Robot, robot system, and control method for robot system

Abstract

The robot has a robot portion that takes out the workpiece, a workpiece fixing portion that pushes and fixes the taken-out workpiece to a predetermined position, and a base portion that supports the robot portion and the workpiece fixing portion.

Description

Technical Field

[0001] This invention relates to a robotic arm technology, and more particularly to a robotic arm, a robotic arm system, and a control method for a robotic arm system capable of performing workpiece removal and workpiece fixation. Background Technology

[0002] In construction, a structure built using a combination of steel components such as structural steel (column steel, H-beams, I-beams, etc.) and bar steel is called a steel frame structure (S-frame). Methods for joining the components of a steel frame structure include fastening and welding. In principle, welding is performed when components are pre-assembled in a factory, and fastening is performed when they are joined on-site. However, large-scale buildings mostly do not use bolts or other threaded fittings but instead rely on welding for joining. The joining of steel frame components using welding is achieved by welding the joints between components after they have been butt-jointed and temporarily fixed using clamps (clamps) and jigs.

[0003] In the welding of steel structures, in addition to the main base materials such as columns and beams, auxiliary components such as backing plates and arc-starting plates are sometimes welded integrally. These auxiliary components serve the following functions: they assist in welding at the beginning and end points of the steel structure, the intersections of joints, and the butt joints, areas prone to defects. Furthermore, when using backing plates, single-sided welding is sufficient; therefore, compared to the need for double-sided welding, it reduces labor time, improves workability, and is more economical.

[0004] The joining of steel structural materials using welding is carried out through manual welding, semi-automatic welding, and automatic welding. Manual and semi-automatic welding utilize welding or handling techniques, machines, and materials, thus requiring skilled personnel. Furthermore, the harsh environment caused by welding, including high temperatures, arc light, dust, and spatter, as well as the physical strain on workers due to working at heights or in an upward orientation, has led to the increasing adoption of automatic welding, utilizing welding robots and other welding machines. In automatic welding, the joining process remains largely unchanged, requiring temporary fixation of components before welding. To assemble and temporarily fix major base materials such as columns and beams, large fixtures equipped with electric or hydraulic actuators are used to achieve automation.

[0005] However, especially in situations where temporary fixation of auxiliary components, such as backing plates or arc-starting plates, is required in confined spaces like corners and gaps, which are smaller than the base materials like columns and beams, is necessary, the significant dimensional difference between the base material and the auxiliary component makes it difficult to reuse the aforementioned fixtures for the base material for temporary fixation of the auxiliary component. Therefore, sometimes tack welding is performed manually before the automated welding process, resulting in a lack of complete automation of the welding process. Thus, a technology is desired that can fix the workpiece in a predetermined position even in confined spaces like corners and gaps.

[0006] Furthermore, various types of robotic arms, such as multi-fingered grippers, magnetic adsorption grippers, vacuum adsorption grippers, and Bernoulli grippers, are known as gripping and releasing manipulators for industrial robots and the like. These manipulators remove workpieces and release them after the workpieces have been transported to a predetermined position. However, existing manipulators do not have the function of fixing the workpiece firmly to the predetermined position. As related to this application, the following techniques are known.

[0007] Patent Document 1 discloses a welding backing plate fixture. The welding backing plate fixture is constructed by supporting a backing plate pressing base on the front end of a cylinder, which is rotatably disposed on the inside of the welding member. The backing plate is located on one side of the front end of the cylinder in a manner that allows the backing plate to swing freely, and the other side of the front end of the cylinder has a locking end that abuts against the welding member.

[0008] Patent document 2 discloses a pad mechanism. The pad mechanism has a parallel linkage mechanism. One end of the parallel linkage is rotatably mounted to a clamp support table or the like, and the other end of the parallel linkage has a support member for the pad that allows the support member of the pad to rotate freely.

[0009] Patent document 3 discloses a pad fixing device. The pad fixing device includes upper and lower pad fixing metal parts, upper and lower screws that are vertically arranged from the pad fixing metal parts and have opposite threads, and a coupler that is threadedly installed across the upper and lower screws.

[0010] Patent document 4 discloses a robotic hand. The robotic hand is detachably mounted to the forearm of the wrist of a multi-joint robot. The robotic hand includes a fixed gripper and a movable gripper. The wrist is rotatable.

[0011] Existing technical documents

[0012] Patent documents

[0013] Patent Document 1: Japanese Utility Model Application Publication No. 06-034890

[0014] Patent Document 2: Japanese Utility Model Application Publication No. 59-001477

[0015] Patent Document 3: Japanese Patent Application Publication No. 10-258393

[0016] Patent Document 4: Japanese Patent Application Publication No. 2018-111172 Summary of the Invention

[0017] The problem the invention aims to solve

[0018] In view of the problems of the past, the present invention aims to provide a robotic arm technology capable of performing workpiece removal and workpiece fixation.

[0019] Solution for solving the problem

[0020] One technical solution disclosed herein provides a robotic arm, which comprises: a robotic arm portion for removing a workpiece; a workpiece fixing portion for pressing and fixing the removed workpiece in a predetermined position; and a base portion for supporting the robotic arm portion and the workpiece fixing portion.

