JP2017007053A - Robot cell device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot cell device of which down-sizing of the whole can be realized.SOLUTION: A robot cell device 1 is so configured as to comprise: a pedestal 31; a revolution arm 41 of which an axis center is provided at an intermediate position in a longer direction and which is so provided as to be capable of being revolved with the axis center on the pedestal 31 as a center; a pair of rotary tables 50 which are provided at respective end parts of the revolution arm 41 in the longer direction and hold a work-piece W; a servo motor 48 which moves the rotary table 50 between a carrying-in and out position where the revolution arm 41 is revolved around the axis center thereby performing carrying-in and out of the work-piece W and a coating position where coating for the work-piece W is performed; a support pillar 33 which is so provided on the pedestal 31 as to be extended in an axial direction and which is inserted into an opening which is so formed at an axis center position of the revolution arm 41 as to penetrate; and a robot 70 which is connected to the support pillar 33 above the revolution arm 41, is located at the axis center position of the revolution arm 41 and performs a prescribed processing.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a robot cell device for performing processing such as processing, painting, and assembly by operating a robot.

  In recent years, robots have been introduced into various production lines, and automatic devices that automatically perform various processes using robots instead of workers are widely used. For example, by installing a robot in the paint booth, mounting a paint gun that sprays paint as an end effector on the arm tip of the robot, moving the paint gun to an arbitrary position by operating the robot, Techniques for performing a coating process on the surface of a workpiece (work) are known (see, for example, Patent Documents 1 and 2).

JP 2004-154620 A JP 2004-290850 A

  In the above-described conventional automatic device, a transfer device is installed around the robot so that the object to be coated can be automatically transferred within the operation range of the robot (that is, the coating position) using the transfer device. It has become. However, in the conventional automatic device, since the robot and the transfer device are installed in a completely independent state in the painting booth, there is a problem that the installation area in the painting booth increases and the whole device becomes large. there were. Therefore, it is desired to develop a robot cell device in which the robot and its peripheral device (transport device) are unitized while suppressing the increase in size of the entire device.

  The present invention has been made in view of such problems, and an object of the present invention is to provide a robot cell apparatus that can realize downsizing of the entire apparatus.

  In order to solve the above-described problems, a robot cell device according to the present invention includes a base (for example, the pedestal 31 in the embodiment) and an axial center provided in the middle in the longitudinal direction, and the axial center on the base And a pair of holding tables (for example, for example, a turning arm 41 in the embodiment) and a pair of holding tables that are provided at each end in the longitudinal direction of the turning body and hold a processing object. In the embodiment, the rotary table 50), the swiveling body is swung around the axis, and a loading / unloading position for loading / unloading the processing object and a processing position for performing a predetermined process on the processing object. And a revolving body drive means (for example, servo motor 48 in the embodiment) for moving the holding table between the revolving body and the base, extending in the axial direction on the base, and penetrating through the axial position of the revolving body Formed A support member (for example, the support column 33 in the embodiment) that is inserted through the opening, and a robot that is connected to the support member above the revolving unit and is disposed at the axial center position of the revolving unit to perform the predetermined process. And is configured.

In the above invention, the swivel body is provided with a main swivel portion having the opening and supported on the base so as to be turnable, and provided on the outer side in the longitudinal direction of the main swivel portion. A sub-slewing unit that supports a holding table, and a telescopic operation unit that moves the sub-swing unit relative to the main turning unit in the longitudinal direction to change a turning radius from the axis to the sub-swinging unit ( For example,
The pneumatic cylinder 44) in the embodiment is preferably provided.

  In the above-described invention, the base is installed on a floor surface in a work booth (for example, the painting booth 10 in the embodiment), and the revolving body, the holding table, and the robot are accommodated in the work booth. It is preferable to be configured.

  According to the robot cell device of the present invention, the dead space generated between the holding table at the loading / unloading position and the holding table at the processing position is effectively used, and the robot serving as the core of the cell is set at the turning center of the turning body. By arranging and configuring as a unit in which the robot and the transfer device (swivel body and holding table) are integrated, while sufficiently securing the operation range of the robot and the transfer device, the installation area is reduced, It is possible to achieve downsizing and energy saving of the entire cell.

