JP3155226U - Robot system - Google Patents

Abstract

A highly functional robot system that can be moved to a plurality of places, is low-cost, and has excellent work stability. A robot system A includes a robot main body R having a working arm, a carriage D having the robot main body R mounted in a central portion 31, and a fixing member S for fixing the robot main body R to a predetermined part. ing. The carriage D includes a connecting portion 32 provided at both ends of the central portion 31 and a drawer portion 33 to which a wheel 35 is attached. The fixing member S has connecting portions at both ends of the central portion 41, and the connecting portions are fixed to the floor surface E by anchor bolts. The positioning pin 27 is fitted into the positioning hole of the cylindrical member 47, and the carriage D (robot main body R) is set at a predetermined position. With the pivot member 44 pivoted upward and fitted in the U-groove, the carriage fixing lever 45 is tightened to fix the robot body R to a predetermined position. [Selection] Figure 1

Description

  The present invention relates to a robot system including an industrial robot that performs operations such as welding, machining, and unloading.

In recent years, industrial robots (manipulators) have been used in various fields as automatic work devices that can be turned into human hands. Recently, many proposals have been made to improve the functionality of industrial robots.
For example, in Patent Document 1, it is not necessary to stop the operation and perform the teaching operation of the hand at the time of hand replacement by providing two hands on the robot and stacking different kinds of goods in each hand. I have to.
Patent Document 2 proposes a traveling device for an industrial robot that travels along a guide by driving a linear motor.
Patent Document 3 proposes a robot system in which a plurality of functional modules for performing various operations are attached to a self-supporting mobile robot that moves by driving wheels.

Japanese Patent Laid-Open No. 9-254063 JP-A-6-197513 JP 2007-193736 A

  However, the technique disclosed in Patent Document 1 has a problem in that different robots at different locations cannot be processed by a single robot.

In that respect, the technique of Patent Document 2 allows work at a plurality of locations along the guide, but there is a problem that it is limited to the peripheral area of the guide.
On the other hand, it can be said that the technique of Patent Document 3 is superior to the techniques of the above two documents in that it can move freely without any restrictions.

However, in the technique of Patent Document 3, the self-running robot itself is expensive, and a function module (manipulator) is attached to the robot. Therefore, the entire system becomes very expensive and is not suitable for a factory site such as machining. .
In addition, when the functional module performs work, the robot itself lacks stability, and there is also a problem that there is a limit to possible work.

  An object of the present invention is to provide a high-performance robot system that can move to a plurality of locations, is low-cost, and has excellent work stability.

  The robot system of the present invention is provided with a connecting member that attaches a wheel directly or indirectly to a robot main body having a work arm and connects the robot main body with a fixing member for fixing the position of the robot main body. It is.

This robot system provides the following operational effects.
In this robot system, it is possible to move to any place by moving with wheels, and work at a plurality of places can be facilitated. Therefore, the number of robot main bodies installed in the work place can be reduced, and the cost of mechanical equipment can be reduced.
Moreover, the robot system does not need to have a large-scale mechanism as in Patent Document 2 and expensive parts as in Patent Document 3, and has a simple structure, so that the robot system can be constructed at low cost.
In addition, since the position of the robot body is fixed by the fixing member, the operation can be stabilized.
The fixing portion is usually a floor surface, but can be fixed to a side wall of a room, a ceiling, or a part of a large apparatus. However, the stability of the work is improved by attaching the fixing member to the floor surface.

A base member on which the robot main body is placed may be further provided, and the wheels may be attached to the base member. By doing so, a common base member can be used for other types of robots, and the manufacturing cost of the base member can be reduced.
In particular, by providing a partition member (safety fence) that divides the movement range of the work arm of the robot body on the base member, a safety fence is provided at the place where the robot body is moved and used. There is no need to keep it. Therefore, the degree of freedom in designing a work place such as a factory is expanded.

In this case, it is convenient to provide a connecting means between the base member and the fixing member, but it is also possible to provide it between the robot body and the fixing member.
It is preferable that the wheel is provided so that it can be pulled out from the base member. For example, by pulling the wheel outward while the robot body is attached to the fixed member, stability when using the robot body is improved, and the movable range of the work arm is expanded.

  Further, it is preferable to further provide positioning means for uniquely determining the fixing position of the robot body, such as a combination of positioning pins and positioning holes. This makes it possible to perform robot operations with higher accuracy.

  According to the present invention, it is possible to provide a highly functional robot system that can be moved to a plurality of places, is low in cost, and has excellent work stability.

It is a figure which shows together the cross section and side structure in the II line | wire (refer FIG. 2) of the robot system which concerns on embodiment of this invention. 1 is a plan view of a robot system according to an embodiment of the present invention. (A), (b) is the side view and top view of a fixing member of a robot system concerning an embodiment of the invention. It is a top view which shows the state which looked at the connection part of the robot system from upper direction. It is a side view which shows the state which fixed the robot main-body part to the fixing member, and a part is cross section.

