JPS62181841A - Industrial robot device - Google Patents

Industrial robot device

Info

Publication number
JPS62181841A
JPS62181841A JP61024206A JP2420686A JPS62181841A JP S62181841 A JPS62181841 A JP S62181841A JP 61024206 A JP61024206 A JP 61024206A JP 2420686 A JP2420686 A JP 2420686A JP S62181841 A JPS62181841 A JP S62181841A
Authority
JP
Japan
Prior art keywords
fitted
arm
assembled
chamfered
chamfered part
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
Application number
JP61024206A
Other languages
Japanese (ja)
Inventor
Hisao Kato
久夫 加藤
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsubishi Electric Corp
Original Assignee
Mitsubishi Electric Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Priority to JP61024206A priority Critical patent/JPS62181841A/en
Priority to KR1019870000406A priority patent/KR890004609B1/en
Publication of JPS62181841A publication Critical patent/JPS62181841A/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B25J3/04—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/10—Aligning parts to be fitted together
    • B23P19/12—Alignment of parts for insertion into bores

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Automatic Assembly (AREA)

Abstract

PURPOSE:To enable fitting engagement with a high degree of accuracy, by forming a chamfered part in one or both of workpieces which are fitted together, and by shutting off the energization of a robot arm drive mechanism in accordance with data concerning initial fitting engagement so that the arm is lowered CONSTITUTION:A part 8 to be assembled in gripped by gripping pawls 7a in a hand device 7 at the forward end of a robot arm 2. When the arm 2 is turned to be shifted onto a assembly base 10 and is lowered by means of a turning mechanism and an elevator, a chamfered part 8a in the part 8 to be assembled is fitted in a chamfered part 10 in the assembly base 10, and when the chamfered part 8 is fitted in to a predetermined depth, the energization of a stator 15 in a drive machine 3 is shut off in accordance with the positional information of the chamfered part 8a, and therefore, a drive shaft 17 to which a rotor 16 is fixed is released from its restrained condition. Further, drive machines other than that located at the forward end of the arm are also released. When the elevator descents so that the part 8 to be assembled is fitted to a predetermined depth, pawls 7a is opened to release the part to be assembled 8. Thus, by making the part 8 free in the horizontal direction during assembly, it is possible to carry out fitting engagement work with a high degree of accuracy.

Description

【発明の詳細な説明】 〔産業上の利用分野〕 この発明は、嵌合精度の高いワークの組立作業を行う産
業用ロボットにおけろハンド装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a hand device for an industrial robot that performs assembly work of workpieces with high fitting accuracy.

〔従来の技術〕[Conventional technology]

第６図は例えば実願昭５８−７２６４５号に示した産業
用ロボットにおけるハンド装置を示す正面図であり、（
４）はロボットアームの先端部、（５）はこの先端部（
４）に垂直方向に設けられた回動軸、（６）は自動調心
装置で、（６ａ）は回動軸（５）に固定された上板、（
６ｂ）はこの上板（６ａ）の中心に植立された芯材、（
６ｃ）は上板（６ａ）と平行して配置された下板、（６
ｄ）ｌよ上板（６ａ）と下板（６Ｃ）を平面方向にいず
れの方向にも揺動可能に枢支する３本のリンクで、上端
部（Ｂｄ’　）および下端部（６ｄ“）は球形軸受によ
って形成されている。なお、リンク（６ｄ）はたがいに
平行で、かつ上板（６ａ）および下板（６Ｃ）に対しｆ
ｆ１ｆＥに構成しである。（６ｅ）は下板（６ｃ）に固
定された円筒体で、芯材（６ｂ）の一部を覆う長さとし
である。FIG. 6 is a front view showing a hand device in an industrial robot shown in Utility Model Application No. 58-72645, for example.
4) is the tip of the robot arm, and (5) is the tip (
(4) is a rotating shaft provided in the vertical direction, (6) is a self-aligning device, (6a) is an upper plate fixed to the rotating shaft (5), (
6b) is the core material planted in the center of this upper plate (6a), (
6c) is a lower plate arranged parallel to the upper plate (6a), (6
d) Three links that pivot the upper plate (6a) and lower plate (6C) so that they can swing in any direction in the plane, and the upper end (Bd') and the lower end (6d") are formed by spherical bearings.The links (6d) are parallel to each other and are f
It is configured as f1fE. (6e) is a cylindrical body fixed to the lower plate (6c), and has a length that covers a part of the core material (6b).

