JPS6389232A - Industrial robot - Google Patents
Industrial robotInfo
- Publication number
- JPS6389232A JPS6389232A JP23367786A JP23367786A JPS6389232A JP S6389232 A JPS6389232 A JP S6389232A JP 23367786 A JP23367786 A JP 23367786A JP 23367786 A JP23367786 A JP 23367786A JP S6389232 A JPS6389232 A JP S6389232A
- Authority
- JP
- Japan
- Prior art keywords
- work
- workpiece
- conveyed
- hand device
- workpieces
- 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
- 210000000078 claw Anatomy 0.000 abstract description 11
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000015556 catabolic process Effects 0.000 description 3
- 230000002950 deficient Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
- 230000002747 voluntary effect Effects 0.000 description 1
Landscapes
- Automatic Assembly (AREA)
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
［産業上の利用分野］
本発明は産業用ロボット、特に上下のワーク相互の組付
を行なうハンド装置の改良に関するものである。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an industrial robot, and particularly to an improvement in a hand device for assembling upper and lower workpieces to each other.
〔従来の技術］
最近、板金絞り加工されたワーク相互の組付を、産業用
ロボットを用いて行なうことが試みられている。[Prior Art] Recently, attempts have been made to assemble sheet metal drawn workpieces together using industrial robots.
ところが、ワーク相互の組付位置決めが正確ではなく、
組付時にハンド装置あるいはロボット本体に無理な力が
作用し、故障や破損の原因となったり、ワーク相互の組
付がうまくいかず不良製品となることが発生していた。However, the mutual assembly positioning of the workpieces was not accurate, and
During assembly, excessive force is applied to the hand device or the robot body, causing failure or damage, or the workpieces are not assembled properly, resulting in defective products.
そこで一部では、例えば特開昭５８−７７４８２号公報
に示されているように、ハンド装置に芯合わせ装置を組
込み、この芯合わせ装置によりワーク相互の組付位置の
ずれを吸収するようにした産業用ロボットが提案されて
いる。Therefore, in some cases, for example, as shown in Japanese Patent Application Laid-Open No. 58-77482, a centering device is incorporated into the hand device, and this centering device absorbs the misalignment of the assembly positions of the workpieces. Industrial robots have been proposed.
［発明が解決しようとする問題点］
上記のような従来の産業用ロボットでは、芯合わせ装置
をハンド装置に組込んでいるため、ハンド装置が複雑と
なって大型、高価となるという問題があった。[Problems to be solved by the invention] In the conventional industrial robots as described above, the centering device is built into the hand device, so there is a problem that the hand device becomes complicated, large in size, and expensive. Ta.
本発明は、かかる問題点を解決するためになされたもの
で、正確にワーク相互を最終組付位置に持ち来たすこと
ができ、ハンド装りやロボット本体に無理な力が加わら
ず故障、破損を防止でき、また芯合わせ装置等の高価な
特殊機器が不要で、ハンド装置を小型、軽量かつ安価に
構成できる産業用ロボットを得ることを目的とする。The present invention was made to solve this problem, and allows the workpieces to be accurately brought to the final assembly position, thereby preventing malfunctions and damage without applying excessive force to the hand equipment or robot body. The purpose of the present invention is to provide an industrial robot which can be constructed with a hand device that is small, lightweight, and inexpensive, without requiring expensive special equipment such as an alignment device.
［問題点を解決するための手段］
本発明に係る産業用ロボットは、上記ワークを把持し下
部ワークとの最終組付位置直前で上部ワークの把持を解
除するワーク把持部と、把持が解除された上部ワークを
下部ワーク側に押付は両ワークを最終組付位置に持ち来
たすワーク押付部とをハンド装置に設けるようにしたも
のである。[Means for Solving the Problems] The industrial robot according to the present invention includes a workpiece gripping section that grips the workpiece and releases the upper workpiece right before the final assembly position with the lower workpiece, and a workpiece gripping section that grips the workpiece and releases the upper workpiece right before the final assembly position with the lower workpiece. In order to press the upper workpiece to the lower workpiece side, the hand device is provided with a workpiece pressing section that brings both the workpieces to the final assembly position.
