft. In a spherical work robot in which a source is arranged, a work tool is attached to the tool axis, and the distance sensor is offset to the vicinity of the tool axis in a plane passing through the tool axis and the second rotation axis and the second rotation axis. A tool mounting device for a spherical work robot, which is arranged so as to face the intersection of the axis and the axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8151490U JP2515519Y2 (en) | 1990-07-31 | 1990-07-31 | Tool mounting device for spherical work robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8151490U JP2515519Y2 (en) | 1990-07-31 | 1990-07-31 | Tool mounting device for spherical work robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0438389U JPH0438389U (en) | 1992-03-31 |
| JP2515519Y2 true JP2515519Y2 (en) | 1996-10-30 |
Family
ID=31627532
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP8151490U Expired - Lifetime JP2515519Y2 (en) | 1990-07-31 | 1990-07-31 | Tool mounting device for spherical work robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2515519Y2 (en) |
-
1990
- 1990-07-31 JP JP8151490U patent/JP2515519Y2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0438389U (en) | 1992-03-31 |
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