JPS5927786A - Welding robot - Google Patents

Abstract

PURPOSE:To obtain an industrial robot having roughly the same function as the functions of a costly industrial robot, by constituting at least one of plural action shafts as two-position action shaft having two operation limits. CONSTITUTION:A welding gun 16 is rotated around a two-position action shaft 17 by an air cylinder 18 and is set in either of a horizontal state A or a vertical state B; at the same time, the position control of an industrial robot is accomplished by the triaxial action of rectilinear actions 1-3, and the attitude of the gun 16 is controlled by the action functions of the other two shafts. The control of the action functions of these five shafts is accomplished by the signals from a power board 19 for the robot and a control panel 20 for the robot. The shaft 17 supports the work and is controlled according to the movement of the line by the signal from a control panel 23 on the line side for the purpose of operating an assembling line plant 21 for conveying successively the work.

Description

【発明の詳細な説明】 木弁明は、自動車等の製造ラインにｄ３いてワークに対
して溶接作業等の各種作業を行なう（７＋業用１＝１ボ
ッ１−に関す゛る。DETAILED DESCRIPTION OF THE INVENTION Wood Benmei is concerned with d3 on a production line for automobiles and the like, performing various operations such as welding on workpieces (7 + industrial 1 = 1 box 1 -).

自動車等の製造ラインに用いられる産業川口ボットは、
通常はらないしＧ軸の軸数１幾１１ヒを゛持つ乙のが多
く用いられている。Industrial Kawaguchi bots are used on production lines for automobiles, etc.
Usually, this is not the case, but the one with 1 or 11 G-axes is often used.

例えば、Ｇ軸の軸数機能を右する産１′を用Ｉコボツ１
〜としては、上下、左右及び前複方向の三次元方向の直
線運動（幾重と、相互に直角方向をなり三つの軸を中心
に回転成いは旋回覆る運動（幾（！ｌ；とを有している
ものがあり、この場合ｊｊ、ｉ　ｌ’！ｉｉ運動機１１
Ｌ、回転運動１席能及び旋回’ｒｌ　！Ｉ’ＪＪ敗１１
シ０１１日１３１３い（し、任意の位ｌＰ′１て佇＋Ｉ
：　Ｌ／　ｌ！′７るＪ、うにＪｆ４成され（いる。For example, if you use the output 1' that controls the axis number function of the G axis,
〜 means linear movement in three-dimensional directions (up and down, left and right, and forward directions) (many times), and movement that rotates or turns around three axes that are perpendicular to each other (how many times (!l;) In this case, jj, i l'!ii exercise machine 11
L, rotary movement 1 seat ability and turning 'rl! I'JJ lost 11
shi 011 day 1313
: L/l! '7ruJ, sea urchin Jf4 has been made (there is).

ぞしく、５　Ｑｉｌ＋のｌ１ｌｌｌｌ数（幾重を（ｉ！
Ｉる産’＝＋’：　Ｉ’ｌ　”ホットとじては、ミニ次
元り向の直綜運すノ（幾重ど回転運動（幾重及び旋回運
動（幾重を右づるものがｉｌつる。これらの軸数機能の
；パ定は、産当′（用ロボットにＪ、っ−４行なわれる
作〕１１に応じ（なされているが、作プ１ηによっ（は
６軸り）軸数機能を必要とりるしの（あ−ク（し、それ
ぞれの自由１立に着目りるど（Ｔ　ｆｉ’；の位１１Ｎ
にＪ３りる（♀市を行’Ｊう必要が４１＜、ＡンどＡノ
の２位置の姿勢制御が可能であれば、での作業を行ない
ＩＦＪる場合がある。Desirably, 5 Qil+ l1llll number (how many times (i!
I'l production'=+': I'l ``Hot binding is a direct helical movement in the mini-dimensional direction (many times rotational movement (many times and turning movement (many times moving to the right is il vine. The number function is determined according to the production duty' (J, -4 operations to be performed on the robot)11, but the number of axes function is required depending on the operation process 1η (6 axes). Rushino(A-ku(shi, pay attention to each free 1st position(T fi'; position 11N)
If it is possible to control the posture in two positions, A and A, then IFJ may be performed.

