JPH0798171B2 - Industrial robot equipment - Google Patents
Industrial robot equipmentInfo
- Publication number
- JPH0798171B2 JPH0798171B2 JP63096064A JP9606488A JPH0798171B2 JP H0798171 B2 JPH0798171 B2 JP H0798171B2 JP 63096064 A JP63096064 A JP 63096064A JP 9606488 A JP9606488 A JP 9606488A JP H0798171 B2 JPH0798171 B2 JP H0798171B2
- Authority
- JP
- Japan
- Prior art keywords
- painting
- work
- robots
- robot
- conveyor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0447—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles
- B05B13/0452—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles the conveyed articles being vehicle bodies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
Landscapes
- Spray Control Apparatus (AREA)
- Automatic Assembly (AREA)
- Manipulator (AREA)
Description
【発明の詳細な説明】 産業上の利用分野 本発明は工業用ロボット装置に係り、特に複数の工業用
ロボットが夫々予め決められた範囲の作業を分担するよ
う構成した工業用ロボット装置に関する。Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial robot apparatus, and more particularly to an industrial robot apparatus configured such that a plurality of industrial robots each share a work in a predetermined range.
従来の技術 例えば、ワークに対して塗装用ロボットを用いて塗装を
施す工業用ロボット装置においては、ワークが自動車の
車体のように比較的大きい場合、複数の塗装用ロボット
を配設し、各塗装用ロボットが夫々塗装作業を分担する
ようになっている。この種の工業用ロボット装置として
は、第８図に示す装置がある。尚、第８図は工業用ロボ
ット装置１を上方から見た平面図である。2. Description of the Related Art For example, in an industrial robot apparatus for painting a work by using a painting robot, when the work is relatively large like a car body, a plurality of painting robots are provided and each painting robot is installed. Robots are each responsible for the painting work. As this type of industrial robot apparatus, there is an apparatus shown in FIG. Incidentally, FIG. 8 is a plan view of the industrial robot apparatus 1 viewed from above.
第８図中、この工業用ロボット装置１では、ワークとし
ての自動車の車体２がコンベヤ３によって所定作業位置
に搬送されると、コンベヤ３の両側に配設された塗装用
ロボット4a〜4fが車体２に対し塗装作業を実行するよう
になっている。上記塗装用ロボット4a〜4fは夫々コンベ
ヤ３の両側に所定間隔毎に配設された移動装置5a〜5f上
に設けられ、作業に必要とされる短い距離だけ矢印X1，
X2方向に移動可能とされている。従って、６台の塗装用
ロボット4a〜4fは、夫々車体２に対して移動装置5a〜5f
による移動可能範囲の塗装作業を分担する。In FIG. 8, in this industrial robot apparatus 1, when a car body 2 of an automobile as a work is conveyed to a predetermined work position by a conveyor 3, coating robots 4a to 4f arranged on both sides of the conveyor 3 are car bodies. The painting work is to be performed on the second item. The coating robots 4a to 4f are provided on moving devices 5a to 5f, which are arranged at predetermined intervals on both sides of the conveyor 3, respectively, and the arrows X 1 ,
It is supposed to be movable in the X 2 direction. Therefore, the six painting robots 4a to 4f respectively move the moving devices 5a to 5f with respect to the vehicle body 2.
Will share the work of painting within the movable range.
即ち、第８図中、１点鎖線で区切るように、右側の塗装
用ロボット4a,4dは車体２の前部2a,2dに塗装を施し、中
央の塗装用ロボット4b,4cは車体２の中央部2b,2eに塗装
を施し、左側の塗装用ロボット4c,4fは車体２の後部2c,
2fに対する塗装作業を行なう。That is, in FIG. 8, the painting robots 4a, 4d on the right side apply painting to the front portions 2a, 2d of the vehicle body 2 and the painting robots 4b, 4c in the middle place the painting robots 4b, 4c at the center of the vehicle body 2 so that they are separated by one-dot chain lines. The parts 2b, 2e are painted, and the painting robots 4c, 4f on the left side are the rear part 2c,
Perform painting work on 2f.