[0021] Another technical solution disclosed herein provides a robotic arm system, which includes a robotic arm for removing a workpiece and a conveying device for mounting the robotic arm and conveying the workpiece. The robotic arm includes: a robotic arm part for removing the workpiece; a workpiece fixing part for pressing and fixing the removed workpiece at a predetermined position; and a base for supporting the robotic arm part and the workpiece fixing part. The conveying device conveys the workpiece removed by the robotic arm part to the vicinity of the predetermined position.

[0022] Another technical solution disclosed herein provides a control method for a robotic arm system. The robotic arm system includes a robotic arm for removing a workpiece and a conveying device for mounting the robotic arm and conveying the workpiece. The control method of the robotic arm system includes the following steps: removing the workpiece using the robotic arm; conveying the removed workpiece to the vicinity of a predetermined position using the conveying device; and pressing the removed workpiece against the predetermined position and fixing the workpiece.

[0023] The effects of the invention

[0024] According to a technical solution disclosed herein, a robotic arm technology capable of performing workpiece removal and fixation can be provided. Furthermore, even in challenging environments such as high or low locations, or confined spaces, workpiece removal and fixation can be automated. Attached Figure Description

[0025] Figure 1 This is a schematic structural diagram of the robotic arm system according to the first embodiment.

[0026] Figure 2 This is a three-dimensional view of the robotic arm according to the first embodiment.

[0027] Figure 3This is a three-dimensional view of the robotic arm according to the first embodiment.

[0028] Figure 4 It is a 3D diagram of a robotic arm that fixes a workpiece in one direction.

[0029] Figure 5 It is a 3D diagram of a robotic arm whose base has been rotated.

[0030] Figure 6 It is a 3D diagram of a robotic arm that fixes a workpiece in one direction.

[0031] Figure 7 This is a perspective view of the robotic arm according to the second embodiment.

[0032] Figure 8 It is a 3D diagram of a robotic arm whose base has been rotated.

[0033] Figure 9 This is a three-dimensional diagram of a robotic arm that has further rotated its base.

[0034] Figure 10 This is a three-dimensional diagram of a robotic arm that has further rotated its base.

[0035] Figure 11 It is a three-dimensional diagram of a robot arm that fixes a workpiece in two directions.

[0036] Figure 12 It is a three-dimensional diagram of a robot arm that fixes a workpiece in two directions.

[0037] Figure 13 It is a three-dimensional diagram of a robot arm that fixes a workpiece in two directions.

[0038] Figure 14 It is a three-dimensional diagram of a robot arm that fixes a workpiece in two directions.

[0039] Figure 15 It is a three-dimensional diagram showing the process from removing the workpiece to fixing it.

[0040] Figure 16 This is a flowchart illustrating the control method of the robotic arm system.

[0041] Figure 17 This is a perspective view of the robotic arm according to the third embodiment.

[0042] Figure 18 This is a perspective view of the robotic arm according to the third embodiment.

[0043] Figure 19 It is a 3D view of a robot arm that fixes the workpiece in the depth direction.

[0044] Figure 20It is a 3D view of a robot arm that fixes the workpiece in the depth direction.

[0045] Figure 21 This is a perspective view of the robotic arm according to the fourth embodiment.

[0046] Figure 22 It is a 3D diagram of a robotic arm whose base has been rotated.

[0047] Figure 23 It is a 3D diagram of a robot arm that fixes the workpiece in three directions.

[0048] Figure 24 It is a 3D diagram of a robot arm that fixes the workpiece in three directions.

[0049] Figure 25 It is a 3D diagram of a robot arm that fixes the workpiece in three directions.

[0050] Figure 26 It is a 3D diagram of a robot arm that fixes the workpiece in three directions. Detailed Implementation

[0051] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In the drawings, the same or similar structural elements are labeled with the same or similar reference numerals. Furthermore, the embodiments described below are not intended to limit the technical scope of the invention as described in the claims or the meaning of the terms. In addition, in this specification, the term "workpiece removal" means picking up a workpiece from a predetermined location such as a stacker. Furthermore, in this specification, the term "workpiece fixing" includes not only temporary fixing of the workpiece, but also semi-permanent fixing such as bonding the workpiece with adhesives or engaging the workpiece with snap-fit ​​assemblies. Furthermore, in this specification, "rotation" includes both forward rotation and reverse rotation. Furthermore, in this specification, the term "outer" means the outer side of the robot arm, and the term "inner" means the inner side of the robot arm. Therefore, the term "outer direction" means a direction away from the robot arm from its outer side, and the term "inner direction" means a direction closer to the robot arm from its inner side.

[0052] First, the robotic arm system 1 of the first embodiment will be described. Figure 1This is a schematic diagram of the robotic arm system 1. The robotic arm system 1 is a system for retrieving and securing workpieces. The robotic arm system 1 includes a robotic arm 20 for retrieving workpieces and a conveying device 10 for mounting the robotic arm 20 and transporting the workpiece. The conveying device 10 can be, for example, an industrial robot such as a vertical multi-joint robot. The conveying device 10 includes, for example, a control unit for controlling the robot. The control unit may include, for example, a programmable logic controller (PLC) with a built-in processor, or a semiconductor integrated circuit such as a field-programmable gate array (FPGA) that does not execute programs. The robotic arm 20 is mounted to the conveying device 10 in a detachable manner.

