JP2016203346A - Robot system and robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot system capable of easily determining a position of an object with respect to a robot, and the robot.SOLUTION: A robot system 100 comprises: a first robot; a first cell being provided with the first robot and movable; and a positioning section being provided inside the first cell and positioning an object. Further, the robot system 100 comprises: a first transportation section transporting the object to the positioning section; and a second transportation section transporting the object. It is preferable that the second transportation section have a transportation direction different from a transportation direction in which the first transportation section transports the object. Furthermore, the robot is provided to the movable cell. The robot has the positioning section positioning the object inside the cell, and works with respect to the object positioned by the positioning section.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a robot system and a robot.

  Conventionally, a robot system including a robot having a robot arm and a cell that supports the robot is known. The robot arm provided in the robot has a plurality of arms (arm members) connected via joints, and a hand is attached to the most distal (most downstream) arm as an end effector, for example. The joint is driven by a motor, and the arm is rotated by driving the joint. Then, for example, the robot grips an object with a hand, moves the object to a predetermined location, and performs operations such as assembly.

  As an example of such a robot system, Patent Document 1 discloses a robot system (production apparatus) having a robot including two robot arms and a cell that supports the robot.

  In addition, when such a robot system is attached to an external device outside a cell, such as a belt conveyor, and the robot is operated on a workpiece (object) placed on the external device, the external device A positioning part for determining the position of the workpiece with respect to the robot is usually provided.

JP 2012-187663 A

  However, if there is a positioning unit in an external device outside the cell, a positioning unit for positioning the workpiece with respect to the robot in the cell is installed every time the cell is moved, It was necessary to install the cell so that the robot was located at the position. Further, if the positioning unit is outside the robot cell, the robot system becomes large.

  SUMMARY An advantage of some aspects of the invention is to solve at least a part of the problems described above, and the invention can be implemented as the following forms or application examples.

(Application example 1)
The robot system of the present invention includes a first robot,
A first cell provided with the first robot and movable;
A positioning unit that is provided inside the first cell and positions an object.

  Thereby, since the relative position with respect to the 1st cell of the positioning part is decided, the operation | work which installs a cell so that a 1st robot may be located in an appropriate position with respect to a positioning part can be omitted. Therefore, the first cell provided with the first robot can be easily moved. In addition, since the positioning unit is provided inside the first cell, the robot system can be made smaller than in the case where the positioning unit is provided outside the first cell.

(Application example 2)
In the robot system according to the aspect of the invention, it is preferable to include a first transport unit that transports the object to the positioning unit.

  Thereby, compared with the case where it does not have a 1st conveyance part, a target object can be conveyed to a positioning part more rapidly. In addition, by having the first transport unit, the first robot that is in the process of transporting the object to the positioning unit by the first transport unit can perform other operations. Therefore, the tact time can be shortened.

(Application example 3)
In the robot system of the present invention, the robot system includes a second transport unit that transports the object,
It is preferable that the 2nd conveyance part differs in the conveyance direction which conveys the said 1st conveyance part and the said target object.

  Thereby, for example, the second transport unit can be used as a transport unit that discharges defective objects among the objects transported by the first transport unit.

(Application example 4)
In the robot system according to the aspect of the invention, it is preferable that the robot system includes a driving unit that drives the first transport unit and the second transport unit.

  Thereby, the number of drive units can be reduced because the first transport unit and the second transport unit can be driven by one drive unit.

(Application example 5)
In the robot system according to the aspect of the invention, it is preferable that each of the first transport unit and the second transport unit has a portion installed inside the first cell.
Thereby, the installation space of the robot system can be further reduced.

(Application example 6)
In the robot system of the present invention, the robot system includes a third transport unit that transports the object,
It is preferable that the 3rd conveyance part differs in the conveyance direction which conveys the said 2nd conveyance part and the said target object.

  Thereby, for example, the third transport unit can be used as a transport unit that transports an object in which the defect of the target object transported by the second transport unit is improved.

(Application example 7)
In the robot system of the present invention, each of the first transport unit, the second transport unit, and the third transport unit has a portion installed inside the first cell,
In the first cell, the installation height of the third transport unit is higher than the installation height of the second transport unit,
In the first cell, it is preferable that the installation height of the second transport unit is higher than the height of the first transport unit.

Thereby, for example, the object can be more easily transported from the first transport unit to the second transport unit. Further, for example, the object can be more easily transported from the third transport unit to the first transport unit by the first robot. For this reason, the tact time can be further shortened.
(Application example 8)
In the robot system of the present invention, a second robot that places the object on the first transport unit;
A second cell provided with the second robot,
The first robot operates in the first cell;
The second robot preferably operates in the second cell.

  As a result, for example, if the first robot can move into the second cell, it is necessary to stop the first robot and the second robot when maintenance is performed due to a malfunction in the second cell. The maintenance in the second cell can be performed without performing the above. For this reason, it is possible to reduce a decrease in the production capacity of the entire robot system.

(Application example 9)
In the robot system of the present invention, the first robot is
An n-th arm rotatable around an n-th (n is an integer of 1 or more) rotation axis;
It is preferable that the n-th arm includes an (n + 1) arm provided to be rotatable around an (n + 1) -th rotation axis that is an axial direction different from the axial direction of the n-th rotation axis. .

  Thereby, since the movable range of a 1st robot can be expanded, the workability | operativity of a 1st robot can be improved more.

(Application example 10)
In the robot system of the present invention, the length of the n-th arm is longer than the length of the (n + 1) -th arm,
It is preferable that the nth arm and the (n + 1) arm can overlap with each other when viewed from the axial direction of the (n + 1) th rotation axis.

  As a result, the space for preventing the first robot from interfering when the tip of the (n + 1) th arm is moved to a position different by 180 ° around the nth rotation axis can be reduced. Thereby, the size of the first cell can be reduced, and the installation space for installing the robot system can be further reduced.

(Application Example 11)
In the robot system of the present invention, the first robot includes a base provided in the first cell,
The n-th arm is preferably provided on the base.

  Thereby, the n-th arm and the (n + 1) -th arm can be rotated with respect to the base.

(Application Example 12)
In the robot system of the present invention, the first robot includes a base provided in the first cell;
An n-th arm provided on the base and rotatable about an n-th (n is an integer of 1 or more) rotation axis;
It is preferable that the n-th arm includes an (n + 1) arm provided to be rotatable around an (n + 1) axis that is an axial direction parallel to the axial direction of the n-th rotation shaft.