発明が解決しようとする課題 ところが、上記工業用ロボット装置では、６台の塗装用
ロボット4a〜4fが夫々塗装作業の分担範囲のみを移動す
るように設けられているため、６台のうち１台の塗装用
ロボットでも故障してしまうと、他の塗装用ロボットが
故障した塗装用ロボットの分担範囲の補完作業を代わり
に行なうことができず、その部分の塗装が行なえなくな
ってしまうといった課題がある。そのため、従来の工業
用ロボット装置においては、１台でも塗装用ロボットが
故障すると、その故障が直るまで塗装ラインを停止させ
なければならないといった不都合が生ずる。DISCLOSURE OF THE INVENTION Problems to be Solved by the Invention However, in the above industrial robot apparatus, since the six coating robots 4a to 4f are provided so as to move only within the sharing range of the coating work, one of the six robots If the other painting robot also fails, the other robot cannot perform the work of complementing the assigned range of the other painting robot instead, and there is a problem that the part cannot be painted. . Therefore, in the conventional industrial robot apparatus, if even one coating robot fails, the coating line must be stopped until the failure is corrected.
そこで、本発明は上記課題を解決した工業用ロボット装
置を提供することを目的とする。Therefore, an object of the present invention is to provide an industrial robot apparatus that solves the above-mentioned problems.
課題を解決するための手段 本発明は、コンべヤによってワークが所定作業位置に搬
送され、該ワークに対する作業を所定範囲ごとに分担し
て実行するように該コンべヤの周囲に複数の工業用ロボ
ットを設けてなる工業用ロボット装置において、 前記コンべヤの少なくとも片側に前記コンべヤと平行な
方向に延在するように複数の移動装置を並列に設け、 前記複数の移動装置のうち少なくとも一の移動装置に複
数の工業用ロボットを他の工業用ロボットの分担範囲に
移動しうるよう移動自在に設け、かつ、この移動装置は
前記ワークの全長と同程度の長さに延在して設けられて
いることを特徴とする。MEANS FOR SOLVING THE PROBLEMS The present invention is to convey a work to a predetermined work position by a conveyor, and perform a plurality of industrial operations around the conveyor so that the work for the work is divided into predetermined areas and executed. In an industrial robot apparatus provided with a robot for operation, a plurality of moving devices are provided in parallel on at least one side of the conveyor so as to extend in a direction parallel to the conveyor, and among the plurality of moving devices. At least one moving device is provided with a plurality of industrial robots movably so as to be able to move to a range shared by other industrial robots, and the moving device extends to a length substantially equal to the entire length of the work. It is characterized by being provided.
作用 本発明によれば、複数の工業用ロボットが一の移動装置
に移動自在に設けられ、一の工業用ロボットが他の工業
用ロボットの分担範囲に移動することができるので、一
の工業用ロボットが故障しても他の工業用ロボットが故
障した工業用ロボットの分担範囲に移動して補完作業を
実行することが可能となる。よって、複数の工業用ロボ
ットのうち一の工業用ロボットが故障してもコンべヤに
よる生産ラインを停止させずに済み、しかも故障した工
業用ロボットを修理している間も他の工業用ロボットに
より作業を継続できる。Effect According to the present invention, a plurality of industrial robots are movably provided in one moving device, and one industrial robot can move to a shared range of another industrial robot. Even if the robot breaks down, it becomes possible to move to the shared range of the industrial robot where the other industrial robot breaks down and execute the complementary work. Therefore, even if one of the industrial robots breaks down, it is not necessary to stop the production line by the conveyor, and while the broken industrial robot is being repaired, another industrial robot can be stopped. Can continue the work.
実施例 第１図及び第２図に本発明になる工業用ロボット装置の
第１実施例を示す。First Embodiment FIGS. 1 and 2 show a first embodiment of an industrial robot apparatus according to the present invention.
