Robot system and processing machine

Abstract

To provide a robot system that is configured so that distortion and vibration hardly occurs on a robot and on a workpiece.SOLUTION: A robot system 101 comprises: a first robot 11 having a first tip part 11a; a first end effector 120 having a ball 17, which is arranged at the first tip part 11a; a second robot 31 having a second tip part 31a; and a second end effector 34 having a ball support part 32 that can hold the ball 17 rotatably, which is arranged at the second tip part 31a.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a robot system and a processing machine. [Background technology]

[0002] A robot system for processing has been proposed that includes a processing device that processes a workpiece, a processing control device that controls the processing device, multiple robots each equipped with a hand at the tip for grasping the workpiece, and a robot control device (Patent Publication No. 2013-233650, Patent Document 1). Summary of the Invention [Problem to be solved by the invention]

[0003] The robot system of Patent Document 1 has little play between the multiple robots and the workpieces, which can cause distortion or vibration in the robots or workpieces. The present invention aims to provide a robot system that is less likely to cause distortion or vibration in the robots or workpieces. [Means for solving the problem]

[0004] A first aspect of the present invention is a first robot having a first tip; a first end effector having a ball and disposed on the first tip; a second robot having a second tip; a second end effector having a ball support portion capable of rotatably holding the ball and disposed on the second tip portion; The robot system has the following features:

[0005] A second aspect of the present invention is the robot system; a hand disposed on the first end effector and configured to grip the workpiece; a spindle to which a tool can be attached and which is disposed opposite the robot system; It is a processing machine having the following.

[0006] A third aspect of the present invention is the robot system; a spindle head disposed on the first end effector; a spindle to which a tool can be attached and which is rotatably supported by the spindle head; and machining a workpiece disposed opposite the robot system; It is a processing machine.

[0007] The robot is, for example, an articulated robot or a parallel link robot. The robot may have a traveling axis. The robot may travel on the traveling axis. The articulated robot is, for example, a vertical articulated robot or a horizontal articulated robot. The first robot and the second robot may each be fixed to the floor surface. The processing unit may be fixed to the floor surface. The table may be fixed to the floor surface. Alternatively, the table may be movable. The table may be connectable to the floor surface at a fixed position.

[0008] The ball may be disposed directly on the first end effector. The ball may be disposed on the first end effector via a support post or a workpiece. A ball support may be disposed on the workpiece. The ball support may include a support frame, a clamp, and a support post. The ball support supports the ball. The first end effector may include a ball support.

[0009] The handle object may be, for example, a hand, a workpiece, a spindle head, or a ball support. The hand grips the workpiece. The spindle head rotatably supports the spindle. The spindle head disposed on the first end effector rotatably supports the spindle and may have a ram that moves back and forth in the axial direction of the spindle.

[0010] The drive unit may be a single-acting cylinder. The single-acting cylinder may have an elastic body that biases the draw bar toward the base end and a cylinder that pushes the draw bar toward the tip end. The robot system may be connected to a hydraulic fluid source. The hydraulic fluid source is, for example, an air compressor or a hydraulic pump. The hydraulic fluid source supplies hydraulic fluid to the hand and the drive unit. The hydraulic fluid is, for example, compressed air or hydraulic oil.

[0011] The second robot may have a smaller electrical capacity than the first robot. The second robot may grip the ball when the first robot moves the first end effector to a position to be machined and stops the first end effector. By supporting the ball with the second end effector, the second robot assists the first robot in supporting the first end effector against cutting forces, cutting vibrations, and gravity acting on the workpiece.

[0012] The handle object is, for example, a hand or a spindle unit. The hand grips the workpiece. The hand has a hand frame, clamps, and pins. The clamps secure the workpiece to the hand frame. The pins position the workpiece on the hand frame in an accurate posture and position. The spindle unit may have a spindle head. The spindle unit has a spindle. The spindle may be rotatably supported by the spindle head. The spindle unit may have an orthogonal axis robot that moves the spindle. The orthogonal axis robot is, for example, a single-axis robot or a two-axis robot. The spindle unit may have an X guide extending in the X direction and a spindle head disposed on the X guide. The spindle unit may have a Y frame disposed on the X guide and moving in the X direction, and a spindle head disposed on the Y frame and moving in the Y direction.