  Thereby, the small 1st robot which has the nth arm and the (n + 1) th arm which rotate around the nth rotation axis can be provided, and the area where the 1st robot is arranged can be made smaller.

(Application Example 13)
In the robot system according to the aspect of the invention, the connection portion between the base and the nth arm may be positioned vertically above the connection portion between the nth arm and the (n + 1) th arm. It is preferable to be provided.

  Accordingly, the first robot can be provided so as to be suspended, and thus the work range of the first robot in the vertically lower direction can be made wider than that of the first robot.

(Application Example 14)
In the robot system of the present invention, the first cell has a ceiling part,
The base is preferably provided on the ceiling.

  As a result, the first robot can be provided so as to be suspended from the ceiling, so that the work range of the first robot in the vertically downward direction can be made wider than that of the first robot.

(Application Example 15)
In the robot system of the present invention, it is preferable that the robot system has a changing mechanism capable of changing the installation height of the first robot with respect to the first cell.

  Thereby, when it is desired to change the arrangement of the first robot according to the operation range of the first robot, the arrangement of the first robot can be changed without redesigning the configuration of the entire first cell.

(Application Example 16)
In the robot system of the present invention, the first robot has a base attached to the first cell, and an nth (n is 1) arm connected to the base.
The changing mechanism includes a spacer that changes a separation distance between the base and the first cell.

  Thereby, when it is desired to change the arrangement of the first robot to an appropriate position according to the operation range of the first robot, the first robot can be easily arranged at an appropriate position by attaching / detaching or changing the spacer. Can do.

(Application Example 17)
In the robot system of the present invention, it is preferable that a gas supply unit that is provided in the first cell and supplies clean gas is provided.
Thereby, the cleanliness (cleanness) in a 1st cell can be raised.

(Application Example 18)
In the robot system according to the aspect of the invention, it is preferable that the gas flows vertically downward from the gas supply unit.
Thereby, the cleanliness in a 1st cell can be raised more efficiently.

(Application Example 19)
In the robot system according to the aspect of the invention, it is preferable that the gas supply unit includes a filter.
Thereby, the cleanliness in the first cell can be further increased.

(Application example 20)
The robot of the present invention is a robot provided in a movable cell,
A positioning unit for positioning an object is located inside the cell and operates on the object positioned by the positioning unit.

  Thereby, since the relative position with respect to the cell of a positioning part is decided, the position of the target object with respect to a robot can be determined easily.

1 is a perspective view showing a first embodiment of a robot system of the present invention. It is a front view of the robot system shown in FIG. It is a rear view of the robot system shown in FIG. It is a left view of the robot system shown in FIG. It is a right view of the robot system shown in FIG. It is a figure which shows the robot shown in FIG. It is the schematic of the robot shown in FIG. FIG. 7 is a side view of the robot shown in FIG. 6. FIG. 7 is a side view of the robot shown in FIG. 6. It is a figure for demonstrating operation | movement of the robot shown in FIG. It is a figure which shows the movement path | route of the front-end | tip part of the robot arm which the robot shown in FIG. 6 has. It is a top view of the conveyance unit shown in FIG. It is a perspective view of the conveyance unit shown in FIG. It is a figure which shows the positioning part shown in FIG. It is a figure which shows 2nd Embodiment of the robot system of this invention. It is a figure which shows 3rd Embodiment of the robot system of this invention. It is a figure which shows 4th Embodiment of the robot system of this invention. It is a figure which shows the connection board (connection part) which the robot system shown in FIG. 17 has. It is a figure for demonstrating the connection of the two 1st conveyance parts which the robot system shown in FIG. 17 has. It is a figure which shows the other example of a connection of the two 1st conveyance parts shown in FIG.

  Hereinafter, a robot system and a robot according to the present invention will be described in detail based on preferred embodiments shown in the accompanying drawings.

<Robot system>
<First Embodiment>
FIG. 1 is a perspective view showing a first embodiment of the robot system of the present invention. FIG. 2 is a front view of the robot system shown in FIG. FIG. 3 is a rear view of the robot system shown in FIG. FIG. 4 is a left side view of the robot system shown in FIG. FIG. 5 is a right side view of the robot system shown in FIG. FIG. 6 is a diagram showing the robot shown in FIG. FIG. 7 is a schematic diagram of the robot shown in FIG. 8 and 9 are side views of the robot shown in FIG. 6, respectively. FIG. 10 is a diagram for explaining the operation of the robot shown in FIG. FIG. 11 is a diagram showing a movement path of the tip of the robot arm included in the robot shown in FIG. 12 is a plan view of the transport unit shown in FIG. FIG. 13 is a perspective view of the transport unit shown in FIG. FIG. 14 is a diagram illustrating the positioning unit illustrated in FIG. 13.

  In the following, for convenience of explanation, the upper side in FIGS. 1 to 10 and 14 is referred to as “upper” or “upper”, and the lower side is referred to as “lower” or “lower” (FIGS. 15 and 16 described later). The same applies to (a) and FIG. In addition, the base side in FIGS. 1 to 10 is referred to as “base end” or “upstream”, and the opposite side (hand side) is referred to as “tip” or “downstream” (the same applies to FIGS. 15 and 17 described later). . Also, the vertical direction in FIGS. 2 to 10 is the “vertical direction” and the horizontal direction is the “horizontal direction” (the same applies to FIGS. 15, 16A, and 17 described later). In addition, in FIGS. 1 to 5 and FIGS. 11 to 14, for convenience of explanation, the X axis, the Y axis, and the Z axis are illustrated as three axes orthogonal to each other (the same applies to FIGS. 15 to 20 described later). . Hereinafter, the direction parallel to the X axis is also referred to as “X axis direction”, the direction parallel to the Y axis is also referred to as “Y axis direction”, and the direction parallel to the Z axis is also referred to as “Z axis direction”. In the following, the tip side of each illustrated arrow is referred to as “+ (plus)”, and the base end side is referred to as “− (minus)”.

  1 to 5 includes a robot cell 50 having a cell (first cell) 5 and a robot (first robot) 1, a transfer unit 3, a positioning unit 90, an imaging unit 36, The control unit 7, the display operation unit 70, and the gas supply unit 60 are included.

