JPH0493189A - Transfer device for heavy body - Google Patents

Abstract

PURPOSE:To receive no effect at all due to the gravity of a heavy weight body by a 1st horizontal direction moving device for moving a hand part, by arranging a 2nd horizontal direction moving device separately from the 1st horizontal direction moving device which moves a hand part in the horizontal direction, and fitting a support device to this 2nd horizontal direction moving device. CONSTITUTION:A support device 44 supporting a heavy weight body 34 via a hand 32 is moved corresponding to the movement of the hand 32 by a 2nd horizontal direction moving device 50 and positioned almost just above the hand 32 at all times. So, the gravity of a heavy weight body 34 and the reaction force of the support device 44 acting on the 1st horizontal direction moving device 35 which moves this hand 32 are drastically reduced, and the heavy weight body 34 can be transferred at high speed with a high positional accuracy, without the positional accuracy of the hand 32 being spoiled nor moving speed being limited, with a deflection deformation, etc., being caused at each part of the 1st horizontal direction moving device 35 by those forces.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a heavy object transfer device, and in particular, to a device that is equipped with a support device such as a balancer or a hoist for supporting the heavy object, in addition to a moving device that moves the heavy object. This invention relates to a heavy object transfer device.

2. Description of the Related Art Transfer devices that use a hand section to pick up and transfer a workpiece have been widely used in the past. For example, JP-A-6.3-2
The processing robot described in Japanese Patent No. 78686 can also be used as the transfer device by attaching a hand portion for holding a workpiece. However, when attempting to transfer a heavy workpiece using such a transfer device, each part of the device undergoes bending or torsional deformation, resulting in a decrease in the positioning accuracy of the hand section and a slow movement speed. There are inconveniences such as Therefore, when positional accuracy and high-speed movement are required, it is necessary to increase the rigidity and driving force of the device, but in this case, the device becomes large and expensive.

On the other hand, a support device such as a balancer or a hoist to support the workpiece is provided separately from the moving device that moves the hand section, so that the weight of the workpiece does not act on the moving device, without increasing the rigidity or driving force of the device. It has been considered to improve the positional accuracy and movement speed of the hand section of the moving device.

Problems to be Solved by the Invention However, since the above-mentioned support device is usually arranged in a fixed position or is pulled and followed by the hand part, it is difficult to support it when moving the handle 1ζ part in the horizontal direction. There has been a problem in that the movement of the device is hindered by the reaction force of the device, and as a result, various parts of the moving device that moves the hand section are bent, twisted, etc., resulting in loss of positional accuracy and restriction of movement speed.

The present invention has been made against the background of the above-mentioned circumstances, and an object of the present invention is to prevent the movement of the hand portion from being hindered by the support device when the hand portion is moved in the horizontal direction.

Means for Solving the Problems In order to achieve this object, it is sufficient to move the support device in accordance with the movement of the hand section.The present invention provides a method for lifting a heavy object by the hand section, A heavy object transfer device for transferring the heavy object to another horizontally spaced position by moving the hand section in a direction including a horizontal component using a direction moving device, the device comprising: (a) the hand section; (b) a support device that supports the heavy object by applying a force (=J) in two directions; and (b) a support device that is installed separately from the first horizontal movement device and that The present invention is characterized by comprising a second horizontal movement device that moves the support device in response to the movement of the hand portion so that the support device is positioned substantially directly above the hand portion.

Functions and Effects of the Invention In such a heavy object transfer device, a second horizontal movement device is provided separately from the first horizontal movement device that moves the hand portion in the horizontal direction.
A horizontal movement device is provided, and a support device is attached to the second horizontal movement device to support a heavy object held by the hand section. The horizontal displacement device is not affected by the gravity of heavy objects or is significantly reduced. Also,
When the first horizontal movement device moves the hand section, the support device that supports the heavy object via the hand section is also moved by the second horizontal movement device in accordance with the movement of the hand section. Since the hand is always positioned approximately at the center of the hand to support a heavy object, the movement of the hand is not hindered by the reaction force G of the support device.

