JPH11285991A - Robot moving device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot moving device comprising a guide rail, rack, pinion, drive motor, etc., in which dirt, cutting chips, dust, sputter, etc., are not likely to attach to such components mentioned, smooth operations of these component parts are secured, and no wider space for installation is required to ensure that the factory space is used wastelessly. SOLUTION: A robot moving device is composed of a base frame 1 streatching transversely, a left and a right guide rail installed on the inside of the base frame 1 as directed along its longer sides and covered with the base frame 1, a rack attached to one of the guide rails, a robot mounting table 4 arranged on the base frame 1 and set movably on the guide rails, a drive motor installed under the table 4 in such a way as accommodatable inside the base frame 1, and a pinion which meshes with the rack and moves along it when rotated by the motor to cause the mounting table 4 to travel along the guide rails.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The robot moving device of the present invention can mount various robots such as a welding robot, a deburring robot, a sealing robot, and a material handling robot (material handling robot). It is used for moving and positioning.

[0002]

2. Description of the Related Art Conventionally, there has been a robot moving apparatus that moves various robots to a desired work position and positions them.
One example is a robot moving device as shown in FIGS. In this robot moving device, as shown in FIG. 6, a guide rail B is provided on two bases A arranged in parallel at an interval, and a robot mounting table C is set on the guide rail B. A rack D is provided on one base A, and a pinion E provided on the back surface of the robot mounting table C is engaged with the rack D. In this moving device, when the motor F on the robot mounting table C rotates and the pinion E rotates, the pinion E moves in the longitudinal direction of the rack D while rotating along the rack D, and accordingly, the robot mounting table C Move in the same direction, and the robot G mounted thereon moves in the same direction. When the motor F rotates in the reverse direction, the pinion E also rotates in the reverse direction, and the pinion E moves in the reverse direction while rotating in the reverse direction along the rack D, so that both the robot mounting table C and the robot G return.
Normally, a case H is arranged beside the robot moving device as shown in FIGS. 6 and 7, and a cable bear J is accommodated in the case H.

In the case of using the above-mentioned conventional robot moving device, for example, as shown in FIG. 7, a work table K is arranged outside one base A in parallel with it, and a work table K is also arranged outside the cable carrier J. A work table L is arranged in parallel with one work table K
The work placed on the work table L is clamped and held by the material handling robot G mounted on the robot mount C and the other work table L
The work table K is disposed only outside one of the bases A, and the work placed thereon is welded by the welding robot G on the robot mounting table C. In any case, the operation is performed while moving the robot G mounted on the robot mounting table C in the longitudinal direction of the guide rail B.

[0004]

The above-described robot moving apparatus has the following problems. . Since the guide rail B is exposed to the outside, dust, cutting chips, dust during polishing, spatter at the time of welding by a welding robot, and the like adhere to the guide rail B, and the traveling of the robot mounting table C is easily hindered. . Since not only the guide rail B but also the rack D and the pinion E are exposed to the outside, dust, cutting debris, dust, spatter and the like adhere to them as described above.
The smooth engagement between the pinion E and the pinion E is hindered, and the positioning accuracy and the deburring accuracy are not easily maintained. . Since the rack D and the guide rail B are separate bodies, they must be separately mounted on the base A, so that the mounting space is widened, the mounting work is troublesome, and time and labor are required. . Since the motor F is mounted on the robot mounting table C, the mounting table C becomes larger accordingly. . Since the cable bear J is arranged beside (outside) the base A, the entire installation space is increased. In addition, since the cable carrier J is protruding beside the base A, it interferes with placing luggage beside the base A and preventing a worker from passing therethrough. It becomes space and wastes space in the factory.

[0005]

DISCLOSURE OF THE INVENTION An object of the present invention is to prevent dust, cutting debris, dust, spatter, etc. from adhering to guide rails, racks, pinions, drive motors, etc., to ensure their smooth operation, and to facilitate installation. An object of the present invention is to provide a robot moving device that does not take up a large space and wastes space in a factory.