  The robot system 100 can be used in a manufacturing process for manufacturing precision equipment such as a wristwatch, for example.

Hereinafter, each part which comprises the robot system 100 is demonstrated sequentially.
<cell>
The cell 5 shown in FIGS. 1 to 5 is a frame surrounding the robot 1 and can be easily moved.

  The cell 5 includes, for example, a foot portion 54 for installing the entire cell 5 in an installation space such as the ground (floor), a bottom portion 52 supported by the foot portion 54, four support columns 51 provided on the bottom portion 52, and 4 And a ceiling portion (mounting portion) 53 erected on the two columns 51. The cell 5 has a working part (first member) 55 attached to four struts 51 provided between the bottom part 52 and the ceiling part 53.

  The bottom 52 has a rectangular plate shape in plan view (viewed from the vertical direction) and faces the installation space. On the bottom 52, the control unit 7 is provided.

  The foot portion 54 includes a plurality of casters 541, an adjuster (foot) 542, and a fixture 543 provided at each corner of the bottom portion 52. The cell 5 can be moved by a caster 541. The cell 5 is leveled in the installation space by the adjuster 542. Further, the cell 5 is fixed to the installation space by a fixing tool 543.

  Each of the four support columns 51 has a lower end attached to a corner of the bottom 52. In addition, a work portion 55 having a plate shape is attached to each central portion in the longitudinal direction of the four support columns 51.

  The upper surface of the working unit 55 is opposed to the ceiling unit 53, and serves as a work surface 551 on which the robot 1 can perform operations such as material supply and material removal. Further, the transport unit 3 is provided on the working unit 55, and the work surface 551 also functions as a placement surface on which the transport unit 3 is placed.

  A gap 56 is provided between the working unit 55 and each support column 51. Although not shown, a cable (wiring), piping, or the like that connects the control unit 7 and the robot 1 (described later) is inserted into the gap 56. In addition, a wiring duct 59 through which a cable, piping, or the like is inserted is attached to the support column 51 along the longitudinal direction of the support column 51. Cables, pipes, and the like from the gap 56 are inserted into the wiring duct 59. By providing the gap 56 and the wiring duct 59 as described above, it is possible to prevent cables, piping, and the like from interfering with the transport unit 3 and the robot 1. Note that the number and arrangement of the gaps 56 and the wiring ducts 59 are not limited to those shown in the figure, and are arbitrary.

  The ceiling portion 53 has a quadrangular frame shape in plan view, and the upper end portion is connected to the support column 51 at each corner portion thereof. The ceiling portion 53 is a member that supports the robot 1, and the upper surface of the ceiling portion 53 is a ceiling surface (attachment surface) 531. A base 11 of the robot 1 described later is supported on the ceiling surface 531 via a mounting plate 57. Thereby, the robot 1 is supported by the cell 5 so as to be suspended.

  Such a cell 5 has four side portions provided between two adjacent columns 51. In the following description, the side part on the −X axis side is referred to as “first side part 581”, the side part on the −Y axis side is referred to as “second side part 582”, and the side part on the + X axis side is referred to as “third side part”. Portion 583 ", and the + Y-axis side surface portion is referred to as" fourth side surface portion 584 ".

  Further, the cell 5 has an internal space surrounded by four side surface parts 581, 582, 583, 584, a bottom part 52 and a ceiling part 53. Hereinafter, the space between the ceiling 53 and the working unit 55 in the internal space is referred to as “first space S1”, and the space between the bottom 52 and the working unit 55 is referred to as “second space S2.”

  In addition, although not shown in the figure, the portion facing the first space S1 and the ceiling portion 53 of the first side surface portion 581, the second side surface portion 582, the third side surface portion 583, and the fourth side surface portion 584, for example, work A safety plate is installed to prevent foreign objects such as persons (human beings) and dust from entering the first space S1. In addition, although not shown, a safety plate is installed in a portion of the first side surface portion 581, the third side surface portion 583, and the fourth side surface portion 584 that faces the second space S <b> 2 to protect the control unit 7, for example. ing. The safety plate may be omitted as necessary.

  Further, as described above, the cell 5 is movable by the casters 541. However, the cell 5 can also be transported by a transport device such as a forklift (not shown). The cell 5 includes a moving mechanism (not shown) that moves the cell 5 by a driving force such as a motor, and a movement control unit (not shown) that controls the driving of the moving mechanism, and is configured to self-run. May be.

  In the above description, the ceiling portion 53 and the mounting plate 57 are configured separately, but the ceiling portion 53 and the mounting plate 57 may be integrated.

<robot>
The robot 1 shown in FIG. 1 can perform operations such as feeding, removing, transporting and assembling precision instruments and parts (objects) constituting the precision equipment.

  As shown in FIG. 6, the robot 1 has a base 11 and a robot arm 10. The robot arm 10 includes a first arm (n-th arm) 12, a second arm ((n + 1) -arm) 13, a third arm 14, a fourth arm 15, a fifth arm 16, and a sixth arm 17 (six arms). ), A first drive source 401, a second drive source 402, a third drive source 403, a fourth drive source 404, a fifth drive source 405, and a sixth drive source 406 (six drive sources). . Note that, for example, an end effector such as a hand 91 that holds a precision instrument, a component, or the like can be detachably attached to the tip of the sixth arm 17.

  The robot 1 includes a base 11, a first arm 12, a second arm 13, a third arm 14, a fourth arm 15, a fifth arm 16, and a sixth arm 17 from the base end side. This is a vertical articulated (6-axis) robot connected in this order toward the tip side. Hereinafter, the first arm 12, the second arm 13, the third arm 14, the fourth arm 15, the fifth arm 16, and the sixth arm 17 are also referred to as “arms”. The first drive source 401, the second drive source 402, the third drive source 403, the fourth drive source 404, the fifth drive source 405, and the sixth drive source 406 are also referred to as “drive sources (drive units)”.

  The base 11 is a portion (a member to be attached) fixed to the attachment plate 57. In the present embodiment, the plate-like flange 111 provided at the lower part of the base 11 is fixed to the back surface (vertically lower surface) of the mounting plate 57, but the portion fixed to the mounting plate 57 is For example, the upper surface of the base 11 may be used. Moreover, it does not specifically limit as this fixing method, For example, the fixing method by a several volt | bolt, etc. are employable.