In this way, according to the heavy object transfer device of the present invention,
The support device that supports the heavy object via the hand portion is moved by the second horizontal movement device in accordance with the movement of the nod portion, and is always positioned approximately directly above the nod portion. Therefore, the gravity of the heavy object and the reaction force of the support device that act on the first horizontal moving device that moves the hand part are significantly reduced, and these forces cause each part of the first horizontal moving device to bend. Heavy objects can be transferred at high speed with high positional accuracy without deformation or the like which impairs the positional accuracy of the node or limits the movement speed.

EXAMPLE Hereinafter, an example of the present invention will be described in detail based on the drawings.

FIG. 1 is a perspective view showing an orthogonal type heavy object transfer device, in which a four-legged concave frame 10 has a first support beam 12 and a second support beam 12.
A support beam 14 is provided. These support beams 1'2.14
are assembled into a rectangular frame shape within a substantially horizontal plane, and the second support beam 14 is disposed in the -L direction relative to the first support beam 12. And the first one on the bottom
A robot body 16 of the transfer device is assembled to the support beam 12.

The robot body 16 includes a Y-axis slider 18 that is disposed on the first support beam 12 so as to be movable in the Y-axis direction substantially horizontally, and the Y-axis slider 18 is moved in the Y-axis direction by a Y-axis servo motor 20. It is designed to be moved back and forth. Further, an X-axis slider 22 is disposed on the Y-axis slider 18 so as to be movable in the X-axis direction substantially horizontally and perpendicular to the Y-axis direction, and is reciprocated in the X-axis direction by an X-axis servo motor 24. , and its X-axis slider 2
2 has a Z-axis slider 2 that is movable in the substantially perpendicular Z-axis direction.
6 is disposed, and is configured to be reciprocated in the Z-axis direction by a Z-axis servo motor 28. Z-axis slider 2
6, a robot wrist 30 is disposed so as to extend downward, and a hand section 32 is attached to the lower end of the robot wrist 30, as also shown in FIG. The robot wrist 30 is driven by three axes, and the hand part 32 can hold a relatively heavy workpiece 34, such as an automobile transmission or engine, which weighs from around 100 kg to several hundred kg.
The workpiece 34 can be released and the hand section 32 can be rotated around a vertical axis.

Parts of the robot body 16 that move the hand section 32 in the horizontal direction, ie, the Y-axis slider 18 and the Y-axis servo motor 20. The X-axis slider 22° and the X-axis servo motor 24 constitute a first horizontal movement device 35. Further, the work 34 corresponds to a heavy object.

On the other hand, a second Y-axis slider 36 is disposed on the second support shaft 14 so as to be movable in the Y-axis direction, and is reciprocated in the Y-axis direction by a second Y-axis servo motor 38. A second X-axis slider 40 is disposed on the second Y-axis slider 36 so as to be movable in the X-axis direction.
It is configured to be reciprocated in the X-axis direction by a χ-axis servo motor 42. A hoist 44 is attached to the second x-axis slider 40 as a support device, and a servo motor 46 winds a wire 48 to pull the hand portion 32 upward, thereby supporting the hand portion 32 and the workpiece 34. There is. The second Y-axis slider 36, the second Y-axis servo motor, the second X-axis slider 40. Voice 1-
44 in the horizontal direction.
is configured.

Such a heavy object transfer device includes a robot controller 52 shown in FIG. The robot controller 52 includes a microcomputer, and controls the servo motor 2 according to teaching data 58 stored in the memory 56 by the robot main body control section 54.
0, 24.28 and the operation of the robot wrist 30, and also controls the servo motor 3 by 1jL for the voice 1 to data 62 stored in the memory 56 by the hoist control unit 60.
842.46. Above servo motor 20
Encoders are provided on each drive shaft of 24 2B, 38, 42, 46 and the robot wrist 30, and position signals are supplied to the robot controller 52.