  Further, when executing the predetermined processing, the sub-swivel part is moved relative to the main turning part in the separating direction (with the turning body extended), and the distance between the holding tables is increased. While it is possible to ensure a sufficient range of movement of the robot between the holding tables (to prevent interference between the robot and the holding table), when turning the turning body, the sub turning part is closer to the main turning part. By making the relative movement to (reducing the swivel body) and keeping the distance between the holding tables small, it is possible to shorten the turning radius and further downsize the entire cell. Even in the loading / unloading position of the object to be processed, the holding table can be brought closer to the operator by moving the sub-swinging part relative to the main turning part in the separating direction so that the turning body is extended. It can be moved, and the workability of carrying in / out the processing object is improved.

  Furthermore, the robot and the transfer device are accommodated in the work booth and configured as a single unit cell, ensuring safety without touching the robot and improving the work environment. It becomes possible.

It is side sectional drawing which shows the robot cell apparatus which concerns on this embodiment. It is a plane sectional view of the robot cell device concerning this embodiment. It is a sectional side view which shows the principal part of the robot cell apparatus which concerns on this embodiment.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. First, an overall configuration of a robot cell device (hereinafter also simply referred to as “robot cell”) according to an embodiment of the present invention will be described with reference to FIGS. In the present embodiment, a configuration in which the robot cell device is applied to a painting system is illustrated, but the present invention is not limited to this and can be applied to various production systems.

  The robot cell 1 is roughly divided into a painting booth 10 having a painting chamber 11 therein and a painting robot unit 20 installed in the painting chamber 11. In the following description, the front-rear, left-right, and upper-lower directions are defined based on the worker shown in FIG. 1 (the worker standing up against the painting booth 10).

The painting booth 10 includes a painting chamber 11 for performing a painting process, an air supply chamber 12 provided above the painting chamber 11, an exhaust chamber 13 provided on the side of the painting chamber 11, a painting chamber 11, and A circulating water tank 14 provided below the exhaust chamber 13 for storing the circulating water, an air supply device (supply fan) 15 for supplying air into the painting chamber 11, and an exhaust device for discharging the air in the exhaust chamber 13. (Exhaust fan) 16 and a guide plate 17 for partitioning the painting chamber 11 and the exhaust chamber 13 are provided.
In FIG. 1, the main flow of air in the painting booth 10 is indicated by solid arrows.

  The coating chamber 11 is formed as a substantially rectangular parallelepiped space, the front side of which is a coating area for painting the workpiece W, and the rear side of the coating chamber 11 carries the workpiece W before painting and the workpiece W after painting. It becomes a carry-in / out area for carrying out.

  The air supply device 15 takes in air from the outside, and pumps the taken-in air from the air supply chamber 12 toward the coating chamber 11. The air supply chamber 12 is provided with a damper (not shown), and the amount of air (wind speed) to the coating chamber 11 can be adjusted by adjusting the opening degree. A guide plate 18 extending from the outlet portion toward the upper portion of the guide plate 17 is attached to the outlet portion of the air supply chamber 12, and the air discharged into the painting chamber 11 is guided to the guide plate 17. It is supposed to be.

  The guide plate 17 is provided between the vicinity of the outlet of the air supply chamber 12 and the vicinity of the upper portion of the circulating water tank 14 on the front side of the coating chamber 11. The guide plate 17 is curved in an arc shape in which the upper half is concave toward the coating chamber 11, and the lower half extends in the vertical direction. The guide plate 17 is disposed behind the painting position of the workpiece W so that paint mist (excess paint) that has not been applied to the workpiece W flows. Here, the painting chamber 11 and the exhaust chamber 13 communicate with each other through a narrow gap formed between the water surface 14 a of the circulating water tank 14 and the guide plate 17. At this time, due to the air blowing action of the air supply device 15 and the exhaust device 16, the air in the coating chamber 11 (air flow including the paint mist) flows out into the exhaust chamber 13 through the narrow gap. Then, due to the venturi effect generated in the gap, water droplets from the circulating water tank 14 are mixed into the air flow (as a result, the paint in the air flow is taken into the water droplets).

