JP2963430B1 - Robot arm type machining equipment with machining thrust imparting mechanism - Google Patents

Abstract

An object of the present invention is to provide a robot arm type machining apparatus with a machining thrust applying mechanism which enables a work requiring a large thrust load, for example, a thrust load of 20 kN or more, in a robot arm type machining apparatus. The purpose is to provide. SOLUTION: A robot arm, a thrust processing machine attached to the tip of the robot arm, a movable counter thrust receiving means installed on the robot arm or the thrust processing machine, and a thrust processing machine. A robot with a working thrust applying mechanism, comprising fixed counter thrust receiving means installed on the processing apparatus main body, which receives the counter thrust of the processing machine by engaging with the movable thrust receiving means when performing, and applies thrust to the processing machine.・ Arm type processing equipment.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot arm type machining apparatus in which a propulsion type processing machine is attached to the tip of a robot arm, and more particularly to a machining in which a propulsion type processing machine is attached to the tip of a robot arm. The present invention relates to a robot arm type processing device with a thrust applying mechanism.

[0002]

2. Description of the Related Art Industrial robot devices are roughly divided into (1) a product transport for performing operations such as inserting parts into a machine and taking out processed products from the machine and arranging them in a storage. The intended transfer robot device, and (2)
There is a working robot processing apparatus in which a processing machine suitable for a work purpose is fixed to a distal end portion of a robot arm and various processing works are directly performed at predetermined positions.

[0003] Generally, both types of robot devices have similar driving mechanisms, and control a multidimensional motion by a computer and a servomotor to control the robot and the robot.
The arm is stopped at an arbitrary position to perform a desired operation automatically.

[0004] Further, at present, many drive mechanisms of a robot device are (1) one robot arm is formed by articulating with a plurality of arm pieces, and adjacent arm pieces are rotatably connected to each other. A multi-joint revolving robot / arm drive mechanism with a processing machine attached to the end arm piece, and (2) a processing machine mounted on an orthogonal linear guide rail to enable the robot arm to move to any coordinate point. It is divided into orthogonally moving robot and arm drive mechanism. These robot arm drive mechanisms are roughly classified into two types: a horizontal movement type in which the robot arm is moved in the horizontal direction, and a vertical movement type in which the robot arm is moved in the vertical direction.

[0005]

In the articulated turning robot, a plurality of arm pieces obtained by separating one robot arm are integrally formed by connecting adjacent arm pieces so as to be able to turn with each other. Therefore, the strength of the robot arm is low, so that the robot arm is not suitable for work that requires a large vertical load to be applied at the tip of the robot arm.

In an orthogonal movement type robot mechanism which enables a combined robot arm to move along a guide rail by crossing a straight guide rail, a bearing guide rail is fixed to a crossing movement portion of the guide rail.
Since the arm distance to the robot arm tip is smaller than in the turning movement method, a larger vertical load can be applied. However, at present, only a robot arm drive mechanism having a vertical load resistance of about 3 kN is used.

On the other hand, as an industrial robot at present, an articulated turning robot device is used for assembling parts, spot welding,
It is used for soldering, spray painting, deburring, etc., and the orthogonal movement type robot is used for purposes other than the above, such as drilling small diameter drills, caulking small diameter rivets, tightening screws, press-fitting small diameter presses, etc. For example, there has not been a robot arm type machining apparatus capable of applying a high thrust of, for example, 20 kN or more directly to the tip of the robot arm and enduring a moment doubled by the length of the robot arm.

[0008] The present invention provides for a large thrust load, eg, 20
It is an object of the present invention to provide a robot arm type machining apparatus with a machining thrust imparting mechanism that enables a work requiring a thrust load of kN or more. The robot / arm type machining apparatus with a machining thrust imparting mechanism of the present invention can be applied to both a multi-joint turning type robot apparatus and an orthogonal movement type robot apparatus. The basic structure of the robot arm mechanism can be the same or similar to the conventional one.

[0009]

In order to achieve the above object, a first invention of the present application provides a robot arm and a thrust provided with a processing tool attached to a distal end of the robot arm via a slide table. Processing machine, movable counter thrust receiving means installed on the thrust type processing machine, and receiving the counter thrust of the thrust type processing machine by engaging with the movable thrust receiving means when the thrust type processing machine performs processing work A cylinder mechanism comprising fixed counter-thrust receiving means provided on the processing device body side for applying a thrust to the machine, wherein the movable counter-thrust receiving means is disposed on a surface facing the fixed counter-thrust receiving means of the thrust type processing machine. The cylinder mechanism comprises a cylinder and a piston shaft which is inserted into the cylinder so as to be movable in the axial direction with respect to the cylinder, is pushed outward in the axial direction, and has an outer end abutting against a fixed counter thrust receiving means. Table relates propelled machine for the processing tool is machining the thrust-imparting mechanism with robotic arm type processing apparatus to soften the impact on the workpiece by the processing tool was moved in a counter-thrust acting direction when striking the workpiece. Further, a second invention of the present application provides a robot arm, a thrust processing machine attached to the tip of the robot arm, a movable counter thrust receiving means installed on the robot arm, and a thrust processing machine. The fixed reaction thrust receiving means installed on the processing apparatus main body side engages with the movable thrust receiving means to receive the counter thrust of the processing machine when performing the work and applies thrust to the thrust type processing machine. The thrust receiving means is a cylinder mechanism arranged on a surface of the robot arm opposite to the fixed counter thrust receiving means. The cylinder mechanism is inserted inside the cylinder so as to be movable in the axial direction with respect to the cylinder and the cylinder, and is disposed outward in the axial direction. The present invention relates to a robot arm type machining apparatus with a machining thrust applying mechanism, which is extruded and has a piston shaft whose outer end abuts against a fixed counter thrust receiving means.