The first invention of the present application relates to a horizontally long base frame, left and right guide rails mounted inside the base frame along the longitudinal direction and covered by the base frame, and one or both guide rails. A rack provided on the rail, a robot mounting table set reciprocally along the left and right guide rails, a drive motor and a pinion provided to fit inside the base frame below the robot mounting table A pinion meshes with the rack, moves along the rack when rotated by a drive motor, and moves the robot mount along a guide rail with the movement. .

According to a second invention of the present application, in the first robot moving device, the robot mounting base is slidable in a lateral direction with respect to a traveling direction.

In a third aspect of the present invention, in the first or second robot moving device, a cable carrier is arranged inside a base frame, one end of the cable carrier is provided on a robot mounting table, and the other end is provided on a base frame. It is fixed to the bottom side of.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS First Embodiment of a Robot Moving Apparatus of the Present Invention
Will be described in detail with reference to FIGS. In this moving device, a guide rail 2 is mounted on one inner surface in the width direction of a horizontally long base frame 1 as shown in FIG. 1 and a guide rail 2 with a rack is mounted on the other inner surface in the width direction as shown in FIGS. A running block 8 mounted on the back of the robot mounting table 4 is fitted on both guide rails 2, and a pinion 6 is mounted on a rotating shaft of a drive motor 5 mounted on the back of the robot mounting table 4. When the pinion 6 meshes with the rack 3 and the pinion 6 is rotated by the drive motor 5, the pinion 6 moves along the rack 3, and accordingly, the robot mounting table 4 moves in the same direction, and is mounted thereon. Robot 9
Move in the same direction. Robot mounting table 4
Moves in the reverse direction when the drive motor 5 rotates in the reverse direction.

In FIG. 1, as a robot 9, a multi-indirect arc welding robot having a plurality of arms 10 rotatably connected and a welding torch 11 attached to the tip of an arm 10 at the tip is used. The optimal position for mounting the welding robot 9 on the workpiece by mounting the robot on the mounting table 4 and moving the robot mounting table 4 to move the welding robot 9 in the direction of arrow a or the direction of arrow b in FIG. It can be positioned at

The base frame 1 is made of metal,
As shown in FIG. 3, the end face is formed in an oblong box shape with an upper opening, and both upper ends are bent inward to form an eave-shaped cover 1.
2 are formed, and a storage space 13 is formed inside.

A guide rail 2 attached to one inner surface (the left inner surface in FIGS. 2 and 3) in the width direction of the base frame 1 is shown in FIG. 4 (a), which is in the form of an elongated rod. An end face fitting groove 14 is formed at one end in the width direction along the longitudinal direction, and a corner fitting groove 15 is formed at a corner at the other end in the width direction along the longitudinal direction. In FIG. 2 and FIG. 3, the guide rail 2 is arranged with the end face fitting groove 14 facing upward and the corner fitting groove 15 facing downward inside, and is fixed with screws.

A guide rail 2 mounted on the other inner surface (the right inner surface in FIGS. 2 and 3) in the width direction of the base frame 1 is shown in FIG. Are integrated, and are generally called guide rails with racks. The guide rail 2 also has an elongated rod shape, and an end face fitting groove 14 is formed at one end in the width direction, and a side face fitting groove 16 is formed at one side face. 2 and 3, the guide rail 2 is connected to the end face fitting groove 1.
4 is oriented upward, the rack 3 is oriented downward, and the side fitting groove 16 is oriented inward and fixed with screws. In this case, the guide rail 2 with the rack and the other guide rail 2
And are mounted in parallel at the same height so as to face each other.

A robot mounting table 4 is disposed above the cover 12 of the base frame 1. As shown in FIGS. 2 and 3, the robot mounting table 4 includes a plate-like base 17 and a slide base 18 mounted on the base 17 so as to be slidable horizontally.
It is composed of The base 17 is supported by the guide rails 2 and is movable in its longitudinal direction by fitting the traveling blocks 8 bolted to both side surfaces thereof to the two guide rails 2 fixed to the base frame 1. is there.

The running block 8 is shown in FIGS. 4 (a) and 4 (b).
As shown in the figure, the end face fitting grooves 14 of the respective guide rails 2,
A fitting projection 19 is formed to fit into the corner fitting groove 15 and the side fitting groove 16. By fitting these fitting projections 19 into the respective fitting grooves 14, 15, 16, the guide is formed. It is movable along its rail 2 in its longitudinal direction.