[0013] The processing machine may have a processing unit arranged opposite the robot system. The processing unit may have a spindle head. As viewed from the robot system, the spindle head extends in the front-to-rear direction. The spindle head may be fixed. The spindle head may be movable in the front-to-rear direction. The processing unit may have a Y base arranged on a Y guide and reciprocating in the up-and-down direction, and a Z guide arranged on the Y base and extending in the front-to-rear direction. The spindle head may be arranged on the Z guide and movable in the front-to-rear direction. The spindle head may have a ram that rotatably supports the spindle and moves back and forth in the axial direction of the spindle. The ram may be combined with a spindle head that is movable in the left-to-right and up-and-down directions. The ram may also be combined with a spindle head that is movable in the left-to-right, up-and-down directions, and front-to-rear directions. [Effects of the Invention]

[0014] According to the present invention, it is possible to provide a robot system in which distortion and vibration are less likely to occur in the robot and workpiece. [Brief explanation of the drawings]

[0015] [Figure 1] Processing machine of embodiment 1 [Figure 2] FIG. 1 is a partial cross-sectional view of a robot system according to a first embodiment. [Figure 3] Ball support of the robot system of embodiment 2 [Figure 4] Processing machine of embodiment 3 DETAILED DESCRIPTION OF THE INVENTION

[0016] <Embodiment 1> As shown in FIG. 1, a processing machine 100 of this embodiment has a robot system 101 and a processing unit 150. The robot system 101 has a first robot 11, a first tool changer 13, a first end effector 120, a second robot 31, a second tool changer 33, a second end effector 34, and an air source (working fluid source) 12 (see FIG. 2). The first end effector 120 has a hand (object to be handled) 114, a ball 17, and a support column 15 (see FIG. 2). The hand 114 grips a workpiece 3.

[0017] The first robot 11 is a vertical articulated robot. The first robot 11 has a first tip 11a. The first robot 11 is fixed to the floor surface. The first tool changer 13 is disposed on the first tip 11a. The first robot 11 can support and move the first tool changer 13, the hand 114, and the workpiece 3 by itself.

[0018] The second robot 31 is a vertical articulated robot. The second robot 31 has a second tip 31a. The second robot 31 is fixed to the floor surface. The second robot 31 may be a robot smaller than the first robot 11. The electrical capacity of the second robot 31 may be smaller than the electrical capacity of the first robot 11.

[0019] The air source 12 is, for example, an air compressor. The air source 12 may include a directional valve (not shown). The working fluid is compressed air.

[0020] The hand 114 has a hand frame 121, clamps 125, and pins 123. The hand frame 121 is connected to the first tool changer 13. The hand frame 121 is, for example, frame-shaped or plate-shaped. The clamps 125 and pins 123 are installed on the hand frame 121. The clamps 125 grip the workpiece 3. The clamps 125 have an air cylinder (not shown). The clamps 125 are, for example, swing clamps or toggle clamps. The clamps 125 are connected to the air source 12. The clamps 125 are operated by compressed air (working fluid) supplied from the air source 12. The pins 123 position the workpiece 3 on the hand frame 121. For example, some of the pins 123 abut against the seating surface of the workpiece 3. Some of the pins 123 are inserted into reference holes in the workpiece 3.

[0021] 2 is a cross-sectional view of the ball 17 and the second end effector 34 taken along a plane passing through the central axis 7. The left side of the central axis 7 in FIG. 2 shows a state in which the second end effector 34 has clamped the ball 17. The right side of the central axis 7 in FIG. 2 shows a state in which the second end effector 34 has unclamped the ball 17. As shown in FIG. 2 , the support column 15 has a base 15a and a tip 15b. The base 15a is disposed on the hand frame 121. The base 15a is, for example, cylindrical. Preferably, the tip of the base 15a is conical. Here, the direction away from the hand frame 121 is defined as the tip side of the base 15a. The tip 15b is connected to the tip of the base 15a. The tip 15b may have a male thread at its tip. The ball 17 is spherical and fastened to the tip 15b. For example, the ball 17 is fastened to the tip 15b by a screw. Preferably, the support column 15 and the ball 17 are disposed as far away from the first tool changer 13 as possible. For example, the support column 15 and the ball 17 are disposed farther from the first tool changer 13 than the workpiece 3, the pin 123, and the clamp 125.