[0010]

According to the robot arm type machining apparatus with a machining thrust imparting mechanism of the present invention, the machining machine attached to the end of the robot arm of the robot apparatus needs a high thrust when machining the workpiece. Even in the case where the movable thrust receiving means installed on the robot arm or the thrust type processing machine is engaged with the fixed anti-thrust receiving means installed on the processing apparatus main body side, the thrust is received. In addition, it is possible to perform the processing without substantially applying a load to the robot arm or the orthogonal guide rail. In addition, the "reaction thrust" referred to in this specification means a force acting in a direction opposite to a thrust acting direction as a reaction force when a working tool is pressed against a workpiece.

The thrust-type processing machine refers to a processing machine which presses a processing tool of a processing machine against a workpiece to apply a thrust to the processing tool and performs processing, for example, a bending machine, a caulking machine, a stamping machine, a press-fitting machine. Press machine such as machine, bolt and nut tightening machine,
Examples include a drilling machine and an end mill cutting machine that work while rotating a cutting tool.

The movable counter thrust receiving means is provided on a robot arm or a thrust type processing machine side, and moves in a direction opposite to or in the same direction as a thrust direction of a processing tool when the thrust type processing machine processes a workpiece. , Engages with the fixed counter thrust receiving means provided on the processing machine main body side, thereby receiving the reaction force of the thrust of the processing tool with the movable counter thrust receiving means and the fixed counter thrust receiving means. A thrust necessary for processing a workpiece is applied to a processing tool.

The movable counter thrust receiving means and the fixed counter thrust receiving means are paired with each other and function to receive the counter thrust from the processing tool. The fixed counter thrust receiving means is fixed to the processing apparatus main body side. The robot arm is attached to the processing apparatus main body, and the processing machine main body side means, for example, a ceiling plate, a machine base upper surface, a lower plate attached to the machine base, a side wall, and the like of the processing apparatus. Preferred examples of the movable counter thrust receiving means and the fixed counter thrust receiving means are as follows.

(1) The fixed counter thrust receiving means is a ceiling plate of the processing apparatus main body.

The ceiling plate of the processing apparatus is formed so as to be strong enough to withstand a high reaction force load, for example, to withstand a reaction force load of 20 kN or more. In this case, it is preferable that the ceiling plate is formed of a material that can be attracted by an electromagnet or a vacuum attraction pad, while an electromagnet or a vacuum attraction pad that can be attracted to the ceiling plate is attached to the outer end of the piston shaft. For example, an electromagnet having a strong attraction force of 300 kgf (3 kN) is used as the electromagnet when strongly fixed. In the case of this example, it is preferable to finish the opposing surface of the ceiling plate so that the surface has parallelism and surface roughness. By engaging the movable counter thrust receiving means with the fixed counter thrust receiving means, the counter thrust from the processing tool can be reliably received, and the processing tool can be prevented from moving in the lateral direction. Further, it is preferable that the upper end surface of the piston shaft abuts against the lower surface of the ceiling plate in a direction perpendicular to the thrust / counter thrust direction.

The fixed counter thrust receiving means is a ceiling plate of the processing apparatus main body, and the movable counter thrust receiving means is a robot / thrust receiving means.
A cylinder mechanism is disposed on a surface of the arm facing the ceiling plate, and the cylinder mechanism includes a cylinder and a piston shaft. Also in this case, for the above-mentioned reason, in this case, it is preferable that the ceiling plate is formed of a material which can attract the electromagnet or the vacuum suction pad, while the piston shaft is provided with an electromagnet or vacuum suction pad which can be attracted to the ceiling plate. The cylinder mechanism has the same configuration and function as (1). Further, a plurality of cylinder mechanisms may be provided.

(2) The fixed reaction thrust receiving means is an upper surface of a machine base of the processing apparatus main body or a lower plate attached to the machine base.

(3) The fixed counter thrust receiving means is a ceiling plate fixed to a side plate erected on a machine base of the processing apparatus main body.

(4) The fixed reaction thrust receiving means is a ceiling plate fixed to a side plate erected on a machine base of the processing apparatus main body.

The robot arm type machining apparatus with a machining thrust imparting mechanism according to the present invention has a robot arm drive mechanism similar to the conventional one, and the robot arm drive mechanism is a CP.
U and a combination of a servo motor or a stepping motor for rotating and moving the spindle by a simple electric program command from the CPU and a rotary encoder for detecting the position of the rotation angle of the spindle, thereby moving the robot arm. The robot arm can be moved to any coordinate position in the space that is made possible.
Since such a robot arm drive mechanism belongs to the prior art, its illustration and description are omitted.

