JPS60242947A - Hand mechanism of deburring robot - Google Patents
Hand mechanism of deburring robotInfo
- Publication number
- JPS60242947A JPS60242947A JP9785284A JP9785284A JPS60242947A JP S60242947 A JPS60242947 A JP S60242947A JP 9785284 A JP9785284 A JP 9785284A JP 9785284 A JP9785284 A JP 9785284A JP S60242947 A JPS60242947 A JP S60242947A
- Authority
- JP
- Japan
- Prior art keywords
- wrist
- workpiece
- shaft
- axis
- hand
- 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.)
- Pending
Links
Landscapes
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
Description
【発明の詳細な説明】
〔発明の利用分野〕
本発明は、産業用ロボットに係り−＠ＫＦ持したワーク
のパリ等不要の突起部分をグラインダ等工具に押し付け
て除去するパリ取りロボットの手首機構に関する。[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to an industrial robot - a wrist mechanism of a deburring robot that removes unnecessary protrusions such as deburrs from a held workpiece by pressing it against a tool such as a grinder. Regarding.
一般に鋳物に発生するパリ、押湯及び湯口跡等の不要部
の除去作業は鋳物の形状が複雑で、その上製品の形状、
鋳造法案の変更により除去する場所、大きさが変わるこ
とが多いため、一部簡単な形状の鋳物については自動化
されているものもあるが、大部分の鋳仕上作業は上記理
由で難しい面が多く、自動化が遅れている。In general, removal of unnecessary parts such as cracks, riser and sprue marks that occur in castings is necessary because the shape of the casting is complex, and in addition, the shape of the product,
Because the location and size of removal often change due to changes in casting plans, some castings with simple shapes can be automated, but most casting finishing work is difficult for the reasons mentioned above. , automation is slow.
また、鋳仕上作業は騒音、振動、塵埃等の発生が著しく
、作業環境の面からも、自動化が強く望まれていること
から、近年ロボットによる鋳仕上作業が推進され、一部
実用化されている。In addition, casting finishing work generates significant noise, vibration, dust, etc., and automation is strongly desired in terms of the working environment. Therefore, in recent years, casting finishing work using robots has been promoted and some have been put into practical use. There is.
しかしながら、従来のロボット利用は汎用ロボットな鋳
仕上用に使用しているため、必ずしも、鋳仕上作業に適
しているロボットの手首構造にはなっていなかった。However, since conventional robots have been used for general-purpose casting finishing, the robot's wrist structure has not necessarily been suitable for casting finishing work.
従来のロボットの手首は１例として第１図（ａ）に示す
ようにロボットのアーム１に矢印１２方向に揺動する曲
げ手首２を設け、曲げ手首２の先端には矢印１５方向に
回転するひねり軸５を設け、ひねり軸５と直交する側で
矢印１４方向に回転する回転軸４を設け、該回転軸４に
ハンド５を取付はワーク６を把持する何故になっている
。As an example of a conventional robot wrist, as shown in FIG. 1(a), a robot arm 1 is provided with a bent wrist 2 that swings in the direction of arrow 12, and the tip of the bent wrist 2 rotates in the direction of arrow 15. A twisting shaft 5 is provided, and a rotating shaft 4 that rotates in the direction of arrow 14 is provided on the side perpendicular to the twisting shaft 5, and a hand 5 is attached to the rotating shaft 4 to grip a workpiece 6.
ワーク６は、例えば第２図に示す形状をしている。第２
図において、ワーク６の加工部位はフランジ外周の加工
部位９と側面の加工部位１０と、端面の加工部位２００
５ケ所の例を示すが、実際のワークもこの例のように各
部にパリが発生する。第１図においてワーク６は各加工
部位を周辺に設けたパリ取り工具の砥石１１に押し付け
られパリ取りがなされる。The workpiece 6 has a shape shown in FIG. 2, for example. Second
In the figure, the machining parts of the workpiece 6 are a machining part 9 on the outer periphery of the flange, a machining part 10 on the side surface, and a machining part 200 on the end face.
An example of five locations is shown, but in actual workpieces, cracks occur at various locations as in this example. In FIG. 1, a workpiece 6 is pressed against a grindstone 11 of a deburring tool provided around each processing part to remove burrs.
第１図Ｃｂ’）は、第１図（α）の曲げ手首２とひねり
軸５が順序を逆にして構成された例である。FIG. 1Cb') is an example in which the bending wrist 2 and twisting shaft 5 of FIG. 1(α) are arranged in reverse order.
上記いずれの従来例においても、曲げ手首２を揺動し、
ひねり軸５をひねり、回転軸４を回転することによって
ワーク６の姿勢を変えて最も適した姿勢で砥石１１にワ
ーク６を押付ける。In any of the above conventional examples, the bent wrist 2 is swung,
By twisting the twisting shaft 5 and rotating the rotary shaft 4, the posture of the workpiece 6 is changed and the workpiece 6 is pressed against the grindstone 11 in the most suitable posture.
しかし乍ら、従来の手首は、第１図に示す曲げ手首２の
揺動中心７からワーク６の加工部位９又は１Ｄ又は２０
迄の長さく以下オフセットと称する。）Ｌ、とり、およ
びひねり軸心８からのオフセットＬ１および回転軸心１
９からのオフセットＬ４を持っているため、ワーク６が
各軸心から遠く離れて把持されている。例えば、ひねり
軸５が動作するとワーク６は第１図１８の場所に振り回
わされ、砥石１１から遠く離れてしまう。However, in the conventional wrist, from the swing center 7 of the bent wrist 2 shown in FIG.