１つの産業用ｌボッ１−の汎用化を図る６どを貨慮りる
仔らば、Ｇ軸の軸数機ＯＬを持つしのは各々のり・１１
１数殴０しとしての動作プ）口１意の位ｔｒ’ｔ　（’
　Ｉｏ：’　、１１　Ｌ／　’ｌ’７るにうにする必升
があるということになる１、シかし４Ｔがら、１つの産
業川口ボッＩ−を青用化さμに、Ｉ！！合、軸数（幾重
としＣ６ｔｉｌｔ必要′Ｃ市つｃし、上ｊホのにうに、
３つの回転ないし旋回運動（幾重及び３つの直に≦）運
動；幾重の何れか１つが少なくとｂ２つの勅イ′［源を
右づれば所要のＩＹ業を行ないｔｆｆ　Ｚｒ場合がある
。この場合においても、（３φ１１１の軸数機能を右り
′る産業用１コボツ１〜を用いると−４れば、１つでも
軸数（幾ｆｌｌｉが増えればそれだ（ノその制御＋のた
めの装置ｄが複数どなり、産柴用ロボッ）・が高１ｉ１
１ｉとなることから、その作業に対して高ｌ１１７な産
業用ロボッ（−を用いることになると共に産業用に１ボ
ッ１〜自体もその持てる機能を充分光Ｊｌｌｆ　Ｌ　ｌ
！７ないということになる。If you want to make one industrial l-bot 1-6 general-purpose, consider the following:
1 number punch 0 movement pu) mouth 1 meaning tr't ('
Io:', 11 L/'l'7 There is a necessity to make it 1, but 4T, one industrial Kawaguchi Bot I- is turned into a blue μ, I! ! In this case, the number of axes (how many times do you need C6tilt?
Three rotational or swivel motions (multiple and three direct≦); any one of the multiples may carry out the required IY operation at least two times. In this case as well, (if we use an industrial 1-piece 1 to 1-- which corresponds to the function of the number of axes of 3φ111), even if it is -4, the number of axes (however flilli increases) is the same (because of its control + Multiple devices d roared, and Sanshiba robots) and high 1i1
1i, a highly expensive industrial robot (-) will be used for the work, and the industrial robot itself will need to be fully equipped with its functions.
! This means that there are no 7.

木光朋はこのような従来技術の問題点に着目しＣなされ
たものであり、直線運動、回転運動及び旋回運動等の複
数の軸数機能をイｊする産業用ロボット・において、直
線運動軸、回転運動軸及び旋回運動軸等の複数の運動軸
のうし少なくとｔｌｌつを２つの動作限を右づる２位置
運動軸とづることにより、例えば５輔の軸数機能をイｊ
すく）産業用ロボットににす６輔の軸故閤能を右づる産
）’ｉ　Ｊｌｌ　ロボットに近い機能を持ｌＣ′Ｕ、１
輔のリフ１１数槻０ヒに近い機能を増加さμ、上記従来
技術の問題点を解？）４　’３Ｊ’　にとを目的とりる
。Kokimitsu focused on these problems with the conventional technology, and developed a new technology for industrial robots that have multiple axes functions such as linear motion, rotational motion, and turning motion. , by defining at least one of the plurality of motion axes such as rotational motion axes and swing motion axes as two-position motion axes with two motion limits to the right, the number of axes can be adjusted to, for example, five axes.
1) Industrial robots with functions similar to those of robots, 1
Suke's Riff 11 Increased functionality close to 0 Hi, solved the problems of the above conventional technology? )4 Take aim at '3J'.

次に、第１図に示４本発明の一実１進例に′）い゛（説
明する。図示する産業用１」ボッｌ−４ま白動中相立ラ
インにＪ３いてワークにスポラ１〜）γＦＪＵをｊｊ４
ｉ　５１’：めのものであり、　ｘ：ｔ　ａ　１１の上
に７１−右１Ｊ向に直し；）３２１ｉ動可能に取付（）
られｔｃスライタ′１２と、このスライダ１２に固定さ
れたコラム′１ζ３と、この１′）ム１３に対して上下
り向及び商れ：）運動ｉ’ｉｌ能ＩＺ取イ→Ｃｌられた
第１アーム１４とを右Ｊる。し／、：がつ（、第１アー
ム１４は三次元方向に直線運〃Ｊをｌｊ　’ｔＦうこと
ができ、図中１〜３（、ＬそれぞれのｌＩ′Ｉ線ｊ１１
１動の方向を示づ。Next, an explanation will be given of an actual unitary example of the present invention shown in FIG. 1. ~) γFJU jj4
i 51': It is the first one, and x: It is installed on top of t a 11 in the direction of 71-right 1J;) 321i is movably installed ()
The tc slider '12, the column '1ζ3 fixed to this slider 12, and the vertical and vertical movement with respect to the column 13:) movement i'il function IZ take → Cl Turn arm 14 to the right. The first arm 14 can linearly move 〃J in the three-dimensional direction lj 'tF, and the lI'I line j11 of each of 1 to 3(,L) in the figure
1 Indicates the direction of movement.