（６ｆ）は芯材（６ｂ）と円筒体（ＯＬりとの間に介在
したゴム等の弾性対、（７）は下板（６ｃ）に固定され
た把持装置で、空気圧またはモーフにより駆動されろ把
持爪（７ａ）を備えており、棒材（８）を垂直に把持す
る。(6f) is an elastic pair such as rubber interposed between the core material (6b) and the cylindrical body (OL), and (7) is a gripping device fixed to the lower plate (6c), which is driven by air pressure or morph. It is equipped with filter gripping claws (7a) and grips the bar (8) vertically.

（８ａ）は（全村（８）の先端全周に設けられた面取部
、（９）は作業台、（１０）Ｉよ作業台（９）上に固定
された部品、（１０ａ）は部品（１０）ニ垂直ニアケら
ロタ穴、（１０ｈ）ｔ、１穴（１０ａ）の入口部全周に
設けられた面取部である。(8a) is a chamfered part provided all around the tip of the entire village (8), (9) is a workbench, (10) is a part fixed on the workbench (9), (10a) is Part (10) is a vertical near rotor hole, (10h) t, and a chamfered portion provided all around the entrance of the first hole (10a).

上記のように構成されたハツト装置において、穴（１０
ａ）の中心に対して棒材（８）の中心が相対的に若干帰
心した関係位置にあっても、この相対偏心寸法が面取部
（８ａ）および（１０ｂ）の合計寸法以下であれば、ロ
ボット装置の昇降軸を制御して下降させれば第７図に示
すように弾性対（６ｆ）が変形し、棒材（８）が穴（ｌ
ｏａ）の中心に自動的に合致して挿入され組立作業が行
われる。In the hat device configured as described above, the holes (10
Even if the center of the bar (8) is located at a position slightly centered relative to the center of a), even if this relative eccentricity is less than or equal to the total dimension of the chamfered portions (8a) and (10b). For example, if the lifting axis of the robot device is controlled and lowered, the elastic pair (6f) will deform as shown in FIG.
The assembly work is performed by automatically aligning the center of the oa) with the insertion.

〔発明が解決しようとする問題点〕[Problem that the invention seeks to solve]

上記のような従来のハンド装置では、装置自体の製造コ
ストが高価になるとともに、装置全体が大形化するため
にロボット操作上のスペース効率が低下してしまうなど
の問題があった。In the conventional hand device as described above, there have been problems such as the manufacturing cost of the device itself being high and the overall size of the device being large, resulting in a decrease in space efficiency for robot operation.

この発明はかかる問題点を解消するためになされたもの
で、ハンド装置を小形化することによって操作時のスペ
ース効率が高く、かつ高精度の嵌合作業を行うことがで
きる産業用ロボット装置を１辱ることを目的とする。This invention was made to solve these problems, and by downsizing the hand device, it is possible to create an industrial robot device that is highly space efficient during operation and can perform high-precision fitting work. The purpose is to humiliate.

〔問題点を解決するための手段〕[Means for solving problems]

この発明に係る産業用ロボッＩ・は、相互に嵌合しあう
ワークの一方または両方に面取部を設け、これらのワー
クの一方を把持するロボットアームを下降させ上記面取
部における初期の嵌入が行なわれると、ロボットアーム
を回動していた駆動機の励磁をしゃ断して嵌合しあうワ
ーク間の水平方向の拘束をＭ放し、この解放状態におい
て再びロボットアームを下降させて所定の嵌合作業を行
なうものである。The industrial robot I according to the present invention is provided with a chamfered portion on one or both of the workpieces that are fitted into each other, and lowers a robot arm that grips one of these works to perform initial fitting in the chamfered portion. When this is done, the excitation of the drive machine that was rotating the robot arm is cut off to release the horizontal restraint M between the fitting workpieces, and in this released state, the robot arm is lowered again to achieve the specified fitting. This involves joint work.