The length up to this point is hereinafter referred to as offset. ) L, take, and offset L1 from twist axis 8 and rotation axis 1
9, the workpiece 6 is held far away from each axis. For example, when the twisting shaft 5 operates, the workpiece 6 is swung around to the location shown in FIG. 18, and becomes far away from the grindstone 11.
今、第２図に示すワーク６を把持し加工部位９を砥石１
１に押し付は除去する場合、第１図に示す姿勢で砥石１
１に近ずき研削すれば良い。次に加工部位１０を加工す
る場合第１図に示す姿勢では、砥石１１がワーク６の加
工部位９０部分で干渉するため、第１図（α）の点線で
示すワーク６の姿勢に下向きから横向きにする必要があ
る。従ってこの場合、ひねり軸５をひねることになるが
、この時ひねり軸心８からのオフセラ） Ｌｓだけワー
ク６が振り回わされ第１図１８の場所に移動し、砥石１
１から上方へ−および右方（又は左方）へＬｌだけ離れ
てしまう。Now, hold the workpiece 6 shown in Fig. 2 and place the machining part 9 on the grindstone 1.
When removing the pressure on grinding wheel 1, place it in the position shown in Figure 1.
It is best to grind closer to 1. Next, when processing the machined part 10, in the attitude shown in Figure 1, the grindstone 11 interferes with the machined part 90 of the workpiece 6, so the attitude of the workpiece 6 shown by the dotted line in Figure 1 (α) is from downward to sideways. It is necessary to Therefore, in this case, the twist shaft 5 will be twisted, but at this time, the workpiece 6 will be swung by an amount of Ls from the twist shaft center 8, and will move to the location shown in FIG.
1 upwards and to the right (or left) by Ll.
そこで、アーム１等を動かし、ワーク６を再度砥石１１
に近ずける必要が生じる。実際には手首とアーム１等は
同時動作をするので砥石１１の近辺から動かない様に観
察されるが、アーム１等の移動量が大きく（オフセット
が長い）、移動速度が手首速度よりアーム１が遅い場合
は無駄な時間が費され、タクトが延びる。Therefore, by moving the arm 1 etc., the workpiece 6 is placed on the grindstone 11 again.
It becomes necessary to get closer to. In reality, the wrist and arm 1, etc. move simultaneously, so it is observed that they do not move from the vicinity of the grinding wheel 11, but the amount of movement of arm 1, etc. is large (long offset), and the movement speed of arm 1 is faster than the wrist speed. If it is slow, time is wasted and takt time is extended.
このことはパリ取りロボットはワークの各部に発生する
パリに対してひんばんに姿勢を変える迅速な動作を要求
されるが従来のロボットはこの機能を満たしていない。This means that deburring robots are required to quickly change their posture in response to deburring that occurs in various parts of the workpiece, but conventional robots do not have this ability.
一方、形状複雑な鋳造品に発生する鋳バリも縦横、斜め
に走る不均一な形状を成し、湯口跡等の一部は母材を研
削するに等しい重研削となる。On the other hand, cast burrs that occur on cast products with complex shapes also form non-uniform shapes that run vertically, horizontally, and diagonally, and some parts such as sprue marks require heavy grinding, which is equivalent to grinding the base material.
従って、パリ取り用のロボットは研削時に手首先端忙把
持したワーク６を介して外部の砥石１１から太き（、か
つ不均一な加工による負荷トルク（いわゆる第１図に示
す押付分力１６．送り分力１５゜主分力１７等からなる
研削力）を手首に受けるので各軸の駆動系のねじり変形
により、各軸のオフセラ）Ｋ比例する量だけワーク６が
砥石１１に押されて逃げる。これはロボットが教示通り
の動作を行っても研削中の砥石１１の表面から加工部位
９，１０゜２０が逃げた量のパリの削り残しが生じるこ
と罠なり、鋳仕上げが達成されない。Therefore, during grinding, the deburring robot uses the external grindstone 11 via the workpiece 6 that is gripped at the tip of its wrist to generate a large load (and load torque due to uneven machining) (the so-called pressing component 16. Since the wrist receives a grinding force consisting of component force 15° and principal component force 17, etc., the workpiece 6 is pushed by the grindstone 11 and escapes by an amount proportional to the off-grid K of each axis due to torsional deformation of the drive system of each axis. This means that even if the robot operates as instructed, there will be uncut portions of the machining parts 9, 10° 20 that have escaped from the surface of the grinding wheel 11 during grinding, and a cast finish will not be achieved.
このため、従来のロボットでは、一度教示してから再々
の試加工を行い教示修正をしており、完全な鋳仕上が行
える迄に長時間を要し、数日を要する例もある。For this reason, with conventional robots, after being taught once, the teaching is corrected by performing trial machining again and again, and it takes a long time, in some cases several days, to complete a perfect casting finish.
削り残しが出た場合の修正作業は、教示点をシフトし、
切込を多（するが、そのシフト量はパリの大きさ１種類
によってまちまちであるため、その修正程度および修正
場所を判断することがはなはだ難しく、相当な熟練を要
していた。To correct uncut parts, shift the teaching point and
Although many cuts were made, the amount of shift varied depending on the size of the pari, so it was extremely difficult to judge the degree and location of the correction, and required considerable skill.