第１アーム１／′Ｉには直線運動り向に７１しく直角の
方向の旋回運動−ｈ１１４を中心に矢ＩＩ　４　ａ　（
’示・１］°ｊ向に旋回運動用ｆｌｕに第２アーム′１
りが取イ・１（ノホうれ゛（いる。この第２アー１１１
５は回転速りｊ４１１＋　５を中心に矢印５８で承り方
向に回−１’Ｉ＋　ｒ”Ｊ：　１ＥＩＪ　’Ｉす１ｌｌ
ｉ　１．二１１１）成され−Ｃおり、この第２フアーム
１５にｌ＝ｌ：　Ｊｏｎ　：＋貝としくの溶接用カン１
６が取（ｊｌ　ＬＪられている。ＩＲＪ＆用カン′１（
３のブ１２１）−ノ、１５に対りる取イ・Ｊりは、２位
ＩＣ′ｉ運りｊ軸コアによつＣイ【される。この２位１
Ｎ運動Ｑ１１＋　１７は図中△で承りように溶接用カン
１６が水平状態どなった位１Ｎと、図中Ｂで示Ｊ゛よう
に垂直状態となった２つの動作限を右し、溶接用ガン１
６１．１矢印１７ａて示り方向に回動する。The first arm 1/'I has a pivoting movement in a direction perpendicular to the linear movement direction -h114 as shown by arrow II 4 a (
'1] The second arm '1 is attached to flu for turning movement in the direction of °j.
111
5 is rotational speed j411+ Rotate in the direction of arrow 58 with rotation speed j411+ 5 as the center -1'I+ r"J: 1EIJ 'Is1ll
i1. 2111) - C is made, and this second farm 15 is l = l: Jon: + Shellfish welding can 1
6 is taken (jl LJ is taken. IRJ &can'1 (
3, 121)--, and 15 are taken by the j-axis core carried by the second IC'i. This 2nd place 1
The N motion Q11+17 has two operating limits: 1N when the welding can 16 is in a horizontal state as shown by △ in the figure, and 1N when it is in a vertical state as shown in B in the figure. gun 1
61.1 Rotate in the direction shown by arrow 17a.

しｌこがつ又、図示する産業用ロボットは、１〜３Ｃ示
り三次元の直線運動）幾重と、４ａで示ＴＪ旋回運動機
能ど、５ａて示す回転運動機能の５軸の運動（幾ｔ１（
１をｔｊ　ｔｌる５軸形のむのであり、更に２位ｉ１′
ｉ′（運〃Ｊ軸１７によって６軸に近い機能をイｊする
産業用１．１ボッ１へとなっでいる。溶１に用刀ン１０
の駆動【よ、第２Ｆ−ム１５に取イ］【ノられｔｃエア
シリンタ１８にＪ、つ′Ｃなされ、水平状態△と垂直状
態Ｂの２つの動作限の検出は、第２図に承りシリンダ１
Ｂに取（ｔ　ｔ）たりミツトスイッチ２２とビス１〜ン
【二１ツド°１ε）ａｔこ取イーＪｌ：Ｊ　Ｉコドク２
２ａと（こよって４「される。Furthermore, the industrial robot shown in the figure has multiple motions (three-dimensional linear motion shown in 1 to 3C), TJ turning motion function shown in 4a, and five-axis motion (number of rotational motion functions shown in 5a). t1(
1 as tj tl, and the second position i1'
i' (J-axis 17 makes it an industrial 1.1-bottle with functions similar to those of a 6-axis machine.
The drive of the 2nd F-arm 15 is carried out by the air cylinder 18, and the detection of the two operating limits of the horizontal state △ and the vertical state B is as shown in Fig. 2. 1
Take it to B (t t) and attach the switch 22 and screws 1 to 1 [21° 1ε) at the end of the switch 22.
2a and (therefore 4 is done.