[0022] 2, the second end effector 34 has a body 35, a cylinder 36, a piston 39, a draw bar 41, and a collet 43. The cylinder 36 has a cylinder chamber 37. The body 35 is cylindrical. The body 35 has a cylinder chamber 37 and a body hole 35a. The body 35 is disposed in the second tool changer 33. The body hole 35a opens at the tip of the body 35 (the lower part in FIG. 2) and is connected to the cylinder chamber 37. Here, the side farther from the second tool changer 33 is defined as the tip side of the body 35.

[0023] The piston 39 is disposed within the cylinder chamber 37. The piston 39 has a piston seal 39a. The piston 39 reciprocates within the cylinder chamber 37 along the central axis 7. The piston 39 divides the cylinder chamber 37 into a first chamber 37a and a second chamber 37b. The cylinder 36 is a double-acting cylinder. The cylinder 36 may be a single-acting cylinder. The cylinder chamber 37 is connected to an air source 12. The single-acting cylinder moves in the proximal direction by an elastic body and moves in the distal direction by compressed air. The air source 12 sends compressed air to the first chamber 37a and the second chamber 37b. The air source 12 can exhaust compressed air from the first chamber 37a and the second chamber 37b.

[0024] The draw bar 41 has a tip projection 41a. The diameter of the center portion of the draw bar 41 may be smaller. The tip projection 41a expands in the radial direction. The draw bar 41 is connected to the piston 39. The draw bar 41 moves axially together with the piston 39.

[0025] The collet 43 has a gripping portion 43a, a receiving portion 43b, and an elastic body 43c. The gripping portion 43a is located at the tip of the collet 43. When the collet 43 is closed, the gripping portion 43a becomes a spherical hole and abuts against the ball 17. The gripping portion 43a is capable of sliding circumferentially with the ball 17. The receiving portion 43b is located near the base end of the central portion of the collet 43. The receiving portion 43b is a cavity located in the inner diameter portion of the collet 43. The receiving portion 43b receives the tip protrusion 41a. The elastic body 43c is located at the base end of the collet 43 and biases the collet 43 radially inward. When the drawbar 41 is pulled, the outer surface of the collet 43 abuts against the body hole 35a, and the gripping portion 43a closes to grip the ball 17. When the drawbar 41 is pushed out, the collet 43 opens, releasing the ball 17 .

[0026] 1, the machining unit 150 has a spindle frame 151, an X guide 153, an X drive unit 154, one or more moving columns 155, a Y guide 157, a Y drive unit 158, one or more spindle heads 161, and a spindle 163. Hereinafter, the left-right direction as viewed from the robot system 101 will be referred to as the X direction, the up-down direction as the Y direction, and the front-back direction as the Z direction.

[0027] The spindle frame 151 is fixed to the floor. The X guide 153 is disposed on the upper surface of the spindle frame 151. The X guide 153 extends in the X direction. The movable column 155 is disposed on the X guide 153 and moves back and forth in the X direction. The movable column 155 extends in the Z direction. The X drive unit 154 is disposed on the spindle frame 151 and moves the movable column 155 back and forth in the X direction. The Y guide 157 is disposed on the movable column 155 and extends in the Y direction. The spindle head 161 is disposed on the Y guide 157 and moves back and forth in the Y direction. The Y drive unit 158 ​​is disposed on the movable column 155 and moves the spindle head 161.

[0028] A plurality of spindle heads 161 may be arranged on the movable column 155. The spindle heads 161 extend in the Z direction. The spindle heads 161 rotatably support a spindle 163. A tool 5 can be attached to the spindle 163. The spindle heads 161 may move in the Z direction. The spindle heads 161 may have a ram (not shown) that can reciprocate in the Z direction. The spindle 163 may be rotatably supported by the ram. The machining unit 150 may include a tool changer (not shown). The tool changer exchanges the tool 5 with the spindle 163.