As the robot arm type processing device, a chuck device which can be automatically attached and detached is attached to the tip of the robot arm, and various kinds of parts are picked up from an arbitrary position of the pallet by a program command and taken out.
Conversely, robot-arm type processing equipment that mainly performs transport work to load and arrange parts on arbitrary pallet positions,
A robot-arm type machining apparatus in which a lightweight machining machine is attached to the end of a robot arm and repeatedly moved and stopped at an arbitrary position in sequence by a program command to perform the same machining operation is also included.

Further, in the robot arm type machining apparatus with a machining thrust applying mechanism according to the present invention, a machining machine such as a press machine is attached to the end of the arm, and the machining machine is moved to an arbitrary position via the robot arm according to a program command. Move. An automatic exchangeable chuck device is attached to the tip of the processing machine. By attaching the press-fitting tool to the chuck device, it is possible to press-fit the component directly into the workpiece to be processed at an arbitrary position while holding the component, or to grasp the workpiece by the chuck device and change the tool to the application tool. Different stamps can be imprinted on the workpiece by a program command.

For example, when a bearing is normally press-fitted, a machining thrust is required. However, according to the robot arm type machining apparatus with a machining thrust imparting mechanism of the present invention, the bearing is directly grasped and placed in the bearing case of the mating part. It can be directly press-fitted. In addition, by incorporating a load cell sensor that can measure the pressing force, the thrust when press-fitting the bearing is displayed for each bearing case, and it is possible to process and manage the thrust to a predetermined thrust. Can be provided.

The present invention can be applied not only to an industrial robot apparatus but also to a walking robot apparatus and an automatic traveling robot apparatus. In the case of a walking robot device and an automatic traveling robot device, a ceiling plate, a bottom plate, a lower plate attached to the bottom plate, or a side plate is used as a processing machine main body side in a work space, and the processing machine main body side is fixed. The processing machine may be configured to perform the processing in a state where the mold counter thrust receiving means and the movable counter thrust receiving means attached to the processing machine or the robot arm are engaged. The processing apparatus body side to which the fixed type anti-thrust receiving means according to the present invention is attached is a ceiling plate, a bottom plate, a lower plate attached to the bottom plate of the working space,
Alternatively, it includes a side plate and the like. In the case of the walking robot device and the automatic traveling robot device, the processing operation intended by the present invention can be performed in an arbitrary work space.

[0025]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below in detail based on embodiments shown in the drawings. FIG. 1 is a front view of a horizontal multi-joint type robot arm type machining apparatus with a machining thrust imparting mechanism according to a first embodiment of the present invention, and FIG.
1 is a vertical cross-sectional view of the entire robot arm type machining apparatus with a machining thrust imparting mechanism, showing a state in which the machining machine has been moved to a machining position. FIG. 3 is a longitudinal sectional view of the robot arm type machining apparatus with a machining thrust imparting mechanism of FIG. 1 for explaining a step of engaging the movable reaction thrust receiving means with the fixed reaction thrust receiving means, and FIG. FIG. 2 is a longitudinal sectional view of the robot arm type machining apparatus with a machining thrust imparting mechanism in FIG. 1 showing a state in which a workpiece is machined in a state where a receiving means is engaged with a fixed counter thrust receiving means.

In FIG. 1, a plurality of columns P are erected on a processing apparatus machine base B, and a ceiling plate C is mounted and fixed on the columns P. An arm support S is provided upright below the ceiling plate C, and a robot arm A is attached to the arm support S so as to be pivotable. robot·
The arm A connects the arm pieces A1 and A2 so as to be able to pivot with each other. The arm piece A1 is provided at the upper end of the arm support S and the upper end of the arm piece A1 of the connecting part, respectively.
Motor SM for rotating the arm and the arm piece A2
1 and SM2 are mounted. A processing machine M is attached to the tip of the robot arm A, and a cylinder mechanism CY is attached to the upper end of the processing machine M. In FIG. 1, the processing machine M is located below the ceiling plate C, and the workpiece X is placed on the processing table T on the machine base B below the processing machine M.

The robot arm type machining apparatus with a machining thrust imparting mechanism according to this embodiment will be described in more detail with reference to FIGS. In the robot arm type machining apparatus with the machining thrust imparting mechanism, a bearing base 1 is fixed to a tip end of the robot arm A, and a slide table 3 is vertically slidably attached to the slide table 3 by a slide guide shaft 2. ing. A processing machine M is fixed to the slide table 3 by means of fixing screw bars 5 via blankets (mounting plates) 4 and 4. The mounting position of the slide table 3 is such that an electromagnet of a cylinder mechanism, which will be described later, attached to the slide table moves vertically up and down a small distance between the lower surface of the ceiling plate and can be attracted to and separated from the ceiling plate. The moving distance of the slide table is set to be the same as or slightly more than the moving distance of the piston shaft. When the processing machine M or the like is mounted on the slide table, the processing machine M or the like is normally located at the lowest point due to its own weight.

