JPH07148683A - Working device - Google Patents

Abstract

PURPOSE:To enable the teaching or operation of an industrial robot in any position of a turntable so as to improve space efficiency. CONSTITUTION:A working device is formed of a turntable 13 for placing a workpiece W, a frame 10 instiled in such a way that a beam part 10c fixed to the upper part of a support part 10b is extended from the outside of the turntable 13 toward the inside, and an industrial robot 16 fixed onto the beam part 10c of the frame 10. The turntable 13 is connected to a drive source 14 and rotatably supported on a support base 15. In the industrial robot 16, a turning base 16b with an arm 16c connected thereto is fitted in the turnable state on a fixed base 16a, and the fixed base 16a is fitted onto the beam part 10c of the frame 10, with the turning center of the turning base 16b coinciding with the rotaional center of the turntable 13.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a working device using an industrial robot.

[0002]

2. Description of the Related Art A conventional working device using an industrial robot is shown in FIG. This conventional example is
The figure shows the case of welding. In the figure, 1 and 2 are mounts, on which an industrial robot 3, a robot controller 4, and peripheral devices 5 such as a welding power source are mounted. A turntable 6 is connected to a drive source 7 such as a motor and placed on a stand 2 via a support 8. Reference numeral 9 is a light-shielding plate mounted on the turntable 6 for shielding light during welding. C is a space for loading / unloading the work W, which is set on the turntable 6 on the side opposite to the robot. D is a space for teaching and actual work of the industrial robot, which is a turntable 6
It is set on the robot side above. The arc welding work in the working device having such a configuration will be described. First, the worker performs teaching work in the space D. Next, in the automatic operation, after setting the work W on the turntable 6 in the space C, the turntable 6 rotates 180 °, and the industrial robot 3 moves to the space D.
Weld at. During operation of the industrial robot 3, the next unwelded work W is set. When the industrial robot 3 completes the welding work, the turntable 6 is again 180
Rotate by ° and the unwelded work W is carried into the space D side. At the same time, the work W for which the welding work has been completed is carried out to the space C side. Similarly, work W
Welding work is repeated by carrying in, carrying out, and carrying out.

[0003]

However, in the prior art, it is necessary to provide a space for teaching on the robot side. However, when teaching is completed and automatic operation is started, this space will be used thereafter. Since the space is unnecessary, there is a problem that the space efficiency is poor. In addition, the industrial robot 3, the robot controller 4, the peripheral device 5, and the turntable 6
Since the work devices are arranged so as to be scattered on a plane, there is a problem that the installation space as a whole is large and the weight is heavy. For this reason, conventionally, during transportation,
The device is disassembled into two parts and reassembled on site, and it is costly to maintain relative accuracy between the industrial robot and the jig, to transport and to install. Therefore, an object of the present invention is to provide a working device which improves space efficiency, minimizes installation space and weight of the entire device, and can be easily transported and installed.

[0004]

In order to solve the above-mentioned problems, the working apparatus of the present invention is a turntable on which a work is placed.
Bull, a stand installed so that the beam section fixed to the upper part of the support section extends from the outside to the inside of this turntable, and an industrial robot fixed on the beam section of this stand. The turntable is connected to a drive source and is rotatably supported by a support base, and the industrial robot has a swivel base to which an arm is connected on a fixed base. It is attached to the beam part of the mount so that the turning center of the turning base coincides with the center of rotation of the turn table. In addition, the space on the turntable is divided into two parts with the beam part of the frame as a boundary, and one space is used for loading / unloading the work and for teaching the industrial robot. And the other is a space for actual work. The robot control device and peripheral devices are arranged under the table, and the turn table, robot control device and peripheral devices are mounted on the base of the gantry. It was done, and further,
Between the turntable and the beam portion of the gantry, one end is fixed to the center portion of the turntable on the rotation center of the turntable 13 and the other end is attached to the beam portion via a bearing. Is something

[0005]