[0029] It is also possible to provide a plurality of second robots 31 and a plurality of second end effectors 34. The first end effector 120 may have a plurality of balls 17. The ball 17 to be grasped by the second robot 31 may be selected depending on the posture of the first robot 11. Also, the plurality of second robots 31 may each grasp a ball 17.

[0030] The robot system 101 may have a plurality of first end effectors 120 and a plurality of second end effectors 34. The first robot 11 may select and attach one of the plurality of first end effectors 120 depending on the task. The second robot 31 may select and attach one of the plurality of second end effectors 34 depending on the task. The first robot 11 and the second robot 31 may be the same. In this case, the roles of the first robot 11 and the second robot 31 may be exchanged by exchanging the first end effector 120 and the second end effector .

[0031] The method of using the processing machine 100 will be explained. The first robot 11 controls the hand 114 to grasp the workpiece 3. The first robot 11 positions the workpiece 3 in a predetermined posture and at a predetermined position. Then, the second robot 31 grasps the ball 17 with the second end effector 34. The second robot 31 supports the hand 114 in cooperation with the first robot 11. The machining unit 150 moves the spindle 163 left and right, up and down, and back and forth using the moving column 155 and the spindle head 161. The machining unit 150 then machines the workpiece 3 supported by the robot system 101. The robot system 101 supports the workpiece 3 against machining reaction forces and vibrations acting on the workpiece 3. In addition, the first robot 11 and the second robot 31 may move the hand 114 together while the second robot 31 is holding the ball 17 .

[0032] According to the robot system 101 of this embodiment, the collet 43 grips the ball 17 so that it can slide in the circumferential direction. Therefore, distortion and vibration are less likely to occur in the first robot 11, the second robot 31, the hand 114, and the workpiece 3. The first robot 11 and the second robot 31 cooperate to support the workpiece 3, improving the rigidity of the robot system 101 as a whole. Even if the spindle 163 extends horizontally and the orientation of the tool 5 cannot be changed, the robot system 101 can freely change the posture and position of the workpiece 3. Therefore, the machining unit 150 can machine the workpiece 3 from any direction. If the robot system 101 can position the processing target portion of the workpiece 3 facing the spindle 163, the processing machine 100 can process the workpiece 3. Therefore, the processing machine 100 can process a large workpiece 3, for example, one whose short side is longer than 1 m.

[0033] <Embodiment 2> 3, the robot system 201 of this embodiment has a ball support 216. The ball support 216 has a support column 15, a support frame 221, a pin 223, and a clamp 225. Other parts of the robot system 201 are substantially the same as those of the robot system 101 of the first embodiment. The support pillar 15 supports the ball 17. The support pillar 15 is arranged on a first surface (top surface in FIG. 3) of the support frame 221. The pin 223 and the clamp 225 are arranged on a second surface (bottom surface in FIG. 3) of the support frame 221. The pin 223 abuts against a reference surface of the workpiece 3. The pin 223 may be inserted into a pin hole in the workpiece 3. The clamp 225 is, for example, a swing clamp or a toggle clamp. The clamp 225 fixes the ball support 216 to the workpiece 3.

[0034] Instead of the robot system 101 of the processing machine 100 of the first embodiment, a robot system 201 may be arranged. According to the ball support 216 of this embodiment, even if the ball 17 cannot be placed on the hand frame 121, the second robot 31 can support the workpiece 3 and the hand frame 121 by placing the ball 17 on the workpiece 3.

[0035] <Embodiment 3> 4, the processing machine 300 of this embodiment has a robot system 301 and a table 321. The robot system 301 has a first robot 11, a first tool changer 13, a first end effector 320, a second robot 31, a second tool changer 33, and a second end effector 34.