両図中、工業用ロボット装置11はワークとしての車体２
を搬送するコンべヤ３の両側の床面17に設置された４台
の移動装置12〜15と、各移動装置12〜15上に設けられた
塗装用ロボット16a〜16fとよりなる。移動装置12〜15は
夫々車体２の全長と同程度（本実施例では車体２の全長
よりも長くなっている）の長さを有し、コンベヤ３と平
行な方向に並列に延在している。尚、各塗装用ロボット
16a〜16fはアーム等の可動部を左右方向に回動して作業
できるので、移動装置12〜15は車体２の全長より若干短
い長さでも良い。In both figures, the industrial robot apparatus 11 is a vehicle body 2 as a work.
It is composed of four moving devices 12 to 15 installed on the floor surface 17 on both sides of the conveyer 3 for transporting, and coating robots 16a to 16f provided on the moving devices 12 to 15. Each of the moving devices 12 to 15 has a length that is substantially the same as the entire length of the vehicle body 2 (in this embodiment, it is longer than the entire length of the vehicle body 2), and extends in parallel in a direction parallel to the conveyor 3. There is. In addition, each painting robot
Since the movable parts such as the arms 16a to 16f can be rotated by rotating the movable parts in the left and right directions, the moving devices 12 to 15 may have a length slightly shorter than the entire length of the vehicle body 2.
即ち、移動装置13,14はコンべヤ３に近接する位置に設
置され、その外側には移動装置12,15が設置されてお
り、移動装置12と13、14と15は夫々移動可能範囲が重複
するように設けられている。尚、移動装置12〜15につい
ては、周知の装置を用いているため、ここではその説明
を省略する。That is, the moving devices 13 and 14 are installed in a position close to the conveyor 3, and the moving devices 12 and 15 are installed on the outside thereof, and the moving devices 12 and 13, 14 and 15 have movable ranges respectively. It is provided so as to overlap. Since well-known devices are used as the moving devices 12 to 15, the description thereof will be omitted here.
コンべヤ３の両側には上記各移動装置12〜15及び塗装用
ロボット16a〜16fが同じレイアウトで配設されており、
まず第２図中コンべヤ３の右側に配設された部分につき
説明する。The moving devices 12 to 15 and the coating robots 16a to 16f are arranged on both sides of the conveyor 3 in the same layout.
First, the portion arranged on the right side of the conveyor 3 in FIG. 2 will be described.
コンベヤ３に近接する移動装置13には、２台の塗装用ロ
ボット16a,16cが矢印X1，X2方向に移動可能に設けら
れ、外側の移動装置12には１台の塗装用ロボット16bが
同方向に移動可能に設けられている。塗装用ロボット16
a,16cには通常移動装置13の両端近傍の所定位置にあ
り、又塗装用ロボット16bは通常移動装置12の略中央の
処置位置にある。従って、各塗装用ロボット16a〜16cは
夫々移動装置12,13上を移動可能に設けられているが、
通常は、第１図中１点鎖線で区切ったように車体２の前
部2a、中央部2b、後部2cに対応する範囲で移動する。The mobile device 13 close to the conveyor 3, two painting robots 16a, 16c are movable in the arrow X 1, X 2 direction, on the outside of the mobile device 12 is a single coating robot 16b It is provided so that it can move in the same direction. Painting robot 16
The a and 16c are at predetermined positions near both ends of the normal moving device 13, and the coating robot 16b is at a treatment position in the approximate center of the normal moving device 12. Therefore, the coating robots 16a to 16c are provided so as to be movable on the moving devices 12 and 13, respectively.
Normally, the vehicle body 2 moves within a range corresponding to the front portion 2a, the central portion 2b, and the rear portion 2c as delimited by the alternate long and short dash line in FIG.