  The robot arm 10 is supported to be rotatable with respect to the base 11, and the arms 12 to 17 are supported to be independently displaceable with respect to the base 11.

  The first arm 12 has a bent shape. The first arm 12 is connected to the base 11, a first portion 121 extending vertically downward from the base 11, a second portion 122 extending horizontally from the lower end of the first portion 121, and a second The portion 122 is provided at the end opposite to the first portion 121 and has a third portion 123 extending in the vertical direction and a fourth portion 124 extending in the horizontal direction from the tip of the third portion 123. ing. The first portion 121, the second portion 122, the third portion 123, and the fourth portion 124 are integrally formed. Further, the second portion 122 and the third portion 123 are substantially orthogonal when viewed from the front of the sheet of FIG. 6 (in front view orthogonal to both the first rotation axis O1 and the second rotation axis O2 described later). (Intersection).

  The second arm 13 has a longitudinal shape and is connected to the distal end portion of the first arm 12 (the end portion of the fourth portion 124 opposite to the third portion 123).

  The third arm 14 has a longitudinal shape and is connected to an end of the second arm 13 opposite to the end to which the first arm 12 is connected.

  The fourth arm 15 is connected to the end of the third arm 14 opposite to the end to which the second arm 13 is connected. The fourth arm 15 has a pair of support portions 151 and 152 facing each other. The support portions 151 and 152 are used for connection with the fifth arm 16.

  The fifth arm 16 is located between the support portions 151 and 152 and is connected to the support portions 151 and 152 so as to be connected to the fourth arm 15. In addition, the 4th arm 15 is not restricted to this structure, For example, one support part (cantilever) may be sufficient.

  The sixth arm 17 has a flat plate shape and is connected to the tip of the fifth arm 16. In addition, a hand 91 is detachably attached to the tip of the sixth arm 17 (the end opposite to the fifth arm 16). The hand 91 is not particularly limited, and examples thereof include a structure having a plurality of fingers.

  In addition, the exterior of each arm 12-17 mentioned above may each be comprised by one member, and may be comprised by the some member.

  Next, the driving sources 401 to 406 will be described together with driving the arms 12 to 17 with reference to FIGS. 6 and 7. FIG. 7 is a schematic view of the robot 1 and shows a state seen from the right side of FIG. 7 shows a state in which the arms 13 to 17 are rotated from the state shown in FIG.

  As shown in FIG. 7, the base 11 and the first arm 12 are coupled via a joint (connection portion) 171. Note that the joint 171 may or may not be included in the base 11. The joint 171 has a mechanism that supports the first arm 12 connected to the base 11 so as to be rotatable with respect to the base 11. As a result, the first arm 12 can rotate with respect to the base 11 around the first rotation axis (n-th rotation axis) O1 parallel to the vertical direction (around the first rotation axis O1). It has become. The first rotation axis O <b> 1 is a rotation axis that is on the most upstream side of the robot 1. The rotation around the first rotation axis O1 is performed by driving a first drive source 401 having a motor 401M. The first drive source 401 is driven by a motor 401M and a cable (not shown), and the motor 401M is controlled by the control unit 7 (control device 71) via an electrically connected motor driver 301. The first drive source 401 may be configured to transmit the driving force from the motor 401M by a speed reducer (not shown) provided together with the motor 401M, or the speed reducer may be omitted.

  Further, the first arm 12 and the second arm 13 are coupled via a joint (connection portion) 172. The joint 172 has a mechanism that supports one of the first arm 12 and the second arm 13 connected to each other so as to be rotatable with respect to the other. As a result, the second arm 13 rotates about the second rotation axis ((n + 1) rotation axis) O2 parallel to the horizontal direction (about the second rotation axis O2) with respect to the first arm 12. It is possible to move. The second rotation axis O2 is orthogonal to the first rotation axis O1. The rotation around the second rotation axis O2 is performed by driving a second drive source 402 having a motor 402M. The second drive source 402 is driven by a motor 402M and a cable (not shown), and the motor 402M is controlled by the control unit 7 (control device 71) via an electrically connected motor driver 302. The second drive source 402 may be configured to transmit the driving force from the motor 402M by a speed reducer (not shown) provided together with the motor 402M, or the speed reducer may be omitted. Further, the second rotation axis O2 may be parallel to an axis orthogonal to the first rotation axis O1, and the second rotation axis O2 is not orthogonal to the first rotation axis O1. However, the axial directions may be different from each other.

  Further, the second arm 13 and the third arm 14 are coupled via a joint (connection portion) 173. The joint 173 has a mechanism that supports one of the second arm 13 and the third arm 14 connected to each other so as to be rotatable with respect to the other. As a result, the third arm 14 is rotatable with respect to the second arm 13 around the third rotation axis O3 parallel to the horizontal direction (around the third rotation axis O3). The third rotation axis O3 is parallel to the second rotation axis O2. The rotation around the third rotation axis O <b> 3 is performed by driving the third drive source 403. The third drive source 403 is driven by a motor 403M and a cable (not shown), and the motor 403M is controlled by the control unit 7 (control device 71) through an electrically connected motor driver 303. . The third drive source 403 may be configured to transmit a driving force from the motor 403M by a speed reducer (not shown) provided together with the motor 403M, or the speed reducer may be omitted.

  Further, the third arm 14 and the fourth arm 15 are coupled via a joint (connection portion) 174. The joint 174 has a mechanism for supporting one of the third arm 14 and the fourth arm 15 connected to each other so as to be rotatable with respect to the other. As a result, the fourth arm 15 can rotate with respect to the third arm 14 around the fourth rotation axis O4 parallel to the central axis direction of the third arm 14 (around the fourth rotation axis O4). It has become. The fourth rotation axis O4 is orthogonal to the third rotation axis O3. The rotation around the fourth rotation axis O4 is performed by driving the fourth drive source 404. The fourth drive source 404 is driven by a motor 404M and a cable (not shown), and the motor 404M is controlled by the control unit 7 (control device 71) through an electrically connected motor driver 304. . The fourth drive source 404 may be configured to transmit the driving force from the motor 404M by a speed reducer (not shown) provided together with the motor 404M, or the speed reducer may be omitted. Further, the fourth rotation axis O4 may be parallel to an axis orthogonal to the third rotation axis O3, and the fourth rotation axis O4 is not orthogonal to the third rotation axis O3. However, the axial directions may be different from each other.

