JPH08126946A - Robot arm - Google Patents
Robot armInfo
- Publication number
- JPH08126946A JPH08126946A JP26885894A JP26885894A JPH08126946A JP H08126946 A JPH08126946 A JP H08126946A JP 26885894 A JP26885894 A JP 26885894A JP 26885894 A JP26885894 A JP 26885894A JP H08126946 A JPH08126946 A JP H08126946A
- Authority
- JP
- Japan
- Prior art keywords
- grinding
- head
- work
- robot arm
- vacuum suction
- 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.)
- Granted
Links
Landscapes
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
- Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Manipulator (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、例えば自動二輪車の燃
料タンクの研削工程で使用されるロボットの改良に関す
る。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an improvement of a robot used in a grinding process of a fuel tank of a motorcycle, for example.
【０００２】[0002]
【従来の技術】例えば自動二輪車の燃料タンクの溶接ビ
ードを研削する工程では、従来から溶接ビードを研削す
るためのロボットと、ワークを移送するためのロボット
を設け、研削ロボットで研削したワークを移送ロボット
で把持して次工程に送っている。2. Description of the Related Art For example, in the process of grinding a weld bead in a fuel tank of a motorcycle, a robot for grinding a weld bead and a robot for transferring a work are conventionally provided, and a work ground by a grinding robot is transferred. It is gripped by a robot and sent to the next process.
【０００３】[0003]
【発明が解決しようとする課題】しかし、このようにロ
ボットを２台設けると設備費がかかり、設置スペースも
要するという問題がある。However, if two robots are provided in this way, there is a problem in that equipment costs and installation space is required.
【０００４】[0004]
【課題を解決するための手段】上記課題を解決するため
本発明は、ロボットアームに回動自在な支持基盤を設
け、支持基盤の一端側にワークを研削するエア駆動の研
削ヘッドを設けるとともに、他端側にワークを移送する
真空吸着ヘッドを設けた。ここで、研削ヘッドの基端部
に、研削圧を一定に保持するフローティング機構を設け
るようにしてもよい。In order to solve the above problems, according to the present invention, a robot arm is provided with a rotatable support base, and an air-driven grinding head for grinding a workpiece is provided on one end side of the support base. A vacuum suction head for transferring the work was provided on the other end side. Here, a floating mechanism that holds the grinding pressure constant may be provided at the base end of the grinding head.
【０００５】[0005]
【作用】ワークを研削ヘッドで研削加工した後、支持基
盤を回動させて真空吸着ヘッドにてワークを吸着保持
し、次工程に払い出す。この際、研削ヘッドの基端部の
フローティング機構によって研削圧を一定に保持し研削
のバラツキをなくす。After the work is ground by the grinding head, the support base is rotated to suck and hold the work by the vacuum suction head, and the work is discharged to the next step. At this time, the floating pressure mechanism at the base end portion of the grinding head keeps the grinding pressure constant and eliminates variations in grinding.
【０００６】[0006]
【実施例】以下に本発明に係るロボットアームの実施例
を添付図面に基づいて説明する。ここで、図１はロボッ
トの全体図、図２は研削ヘッドの基端部に構成されるフ
ローティング機構の部分図である。Embodiments of the robot arm according to the present invention will be described below with reference to the accompanying drawings. Here, FIG. 1 is an overall view of the robot, and FIG. 2 is a partial view of a floating mechanism formed at the base end of the grinding head.
【０００７】本発明のロボットアームは自動二輪車の燃
料タンクを溶接した際生じる溶接ビードを研削加工し、
その後燃料タンクを次工程に払い出す一連の動作を自動
的に行う装置として、図１に示すような多関節ロボット
１のロボットアーム３として構成されている。The robot arm of the present invention grinds a weld bead generated when a fuel tank of a motorcycle is welded,
After that, the robot arm 3 of the articulated robot 1 as shown in FIG. 1 is configured as a device for automatically performing a series of operations for discharging the fuel tank to the next process.