A drive motor 5 is mounted on the lower surface of a base 17 of the robot mounting table 4 as shown in FIG. 2, and a pinion 6 meshing with the rack 3 is mounted on a rotating shaft thereof via a speed reducer 20. Have been. As a result, when the drive motor 5 rotates forward, the pinion 6 moves in the longitudinal direction along the rack 3 while rotating forward, and the robot mounting table 4 moves in the same direction along the guide rail 2 accordingly. The robot 9 on the robot mounting table 4 moves in the same direction. When the drive motor 5 is rotated in the reverse direction, the pinion 6
Moves in the reverse direction along the rack 3 while rotating in the reverse direction, and accordingly, the robot mounting table 4 also returns, and the robot 9 on the robot mounting table 4 also returns in the same direction.

The slide base 18 is a flat plate having a size and strength on which the various robots 9 can be mounted on the upper surface. As shown in FIGS. 3 and 5, the slide base 18 has brackets 21 having substantially L-shaped end faces attached to the four lower corners thereof, and a movable block 22 attached to the bottom face of each bracket 21. The movable block 22 includes two guide rails 2 fixed on the upper surface of the base 17 in the width direction of the base frame 1.
3 so as to be movable on the guide rail 23 in the longitudinal direction. This guide rail 23 is a rail having the same shape as the guide rail 2 in FIG. 4 (a), and has two end rails facing outward as shown in FIGS. Installed in parallel. As shown in FIG. 5, an air cylinder 24 is disposed between the two guide rails 23 along its longitudinal direction, and the cylinder 25 is fixed on a base 17 by a bracket 26. 24 rods 27 to slide table 1
8 is connected to the lower surface of the
Extends in the longitudinal direction of the guide rail 23, the slide table 1
8 slides in the same direction along the guide rail 23, the robot 9 mounted on the upper surface of the slide table 18 slides in the same direction, and when the rod 27 is contracted, the slide table 18 slides in the opposite direction. The robot 9 mounted on the upper surface of the table 18 also returns in the opposite direction.

As shown in FIG. 1, an auxiliary tool mounting space 29 is provided at the rear of the upper surface of the robot mounting table 4, and a welding wire pack 3 containing a welding wire 30 is provided thereon.
1, the welding wire 30 pulled out from the welding wire pack 31 can be supplied to the welding torch 11 of the welding robot 9 mounted on the robot mounting table 4. In this case, the withdrawn welding wire 30
In order to prevent the arm 10 of the welding robot 9 from entangled with the arm 10 or other members, the supporting rod 32 is moved upward from a substantially intermediate position between the welding wire pack 31 and the welding robot 9 as shown in FIG. The projection is provided so that the welding wire 30 can be supported thereon. A desired robot such as a deburring robot, a sealing robot, and a material handling robot can be mounted on the slide table 18. In this case, not the welding wire pack 31 but the auxiliary tools necessary for each robot 9 can be mounted in the auxiliary tool mounting space 29.

As shown in FIG. 5, a cable carrier 7 is disposed on the inner bottom surface of the base frame 1 shown in FIG. The cable carrier 7 is a general-purpose one, and a plurality of small piece blocks 33 are rotatably connected to each other and formed into a bendable horizontally long box shape, and the drive motor 5, the robot drive motor and the like are provided in the inner space thereof. Power cable to supply power,
Welding power cable for supplying welding power to the robot body, signal cable for transmitting and receiving control signals for controlling the robot and each motor, air supply hose for supplying air to the air cylinder, etc. The cable 34 and the hose 35 can be wired or piped.
In this case, as shown in FIGS. 2 and 3, two elongated rectangular tubular members 36 are provided on the inner bottom surface of the base frame 1 along the longitudinal direction thereof with a space between them so that the cable bear 7 can be arranged therebetween. The cable carrier 7 is arranged between the two members 36, and the lower end of the cable carrier 7 is connected to the longitudinal end of the member 36, and the upper end is connected to the robot mounting table 4. When the robot mounting table 4 is moved in the direction of arrow a in FIG. 1 while being rotatably mounted by a stopper such as a pin, the cable carrier 7 is sequentially pulled upward from between the two members 36, and the robot mounting table 4 is When it moves in the direction of the arrow b, it is sequentially pushed between the two members 36. The member 36 serves to guide the cable carrier 7 and reinforce the base frame 1 as described above.