［作用］
本発明においては、ワーク把持部で上部ワークを把持し
て下部ワーク上まで搬送し、下部ワークとの最終組付位
置直前で上部ワークの把持を解除する０次いで、ワーク
押付部で上部ワークを下部ワーク側に押し付け、両ワー
クを最終組付位置に持ち来たすようにする。これにより
、ハンド装置やロボット本体に無理な力が加わることな
くワーク相互を最終組付位置に持ち来たすことが可能と
なる。また構造が簡単で、ハンド装置を小型、軽量かつ
安価に構成できる。[Operation] In the present invention, the workpiece gripping section grasps the upper workpiece and transports it onto the lower workpiece, and then the workpiece pressing section releases the upper workpiece just before the final assembly position with the lower workpiece. Push the work towards the lower work and bring both works to the final assembly position. This makes it possible to bring the workpieces to the final assembly position without applying excessive force to the hand device or the robot body. Furthermore, the structure is simple, and the hand device can be made small, lightweight, and inexpensive.
［実施例］
第１図〜第４図は本発明の一実施例を示すもので、図中
、（１）はロボット本体、（２）はロボットアーム、（
３）はこのロボットアームの先端に設けられたハンド装
置で、ガイドピン（４ａ）を有する上部ワーク（４）の
把持部（４ｂ）を把持する把持爪（５）と、ワーク台（
６）上の下部ワーク（７）に上部ワーク（４）を押し付
けてガイドピン（４ａ）をガイド孔（７ａ）に嵌入させ
る押付部（８）とを備えている。[Example] Figures 1 to 4 show an example of the present invention. In the figures, (1) is a robot body, (2) is a robot arm, (
3) is a hand device installed at the tip of this robot arm, which has a gripping claw (5) that grips the gripping part (4b) of the upper workpiece (4) having a guide pin (4a), and a workpiece table (
6) It includes a pressing part (8) that presses the upper workpiece (4) against the upper lower workpiece (7) to fit the guide pin (4a) into the guide hole (7a).
上記のように構成された産業用ロボットにおいては、上
部ワーク（４）の把持部（４ｈ）を把持爪（５）で把持
し、ガイド孔（７ａ）にガイドピン（４ａ）の一部が嵌
合するまで上部ワーク（４）を下げる。そして、ガイド
ピン（４ａ）の先端がガイド孔（７ａ）に嵌合したなら
ば把持爪（５）による上部ワーク（４）の把持を解除し
、押付部（８）で上部ワーク（４）を下部ワーク（７）
に押し付ける。これにより、ガイドピン（４ａ）がガイ
ド孔（７ａ）に完全に入るまで上部ワーク（４）が変位
し、最終組付位置に納まる。In the industrial robot configured as described above, the gripping part (4h) of the upper workpiece (4) is gripped by the gripping claw (5), and a part of the guide pin (4a) is fitted into the guide hole (7a). Lower the upper workpiece (4) until it fits. When the tip of the guide pin (4a) fits into the guide hole (7a), the upper workpiece (4) is released from the grasping claw (5), and the upper workpiece (4) is pressed by the pressing part (8). Lower work (7)
to press against. As a result, the upper workpiece (4) is displaced until the guide pin (4a) completely enters the guide hole (7a), and is settled in the final assembly position.
［発明の効果］
本発明は以上説明したとおり、ワーク相互の最終組付位
置直前で、ワーク把持部による上部ワークの把持を解除
し、その後押付部でワーク相互を最終組付位置に持ち来
たすようにしているので、ワーク相互に相対位置のずれ
があっても、正確にワーク相互を最終組付位置に持ち来
たすことができ、ハンド装置やロボット本体に無理な力
が加わることがなく故障、破損を防止できる。また芯合
わせ装置等の高価な特殊機器が不要で、ハンド装置を小
型、軽量かつ安価に構成することができる等の効果があ
る。[Effects of the Invention] As explained above, the present invention has a structure in which the upper workpiece is released from the upper workpiece by the workpiece gripping section immediately before the final assembly position between the workpieces, and then the workpieces are brought to the final assembly position using the pressing section. Therefore, even if there is a shift in the relative positions of the workpieces, the workpieces can be accurately brought to the final assembly position, and no excessive force is applied to the hand device or robot body, preventing breakdowns and damage. can be prevented. In addition, there is no need for expensive special equipment such as a centering device, and the hand device can be constructed small, lightweight, and inexpensively.