【０００８】すなわち、ロボットアーム３は、ベース２
に対して６自由度の動作が可能であり、ベース２に対し
てＳ軸（中心軸）周りに旋回可能な旋回ヘッド４と、こ
の旋回ヘッド３上端のＬ軸周りに揺動可能な下腕５と、
この下腕５上端のＵ軸周りに揺動可能な上腕支持部６
と、この上腕支持部６のＲ軸（中心軸）周りに回動可能
な上腕７と、この上腕７先端のＢ軸周りに揺動可能な手
首８と、この手首８の旋回軸としてのＴ軸（中心軸）周
りに回動自在な支持基盤１０を備えている。そして、こ
の支持基盤１０の一端側には、研削ヘッド１１の基端部
の基端部１１ａが取り付けられ、反対側には真空吸着ヘ
ッド１２が取り付けられている。That is, the robot arm 3 includes the base 2
With respect to the base 2, a swivel head 4 capable of swiveling about S axis (center axis) and a lower arm swingable around the L axis at the upper end of the swivel head 3. 5 and
An upper arm support portion 6 that is swingable around the U axis at the upper end of the lower arm 5.
An upper arm 7 rotatable around the R axis (center axis) of the upper arm support portion 6, a wrist 8 swingable around the B axis at the tip of the upper arm 7, and a T as a pivot axis of the wrist 8. A support base 10 is provided which is rotatable about an axis (central axis). A base end 11a of the base of the grinding head 11 is attached to one end of the support base 10, and a vacuum suction head 12 is attached to the opposite side.
【０００９】研削ヘッド１１は、支持体１３に設けられ
た駆動プーリ１４と、アーム１５の先端に設けられた従
動プーリ１６を備え、駆動プーリ１４と従動プーリ１６
の外周には研削ベルト１７が巻回されている。そしてこ
の研削ベルト１７は例えばエアホース２８から供給され
る圧縮エアにて駆動される駆動プーリ１４の作動によっ
て無端軌道を周回走行するようにされ、また研削ベルト
１７の外面には砥粒が砥着されている。The grinding head 11 is provided with a drive pulley 14 provided on the support 13 and a driven pulley 16 provided at the tip of the arm 15, and the drive pulley 14 and the driven pulley 16 are provided.
A grinding belt 17 is wound around the outer periphery of the. The grinding belt 17 is caused to travel on an endless track by the operation of a drive pulley 14 driven by compressed air supplied from an air hose 28, for example, and the outer surface of the grinding belt 17 has abrasive grains adhered thereto. ing.
【００１０】前記研削ヘッド１１の基端部１１ａには、
図２に示すように、支持体１３の基端部をフローティン
グ支持するフローティング機構１８が設けられている。
すなわち、このフローティング機構１８は前記支持基盤
１０に取り付けられる矩形状の取付枠体２０と、この取
付枠体２０の内部に設けられ且つ取付枠体２０の長辺側
に沿って摺動自在な内部枠体２１を備え、前記取付枠体
２０の長辺側の中間部に切込部２０ａ、２０ａを設ける
とともに、この切込部２０ａ、２０ａを通して内部枠体
２１の長辺側の中間部から張出す張出板２２、２２を挿
通させている。そして、切込部２０ａの隙間間隔は、張
出板２２の板厚より大きく設定するとともに、取付枠体
２０の長辺側両端部には外側に張出す支持板２３…を設
け、この支持板２３…と前記張出板２２との間にはそれ
ぞれコイルスプリング２４…を設けている。At the base end 11a of the grinding head 11,
As shown in FIG. 2, a floating mechanism 18 for floatingly supporting the base end of the support 13 is provided.
That is, the floating mechanism 18 has a rectangular mounting frame body 20 to be mounted on the support base 10, and an interior provided inside the mounting frame body 20 and slidable along the long side of the mounting frame body 20. A frame 21 is provided, and notches 20a, 20a are provided in the middle portion on the long side of the mounting frame 20, and the middle portion on the long side of the inner frame 21 is extended through the notches 20a, 20a. The projecting plates 22 and 22 are inserted. The gap between the cutouts 20a is set to be larger than the plate thickness of the overhanging plate 22, and support plates 23 that extend outward are provided at both ends of the attachment frame 20 on the long side of the mounting frame 20. Coil springs 24 ... Are provided between the projecting plates 23 and the projecting plates 22, respectively.