  An exhaust device 16 is provided on the ceiling of the exhaust chamber 13, and the air in the exhaust chamber 13 is filtered by a filter (not shown) and then sucked into the exhaust device 16 and discharged to the outside. In the exhaust chamber 13, an eliminator 19 is provided for separating water droplets (water droplets containing paint) from the air flow flowing in from the coating chamber 11.

  In the painting booth 10 having such a configuration, an air flow including surplus paint generated during painting of the workpiece W is caused to flow down to the lower end gap by the guide plate 17 in accordance with the operation of the air supply device 15 and the exhaust device 16. When passing through, the water is sucked into the exhaust chamber 13 together with water droplets from the circulating water tank 14. At this time, surplus paint and water droplets contained in the airflow are brought into contact with and mixed with each other. Then, only water droplets containing excess paint are collected by an eliminator 19 provided in the exhaust chamber 13, and only air is sucked into the exhaust device 16 and discharged to the outside. The water droplets containing the excess paint collected by the eliminator 19 are dropped into the circulating water tank 14 and collected in a timely manner and removed from the circulating water system.

  Subsequently, the painting robot unit 20 is provided at a gantry 30 serving as an attachment base of the unit 20, a conveyance device 40 that is turnable on the gantry 30 and conveys the workpiece W, and a turning center of the conveyance device 40. The robot 70 for painting the workpiece W and the control device 80 for comprehensively controlling the entire cell are mainly configured.

The pedestal 30 includes a pedestal 31 installed on the floor of a factory or the like in the painting booth 10, a pedestal main body 32 disposed on the pedestal 31 to support the transfer device 40, and a robot erected on the pedestal 31. And a support column 33 that supports 70. The gantry main body 32 is formed in a rectangular box shape as a whole by combining a plurality of steel plates and the like, and a circular through hole 35 penetrating vertically is surrounded by a cylindrical support shaft portion 34 at the center thereof. It has been established. A vertically extending hollow support 33 is inserted into the through hole 35 of the gantry body 32 and protrudes upward from the gantry body 32. In the hollow portion of the support column 33, a plurality of electric cables (not shown) for transmitting electric power and signals from the control device 80 to the motor and the like of the robot 70, and an end effector of the robot 70 from the air supply device 82 described later. An air hose (not shown) for supplying compressed air to the coating gun 72, and a plurality of electric cables for transmitting electric power and signals from the control device 80 to the servo motors 48, 51 of the transport device 40, etc. (Not shown), an air hose (not shown) for supplying compressed air from the air supply device 82 to the pneumatic cylinder 44 of the transport device 40 and the like are inserted. The column 33 has a drawing hole (not shown) for drawing the electric cable and the air hose into the column 33 and the electric cable and the air hose for pulling the electric cable and the air hose to the outside of the column 33. A drawer hole (not shown) is opened. The electric cable and the air hose to the servo motor 51 and the pneumatic cylinder 44 in the swivel arm 41 are formed at a portion corresponding to the intersection (the hollow portion) between the support column 33 and the swivel arm 41. It is routed through the drawer hole. The drawing hole and the drawing hole are completely hidden by the covers such as the gantry main body 32 and are not exposed to the outside. Note that the floor under the pedestal 31 is a hollow portion (box) for accommodating the wiring and piping such as the electric cable and the air hose. Therefore, the wiring and piping are not exposed to the outside in the painting booth 10, and a good working environment can be maintained, there is no risk of interference with other moving parts, and a clean appearance is also given. . A servo motor 48 is attached to the gantry body 32 as a drive source for turning the transport device 40.

  The conveying device 40 extends in the longitudinal direction (horizontal direction) and is provided with a revolving arm 41 that is turnable on the gantry body 32 and a pair of rotary tables (“pallets” provided at both ends of the revolving arm 41 in the longitudinal direction. And 50).