[0053] Figure 2 and Figure 3 This is a perspective view of the robot arm 20 according to the first embodiment. The robot arm 20 is a robot arm that performs workpiece removal and workpiece fixation in one direction. For example, the robot arm 20 includes: a robot arm part 21 for removing workpieces; a workpiece fixing part 22 for pressing and fixing the workpiece in a predetermined position; and a base part 23 for supporting the robot arm part 21 and the workpiece fixing part 22. The robot arm part 21 is, for example, a multi-finger gripping robot arm such as a clamp, which includes a first finger 21a and a second finger 21b. The first finger 21a and the second finger 21b perform workpiece removal and workpiece delivery by moving along a robot arm direction H orthogonal to the axial direction (e.g., the X-axis direction) of the robot arm 20. The first finger 21a and the second finger 21b are driven, for example, by a drive source (not shown) such as a servo motor.

[0054] The workpiece fixing part 22 pushes and fixes the workpiece in a first direction P1 orthogonal to the axial direction (e.g., the X-axis direction) of the robot arm 20. For example, the workpiece fixing part 22 includes a plurality of movable members 22a, 22b that move forward and backward along the first direction P1 and a support member 22c that supports the movable members 22a, 22b. The movable members 22a, 22b are, for example, rod-shaped bodies. The movable members 22a, 22b are driven, for example, by a drive source (not shown) such as a servo motor. The support member 22c is, for example, a bracket fixed to the base 23.

[0055] The base 23 is, for example, a cylinder. The base 23 is mounted on the conveying device 10. The robot arm 21 and the workpiece fixing part 22 are supported by the base 23 and extend outward from the base 23 in the axial direction of the robot arm 20. Furthermore, the workpiece fixing part 22 extends outward from the robot arm 20 than the robot arm 21. In other words, the movable members 22a and 22b are positioned outward from the robot arm 20 than the robot arm 21. Therefore, after the workpiece W has been removed using the robot arm 21, the workpiece fixing part 22 can be used to push and fix the workpiece W in the first direction P1.

[0056] Figure 4This is a perspective view of a robot arm 20 that fixes a workpiece W in one direction (e.g., the inside of the mating portion BP). For example, in the case where the ends of a first workpiece W1, which is a base material such as a steel plate, and the ends of a second workpiece W2 are joined together and welded (i.e., a butt welding of the first workpiece W1 and the second workpiece W2), the robot arm 20 is useful, for example, for pressing and fixing the workpiece W, which serves as a backing plate, to the mating portion BP. That is, the workpiece W, which is taken out by the robot arm 21, is pressed and fixed to the inside of the mating portion BP using the workpiece fixing part 22. It is preferable to remove the workpiece W from the robot arm 21 during the process of pressing and fixing the workpiece W to the inside of the mating portion BP. This allows the workpiece W to be pressed tightly against the inside of the mating portion BP. Then, welding is performed from the outside of the mating portion BP using another welding machine such as a welding robot.

[0057] Figure 5 This is a perspective view of the robotic arm 20 with its base 23 rotated. The base 23 is mounted on the conveying device 10 (see reference). Figure 1 The robot arm 20 rotates according to the movement of the conveying device 10. The base 23 causes the robot arm 20 to rotate as a whole. The robot arm 21 and the workpiece fixing part 22 rotate together according to the movement of the base 23.

[0058] It is preferable that the base 23 has a rotation angle display section 24 for displaying the rotation angle of the robotic arm 20. The rotation angle display section 24 may be, for example, a protrusion extending from the side peripheral surface of the base 23. If... Figure 5 and Figure 3 By comparing the rotation angle display unit 24 shown, we can see that: Figure 5 The robotic arm 20 shown is from Figure 3 The robot arm 20 shown rotates 180° around an axis (e.g., around the X-axis). This allows for a change in the direction of the push of the workpiece fixing part 22 onto the workpiece W. Furthermore, the robot arm 20 can also rotate by any angle other than 180°.

[0059] Figure 6 This is a perspective view of a robot arm 20 that fixes a workpiece W in one direction (e.g., the surface of the mating portion BP). For example, when the workpiece W is pushed and fixed to the surface of the mating portion BP between the first workpiece W1 and the second workpiece W2, the base 23 is rotated beforehand so that the rotation angle of the robot arm 20 as a whole corresponds to the angle of the surface of the mating portion BP. For example, after the workpiece W is removed from the stacker or the like using the robot arm 21, the conveying device 10 (see reference 10) is used to... Figure 1Before or after the workpiece W is transported to the vicinity of the surface of the docking section BP, the robot arm 20 is pre-rotated 180° around an axis (e.g., around the X-axis). Next, the workpiece W is pressed and fixed to the surface of the docking section BP using the workpiece fixing part 22. It is preferable to release the workpiece W from the robot arm 21 during the pressing and fixing of the workpiece W to the surface of the docking section BP. This ensures that the workpiece W is tightly pressed against the surface of the docking section BP. Then, welding is performed from the inside of the docking section BP using another welding machine, such as a welding robot.