【００１１】このため、内部枠体２１は切込部２０ａの
所定間隔の範囲内で取付枠体２０に対してフローティン
グ支持されることになり、この内部枠体２１の中に前記
支持体１３の基端部が差込まれて固定される。尚この
際、研削ベルト１７のベルト面が内部枠体２１の短辺側
と平行になるように差込まれて固定される。Therefore, the inner frame body 21 is floatingly supported with respect to the mounting frame body 20 within the range of the predetermined intervals of the cutout portions 20a, and the support body 13 of the inner frame body 21 is supported. The base end is inserted and fixed. At this time, the belt surface of the grinding belt 17 is inserted and fixed so as to be parallel to the short side of the inner frame body 21.
【００１２】前記真空吸着ヘッド１２は、前記支持基盤
１０に取り付けられた支持アーム２５と、この支持アー
ム２５の先端に取り付けられた例えばゴム製の吸着カッ
プ２６を備え、この吸着カップ２６には真空引きするた
めの吸引ホース２７が接続されている。そしてこの吸引
ホース２７と前記研削ヘッド１１駆動用のエアホース２
８は共通のエア源に接続し、エア通路を切換えることで
研削ヘッド１１と真空吸着ヘッド１２を同一の駆動源で
作動させるようにしている。The vacuum suction head 12 includes a support arm 25 attached to the support base 10 and a suction cup 26 made of, for example, rubber attached to the tip of the support arm 25. The suction cup 26 has a vacuum. A suction hose 27 for pulling is connected. The suction hose 27 and the air hose 2 for driving the grinding head 11
Reference numeral 8 is connected to a common air source, and the grinding head 11 and the vacuum suction head 12 are operated by the same drive source by switching the air passage.
【００１３】以上のように構成したロボットアーム３の
作用について図３乃至図５に基づき説明する。ここで、
図３は研削ヘッド１１による研削状態の側面視による説
明図、図４は同正面視による説明図、図５は真空吸着ヘ
ッド１２によるワークＷの移送状態の説明図である。例
えば図３に示すような自動二輪車の燃料タンクＷは、中
央部を境にして左右の分割体が溶接された後、治具台３
０の上にセットされる。ここで、まずロボットアーム３
は燃料タンクＷ側に研削ヘッド１１が臨むよう支持基盤
１０を回動させ、研削ベルト１７を走行させながら中央
の溶接ビードＢに沿って従動プーリ１６側の研削ベルト
１７を圧接しながら移動させ溶接ビードＢを研削加工す
る。The operation of the robot arm 3 constructed as above will be described with reference to FIGS. here,
3 is a side view of the grinding state by the grinding head 11, FIG. 4 is a front view of the grinding state, and FIG. 5 is a view of the transfer state of the work W by the vacuum suction head 12. For example, a fuel tank W of a motorcycle as shown in FIG. 3 has a jig base 3 after the left and right divided bodies are welded to each other with a central portion as a boundary.
Set above 0. Here, first, the robot arm 3
Welding is performed by rotating the support base 10 so that the grinding head 11 faces the fuel tank W side, moving the grinding belt 17 and moving the grinding belt 17 on the driven pulley 16 side along the welding bead B in the center while pressing it. The bead B is ground.
【００１４】この際、例えば燃料タンクＷの位置誤差、
形状誤差等があってもフローティング機構１８により研
削圧力を常に一定に保つことができ、削り過ぎ或いはビ
ード残りが生じない。また、この際ベルトの圧接ポイン
トが一点であると耐久性が悪くなるため、例えば図４に
示すように適宜接点を変えることでベルトの耐久性の向
上を図る。At this time, for example, the position error of the fuel tank W,
Even if there is a shape error or the like, the grinding pressure can always be kept constant by the floating mechanism 18, and excessive cutting or bead residue does not occur. Further, at this time, if the pressure contact point of the belt is one point, the durability is deteriorated. Therefore, the durability of the belt is improved by appropriately changing the contact points as shown in FIG. 4, for example.