  The swivel arm 41 can swivel around the axis X located at the center in the longitudinal direction. The swivel arm 41 includes a main swivel portion 42 that is pivotally supported by the gantry body 32 and a pair of sub swivel portions that are provided on the distal end side in the longitudinal direction of the main swivel portion 42 and rotatably support the rotary table 50. 43 and a pneumatic cylinder 44 whose bottom side is connected to the main turning part 42 and whose rod side is connected to the sub turning part 43. The swivel arm 41 is configured by combining a main swivel portion 42 and a sub swivel portion 43 in a nested manner, and the sub swivel portion 43 is moved in the longitudinal direction with respect to the main swivel portion 42 by the expansion and contraction operation of the pneumatic cylinder 44. The relative movement is possible. In this way, by moving the sub-slewing part 43 in the longitudinal direction relative to the main turning part 42, the entire turning arm 41 can be extended and contracted in the horizontal plane to change the turning radius. It has become. Hereinafter, a state in which the swing arm 41 is extended to the maximum is referred to as a “fully extended state”, and a state in which the swing arm 41 is maximally contracted is referred to as a “fully contracted state”. Thereby, the turning arm 41 expands and contracts between the fully contracted state and the fully extended state, and changes its turning radius. 2 shows the maximum turning radius Rmax of the turning arm 41 and the minimum turning radius Rmin of the turning arm 41 (the difference between the maximum turning radius Rmax and the minimum turning radius Rmin can be expanded and contracted of the turning arm 41). Stroke). In addition, instead of the pneumatic cylinder (or hydraulic cylinder), the rotation drive mechanism of the swing arm 41 is configured to convert the rotational motion of a servo motor or the like into the linear motion (extension motion) of the swing arm 41 by a ball screw mechanism. May be.

A gear-integrated flange 45 is fixed to the lower center portion of the main turning portion 42 by fastening means such as screws. Upper and lower bearings 46 are interposed between the inner peripheral surface of the flange 45 and the outer peripheral surface of the support shaft portion 34 of the gantry body 32 so that the swinging motion of the swing arm 41 is smoothly guided. ing. A driven gear 47 is formed integrally with the lower portion of the flange 45 and meshes with a drive gear 49 connected to the output shaft of the servo motor 48 via a speed reducer (not shown). Yes. Therefore, when the servo motor 48 is driven to rotate, the rotational force is transmitted to the turning arm 41 via both gears 47 and 49, and the turning arm 41 is moved by the turning angle corresponding to the rotation amount of the servo motor 48. It is made to turn along the spindle part 34. An opening for inserting the column 33 is formed at the center of the turning arm 41, and a gap between the column 33 and the opening is substantially sealed by a seal member (not shown).

  The turntable 50 holds a workpiece W that is an object to be coated. The workpiece W is positioned on the rotary table 50 through a jig (not shown) corresponding to the type of the workpiece W. The rotary table 50 is rotatably supported on the upper surface side of the auxiliary turning unit 43 via a bearing (not shown), and is reduced by a servo motor 51 disposed inside the auxiliary turning unit 43. )) Around the vertical axis. Therefore, the rotary table 50 can be revolved by the revolving operation of the revolving arm 41 and can rotate at the revolving position.

  The conveying device 40 functions as a pallet changing device (APC) that automatically changes each rotary table 50 between the loading / unloading position and the painting position. Here, the loading / unloading position is a position where the workpiece W is loaded / unloaded onto / from the rotary table 50 from the outside of the machine (the position of the rear rotary table 50 in FIG. 1), and the coating position is the position on the rotary table 50. This is the position where the workpiece W is coated (the position of the front rotary table 50 in FIG. 1). In the present embodiment, when the turning arm 41 is in a posture oriented in the front-rear direction (referred to as “reference posture”) and the turning arm 41 is in a fully extended state, one of the rotary tables 50 is brought into the loading / unloading position. The other rotary table 50 is positioned at the coating position. Therefore, when the revolving arm 41 is in the reference posture, the work of loading and unloading the work W by the operator and the work of painting the work W by the robot 70 can be performed substantially simultaneously, enabling continuous operation of the equipment. Become. The gantry body 32 is provided with a detection sensor 39 for detecting that the turning arm 41 is in the reference posture (0 degree turning position or 180 degree turning position). Further, when the swivel arm 41 is changed from the fully extended state to the fully contracted state, each rotary table 50 is positioned at the pallet replacement position. Here, the pallet exchange position is a reference position of each rotary table 50 when the turning arm 41 is turned. When the turning arm 41 is turned 180 degrees from this state and the turning arm 41 is changed from the fully contracted state to the fully extended state, the one rotary table 50 is positioned at the coating position, and the other rotary table 50 is set at the loading / unloading position. Is positioned. That is, the rotary table 50 (work W before painting) in the loading / unloading position and the rotary table 50 (work W after painting) in the painting position are automatically exchanged. In this embodiment, the swivel arm 41 reciprocates around the axis X in a range of 180 degrees, and a rotary joint as a fluid coupling is not required for the rotating shaft portion of the swivel arm 41. Note that the rotary joint technology (for example, Japanese Patent No. 3828624) already proposed by the present applicant is applied to the rotary shaft portion of the turning arm 41, the rotary shaft portion of the rotary table 50, the rotary shaft portion of the coating gun 72, and the like. Application of Japanese Utility Model Publication No. 2-40387, Japanese Utility Model Publication No. 2-40388, Japanese Utility Model Publication No. 4-44955, etc.), and the turning arm 41 can be turned over a range of 360 degrees (orbitable) Alternatively, a pneumatic chuck, a hydraulic chuck, or the like may be disposed on the rotary table 50, or multicolor coating by the coating gun 72 may be enabled.

