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JP-2026075997-A - Robot adjustment method and robot

JP2026075997AJP 2026075997 AJP2026075997 AJP 2026075997AJP-2026075997-A

Abstract

[Problem] To provide a robot adjustment method that can accurately align two swivels even when they are connected to each other. [Solution] The adjustment method for this robot 100 includes a base portion 90 which includes a protrusion 90b parallel to the rotation axis A6 and is adjusted so that the flat surface 90ba of the protrusion 90b is parallel to the rotation axis A5, and a fixing portion 70 which includes a protrusion 90b which engages with the protrusion 90b while maintaining parallel to the rotation axis A6, and is fixed to the base portion 90 so that the rotation axis of the fifth joint side swivel 50 is parallel to the rotation axis A5 by bringing the flat surface 70bb of the protrusion 90b of the base portion 90 into contact with the flat surface 90ba of the protrusion 90b of the base portion 90. [Selection Diagram] Figure 15

Inventors

  • 和田 大祐
  • 田中 佑兒

Assignees

  • 川崎重工業株式会社

Dates

Publication Date
20260511
Application Date
20241023

Claims (11)

  1. A method for adjusting a robot, The robot comprises: a first link section to which a work section is attached; a first joint section that rotates the first link section around a first rotation axis; a second link section to which the first link section is attached; a second joint section that rotates the second link section around a second rotation axis intersecting the first rotation axis; a first joint section side swivel arranged coaxially with the first rotation axis; a second joint section side swivel to which the first joint section side swivel is attached and arranged coaxially with the second rotation axis; a base section that includes an engaging section parallel to the first rotation axis and is adjusted so that the flat surface of the engaging section is parallel to the second rotation axis; and a fixed section that includes an engaged section that maintains parallel to the first rotation axis and engages with the engaging section, and is fixed to the base section such that its flat surface contacts the flat surface of the engaging section of the base section so that the rotation axis of the second joint section side swivel is parallel to the second rotation axis. The adjustment method for the robot is as follows: A robot adjustment method comprising positioning the second joint-side swivel in a height direction perpendicular to the first rotation axis and the second rotation axis using the base portion and the fixing portion.
  2. Before positioning the second joint-side swivel, a centering jig is attached to the second joint-side swivel, After positioning the second joint swivel, the second joint swivel with the centering jig attached is removed from the fixing part, The centering jig is removed from the second joint swivel, and the first joint swivel is attached to the second joint swivel. The robot adjustment method according to claim 1, further comprising attaching the second joint-side swivel, to which the first joint-side swivel is attached, to the fixed part.
  3. The robot adjustment method according to claim 2, wherein attaching the centering jig to the second joint swivel includes attaching the centering jig, which has a non-rotating structure, to the second joint swivel.
  4. The robot adjustment method according to claim 2, wherein attaching the alignment jig to the second joint swivel includes attaching the alignment jig, which mimics the first joint swivel, to the second joint swivel.
  5. The robot adjustment method according to claim 1, wherein positioning the second joint swivel includes attaching the second joint swivel to the fixed part, which acts as a rotation-preventing part to suppress the rotation of the second joint swivel caused by the rotation of the first joint swivel.
  6. The robot adjustment method according to claim 1, wherein positioning the second joint swivel includes positioning the second joint swivel in a left-right direction perpendicular to the height direction and parallel to the second rotation axis using a positioning part fixed to the fixing part, and positioning the second joint swivel in the height direction using the fixing part.
  7. The robot adjustment method according to claim 1, wherein positioning the second joint swivel includes attaching the second joint swivel to the fixing portion, which extends along the first rotation axis and has an elongated hole into which a fastening member is inserted, while adjusting the position of the fixing portion relative to the second joint swivel in the direction along the first rotation axis.
  8. Before positioning the second joint swivel, the second joint swivel, to which the centering jig is attached, is inserted through the hollow portions of the first and second link portions, After removing the second joint-side swivel to which the centering jig is attached from the fixing part, the second joint-side swivel to which the centering jig is attached is removed through the hollow parts of the first link part and the second link part, The robot adjustment method according to claim 2, further comprising: inserting the second joint-side swivel, to which the first joint-side swivel is attached, through the hollow portions of the first link portion and the second link portion, respectively, before attaching the second joint-side swivel, to which the first joint-side swivel is attached, to the fixed portion.
  9. The robot adjustment method according to claim 2, wherein removing the centering jig from the second joint-side swivel and attaching the first joint-side swivel to the second joint-side swivel includes attaching the first joint-side swivel to the second joint-side swivel, the first joint-side swivel having a first member and a second member that is rotatably attached to the first member and to which the work section is attached.
  10. The robot adjustment method according to claim 1, wherein the work unit includes a discharge unit for discharging fluid.
  11. The first link section to which the work section is attached, A first joint portion that rotates the first link portion around a first axis of rotation, The second link portion to which the first link portion is attached, A second joint portion that rotates the second link portion around a second rotation axis that intersects the first rotation axis, A first joint-side swivel is arranged coaxially with the first rotation axis, The first joint-side swivel is attached to the second joint-side swivel, which is arranged coaxially with the second rotation axis, A fixing part that positions the second joint-side swivel in the height direction perpendicular to the first and second rotation axes, and fixes the second joint-side swivel, A robot comprising: a positioning unit that positions the second joint-side swivel in a left-right direction perpendicular to the height direction and parallel to the second rotation axis, and which is fixed to the fixed part.