The teaching data 58, for example, as shown in FIG. B,,B2.
Servo motor 20 for sequentially transferring to...
24.28, the position, moving speed, acceleration, etc. of the robot wrist 30, which are programmed using the operation panel 67 via the teaching control section 68 without actually moving the hand section 32.

Further, the hoist data 62 indicates that when the work 34 is transferred, the hoist 44 uses the hand section 32, in other words, the work 3
4, the servo motor 20
．． The servo motors 3B and 42 are activated in response to the movement of the workpiece 34 by the servomotor 28 so that the weight of the hand portion 32 and the workpiece 34 does not act on the robot wrist 30. The teaching data 58 regarding the servo motors 20, 24, and 28 is corrected by the offset correction block 70 and the gravity/inertia force correction block 72.

The offset correction block 70 is connected to the servo motor 20.2.
In order to adapt the teaching data 58 regarding 4.28 to the servo motor 38 42.46, the hand part 32
This is a bronc that adds preset offset amounts in the X, Y, and Z directions based on the positional deviation between the servo motors 38, 42, and the hoist 44.
Basic data regarding 46 is obtained. In this case, the weight of OffSera 1 related to servo motor 46 is
The hand portion 32 is supported by the hoist 44 so that the weight of the robot wrist 30 and the workpiece 34 hardly act on the robot wrist 30.

The gravity/inertia force correction block 72 also includes the hoist 44
Even if the second Y-axis slider 36, second support beam 14, etc. are bent or twisted due to the weight of the hand section 32 and workpiece 34 supported by the hoist 44, the weight is supported by the hoist 44 and the robot wrist 30 is The basic data regarding the servo motor 46 is corrected so that the servo motor 46 hardly acts, and the inertial force of the work 34 and hand section 32 is applied to the robot wrist 3 when moving the work 34 in the horizontal direction.
This block is used to correct the basic data regarding the servo motors 38 and 42 so that it has almost no effect on the servo motors 38 and 42. Specifically, regarding the servo motor 46, the basic data of the servo motor 38.42 represents the Y- and X-direction positions of the hoist 44 and the second Y-axis slider 36.42. Second support beam 1
Based on preset data units and calculation formulas regarding the relationship between the displacement amount of the hoist 44 in the Z-axis direction due to the deformation of the hoist 44, the hand portion 32 and the workpiece are 34 is supported by the hoist 44. Also, regarding the servo motor 38.42, the weight of the hand section 32 and workpiece 34 set in advance and the servo motor 38.
Based on the horizontal acceleration/deceleration represented by the basic data of
The robot wrist 30 is designed so that the inertial force of the hand section 32 and the workpiece 34 does not act on the robot Hiragi 30 during acceleration and deceleration.
The basic data is corrected so that the hoist 44 is moved before the robot moves, and the hoist 44 is decelerated before the robot maneuver 30 stops.

Note that in the operating portion where the hand section 32 holds the workpiece 34, the correction in the gravity/inertia force correction block 72 is performed based on the total weight of the hand section 32 and the workpiece 34; For operating parts that do not hold hoist data, that is, in the process of moving from the original position to the standby position or in the process of returning from the loading position to the standby position, the basic data is used as is as hoist data 62 without performing the above correction.
Alternatively, the correction may be made based only on the weight of the hand portion 32. Whether or not it is an operating part that holds the workpiece 34 is determined at the stage of creating the basic data based on the teaching data 58 regarding the robot wrist 30.