尚、各塗装用ロボット16a〜16fは夫々同一構成であるの
で、ここでは一の塗装用ロボット16aについて説明し、
他の塗装用ロボット16b〜16dについての説明は省略す
る。塗装用ロボット16aは多関節型の工業用ロボットで
あり、大略移動装置13上に取付けられた基台16a1、基台
16a1上で水平方向に旋回する旋回テーブル16a2、旋回テ
ーブル16a2上に起立する支柱16a3、支柱16a3上端に支持
されたアーム16a4、アーム16a4先端に設けられた手首機
構16a5とよりなる。又、手首機構16a5には塗装ガン16a6
が装着されている。従って、塗装用ロボット16aは塗装
作業を行なう際、移動装置13により分担する作業範囲を
矢印X1，X2方向に移動すると共に、上記各可動部分の動
作により塗装ガン16a6を上，下，前，後，左，右方向に
揺動させながら塗料を噴霧する。又、第２図中、コンべ
ヤ３の左側においても同様なレイアウトがなされてお
り、コンべヤ３に近接する内側の移動装置14には２台の
塗装用ロボット16d,16fが設けられ、外側の移動装置15
には１台の塗装用ロボット16eが設けられている。従っ
て、各塗装用ロボット16d〜16fは夫々、車体２の前部2
d、中央部2e、後部2fを作業範囲として分担する。Since each of the coating robots 16a to 16f has the same configuration, only one coating robot 16a will be described here.
Descriptions of the other painting robots 16b to 16d are omitted. The painting robot 16a is a multi-joint type industrial robot, and is generally a base 16a 1 mounted on the moving device 13 and a base.
Turntable 16a 2 to pivot in the horizontal direction on 16a 1, struts 16a 3 erected on the turntable 16a 2, posts 16a 3 arms 16a 4 is supported on the upper end, the arm 16a 4 wrist mechanism 16a 5 provided at the distal end And consists of. Also, the wrist mechanism 16a 5 has a painting gun 16a 6
Is installed. Therefore, when performing the painting work, the painting robot 16a moves the work range shared by the moving device 13 in the directions of the arrows X 1 and X 2, and moves the painting gun 16a 6 up and down by the operation of each movable part. Spray the paint by rocking it to the front, back, left, and right. Also, in FIG. 2, the same layout is made on the left side of the conveyor 3, and two painting robots 16d and 16f are provided in the moving device 14 inside which is close to the conveyor 3. Outer moving device 15
Is equipped with one painting robot 16e. Therefore, each of the painting robots 16d to 16f has its own front portion 2 of the vehicle body 2.
The work area is divided between the d, the central portion 2e, and the rear portion 2f.
そのため、通常は、第１図に示すように被塗装物である
車体２がコンべヤ３によって作業位置に搬送されると、
６台の塗装用ロボット16a〜16fが予めティーチングされ
た塗装作業を実行し、夫々分担する範囲に塗料を吹付け
る。そして、車体２に対する一連の塗装作業が終ると、
塗装済みの車体２が搬出されるとともに次の車体２が搬
送される。このようにして、工業用ロボット装置11で上
記塗装工程が繰り返される。Therefore, normally, as shown in FIG. 1, when the vehicle body 2, which is the object to be coated, is conveyed to the working position by the conveyor 3,
The six painting robots 16a to 16f execute the painting work which has been taught in advance, and spray the paint to the areas shared by the robots. Then, after a series of painting work on the vehicle body 2,
The painted vehicle body 2 is unloaded and the next vehicle body 2 is transported. In this way, the industrial robot apparatus 11 repeats the above-mentioned coating process.
尚、内側の移動装置13,14に設けられた塗装用ロボット1
6a,16c,16d,16fは車体２に近接し、外側の移動装置12,1
5に設けられた塗装用ロボット16b,16eは車体２より離間
しているが、第２図に示すように、夫々車体２からの距
離に応じて支柱，アーム等の可動部を伸縮動作させてな
るため、支障なく塗装作業を行なえる。The painting robot 1 provided on the inner moving devices 13 and 14
6a, 16c, 16d, and 16f are close to the vehicle body 2 and have moving devices 12, 1 on the outside.
The painting robots 16b and 16e provided on the vehicle 5 are separated from the vehicle body 2, but as shown in FIG. 2, the movable parts such as the columns and arms are extended and contracted according to the distance from the vehicle body 2. Therefore, the painting work can be performed without any trouble.