As shown in FIGS. 1 and 3, a connecting flange 37 is provided at the longitudinal end of the base frame 1 so as to project outward. The flanges 37 are abutted against each other and can be connected and fixed by bolts and nuts. By repeating this connection, the length of the base frame 1 can be reduced to the distance at which the robot 9 is to be moved or the size of the factory. It is designed to be able to be changed according to, for example, the size. In this case, a plurality of base frames 1 having a length of, for example, 6 m or 12 m are prepared, and these are arbitrarily combined as needed. Openings on both outer sides of the plurality of connected base frames 1 are closed by closing covers 38 as shown in FIG. 1 so that no dust enters therein.

(Other Embodiments) The robot moving apparatus of the present invention is not limited to the above-described embodiment, but may have other structures, shapes, mechanisms, and the like. For example, a hydraulic cylinder or the like other than the air cylinder can be used for the slide of the slide table 18. The number of guide rails 2 is not limited to two, but may be larger. The slide table 18 may be slid in a direction oblique to the movement direction of the robot mounting table 4, for example, not in a direction orthogonal to the movement direction of the robot mounting table 4.

[0022]

The first invention of the present application has the following effects. . Since the guide rail is attached to the inside of the base frame and covered by the same frame, dust, cutting chips, dust during polishing, spatter during welding, etc. hardly adhere to the guide rail, and the There is almost no hindrance to running. . Since the rack and the pinion are also housed inside the base frame, dust, cutting chips, dust, spatter, etc. are less likely to adhere to them, ensuring reliable engagement of the rack and pinion at all times, positioning accuracy and burrs. Accuracy is ensured. . Since the rack and the guide rail are integrated, there is no need to separately mount the rack and the guide rail on the base, so that the mounting space can be narrowed and the work of mounting them can be facilitated. . Since the drive motor is also housed inside the base frame, the size of the robot mounting table can be reduced.

The second invention of the present application has the following effects in addition to the above effects. That is, since the robot mounting table can slide in the lateral direction with respect to the traveling direction,
The workable area of the robot also extends in the width direction of the base frame.

The third invention of the present application has the following effects in addition to the above effects. That is, since the cable carrier is arranged inside the base frame, there is no object that projects to the side of the base frame, and the installation space can be reduced. In addition, the cable carrier does not interfere with placing luggage beside the base frame or preventing the worker from passing through, so that the dead space is eliminated and the space can be effectively utilized.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an example of an embodiment of a robot moving device according to the present invention.

FIG. 2 is an explanatory view showing the structure of the robot moving device shown in FIG.

FIG. 3 is an explanatory view showing the structure of the robot moving device shown in FIG. 1;

FIG. 4A is a perspective view showing an example of a guide rail.
(B) is a perspective view showing an example of a guide rail with a rack.

FIG. 5 is an explanatory view of a partial cross section showing the structure of the robot moving device shown in FIG. 1;

FIG. 6 is a front view showing an example of a conventional robot moving device.

FIG. 7 is a plan view showing an example of a conventional robot moving device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Base frame 2 Guide rail 3 Rack 4 Robot mounting stand 5 Drive motor 6 Pinion 7 Cable track

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[Procedure amendment]

[Submission date] April 12, 1999

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] Full text

[Correction method] Change

[Correction contents]

[Document Name] Statement

[Title of the Invention] Robot moving device

[Claims]

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The robot moving device of the present invention can mount various robots such as a welding robot, a deburring robot, a sealing robot, and a material handling robot (material handling robot). It is used for moving and positioning.