Then, such a heavy object transfer device is operated, for example, according to the flowchart 1 in FIG. At the same time, the workpiece 34 placed at the standby position A in step S2 is held by the hand section 32, and the workpiece 34 is held at the standby position A in step S2.
, lift the workpiece 34 from the standby position A, and move it to the loading position B.
.

move it to. Thereafter, the workpiece 34 is released from the hand section 32 in step S4, and when the transfer work of the workpiece 34 is completely completed in step S5, the workpiece 34 is moved to the standby position Δ7. The above steps 31 and subsequent steps are repeated until it is determined that the transfer of the work 34 placed on the workpiece 34 has been completed, and the standby value ffA2. The workpieces 34 placed at A3, . . . are sequentially transferred to the loading position B2. B3.
It will be transferred to... When the transfer of the workpiece 34 at the standby position A6 is completed and the determination in step S5 becomes YES, the hand portion 32 is returned to the original position in step S6, and the series of transfer operations is completed.

Here, the hand section 32 is supported by a hoist 44, and the weight of the hand section 32 and the weight of the workpiece 34 are received by the hoist 44 regardless of whether or not it is holding a workpiece 34. Even if the rigidity of the support beams 12, etc. is relatively low, they will not be deformed and positional accuracy will be lost, and the workpiece 34
can be moved at relatively high speed. Note that the hoist 44 only supports the hand portion 32 and does not constantly urge it upward, so when the workpiece 34 is not held, the force of the hoist 44 acts on the robot wrist 30 and the robot I. There is no risk of deforming the main body 16.

Further, the weight of the hand portion 32 and the workpiece 34 is ultimately supported by the second horizontal movement device 50 and the second support rod 14 on which the hoist 44 is disposed, but the servo motor 46 of the hoist 44 is Hoist 44 due to deformation such as
Because it is controlled according to data that takes into account the vertical displacement of
Regardless of their vertical displacement, the hand section 32 and the workpiece 34 are well supported by the hoist 44, and their weight does not act greatly on the robot wrist 30, and the second horizontal movement device 50 and the second support beam 14, etc., and there is no need to increase the rigidity of the robot body 16, and together with this, the heavy object transfer device as a whole can be constructed in a small size and at low cost.

On the other hand, the voice l-44 is moved in the horizontal direction by the second horizontal direction moving device 50 while being located substantially directly above the hand section 32, so that the voice l-44 is always positioned substantially directly above the hand section 32 and the workpiece 34.
Voices 1 to 44 are supported from
Compared to the conventional device in which the slide rail 2 is moved by being pulled by the hand part 32, the hand part 32 is pulled by the hoist 44, which obstructs horizontal movement and impairs positional accuracy. Work 34 without a problem
can be moved at high speed with high positional accuracy.

In particular, in this embodiment, the data of the servo motors 38 and 42 are set in consideration of the inertial force of the hand section 32 and the workpiece 34, and the hoist 44 is moved prior to the movement of the hand section 32 by the robot body [6]. Prior to stopping the hand section 32 by the robot wooden body 16, the hoist 4
4 is decelerated, and the inertial force of the hand section 32 and workpiece 34 hardly acts on the robot wrist 30 during horizontal movement, so even if the rigidity and driving force of the robot body 16 are low, the workpiece 34 can be moved It can be moved at high speed.

As described above, according to the heavy object transfer device of this embodiment, the hand portion 32 and the workpiece 34 are well supported by the hoist 44, and the hoist 44 acts on the robot body 16 when moving the workpiece 34 in the horizontal direction. The inertial force of the workpiece 34 and the like and the reaction force of the hoist 44 are reduced, and the workpiece 34 can be transferred at high speed with high positional accuracy while making the apparatus compact and inexpensive with low rigidity.

Although one embodiment of the present invention has been described above in detail based on the drawings, the present invention can also be implemented in other embodiments.

For example, in the embodiment described above, the operations of the second horizontal movement device 50 and the hoist 44 are uniformly controlled by the hoist data 62 set in advance.

A force sensor in the Z-axis direction is installed, and hoist data 62 is generated based on the signal from the force sensor when the workpiece 34 is actually transferred.
It is also possible to modify the .