〔作用〕[Effect]

この発明においては、ワークの一方または両方に面取部
が設けられているので、ハンド装置によって把持されロ
ボットアームの制御動作で位置が拘束されているワーク
が初期の嵌入を行えば、以後は水平方向に自由状態にな
るので固定側のワーク位置に従って嵌入してゆき、隙間
が微小な高精度の嵌合作業を行う。In this invention, since the chamfered portion is provided on one or both of the workpieces, once the workpiece, which is gripped by the hand device and whose position is restrained by the control operation of the robot arm, is inserted into the initial position, the workpiece can be held horizontally. Since it is free in the direction, it is fitted according to the position of the workpiece on the fixed side, and high-precision fitting work with minute gaps is performed.

〔発明の実施例〕[Embodiments of the invention]

第１図はこの発明の一実施例による産業用ロボット装置
とワークとを示す全体構成図であり、第２図は第１図の
上面図である。第１図および第２図において、（１）は
ロボット本体、（２）はロボットアーム、（３）はこれ
らのロボットアーム（２）を旋回する駆動機、（７）は
ロボットアーム（２）の先端部に装着されたハンド装置
、（８）はこのハンド装置（７）に把持されたワークで
ある組付部品、（９）は床面、（１０）は組付部品（８
）が嵌入される組付ベース、（１１）はこの組付ベース
（ｌＯ）に設けられた組付部品（８）が嵌入する穴、（
１２）は組付ベース（１０）を定位置に載置するベース
台、（１３）は組付部品（８）を定位置に載置している
部品台、（１４）はロボットアーム（２）を上昇あるい
は下降させる昇降軸である。FIG. 1 is an overall configuration diagram showing an industrial robot device and a workpiece according to an embodiment of the present invention, and FIG. 2 is a top view of FIG. 1. In Figures 1 and 2, (1) is the robot body, (2) is the robot arm, (3) is the drive machine that rotates these robot arms (2), and (7) is the robot arm (2). The hand device attached to the tip, (8) is the assembly part which is the work gripped by the hand device (7), (9) is the floor surface, and (10) is the assembly part (8).
) is inserted into the assembly base, (11) is a hole provided in this assembly base (lO) into which the assembly part (8) is inserted, (
12) is a base stand on which the assembly base (10) is placed in a fixed position, (13) is a parts stand on which an assembly part (8) is placed in a fixed position, and (14) is a robot arm (2). It is an elevating axis that raises or lowers the

上記のように構成されたロボット装置において、第２図
に示すように部品台（１３）上に載置された複数の組付
部品（８）をロボット装置によって順次ベース台（１２
）上組付ベース（１０）に嵌入する場合、図示のない制
御部の指令によって駆動軸（３）および昇降軸（１４）
を作動させて組付部品（８）を把持し、第３図に示すよ
うに組付ベース（１０）の真上迄搬送されてロボットア
ーム（２）が下降し、組付部品（８）の面取部（８ａ）
から組付ベース（１０）の面取部（１０ａ）に嵌入し始
めてこの嵌入深さが所定値に達すると、第４図の制御部
のブロック図で示すように上記の嵌入深さの位置情報に
基づいて、Ｉ１０ポートを介したＣＰＵ、１’ｔＡＭ、
ＲＯＭの演算による指令で、第３図に例示した駆動機（
３）のステータ（１５）の励磁がしゃ断されるので、ロ
ータ（１６）を固定している駆動軸（１７）は拘束状態
より解放される。また、この例示したアーム（２）先端
部における駆動機（３）以外も制御状態による拘束から
解放される。次いで、昇降軸（１４）が再び下降を開始
して組付部品（８）が組付仕様に定められた深さまで組
付ベース（１０）に嵌入すると、ハンド装置（７）の把
持爪（７ａ）が開き、組付部品（８）よす堰脱して所定
の作業が終了する。In the robot device configured as described above, as shown in FIG.
) When fitting into the upper assembly base (10), the drive shaft (3) and lifting shaft (14) are
The robot arm (2) grips the assembly part (8) and transports it to just above the assembly base (10) as shown in Fig. 3, and the robot arm (2) descends to grip the assembly part (8). Chamfered part (8a)
When the insertion starts to fit into the chamfered part (10a) of the assembly base (10) and this insertion depth reaches a predetermined value, the position information of the insertion depth is displayed as shown in the block diagram of the control section in FIG. Based on the CPU via I10 port, 1'tAM,
The drive machine (as shown in Figure 3) is activated by commands based on ROM calculation
Since the excitation of the stator (15) in step 3) is cut off, the drive shaft (17) fixing the rotor (16) is released from the restrained state. Furthermore, other parts than the drive unit (3) at the tip of the arm (2) illustrated are also released from restraint by the control state. Next, when the lifting shaft (14) starts descending again and the assembly part (8) is fitted into the assembly base (10) to the depth specified in the assembly specifications, the gripping claw (7a) of the hand device (7) ) opens, the assembled part (8) comes out of the weir, and the prescribed work is completed.