[0002]

2. Description of the Related Art Conventionally, there has been a robot moving device for laterally moving and positioning various robots to a desired work position. One example is a robot moving device as shown in FIGS. In this robot moving device, as shown in FIG. 6, a guide rail B is provided on two bases A arranged in parallel at an interval, and a robot mounting table C is set on the guide rail B. A rack D is provided on one base A, and a pinion E provided on the back surface of the robot mounting table C is engaged with the rack D.
In this moving device, when the motor F on the robot mounting table C rotates and the pinion E rotates, the pinion E moves in the longitudinal direction of the rack D while rotating along the rack D,
Accordingly, the robot mounting table C moves in the same direction, and the robot G mounted thereon moves in the same direction. When the motor F rotates in the reverse direction, the pinion E also rotates in the reverse direction, and the pinion E moves in the reverse direction while rotating in the reverse direction along the rack D,
Along with this, both the robot mounting table C and the robot G return. Normally, a case H is arranged beside the robot moving device as shown in FIGS. 6 and 7, and a cable bear J is accommodated in the case H.

In the case of using the above-mentioned conventional robot moving device, for example, as shown in FIG. 7, a work table K is arranged outside one base A in parallel with it, and a work table K is also arranged outside the cable carrier J. A work table L is arranged in parallel with one work table K
The work placed on the work table L is clamped and held by the material handling robot G mounted on the robot mount C and the other work table L
The work table K is disposed only outside one of the bases A, and the work placed thereon is welded by the welding robot G on the robot mounting table C. In any case, the operation is performed while moving the robot G mounted on the robot mounting table C in the longitudinal direction of the guide rail B.

[0004]

The above-described robot moving apparatus has the following problems. . Since the guide rail B is exposed to the outside, dust, cutting chips, dust during polishing, spatter at the time of welding by a welding robot, etc. adhere to the guide rail B, and the traveling of the robot mounting table C is easily hindered. . Since not only the guide rail B but also the rack D and the pinion E are exposed to the outside, dust, cutting debris, dust, spatter and the like adhere to them as described above.
The smooth engagement between the pinion E and the pinion E is hindered, and it is difficult to maintain the positioning accuracy and the deburring accuracy. . Since the rack D and the guide rail B are separate bodies, they must be separately mounted on the base A, so that the mounting space is widened, the mounting work is troublesome, and time and labor are required. . Since the motor F is mounted on the robot mounting table C, the mounting table C becomes larger accordingly. . Since the cable bear J is arranged beside (outside) the base A, the entire installation space is increased. In addition, since the cable carrier J is protruding beside the base A, it interferes with placing luggage beside the base A and preventing a worker from passing therethrough. It becomes space and wastes space in the factory.

[0005]

DISCLOSURE OF THE INVENTION An object of the present invention is to prevent dust, cutting debris, dust, spatter, etc. from adhering to guide rails, racks, pinions, drive motors, etc., to ensure their smooth operation, and to facilitate installation. An object of the present invention is to provide a robot moving device that does not take up a large space and wastes space in a factory.

The robot moving device of the present invention is housed inside.
A space is formed, an upper opening is formed on the upper surface,
Horizontal box-shaped base with connecting flanges at opposite ends
Inside the opposing side walls of the frame,
Guide rail is attached, and one or both guides are
The rails are equipped with racks and guide rails from each side wall
Cover that projects above the top of the guide rail.
The robot is mounted on the upper opening of the base frame.
The platform is placed, and the robot platform is the length of the base frame.
Robot can be mounted on a base that can reciprocate in the hand direction
The slide base is driven by an air cylinder.
Enables reciprocating movement in the width direction of the base frame.
Driving machine consisting of driving motor, reduction gear, etc. under the base
A structure and a pinion are provided, and the drive mechanism and the pinion are
The pinion is stored in the storage space of the base frame.
Meshing with the guide rail rack, the drive mechanism
When it is rotated, it travels along the guide rail and
Run the mounting table in the same direction to store the base frame.
A cable carrier is placed in the space, and the cable carrier
One end is on the robot mount and the other end is on the bottom side of the base frame
Attached to the robot, as the robot mount reciprocates
Can be pulled out from the upper opening of the base frame
So that it can be pushed inside,
Horizontally long box that can be bent by connecting small piece blocks
Shape, and cables and hoses can be wired and plumbed inside.
An inner space is formed .