[0060] The robot arm 20 according to the first embodiment can perform workpiece removal and workpiece fixation in one direction. In addition, even if the fixed position of the workpiece W (e.g., the outer side or inner side of the mating part) is located in a difficult place such as a high place, a low place, or a limited space, the workpiece removal and workpiece fixation can be automated.

[0061] The robotic arm 30 of the second embodiment will be described below. Figure 7 This is a perspective view of the robot arm 30 according to the second embodiment. For ease of understanding, only the structure different from that of the robot arm 20 in the first embodiment will be described. The robot arm 30 is a robot arm that performs workpiece removal and workpiece fixation in two directions. The workpiece fixing part 22 pushes and fixes the workpiece W in a first direction P1 orthogonal to the axial direction (X-axis direction) of the robot arm 30 and a second direction P2 orthogonal to the first direction P1. For example, in addition to having multiple movable members 22a and 22b that move forward and backward along the first direction P1, the workpiece fixing part 22 also has multiple movable members 22d and 22e that move forward and backward along the second direction P2 orthogonal to the first direction P1. The movable members 22d and 22e are, for example, rod-shaped bodies. The movable members 22d and 22e are driven by a drive source (not shown) such as a servo motor.

[0062] Movable members 22d and 22e are supported, for example, by support member 22c. Support member 22c is, for example, a bracket fixed to base 23. Preferably, support member 22c has at least one of a first abutment surface FS and a second abutment surface SS that can abut against a predetermined position to which workpiece W is pressed. By having at least one of the first abutment surface FS and the second abutment surface SS abut against a predetermined position such as a corner to which workpiece W is pressed, workpiece fixation can be stably performed.

[0063] Furthermore, movable components 22a, 22b, 22d, and 22e are positioned outside the robot arm 30, relative to the robot arm 21. This allows the workpiece W to be pushed and fixed in the first direction P1 and the second direction P2 using the workpiece fixing part 22 after the workpiece W has been removed using the robot arm 21.

[0064] Figure 8This is a perspective view of the robot arm 30 with its base 23 rotated. Preferably, the base 23 includes a robot arm rotating part 23a that allows the entire robot arm 30 to rotate, and a workpiece fixing rotating part 23b that only allows the workpiece fixing part 22 to rotate. The robot arm rotating part 23a is, for example, mounted on... Figure 1 The conveying device 10 shown rotates according to its operation. The rotating part 23a of the robot arm is, for example, a cylinder. The rotating part 23a supports the robot arm 21 at its rotation center. The robot arm 21 extends outward from the rotating part 23a towards the robot arm 30. The robot arm 21 rotates at any angle around the axis of the robot arm 30 (e.g., around the X-axis) according to the operation of the rotating part 23a. The rotating part 23a of the robot arm and the workpiece fixing rotating part 23b are connected, for example, by gears, bearings, etc.

[0065] The workpiece fixing rotating part 23b rotates on the robot arm rotating part 23a. The workpiece fixing rotating part 23b is, for example, a hollow cylinder. The workpiece fixing part 22 is supported, for example, on its cylindrical bottom surface. The workpiece fixing part 22 extends outward from the workpiece fixing rotating part 23b towards the outside of the robot arm 30. The workpiece fixing part 22 rotates at any angle around the axis of the robot arm 30 (e.g., around the X-axis) according to the movement of the workpiece fixing rotating part 23b. The robot arm rotating part 23a and the workpiece fixing rotating part 23b are driven, for example, by a drive source (not shown) such as a servo motor.

[0066] For example, Figure 8 The robotic arm rotating part 23a shown is from Figure 7 The rotation angle of the robotic arm rotating part 23a shown is 180° around an axis (e.g., around the X-axis). This allows the workpiece W, taken out by the robotic arm part 21, to be flipped inside out. The workpiece W has a chamfered portion T at its front end, obtained by an inclined chamfer. For example, if... Figure 8 and Figure 7 By comparing with workpiece W, we can see that: Figure 7 Compared to the chamfered portion T shown, Figure 8 The chamfered portion T shown faces the opposite direction in the Z-axis direction.

[0067] Additionally, the rotation angle display unit 24 displays the rotation angle of the workpiece fixing part 22. The rotation angle display unit 24 can be, for example, a protrusion extending from the outer peripheral surface of the workpiece fixing rotating part 23b. For example, if... Figure 8 and Figure 7 By comparing the rotation angle display unit 24 shown, we can see that: Figure 8 The workpiece fixing and rotating part 23b shown is from Figure 7 The rotation angle of the workpiece fixing rotating part 23b shown is rotated by 90° around the axis (e.g., around the X-axis). As a result, the pushing direction of the workpiece fixing part 22 on the workpiece W can be changed.

[0068] Figure 9 This is a three-dimensional view of the robotic arm 30 that allows the base 23 to rotate further. Figure 9 The robotic arm rotating part 23a shown did not move from Figure 8 The rotating part 23a of the robotic arm shown rotates by a certain angle. On the other hand, if... Figure 9 and Figure 8 By comparing the rotation angle display unit 24 shown, we can see that: Figure 9 The workpiece fixing and rotating part 23b shown is from Figure 8 The rotation angle of the workpiece fixing rotating part 23b shown is further rotated by 90° around the axis (e.g., around the X-axis). As a result, it is possible to change only the pushing direction of the workpiece fixing part 22 on the workpiece W without causing the inside and outside of the workpiece W taken out by the robot arm 21 to flip.