ｔ　３ｉｌｉのような産業用Ｌ１ボン１〜を用いてワー
クＷを）８接作葉づる場合の作用について説明７ると、
」ニアシリンダ１８によって溶接用カン１７を２１ｉ／
首連動軸１７を中心に回転し、水３１ｉ状態Ａ叉１ま垂
直状態Ｂの何れかに設定りると」いこｉｌ′１ｌｊ°ｉ
向運リノ１〜３の３軸の運動によって産業用１．１ボッ
トの位１１９制御を行ない、他の２軸の運動機１１１：
にＪ、すｉＲ１８用ガン１７の姿勢制御を行なう。これ
らの５１１＋１＋の運動１幾能の制御１；艮、ロボット
動力？ｌ：（’ｔ　ＣＮ）及び１１ボツ１〜制鶴１１盤
２０からの１１月にＪ、す（）４１う、、２ｉｆン＋ｊ
Ｍ運動軸′ｌ７（１１ノークＷの支持を１１イ１い（Ｔ
れを１１１ｉ次１敗送りる車体組立ライン設備２１を作
り１−りる／、−めのライン側制御盤２；３からの然シ
］にＪ、す、ラインの初心に従って制９１１がなされる
。し／、：　ｈ＜　ｖ　（、ラインの動きに１甲なつζ
ワークＷが２（蒐ン置連丘力４１１ｂ１７を作動りるに
必要な溶接１に１所に求／ｙ　４ｊ含には、ライン側と
１」小ツ１−とを連動さＩ！　Ｃ２（＜／　ｉ？ゝイ連
動・１１１１゛１７を中心に？ｉｌ接用カン１（３を作
ｉ［す）　（：　ｌ！イ）１゜負′１３図ＩＪ、本几明
の他の実施例を承り図Ｃ＋−’Ｊす、第３図中、第１図
にＪ３１：Ｊる部位と」（通りる部位には同一のｉ＋［
（３をイζＩ’　Ｌ　”Ｃ’　ｉりる。Ｌ」ホットのｌ
　、ｌ、７側と４するスライダ１を２位１＋’（１ｌｊ
ｌｉ　ｉｆ’）ノ軸１７（、二、ＪすＪｅｔ　５ｎＩ　
’１２に取イＪ４−ノ、このｌ’ｌｌ＋　１７を中心に
矢印１７ａで承り方向にスライダ１２が回動するように
したｂのである。スライダ１２の回動運動は基盤１１に
取イＪ　ＬＪ　’３れたエアシリンダ１８によっＣなさ
れる。Explanation of the action when the workpiece W is glued using an industrial L1 bong 1~ such as t3ili is as follows.7.
” The welding can 17 is moved by the near cylinder 18 to 21i/
When it rotates around the neck interlocking shaft 17 and is set to either the water state A or 1 or the vertical state B,
The industrial 1.1 bot 119 is controlled by the 3-axis movement of the 3-axis motion machines 1 to 3, and the other 2-axis motion machines 111:
In J, the attitude of the gun 17 for the iR18 is controlled. These 511+1+ movements 1 geometrical control 1; 议, robot power? l: ('t CN) and 11 Bots 1 to Seizuru 11th edition 20 in November J, Su () 41 U,, 2if + j
M movement axis 'l7 (11 nok W support
A car body assembly line equipment 21 is created to send the 111i next line, and control 911 is performed on the line side control panel 2; . /, : h< v (, 1 in line movement ζ
The workpiece W is required to operate the welding force 411b17 at one place. </i?ゝI interlocking・1111゛17 is the center of ?il connection can 1 (make 3 i[su) (: l!i) 1゜negative'13 Figure IJ, other examples of Honmei In Figure 3, in Figure 1, there is a part J31:J (the same i + [
(3 ζI' L "C' i ruru. L" hot l
, l, 7 side and slider 1 to 2nd position 1+'(1lj
li if') no axis 17 (, 2, Jsu Jet 5nI
The slider 12 is rotated in the direction indicated by the arrow 17a around this l'll+17. The rotational movement of the slider 12 is performed by an air cylinder 18 attached to the base 11.