ところが、工業用ロボット装置11が長期間連続的に使用
され続けると、６台ある塗装用ロボット16a〜16fにおい
て何らかの理由による故障が発生することがある。ここ
で、例えば第１図中塗装用ロボット16aが故障したとす
る。However, if the industrial robot apparatus 11 is continuously used for a long period of time, the six coating robots 16a to 16f may fail for some reason. Here, for example, it is assumed that the painting robot 16a in FIG. 1 fails.
この場合、故障した塗装用ロボット16aを塗装作業の邪
魔にならない位置、即ち移動装置13の右端まで移動させ
る。そして、車体２が搬送されると、中央の塗装用ロボ
ット16bが車体２の中央部2b及び前部2aに塗装を施すよ
うにする。即ち、塗装用ロボット16bは本来分担してい
る中央部2bに対する塗装作業が終ると、矢印X1方向に移
動して前部2aに対する塗装作業を実行する。In this case, the failed painting robot 16a is moved to a position where it does not interfere with the painting work, that is, to the right end of the moving device 13. Then, when the vehicle body 2 is conveyed, the central coating robot 16b applies the coating to the central portion 2b and the front portion 2a of the vehicle body 2. That is, the painting robot 16b moves in the direction of the arrow X 1 and executes the painting work on the front part 2a when the painting work on the central part 2b, which is originally shared, ends.
このように塗装用ロボット16aが故障したときは、隣の
塗装用ロボット16bが応急的に補完作業を実行するた
め、塗装ラインを止めずに済む。従って、塗装用ロボッ
ト16aが故障しても、故障を直すまでの間、塗装時間が
通常より若干長くかかるが、塗装ラインを停止させると
いった重大な損害は免れる。In this way, when the painting robot 16a breaks down, the adjacent painting robot 16b urgently performs the supplementary work, so that it is not necessary to stop the painting line. Therefore, even if the coating robot 16a fails, the coating time will be slightly longer than usual until the failure is fixed, but serious damage such as stopping the coating line can be avoided.
尚、塗装用ロボット16aが故障した場合、他の塗装用ロ
ボット16cが車体２の後半分に塗装を施し、塗装用ロボ
ット16bが車体２の前半分に塗装を施すようにすれば、
塗装時間はより短縮される。また、中央の塗装用ロボッ
ト16bが故障した場合には、この塗装用ロボット16bを移
動装置12の端部に移動させておき、他の塗装用ロボット
16a又は16cが中央部2bの塗装作業を行なうようにする。
従って、６台の塗装用ロボット16a〜16fのうちどのロボ
ットが故障しても、他のロボットが補完作業を行なうこ
とができる。If the coating robot 16a fails, another coating robot 16c will coat the rear half of the vehicle body 2 and a coating robot 16b will coat the front half of the vehicle body 2,
The painting time will be shorter. If the central coating robot 16b fails, the coating robot 16b is moved to the end of the moving device 12 and the other coating robot 16b is moved.
16a or 16c is adapted to perform painting work on the central portion 2b.
Therefore, even if any of the six painting robots 16a to 16f fails, the other robots can perform the complementary work.
又、コンべヤ３の両側に３台ずつの塗装用ロボット16a
〜16c,16d〜16fが配設されているが、コンべヤ３の片側
に配設された３台のうち２台が故障しても残りの１台に
より車体２の全長に亘って塗装を施すことが可能であ
り、片側２台ずつ計４台のロボットが故障しても塗装ラ
インを止めずに済む。Also, there are three painting robots 16a on each side of the conveyor 3.
~ 16c, 16d ~ 16f are provided, but even if two of the three installed on one side of the conveyor 3 fail, the remaining one will be used to coat the entire length of the vehicle body 2. It is possible to apply it, and even if a total of 4 robots, 2 on each side, break down, it is not necessary to stop the painting line.