FIG. 1 is a view showing a cross section and a side structure taken along line II (see FIG. 2) of a robot system A according to an embodiment of the present invention. FIG. 2 is a plan view of the robot system A according to the embodiment of the present invention.
As shown in FIGS. 1 and 2, the robot system A according to the first embodiment includes, as main components, a robot body R, a carriage D that is a base member on which the robot body R is mounted, and a robot body R And a fixing member S for fixing to a predetermined part.

The robot main body R is a multi-joint robot including a base 14, a first joint 10, a second joint 11, and a third joint 12 having a hand at the tip. The first joint unit 10, the second joint unit 11, and the third joint unit 12 function as work arms.
The carriage D includes a central portion 31 on which the robot main body R is mounted, connecting portions 32 provided at both ends of the central portion 31, and a total of four drawer portions 33 provided on both sides of the central portion 31 and at both ends. And a total of four wheels 35 attached to each drawer portion 33.
1 and 2 show a state in which the drawer portion 33 is housed in the central portion 31. FIG. The wheel 35 is attached to the drawer part 33 in a state where the middle part 31 of FIG. ing. Since the sliding structure of the drawer portion 33 is a well-known and commonly used structure, the illustration is omitted.

  Further, a controller 20, a casing 21, and a safety fence 23 connected by a chain 22 are arranged on the carriage D as main members. The chain 22 and the safety fence 23 constitute a partition member that partitions the movement range of the robot. An operation box 24 for operating the robot body R is attached to the side surface of the casing 21.

  A cylinder 25 is placed on the connecting portion 32 at both ends of the carriage D, and a positioning pin 27 is attached to the tip of the piston 26 of the cylinder 25. As shown in FIG. 5, the positioning pin 27 slides in the vertical direction along the guide hole 38 provided in the connecting portion 32.

As shown in FIGS. 3A and 3B, the fixing member S includes a central portion 41 that extends substantially linearly, and connecting portions 42 that are provided at both ends of the central portion 41. The connecting portion 42 includes a pair of rotating members 44 that rotate about the central axis O, a carriage fixing lever 45 that engages with a screw portion 46 at the tip of each rotating member 44, and a positioning pin 27 of the carriage D. A cylindrical member 47 having a pin hole 47a that engages with the cylinder member 47 is attached.
An anchor bolt 43 for attaching the fixing member S to the floor surface E is attached to the outside of each connecting portion 42.

As shown in FIG. 4, the connecting portion 32 of the carriage D is provided with a U-groove 37 having a semicircular bottom, and the rotating member 44 of the fixing member S is rotated upward, so that the U-groove 37. (See the broken line in FIG. 4).
The operation box 24 is provided with an air coupler 28 for supplying an air source. Further, a laser marker 29 for centering with the counterpart machine is disposed at the position shown in FIG.

FIG. 5 is a side view showing a connection state when the carriage D is fixed at a predetermined position together with a partial cross-sectional view.
As indicated by broken lines in the figure, the drawer 33 and the wheels 35 are pulled out from the central portion 31 of the carriage D to the side (see the broken line in FIG. 2).
When it is confirmed using the air coupler 28 or the laser marker 29 that the carriage D is installed at a predetermined position, the piston 26 of the cylinder 25 of the carriage D is pushed downward. At this time, the positioning pin 27 moves downward from the guide hole 38 and is fitted into the pin hole 47a of the cylindrical member 47 of the fixing member S. When the positioning pins 27 and the pin holes 47a are fitted (engaged) on both sides of the carriage D, the carriage D is positioned at a predetermined position where the robot body R works.
Then, the rotating member 44 of the connecting portion 42 of the fixing member S rotates upward and engages with the U groove 37 of the connecting portion 32 of the carriage D. In this state, the cart fixing lever 45 is fastened. The carriage fixing lever 45 is fastened on both sides of the carriage D, whereby the carriage D is fixed at a predetermined position.

The positioning pin 27 of the cylinder 25 and the pin hole 47a of the cylindrical member 47 constitute positioning means for setting the position of the robot body R.
However, the positioning means is not limited to the above configuration. For example, a structure in which a pin protrudes from the floor E and engages with a pin hole of the carriage D may be employed, or a structure in which a recess and a protrusion engage with each other may be employed. In addition, a well-known and usual engagement method can be used as the positioning means.

Further, the U groove 37 of the carriage D, the rotating member 44 of the fixing member S, and the lever 45 for fixing the carriage constitute connecting means for connecting the fixing member S and the robot body R via the carriage D. Yes.
However, the connecting means is not limited to the above configuration. As a method of connecting two members, there are various kinds of well-known and commonly used methods, and any of them may be used.

The work arm of the robot body R is determined in a state where the drawer 33 shown by the broken line in FIG. 2 is pulled out to the side. As operations, operations such as welding, inspection, painting, and supplying materials to machine tools and taking out finished products can be performed.
Here, the movable range Rea indicates a range in which the robot tip (hand) can be mechanically moved.
However, in the operation of the robot, teaching by software is performed so that the range in which the hand at the tip of the third joint portion 12 moves does not protrude from the range defined by the safety fence 23 and the chain 22. Depending on the work performed by the robot, the teaching content is changed each time.