２位置運動軸１７の２つの動作１！ｌｉ！はエアシリン
ダ１８に取イｉＪ　Ｇノたリミット・スインｙ″２２と
ピストンロッド１８８に取ｆｑｉノたドグ２２＋１とに
よって検出される。この場合には、第２）７−ム１５に
直接、溶接用ノノン１０が取ｆＪ　ｔＪられている。Two movements of the two-position motion axis 17 1! li! is detected by the limit switch y'' 22 attached to the air cylinder 18 and the dog 22+1 attached to the piston rod 188. In this case, the welding Nonon 10 is taken fJ tJ.

まｌζ、第１．３図に示づ産業用［］ポボッにおい゛（
−、スライダ１２の左右り向の１１１線？肋機能を！ｃ
行限と右行限の２位置動作とし、図示しないエアシリン
ダによってスライダ１２の白線運動軸を２位置運動軸と
することら可能である。同様に他の直線運ｒｊｈ機能、
旋回運動（代部及び回転運動機ＯＬの何れかを２位置運
動とすることも可能−Ｃあ′る。Also, the industrial odor shown in Figure 1.3 is
-, 111 line in the left and right direction of slider 12? Rib function! c.
It is possible to operate the slider 12 in two positions, the travel limit and the right travel limit, by using an air cylinder (not shown) to make the white line movement axis of the slider 12 the two-position movement axis. Similarly, other straight line rjh functions,
Swivel motion (it is also possible to make either the substitute part or the rotary motion machine OL a two-position motion).

以上のＪ、うに、本発明にＪ、れｉ；ｒ　、　ｉｉ′、
ｉ線運動、回転運動及び旋回運動等の複数の軸数機１１
社を右づる産業川口ボットにＪ５いて、直線運動軸、回
転運動軸及び旋回運動軸等の複数の運動軸のうら少な（
とら１つを２つの動作限を何する２　１１７首連動軸と
づることにＪ、す、例えば！ｊ軸の１Ｉ１１＋数（代部
を石りる産業川口ボット・をＯｑｉｌ＋に近いロボット
としく（シ；動さけることがでさ１，１、り低価格の産
亡１“つ用１１小ツ１−により、１つの軸数１幾１１Ｌ
を余分に持つ高１＋ｎｉ格の産業用ロボットとぼぽ１６
ｊ−の機能を持つ産業用１１ボッ１−がＩ’ｆられｌζ
。The above J, Uni, J, Re;r, ii',
Machines with multiple axes such as i-line motion, rotational motion, and turning motion 11
The industrial Kawaguchi robot that runs the company has J5, and there are several movement axes such as linear movement axis, rotary movement axis, and turning movement axis (
What do you do with one tiger and two operating limits? 2 117 J, for example! Let's make the industrial Kawaguchi bot on the j-axis similar to Oqil+ (1I11 + number), which can be moved easily. - According to the number of axes 1 and 11L
Bopo 16 is an industrial robot with an extra high 1 + ni rating.
The industrial 11-bore 1- with the function j- is I'f lζ
.

【図面の簡単な説明】[Brief explanation of drawings]

第１図は本発明の産業用Ｌ１ボッ１−の　実／＋ＩＱ例
を承り斜視図、第２図は第１図の部分訂細図、第３３図
は本発明の他の実施例を示′７Ｊ斜視図（’　ｉｌｊ＋
る。 １２・・・スライダ、　１／′ｌ・・・）７−ム、　　
′１０・・・溶接用カン、　１７・・・２位１「１３亜
動輔。Fig. 1 is a perspective view of a real/+IQ example of an industrial L1 bottle according to the present invention, Fig. 2 is a partially enlarged view of Fig. 1, and Fig. 33 shows another embodiment of the present invention. 7J perspective view ('ilj+
Ru. 12...Slider, 1/'l...)7-m,
'10...Welding can, 17...2nd place 1 "13 Adosuke.

Claims (1)

【特許請求の範囲】[Claims] 直線運動、回転運動及び旋回運動等の複数の軸数（幾重
を右づる産業用ロボツ１−において、直線運動軸、回転
運動軸及び旋回運動１１１１＋等の複数の運動軸のうち
少なくどち１つを２つの動作限を右する２位圏運動軸ど
したことを特徴とりる産業用１コボット。A plurality of axes such as linear motion, rotational motion, and rotational motion (In industrial robots 1- that have multiple axes, at least one of a plurality of motion axes such as linear motion, rotational motion, and rotational motion 1111+) An industrial cobot characterized by having two movement limits and a second circle movement axis.