[0069] Figure 10 This is a three-dimensional view of the robotic arm 30 that allows the base 23 to rotate further. Figure 10 The robotic arm rotating part 23a shown is from Figure 9 The rotation angle of the robotic arm rotating part 23a shown is further rotated by 180° about the axis (e.g., about the X-axis). On the other hand, if for Figure 10 and Figure 9 By comparing the rotation angle display unit 24 shown, we can see that: Figure 10 The workpiece fixing and rotating part 23b shown is from Figure 9 The rotation angle of the workpiece fixing rotating part 23b shown is further rotated by 90° around the axis (e.g., around the X-axis). As a result, the inside and outside of the workpiece W taken out by the robot arm 21 can be flipped, and the pushing direction of the workpiece fixing part 22 on the workpiece W can also be changed.

[0070] Figures 11-14 This is a perspective view of a robot arm 30 that fixes a workpiece W in two directions (e.g., at a corner). For example, when two steel plates, namely the second workpiece W2 and the third workpiece W3, are welded to both sides of an H-beam, i.e., the first workpiece W1, the robot arm 30 is useful, for instance, for pressing and fixing the workpiece W, which serves as a pad, at the corner formed between the first workpiece W1 and the second workpiece W2, and at the corner formed between the first workpiece W1 and the third workpiece W3. Furthermore, it should be noted that the first workpiece W1 has a curved portion R at the root of the column portion, and the workpiece W has a chamfered portion T (see reference). Figure 8 It has a curved shape that mimics the curved portion R of the first workpiece W1.

[0071] Figure 11The robot arm 30 shown pushes and fixes the workpiece W to the lower right corner BRC formed between the first workpiece W1 and the second workpiece W2. That is, the workpiece fixing part 22 pushes and fixes the workpiece W in two directions (e.g., the X-axis direction and the Z-axis direction). Even in such a limited space at the corner, the robot arm 30 is able to fix the workpiece W.

[0072] Figure 12 The robot arm 30 shown pushes and fixes the workpiece W to the upper right corner TRC formed between the first workpiece W1 and the second workpiece W2. If for Figure 12 and Figure 11 By comparing the robot arm 30 shown, it can be seen that: the rotating part 23a of the robot arm rotates 180° around the axis (e.g., around the X-axis), thereby flipping the inside and outside of the workpiece W; on the other hand, the workpiece fixing rotating part 23b rotates 90° around the axis (e.g., around the X-axis), thereby changing the pushing direction of the workpiece W.

[0073] Figure 13 The robot arm 30 shown pushes and fixes the workpiece W to the upper left corner TLC formed between the first workpiece W1 and the third workpiece W3. If for Figure 13 and Figure 12 By comparing the robot arm 30 shown, it can be seen that: the rotating part 23a of the robot arm did not rotate, so the inside and outside of the workpiece W did not flip, but the workpiece fixing rotating part 23b rotated 90° around the axis (e.g., around the X-axis), thus only changing the pushing direction of the workpiece W.

[0074] Figure 14 The robot arm 30 shown pushes and fixes the workpiece W to the lower left corner BLC formed between the first workpiece W1 and the third workpiece W3. If for Figure 14 and Figure 13 By comparing the robot arm 30 shown, it can be seen that: the rotating part 23a of the robot arm rotates 180° around the axis (e.g., around the X-axis), thereby flipping the inside and outside of the workpiece W; the workpiece fixing rotating part 23b rotates 90° around the axis (e.g., around the X-axis), thereby changing the pushing direction of the workpiece W.

[0075] The following describes the process of removing the workpiece from its original position and fixing it in place when the workpiece W is fixed at the corner. Figure 15 It is a 3D diagram showing the process from workpiece removal to workpiece fixing. Figure 16 This is a flowchart illustrating the control method of the robotic arm system 1. It should be noted that the program executing this flowchart is, for example, executed by a processor within the control unit of the conveying device 10.

[0076] First, for example, the workpiece W, which serves as a pad, is removed from the stacker S using the robotic arm 21 (step S1). It is preferable to retract the movable member before removing the workpiece W from the stacker S to avoid interference between the movable member of the workpiece fixing part 22 and the stacker S. Next, the conveying device 10 (see reference...) Figure 1 The removed workpiece W is transported to, for example, the vicinity of the lower left corner BLC (step S2). After removing the workpiece W from the stacker S, during the transport of the workpiece W to the vicinity of the lower left corner BLC or after transporting it to the vicinity of the lower left corner BLC, at least one of the robot arm rotating part 23a and the workpiece fixing rotating part 23b (base 23) is rotated in advance so that the rotation angle of the robot arm part 21 and the workpiece fixing part 22 corresponds to the angle of the lower left corner BLC. Next, the workpiece W is pushed and fixed to the lower left corner BLC using the workpiece fixing part 22 (step S3). During the pushing and fixing of the workpiece W to the lower left corner BLC, it is preferable to remove the workpiece W from the robot arm part 21. This allows the workpiece W to be tightly attached to the lower left corner BLC. Then, welding is performed from the inside of the lower left corner BLC using another welding machine such as a welding robot.