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS First Embodiment of a Robot Moving Apparatus of the Present Invention
Will be described in detail with reference to FIGS. In this moving device, a guide rail 2 is mounted on one inner surface in the width direction of a horizontally long base frame 1 as shown in FIG. 1 and a guide rail 2 with a rack is mounted on the other inner surface in the width direction as shown in FIGS. A running block 8 mounted on the back of the robot mounting table 4 is fitted on both guide rails 2, and a pinion 6 is mounted on a rotating shaft of a drive motor 5 mounted on the back of the robot mounting table 4. When the pinion 6 meshes with the rack 3 and the pinion 6 is rotated by the drive motor 5, the pinion 6 moves along the rack 3, and accordingly, the robot mounting table 4 moves in the same direction, and is mounted thereon. Robot 9
Move in the same direction. Robot mounting table 4
Moves in the reverse direction when the drive motor 5 rotates in the reverse direction.

In FIG. 1, a multi- joint type arc welding robot in which a plurality of arms 10 are rotatably connected and a welding torch 11 is attached to the tip of an end arm 10 is used as the robot 9. The optimal position for mounting the welding robot 9 on the workpiece by mounting the robot on the mounting table 4 and moving the robot mounting table 4 to move the welding robot 9 in the direction of arrow a or the direction of arrow b in FIG. It can be positioned at

The base frame 1 is made of metal,
As shown in FIG. 3, the end face is formed in an oblong box shape with an upper opening, and both upper ends are bent inward to form an eave-shaped cover 1.
2 are formed, and a storage space 13 is formed inside.

A guide rail 2 attached to one inner surface (the left inner surface in FIGS. 2 and 3) in the width direction of the base frame 1 is shown in FIG. 4 (a), which is in the form of an elongated rod. An end face fitting groove 14 is formed at one end in the width direction along the longitudinal direction, and a corner fitting groove 15 is formed at a corner at the other end in the width direction along the longitudinal direction. In FIG. 2 and FIG. 3, the guide rail 2 is arranged with the end face fitting groove 14 facing upward and the corner fitting groove 15 facing downward inside, and is fixed with screws.

A guide rail 2 mounted on the other inner surface (the right inner surface in FIGS. 2 and 3) in the width direction of the base frame 1 is shown in FIG. Are integrated, and are generally called guide rails with racks. The guide rail 2 also has an elongated rod shape, and an end face fitting groove 14 is formed at one end in the width direction, and a side face fitting groove 16 is formed at one side face. 2 and 3, the guide rail 2 is connected to the end face fitting groove 1.
4 is oriented upward, the rack 3 is oriented downward, and the side fitting groove 16 is oriented inward and fixed with screws. In this case, the guide rail 2 with the rack and the other guide rail 2
And are mounted in parallel at the same height so as to face each other.

A robot mounting table 4 is disposed above the cover 12 of the base frame 1. As shown in FIGS. 2 and 3, the robot mounting table 4 includes a plate-like base 17 and a slide base 18 mounted on the base 17 so as to be slidable horizontally.
It is composed of The base 17 is supported by the guide rails 2 and is movable in its longitudinal direction by fitting the traveling blocks 8 bolted to both side surfaces thereof to the two guide rails 2 fixed to the base frame 1. is there.

The running block 8 is shown in FIGS. 4 (a) and 4 (b).
As shown in the figure, the end face fitting grooves 14 of the respective guide rails 2,
A fitting projection 19 is formed to fit into the corner fitting groove 15 and the side fitting groove 16. By fitting these fitting projections 19 into the respective fitting grooves 14, 15, 16, the guide is formed. It is movable along its rail 2 in its longitudinal direction.

A drive motor 5 is mounted on the lower surface of a base 17 of the robot mounting table 4 as shown in FIG. 2, and a pinion 6 meshing with the rack 3 is mounted on a rotating shaft thereof via a speed reducer 20. Have been. As a result, when the drive motor 5 rotates forward, the pinion 6 moves in the longitudinal direction along the rack 3 while rotating forward, and the robot mounting table 4 moves in the same direction along the guide rail 2 accordingly. The robot 9 on the robot mounting table 4 moves in the same direction. When the drive motor 5 is rotated in the reverse direction, the pinion 6
Moves in the reverse direction along the rack 3 while rotating in the reverse direction, and accordingly, the robot mounting table 4 also returns, and the robot 9 on the robot mounting table 4 also returns in the same direction.