【００１５】次に、研削が終了すると手首８を中心にし
て支持基盤１０を約１８０度旋回させ、図５に示すよう
に燃料タンクＷを真空吸着ヘッド１２の吸着カップ２６
で吸着保持し次工程に移送する。そしてこのように１つ
のロボットにて複数の動作を行わせることで、設備費用
が安価となり、また設置スペースも省略できる。また、
研削ヘッド１１と真空吸着ヘッド１２が同一駆動源にて
駆動されるため、一層設備費用の節約と設置スペースの
省略が可能である。Next, when the grinding is completed, the support base 10 is turned about 180 degrees around the wrist 8 to move the fuel tank W to the suction cup 26 of the vacuum suction head 12 as shown in FIG.
It is adsorbed and held by and transferred to the next step. By thus performing a plurality of operations with one robot, the equipment cost is low and the installation space can be omitted. Also,
Since the grinding head 11 and the vacuum suction head 12 are driven by the same drive source, the equipment cost can be further saved and the installation space can be omitted.
【００１６】[0016]
【発明の効果】以上に説明したように本発明に係るロボ
ットアームは、回動自在な支持基盤の一端側に研削ヘッ
ドを設け、他端側に真空吸着ヘッドを設けて１台のロボ
ットで研削加工とワークの払出しを行うようにしたた
め、設備費の削減と省スペース化が実現できる。この
際、研削ヘッドと真空吸着ヘッドが同じエア駆動である
ため、一層設備費の削減と省スペース化が可能である。
また、研削ヘッドをフローティング機構にて支持するこ
とで、研削量を一定にすることができる。As described above, in the robot arm according to the present invention, a grinding head is provided on one end side of a rotatable support base, and a vacuum suction head is provided on the other end side for grinding by one robot. Since processing and delivery of work are performed, it is possible to reduce equipment costs and save space. At this time, since the grinding head and the vacuum suction head are driven by the same air, it is possible to further reduce the equipment cost and save the space.
Also, by supporting the grinding head with a floating mechanism, the grinding amount can be made constant.
【図１】ロボットの全体図[Figure 1] Overall view of the robot
【図２】研削ヘッドの基端部に構成されるフローティン
グ機構の部分図FIG. 2 is a partial view of a floating mechanism formed at the base end of the grinding head.
【図３】研削ヘッドによる研削状態の側面視による説明
図FIG. 3 is an explanatory view from a side view of a grinding state by a grinding head.
【図４】同研削状態の一例を示す正面視による説明図FIG. 4 is an explanatory view from a front view showing an example of the grinding state.
【図５】真空吸着ヘッドによる移送状態の側面視による
説明図FIG. 5 is an explanatory view from a side view of a transfer state by a vacuum suction head.
１…ロボット、３…ロボットアーム、１０…支持基盤、
１１…研削ヘッド、１２…真空吸着ヘッド、１８…フロ
ーティング機構。1 ... robot, 3 ... robot arm, 10 ... support base,
11 ... Grinding head, 12 ... Vacuum suction head, 18 ... Floating mechanism.
Claims (2)
たロボットアームにおいて、前記支持基盤の一端側にワ
ークをエア駆動にて研削する研削ヘッドを設け、他端側
にワークを移送する真空吸着ヘッドを設けたことを特徴
とするロボットアーム。1. A robot arm having a support base rotatable about a turning axis, wherein a grinding head for grinding a work by air drive is provided on one end side of the support base, and the work is transferred to the other end side. A robot arm equipped with a vacuum suction head.