  The fourth arm 15 and the fifth arm 16 are coupled via a joint (connection portion) 175. The joint 175 has a mechanism for supporting one of the fourth arm 15 and the fifth arm 16 connected to each other so as to be rotatable with respect to the other. Accordingly, the fifth arm 16 can rotate with respect to the fourth arm 15 about the fifth rotation axis O5 orthogonal to the central axis direction of the fourth arm 15 (around the fifth rotation axis O5). It has become. The fifth rotation axis O5 is orthogonal to the fourth rotation axis O4. The rotation around the fifth rotation axis O <b> 5 is performed by driving the fifth drive source 405. The fifth drive source 405 is driven by a motor 405M and a cable (not shown), and the motor 405M is controlled by the control unit 7 (control device 71) through an electrically connected motor driver 305. . The fifth drive source 405 may be configured to transmit the driving force from the motor 405M by a speed reducer (not shown) provided together with the motor 405M, or the speed reducer may be omitted. Further, the fifth rotation axis O5 may be parallel to an axis orthogonal to the fourth rotation axis O4, and the fifth rotation axis O5 is not orthogonal to the fourth rotation axis O4. However, the axial directions may be different from each other.

  Further, the fifth arm 16 and the sixth arm 17 are coupled via a joint (connection portion) 176. The joint 176 has a mechanism that supports one of the fifth arm 16 and the sixth arm 17 connected to each other so as to be rotatable with respect to the other. Thereby, the sixth arm 17 is rotatable with respect to the fifth arm 16 about the sixth rotation axis O6 (around the sixth rotation axis O6). The sixth rotation axis O6 is orthogonal to the fifth rotation axis O5. The rotation about the sixth rotation axis O <b> 6 is performed by driving the sixth drive source 406. The driving of the sixth drive source 406 is driven by a motor 406M and a cable (not shown), and this motor 406M is controlled by the control unit 7 (control device 71) via an electrically connected motor driver 306. Is done. The sixth drive source 406 may be configured to transmit the driving force from the motor 406M by a speed reducer (not shown) provided together with the motor 406M, or the speed reducer may be omitted. Further, the fifth rotation axis O5 may be parallel to an axis orthogonal to the fourth rotation axis O4, and the sixth rotation axis O6 is parallel to an axis orthogonal to the fifth rotation axis O5. The sixth rotation axis O6 may be different from the fifth rotation axis O5 even if it is not orthogonal to the fifth rotation axis O5.

  And the robot 1 which performs such a drive controls the operation of the arms 12 to 17 etc. while holding a precision instrument, parts, etc. with the hand 91 connected to the tip of the sixth arm 17. Each operation such as transporting precision instruments and parts can be performed. The driving of the hand 91 is controlled by the control unit 7 (control device 71).

  Such a robot 1 is a vertical articulated (six axis) robot having six arms, and therefore has a wide driving range and high workability.

  Further, as described above, the robot 1 is suspended from the ceiling portion 53 via the mounting plate 57, and the joint 171 that is a connection portion between the base 11 and the first arm 12 is connected to the first arm 12. And the second arm 13, which is located vertically above the joint 172. For this reason, the work range of the robot 1 on the work surface 551 positioned vertically below the robot 1 can be made wider. Therefore, for example, the work surface 551 can be used more effectively than when the robot 1 is attached to the work surface 551.

Moreover, although the motor drivers 301 to 306 are arranged on the base 11 in the configuration shown in the drawing, the present invention is not limited thereto, and may be arranged, for example, in a robot control device.
The configuration of the robot 1 has been briefly described above.

  Next, the relationship with the arms 12 to 17 will be described with reference to FIGS. 8, 9, and 10, but the description is changed from various viewpoints. In addition, the third arm 14, the fourth arm 15, the fifth arm 16, and the sixth arm 17 are in a state where they are straightly extended, in other words, as shown in FIGS. It is assumed that the axis O4 and the sixth rotation axis O6 coincide with each other or are in parallel.

  First, as shown in FIG. 8, the length L <b> 1 of the first arm 12 is set longer than the length L <b> 2 of the second arm 13.

  Here, the length L1 of the first arm 12 refers to the bearing part 61 (supporting the second rotary axis O2 and the first arm 12 so as to be rotatable as viewed from the axial direction of the second rotary axis O2. It is the distance between the center line 611 extending in the left-right direction in FIG. The length L2 of the second arm 13 is a distance between the second rotation axis O2 and the third rotation axis O3 when viewed from the axial direction of the second rotation axis O2.

  As shown in FIG. 9, the robot 1 can set the angle θ formed by the first arm 12 and the second arm 13 to 0 ° when viewed from the axial direction of the second rotation axis O2. It is configured. That is, the robot 1 is configured such that the first arm 12 and the second arm 13 can overlap each other when viewed from the axial direction of the second rotation axis O2. When the angle θ is 0 °, that is, when the first arm 12 and the second arm 13 overlap each other when viewed from the axial direction of the second rotation axis O2, the second arm 13 Is configured not to interfere with the second portion 122 of the first arm 12 and the ceiling portion 53.

  Here, the angle θ formed by the first arm 12 and the second arm 13 passes through the second rotation axis O2 and the third rotation axis O3 when viewed from the axial direction of the second rotation axis O2. It is an angle formed by a straight line (center axis of the second arm 13 when viewed from the axial direction of the second rotation axis O2) 621 and the first rotation axis O1 (see FIG. 8).

  As shown in FIG. 9, the robot 1 is configured so that the second arm 13 and the third arm 14 can overlap each other when viewed from the axial direction of the second rotation axis O2. That is, the robot 1 is configured so that the first arm 12, the second arm 13, and the third arm 14 can overlap at the same time when viewed from the axial direction of the second rotation axis O2.

  The total length L3 of the third arm 14, the fourth arm 15, the fifth arm 16, and the sixth arm 17 is set to be longer than the length L2 of the second arm 13. Accordingly, when the second arm 13 and the third arm 14 are overlapped with each other when viewed from the axial direction of the second rotation axis O2, the tip of the robot arm 10 from the second arm 13, that is, the tip of the sixth arm 17 is obtained. Can protrude. Thereby, the hand 91 can be prevented from interfering with the first arm 12 and the second arm 13.