本発明は、上記従来のロボットの欠点をなくし、鋳物の
パリ、押湯及び湯口跡等の不要部を能率良く除去するパ
リ取り四ボットの手首機構を提供するものである。The present invention eliminates the above-mentioned drawbacks of the conventional robots and provides a deburring four-bot wrist mechanism that efficiently removes unnecessary parts such as deburrs, feeder and sprue marks from castings.
本発明は、ロボットのアームの端部にひねり軸を設け、
前記ひねり軸から揺動可能な曲げ手首を突設し、この曲
げ手首には前記ひねり軸の軸心方向にワークを把持する
ハンドを有する回転軸を設け、このハンドで把持したワ
ークがほぼ前記ひねり軸の軸心上に位置するようにした
パリ取りロボットの手首機構である。The present invention provides a twist shaft at the end of the robot arm,
A swingable bending wrist is provided protruding from the twisting shaft, and the bending wrist is provided with a rotary shaft having a hand for gripping a workpiece in the axial direction of the twisting shaft, and the workpiece gripped by this hand is approximately aligned with the twisting direction. This is the wrist mechanism of the deburring robot, which is positioned on the axis of the shaft.
以下図面によって本発明の一実施例を説明する。 An embodiment of the present invention will be described below with reference to the drawings.
第５図は本発明の第１実施例を示す概略図である。FIG. 5 is a schematic diagram showing a first embodiment of the present invention.
第５図において、１はロボットのアームで、該アーム１
の先端にて矢印１５方向に回転するひねり軸５を設け、
ひねり軸５の先端に一端を連結したＬ字状の矢印１２方
向に揺動する曲げ手首２を設は曲げ手首２の一端にひね
り軸５のひねり軸心８方向に伸び、矢印１４方向に回転
する回転軸４を設けて手首機構を構成している。Ｌ字状
の曲げ手首２のふところ部２１でハンド５を回転軸４に
連結し、ワーク６を把持している。７はＬ字状曲げ手首
２の揺動中心でひねり軸５のひねり軸心８上に設けであ
る。ワーク６には第２図に示す加工部位９，１０２０が
ある。１１は周辺に設けた砥石で不要部を研削する工具
である。In FIG. 5, 1 is the arm of the robot, and the arm 1
A twist shaft 5 that rotates in the direction of arrow 15 is provided at the tip of the
An L-shaped bending wrist 2 having one end connected to the tip of the twisting shaft 5 and swinging in the direction of the arrow 12 is provided. A wrist mechanism is constructed by providing a rotating shaft 4 that rotates the wrist. The hand 5 is connected to the rotary shaft 4 at the base 21 of the L-shaped bent wrist 2, and grips a workpiece 6. 7 is the swing center of the L-shaped bent wrist 2 and is provided on the twist axis 8 of the twist shaft 5. The workpiece 6 has machining parts 9, 1020 shown in FIG. Reference numeral 11 is a tool for grinding unnecessary parts using a grindstone provided around the periphery.
次に作用を説明する。Next, the effect will be explained.
ワーク６はひねり軸５をひねりＬ字状の曲げ手首２を揺
動し、回転軸４を回転することＫより姿勢が変えられる
。The posture of the workpiece 6 can be changed by twisting the twist shaft 5, swinging the L-shaped bending wrist 2, and rotating the rotary shaft 4.
まずひねり軸５は図示しないモータによって駆動されＬ
字状曲げ手首２２回転軸４．ハンド５゜ワーク６と共に
回転する。このため第５図の加工部位１０が砥石１１側
に向いたままワーク６が下向きからひねり動作につれて
横向き、上向き等の姿勢を取ることができる。First, the twist shaft 5 is driven by a motor (not shown).
Character-shaped bending wrist 22 rotation axis 4. Hand 5° rotates together with workpiece 6. Therefore, the workpiece 6 can change its posture from downward to sideways, upward, etc. as the workpiece 6 twists while the processed part 10 in FIG. 5 faces the grindstone 11 side.
つぎにＬ字状の曲げ手首２は図示しないモータによって
駆動され回転軸４．ハンド５．ワーク６と共に揺動する
。このため第５図の加工部位１０が水平方向等になる様
に、ワーク６は端面を砥石１１に向けた横向きの姿勢を
取ることができる。Next, the L-shaped bent wrist 2 is driven by a motor (not shown) to rotate the rotating shaft 4. Hand 5. It swings together with the workpiece 6. Therefore, the workpiece 6 can take a horizontal position with its end face facing the grindstone 11 so that the processed part 10 in FIG. 5 is oriented horizontally.
つぎに回転軸４は図示しないモータによりて駆動され、
ハンド５．ワーク６は第５図のごとく下向きのまま加工
部位１０と共に回転する。このため加工部位１００回転
割出しや、フランジ外周の加工部位９の研削を行なえる
。Next, the rotating shaft 4 is driven by a motor (not shown),
Hand 5. The workpiece 6 rotates together with the workpiece 10 while facing downward as shown in FIG. Therefore, indexing of the machining part 100 rotations and grinding of the machining part 9 on the outer periphery of the flange can be performed.