[0077] The robot arm 30 according to the second embodiment can perform workpiece removal and workpiece fixing in two directions. In addition, even if the fixed position of the workpiece W (e.g., a corner) is located in a difficult place such as a high place, a low place, or a limited space, the workpiece removal and workpiece fixing can be automated.

[0078] The robotic arm 40 of the third embodiment will now be described. Figure 17 and Figure 18 This is a perspective view of the robot arm 40 according to the third embodiment. For ease of understanding, only the structures that differ from the robot arm 30 of the second embodiment will be described. The robot arm 40 is a robot arm that performs workpiece removal and workpiece fixation in one direction. The robot arm 40 differs from the robot arm 30 of the second embodiment in that it fixes the workpiece in the direction of its axis (e.g., the X-axis direction), i.e., the depth direction. The workpiece fixing part 22 pushes and fixes the workpiece W in a third direction P3, which is the same as the direction of the robot arm 40's axis. The workpiece fixing part 22 has multiple movable members 22f and 22g that move forward and backward along the third direction P3.

[0079] Movable members 22f and 22g are, for example, rod-shaped bodies. Movable members 22f and 22g are supported by the base 23. Movable members 22f and 22g move outward relative to the manipulator 21 and retract inward relative to the manipulator 40. Movable members 22f and 22g are, for example, arranged around the manipulator 21. Thus, after the workpiece W has been removed by the manipulator 21, the movable members 22f and 22g can be used to push and fix the workpiece W in the third direction P3, i.e., the depth direction. Movable members 22f and 22g are, for example, driven by a drive source (not shown) such as a servo motor.

[0080] Similar to the robot arm 30 in the second embodiment, the base 23 includes a robot arm rotating part 23a that rotates the entire robot arm 40 and a workpiece fixing rotating part 23b that rotates only the workpiece fixing part 22. The robot arm part 21 can rotate at any angle around the axis of the robot arm 40 (e.g., around the X-axis) according to the movement of the robot arm rotating part 23a. The robot arm rotating part 23a and the workpiece fixing rotating part 23b are connected, for example, by gears, bearings, etc.

[0081] The workpiece fixing rotating part 23b rotates on the robot arm rotating part 23a. The workpiece fixing part 22 rotates at any angle around the axis of the robot arm 40 (e.g., around the X-axis) according to the movement of the workpiece fixing rotating part 23b. The robot arm rotating part 23a and the workpiece fixing rotating part 23b are driven by a drive source (not shown), for example, a servo motor.

[0082] Figure 19 This is a perspective view of a robot arm 40 that fixes a workpiece W in the depth direction (e.g., the beginning SE and the end EE of the mating section BP). The robot arm 40 is useful, for example, for pressing and fixing two workpieces W, which serve as arc-starting plates, to the beginning SE and the end EE of the mating section BP respectively. That is, for example, using two robots arm 40s, the workpiece W, taken out by the robot arm 21, is pressed and fixed to the beginning SE and the end EE of the mating section BP respectively using the workpiece fixing part 22. It is preferable to release the workpiece W from the robot arm 21 during the pressing and fixing of the workpiece W to the beginning SE or the end EE of the mating section BP. This allows the workpiece W to be tightly pressed against the beginning SE and the end EE respectively, and the robot arm 21 does not obstruct subsequent welding processes. Then, welding is performed from the beginning SE to the end EE of the mating section BP using another welding machine, such as a welding robot.

[0083] Figure 20 This is a perspective view of a robot arm 40 that fixes the workpiece W in the depth direction (gap G). The robot arm 40 is also useful, for example, for inserting and welding a plate-like workpiece W into the gap G of the member W1. That is, when using the conveyor device 10 (see reference...) Figure 1After the workpiece W, taken out by the robot arm 21, is conveyed to the entrance of the gap G, the workpiece W is inserted into and fixed in the gap G using the workpiece fixing part 22. It is preferable to remove the workpiece W from the robot arm 21 during the insertion and fixing process. This eliminates the need to move the conveying device 10 during the insertion and fixing of the workpiece W. If the workpiece W cannot be inserted and fixed by the workpiece fixing part 22, it is preferable to reposition the workpiece W at the entrance of the gap G using the conveying device 10. Then, welding is performed at the entrance of the gap G using another welding machine, such as a welding robot.

[0084] According to the robot arm 40 of the third embodiment, workpiece removal and workpiece fixation in the axial direction (i.e., the depth direction) of the robot arm 40 can be performed. In addition, even if the fixed position of the workpiece W (e.g., the beginning, end, or gap of the docking part) is located in a difficult place such as a high place, a low place, or a limited space, the workpiece removal and workpiece fixation can be automated.