That is, as shown in flowchart 1 in FIG. 6, in the process of holding the workpiece 34 and moving it to the loading position, the load value output from the force sensor in step R4 is set to a predetermined setting. It is determined whether the load is less than or equal to the load, and if it is higher than the set load, the voice data 62 is corrected in step R5, and the workpiece 3 acting on the robot wrist 30 is
4, the gravity and inertial force of the hand part 32, and the reaction force of the hoist 44, while controlling the operation of the novo motor 38, 42, and 46 so that it is below the set load.
The workpiece 34 is moved to the loading position. In this way, the gravity and inertial force of the workpiece 34 acting on the robot body 16 can be more effectively reduced, and
There is no problem even if various parts of the transfer device become deformed over time.

Note that point data 6 can be obtained by providing a force sensor as described above.
2, use the gravity/inertia force correction block 72.
Correction in is not necessarily necessary.

In addition, instead of correcting the above-mentioned point data 62, the rigidity of the robot wrist 30 etc. is lowered to make it more flexible, and the gravity and inertial force of the workpiece 34 are prevented from acting on the robot I/main body 16. You can also.

In addition, in the embodiment described above, the hoist data 62 is created by correcting the crawling data 58 of the bot main body 1G. etc., and programming the point data 62 by teaching so that the load value is less than or equal to the set load.

Further, in the above embodiment, the hand section 32 is supported by the hoist 44 via the wire 48, but the rank member connected to the hand section 32 may be moved up and down by a pinion, or the spring force of a spiral spring may be used. A Haranza device or the like that constantly forces the hand portion 32 upward by means of the above may also be employed as the support device.

Further, in the embodiment described above, the hand portion 32 is moved in the vertical direction by the Z-axis servo motor 28, but this Z-axis servo motor 28 is not necessarily necessary.
The hand portion 32 may be moved up and down only by the servomorph 46 of the hoist 44.

Further, in the embodiment described above, when the hand section 32 is moved horizontally, the hoist 44 is moved horizontally in synchronization with the hand section 32. The direction of movement of the hoist 44 does not necessarily have to be within a horizontal plane, and may be inclined vertically.
The distance between the wheel 2 and the wheel 1-44 in the upper F direction may vary.

In short, it is sufficient that the horizontal movement component of the hand section 32 and the horizontal movement component of the hoist 44 match. In this sense, the robot main body 16 does not necessarily have to be orthogonal, and may be a multi-jointed robot.

Further, the present invention can be similarly applied when the weight of the workpiece 34 to be transferred is large relative to the rigidity of the robot body 16, and the type and weight of the workpiece 34 are not particularly limited. The present invention can be similarly applied to the case where a plurality of workpieces are transferred at the same time or a box containing a large number of workpieces is transferred.

Although not illustrated, the present invention can be implemented with various modifications and improvements based on the knowledge of those skilled in the art.

[Brief explanation of the drawing]

FIG. 1 is a partially cutaway perspective view of a heavy object transfer device according to an embodiment of the present invention. 2 is a perspective view showing the hand portion of the transfer device shown in FIG. 1. FIG. FIG. 3 is a block diagram of a robot controller that controls the transfer device of FIG. 1. FIG. 4 is a diagram illustrating an example of a manner in which a workpiece is transferred using the transfer device shown in FIG. 1. FIG. 5 is a flowchart illustrating the operation of the transfer device shown in FIG. 1. FIG. 6 is a flowchart 1- explaining the operation of another embodiment of the present invention. 32: Hand part 34: Work (heavy object) 35:
First horizontal movement device 44: Hoist (support device W) 50: Second horizontal movement device

Claims (1)

[Scope of Claims] A hand section lifts a heavy object, a first horizontal movement device moves the hand section in a direction including a horizontal component, and the heavy object is moved to another horizontally spaced position. A support device for supporting the heavy object by applying an upward force to the hand section, and the first horizontal movement device are separately disposed, and the support device and a second horizontal movement device to which the device is attached and which moves the support device in response to movement of the hand portion so that the support device is positioned substantially directly above the hand portion. Heavy object transfer equipment.