JP4004157B2 - Robot for work - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a working robot.
[0002]
[Prior art]
Conventionally, an articulated robot with 6 degrees of freedom has been used as a painting robot for performing a predetermined operation, for example, painting.
[0003]
As shown in FIG. 6 , the painting robot 51 includes a turntable 53 supported on a base 52 so as to be turnable around a first axis in the vertical direction, and a second axis in the horizontal direction on the turntable 53. A first arm 54 rotatably supported around the first arm 54, a second arm 55 rotatably supported around a third axial center in the horizontal direction at the tip of the first arm 54, and the second arm 55 It comprises a wrist portion 56 having a degree of freedom in three axial directions provided at the tip and having a coating gun G attached thereto.
[0004]
This coating robot 51, for example, when painting the vertical coated surface 62 of the object to be coated member 61 in the horizontal direction, as shown by the schematic diagram of FIG. 7, causes bent first arm 54 and second arm 55 While changing the bending angle, the painting gun G was moved in the horizontal direction for painting.
[0005]
[Problems to be solved by the invention]
By the way, according to the configuration of the conventional painting robot, in the operation of painting the vertical painting surface 62 in the horizontal direction, the arm is usually moved in a bent state. This means that there will be a shoulder singularity in the robot trajectory, thus requiring troublesome control to avoid this shoulder singularity, and the arm Since the arm is moved in a bent state, the bent portion (elbow portion) of the arm collides with the partition wall 63 or the like in the vicinity of the end of the painted surface as shown in FIG.
[0006]
Therefore, an object of the present invention is to provide a working robot capable of preventing the occurrence of a shoulder singularity and avoiding a collision between a bent portion of an arm and another member.
[0007]
[Means for Solving the Problems]
In order to solve the above problems, the working robot of the present invention, have a predetermined direction of the guide route, the pair being parallel to each other guide member and a pair of left and right guided along these two guide members a box-shaped moving member, a first rotatably provided in the direction of the first axis about perpendicular to the direction of movement through the bearing to the both the mobile while being disposed between these two mobile A rotator, a second rotator provided on the first rotator via a swivel bearing so as to be rotatable around a second axis in a direction orthogonal to the first axis, and provided on the second rotator And a wrist portion having a degree of freedom in three axial directions.
[0008]
According to the above configuration, the first rotating body and the second rotating body are provided in a state of being orthogonal to each other, and both the rotating bodies are provided on the movable body side movable in a predetermined direction. This movement can be performed without changing the postures of the rotating bodies, so that the generation of shoulder singularities in the robot can be prevented.
[0009]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, a working robot according to an embodiment of the present invention will be described with reference to FIGS.
[0010]
In the present embodiment, a case will be described in which the working robot is applied to a painting robot that paints, for example, an inner wall surface of a box-shaped structure (specifically, a hull block).
[0011]
As shown in FIGS. 1 to 3, the painting robot 1 includes, for example, a pair of guide rails (guide members) 11 arranged in parallel with each other in the horizontal direction, and guide paths (θ ₁ ) of the both guide rails 11. A pair of left and right box-shaped moving bodies 13 each having a traveling wheel 12 to be guided and a driving unit (not shown), and a horizontal direction orthogonal to the guide rail 11 via the bearings 14 are connected to these moving bodies 13. A box-shaped (or pole-shaped) first rotating body 15 rotatably provided around the first axis (θ ₂ ), and a first axis centered on the first rotating body 15 via a swivel bearing 16. A pole-type second rotating body 17 provided so as to be rotatable around a second axis (θ ₃ ) orthogonal to each other, and three axes (θ _{4 to} θ ₆₎ provided at the pole tip of the second rotating body 17. ) Wrist part 18 having a degree of freedom of rotation. A painting gun G, which is a work device, is attached to the tip of the wrist 18. A structure of the drive mechanism of the painting robot 1 is schematically shown in FIG. FIG. 4 shows the directions of the axes.
[0012]
As shown in FIG. 1, for example, when the inner wall surface of the box-shaped hull block 2 is coated along the horizontal direction by the coating robot 1, the guide rail 11 is moved along the surface to be painted 3 that is the inner wall surface. If the paint gun G on the wrist 18 is moved in the vertical direction to perform painting, and the mobile body 13 travels along the guide rail 11, it is covered over a predetermined length. The painted surface 3 can be painted without hindrance.
[0013]
At the time of this painting operation, the movement of the painting gun G on the wrist 18 is only required in the vertical direction, that is, it does not cause at least two arms to be bent. It is possible to avoid the occurrence of shoulder singularities compared to those that move in the direction. In addition, when the painting range of this painting robot 1 is illustrated, it will become like the shaded part of FIG. 5 (a) and (b). Fig.5 (a) is a side view, (b) is a BB arrow line view of (a).
[0014]
Further, it is possible to prevent a problem that the bent portion of the arm collides with the end wall surface of the hull block, which occurs when the wrist portion is moved in the front-rear direction while the arm is bent.
[0015]
Thus, since the wrist part 18 to which the coating gun G is attached is attached to one of the rotary bodies 15 and 17 provided in a direction orthogonal to the movable body 13 that is movable in the horizontal direction, the arm is folded. It is not necessary to move the coating gun in the horizontal direction in the bent state and by the operation of the arm, and thus it is possible to prevent the occurrence of a shoulder singular point in the robot. That is, troublesome control for avoiding the shoulder singularity is not required, and it is not necessary to bend the arm, so that it is possible to avoid the problem that the bent portion of the arm collides with the member to be coated. .
[0017]
Furthermore, in the above-described embodiment, the case where the working robot is applied to a painting robot has been described. Of course, the present invention can also be applied to other work such as a welding robot.
[0018]
【The invention's effect】
As described above, according to the configuration of the present invention, the first rotating body and the second rotating body are provided in a state of being orthogonal to each other, and both the rotating bodies are provided on the moving body side that is movable in a predetermined direction. Therefore, the movement in the predetermined direction can be performed without changing the postures of the rotating bodies, and therefore, the generation of shoulder singularities in the robot can be prevented. That is, troublesome control for avoiding the shoulder singularity is not required, and it is not necessary to bend the arm, so that it is possible to avoid the problem that the bent portion of the arm collides with the work member side. it can.
[Brief description of the drawings]
FIG. 1 is a perspective view showing a painting operation by a painting robot in an embodiment of the present invention.
FIG. 2 is a side view of the painting robot.
FIG. 3 is a view taken along arrow AA in FIG. 2;
FIG. 4 is a schematic view showing a drive mechanism of the painting robot.
FIG. 5 is a view showing a painting range of the painting robot.
FIG. 6 is a side view showing a schematic configuration of a painting robot in a conventional example .
FIG. 7 is a side view illustrating a painting operation of a painting robot in a conventional example .
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Coating robot 2 Hull block 3 Surface 11 to be painted 11 Guide rail 12 Traveling wheel 13 Moving body 15 First rotating body 17 Second rotating body 18 Wrist part

Claims (1)

Have a predetermined direction of the guide route, a pair of guide members which are arranged parallel to each other,
A pair of left and right box-shaped moving bodies guided along these guide members;
A first rotating body that is disposed between the two moving bodies and is rotatably provided around the first axis in a direction perpendicular to the moving direction of the both moving bodies via a bearing ;
A second rotating body provided on the first rotating body so as to be rotatable around a second axis in a direction orthogonal to the first axis via a slewing bearing ;
A work robot characterized by comprising a wrist portion provided on the second rotating body and having a degree of freedom in three axial directions.

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