[0085] The robotic arm 50 of the fourth embodiment will now be described. Figure 21 and Figure 22 This is a perspective view of the robot arm 50 according to the fourth embodiment. For ease of understanding, only the structure different from that of the robot arm 40 in the third embodiment will be described. The robot arm 50 is a robot arm that performs workpiece removal and workpiece fixation in three directions. The workpiece fixing part 22 pushes and fixes the workpiece W in a first direction P1 orthogonal to the axial direction (e.g., the X-axis direction) of the robot arm 50, a second direction P2 orthogonal to the first direction P1, and a third direction P3 orthogonal to both the first direction P1 and the second direction P2 (the same as the axial direction of the robot arm 50). For example, the workpiece fixing part 22 includes a plurality of movable members 22a, 22b that move along the first direction P1, a plurality of movable members 22d, 22e that move along the second direction P2, and a movable member 22h that moves along the third direction P3. The movable members 22a, 22b, 22d, 22e are, for example, rod-shaped bodies, and the movable member 22h is, for example, an annular body. Movable components 22a, 22b, 22d, 22e, and 22h are driven, for example, by a drive source (not shown) such as a servo motor.

[0086] Movable components 22a, 22b, 22d, and 22e are supported, for example, by support member 22c. Support member 22c is, for example, a bracket fixed to base 23. Support member 22c has a first contact surface FS and a second contact surface SS (see reference) capable of abutting against a predetermined position to which workpiece W is pressed. Figure 22 At least one of the first abutment surface FS and the second abutment surface SS is preferred. The workpiece W is pressed to a predetermined position such as a corner, so that the workpiece can be stably fixed.

[0087] The movable member 22h is, for example, an annular shape. The movable member 22h is supported by the base 23. The movable member 22h moves outward relative to the robot arm 21 and retracts inward relative to the robot arm 50. The movable member 22h is, for example, positioned around the robot arm 21. Thus, after the workpiece W has been removed using the robot arm 21, the movable member 22h can be used to push and fix the workpiece W in a third direction P3, i.e., the depth direction. The movable member 22h is, for example, driven by a drive source (not shown) such as a servo motor.

[0088] Similar to the robot arm 40 in the third embodiment, the base 23 includes a robot arm rotating part 23a that rotates the entire robot arm 50 and a workpiece fixing rotating part 23b that rotates only the workpiece fixing part 22. The robot arm part 21 can rotate at any angle around the axis of the robot arm 50 (e.g., around the X-axis) according to the movement of the robot arm rotating part 23a. The robot arm rotating part 23a and the workpiece fixing rotating part 23b are connected, for example, by gears, bearings, etc.

[0089] The workpiece fixing rotating part 23b rotates on the robot arm rotating part 23a. The workpiece fixing part 22 rotates at any angle around the axis of the robot arm 50 (e.g., around the X-axis) according to the movement of the workpiece fixing rotating part 23b. The robot arm rotating part 23a and the workpiece fixing rotating part 23b are driven by a drive source (not shown), for example, a servo motor.

[0090] Figures 23-26 This is a perspective view of a robot arm 50 that fixes a workpiece W in three directions (e.g., two corners). The robot arm 50 is useful, for example, for pressing and fixing a first workpiece W1, which is a box-shaped object, at two corners. Figure 23 The robot arm 50 shown pushes and fixes the workpiece W to the upper left corner TLC and the upper inner corner TDC of the first workpiece W1. That is, the workpiece fixing part 22 pushes and fixes the workpiece W in three directions (e.g., the XYZ axis directions). Even in such a limited space at the corner, the robot arm 50 is able to fix the workpiece W.

[0091] Figure 24 The robot arm 50 shown pushes and fixes the workpiece W to the lower left corner BLC and the lower inner corner BDC of the first workpiece W1. If... Figure 24 and Figure 23 By comparing the robot arm 50 shown, it can be seen that: the rotating part 23a of the robot arm did not rotate, while the workpiece fixed rotating part 23b rotated 90° around the axis (e.g., around the X-axis), thereby changing the pushing direction of the workpiece W.

[0092] Figure 25 The robot arm 50 shown pushes and fixes the workpiece W to the lower right corner BRC and the lower inner corner BDC of the first workpiece W1. If for... Figure 25 and Figure 24 By comparing the robot arm 50 shown, it can be seen that: the rotating part 23a of the robot arm did not rotate, while the workpiece fixing rotating part 23b rotated 90° around the axis (e.g., around the X-axis), thus only changing the pushing direction of the workpiece W.

[0093] Figure 26 The robot arm 50 shown pushes and fixes the workpiece W to the upper right corner TRC and the upper inner corner TDC of the first workpiece W1. If for... Figure 26 and Figure 25 By comparing the robot arm 50 shown, it can be seen that: the rotating part 23a of the robot arm did not rotate, while the workpiece fixed rotating part 23b rotated 90° around the axis (e.g., around the X-axis), thereby changing the pushing direction of the workpiece W.

[0094] The robot arm 50 according to the fourth embodiment can perform workpiece removal and workpiece fixation in three directions. In addition, even if the fixed position of the workpiece W (e.g., the two corners) is located in a difficult place such as a high place, a low place, or a limited space, the workpiece removal and workpiece fixation can be automated.

[0095] It should be noted that the robotic arm system, structure, and movements described in the above embodiments are just examples, and other structures can be used. For instance, the conveying device 10 can also be a horizontal multi-joint robot, a parallel linkage robot, or other industrial robots, or a simulation robot. Furthermore, the conveying device 10 can also be a conveying device that is not a robot, but rather a shuttle, an automated guided vehicle, or other similar type of conveying device.

