JPH01115585A - Double arm type robot - Google Patents

Abstract

PURPOSE: To simplify the control unit of a double arm type robot by providing the control unit by which the operation of two basic arms and two second arms can be simultaneously started and simultaneously stopped, and to prevent the vibration of the frame by reversing the reactions caused by the action of two sets of arms so as to be opposite to each other. CONSTITUTION: After two sets of arms (7, 10) and (20, 26) are simultaneously turnedly started by a control unit and the arm ends of the respective sets are simultaneously stopped to corresponding parts-feeding devices A, B for positioning, the upper and lower shafts and chuck devices are operated for taking out the works A1 and B1 . Similarly, after the two sets of arms (7, 10) and (20, 26) are simultaneously started, and simultaneously stopped for positioning them in the vicinity of the front of the robot C, the upper and lower shafts and the chuck device are again operated so that the works A1 and B1 are assembled to each other. In this case, the two sets of arms (7, 10) and (20, 26) are turned in such a way that the reactions due to the turning thereof are reversed so as to be opposite to each other. As a result, the vibration of the frame on which these arms are installed can be prevented, and the assembling work can be carried out with high accuracy.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a double-arm robot having two sets of work arms that operate independently.

(Conventional technology) It is possible to shorten takt time by using two robots in the same process, to perform more complex tasks, or to have robots perform more tasks without using many other peripheral devices. ideas are presented.

Furthermore, Japanese Patent Laid-Open No. 59-7573 proposes a method in which two arms are installed on the same support so that the installation area of the robot can be reduced.

(Problems to be Solved by the Invention) According to the above method, two robots or two sets of arms are controlled independently, so it is easy to perform more complicated tasks. Not only are two control devices required, which is expensive, but also communication is required for cooperative operation of the two devices, which poses a problem in that the time required for this increases the working time. In addition, since it is assumed that two robots or two sets of arms are installed on the same pedestal, as the robot arm moves faster, the arm movement reaction force increases and the pedestal vibrates, resulting in high precision. There was also the problem that it became difficult to perform the work.

(Means for Solving the Problems) The present invention provides two base arms that are pivotally supported on a support member at their bases so that their rotation surfaces are parallel to each other, and that the rotation surfaces are attached to the tips of each base arm. The second arm is pivotally supported at its base so that the second arm is parallel to the rotational surface of the base arm, and a vertical shaft is slidably provided at the tip of each second arm in a direction perpendicular to the rotational surface of the second arm. It is characterized by having a working tool at the lower end of each vertical shaft, and a control device capable of simultaneously starting and stopping the operations of the two base arms and the two second arms.

(Example) The first motor 2 of one robot is attached to the base 1, and its output shaft 3 is a main shaft that is pivotally supported by bearings 6, 6' provided on the base 1 via a reducer 4. It is connected to 5.

A base arm 7 is attached to the flange portion 5' of the main shaft 5.
is fixed, and a second arm 1o is fixed to a shaft 9 parallel to the main shaft 5, which is rotatably supported at the tip of the base arm by bearings 8, 8'.

The shaft 9 is a second motor 11 provided on the base arm 7.
It is coupled to the output shaft 12 of the motor via a speed reducer 13.

A vertical shaft 14 that linearly slides in a direction parallel to the shaft 9 is installed at the tip of the second arm 1o.

The vertical shaft 14 is also rotatable, and the second arm 10
It is also rotated via a timing belt 16 by a third motor 15 provided in the. 17 is an air cylinder that drives the vertical shaft 14 up and down, and 18 is a chuck device provided at the tip of the vertical shaft 14.

The base arm 2 of the other robot is connected to the upper protrusion of the base arm 7 of the main shaft 5 by bearings 19, 19'.
0 is pivoted. A fourth motor 21 is fixed to the base arm 20, and its output shaft 22 is connected to a reducer 23.
It is connected to the main shaft 5 via.

A shaft 25 is supported at the tip of the base arm 20 in parallel with the main shaft 5 by bearings 24 and 24', and is connected to a second arm 26.