第３図及び第４図に本発明の第２実施例を示す。両図
中、工業用ロボット装置21は、コンべヤ３の両端に３台
ずつ平行な方向に並列に設置された移動装置22〜27と、
各移動装置22〜27の夫々に１台ずつ識別に設けられた塗
装用ロボット28a〜28fとよりなる。各移動装置22〜27は
夫々車体２の全長よりも長く矢印X1，X2方向に延在して
おり、各塗装用ロボット28a〜28fは夫々独立して車体２
の全長に亘って矢印X1，X2方向に移動できる。A second embodiment of the present invention is shown in FIGS. In both figures, the industrial robot device 21 is composed of three moving devices 22 to 27, which are installed in parallel on both ends of the conveyor 3 in parallel directions.
Each of the moving devices 22 to 27 comprises a coating robot 28a to 28f provided for identification. Each of the moving devices 22 to 27 extends in the directions of the arrows X 1 and X 2 longer than the entire length of the vehicle body 2, and the painting robots 28a to 28f independently of each other.
Can move in the directions of arrows X 1 and X 2 over the entire length of.
通常、各塗装用ロボット28a〜28fは第３図中１点鎖線で
区切られた範囲の塗装作業を実行する。尚、コンべヤ３
より最も離間した移動装置22,27に設けられた塗装用ロ
ボット28a,28dは、車体２よりかなり遠い位置にある
が、支柱及びアーム等の可動部を伸ばすことにより支柱
及びアーム等の可動部を伸ばすことにより支障なく塗装
作業を行なえる。Normally, each of the painting robots 28a to 28f executes the painting work in the range delimited by the one-dot chain line in FIG. Conveyor 3
Although the coating robots 28a and 28d provided on the moving devices 22 and 27 farthest apart from each other are located far from the vehicle body 2, the movable parts such as the columns and arms are extended to move the movable parts such as the columns and arms. By stretching it, you can perform painting work without any problems.
従って、６台の塗装用ロボット28a〜28fのうち一のロボ
ットが故障しても他のロボットが移動装置22〜27により
移動して容易に補完作業を実行できるので、工業用ロボ
ット装置21では塗装ラインを止めずに塗装工程を継続す
ることができる。Therefore, even if one of the six painting robots 28a to 28f fails, the other robots can be easily moved by the moving devices 22 to 27 to perform complementary work. The coating process can be continued without stopping the line.
第５図及び第６図に本発明の第３実施例を示す。両図
中、工業用ロボット装置31は、コンべヤ３の両側に立体
的に設置された移動装置32〜35と、各移動装置32〜35に
設けられ矢印X1，X2方向に移動可能とされた塗装ロボッ
ト36a〜36fとよりなる。FIG. 5 and FIG. 6 show a third embodiment of the present invention. In both figures, the industrial robot apparatus 31 is movable three-dimensionally installed on both sides of the conveyor 3 and movable in the directions X 1 and X 2 provided on each moving apparatus 32-35. It is composed of the painting robots 36a to 36f.
移動装置32,34はコンべヤ３の両側の床面37上に設置さ
れており、その上方には壁面38より水平方向に突出した
梁39が横架されている。そして、梁39上には移動装置3
3,35が設置されている。The moving devices 32 and 34 are installed on the floor surfaces 37 on both sides of the conveyor 3, and a beam 39 horizontally projecting from a wall surface 38 is provided above the floor surfaces 37. The moving device 3 is placed on the beam 39.
3,35 are installed.
塗装用ロボット36b,36eは夫々高所に設置された移動装
置33,35に設けられ、他の塗装用ロボット36a,36cと36d,
36fとは低所に設置された移動装置32,34に設けられてい
る。尚、本実施例では、通常高所に位置する塗装用ロボ
ット36b,36eが車体２の天井部分あるいは上面部分に塗
装を施し、低所に位置する他の塗装用ロボット36a,36c,
36d,36fは車体２の側面の前半、後半部分に塗装を施
す。The painting robots 36b and 36e are respectively provided in the moving devices 33 and 35 installed at high places, and the other painting robots 36a, 36c and 36d,
36f is provided in the moving devices 32 and 34 installed at a low place. In this embodiment, the painting robots 36b, 36e, which are normally located at high places, apply painting to the ceiling or the upper surface of the vehicle body 2, and the other painting robots 36a, 36c, located at low places
36d and 36f are painted on the first half and the second half of the side surface of the vehicle body 2.