次に加工部位９ 、１０．２０を研削する動作を説明す
る。まず、第５図に示す姿勢においてアーム１等を前進
させ砥石１１に接近し、回転中の砥石１１に押し当てて
１回転軸４を回転すれば、フランジ外周の加工部位９が
除去される。Next, the operation of grinding the processed parts 9, 10 and 20 will be explained. First, in the posture shown in FIG. 5, the arm 1 and the like are moved forward to approach the grindstone 11, are pressed against the rotating grindstone 11, and rotated once around the rotating shaft 4, thereby removing the machined portion 9 on the outer periphery of the flange.
つづいて加工部位１０は第５図の姿勢では、砥石１１が
加工部位９の部分に干渉するので、姿勢を変える必要が
ある。この場合、ひねり軸６を第５図の状態から９０度
ひねることにより前記したように加工部位１０が砥石１
１の方向を向いたままワーク６が横向になり点線で示す
１Ｂの場所に移動し、姿勢が変わる。この姿勢において
砥石１１に接近し、回転中の砥石１１に加工部位１０を
押し当てて、アーム１等が砥石１１に対して左右動作を
すれば加工部位１０が除去される。Next, when the processing part 10 is in the attitude shown in FIG. 5, the grindstone 11 interferes with the processing part 9, so it is necessary to change the attitude. In this case, by twisting the twist shaft 6 by 90 degrees from the state shown in FIG.
While facing the direction 1, the workpiece 6 turns sideways and moves to the location 1B indicated by the dotted line, changing its posture. In this posture, the user approaches the grindstone 11, presses the processing part 10 against the rotating grindstone 11, and when the arm 1 and the like moves left and right with respect to the grindstone 11, the processing part 10 is removed.
次に加工部位２０を研削する際は、加工部位２０を砥石
１１の方向へ向ける必要があるので前記説明の様に曲げ
手首２を動作させ姿勢を変える。この場合、まず加工部
位１０を加工する横向きから第５図の下向きに戻しなが
ら曲げ手首２を第３図の状態から９０度揺動することに
より加工部位２０を砥石１１の方向へ向ける。このワー
クの横向きの姿勢において、砥石１１に接近させ、回転
中の砥石１１にアーム１等を前進させ加工部位２０を押
し付はアーム１等を砥石１１に対して左右又は上下動作
をすれば加工部位２０が除去される。Next, when grinding the processed part 20, it is necessary to orient the processed part 20 in the direction of the grindstone 11, so bend the wrist 2 as described above to change the posture. In this case, first, the machined part 20 is directed toward the grindstone 11 by swinging the bent wrist 2 by 90 degrees from the state shown in FIG. 3 while returning the machined part 10 from the sideways orientation to the downward direction shown in FIG. When the workpiece is in a horizontal position, approach the grindstone 11, move the arm 1, etc. forward to the rotating grindstone 11, and press the processing area 20. Site 20 is removed.
以上の説明から明らかなように、ひねり軸５のひねり軸
心８の延長上にワーク６が把持されるように曲げ手首２
をＬ字状にしてオフセットを第５図のり、＝ｏとしたた
めひねり軸５の動作によっても砥石１１からワーク６が
遠く離れることなく、ワーク６の姿勢変換が可能となっ
た。As is clear from the above explanation, the bending wrist 2
Since the workpiece 6 is made into an L-shape and the offset is set to 0 as shown in FIG. 5, the posture of the workpiece 6 can be changed without moving the workpiece 6 far away from the grindstone 11 even by the operation of the twisting shaft 5.
更忙、砥石１１から大きくかつ不均一な研削抵抗を受け
るがまず第５図の最もパリ取りの精度に影響する押し付
は方向のワークの逃げを検討すると、押付分力１６（記
号Ｆｒ）Ｋよる各軸への加工による負荷トルクはオフセ
ットが零（Ｌｔ ＝Ｏｓ Ｌｔ ＝０ ）のため発生せ
ずねじれ変形はないことになる。In addition, the grinding force receives a large and uneven grinding resistance from the grindstone 11. First, considering the escape of the workpiece in the direction of pressing, which affects the accuracy of deburring the most in Fig. 5, the pressing component force 16 (symbol Fr) K Since the offset is zero (Lt = Os Lt = 0), the load torque due to machining on each axis does not occur, and there is no torsional deformation.
次に送り分力１５（記号Ｆｔ）ｔｃよる各軸への加工に
よる負荷トルク（記号Ｔ、）は回転軸４に対してのみ作
用しワークの寸法で定まるトルクＴ＊ ＝Ｆ！’１４と
従来と同じであるが曲げ手首およびひねり軸へのトルク
は発生せずねじれる変形はない。Next, the load torque (symbol T,) due to processing on each axis by the feed component force 15 (symbol Ft) tc acts only on the rotating shaft 4, and is a torque determined by the dimensions of the workpiece T* = F! '14 is the same as the conventional model, but no torque is generated on the bending wrist or twist axis, and there is no twisting deformation.
次に主分力１７（記号Ｆ８）Ｋよる各軸への加工による
負荷トルク（記号Ｔｓ ）は回転＠４およびひね、り軸
５へのトルクは発生せずねじれ変形はない。Next, the load torque (symbol Ts) due to the machining of each axis by the principal force 17 (symbol F8) K is rotation @ 4 and twist, and no torque is generated on the axis 5 and there is no torsional deformation.