第１図は本発明の一実施例を示す産業用ロボットの全体
構成図、第２図〜第４図はワーク相互の組付方法を手順
に従って順次示す説明図である。
図において
（２）はロボットアーム、（３）はハンド装置、（４）
は上部ワーク、 （４ａ）はガイドピン、（５）は
把持爪、（７）は下部ワーク、（７ａ）はカイト孔、
（８）は押付部。
なお、各図中、同一符号は同−又は相当部分を示す。
代 理 人 大 岩 増 雄第１図
第２図
第３図
第４図
手続補正書（自発）
２、発明の名称
産業用ロボット
３、補正をする者
事件との関係 特許出願人
住 所 東京都千代田区丸の内二丁目２番３号。
名 称 （６０１）三菱電機株式会社代表者志岐守哉
４、代理人
住 所 東京都千代田区丸の内二丁目２番３号明
細書全文及び図面。
６、補正の内容
（＋）明細書全文を別紙のとおり補正する。
（２）図面中梁１図を別紙のとおり補正する。
７、添付書類の目録
（１）補正後の明細書 １ 通（２）図面
１ 道具上
明細書
１、発明の名称
産業用ロボット
２、特許請求の範囲
ロボットアームの先端にハンド装置が設けられた産業用
ロボットにおいて、上記ハンド装置は、１込ワークを把
持し１！ワークとの最終組付位置直前でれワークの把持
を解除するワーク把持部と、把持が解除された殿立ワー
クを肛ワーク側に押付は両ワークを最終組付位置に持ち
来たすワーク押付部とを有していることを特徴とする産
業用ロボット。
３、発明の詳細な説明
［産業上の利用分野］
本発明は産業用ロボット、特に対向するワーク相互の組
付を行なうハンド装置の改良に関するものである。
［従来の技術］
最近、板金絞り加工されたワーク相互の組付を、産業用
ロボットを用いて行なうことが試みられている。
ところが、ワーク相互の組付位置決めが正確ではなく、
組付時にハンド装置あるいはロボット本体に無理な力が
作用し、故障や破損の原因となったり、ワーク相互の組
付がうまくいかず不良製品となることが発生していた。
そこで一部では、例えば特開昭５８−７７４８２号公報
に示されているように、ハンド装置に芯合わせ装置を組
込み、この芯合わせ装置によりワーク相互の組付位置の
ずれを吸収するようにした産業用ロボットが提案されて
いる。
［発明が解決しようとする問題点］
上記のような従来の産業用ロボットでは、芯合わせ装置
をハンド装置に組込んでいるため、ハンド装置が複雑と
なって大型、高価となるという問題があった。
本発明は、かかる問題点を解決するためになされたもの
で、正確にワーク相互を最終組付位置に持ち来たすこと
ができ、ハンド装置やロボット本体に無理な力が加わら
す故障、破損を防止でき、また芯合わせ装置等の高価な
特殊機器が不要で、ハンド装置を小型、軽量かつ安価に
構成できる産業用ロボットを得ることを目的とする。
［問題点を解決するための手段］
本発明に係る産業用ロボットは、搬送ワークを把持し固
定ワークとの最終組付位置直前で搬送ワークの把持を解
除するワーク把持部と、把持が解除された搬送ワークを
固定ワーク側に押付は両ワークを最終組付位置に持ち来
たすワーク押付部とをハンド装置に設けるようにしたも
のである。
［作用］
本発明においては、ワーク把持部で搬送ワークを把持し
て固定ワーク上まで搬送し、固定ワークとの最終組付位
置直前で搬送ワークの把持を解除する。次いで、ワーク
押付部で搬送ワークを固定ワーク側に押し付け、両ワー