The slide base 18 is a flat plate having a size and strength on which the various robots 9 can be mounted on the upper surface. As shown in FIGS. 3 and 5, the slide base 18 has brackets 21 having substantially L-shaped end faces attached to the four lower corners thereof, and a movable block 22 attached to the bottom face of each bracket 21. The movable block 22 includes two guide rails 2 fixed on the upper surface of the base 17 in the width direction of the base frame 1.
3 so as to be movable on the guide rail 23 in the longitudinal direction. The guide rail 23 is a rail having the same shape as the guide rail 2 in FIG. 4A , and is mounted on the slide base 18 in parallel with the end face fitting groove 14 facing outward as shown in FIG. It is. Also figure
As shown in FIG. 2 , an air cylinder 24 is disposed between the two guide rails 23 along the longitudinal direction thereof, and the cylinder 25 is fixed on a base 17 by a bracket 26, and the rod of the air cylinder 24 is When the rod 27 extends in the longitudinal direction of the guide rail 23, the slide base 18 slides in the same direction along the guide rail 23, and the upper surface of the slide base 18 is connected. When the robot 9 mounted on the slide table slides in the same direction, and the rod 27 is contracted, the slide table 18 slides in the opposite direction, and the robot 9 mounted on the upper surface of the slide table 18 also returns in the opposite direction.

As shown in FIG. 1, an auxiliary tool mounting space 29 is provided at the rear of the upper surface of the robot mounting table 4, and a welding wire pack 3 containing a welding wire 30 is provided thereon.
1, the welding wire 30 pulled out from the welding wire pack 31 can be supplied to the welding torch 11 of the welding robot 9 mounted on the robot mounting table 4. In this case, the withdrawn welding wire 30
In order to prevent the arm 10 of the welding robot 9 from entangled with the arm 10 or other members, the supporting rod 32 is moved upward from a substantially intermediate position between the welding wire pack 31 and the welding robot 9 as shown in FIG. The projection is provided so that the welding wire 30 can be supported thereon. A desired robot such as a deburring robot, a sealing robot, and a material handling robot can be mounted on the slide table 18. In this case, not the welding wire pack 31 but the auxiliary tools necessary for each robot 9 can be mounted in the auxiliary tool mounting space 29.

As shown in FIG. 5, a cable bear 7 is arranged on the inner bottom surface of the base frame 1 shown in FIG. The cable bear 7 is a general-purpose cable, and a plurality of small piece blocks 33 are rotatably connected to each other to form a bendable horizontally long box, and the drive motor 5, the robot drive motor and the like are provided in the inner space. Power cable for supplying power to
Welding power cable for supplying welding power to the robot body, signal cable for transmitting and receiving control signals for controlling the robot and each motor, air supply hose for supplying air to the air cylinder, etc. The cable 34 and the hose 35 can be wired or piped.
In this case , as shown in FIG. 3, two elongated rectangular tubular members 36 are provided on the inner bottom surface of the base frame 1 along its longitudinal direction.
Are arranged in parallel with a distance capable of disposing the cable bear 7 therebetween, the cable bear 7 is disposed between both members 36, and the lower end of the cable bear 7 is attached to the same member. 36, the upper end is attached to the robot mount 4
It is attached rotatably by a stopper such as a connecting pin,
When the robot mounting table 4 moves in the direction of arrow a in FIG.
The bull bear 7 is sequentially pulled out upward from between the two members 36, and is sequentially pushed between the two members 36 when the robot mounting table 4 moves in the direction of the arrow b in FIG. The member 36 serves to guide the cable bearer 7 as described above and to reinforce the base frame 1.

As shown in FIGS. 1 and 3, a connecting flange 37 is provided at the longitudinal end of the base frame 1 so as to project outward. The flanges 37 are abutted against each other and can be connected and fixed by bolts and nuts. By repeating this connection, the length of the base frame 1 can be reduced to the distance at which the robot 9 is to be moved or the size of the factory. It is designed to be able to be changed according to, for example, the size. In this case, a plurality of base frames 1 having a length of, for example, 6 m or 12 m are prepared, and these are arbitrarily combined as needed. Openings on both outer sides of the plurality of connected base frames 1 are closed by closing covers 38 as shown in FIG. 1 so that no dust enters therein.