曲げ手首２に対してはＴ、＝＝ｐ、−Ｌ、で作用しねじ
れ−変形は従来と同様に発生するが、押付方向のワーク
の逃げは、ひねり軸心８の延長上に曲げ手首２の揺動中
心７を設け、更にワーク６もひねり軸心８上に把持され
ているため従来の手首より小さい。The bending wrist 2 acts at T, ==p, -L, and torsion-deformation occurs in the same manner as before, but the escape of the workpiece in the pressing direction is caused by the bending wrist 2 on the extension of the twist axis 8. Since the swing center 7 is provided, and the workpiece 6 is also gripped on the twisting axis 8, it is smaller than the conventional wrist.
第４図は本発明の第２実施例を示す概略図である。第４
図において各部の名称は、第５図と同じであるため説明
は省略する。が、ひねり軸５の先端に一端を連結するＬ
字状の曲げ手首２の揺動中ねり軸心８の延長上でかつ曲
げ手首２の揺動中心７の軸心延長上に把持されるように
してあり、ひねり軸３およびＬ字状の曲げ手首２のふと
ころ部２１にハンド５とワーク６を納めている。FIG. 4 is a schematic diagram showing a second embodiment of the present invention. Fourth
In the figure, the names of each part are the same as those in FIG. 5, so explanations will be omitted. is an L whose one end is connected to the tip of the twist shaft 5.
It is gripped on the extension of the torsion axis 8 during the swinging of the bent wrist 2 in the shape of a letter and on the extension of the axis 7 of the swinging center 7 of the bent wrist 2, and the twisting axis 3 and the L-shaped bending A hand 5 and a workpiece 6 are stored in the bosom portion 21 of the wrist 2.
ワーク６はひねり軸５．Ｌ字状の曲げ手首２゜回転軸４
を動作することＫよって姿勢が変えらべ第１実施例と同
様の作用になり、特に各軸のオフセラ） ｔＸワーク形
状で決定され最適な手首であるが鋳物部品に発生するパ
リは、ワークの最大外周のみに生じるだけでなく第２図
に示す加工部位１０のよう忙砥石１１がワークの中はど
に入り込んで色々な姿勢で研削することが多いため、手
首と砥石１１が干渉する恐れが高い。The workpiece 6 is a twist shaft 5. L-shaped bent wrist 2° rotation axis 4
By operating K, the posture is changed and the same effect as in the first embodiment is obtained, especially the offset of each axis) tX Although the wrist is determined by the workpiece shape and is optimal, the fringing that occurs in cast parts is the maximum of the workpiece. This occurs not only on the outer periphery, but also because the grinding wheel 11 often enters the inside of the workpiece and grinds in various postures, as shown in the machining area 10 shown in Figure 2, so there is a high possibility that the wrist and the grinding wheel 11 will interfere. .
従りて第１及び第２実施例の前記説明から分る様に、曲
げ手首２の揺動中心７の位置は、工具等周辺設備を勘案
して適宜の設計によることになる。Therefore, as can be seen from the above description of the first and second embodiments, the position of the swing center 7 of the bending wrist 2 is determined by an appropriate design taking into account peripheral equipment such as tools.
以上の説明から明らかに本発明は従来の欠点が極端に解
消され、パリ取り作業に最適な高剛性かつワークの迅速
な姿勢変換が可能な手首の構成としている。From the above description, it is clear that the present invention completely eliminates the drawbacks of the conventional art, and has a wrist structure that has high rigidity and is ideal for deburring work, and is capable of quickly changing the posture of the workpiece.
第５図以降は本発明の第１の実施例を詳細に示したもの
である。第５図はひねり軸５１回転軸４ハンド５．の内
部詳細とワーク６とＬ字状曲げ手首２の関連を示す。第
６図は、曲げ手首２の駆動系を示す図である。FIG. 5 and subsequent figures show the first embodiment of the present invention in detail. Figure 5 shows a twisting shaft 51, a rotating shaft 4 hands, and 5. The internal details and the relationship between the workpiece 6 and the L-shaped bent wrist 2 are shown. FIG. 6 is a diagram showing the drive system of the bent wrist 2.
第５図において、ひねり軸３はロボットのアーム１に固
設するためのケーシング２２と該ケーシング２２に軸受
２５を介して回転可能に支持した軸２４と軸２４の一端
に減速機２５とモータ２６と連結し、他端は曲げ手首２
を連結する構成になっている。In FIG. 5, the twist shaft 3 includes a casing 22 to be fixed to the arm 1 of the robot, a shaft 24 rotatably supported by the casing 22 via a bearing 25, a reducer 25 and a motor 26 at one end of the shaft 24. and the other end is bent wrist 2
It is configured to connect.
曲げ手首２はひねり軸５の軸２４に連結するためのニヌ
のブラケット２７と、該ブラケット２７に第６図に示す
軸受２８等を介し揺動可能に支持されたＬ字状の曲げフ
レーム２９と１曲げ手首２の駆動部は第６図において、
曲げフレーム２９と該曲げフレーム２９に内蔵したハー
モニック減速機５０と、ブラケット２７に取付けたモー
タ５１と連結する構成になっている。The bending wrist 2 includes a double bracket 27 for connecting to the shaft 24 of the twisting shaft 5, and an L-shaped bending frame 29 swingably supported by the bracket 27 via a bearing 28 shown in FIG. 1. The drive unit of the bent wrist 2 is shown in FIG.