Above the processing machine M, a ceiling plate C of the processing apparatus main body is located. The ceiling plate C is formed of a material to which an electromagnet can be attracted, and is mounted in a moving area of the articulated rotary robot or the orthogonally movable robot so that it can withstand a high anti-thrust load of, for example, 20 kN or more. It is supported on the upper part of the pillar P standing upright and is formed in a gate shape. The ceiling plate C has a suction surface processed to predetermined parallelism and surface roughness. Further, below the processing machine M, a workpiece X is placed on a workpiece mounting plate T on a machine base of the processing machine.

The processing machine M includes a cylinder 6, a press head 7 attached to the upper and lower ends of the cylinder 6, a press bottom 8, and a piston 9 which slides on the inner peripheral surface of the cylinder 6 in a fluid-tight state. A press ram shaft 10 penetrating and extending downward, and a processing tool (a stamping punch in this embodiment) 11 attached to the lower end of the ram shaft 10, and a cylinder mechanism CY described below is attached to the upper portion of the processing machine M for processing. The machine M and the cylinder mechanism CY are fixed between the blankets 4 and 4 by fixing screw bars 5. The processing tool (engraving punch) 11 performs engraving under a high thrust load of, for example, 20 kN. The press head 7 and the press bottom 8 each have a fluid passage 1 such as air.
2 and 13 are provided and a cylinder 6 is provided from a fluid source (not shown).
Fluid can be taken in and out of the space above and below the internal piston 9.

The cylinder mechanism CY includes a press head 7 of the processing machine M, a cylindrical case 14 fixedly arranged between the press head 7 and the blanket 4, and a piston 15 sliding on the inner peripheral surface in a fluid-tight state. A piston shaft 16 extends upward through the provision case 14, and fluid passages 17, 18 for air or the like are provided in the case 14 and the press head 7, respectively.
Is provided so that fluid can be taken in and out of a space above and below the piston 15 inside the case 14 from a fluid source (not shown). An electromagnet 19 is mounted inside the upper end of the piston shaft 16 so that the electromagnet 19 can be fixed to the ceiling plate C by a small moving distance. In addition, robots with processing machines
The arm can be moved to an arbitrary position in the space below the ceiling plate at a small distance between the electromagnet 19 and the lower surface of the ceiling plate C.

The operation of this embodiment will be described below with reference to FIGS. First, the robot
The arm is turned and moved to a predetermined processing position below the ceiling plate of the processing machine M and the cylinder mechanism CY at the end of the robot arm (FIG. 2). At this time, the cylinder mechanism CY
Is set so that the minute distance between the electromagnet 19 attached to the ceiling plate C and the ceiling plate C is, for example, 5 mm.

Next, the fluid is supplied from the fluid passage 18 to the space below the case 14, and the fluid is discharged from the space above the case 14 through the fluid passage 17, whereby the electromagnet 19 at the upper end of the piston shaft 16 is moved to the ceiling plate C. , And a current is passed through the electromagnet 19 based on a predetermined signal (for example, a signal generated by sensing the contact) to firmly attract the electromagnet 19 to the ceiling plate C. Thereby, the processing machine is prevented from moving in the horizontal direction. In the present embodiment, the electromagnet C is mounted inside the upper end of the piston shaft 16. However, when the horizontal deviation of the processing machine is not large, the upper end surface of the piston shaft 16 is directly attached to the ceiling plate C without mounting the electromagnet. May be in contact with the lower surface of the head and fixed by friction.

In this state, the fluid is supplied from the fluid passage 12 to the space inside the cylindrical cylinder 6 and discharged from the space below the cylindrical cylinder 6 through the fluid passage 13 (FIG. 2). As a result, the press ram shaft 10 moves downward, and the marking punch 11 contacts the plate X to be processed. Thrust required for engraving work by engraving punch 11 on workpiece X,
For example, before being pressed downward at 20 kN, the processing machine M pushes the slide table 3 upward by the reaction force.

When the slide table 3 moves upward, the case 14 of the cylinder mechanism moves upward with respect to the piston shaft 16 suction-fixed to the ceiling plate C, and the lower end of the piston shaft 16 which is in close contact with the ceiling plate. Part is pressed against the upper surface of the press head 7 of the processing machine M, the ceiling plate C, the piston shaft 16
The press head 7 of the processing machine M is fixed in contact with the press head 7 in the vertical direction. In this state, the fluid is further supplied from the fluid passage 12 to the upper space inside the cylindrical cylinder 6, and the fluid is discharged from the space below the cylindrical cylinder 6 through the fluid passage 13.
The stamping punch 11 is pressed at a predetermined stamping pressure on the workpiece X via the, and pushes the stamp on the workpiece X.

In the present embodiment, the reaction thrust, which is the reaction force of the thrust of the processing machine M, is received by the ceiling plate C via the piston shaft 16, and the deflection of the processing machine M is absorbed and fixed by the piston shaft to the ceiling plate C. It is prevented by being.