[0036] The first end effector 320 has a spindle unit 314, a support column 15, and a ball 17. The spindle unit 314 has an X frame 351, an X guide 353, an X drive unit 354, a spindle head 361, a ram 364, and a spindle 363. The direction in which the robot system 301 is viewed from the workpiece 3 is called the front. The front-to-back direction (left-to-right direction in FIG. 4) viewed from the front is called the Y direction. The left-to-right direction (front-to-back direction on the paper surface in FIG. 4) viewed from the front is called the X direction. The up-down direction is called the Z direction.

[0037] X frame 351 extends in the X direction. Support columns 15 and balls 17 are arranged on the upper surface of X frame 351. X guide 353 is arranged in front of X frame 351. X guide 353 extends in the X direction. Spindle head 361 is arranged on X guide 353 and moves in the X direction. Spindle head 361 extends in the Z direction. X drive unit 354 is arranged on X frame 351 and moves spindle head 361. Ram 364 is arranged on spindle head 361 and moves back and forth in the Z direction. Spindle 363 is rotatably supported by ram 364. It is also possible to omit the ram 364. The spindle head 361 may be arranged so as to be able to move forward and backward in the Z direction.

[0038] The table 321 is fixed to the floor. The table 321 has a pin 323 and a clamp 325. The workpiece 3 is fixed to the table 321. The pin 323 abuts against a reference surface of the workpiece 3. The pin 323 may be inserted into a pin hole (not shown) in the workpiece 3. The clamp 325 is, for example, a swing clamp or a toggle clamp. The clamp 325 fixes the workpiece 3 to the table 321.

[0039] The table 321 may be movable on the floor. For example, the table 321 may be an autonomous vehicle. The table 321 may have outriggers (not shown). The outriggers extend from the sides of the table and are installed on the floor to stabilize the movable table 321.

[0040] For example, the table 321 or the floor surface can support the machining reaction force acting on the workpiece 3. For example, even if the workpiece 3 is large, with a short side exceeding 1 m, if the workpiece 3 can be placed on the table 321, the robot system 301 can machine the workpiece 3 from any direction. [Explanation of symbols]

[0041] 11 First Robot 11a 1st tip 120,320 First end effector 17 balls 31 Second Robot 31a 2nd tip 100,300 processing machines 101,201,301 Robot Systems

Claims

1. a first robot having a first tip; a first end effector having a ball and disposed on the first tip; a second robot having a second tip; a second end effector having a ball support portion capable of rotatably holding the ball and disposed on the second tip portion; A robot system having:

2. The first end effector A handle object; a support column disposed on the handle object and supporting the ball; having The robot system of claim 1 .

3. The ball support portion is Body and a collet disposed inside the body in an openable and closable manner and configured to grip the ball; a draw bar disposed on the body, the collet closing to grip the ball when the collet is pulled and opening to release the ball when the collet is pushed out; a drive unit that reciprocates the drawbar; having The robot system according to claim 1 or 2.

4. The drive unit is a double-acting fluid cylinder. The robot system according to claim 3 .

5. The first robot can independently support and operate the first end effector and the handle object. The robot system according to any one of claims 1 to 4.

6. A robot system according to any one of claims 1 to 5; a hand disposed on the first end effector and configured to grip the workpiece; a spindle to which a tool can be attached and which is disposed opposite the robot system; A processing machine having the above.

7. The main shaft is movable in the left-right direction and the up-down direction as viewed from the robot system, and extends in the front-rear direction. The processing machine according to claim 6.

8. an X guide extending in the left-right direction as viewed from the robot system; a moving column disposed on the X guide and movable in the left-right direction; a Y guide disposed on the moving column and extending in the vertical direction; a spindle head that is disposed on the Y guide and moves back and forth in the vertical direction; and The spindle is rotatably supported by the spindle head. The processing machine according to claim 6.

9. A robot system according to any one of claims 1 to 4; a spindle head disposed on the first end effector; a spindle to which a tool can be attached and which is rotatably supported by the spindle head; and machining a workpiece disposed opposite the robot system; processing machine.

10. a linear guide disposed on the first end effector and extending in a first direction; the spindle head is disposed on the linear guide and is slidable in the first direction; The major axis extends in a second direction perpendicular to the first direction. The processing machine according to claim 9.

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