なお、上記実施例ではロボット本体（１）側に設けられ
た昇降軸（１４）を駆動させろ例について説明したが、
第５図に示すようにロボットアーム（２）先端部に装着
されたシリ、グ（１８）によって昇降軸（１９）を駆動
させて組付部品（８）を組付ベース（１０）に嵌入する
構成の場合でも、駆動機（３）に対する拘束状態を解放
して昇降軸（１９）を下降させ、組付を行うように制御
すれば上記実施例と同様の効果をグする。In addition, in the above embodiment, an example was explained in which the lifting shaft (14) provided on the robot body (1) side was driven.
As shown in Fig. 5, the lifting shaft (19) is driven by the ring (18) attached to the tip of the robot arm (2), and the assembly part (8) is fitted into the assembly base (10). In this case, the same effect as in the above embodiment can be obtained by releasing the restraint on the drive machine (3), lowering the elevating shaft (19), and performing the assembly.

〔発明の効果〕〔Effect of the invention〕

この発明は以上説明したとおり、ロボットアーム側のワ
ークを面取部における初期の嵌入位置において停止させ
、駆動機による水平方向の拘束を解放してから再度嵌入
動作を行わせるように構成しｔコので、組付時に水平方
向が自由状態になるので高精度の嵌合作業を的確に行う
ことができる効果がある。As explained above, this invention is configured such that the workpiece on the robot arm side is stopped at the initial insertion position in the chamfered part, and the insertion operation is performed again after the horizontal restraint by the drive machine is released. Therefore, since the horizontal direction becomes free during assembly, there is an effect that a high-precision fitting operation can be performed accurately.

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

第１図はこの発明の一実施例による産業用ロボッ１〜装
置とワークとを示す全体構成図、第２図は第１図の上面
図、第３図は第１図における産業用ロボット装置の駆動
機およびハンド装置等の詳細を示す断面図、第４図はこ
の発明における制御部の構成を示すブロック図、第５図
はこの発明の他の実施例の産業用ロボット装置を示した
正面図、第６図および第７図は従来の産業用ロボット装
置におけるハンド装置の一例を示した正面図である９図
において、（１）はロボット本体、（２）は「Ｉボッ）
・アーム、（３）は駆動機、（８）は組付部品、（８ａ
）ｉよ面取部、（１０）は組付ベース、（１０ａ）は面
取部。 なお、図中同一符号は同一または相当部分を示す。 代理人　弁理士　左　藤　正　年 第１飄 １：　ロホ′°ット本イ本 ２；　ロボットアーム 側 第２１１１ 第３＠ コ ８ａ、１０ａ　：面取岬 第４図 第５図 第６図 第７図FIG. 1 is an overall configuration diagram showing an industrial robot 1 to a device and a workpiece according to an embodiment of the present invention, FIG. 2 is a top view of FIG. 1, and FIG. 3 is a diagram of the industrial robot device in FIG. 1. FIG. 4 is a block diagram showing the configuration of the control unit according to the present invention; FIG. 5 is a front view showing an industrial robot device according to another embodiment of the present invention. , FIGS. 6 and 7 are front views showing an example of a hand device in a conventional industrial robot device. In FIG.
・Arm, (3) is the drive unit, (8) is the assembly part, (8a
) i is the chamfered part, (10) is the assembly base, and (10a) is the chamfered part. Note that the same reference numerals in the figures indicate the same or corresponding parts. Agent Patent Attorney Tadashi Fuji 1st Section 1: Rojo'°t Book 2; Robot arm side No. 2111 No. 3 @ Ko 8a, 10a: Kamedori Misaki Fig. 4 Fig. 5 Fig. 6 Fig. 7 figure

Claims (1)