When the engraving operation is completed, the flow of the fluid is switched to raise the press ram shaft 10 of the processing machine M, turn off the electromagnet 19, and lower the piston shaft 16 of the cylinder mechanism CY. The slide table 3 is lowered by the weight of the processing machine. As a result, the cylinder mechanism CY is separated from the ceiling plate C, and the processing machine can be moved to a desired position by the robot arm.

In the robot arm type machining apparatus with a machining thrust imparting mechanism according to the present embodiment, the machining machine with the marking punch attached to the distal end of the robot arm via the slide table comprises the ceiling plate C and the machining machine. The robot can freely move horizontally under the ceiling plate while maintaining a predetermined space distance between the piston shaft attached to the opposite end surface of the ceiling plate C of M and stop the movement of the robot arm. At the stopped position, the ceiling plate can be used as a starting point of the generation of a counter thrust. Since the high thrust of the processing machine M can be received by the ceiling plate, it is possible to perform stamping while pressing the processing tool against the workpiece with a high thrust in the vertical direction.

FIG. 5 shows a second embodiment of the robot arm type machining apparatus with a machining thrust imparting mechanism according to the present invention. This embodiment is different from the first embodiment shown in FIGS. 1 to 4 in that the vicinity of the processing machine M attached to the end of the robot arm A instead of the cylinder mechanism CY attached to the upper end of the processing machine M The cylinder mechanism CY2 is attached to the arm piece A2. Although not shown, unlike the first embodiment, the processing machine M is directly attached to the end of the robot arm via a blanket without using a slide table. Since the structure and operation of the processing machine are the same as those of the first embodiment, illustration and description are omitted.

The cylinder mechanism CY2 is composed of a bottom plate 31 seated in a concave portion formed at the end of the arm piece A2, and a cylinder fixed on the robot arm together with the bottom plate 31 by bolts and arranged in a fluid-tight manner on the bottom plate 31. Case 32 and a piston 33 which slides on the inner peripheral surface of the cylindrical case 32 in a fluid-tight manner, penetrates the case 32 at the upper end in a fluid-tight manner, and makes the through hole of the arm piece A2 fluid-tight at the lower end. It consists of a piston shaft 34 penetrating therethrough and an electromagnet 35 attached to a recess at the upper end of the piston shaft 34. The outer peripheral surface of the piston shaft 34 and the inner peripheral surface of the through hole of the arm piece A2 are sized so that the piston shaft can tightly and slidably move through the through hole.

The case 36 and the bottom plate 31 are provided with fluid passages 36 and 37, respectively.
6 and 37 are connected to the upper and lower space of the piston 33 in the case 32 and the fluid source. The downward movement of the piston 33 is restricted by the upper surface of the bottom plate 31, and the upward movement is restricted by the inner end surface of the upper end of the case.
Further, the piston shaft 34 is prevented from rotating by the engagement of the key 38 and the key groove 39. It is preferable to provide the key 38 and the key groove in this way because the lateral torsional strength can be increased, but it is not necessary to provide the key 38 and the key groove. Instead of the key and the keyway, a spline structure may be used. At this time, the minute distance between the electromagnet 23 attached to the cylinder mechanism CY2 and the ceiling plate is set to, for example, 5 mm. Reference numeral 30 denotes a bearing for the piston shaft 34.

Next, the operation of the second embodiment will be described.
A brief description will be given. First, the robot arm A (arm piece A2) is moved, and the processing machine M below the ceiling plate C is moved to the ceiling plate C.
Is located at a predetermined processing position below. Thereafter, the fluid is supplied from the fluid passage 37 to the space below the case 32, and the fluid is discharged from the space above the case 32 through the fluid passage 36, whereby the electromagnet 35 at the upper end of the piston shaft 34 is supplied.
Is brought into contact with the ceiling plate C, and an electric current is passed through the electromagnet 35 based on a predetermined signal (for example, a signal output by sensing the contact), whereby the electromagnet 35 is firmly attracted to the ceiling plate C.

As described above, the outer peripheral surface of the piston shaft 34 and the inner peripheral surface of the through hole of the arm piece A2 are sized so that the piston shaft can tightly and slidably move through the through hole. In this case, the direction of the thrust acting as a working reaction force is parallel to the axis of the piston shaft, and does not match. Therefore, the reaction thrust at the time of processing is equal to the outer circumferential surface of
It is received by the twisting force between the inner peripheral surface of the second through hole. As a result, the arm piece A of the robot arm A
2 is restrained by the electromagnet 35 being firmly attracted to the ceiling plate C, and the counter thrust is generated between the outer peripheral surface of the piston shaft 34 and the inner peripheral surface of the through hole of the arm piece A2. When the processing machine M fixed to the robot arm 1 is stopped by the twisting force and performs a predetermined processing operation, a counter thrust is received and horizontal deflection can be prevented.

The non-rotating key 38 and the key groove 39
Can be increased, or by inserting a spline gear to reinforce the piston shaft. Therefore, when a drilling machine and a cutting machine are attached to the tip of the robot arm, drilling and cutting operations can be performed stably not only vertically but also in an inclined state as in the above embodiment.