  Here, the total length L3 of the third arm 14, the fourth arm 15, the fifth arm 16, and the sixth arm 17 is the third rotation axis O3 when viewed from the axial direction of the second rotation axis O2. And the distance between the tip of the sixth arm 17 (see FIG. 9). In this case, the third arm 14, the fourth arm 15, the fifth arm 16, and the sixth arm 17 have the fourth rotation axis O4 and the sixth rotation axis O6 as shown in FIG. Or it is the state which is parallel.

  As shown in FIGS. 10A, 10B, 10C, 10D, and 10E, the robot 1 rotates the second arm 13 without rotating the first arm 12. As a result, the tip of the second arm 13 is moved around the first rotation axis O1 to a position different by 180 ° through a state in which the angle θ is 0 ° when viewed from the axial direction of the second rotation axis O2. Is possible. For this reason, the tip of the robot arm 10 (tip of the sixth arm 17) is moved from the position (first position) shown in FIG. 10 (a) to the first arm 12 and the second arm 13 as shown in FIG. 10 (c). And the tip of the robot arm 10 moves to a position (second position) shown in FIG. 10 (e) that is 180 ° different from the position shown in FIG. 10 (a) around the first rotation axis O1. Can be made. During this movement, the third arm 14, the fourth arm 15, the fifth arm 16, and the sixth arm 17 are rotated as necessary.

  By driving the robot arm 10 as described above, the robot 1 does not move the hand 91 as indicated by arrows 67 and 68 as shown in FIG. By performing the movement operation, the hand 91 can be moved to a position different by 180 ° around the first rotation axis O1. That is, the robot 1 moves the hand 91 (the tip of the robot arm 10) in a straight line when viewed from the axial direction of the first rotation axis O1, thereby moving the hand 91 around the first rotation axis O1. Can be moved 180 ° different positions. Thereby, since the space for preventing the robot 1 from interfering can be reduced, the size of the cell 5 can be reduced. For this reason, the area (installation area) of the installation space for installing the cell 5, that is, the area S in a plan view when viewed from the vertical direction of the cell 5, can be made smaller than before.

Specifically, the area S is preferably less than 637,500Mm ^2, more preferably at 500,000 ² or less, still more preferably at 400,000Mm ² or less, 360,000Mm ² below It is particularly preferred. Since the robot 1 can perform the above-described operation as described above, the robot arm 10 can be driven so as not to interfere with the cell 5 even if the area S is as described above.

In particular, the area S of 400,000 mm ² or less is substantially equal to or less than the size of the work area where a human (worker) works. For this reason, if the area S is less than the above upper limit value, for example, the person and the robot cell 50 can be easily exchanged. Note that the reverse of the above, that is, the robot cell 50 can be easily changed to a human. Therefore, for example, when a human and the robot cell 50 are exchanged and the production line is changed, the change can be easily performed. Moreover, the reverse of the above, that is, the robot cell 50 can be easily changed to a human. Further, the area S is preferably 10,000 mm ² or more. Thereby, the maintenance inside the robot cell 50 can be facilitated.

  Further, since the area S can be reduced, as shown in FIG. 11, the width W1 of the cell 5 in the Y-axis direction is smaller than the conventional width WX, specifically, for example, 80% of the conventional width WX. It can be:

  Specifically, the width W1 is preferably less than 850 mm, more preferably less than 750 mm, and even more preferably 650 mm or less (see FIG. 11). Thereby, the effect similar to the effect mentioned above can fully be exhibited. The width W1 is the average width of the cells 5. The width W1 is preferably 100 mm or more. Thereby, the maintenance inside the robot cell 50 can be facilitated.

  In the present embodiment, the cell 5 has a square shape in plan view. For this reason, in this embodiment, the width (depth) W1 of the cell 5 in the Y-axis direction (vertical direction in FIG. 11) and the width (horizontal width) W2 of the cell 5 in the X-axis direction (horizontal direction in FIG. 11). Is the same. The width W1 and the width W2 may be different.

  As shown in FIG. 10, the robot 1 can move the tip of the second arm 13 to a position different by 180 ° around the first rotation axis O1 without rotating the first arm 12. Therefore, the hand 91 can be moved without substantially changing the height (position in the vertical direction) of the tip of the robot arm 10 (while remaining substantially constant). For this reason, the height (length in the vertical direction) L of the cell 5 can be made lower than the conventional height (see FIG. 2). Specifically, the height L of the cell 5 can be set to 80% or less of the conventional height, for example. Thereby, the ceiling surface 531 can be lowered, and thus the position of the center of gravity of the robot 1 can be lowered. For this reason, the vibration generated by the operation of the robot 1 can be reduced.

  Specifically, the height L is preferably 1,700 mm or less, and more preferably 1,000 mm or more and 1,650 mm or less. If it is less than or equal to the upper limit value, the influence of vibration when the robot 1 moves in the cell 5 can be further suppressed. Further, when the value is equal to or greater than the lower limit value, the robot 1 can be prevented from interfering with the work surface 551, for example. In addition, said height L is an average height of the cell 5 (a foot part 54 is included).

  Further, the operation of moving the hand 91 of the robot 1 (the tip of the robot arm 10) as described above to a position different by 180 ° around the first rotation axis O1 is performed simply by moving the first arm 12 like the conventional robot. If the robot 1 is rotated around the first rotation axis O1 and is to be executed, the robot 1 may interfere with the cell 5 and peripheral devices. Therefore, it is necessary to teach the robot 1 a retreat point for avoiding the interference. is there. For example, when only the first arm 12 is rotated by 90 ° around the first rotation axis O1, when the robot 1 interferes with the column 51 of the cell 5, the other arm is also rotated to It is necessary to teach the evacuation point so as not to interfere. Similarly, when the robot 1 also interferes with the peripheral device, it is necessary to further teach the robot 1 the retract point so as not to interfere with the peripheral device. As described above, in the conventional robot, it is necessary to teach a large number of retraction points. Particularly, in the case of a small cell, an enormous number of retraction points are required, and teaching takes a lot of time and effort. Cost.