[0096] Alternatively, the manipulator 21 can be a manipulator of other types, such as magnetic adsorption, vacuum adsorption, or Bernoulli type. The workpiece fixing part 22 pushes and fixes the workpiece in one, two, or three directions, but these directions do not need to be orthogonal; it can also be configured to push and fix the workpiece in an inclined direction relative to the axis of the manipulator (e.g., the X-axis direction). Furthermore, the movable members 22a and 22b, 22d and 22e, and 22f and 22g that move and retract in the same direction may not be multiple movable members, but rather a single movable member. Additionally, these movable members may not be rod-shaped, but rather plate-shaped or other forms. Furthermore, the movable member 22h that moves and retracts along the depth direction (i.e., the third direction P3) may not be rod-shaped or ring-shaped, but rather bow-shaped or other forms.

[0097] Alternatively, the configurations of the robot arm rotating part 23a and the workpiece fixing rotating part 23b can be interchanged. In this case, the workpiece fixing rotating part 23b causes the entire robot arm to rotate, while the robot arm rotating part 23a only causes the robot arm part 21 to rotate. Furthermore, the robot arm may also include a rotation angle display unit that displays the rotation angle of the robot arm part 21. This rotation angle display unit can be, for example, a protrusion extending from the outer peripheral surface of the robot arm rotating part 23a.

[0098] Additionally, it should be noted that the robotic arm 20 can also be used for other joints such as brazing, fastening, riveting, bonding, and snap-fit ​​assembly, as well as for removing and fixing workpieces in other manufacturing processes, rather than welding. Therefore, the workpiece W does not have to be a plate-shaped or cuboid workpiece such as a pad or arc-starting plate, but can be a workpiece of other shapes such as a rod, H-shape, L-shape, or T-shape.

[0099] The program executed by the aforementioned processor, other semiconductor integrated circuits, etc., or the program executing the aforementioned flowchart, can be provided either by recording on a non-transitory recording medium that can be read by a computer, such as a CD-ROM, or by transmitting via wired or wireless transmission from a server device on a WAN (wide area network) or LAN (local area network).

[0100] Various embodiments have been described in this specification, but it should be understood that the present invention is not limited to the foregoing embodiments and various modifications can be made within the scope of the claims.

[0101] Explanation of reference numerals in the attached figures

[0102] 1. Robotic arm system; 10. Conveying device; 20, 30, 40, 50. Robotic arm; 21. Robotic arm part; 21a. First finger; 21b. Second finger; 22. Workpiece fixing part; 22a, 22b, 22d, 22e, 22f, 22g, 22h. Movable component; 22c. Support component; 23. Base; 23a. Robotic arm rotating part; 23b. Workpiece fixing rotating part; 24. Rotation angle display part; P1. First direction; P2. Second direction; P 3. Third direction; H, robot direction; W, workpiece; W1, first workpiece; W2, second workpiece; W3, third workpiece; BP, mating part; T, chamfered part; FS, first abutting surface; SS, second abutting surface; R, bent part; BRC, lower right corner; TRC, upper right corner; TLC, upper left corner; BLC, lower left corner; TDC, inner upper corner; BDC, inner lower corner; S, stacker; SE, start; EE, end; G, gap.

Claims

1. A robotic arm, wherein, This robotic arm has the following features: The robotic arm removes the workpiece; A workpiece fixing part that pushes and fixes the removed workpiece in a predetermined position; and The base supports the robotic arm and the workpiece fixing part. The base includes a workpiece fixing rotating part that rotates only the workpiece fixing part.

2. The robotic arm according to claim 1, wherein, The base has a robotic arm rotating part that enables the robotic arm to rotate as a whole.

3. The robotic arm according to claim 2, wherein, The robotic arm rotates in 180° increments according to the movement of the robotic arm rotating part.

4. The robotic arm according to claim 1, wherein, The workpiece fixing part rotates in 90° increments according to the movement of the workpiece fixing rotating part.

5. The robotic arm according to any one of claims 1 to 4, wherein, The robotic arm also has a rotation angle display unit that displays the rotation angle of the workpiece fixing part.

6. The robotic arm according to any one of claims 1 to 4, wherein, The workpiece fixing part pushes and fixes the workpiece in one, two, or three directions.

7. The robotic arm according to any one of claims 1 to 4, wherein, The workpiece fixing part has one or more movable components that move forward and backward in a predetermined direction.

8. A robotic arm, wherein, This robotic arm has the following features: The robotic arm removes the workpiece; A workpiece fixing part that pushes and fixes the removed workpiece in a predetermined position; and The base supports the robotic arm and the workpiece fixing part. The workpiece fixing part includes one or more movable members that can move forward and backward in a predetermined direction. The workpiece fixing part also includes a support member for supporting the movable member, and the support member has an abutment surface that can abut against the predetermined position to which the workpiece is pushed.

9. A robotic arm system comprising a robotic arm for removing a workpiece and a conveying device for mounting the robotic arm and conveying the workpiece, wherein, The robotic arm includes: a robotic arm portion for removing the workpiece; The system includes a workpiece fixing part that pushes and fixes the removed workpiece in a predetermined position; and a base that supports the robot arm and the workpiece fixing part, wherein the base includes a workpiece fixing rotating part that allows only the workpiece fixing part to rotate. The conveying device transports the workpiece taken out by the robotic arm to the vicinity of the predetermined position.

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