The bending frame 29, a harmonic reduction gear 50 built into the bending frame 29, and a motor 51 attached to a bracket 27 are connected to each other.
第５図において回転軸４は、曲げフレーム２９に軸受５
２を介し回転可能に支持された回転軸４１Ｃ１体に取付
けた歯車５３と該歯車５３と噛合う歯車５４該歯車５４
と連結した曲げフレーム２９に取付けたモータ３５で構
成されている。又、曲げフレーム２９には、回転軸４に
取付けたノーラド５の開閉を行なうシリンダ５６を取付
け、該シリンダ５６のロッド５７は前記回転軸４にすき
まをなして貫通している。ノーラド５は、該シリンダ５
６からの推力をノーラド５の回転がりラド５７に伝達さ
れず推力のみ加えるための軸受５８およびトグル機構Ｓ
９を介してワーク６の把持へで舞る様になっている。In FIG. 5, the rotating shaft 4 is mounted on a bending frame 29 with a bearing 5.
A gear 53 attached to the rotating shaft 41C1 which is rotatably supported through the gear 54 and a gear 54 that meshes with the gear 53.
It consists of a motor 35 attached to a bending frame 29 connected to the bending frame 29. A cylinder 56 is attached to the bending frame 29 for opening and closing the NORAD 5 attached to the rotating shaft 4, and a rod 57 of the cylinder 56 passes through the rotating shaft 4 with a gap. NORAD 5 is the cylinder 5
Bearing 58 and toggle mechanism S for applying only the thrust without transmitting the thrust from 6 to the rotating rad 57 of the norad 5
9 to grip the workpiece 6.
ワーク６は１例として第２図の概略図に示す加工部位９
，１０及び２０を持つ。The workpiece 6 is a machining part 9 shown in the schematic diagram of FIG. 2 as an example.
, 10 and 20.
１１は砥石で不要部を除去する工具である。11 is a tool for removing unnecessary parts with a grindstone.
要約すると該ワーク６がひねり軸心８の延長上に把持さ
れる様にした前記ひねり軸５．Ｌ字状の曲げ手首２９回
転軸４で構成される手首と、ノ・ラド５とワーク６を取
り付けた構成になっている。To summarize, the twist shaft 5 is such that the workpiece 6 is gripped on an extension of the twist shaft center 8. It has an L-shaped bent wrist 29, a wrist composed of a rotating shaft 4, a no-rad 5, and a workpiece 6 attached to it.
なお、曲げ手首２の揺動中心７はひねり軸心８から偏位
４０シた位置に設けて、曲げ手首２の傾転時、曲げフレ
ーム２９およびモータ５５がひねり軸３０ケーシングと
干渉しないようにしであるが、この偏移４０させず揺動
軸を片持軸忙しても良い。The swing center 7 of the bending wrist 2 is located at a position offset by 40 degrees from the twisting axis 8 to prevent the bending frame 29 and the motor 55 from interfering with the casing of the twisting axis 30 when the bending wrist 2 is tilted. However, the swing axis may be cantilevered without this deviation 40.
作用については第５図と同様のため省略する。The operation is the same as that shown in FIG. 5, so a description thereof will be omitted.
第７図は、本発明の手首をロボットのアームである直交
軸に取り付けた例を示し、４１はロボットを固設するベ
ース、該ペース４１上に設けたレール４２に左右移動可
能な左右台車４５を設けて左右軸を構成し、該左右台車
４５に設けたモータ４４によってラック、ピニオン５５
を介し左右台車４５を移動する。FIG. 7 shows an example in which the wrist of the present invention is attached to an orthogonal axis that is an arm of a robot, where 41 is a base on which the robot is fixed, and a left and right cart 45 that can be moved left and right on a rail 42 provided on the pace 41. are provided to constitute the left and right axes, and the rack and pinion 55 are driven by the motor 44 provided on the left and right carts 45.
The left and right trolleys 45 are moved via.
該台車４５に主役するコラム４５の側面に設けたレール
４６に上下移動可能な上下台車４７を設け、上下軸を構
成し、コラム４５に設けたモータ５０１Ｃよってボール
ネジ５１を介して上下台車４７を移動する。A vertically movable vertically movable carriage 47 is provided on a rail 46 provided on the side of the main column 45 of the carriage 45, forming a vertical axis, and the vertically movable carriage 47 is moved via a ball screw 51 by a motor 501C provided on the column 45. do.
該上下台車４７の移動方向と直角に前後移動可能なレー
ル４９を設けた前後アーム４８（前記ロボットのアーム
１に当る。）を設は前後軸を構成し、上下軸同様、モー
タ５２によって図示しないボールネジで前後アーム４８
を駆動する。A front and rear arm 48 (corresponding to the arm 1 of the robot) provided with a rail 49 that can move back and forth at right angles to the moving direction of the vertical carriage 47 constitutes a front and rear axis, and like the vertical axis, it is driven by a motor 52 (not shown). Front and rear arms 48 with ball screws
to drive.