Description

This disclosure relates to a method for adjusting a robot and to the robot itself. Conventional robots are known (see, for example, Patent Document 1). Patent Document 1 discloses a fluid jet robot. The fluid jet robot includes an arm with a wrist that rotates a fluid jet nozzle around a vertical and horizontal axis. A fluid supply pipe is positioned vertically on the arm. A first swivel joint is connected to the base end of the fluid supply pipe, allowing it to rotate around the vertical axis. A flow path switching block is connected to the tip of the fluid supply pipe, converting the fluid flow in the fluid supply pipe onto the horizontal axis. A second swivel joint is connected to the outlet on the outer surface of the flow path switching block, allowing the fluid conduit to the fluid jet nozzle to rotate around the horizontal axis. Japanese Utility Model Publication No. 1-87890 This figure shows a robot according to one embodiment.This is a view of the tip portion of a robot according to one embodiment, as seen from the Z direction.This is a view of the tip portion of a robot according to one embodiment, as seen from the X direction.This is a cross-sectional view of the tip portion of a robot according to one embodiment.This is a cross-sectional view of a sixth-joint swivel according to one embodiment.This is a perspective view showing a fifth link, fixing part, base, and fifth joint swivel according to one embodiment.This is a perspective view showing a fifth link, fixing part, base, fifth joint swivel, and position adjustment part according to one embodiment.This is a view of the fifth link, fixing part, and base according to one embodiment, as seen from one direction in the Y direction.This is a view of the fifth link, fixing part, base, fifth joint swivel, and position adjustment part according to one embodiment, as seen from the other side in the Y direction.This is a diagram illustrating the play in the sixth joint swivel according to one embodiment.This is a flowchart illustrating a method for adjusting a robot according to one embodiment.Figure (1) illustrates a method for adjusting a robot according to one embodiment.Figure (2) illustrates a method for adjusting a robot according to one embodiment.Figure (3) illustrates a method for adjusting a robot according to one embodiment.Figure (4) illustrates a method for adjusting a robot according to one embodiment.Figure (5) illustrates a method for adjusting a robot according to one embodiment.Figure (6) illustrates a method for adjusting a robot according to one embodiment.Figure (7) illustrates a method for adjusting a robot according to one embodiment.Figure (8) illustrates a method for adjusting a robot according to one embodiment. The embodiments of this disclosure will be described below with reference to the drawings. (Robot configuration) Referring to Figures 1 to 9, the configuration of a robot 100 according to one embodiment will be described. As shown in Figure 1, the robot 100 is a robot that performs work on a workpiece using a work unit 200. The work unit 200 includes a discharge unit that discharges fluid. For example, the work unit 200 discharges sealing material as the fluid. The work unit 200 shown in Figure 2 is a gun unit that discharges sealing material. Note that the work unit 200 may also discharge paint or other materials as the fluid other than sealing material. Robot 100 is a 7-axis vertical articulated robot. Robot 100 comprises a base 10, multiple links 20, and multiple joints 30. The base 10 is fixed to the mounting surface, such as the floor, column, or wall, using fastening members such as bolts. The multiple links 20 include the first link 20a, the second link 20b, the third link 20c, the fourth link 20d, the fifth link 20e, the sixth link 20f, and the seventh link 20g. The first link 20a, the second link 20b, the third link 20c, the fourth link 20d, the seventh link 20g, the fifth link 20e, and the sixth link 20f are arranged in this order from the base end to the tip end. Note that the fifth link 20e is an example of the second link section, and the sixth link 20f is an example of the first link section. The first link 20a is attached to the base 10. The second link 20b is attached to the first link 20a. The third link 20c is attached to the second link 20b. The fourth link 20d is attached to the third link 20c. The seventh link 20g is attached to the fourth link 20d. The fifth link 20e is attached to the seventh link 20g. The sixth link 20f is attached to the fifth link 20e. The working section 200 is attached to the sixth link 20f. The multiple joints 30 include the first joint 30a, the second joint 30b, the third joint 30c, the fourth joint 30d, the fifth joint 30e, the sixth joint 30f, and the seventh joint 30g. The first joint 30a, the second joint 30b, the third joint 30c, the fourth joint 30d, the seventh joint 30g, the fifth joint 30e, and the sixth joint 30f are arranged in this order from the proximal end