In this embodiment, the electromagnet is mounted inside the upper end of the piston shaft 20. However, when the horizontal deviation of the processing machine is not large, the upper end surface of the piston shaft 20 is directly attached to the ceiling without mounting the electromagnet. It is the same as the first embodiment that the plate may be in contact with the lower surface of the plate and fixed by friction. When the engraving operation is completed, the flow of the fluid is turned off with the electromagnet turned off, and the piston shaft 34 of the cylinder mechanism CY2 is lowered. As a result, the cylinder mechanism CY is separated from the ceiling plate C, and the processing machine can be moved to a desired position by the robot arm.

FIG. 6 shows a fourth embodiment in which the robot / arm type machining apparatus with a machining thrust imparting mechanism shown in FIG. 5 is further modified. In this embodiment, a drilling machine (air drill unit) is attached to the end of the robot arm A as the processing machine M. Robot arm A is arm piece A
1 and A2, and the arm pieces A1 and A2 are rotatably connected. Drive means SM2 for rotating the arm piece A2 relative to the arm piece A1 is connected below the arm piece connecting portion, and the other end of the arm piece A1 is rotatably attached to the support S, Arm piece A1 for S
Is connected to a driving means SM1 for rotating the.

In this embodiment, a second cylinder mechanism CY3 is mounted on the upper part of the connecting portion. The second cylinder mechanism has substantially the same structure and function as the first cylinder mechanism located on the tip side of the arm piece A2. In the case of this embodiment, by using a plurality of cylinder mechanisms as compared with the robot arm type machining apparatus with a machining thrust imparting mechanism shown in FIG. 5 or FIG. 6, the counter thrust of the machining machine is more strongly and stably received. In addition, the processing machine can be prevented from being shaken.

FIG. 7 is a front view of a fourth embodiment in which a lower plate 51 is attached to the upper surface of the machine base B and fixed lower thrust receiving means is used. A cylinder mechanism 53 having an electromagnet 52 as a movable counter thrust receiving means is provided on the lower surface of the arm piece A2 with respect to the lower plate 51 as the fixed counter thrust receiving means. In the embodiment shown in FIG. 7, a pair of movable counter thrust receiving means and fixed counter thrust receiving means further comprises a ceiling plate C and an arm piece A.
2 formed by a cylinder mechanism 54 provided on the upper surface. If the lower plate 51 and the cylinder mechanism 53 are sufficient as the counter thrust receiving means, the cylinder mechanism 54 can be omitted. In this embodiment, the processing table T on which the workpiece X is placed
Can be moved laterally on a rail by a motor SM3.

FIGS. 8 and 9 are a partially cutaway perspective view and a right side view of a fifth embodiment of the present invention in which the present invention is applied to an orthogonal horizontal movement type robot / arm type machining apparatus. In the figure, a pair of X-axis rails 61-1 and 61-2 are laid on both sides of the upper surface of the machine base B and inside the support P, and the X-axis is provided on the upper surface of each X-axis 61-1 and 61-2. A pair of guide columns 62-1 and 62-2 that can move along are mounted, and a Y-axis rail 63 penetrates the upper ends of the guide columns 62-1 and 62-2. A robot arm 6 movably mounted along the Y-axis on the Y-axis rail 63
4. Bearing stand 65 attached to the end of the arm, bearing stand 65
A processing machine M is mounted via a slide table 67 mounted on a slide guide shaft 66 and blankets (mounting plates) 68-1 and 68-2 fixed to the slide table 66. In the figure, SM is a sub motor that moves the processing machine M along the Y axis.

A cylinder mechanism CY provided with an electromagnet is attached to the upper end of the processing machine M. The structure and function of attaching the processing machine, the electromagnet, the cylinder mechanism, and the processing machine to the end of the robot arm according to the present embodiment are substantially the same as the structure and function of the first embodiment, and a description thereof will be omitted. The movement of the processing machine along the X axis and the movement along the Y axis are controlled by a computer (not shown), and the processing machine can move to a desired coordinate point.

FIG. 10 is a front view of a vertical movement type articulated robot / arm processing apparatus according to a sixth embodiment of the present invention. In this embodiment, the arm A is composed of arm pieces A11 and A22 which can be pivoted in the vertical direction with respect to each other.
Attached to. The robot arm is turned by the servo motor SM, and the processing machine can be moved and fixed at a predetermined position.

The cylinder mechanism CY with electromagnet described in the second embodiment is attached to the tip of the arm piece A22. Further, the side plate 7 is provided at a position corresponding to the processing position on the machine base.
The ceiling plate is fixed to the upper end of the side plate 71, and a projection 73 as a fixed counter thrust receiving means is provided on the lower surface of the ceiling plate 72. The lower surface 73a of the projection 73
The inclination is given so that the upper surface of the electromagnet is in close contact with the lower surface 73 of the projection 73 when the processing machine is held in a processing state.