て、前記研削ヘッドの基端部に研削圧を一定に保持する
フローティング機構を設けたことを特徴とするロボット
アーム。2. The robot arm according to claim 1, wherein a floating mechanism for holding a grinding pressure constant is provided at a base end portion of the grinding head.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP26885894A JP3080549B2 (en) | 1994-11-01 | 1994-11-01 | Robot arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP26885894A JP3080549B2 (en) | 1994-11-01 | 1994-11-01 | Robot arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH08126946A true JPH08126946A (en) | 1996-05-21 |
| JP3080549B2 JP3080549B2 (en) | 2000-08-28 |
Family
ID=17464251
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP26885894A Expired - Lifetime JP3080549B2 (en) | 1994-11-01 | 1994-11-01 | Robot arm |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3080549B2 (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004291132A (en) * | 2003-03-26 | 2004-10-21 | Kawasaki Heavy Ind Ltd | Holding device and articulated robot having the same |
| JP2006326783A (en) * | 2005-05-27 | 2006-12-07 | Okuma Corp | Grinding machine |
| JP2010051891A (en) * | 2008-08-28 | 2010-03-11 | Honda Motor Co Ltd | Coating robot |
| JP2011016186A (en) * | 2009-07-08 | 2011-01-27 | Yachiyo Industry Co Ltd | Polishing device for electrode and automatic system for the same |
| JP2012218132A (en) * | 2011-04-13 | 2012-11-12 | Mitsutoyo Corp | Deburring device |
| CN105666275A (en) * | 2016-04-07 | 2016-06-15 | 广东拓斯达科技股份有限公司 | Manipulator grinding system |
| CN106112739A (en) * | 2016-08-29 | 2016-11-16 | 苏州市诚品精密机械有限公司 | A kind of rotary grinding lathe automatically |
| CN107176469A (en) * | 2017-07-06 | 2017-09-19 | 嘉应学院 | A kind of shared bicycle production line balance Special industrial robot palletizer |
| EP3479953A4 (en) * | 2016-06-29 | 2020-01-08 | Kawasaki Jukogyo Kabushiki Kaisha | Polishing device |
| CN114210855A (en) * | 2021-12-02 | 2022-03-22 | 全南县超亚科技有限公司 | Motor sheet punching manipulator |
| CN117359656A (en) * | 2023-10-30 | 2024-01-09 | 广州五所环境仪器有限公司 | Welding polishing robot |
-
1994
- 1994-11-01 JP JP26885894A patent/JP3080549B2/en not_active Expired - Lifetime
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004291132A (en) * | 2003-03-26 | 2004-10-21 | Kawasaki Heavy Ind Ltd | Holding device and articulated robot having the same |
| JP2006326783A (en) * | 2005-05-27 | 2006-12-07 | Okuma Corp | Grinding machine |
| JP2010051891A (en) * | 2008-08-28 | 2010-03-11 | Honda Motor Co Ltd | Coating robot |
| JP2011016186A (en) * | 2009-07-08 | 2011-01-27 | Yachiyo Industry Co Ltd | Polishing device for electrode and automatic system for the same |
| JP2012218132A (en) * | 2011-04-13 | 2012-11-12 | Mitsutoyo Corp | Deburring device |
| CN105666275A (en) * | 2016-04-07 | 2016-06-15 | 广东拓斯达科技股份有限公司 | Manipulator grinding system |
| EP3479953A4 (en) * | 2016-06-29 | 2020-01-08 | Kawasaki Jukogyo Kabushiki Kaisha | Polishing device |
| CN106112739A (en) * | 2016-08-29 | 2016-11-16 | 苏州市诚品精密机械有限公司 | A kind of rotary grinding lathe automatically |
| CN107176469A (en) * | 2017-07-06 | 2017-09-19 | 嘉应学院 | A kind of shared bicycle production line balance Special industrial robot palletizer |
| CN107176469B (en) * | 2017-07-06 | 2022-07-08 | 嘉应学院 | Special industrial stacking robot for shared bicycle assembly line production |
| CN114210855A (en) * | 2021-12-02 | 2022-03-22 | 全南县超亚科技有限公司 | Motor sheet punching manipulator |
| CN114210855B (en) * | 2021-12-02 | 2023-12-29 | 全南县超亚科技有限公司 | Motor punching mechanical arm |
| CN117359656A (en) * | 2023-10-30 | 2024-01-09 | 广州五所环境仪器有限公司 | Welding polishing robot |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3080549B2 (en) | 2000-08-28 |
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