Positioning apparatus, working system, and hot working apparatus
View Patent ↗A positioning apparatus and a working system which can position a workpiece with better accuracy at a lower cost and in a reduced space even when the workpiece is heavy are provided. The positioning apparatus has 3 robot arms ( 1 )-( 3 ) each having an arm and an actuator which drives the arm, a mounting platform ( 5 ) which is supported by the ends of the three robot arms ( 1 )-( 3 ), a securing jig ( 6 ) which secures a workpiece W which is mounted on the mounting platform ( 5 ) to the mounting platform ( 5 ), and a controller ( 9 ) which controls the operation of each of the actuators.
1. A positioning apparatus comprising:
three robot arms each having an arm and an actuator which drives the arm,
a mounting platform which is secured to ends of the three robot arms,
a securing jig which secures a workpiece to the mounting platform, and
a controller which controls the operation of the actuators; and
the three robot arms each comprise:
a first structural member which is rotatably connected to a base through a first actuator,
a second structural member which is gyratory connected to the first structural member through a second actuator,
a third structural member which is gyratory connected to the second structural member through a third actuator, and
a connecting member which is secured to the mounting platform and is connected to the third structural member through at least one rotatable bearing;
wherein a shape of the first and second structural members of one of the three robot arms is constituted so as to have a mirror shape relationship being reversed to a left and right with respect to a shape of the first and second structural member of each of the other two robot arms, and
wherein the other two robot arms have a non-mirror shape relationship with each other; and
further wherein during movement of the three robot arms with the mounting platform being secured to the ends of the three robot arms, the mirror shape relationships and non-mirror shape relationship are maintained.
2. A positioning apparatus according to claim 1 , wherein each actuator has a servo motor which is driven based on a position instruction from the controller, and
the controller has a rotation allowing function which when a load exceeding a previously determined level is applied to the actuator of at least one of the three robot arms, regardless of the position instruction, allows rotation of the servo motor to prevent the application of an excessive load to the actuator.
3. A working system comprises:
a positioning apparatus according to claim 1 , and
a working mechanism for performing a working operation on a workpiece which is positioned by the positioning apparatus.
4. A hot working apparatus comprises a high temperature portion forming mechanism for partially forming a high temperature portion which moves in the axial direction of an elongated material being worked, a movable roller die which moves while supporting one end of the material being worked with the high temperature portion as a border, and a positioning apparatus according to claim 1 which supports the movable roller die so as to be able to move two-dimensionally or three-dimensionally.
5. The hot working apparatus according to claim 4 , wherein the robot arms, which are disposed downstream in a feed direction of the material, have the mirror shape relationship so that the first and second structural members of the robot arms are separated from each other.