FIG. 11 is a longitudinal sectional view of the seventh embodiment, which is a modification of the sixth embodiment shown in FIG. Since the cylinder mechanism CY is similar to the cylinder mechanism of the embodiment shown in FIG. 5, the same or similar members as those of the embodiment of FIG. 5 are denoted by the same reference numerals, and description thereof will be omitted. In the present embodiment, a spring 40 is disposed on the outer periphery of the piston shaft 34 between the lower surface of the piston 33 and the bottom plate 31 to constantly urge the piston shaft upward, and the piston shaft is a fluid cylinder or a solenoid. It is not designed to move up and down. In the machining operation, the robot arm A is moved in the horizontal and vertical directions, and the electromagnet 35 fixed to the concave portion at the end of the piston shaft 34 is abutted and directly fixed to the ceiling plate C by suction. In this case, the spring 40 has a buffering action when the electromagnet 35 hits the ceiling plate C,
The shock when the electromagnet 35 contacts the ceiling plate C is absorbed by the sinking distance of the spring. The piston shaft 34 is an electromagnet 3
5 suspends from the ceiling plate C and receives a counter thrust between the piston shaft 34 and the bearing of the arm piece A2.

FIG. 12 is a cross section showing a part of an eighth embodiment which is a modification of the seventh embodiment of FIG. In this embodiment, the lower end of the piston shaft 133 is fixed to a recess provided in the arm piece A2 of the robot arm with a bolt. A cylinder 134 is provided on the upper end side of the piston shaft 133.
Are tightly and slidably inserted and the spring 135
Fixed to the upper surface of the arm piece A2 via the spring 13
5, the cylinder 134 is constantly urged upward. An electromagnet 136 is attached to a recess at the upper end of the cylinder 134. In this case, the spring 135 is
The cushion 36 functions as a buffer when the abutment 36 abuts against the ceiling plate C, and absorbs the shock when the electromagnet 136 contacts the ceiling plate C due to the sinking distance of the spring. The cylinder 134 is an electromagnet 135
As a result, it is suspended from the ceiling plate C, and is stopped by the twisting force between the cylinder 134 and the piston shaft 133 to receive the counter thrust.

Although the present invention has been described with respect to a robot arm type processing apparatus having a processing thrust applying mechanism, the present invention can be applied to a loading crane apparatus instead of a processing machine. Attach the lifting / lowering crane device to the end of the robot arm, fix the cylinder with one or more electromagnets attached to the robot arm, and when the robot arm stops moving to a predetermined position, the robot arm Transportation work such as loading or unloading of cargo can be performed with the lifting crane device at the tip. ・ In this case, the robot arm at the time of loading cargo restrains the counter thrust by the twisting force of the cylinder, To change the loading / unloading place, move the table in advance or
It can be moved by running a crane in the robot arm.

[0055]

According to the robot arm type machining apparatus with the machining thrust imparting mechanism of the present invention, the thrust required for machining is imparted to the machining tool of the machining machine without substantially applying a load to the robot arm. can do. Therefore, it is possible to reduce the conventionally required position fixing motor torque at the time of processing, reduce the required strength of the robot body, and reduce the manufacturing cost of the processing apparatus. Therefore, the present invention contributes to power saving and energy saving, and can be reduced in size and weight.

[Brief description of the drawings]

FIG. 1 is a front view of a horizontal multi-joint type robot arm type machining apparatus with a machining thrust applying mechanism according to a first embodiment of the present invention.

FIG. 2 is a longitudinal sectional view of the entire robot arm type processing apparatus with a processing thrust applying mechanism of FIG. 1, showing a state where the processing machine is moved to a processing position and is positioned.

FIG. 3 is a longitudinal sectional view of the robot arm type machining apparatus with a machining thrust applying mechanism of FIG. 1 for explaining a step of engaging a movable counter thrust receiving means with a fixed counter thrust receiving means.

FIG. 4 is a longitudinal sectional view of the robot arm type machining apparatus with a machining thrust imparting mechanism of FIG. 1 showing a state in which a workpiece is machined in a state where a movable counter thrust receiving means is engaged with a fixed counter thrust receiving means. is there.

FIG. 5 shows a second embodiment of the robot arm type processing apparatus with a processing thrust applying mechanism of the present invention.

FIG. 6 is a longitudinal sectional view of the third embodiment, which is a modification of the second embodiment shown in FIG.

FIG. 7 is a front view of a fourth embodiment in which a lower plate 51 is attached to the upper surface of a machine base B and fixed anti-thrust receiving means is used.

FIG. 8 is a partially cutaway perspective view and a right side view of a fifth embodiment of the present invention in which the present invention is applied to an orthogonal horizontal moving robot arm type processing apparatus.

FIG. 9 is a partially cutaway perspective view and a right side view of a fifth embodiment of the present invention in which the present invention is applied to an orthogonal horizontal movement robot arm type processing apparatus.

FIG. 10 is a front view of a vertically movable multi-joint robot / arm processing apparatus according to a sixth embodiment of the present invention.

FIG. 11 is a longitudinal sectional view showing a cylinder mechanism of a vertically movable articulated robot / arm processing apparatus according to a seventh embodiment of the present invention.

FIG. 12 is a longitudinal sectional view showing a cylinder mechanism of a vertically movable articulated robot / arm processing apparatus according to an eighth embodiment of the present invention.