該前後アーム４８には、ひねり軸３１曲げ手首２回転軸
４で構成した、本発明の手首を取りつけてあり、該手首
はハンド５．ワーク６を取りつけである。５５は周辺に
設けたグラインダで、該グラインダ５５の砥石１１に、
ロボッ）Ｋ接続される制御盤５４によって制御されるロ
ボットに把持したワーク６が押付けられ、所定のパリ取
りができるようになっている。The front and rear arms 48 are attached with the wrist of the present invention, which is composed of a twisting shaft 31, a bending wrist, and a rotating shaft 4, and the wrist is connected to a hand 5. Workpiece 6 is now installed. 55 is a grinder installed around the grinder 55, and the grindstone 11 of the grinder 55 is
The gripped workpiece 6 is pressed against a robot controlled by a control panel 54 connected to the robot K so that predetermined deburring can be performed.
次に本ロボットの動作を説明する。Next, the operation of this robot will be explained.
ロボットを運転する場合、予め作業に合せてロボットの
動きを教示する必要があり、鋳仕上後のパリのないマス
ターワーク（ワーク６と形状同一のもの）を把持して、
研削部位を砥石１１に所定間隔で接触させながら、マス
ターワークの姿勢０位置データをロボットの制御盤５４
に記憶させる。When operating a robot, it is necessary to teach the robot's movements in advance according to the work.
While bringing the grinding part into contact with the grindstone 11 at a predetermined interval, the master work's posture 0 position data is sent to the robot's control panel 54.
to be memorized.
次に実際に仕事をさせる時は、パリのあるワーク６を把
持して、教示した位置を連続的に動かし乍ら、砥石１１
でパリ取り作業を行わせる。Next, when the actual work is to be done, hold the workpiece 6 with a sharp edge and move it continuously through the taught position while holding the grinding wheel 11.
to perform the deburring work.
パリ取り作業を説明すると前記同様にまず加工部位９を
研削する。教示しである教示データを再生すると、第７
図に示すワーク６の横向きの姿勢からひねり軸５を９０
度ひねりワーク６を下向きに姿勢替えし、加工部位９と
砥石１１を接触するため直交軸が動く。この時、従来の
手首の場合は、オフセットが長いため、ワークが振りま
わされ、砥石１１から遠（離れてしまうので、直交軸を
動かし砥石へ再度近ずける動作をする必要があったが、
本発明の手首の場合は、ひねり軸心８の延長上にワーク
６を把持するようにしたため、ワーク６の振り回しか極
めて小さく、直交軸の動作が少なくて良いので迅速な姿
勢替えができる。To explain the deburring work, first, the processed portion 9 is ground in the same manner as described above. When the teaching data, which is teaching, is reproduced, the seventh
From the sideways posture of the workpiece 6 shown in the figure, twist the axis 5 by 90 degrees.
The orthogonal axes move to bring the workpiece 6 into contact with the grinding wheel 11 by twisting the workpiece 6 downward. At this time, in the case of a conventional wrist, since the offset is long, the workpiece is swung around and becomes far away from the grinding wheel 11, so it is necessary to move the orthogonal axis and bring it closer to the grinding wheel again.
In the case of the wrist of the present invention, since the workpiece 6 is gripped on an extension of the twisting axis 8, the amount of swinging of the workpiece 6 is extremely small, and the movement of the orthogonal axes is small, so that the posture can be quickly changed.
続いて回転軸４を駆動して加工部位９の研削を開始する
と研削力が加わり、回転軸４にはワーク６のフランジ径
に比例するねじり力が作用し、曲げ手首２には第５図の
揺動軸の、偏移４０および第２図のオフセラ）Ｌ、に比
例するねじり力が作用し、ひねり軸５にはひねり軸心８
からの第２図オフセットＬ１がないためねじり力が作用
しない。従って従来の手首より極めてねじり力が小さい
ので各軸のねじり変形が小さくなり、研削力によるワー
クの逃げが、はとんどなくなり、ワーク６の研削部位は
全て除去され、パリの削り残しがなくなる。Next, when the rotary shaft 4 is driven to start grinding the machined part 9, a grinding force is applied, and a torsion force proportional to the flange diameter of the workpiece 6 acts on the rotary shaft 4, and the bending wrist 2 is rotated as shown in FIG. A torsion force proportional to the deviation 40 of the swing axis and the offset L shown in FIG. 2 acts on the twist axis 5, and the twist axis center 8
Since there is no offset L1 from FIG. 2, no torsional force acts. Therefore, since the torsional force is extremely smaller than that of a conventional wrist, the torsional deformation of each axis is reduced, and the escape of the workpiece due to the grinding force is almost eliminated.The grinding part of the workpiece 6 is completely removed, and there is no uncut part. .
つづいて、次の加工部位１０の研削に移行するが前記同
様な動作がくり返えされる。Subsequently, the grinding of the next processed part 10 is started, and the same operations as described above are repeated.