  On the other hand, in the robot 1, when the operation of moving the hand 91 to the position different by 180 ° around the first rotation axis O <b> 1 is executed, since there are very few regions or portions that may interfere with each other, the teaching retraction is performed. The number of points can be reduced, and the labor and time required for teaching can be reduced. That is, in the robot 1, the number of retraction points to be taught is, for example, about 1/3 that of the conventional robot, and teaching is greatly facilitated.

  In the robot 1 having the above-described configuration, the region (part) 105 surrounded by the two-dot chain line on the right side of the third arm 14 and the fourth arm 15 in FIG. This is a region (part) that does not interfere with or hardly interferes with the member. For this reason, when a predetermined member is mounted in the region 105, the member is unlikely to interfere with the robot 1 and peripheral devices. For this reason, in the robot 1, a predetermined member can be mounted in the area 105. In particular, when the predetermined member is mounted in the region on the right side in FIG. 6 of the third arm 14 in the region 105, the member interferes with a peripheral device (not shown) disposed on the working unit 55. The probability of doing is even lower, so it is more effective.

  Examples of what can be mounted in the region 105 include a control device that controls driving of a sensor such as a hand and a hand-eye camera, and an electromagnetic valve of a suction mechanism.

  As a specific example, for example, when an adsorption mechanism is provided in the hand, if an electromagnetic valve or the like is installed in the region 105, the electromagnetic valve does not get in the way when the robot 1 is driven. Thus, the area 105 is highly convenient.

<Transport unit>
As shown in FIGS. 1 to 5, 12, 13 and 14, the transport unit 3 includes a first transport unit (transport unit) 31 extending in the X-axis direction, and a first transport unit 31. A second transport unit (transport unit) 32 extending in the Y-axis direction, which is a direction orthogonal to the extending direction, and a third transport unit (transport unit) provided above the second transport unit 32 ) 33, a component supply unit 34, and a drive unit 35 that drives the conveyance units 31, 32, and 33. 1 to 5, 12, 13, and 14 schematically show each part of the transport unit 3, and the first transport unit 31, the second transport unit 32, and the third transport unit 33. The support legs and the like that support the working unit 55 are not shown. In FIGS. 12 and 13, the drive unit 35 is not shown.

  As shown in FIG. 12, the first transport unit 31 is provided closer to the fourth side surface part 584 than the base 11 of the robot 1 in plan view. Further, the first transport unit 31 is provided so as to penetrate the first side surface portion 581 and the third side surface portion 583. That is, a part of the first transport unit 31 is located inside the cell 5 (first space S1), and the remaining part of the first transport unit 31 is located outside the cell 5.

  Moreover, the 1st conveyance part 31 is comprised by conveyance apparatuses, such as a belt conveyor, and has the two belts 311 and the two rollers 312,313 which are parallel (refer FIG. 3, FIG. 12). As shown in FIG. 13, a jig 371 for placing the component 41 can be arranged on the upper part of the belt 311, and when the belt 311 is driven (runs), the first transport unit 31 can move the jig 371. Can be conveyed in the + X-axis direction indicated by an arrow A1 in FIG.

  In addition, a rotation support 315 that rotates the jig 371 by 90 ° in the XY plane is provided in the vicinity of the second conveyance unit 32 of the first conveyance unit 31. The rotation support 315 is used when the jig 371 on the first transport unit 31 is transported to the second transport unit 32.

  As shown in FIG. 12, the second transport unit 32 is provided closer to the third side surface part 583 than the base 11 of the robot 1 in plan view. The second transport unit 32 is provided so as to penetrate the second side surface part 582. That is, one end of the second transport unit 32 is located inside the cell 5 (first space S1), and the other end of the second transport unit 32 is located outside the cell 5. Further, the second transport unit 32 is provided with one end located in the cell 5 close to the first transport unit 31.

  Moreover, the 2nd conveyance part 32 is comprised by conveyance apparatuses, such as a belt conveyor, and has the two belts 321 and two rollers 322 and 323 which are parallel (refer FIG.4, FIG.5 and FIG.12). ). As shown in FIG. 13, a jig 371 from the first conveyance unit 31 can be disposed on the belt 321. When the belt 321 is driven (runs), the jig 371 is shown in FIG. 13. It is transported in the −Y-axis direction (the direction from the inside of the cell 5 toward the outside of the cell 5) indicated by the arrow A2.

  14B, the installation height L32 of the second transport unit 32 with respect to the work surface 551 is higher than the installation height L31 of the first transport unit 31 with respect to the work surface 551.

  As shown in FIGS. 12 and 13, a bar 325 having a portion extending in the X-axis direction is provided at one end of the second transport unit 32 on the first transport unit 31 side. A portion of the bar 325 extending in the X-axis direction is movable in the Y-axis direction, and is used for drawing the component 41 on the first transport unit 31 into the second transport unit 32.

  As shown in FIG. 12, the third transport unit 33 extends in the Y-axis direction, which is the same direction as the direction in which the second transport unit 32 extends. The length in the direction in which the third transport unit 33 extends (the length in the Y-axis direction) is shorter than the length in the direction in which the second transport unit 32 extends. The second transport unit 32 is located inside the cell 5 (first space S1).

  Moreover, the 3rd conveyance part 33 is comprised by conveyance apparatuses, such as a belt conveyor, and has two parallel belts 331 and two rollers 332 and 333 (refer FIG.4, FIG.5 and FIG.12). ). A jig 371 can be disposed on the belt 331. When the belt 331 is driven (runs), the jig 371 moves in the + Y-axis direction indicated by an arrow A3 in FIG. In the direction toward the inside).

  14B, the installation height L33 of the third transport unit 33 with respect to the work surface 551 is higher than the installation height L32 of the second transport unit 32 with respect to the work surface 551. Therefore, in this embodiment, the 1st conveyance part 31, the 2nd conveyance part 32, and the 3rd conveyance part 33 satisfy the relationship of installation height L31 <installation height L32 <installation height L33.

  As shown in FIG. 12, the component supply unit 34 is provided closer to the first side surface portion 581 than the base 11 of the robot 1 in plan view. The component supply unit 34 can place, for example, a component 42 to be incorporated into the component 41.

  As shown in FIG. 1, the drive unit 35 is provided outside the cell 5 on the third side surface portion 583 side. The drive unit 35 includes, for example, a drive source 351 such as a motor, and a power transmission mechanism 352 that transmits the power of the drive source 351 to the transport units 31, 32, and 33. The drive of the drive unit 35 is controlled by the control unit 7 (control device 71).