クを最終組付位置に持ち来たすようにする。これにより
、ハンド装置やロボット本体に無理な力が加わることな
くワーク相互を最終組付位置に持ち来たすことが可能と
なる。また構造が簡単で、ハンド装置を小型、軽量かつ
安価に構成できる。
［実施例］
第１図〜第４図は本発明の一実施例を示すもので、図中
、（１）はロボット本体、（２）はロボットアーム、（
３）はこのロボットアームの先端に設けられたハンド装
置で、ガイドビン（４ａ）を有する搬送ワーク（４）の
把持部（４ｂ）を把持する把持爪（５）と、ワーク台（
６）上の固定ワーク（７） に搬送ワーク（４）を押し
付けてガイドビン（４ａ）をガイド孔（７ａ）に嵌入さ
せる押付部（８）とを備えている。
上記のように構成された産業用ロボットにおいては、搬
送ワーク（４）の把持部（４ｂ）を把持爪（５）で把持
し、ガイド孔（７ａ）にガイドビン（４ａ）の一部が嵌
合するまで搬送ワーク（４）を下げる。そして、ガイド
ビン（４ａ）の先端がガイド孔（７ａ）に嵌合したなら
ば把持爪（５）による搬送ワーク（４）の把持を解除し
、押付部（８）で搬送ワーク（４）を固定ワーク（７）
に押し付ける。これにより、ガイドビン（４ａ）がガ
イド孔（７ａ）に完全に入るまで搬送ワーク（４）が変
位し、最終組付位置に納まる。
直配上記実施例は固定ワーク（７）が水平に置かれ、搬
送ワーク（４）を、固定ワーク（７）の上方より組付け
る場合を示したが、固定ワーク（７）が垂直又は傾斜さ
れて置かれ、搬送ワーク（４）が固定ワーク（７）に対
峙して横方向又は斜め方向から組付ける場合にも応用で
きることは言うまでもない。
［発明の効果］
本発明は以上説明したとおり、ワーク相互の最終組付位
置直前で、ワーク把持部による搬送ワークの把持を解除
し、その後押付部でワーク相互を最終組付位置に持ち来
たすようにしているので、ワーク相互に相対位置のずれ
があっても、正確にワーク相互を最終組付位置に持ち来
たすことができ、ハンド装置やロボット本体に無理な力
が加わることがなく故障、破損を防止できる。また芯合
わせ装置等の高価な特殊機器が不要で、ハンド装置を小
型、軽量かつ安価に構成することができる等の効果があ
る。
４、図面の簡単な説明
第１図は本発明の一実施例を示す産業用ロボットの全体
構成図、第２図〜第４図はワーク相互の組付方法を手順
に従って順次示す説明図である。
図において
（２）はロボットアーム、（３）はハンド装置、（４）
は搬送ワーク、 （４ａ）はガイドビン、（５）は
把持爪、 （７）は固定ワーク、（７ａ）はカ
イト孔、 （８）は押付部。
なお、各図中、同一符号は同−又は相当部分を示す。FIG. 1 is an overall configuration diagram of an industrial robot showing an embodiment of the present invention, and FIGS. 2 to 4 are explanatory diagrams sequentially showing a method of assembling workpieces to each other according to the procedure. In the figure, (2) is the robot arm, (3) is the hand device, and (4) is the robot arm.