(Other Embodiments) The robot moving apparatus of the present invention is not limited to the above-described embodiment, but may have other structures, shapes, mechanisms, and the like. For example, a hydraulic cylinder or the like other than the air cylinder can be used for the slide of the slide table 18. The number of guide rails 2 is not limited to two, but may be larger. The slide table 18 may be slid in a direction oblique to the movement direction of the robot mounting table 4, for example, not in a direction orthogonal to the movement direction of the robot mounting table 4.

[0022]

The robot moving apparatus according to the present invention has the following effects. . The guide rail is mounted inside the base frame, and the base frame covers the top of the guide rail.
Dust cover on the guide rail.
Cutting chips, dust at the time of polishing, spatter at the time of welding, and the like hardly adhere, and the running of the robot mounting table is hardly hindered. . Since the rack and the pinion are also stored inside the base frame, dust, cutting debris, dust, spatter, etc. are less likely to adhere to them, ensuring reliable engagement between the rack and the pinion at all times, positioning accuracy and burrs. Accuracy is ensured. . Since the rack and the guide rail are integrated, there is no need to separately mount the rack and the guide rail on the base, so that the mounting space can be narrowed and the work of mounting them can be facilitated. . A drive mechanism consisting of a drive motor, reduction gear, etc.
The pinion is stored in the storage space of the base frame.
Thus, the size of the robot mounting table can be reduced. . Robot mounting table reciprocates in the longitudinal direction of the base frame
A slide base on which a robot can be mounted on a movable base
The slide base is driven by an air cylinder.
Because it can reciprocate in the width direction of the frame, it can slide
The workable area of the robot mounted on the table also extends in the width direction of the base frame. . A cable carrier is placed inside the base frame,
Above the base frame as the robot mount reciprocates
Drawn out or pushed in through the opening
Since there is no such thing, there is no thing protruding to the side of the base frame, and the installation space can be narrowed. In addition, there is no such thing that the cable bear is in the way and the luggage is not placed next to the base frame, and it is not possible for workers to pass through, there is no dead space,
Space can be used effectively. . A connecting flange is provided at the longitudinal end of the base frame.
Provided to connect multiple base frames
Want to move the robot by the length of the base frame
It can be changed according to the distance and the size of the factory.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an example of an embodiment of a robot moving device according to the present invention.

FIG. 2 is an explanatory view showing the structure of the robot moving device shown in FIG.

FIG. 3 is an explanatory view showing the structure of the robot moving device shown in FIG. 1;

FIG. 4A is a perspective view showing an example of a guide rail.
(B) is a perspective view showing an example of a guide rail with a rack.

FIG. 5 is an explanatory view of a partial cross section showing the structure of the robot moving device shown in FIG. 1;

FIG. 6 is a front view showing an example of a conventional robot moving device.

FIG. 7 is a plan view showing an example of a conventional robot moving device.

[Description of Signs] 1 Base frame 2 Guide rail 3 Rack 4 Robot mount 5 Drive motor 6 Pinion 7 Cable bearer 12 Cover 13 Storage space 17 Base 18 Slide stand 20 Reduction gear 24 Air cylinder 33 Small piece block 37 Connecting flange 50 upper opening 51 side wall 53 inner space

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[Document name to be amended] Drawing

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Claims (3)

[Claims] A left and right guide rail (2) attached to the inside of the base frame (1) along its longitudinal direction and covered by the base frame (1); A rack (3) provided on one or both guide rails (2), a robot mount (4) set reciprocally along the left and right guide rails (2), and a robot mount (4) ), A drive motor (5) and a pinion (6) provided to fit inside the base frame (1), and the pinion (6) meshes with the rack (3), and the drive motor (5). ), The robot mount moves along the rack (3), and the robot mount (4) moves along the guide rail (2) with the movement. Location. 2. The robot moving apparatus according to claim 1, wherein the robot mounting base is slidable in a lateral direction with respect to a traveling direction. 3. The robot moving device according to claim 1, wherein a cable bear (7) is disposed inside the base frame (1), and one end of the cable bear (7) is provided on the robot mounting table (4). ), The other end of which is attached to the bottom side of the base frame (1).