しかるに、例えば低所の塗装用ロボット36aが故障した
場合には、他の塗装用ロボット36cが車体２の右側側面
全体に塗装を施す。又、高所の塗装用ロボット36bが故
障した場合には、低所の塗装用ロボット36a又は36c及び
向い側の高所に設けられた塗装用ロボット36eが補完作
業を実行する。However, if the painting robot 36a at a low place breaks down, another painting robot 36c will apply painting to the entire right side surface of the vehicle body 2. When the painting robot 36b at a high place fails, the painting robot 36a or 36c at a low place and the painting robot 36e provided at a high place on the opposite side perform complementary work.
第７図に上記第３実施例の変形例を示す。第７図中、塗
装用ロボット36a,36c,36d,36fは低所の取付面40に設置
された移動装置32,34に設けられ、他の塗装用ロボット3
6b,36eは取付面40より高所に位置する段部41に設置され
た移動装置33,35上に設けられている。従って、高所の
塗装用ロボット36b,36eは車体２の天井又は上面部分に
塗装を施すよう立体的に設けられている。第７図に示す
変形側では床面の形状を段階状にして、移動装置32〜35
及び塗装用ロボット36a〜36fが立体的に設置されている
ので、第６図に示すような壁面38及び梁39は不明であ
る。FIG. 7 shows a modification of the third embodiment. In FIG. 7, the painting robots 36a, 36c, 36d, 36f are provided on the moving devices 32, 34 installed on the mounting surface 40 at a low place, and the other painting robots 3
6b and 36e are provided on the moving devices 33 and 35 installed on the step portion 41 located higher than the mounting surface 40. Therefore, the painting robots 36b and 36e at high places are three-dimensionally provided so as to apply the painting to the ceiling or the upper surface portion of the vehicle body 2. On the deformed side shown in FIG.
Since the painting robots 36a to 36f are installed three-dimensionally, the wall surface 38 and the beam 39 as shown in FIG. 6 are unknown.
尚、上記実施例においては、塗装工程に用いられる塗装
用ロボットを例に挙げて説明したが、例えば溶接ロボッ
ト、シーリングロボット等の他の工業用ロボットにも適
用できるのは勿論である。In the above embodiments, the painting robot used in the painting process has been described as an example, but it is needless to say that the invention can be applied to other industrial robots such as a welding robot and a sealing robot.
又、上記実施例ではコンべヤの両側に３台ずつのロボッ
トを配設したが、ロボットの台数はこれに限らず２台以
上であれば良い。Further, in the above embodiment, three robots are arranged on both sides of the conveyor, but the number of robots is not limited to this, and it is sufficient if the number is two or more.
又、複数の移動装置が全てワークの全長と同程度の長さ
である必要はなく、複数の移動装置のうち少なくとも１
台がワークの全長と同程度であればよい。Further, it is not necessary that all of the plurality of moving devices have the same length as the entire length of the work, and at least one of the plurality of moving devices is
It is sufficient that the table is approximately the same as the total length of the work.
発明の効果 上述の如く、本発明になる工業用ロボット装置は、複数
の工業用ロボットが一の移動装置に移動自在に設けら
れ、一の工業用ロボットが他の工業用ロボットの分担範
囲に移動することができるため、複数の塗装用ロボット
が同一のワークを同時に塗装して短時間でワークの塗装
作業を終了させることができるとともに、一の工業用ロ
ボットが故障しても他の工業用ロボットがその作業位置
に移動して補完作業を実行することができる。従って、
複数の工業用ロボットが故障してもコンべヤによる生産
ラインを停止させずに済み、故障を修理している間も他
の工業用ロボットにより作業を継続させることができる
等の特長を有する。EFFECTS OF THE INVENTION As described above, in the industrial robot apparatus according to the present invention, a plurality of industrial robots are movably provided in one moving device, and one industrial robot moves to a shared range of another industrial robot. Therefore, multiple painting robots can simultaneously paint the same work and finish the work painting work in a short time, and even if one industrial robot fails, another industrial robot can Can move to the work position and perform complementary work. Therefore,
Even if a plurality of industrial robots break down, it is not necessary to stop the production line by the conveyor and other industrial robots can continue the work while repairing the broken down.