[Explanation of symbols]

 B Processing equipment machine base B P Support C Ceiling plate S Arm support S A Robot arm A1, A2, A11, A22 Arm piece M1, M2 Servo motor M Processing machine CY Cylinder mechanism X Workpiece T Processing table 1 Bearing table 2 Slide guide shaft 3 Slide table 3, 4 Blanket (mounting plate) 5 Fixing screw bar 8 Workpiece mounting plate 6 Cylinder 7 Press head 8 Press bottom 9 Piston 10 Press ram shaft 11 Processing tool 12, 13 Fluid passage 14 Case 15 Piston 16 Piston shaft 17, 18 Fluid passage 19 Electromagnet 30 Bearing 31 Bottom plate 31 32 Cylindrical case 32 33 Piston 34 Piston shaft 35 Electromagnet 36 Case 36, 37 Fluid passage 38 Key 39 Key groove 39 40 Spring 51 Lower plate 61-1 61-2 X-axis rail 62-1 62-2 Guide column 63 Y-axis rail 64 Robot arm 65 Bearing base 66 Slide guide shaft 66 67 Slide table 68-1, 68-2 Blanket (mounting plate) 71 Side plate 72 Ceiling plate 73 Projection 73a Lower surface of projection 133 Piston shaft 134 Cylinder 135 Spring 136 Electromagnet

Claims (10)

(57) [Claims] 1. A thrust-type processing machine having a robot arm, a processing tool attached to a distal end of the robot arm via a slide table, and a movable counter thrust receiving means installed in the thrust-type processing machine. A fixed counter thrust receiver installed on the processing device main body, which receives the counter thrust of the thrust type processing machine and applies thrust to the processing machine by engaging with the movable thrust receiving means when the thrust type processing machine performs a processing operation. The movable counter thrust receiving means is a cylinder mechanism arranged on a surface of the thrust type machine facing the fixed counter thrust receiving means, and the cylinder mechanism is configured to be movable in the axial direction with respect to the cylinder and the cylinder. The slide table is constituted by a piston shaft which is inserted inside and is pushed out in the axial direction and whose outer end abuts against a fixed counter thrust receiving means, and the slide table is bent when the processing tool of the propulsion type working machine hits the workpiece. A robot arm type machining device with a machining thrust imparting mechanism that moves in the thrust action direction and reduces the impact of the machining tool on the workpiece. 2. The robot arm type machining apparatus with a machining thrust applying mechanism according to claim 1, wherein the fixed counter thrust receiving means is a ceiling plate of the machining apparatus main body. 3. The robot arm type machining apparatus with a machining thrust applying mechanism according to claim 1, wherein said fixed reaction thrust receiving means is a ceiling plate fixed to a side plate erected on a machine base of said machining apparatus main body. . 4. The fixed anti-thrust receiving means is made of a material which can attract an electromagnet or a vacuum suction pad, while an electromagnet or a vacuum suction pad which can be attracted to a ceiling plate is attached to an outer end of the piston shaft. The robot arm type machining apparatus with a machining thrust applying mechanism according to any one of claims 1 to 3. 5. The robot arm type machining apparatus with a machining thrust imparting mechanism is one of a multi-joint horizontal turning movement type, a multi-joint vertical turning movement type, and an orthogonal movement type. Robot arm type processing equipment with a processing thrust applying mechanism. 6. A robot arm, a thrust-type processing machine attached to a distal end of the robot arm, a movable counter thrust receiving means installed on the robot arm, and a thrust-type processing machine for performing a processing operation. Engage with the movable thrust receiving means to receive the counter thrust of the processing machine and apply thrust to the thrust type processing machine,
The movable reaction thrust receiving means is a cylinder mechanism disposed on a surface of the robot arm opposite to the fixed reaction thrust receiving means, the cylinder mechanism comprising a cylinder. A robot arm type machining apparatus with a machining thrust applying mechanism, comprising a piston shaft which is inserted into the cylinder so as to be movable in the axial direction with respect to the cylinder, is pushed out in the axial direction, and has an outer end abutting against a fixed counter thrust receiving means. . 7. The robot arm type machining apparatus with a machining thrust applying mechanism according to claim 6, wherein the fixed counter thrust receiving means is a ceiling plate of a machining apparatus main body. 8. The robot arm type machining apparatus with a machining thrust applying mechanism according to claim 6, wherein the fixed counter thrust receiving means is an upper surface of a machine base of the machining apparatus main body or a lower plate attached to the machine base. 9. The fixed anti-thrust receiving means is formed of a material to which an electromagnet or a vacuum suction pad can be attracted, while an electromagnet or a vacuum suction pad capable of being attracted to a ceiling plate is attached to an outer end of the piston shaft. 9. The robot arm type machining apparatus with a machining thrust imparting mechanism according to claim 6. 10. The robot arm type machining apparatus with a machining thrust imparting mechanism is one of a multi-joint horizontal turning movement type, a multi-joint vertical turning movement type, and an orthogonal movement type.
11. A robot arm type machining apparatus with a machining thrust imparting mechanism according to any one of claims to 10.