The robot 70 is a six-axis articulated robot having six rotation axes (joint axes). The robot 70 is attached to the upper end of the support column 33 via a base plate 71 provided at the lower end of the robot 70, and is arranged at the center position (turning center) of the turning arm 41. The robot 70 has a motor (not shown) at each joint portion, and operates based on an operation command (control signal) output from the control device 80. Each joint portion of the robot 70 incorporates an encoder (not shown) for detecting the angle of each movable part, and the detection information is fed back to the control device 80. An end effector is detachably attached to the arm tip of the robot 70. In this embodiment, a paint gun 72 is attached as an end effector. By exchanging the end effector, the robot 70 can execute various operations other than the painting operation. The paint gun 72 is supplied with paint and compressed air via a paint hose (not shown) and an air hose (not shown). The paint hose is routed from the paint supply device 81 to the paint gun 72 along the wall surface in the paint chamber 11. The air hose is connected to the support column 3 from the air supply device 82 provided in the control device 80.
3 is routed to the coating gun 72 through the inside of the The air supply device 82 is supplied with compressed air from an air source (compressor) (not shown).

  In the present embodiment, two or more paint guns 72 may be attached to the arm tip of the robot 70. In this case, the same workpiece W may be painted from different angles at once using a plurality of coating guns 72, or a plurality of workpieces W may be individually coated using a plurality of coating guns 72. Good. In addition, it is necessary to replace the coating gun 72 when changing the model by attaching a plurality of coating guns 72 to the arm tip in advance for each model of the workpiece W and using only the coating gun 72 corresponding to the model for the coating process. However, the setup time may be reduced.

  The control device 80 includes a CPU that executes various arithmetic processes, a ROM that stores control programs, control data, and the like, a RAM that functions as a work area, and the like, and controls the operation of the entire robot cell 1. The control device 80 controls the fuel supply device 81 and the air supply device 82 to adjust the supply amount of paint to the coating gun 72 and the supply pressure of compressed air, and also controls the operation of the robot arm to control the coating gun. The position and orientation of 72 are controlled. Further, the control device 80 controls the operation of each actuator provided in the transport device 40 to control the turning / extension / contraction position of the turning arm 41 and the rotation position of the rotary table 50 (execution of pallet exchange). . Further, the control device 80 controls the air volume and the like in the painting booth 10 by controlling the air volume of the air supply device 15 and the exhaust device 16.

  Next, the operation of the robot cell 1 according to this embodiment will be described.

  First, with the start of operation of the robot cell 1, the turning arm 41 is in a fully extended state in a reference posture oriented in the front-rear direction. At the start of operation, one rotary table (referred to as “first rotary table”) 50 is in the carry-in / out position, and the other rotary table (referred to as “second rotary table”) 50 is in the painting position. . At this time, each rotary table 50 is assumed to be in an empty state (a state in which the workpiece W is not placed). The operator attaches the workpiece W to be painted on the first turntable 50. Subsequently, the conveying device 40 is operated to start pallet exchange (turning path: forward path). First, the rotary arm 41 is moved to the pallet exchange position by bringing the swivel arm 41 into a fully contracted state. Next, the swivel arm 41 is swung 180 degrees while maintaining this fully contracted state. Thus, after turning the turning arm 41 by 180 degrees, when the turning arm 41 is changed from the fully contracted state to the fully extended state, the first rotary table 50 moves to the painting position and the second rotary table 50 moves to the loading / unloading position. Moving. Thereby, the 1st turntable 50 (carrying in / out position-> painting position) and the 2nd turntable 50 (coating position-> carrying in / out position) are exchanged.