第１及び第２図は本発明になる工業用ロボット装置の第
１実施例の平面図，正面図、第３図及び第４図は本発明
の第２実施例の平面図，正面図、第５図及び第６図は本
発明の第３実施例の平面図，正面図、第７図は第６図に
示す装置の変形例の正面図、第８図は従来の工業用ロボ
ット装置を説明するための平面図である。 ２…車体、３…コンべヤ、11,21,31…工業用ロボット装
置、12〜15,22〜27,32〜35…移動装置、16a〜16f,28a〜
28f,36a〜36f…塗装用ロボット。1 and 2 are a plan view and a front view of a first embodiment of an industrial robot apparatus according to the present invention, and FIGS. 3 and 4 are a plan view and a front view of a second embodiment of the present invention. 5 and 6 are a plan view and a front view of the third embodiment of the present invention, FIG. 7 is a front view of a modified example of the apparatus shown in FIG. 6, and FIG. 8 is a description of a conventional industrial robot apparatus. It is a top view for doing. 2 ... Car body, 3 ... Conveyor, 11, 21, 31 ... Industrial robot device, 12-15, 22-27, 32-35 ... Moving device, 16a-16f, 28a-
28f, 36a-36f ... Painting robot.
Claims (1)
搬送され、該ワークに対する作業を所定範囲ごとに分担
して実行するように該コンべヤの周囲に複数の工業用ロ
ボットを設けてなる工業用ロボット装置において、 前記コンべヤの少なくとも片側に前記コンベヤと平行な
方向に延在するように複数の移動装置を並列に設け、 前記複数の移動装置のうち少なくとも一の移動装置に複
数の工業用ロボットを他の工業用ロボットの分担範囲に
移動しうるよう移動自在に設け、かつ、この移動装置は
前記ワークの全長と同程度の長さに延在して設けられて
いることを特徴とする工業用ロボット装置。1. An industrial machine comprising a conveyor to convey a work to a predetermined work position, and a plurality of industrial robots provided around the conveyor so as to divide the work on the work into predetermined work areas and execute the work. In the robot device, a plurality of moving devices are provided in parallel on at least one side of the conveyor so as to extend in a direction parallel to the conveyor, and at least one moving device of the plurality of moving devices has a plurality of industrial devices. It is characterized in that the robot is movably provided so as to be able to move to a range shared by other industrial robots, and the moving device is provided so as to extend to a length substantially equal to the entire length of the work. Industrial robot equipment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63096064A JPH0798171B2 (en) | 1988-04-19 | 1988-04-19 | Industrial robot equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63096064A JPH0798171B2 (en) | 1988-04-19 | 1988-04-19 | Industrial robot equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH01266870A JPH01266870A (en) | 1989-10-24 |
| JPH0798171B2 true JPH0798171B2 (en) | 1995-10-25 |
Family
ID=14154998
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63096064A Expired - Lifetime JPH0798171B2 (en) | 1988-04-19 | 1988-04-19 | Industrial robot equipment |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0798171B2 (en) |
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Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5976570A (en) * | 1982-10-26 | 1984-05-01 | Toyota Motor Corp | Method and device for electrostatic painting |
-
1988
- 1988-04-19 JP JP63096064A patent/JPH0798171B2/en not_active Expired - Lifetime
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Also Published As
| Publication number | Publication date |
|---|---|
| JPH01266870A (en) | 1989-10-24 |
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