is the upper workpiece, (4a) is the guide pin, (5) is the gripping claw, (7) is the lower workpiece, (7a) is the kite hole,
(8) is the pressing part. In each figure, the same reference numerals indicate the same or corresponding parts. Agent Masuo Oiwa Figure 1 Figure 2 Figure 3 Figure 4 Procedural amendment (voluntary) 2. Name of the invention Industrial robot 3. Relationship to the case of the person making the amendment Patent applicant address Tokyo 2-2-3 Marunouchi, Chiyoda-ku. Name (601) Mitsubishi Electric Corporation Representative Moriya Shiki 4, Agent Address 2-2-3 Marunouchi, Chiyoda-ku, Tokyo Full text of specification and drawings. 6. Contents of amendment (+) The entire text of the specification will be amended as shown in the attached sheet. (2) Beam 1 in the drawing will be corrected as shown in the attached sheet. 7. List of attached documents (1) Amended specification 1 copy (2) Drawings 1 Tool description 1. Name of the invention Industrial robot 2. Claims A hand device was provided at the tip of the robot arm. In the industrial robot, the hand device grasps a 1-piece workpiece and 1! A work gripping section that releases the grip on the work just before the final assembly position with the work, and a work pressing section that pushes the released workpiece toward the anal work and brings both the workpieces to the final assembly position. An industrial robot characterized by having. 3. Detailed Description of the Invention [Field of Industrial Application] The present invention relates to an industrial robot, and particularly to an improvement in a hand device for assembling opposing workpieces to each other. [Prior Art] Recently, attempts have been made to assemble sheet metal drawn workpieces together using industrial robots. However, the mutual assembly positioning of the workpieces was not accurate, and
During assembly, excessive force is applied to the hand device or the robot body, causing failure or damage, or the workpieces are not assembled properly, resulting in defective products. Therefore, in some cases, for example, as shown in Japanese Patent Application Laid-Open No. 58-77482, a centering device is incorporated into the hand device, and this centering device absorbs the misalignment of the assembly positions of the workpieces. Industrial robots have been proposed. [Problems to be solved by the invention] In the conventional industrial robots as described above, the centering device is built into the hand device, so there is a problem that the hand device becomes complicated, large in size, and expensive. Ta. The present invention was made to solve this problem, and allows the workpieces to be accurately brought to the final assembly position, thereby preventing breakdowns and damage caused by applying excessive force to the hand device or robot body. The purpose of the present invention is to provide an industrial robot which can be constructed with a hand device that is small, lightweight, and inexpensive, without requiring expensive special equipment such as an alignment device. [Means for Solving the Problems] The industrial robot according to the present invention includes a work gripping section that grips a transported work and releases the grip on the transported work just before the final assembly position with a fixed work; The hand device is provided with a work pressing section for pressing the conveyed work toward the fixed work to bring both the works to the final assembly position. [Operation] In the present invention, the workpiece is gripped by the workpiece gripping portion and transported to a position above the fixed workpiece, and the gripping of the transported workpiece is released immediately before the final assembly position with the fixed workpiece. Next, the workpiece pressing section presses the conveyed workpiece against the stationary workpiece side, so that both the workpieces are brought to the final assembly position. This makes it possible to bring the workpieces to the final assembly position without applying excessive force to the hand device or the robot body. Furthermore, the structure is simple, and the hand device can be made small, lightweight, and inexpensive. [Example] Figures 1 to 4 show an example of the present invention. In the figures, (1) is a robot body, (2) is a robot arm, (
3) is a hand device installed at the tip of this robot arm, which has a gripping claw (5) that grips the gripping part (4b) of the conveyed workpiece (4) having a guide bin (4a), and a workpiece table (
6) It has a pressing part (8) that presses the conveyed work (4) against the fixed work (7) above and fits the guide bin (4a) into the guide hole (7a). In the industrial robot configured as described above, the gripping part (4b) of the conveyed workpiece (4) is gripped by the gripping claw (5), and a part of the guide bin (4a) is fitted into the guide hole (7a). Lower the conveyed workpiece (4) until it is aligned. Then, when the tip of the guide bin (4a) fits into the guide hole (7a), the grasping of the conveyed workpiece (4) by the gripping claws (5) is released, and the conveyed workpiece (4) is held by the pressing part (8). Fixed work (7)
to press against. As a result, the conveyed workpiece (4) is displaced until the guide bin (4a) completely enters the guide hole (7a), and is settled in the final assembly position. Direct installation The above embodiment shows a case where the fixed workpiece (7) is placed horizontally and the conveyed workpiece (4) is assembled from above the fixed workpiece (7), but if the fixed workpiece (7) is placed vertically or inclined Needless to say, the present invention can also be applied to cases in which the conveyed workpiece (4) is placed horizontally or diagonally with the conveyed workpiece (4) facing the stationary workpiece (7). [Effects of the Invention] As explained above, the present invention has a structure in which the work gripping section releases the conveyed workpiece immediately before the final assembly position of the workpieces, and then the pressing section brings the workpieces to the final assembly position. Therefore, even if there is a shift in the relative positions of the workpieces, the workpieces can be brought to the final assembly position accurately, and no excessive force is applied to the hand device or robot body, preventing breakdowns and damage. can be prevented. Moreover, there is no need for expensive special equipment such as a centering device, and the hand device can be made small, lightweight, and inexpensive. 4. Brief description of the drawings Fig. 1 is an overall configuration diagram of an industrial robot showing an embodiment of the present invention, and Figs. 2 to 4 are explanatory diagrams showing a method of assembling workpieces to each other in sequence according to the procedure. . In the figure, (2) is the robot arm, (3) is the hand device, and (4) is the robot arm.