Subsequently, the workpiece W before painting is attached to the second rotary table (empty state) 50 that has been moved to the carry-in / out position by this pallet exchange. On the other hand, when the first rotary table 50 moves to the painting position (the workpiece W to be painted moves to the operation range of the robot 70), the operation of the robot 70 is started (the painting process is started). The robot 70 starts operating from a preset original position and returns to the original position when the operation ends. The robot 70 is previously taught (teaching) information about the movement path of the coating gun 72 along the surface (surface to be coated) of the workpiece W. The robot 70 operates based on the teaching information and moves the coating gun 72 at the tip of the robot arm along the movement path. The robot 70 and the painting gun 72 operate synchronously, and the painting gun 72 injects paint toward the workpiece W in conjunction with the movement of the robot 70. At this time, it is possible to uniformly coat the entire circumferential surface of the workpiece W by rotating the first rotary table 50. Further, the revolving arm 41 is reciprocated (oscillated) within a range of a predetermined revolving angle (for example, ± 15 °) from the reference posture oriented in the front-rear direction, and the revolving arm 41 is expanded and contracted in the longitudinal direction, thereby It is suitable without offsetting the center position of W, finely adjusting the separation distance (painting distance) between the paint gun 72 and the workpiece W, or leaving the robot 70 in an unreasonable posture such as the back side of the workpiece W or the shadowed portion. Can be painted on. As described above, the three-dimensional operation of the robot 70, the turning / extending / contracting operation of the turning arm 41, and the rotating operation of the rotary table 50 can be combined with each other to realize a control with a total of nine degrees of freedom. . In addition, since the robot 70, the turning arm 41, and the rotary table 50 are linked to each other, the substantial work range in the painting booth 10 can be expanded.

  When the coating on the workpiece W of the first turntable 50 is thus completed, the robot 70 returns to the original position, and the transport device 40 is operated to start pallet exchange (turning path: return path). At this time, the original position of the robot 70 is set to a position where the robot arm is retracted upward, and thereby an empty space is secured around the robot 70. Therefore, even if the turning arm 41 is fully contracted, the turning radius at the time of pallet replacement can be kept small without interference between the rotary table 50 and the robot 70. When the pallet replacement is started in this way, first, the turning arm 41 is changed from the fully extended state to the fully contracted state, so that each rotary table 50 is moved to the pallet replacement position. Subsequently, the position of the 1st turntable 50 and the 2nd turntable 50 is replaced by turning (reversing) 180 degree | times with the turning arm 41 fully retracted. Then, by turning the turning arm 41 from the fully contracted state to the fully extended state, the first rotary table 50 is moved to the carry-in / out position, and the second rotary table 50 is moved to the coating position. Thus, the first rotary table 50 (painting position → loading / unloading position) and the second rotary table 50 (loading / loading position → painting position) are exchanged.

  Then, after replacing the pallet, the workpiece W that has been subjected to the above-described coating process is removed from the first rotary table 50 at the carry-in / out position, and a new workpiece W before painting is attached to the first rotary table 50. On the other hand, since the workpiece W is previously attached to the second rotary table 50 in the painting position during the above-described painting process, the robot 70 and the painting gun 72 are operated to perform the same procedure as the above-described painting process. Thus, the workpiece W is painted. Thereafter, a series of operations are repeatedly performed in the flow of loading / unloading the workpiece W → pallet replacement → painting process → pallet replacement →.