By the above means, the turning center of the turning base of the industrial robot is made to coincide with the turning center of the turntable, so that the industrial robot can be rotated at any position of the turntable. Can be operated or
Therefore, the space efficiency can be improved. Also, under the turntable, on the base part of the mount,
Since the turntable, robot controller and peripheral equipment are mounted, the installation space and weight of the working device are minimized, and transportation and installation are easy. Further, since the column is provided between the beam portion and the turntable, it is possible to increase the reaction force generated during the operation of the industrial robot and the rigidity of the work device against the weight of the industrial robot.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will be described below with reference to FIGS. 1 to 4, taking the case of performing arc welding as an example. 1 is a front view showing the working device, FIG. 2 is a side view, and FIGS. 3 and 4 are plan views. 1 in each figure
Reference numeral 0 denotes a mount, which includes a base portion 10a, a support portion 10b, and a beam portion 10.
It consists of c and. A conveying member 10d such as a square pipe for inserting a forklift claw is fixed to the upper portion of the base portion 10a. The robot controller 11 is mounted on the base 10a of the gantry 10.
, Peripheral equipment 12 such as welding power source, and turntable 1
3 and 3 are placed. The robot control device 1
1 and peripheral equipment 12 are arranged under the turntable 13, and the turntable 13 is connected to a drive source 14 such as a motor and is mounted on a base 10a of the pedestal 10 via a support 15. It has been placed. Also, the mount 1
The beam portion 10c of 0 is fixed on the column portion 10b so as to extend from the outer side to the inner side of the turntable 13, and the industrial robot 16 is placed on the upper portion. This industrial robot 16 includes a fixed base 16a, a swivel base 16b, and a rotary base 16b.
The swing base 16b
To the first arm 16c, and the first arm 1c
A second arm 16d is pivotally connected to 6c, and a third arm 16e is pivotally connected to the second arm 16d. Reference numeral 16f is a joint shaft unit rotatably connected to the tip of the third arm 16e, and a link 16g is rotatably connected to the middle of the second arm 16d.
When the third arm 16e is tilted, the link 1
It is not tilted by the action of 6g. Reference numeral 17 is a processing tool such as a welding torch attached to the tip of the joint shaft unit 16f, and 18 is a light shielding plate attached to the turntable 13 along the beam portion 10c of the mount 10. The industrial robot 16 matches the turning center of the turning base 16b with the center of rotation of the turn table 13 to move the fixed base 16a to the beam portion 10c of the mount 10.
Installed on top. Further, in this working device, the turntable 13 is separated from the beam portion 10c of the gantry 10 as a boundary.
The upper space is divided into two, one is used as a space A for loading and unloading work and for teaching an industrial robot, and the other is a space B for actual work. The arc welding work in the working device having such a configuration will be described. First, the worker performs teaching work in the space A. Next, in the automatic operation, after setting the unwelded work W on the turntable 13 in the space A, the turntable 13 rotates 180 °, and the industrial robot 16 performs the welding work in the space B. To do. During operation of the industrial robot 16, the next unwelded work W is set. When the industrial robot 16 completes the welding operation,
The turntable 6 rotates again by 180 °, and the unwelded work W is carried into the space B side. At the same time, the work W for which the welding work has been completed is carried out to the space A side. In the same manner, the welding work is carried out by repeating the work carry-in, the actual work, and the carry-out. Since the industrial robot 16, the robot controller 11, and the peripheral device 12 are all mounted on the pedestal 10, the carrier device in the first embodiment is installed on the pedestal 10 as shown in FIG. By inserting the claw 19a of the forklift 19 into the transport member 10d, the working device as a whole can be easily transported without disassembling. In addition, in the first embodiment, all the devices are collectively placed on one pedestal in order to further improve the space efficiency. However, it is not always necessary to put them all together. If the rotation center of the rotation base coincides with the rotation center of the turntable, the space efficiency can be improved as compared with the conventional case even if the robot control device and the peripheral devices are mounted on another stand. 5 and 6 show the second embodiment, in which a column 20 is provided between the turntable 13 and the beam portion 10c of the mount 10. On the center of rotation of the turntable 13, the column 20 has one end fixed to the center of the turntable 13 and the other end via a bearing 21.
It is attached to c. By doing so, it is possible to increase the reaction force generated during the operation of the industrial robot and the rigidity of the work device against the weight of the industrial robot. Instead of providing the columns 18, the gantry 10 may be a so-called gate type in which the columns 10b are provided on both sides.

[0007]

As described above, according to the present invention, since the turning center of the turning base of the industrial robot coincides with the turning center of the turntable, the industrial robot is -It can be taught or operated at any position in the table, thus improving space efficiency. Also, under the turntable, the turntable, robot controller and peripheral equipment are mounted on the base of the gantry, so the installation space and weight of the work equipment are reduced. It is minimized and easy to carry and install. Further, since the column is provided between the beam portion and the turntable, it is possible to increase the reaction force generated during the operation of the industrial robot and the rigidity of the work device against the weight of the industrial robot.

[Brief description of drawings]

FIG. 1 is a front view of a work apparatus showing a first embodiment of the present invention.

FIG. 2 is a side view of the work device according to the first embodiment.

FIG. 3 is a plan view of the work device according to the first embodiment.

FIG. 4 is a plan view showing a method of transporting the work device according to the first embodiment.

FIG. 5 is a front view of a work apparatus showing a second embodiment.

6 is a cross-sectional view taken along line XX in FIG.

FIG. 7 is a front view of a work device showing a conventional technique.

[Explanation of symbols]

 10 Stand 11 Robot Control Device 12 Peripheral Device 13 Turntable 14 Drive Source 15 Support 16 Industrial Robot 20 Support

Claims (5)

[Claims] 1. A cradle in which a turntable on which a work is placed and a beam portion fixed to an upper portion of a support column are installed so as to extend from the outside to the inside of the turntable. When,
An industrial robot fixed on a beam portion of the frame, the turntable is connected to a driving source and rotatably supported by a support base, and the industrial robot is A swivel base connecting the frames is rotatably mounted on the fixed base, and the swivel center of the swivel base is aligned with the rotational center of the turntable to fix the fixed base. A working device mounted on a beam portion of the gantry. 2. A turntable with the beam portion of the frame as a boundary.
The space on the bull is divided into two, one for work loading / unloading and one for teaching industrial robots, and the other space for actual work. The working device according to claim 1. 3. The work apparatus according to claim 1, wherein a robot controller and peripheral devices are arranged below the turntable. 4. The work apparatus according to claim 3, wherein the turntable, the robot controller and peripheral equipment are mounted on a base portion of the gantry. 5. Between the turntable and the beam portion of the gantry, one end is fixed to the center portion of the turntable on the center of rotation of the turntable 13, and the other end is fixed to the beam portion via a bearing. The working device according to any one of claims 1 to 4, further comprising a support column attached thereto.