以上の説明のとおり、明らかに本発明は曲げ手首をＬ字
状にすることにより、ワークをほぼ各軸心上に把持する
ように各手首のオフセットを極めて短かくしたので、ワ
ークの姿勢を変える時の砥石から離れる距離が小さく、
直交軸等アームによりワークを砥石に再度近ずける動作
が短時間でできるため、タクト短縮が図れる。更に各手
首のオフセットを短かくしたので、加工による各手首に
加わる負荷トルクが小さいため、駆動系のねじり変形が
微小になり、ワークが逃げず、教示通り研削部位が砥石
に当るので精度の高いパリ取りが可能で、教示修正作業
がほとんど不要となる効果がある。As explained above, it is clear that in the present invention, by making the bent wrist into an L-shape, the offset of each wrist is made extremely short so that the workpiece can be gripped almost on each axis, so that the posture of the workpiece can be changed. The distance away from the grindstone of time is small,
The orthogonal axis arm allows the workpiece to be brought closer to the grindstone in a short time, reducing takt time. Furthermore, since the offset of each wrist is shortened, the load torque applied to each wrist due to machining is small, resulting in minimal torsional deformation of the drive system, the workpiece does not escape, and the grinding part hits the grindstone as instructed, resulting in high precision. This has the effect of making it possible to eliminate gaps and almost eliminating the need for teaching correction work.
また負荷トルクが小さくなることは、モータ等を小型に
できる効果もある。Furthermore, the reduction in load torque also has the effect of making the motor etc. smaller.
以上のとおり、本発明は多大の効果を有し、外部から力
を受けるバリ取りロポッ）Ｋ最適な手首である。As described above, the present invention has many effects and is an optimal wrist for removing burrs that receive external forces.
第１図は従来のロボットの手首機構を示す概略図、第２
図はパリ取りを行なうワークの一例を示す図、第５図は
本発明の実施例を示す概略図、第４図は本発明の他の実
施例を示す概略図、第５図及び第６図は本発明の駆動部
の詳細を示す図、第７図は本発明を用いたロボットの全
体図である。
１：アーム
２：曲げ手首
５：ひねり軸
４：回転軸
５：ハンド
６：ワーク
７：揺動中心
８：ひねり軸心
第 １え
第２固
躬３国
躬４喝Figure 1 is a schematic diagram showing the wrist mechanism of a conventional robot;
The figure shows an example of a work to be deburred, FIG. 5 is a schematic diagram showing an embodiment of the present invention, FIG. 4 is a schematic diagram showing another embodiment of the present invention, and FIGS. 5 and 6 7 is a diagram showing details of the drive unit of the present invention, and FIG. 7 is an overall diagram of a robot using the present invention. 1: Arm 2: Bending wrist 5: Twisting axis 4: Rotating axis 5: Hand 6: Workpiece 7: Swing center 8: Twisting axis 1st, 2nd, 3rd, 4th
Claims (1)
ねり軸から揺動可能な曲げ手首を突設し、前記曲げ手首
の端部近傍には前記ひねり軸の軸心方向にワークを把持
するハンドを有する回転軸を設け、前記ハンドで把持し
たワークがほぼ前記ひねり軸の軸心上に位置するように
したことを特徴とするパリ取りロボットの手首機構。 Ｚ ハンドで把持したワークが、はぼひねり軸の細心と
曲げ手首の揺動中心線の交点に位置するようにしたこと
を特徴とする第１項記載のパリ取りロボットの手首機構
。 ＆ ひねり軸から揺動可能なＬ字状の曲げ手首を突設し
たことを特徴とする特許請求の範囲第１項および第２項
記載のパリ取り四ボットの手首機構。[Claims] A twisting shaft is provided at the end of the arm of the to pot, a swingable bending wrist is provided protruding from the twisting shaft, and an axis of the twisting shaft is provided near the end of the bending wrist. 1. A wrist mechanism for a deburring robot, characterized in that a rotating shaft having a hand for gripping a workpiece in a direction is provided, and the workpiece gripped by the hand is positioned approximately on the axis of the twisting shaft. 2. The wrist mechanism of the deburring robot according to item 1, wherein the workpiece gripped by the Z hand is positioned at the intersection of the fineness of the twisting axis and the swinging center line of the bending wrist. & A wrist mechanism for a four-bot for deburring according to claims 1 and 2, characterized in that an L-shaped bending wrist that can swing from a twisting shaft is provided.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9785284A JPS60242947A (en) | 1984-05-16 | 1984-05-16 | Hand mechanism of deburring robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9785284A JPS60242947A (en) | 1984-05-16 | 1984-05-16 | Hand mechanism of deburring robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS60242947A true JPS60242947A (en) | 1985-12-02 |
Family
ID=14203267
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP9785284A Pending JPS60242947A (en) | 1984-05-16 | 1984-05-16 | Hand mechanism of deburring robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60242947A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1916072A1 (en) * | 2006-10-23 | 2008-04-30 | Trumpf Maschinen Austria GmbH & CO. KG. | Manipulating device and production system |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS53107062A (en) * | 1977-03-01 | 1978-09-18 | Kobe Steel Ltd | Method and apparatus for controlling position and attitude of hand for industrial robot |
| JPS5651062A (en) * | 1979-10-02 | 1981-05-08 | Nec Corp | File device |
-
1984
- 1984-05-16 JP JP9785284A patent/JPS60242947A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS53107062A (en) * | 1977-03-01 | 1978-09-18 | Kobe Steel Ltd | Method and apparatus for controlling position and attitude of hand for industrial robot |
| JPS5651062A (en) * | 1979-10-02 | 1981-05-08 | Nec Corp | File device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1916072A1 (en) * | 2006-10-23 | 2008-04-30 | Trumpf Maschinen Austria GmbH & CO. KG. | Manipulating device and production system |
| US8074484B2 (en) | 2006-10-23 | 2011-12-13 | Trumpf Maschinen Austria Gmbh & Co. Kg | Manipulation device and production system |
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