  As described above, according to the robot cell 1 according to this embodiment, the dead space generated between the turntable 50 at the loading / unloading position and the turntable 50 at the painting position is effectively used, and the robot 70 serving as the core of the cell is installed. By disposing the robot 70 and the transfer device 40 as a unit that is arranged at the turning center of the turning arm 41, the operating range of the robot 70 and the transfer device 40 is sufficiently secured, and the inside of the coating chamber 11 is maintained. Therefore, it is possible to reduce the installation area of the cell and to reduce the size and energy of the entire cell. Further, the robot cell 1 according to the present embodiment has both productivity and versatility, has high quality stability, and can flexibly cope with variable quantity production due to product type variation / production amount variation.

  Even if a robot 70 smaller than the conventional one is adopted, the combination of the swivel arm 41 and the rotary table 50 improves the degree of freedom of positioning of the workpiece W, so that the same coating range as the conventional one can be secured, and a wide variety Suitable for correspondence. Further, environmental performance can be improved by connecting an electric cable or air hose to the robot 70 through the inside of the column 33 to prevent exposure in the painting chamber 11.

Further, when the workpiece W is painted, the swivel arm 41 is fully extended and the distance between the rotary tables 50 is increased, so that a sufficient operating range of the robot 70 is ensured between the rotary tables 50 (the robot 70 and the robot 70). On the other hand, when the pallet is replaced, the swivel arm 41 is fully contracted to keep the distance between the turntables 50 small, thereby shortening the swivel radius and the entire cell. Can be further reduced in size. Even in the work W loading / unloading position, the swing arm 41 is fully extended, so that the rotary table 50 can be moved to a position closer to the operator, and the work W loading / unloading workability is improved. improves.

  In addition, the robot 70 and the transport device 40 are accommodated in the painting booth 10 and configured as one united cell, so that safety is ensured without the operator touching the robot 70 and the work environment is reduced. It becomes possible to improve.

  Although the preferred embodiments of the present invention have been described so far, the scope of the present invention is not limited thereto.

  In the above-described embodiment, the revolving arm 41 reciprocally revolves around the axis X in the range of 180 degrees. However, the present invention is not limited to this, and the revolving arm 41 revolves around the axis X circumferentially. It may be a configuration. In the above-described embodiment, the rotary table 50 is positioned at the two positions of the carry-in / out position and the painting position. However, the present invention is not limited to this, and the rotary table 50 is within the turning range of the turning arm 41. May be configured to be positioned at three or more locations.

  Further, in the above-described embodiment, the revolving arm 41 is configured to be fully extended at both the loading / unloading position and the painting position. However, the present invention is not limited to this, and the revolving arm 41 is only at the painting position. The structure which makes it a full extension state, or the structure which makes the turning arm 41 a full extension state only in the painting position may be sufficient. Furthermore, in the above-described embodiment, the posture of the swing arm 41 is changed between the fully contracted state and the fully extended state. However, the present invention is not limited to this. Alternatively, the swivel arm 41 may be expanded and contracted to an arbitrary position in the longitudinal direction.

  In the above-described embodiment, the operator (operator) attaches and detaches the workpiece W on the rotary table 50. However, the present invention is not limited to this, and is different from the robot cell 1 of the present embodiment, for example. A workpiece transfer device is installed between processes with a robot cell or an automatic device (including a processing device, an assembly device, a surface treatment device, a transfer device, etc.), and the workpiece W is automatically transferred between the processes. You may comprise. That is, the work W may be carried in and out (delivered) between the robot cell 1 and another robot cell or an automatic device by the work transfer device. In this case, the workpiece transfer device may be configured like the transfer device 40 of the above-described embodiment, and the swing arm may be configured to be capable of swinging and extending and retracting. In this case, a rotary table may be installed at the tip of the swivel arm, and the turntable may be configured to be rotatable (rotatable) relative to the swivel arm. Further, in this case, when the turning arm 41 of the robot cell 1 and the turning arm of the workpiece transfer device are in the reference posture, when at least one of the turning arms is extended, the workpiece W is rotated. A table (a rotary table that holds the workpiece W) or a workpiece holder (a jig or chuck that is placed on the rotary table and holds the workpiece W) can be transferred from one swing arm to the other. It may be configured. That is, the rotary table or the work holder may be set to a specification common to the processes, and the workpiece W may be conveyed between the processes together with the common rotary table or the work holder. In that case, at least one of the swivel arms may be configured to be movable up and down in order to adjust the center height when the work W is replaced. According to such a configuration, it is possible to reduce work-in-process items between processes and lines, and it is possible to reduce manufacturing costs and save space on the manufacturing lines.