The shaft 25 is coupled via a speed reducer 26 to an output shaft 28 of a fifth motor 27 provided on the second arm 26 .

A vertical shaft 29 that linearly slides in a direction parallel to the shaft 25 is installed at the tip of the second arm 26 . The vertical axis 2
9 is also rotatable and is rotated by a sixth motor 30. 31 is an air cylinder that drives the vertical shaft 29 up and down, and 32 is a chuck device provided at the tip of the vertical shaft 29.

(Function) A and B are two parts supply devices (parts feeders) placed near the back of robot C.

80 and B1 are workpieces supplied by parts supply A and B, respectively. D is a palette.

The two sets of arms start rotating at the same time and parts supply device A
, B. After simultaneously stopping and positioning the arm tips as shown in Fig. 3, the vertical axis 14.29 and the chuck device 18
．． 32 and take out work pieces A and B1.

Next, the two sets of arm operations are similarly started and stopped simultaneously to position the robot C near the front surface, and then the vertical shafts 14, 29 and chuck devices 18, 32 are operated again to move the workpiece A1. Assemble work B.

At this time, the arms rotate in directions such that the reaction forces due to the rotation of the two sets of arms are in opposite directions.

In Fig. 4, the rotation direction of the arm 7 at the base of the side that grips the workpiece B is clockwise, but the rotation direction of the second arm 10 is counterclockwise, and the second arm has a larger rotation angle. Because it is large,
The reaction forces generated when the arms of this set rotate are synthesized in a clockwise direction during acceleration and a counterclockwise direction during deceleration.

On the other hand, the base arm 20 that grips the workpiece A, the second
Since both arms 26 rotate clockwise, the reaction force generated during rotation is counterclockwise during acceleration and clockwise during deceleration, which is opposite to the arm of the set that grips workpiece B.

Next, work A1. After assembling B1, the assembled work is transferred to pallet D by the arm that grips work A1. At this time, the other arm remains stationary.

(Effects) According to the present invention, two base arms are pivotally supported on the support member at their bases so that their rotation surfaces are parallel to each other, and the rotation surfaces are arranged at the tips of each base arms so that the base arms can rotate. The second arm is pivotally supported at its base so as to be parallel to the surface, and a vertical shaft is pivotally supported at the tip of each second arm so as to be slidable in a direction perpendicular to the rotation surface of the second arm. , each of the vertical axes is equipped with a work tool at the lower end, and is characterized by having a control device that can simultaneously start and stop the operations of the two base arms and the two second arms, so that one control Since the device can control two sets of arms, it is inexpensive and the control device itself can have a simple configuration. Furthermore, since communication for cooperative operations is not required, takt time does not become long for simple tasks.

Furthermore, the reaction forces generated by the operations of the two sets of arms that start and stop simultaneously can be directed in opposite directions, thereby preventing vibration of the gantry and enabling highly accurate work.

Note that, in the present invention, one set of base arms is connected to the other set of base arms.

These may each be independently supported on a base and driven by a motor provided on the base, or a direct drive motor may be used for driving.

[Brief explanation of the drawing]

FIG. 1 is a perspective view of an embodiment of the present invention, FIG. 2 is a front sectional view of FIG. 1, and FIGS. 3 and 4 are model diagrams for explaining the work of an embodiment of the present invention. 1... Base 2... First motor 5... Main shaft 7... Base arm 20 of one robot... Base arm 21 of the other robot... Fourth
motor.

Claims (1)

[Claims] Two base arms are pivotally supported on the support member at their bases so that their rotation surfaces are parallel to each other, and a second base arm is provided at the tip of each base arm so that its rotation surfaces are parallel to the rotation surfaces of the base arms. The arms are pivotally supported at their bases, and a vertical shaft is pivotally supported at the tip of each second arm so as to be slidable in a direction perpendicular to the rotating surface of the second arm. A double-arm robot characterized by being equipped with a working tool and having a control device that can simultaneously start and stop the operations of two base arms and two second arms.