According to the present embodiment, the following operational effects can be exhibited.
In this robot system A, by moving with the wheel 35, it becomes possible to move to any place, and work at a plurality of places can be facilitated.
For example, the robot body R is fixed at a certain place for machining during the daytime, and at night, the robot body R is moved and fixed at a different place, and the work arm of the robot body R is replaced with a product. Thus, multifunctional work can be performed with only one robot body R, such as assembly and packing work. Therefore, the number of robot main bodies installed in the work place can be reduced, and the cost of mechanical equipment can be reduced.
Moreover, it is not necessary to provide a large-scale mechanism as in Patent Document 2 and expensive parts as in Patent Document 3, and since it has a simple structure, the robot system R can be constructed at a low cost because of its simple structure. .

Further, since the robot body R is fixed by the fixing member S during the work, the work can be stabilized.
In the said embodiment, although the fixing | fixed site | part was made into the floor surface E, it is not limited to this. For example, it may be fixed to a side wall of the chamber or a part of a large apparatus depending on the state of the work place or the kind of work. Alternatively, the robot body R may be suspended from the ceiling surface and the work arm of the robot body R may be moved near the floor surface.

In the above embodiment, the base member 31 on which the robot main body R is placed is provided, but the base member 31 is not necessarily required. The base 14 of the robot body R may be made sufficiently large and wheels may be attached thereto.
However, by attaching the wheel 35 to the base member D, the common base member D can be used for other types of robot main body R, and the manufacturing cost of the base member S can be reduced.
In that case, it is usual to provide a connecting means between the base member D and the fixing member S as in the above embodiment, but a connecting means may be provided between the robot body R and the fixing member S. Is possible.

In the state in which the wheel 35 is attached to the drawer portion 33 and the drawer portion 33 is provided so as to be able to be pulled out in the horizontal direction from the base member D and the base member D is fixed to the fixing member S, as in the above embodiment. Since 35 is pulled out outwardly, the stability when using the robot body R is improved, and as a result, the movable range of the work arm is expanded.
However, the drawing portion 33 does not have to be drawn as shown by the broken line in FIG. For example, if the drawer portion 33 is structured to be pulled out obliquely, the stability is improved even with respect to the movement of the work arm in the direction orthogonal to the longitudinal direction. As a result, the movable range Rea of the work arm is expanded. However, since there is a disadvantage that the area occupied by the robot system A is increased, the drawing direction and the drawing length may be set in consideration of advantages and disadvantages.

  In the above embodiment, since the positioning means is provided by the combination of the positioning pin 27 and the positioning hole 47a, the robot can be operated with higher accuracy.

  As in the above embodiment, the robot body R is mounted on the base member D by disposing the safety fence 23 (and chain 22), which is a partition member that partitions the teaching range of the work arm of the robot body R. There is no need to provide a safety fence in the place to be moved and used. Therefore, the degree of freedom in designing a work place such as a factory is expanded.

  The structure of the embodiment of the present invention disclosed above is merely an example, and the scope of the present invention is not limited to the scope of these descriptions. The scope of the present invention is indicated by the description of the claims for utility model registration, and further includes all modifications within the meaning and scope equivalent to the description of the claims for utility model registration.

  The present invention can be used to use so-called industrial robots that automatically perform operations such as welding, inspection, painting, supplying materials to machine tools, taking out finished products, assembling, palletizing and unloading. it can.

A robot system D trolley E floor surface R robot body S fixing member 10 first joint 11 second joint 12 third joint 14 base 20 controller 21 housing 22 chain (partition member)
23 Safety fence (partition member)
24 Operation Box 25 Cylinder 26 Piston 27 Positioning Pin 31 Center Part 32 Connection Part 33 Pull-out Part 35 Wheel 37 U Groove 41 Center Part 42 Connection Part 43 Anchor Bolt 44 Turning Member 45 Dolly Fixing Lever 46 Screw Part 47 Cylindrical Member 47a Positioning Hole Rea movable range

Claims (7)

A robot body having a working arm;
Wheels directly or indirectly attached to the robot body,
A fixing member for fixing the position of the robot body,
A connecting means for connecting the fixing member and the robot body,
Robot system equipped with. The robot system according to claim 1, wherein
It further comprises a base member for placing the robot main body,
The wheel is attached to the base member. The robot system according to claim 2, wherein
A partition member that partitions the movement range of the work arm of the robot body is disposed on the base member. The robot system according to claim 2 or 3,
The wheel is provided so as to be able to be pulled out from the base member. In the robot system according to any one of claims 2 to 4,
The connecting means is provided on the base member and the fixing member. In the robot system according to any one of claims 1 to 5,
The fixing member is attached to the floor surface. In the robot system according to any one of claims 1 to 6,
Positioning means for setting the position of the robot body is further provided.

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