(4a) is the conveying workpiece, (4a) is the guide bin, (5) is the gripping claw, (7) is the fixed workpiece, (7a) is the kite hole, and (8) is the pressing part. In each figure, the same reference numerals indicate the same or corresponding parts.
Claims (1)
ロボットにおいて、上記ハンド装置は、上部ワークを把
持し下部ワークとの最終組付位置直前で上部ワークの把
持を解除するワーク把持部と、把持が解除された上部ワ
ークを下部ワーク側に押付け両ワークを最終組付位置に
持ち来たすワーク押付部とを有していることを特徴とす
る産業用ロボット。In an industrial robot equipped with a hand device at the tip of the robot arm, the hand device includes a work gripping section that grips the upper workpiece and releases the gripping of the upper workpiece just before the final assembly position with the lower workpiece, and An industrial robot characterized by having a work pressing part that presses the released upper work against the lower work and brings both works to a final assembly position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP23367786A JPS6389232A (en) | 1986-10-01 | 1986-10-01 | Industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP23367786A JPS6389232A (en) | 1986-10-01 | 1986-10-01 | Industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6389232A true JPS6389232A (en) | 1988-04-20 |
Family
ID=16958804
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP23367786A Pending JPS6389232A (en) | 1986-10-01 | 1986-10-01 | Industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6389232A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014037030A (en) * | 2012-08-17 | 2014-02-27 | Fujitsu Ltd | Parts assembling device, and parts assembling method |
| CN104416566A (en) * | 2013-08-30 | 2015-03-18 | 发那科株式会社 | Magnet conveyance positionoing device |
| JP2020157433A (en) * | 2019-03-27 | 2020-10-01 | 本田技研工業株式会社 | Holding device |
| WO2022097410A1 (en) * | 2020-11-04 | 2022-05-12 | 川崎重工業株式会社 | Hand, robot system, and control method of hand |
-
1986
- 1986-10-01 JP JP23367786A patent/JPS6389232A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014037030A (en) * | 2012-08-17 | 2014-02-27 | Fujitsu Ltd | Parts assembling device, and parts assembling method |
| CN104416566A (en) * | 2013-08-30 | 2015-03-18 | 发那科株式会社 | Magnet conveyance positionoing device |
| CN104416566B (en) * | 2013-08-30 | 2016-02-03 | 发那科株式会社 | Magnet conveying and positioning device |
| JP2020157433A (en) * | 2019-03-27 | 2020-10-01 | 本田技研工業株式会社 | Holding device |
| WO2022097410A1 (en) * | 2020-11-04 | 2022-05-12 | 川崎重工業株式会社 | Hand, robot system, and control method of hand |
| EP4241934A4 (en) * | 2020-11-04 | 2024-05-22 | Kawasaki Jukogyo Kabushiki Kaisha | Hand, robot system, and control method of hand |
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