【特許請求の範囲】[Claims] 相互に嵌合しあう一方のワークを固定し、他方のワーク
をロボット装置による操作によつて上記固定側のワーク
に嵌入させる装置において、上記２つのワークの一方ま
たは両方に面取部を設け、上記ロボット装置側のワーク
を下降させて上記面取部における初期の嵌入が行われる
とこの嵌入位置情報に基づいて上記ロボット装置の全て
のアーム駆動機の励磁をしや断し、再び上記ロボット装
置側のワークを下降させて所定の嵌合作業を行うように
したことを特徴とする産業用ロボット装置。A device in which one workpiece that fits into each other is fixed and the other workpiece is fitted into the fixed workpiece by operation by a robot device, wherein one or both of the two workpieces is provided with a chamfered part, When the workpiece on the robot device side is lowered and the initial fitting is performed in the chamfered portion, all the arm driving machines of the robot device are de-energized based on this fitting position information, and the robot device is re-energized. An industrial robot device characterized in that a predetermined fitting operation is performed by lowering a workpiece on the side.
JP61024206A 1986-02-07 1986-02-07 Industrial robot device Pending JPS62181841A (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP61024206A JPS62181841A (en) 1986-02-07 1986-02-07 Industrial robot device
KR1019870000406A KR890004609B1 (en) 1986-02-07 1987-01-20 An industrial robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP61024206A JPS62181841A (en) 1986-02-07 1986-02-07 Industrial robot device

Publications (1)

Publication Number Publication Date
JPS62181841A true JPS62181841A (en) 1987-08-10

Family

ID=12131836

Family Applications (1)

Application Number Title Priority Date Filing Date
JP61024206A Pending JPS62181841A (en) 1986-02-07 1986-02-07 Industrial robot device

Country Status (2)

Country Link
JP (1) JPS62181841A (en)
KR (1) KR890004609B1 (en)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4947702A (en) * 1988-06-14 1990-08-14 Mitsubishi Denki Kabushiki Kaisha Industrial robot
JPH05285747A (en) * 1992-04-14 1993-11-02 Hirata Kiko Kk Part assembling device
JPH08168927A (en) * 1994-12-19 1996-07-02 Fujitsu Ltd Part assembling device
JPH09131625A (en) * 1995-11-08 1997-05-20 Nippon Steel Corp High-speed fitting method
JPH09277123A (en) * 1996-04-10 1997-10-28 Nippon Steel Corp Automatic fitting device
EP0830917A1 (en) * 1996-09-20 1998-03-25 Marquart, Ingeborg Chuck for clamping a tool on a machine tool and device for clamping tools by shrink fitting
EP1008409A1 (en) * 1998-12-10 2000-06-14 Mitsubishi Materials Corporation Cutting tool and shrink fitting method for the same
CN112223244A (en) * 2020-10-10 2021-01-15 江苏中海华核环保有限公司 Master-slave manipulator
JP2021186888A (en) * 2020-05-25 2021-12-13 コギトケミカル株式会社 Elastic body insertion method

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4947702A (en) * 1988-06-14 1990-08-14 Mitsubishi Denki Kabushiki Kaisha Industrial robot
JPH05285747A (en) * 1992-04-14 1993-11-02 Hirata Kiko Kk Part assembling device
JPH08168927A (en) * 1994-12-19 1996-07-02 Fujitsu Ltd Part assembling device
JPH09131625A (en) * 1995-11-08 1997-05-20 Nippon Steel Corp High-speed fitting method
JPH09277123A (en) * 1996-04-10 1997-10-28 Nippon Steel Corp Automatic fitting device
EP0830917A1 (en) * 1996-09-20 1998-03-25 Marquart, Ingeborg Chuck for clamping a tool on a machine tool and device for clamping tools by shrink fitting
EP1008409A1 (en) * 1998-12-10 2000-06-14 Mitsubishi Materials Corporation Cutting tool and shrink fitting method for the same
JP2021186888A (en) * 2020-05-25 2021-12-13 コギトケミカル株式会社 Elastic body insertion method
CN112223244A (en) * 2020-10-10 2021-01-15 江苏中海华核环保有限公司 Master-slave manipulator

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KR880008860A (en) 1988-09-13
KR890004609B1 (en) 1989-11-20

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