In the above-described embodiment, the case where the robot cell device according to the present invention is applied to the painting process is described as an example. However, the present invention is not limited to this. For example, the machining process, the assembly process, and the inspection process Or, it is applicable to various production processes such as a combination thereof. Therefore, according to the present invention, it is possible to provide a robot cell apparatus having very high versatility and added value.

1 Robot cell device 10 Painting booth (work booth)
20 Coating Robot Unit 30 Base 31 Base (Base)
32 Base body 33 Post (support member)
40 Conveying device 41 Swivel arm (swivel body)
42 main turning part 43 sub turning part 44 telescopic arm (extension operating part)
48 Servo motor (revolving body drive means)
50 Rotating table (holding table)
70 Robot 72 Paint Gun 80 Controller X Axis Center

In order to solve the above-described problems, a robot cell device according to the present invention includes a base (for example, the pedestal 31 in the embodiment) and an axial center provided in the middle in the longitudinal direction, and the axial center on the base And a pair of holding tables that hold the object to be processed so as to be rotatable at each end in the longitudinal direction of the swivel body. (For example, the rotary table 50 in the embodiment), rotation drive means (for example, the servo motor 51 in the embodiment) provided on the revolving body and rotating the holding table around an axis parallel to the axis, The holding table is moved between a loading / unloading position for loading / unloading the processing object and a processing position for performing predetermined processing on the processing object by rotating the revolving body around the axis. Causing rotation drive means (e.g., a servo motor 48 in the embodiment) and, provided extending in the axial direction on the base, a hollow is inserted into the opening formed through the central axial position of the orbiting body A support member (e.g., the support column 33 in the embodiment) and a robot connected to the support member above the revolving body and arranged at an axial center position of the revolving body to perform the predetermined processing , The swivel body has a main swivel portion that has the opening and is supported on the base so as to be swivelable, and a sub swivel portion that is provided outside the main swivel portion in the longitudinal direction and supports the holding table. Telescopic drive means for changing the distance from the axis to the holding table by moving the auxiliary turning portion relative to the main turning portion in the longitudinal direction (for example, the pneumatic cylinder 44 in the embodiment) And In addition, the lower end of the support member is provided with a first insertion hole serving as an opening end on the lower side of the hollow portion formed extending in the axial direction, and the first insertion hole is provided in the base. A second insertion hole penetrating up and down is provided at a position aligned with the first and second holes, and power is supplied to the hollow portion of the support member to the robot, the rotation driving unit, the turning driving unit, and the telescopic driving unit. The power wiring is inserted through the first insertion hole and the second insertion hole into the cavity formed under the base and is not exposed on the base. It is characterized by that .

In the above-described invention, the revolving body is reciprocally swung around the axis within a range of 180 degrees, and the holding table is moved between the loading / unloading position and the processing position. preferable.

Claims (3)

The base,
An axis is provided in the middle of the longitudinal direction, and a revolving body provided on the base so as to be rotatable about the axis;
A pair of holding tables provided at each end in the longitudinal direction of the swivel body to hold the processing object;
The holding table is moved between a loading / unloading position for loading / unloading a processing object and a processing position for performing a predetermined process on the processing object by rotating the revolving body around the axis. Revolving body drive means for causing
A support member provided on the base so as to extend in the axial direction and inserted through an opening formed at the axial center position of the revolving unit;
A robot cell apparatus comprising: a robot that is connected to the support member above the swing body and is arranged at an axial center position of the swing body and performs the predetermined processing.   The swivel body has a main swivel portion that has the opening and is supported on the base so as to be swivelable, and a sub swivel that is provided outside the main swivel portion in the longitudinal direction and supports the holding table. And an extension / contraction operation unit that moves the auxiliary turning part relative to the main turning part in the longitudinal direction to change a turning radius from the axial center to the auxiliary turning part. The robot cell device according to claim 1.   The said base is installed in the floor surface in a work booth, The said rotary body, the said holding table, and the said robot are accommodated in the said work booth, It is comprised, The structure of Claim 1 or 2 characterized by the above-mentioned. Robot cell device.

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