  As shown in FIGS. 1 and 3, the power transmission mechanism 352 includes a shaft 353 that is rotated about the axis (around the Y axis) by the drive source 351, and the first power transmission unit 354 and the second power that are connected to the shaft 353. And a transmission portion 355.

  The first power transmission unit 354 illustrated in FIG. 3 transmits the power transmitted to the shaft 353 to the first conveyance unit 31 and drives the belt 311 of the first conveyance unit 31 in the same direction as the rotation direction of the shaft 353. 1 transmits the power transmitted to the shaft 353 to the second transport unit 32 and the third transport unit 33. The second power transmission unit 355 converts the rotation axis of 90 ° with respect to the shaft 353 and drives the belt 321 of the second transport unit 32 and the belt 331 of the third transport unit 33.

  With such a single drive unit 35, the three transport units 31, 32, and 33 can be driven. Therefore, the number of drive units can be reduced as compared with the case where drive units are provided for each of the transport units 31, 32, and 33, so that the space for installing the robot system 100 can be further reduced.

  Further, in the transport unit 3 as described above, the transport units 31, 32, and 33 each have a portion installed inside the cell 5 as described above. Therefore, the space for installing the robot system 100 can be further reduced as compared with the case where the transport units 31, 32, and 33 are provided outside the cell 5.

  Also, as shown in FIG. 12, the distance D31 in plan view between the center line A31 along the extending direction of the first transport unit 31 and the first rotation axis O1 of the robot 1, and the width W1 of the cell 5 Preferably satisfies the relationship 0.1 ≦ D31 / W1 <0.5, more preferably satisfies the relationship 0.15 ≦ D31 / W1 ≦ 0.4, and 0.2 ≦ D31 / W1. More preferably, the relationship of ≦ 0.3 is satisfied. As a result, most of the first transport unit 31 can be accommodated in the cell 5 and a space for installing the second transport unit 32 and the third transport unit 33 other than the first transport unit 31 in the cell 5 can be provided. It can be secured sufficiently.

  Specifically, the separation distance D31 is preferably 0 mm or more and 300 mm or less, and more preferably 100 mm or more and 200 mm or less. Thereby, the effect mentioned above can be exhibited notably.

<Positioning part>
As shown in FIGS. 12 and 13, the positioning unit 90 is provided at the center of the first transport unit 31 in the X-axis direction. The positioning unit 90 is used to determine the position of the jig 371 (component 41) relative to the robot 1.

  As shown in FIG. 14, the positioning unit 90 includes a pedestal 901 fixed to the work surface 551, a flat plate-like support unit 902 provided on the pedestal 901, and two positioning pins 903 provided on the support unit 902. And have.

  As shown in FIG. 14A, the support portion 902 is provided so as to be positioned between the two belts 311 of the first transport portion 31 in a plan view. Further, the two positioning pins 903 are provided side by side in the X axis direction so as to be separated from each other. These two positioning pins 903 are configured to project vertically upward or to be retracted vertically downward (retracted in the support portion 902) by a control unit 7 (control device 71) described later. . On the other hand, a hole 372 penetrating in the vertical direction corresponding to the positioning pin 903 is formed in the jig 371. And as shown in FIG.14 (b), when the jig | tool 371 is conveyed on the positioning part 90 by the 1st conveyance part 31, as for the positioning part 90, according to the command of the control unit 7 (control apparatus 71), The conveyance of the 1 conveyance part 31 stops, and the positioning pin 903 protrudes so that it may penetrate the hole 372 which the jig | tool 371 has. As a result, the jig 371 stops on the positioning portion 90 and is positioned with respect to the robot 1.

  The support portion 902 may be configured to move vertically upward (in the + Z-axis direction) together with the positioning pin 903. By moving the support portion 902 vertically upward, the support portion 902 is cured above the first transport portion 31. The tool 371 may be configured to lift.

  Here, for example, when the positioning unit 90 is provided outside the cell 5, it is necessary to install the cell 5 so that the robot 1 is positioned at an appropriate position with respect to the positioning unit 90. On the other hand, in this embodiment, since the positioning unit 90 is provided inside the cell 5, the relative position between the positioning unit 90 and the robot 1 is fixed. can do. For this reason, the cell 5 can be moved easily.

  In addition, since the positioning unit 90 is provided inside the cell 5, the robot system 100 can be made smaller than when the positioning unit 90 is provided outside the cell 5.

<Imaging section>
As shown in FIG. 13, the two imaging units 36 are provided on the work surface 551. The imaging unit 36 is provided on the + Y axis side and the −Y axis side of the positioning unit 90 in plan view. Further, the two imaging units 36 are provided so as to be shifted with respect to the transport direction of the first transport unit 31.

  Each of the two imaging units 36 includes an electronic camera 361 and a prism 362. The electronic camera 361 is arranged upward. A prism 362 is disposed above the electronic camera 361. The prism 362 refracts the reflected light from the component 42 and directs the reflected light toward the electronic camera 361.

  Here, it is necessary to ensure a predetermined optical path length between the component 41 that is the subject and the imaging unit 36. However, in the case of the imaging unit 36 configured as described above, in the Y-axis direction. Even when the length is small, the imaging unit 36 can be installed.

  Such an imaging unit 36 is used for confirming (inspecting) whether or not the component 42 is accurately incorporated in the component 41 on the jig 371 placed on the positioning unit 90. The imaging unit 36 is also used for detecting the position of the jig 371 with respect to the positioning unit 90 and controlling the driving of the positioning unit 90 by the control device 71 based on the detection result. Further, it is also used for detecting the position of the hand 91 with respect to the positioning unit 90 and controlling the position of the hand 91 by the control device 71 based on the detection result.

  In addition, since the two imaging units 36 are provided in the vicinity of the positioning unit 90, the inspection can be performed while the component 41 is being transported by the first transport unit 31. For this reason, the tact time can be further shortened.

  In the present embodiment, the number of imaging units 36 is two, but the number of imaging units may be one, or may be three or more.

<Controller unit>
As shown in FIGS. 2 to 5, the control unit 7 includes a control device 71 that controls each part of the robot system 100 and two lights that supply power to a light (not shown) provided in the cell 5. Power supply device 74, power supply device 72 that supplies power to each part of robot system 100 excluding the illumination, uninterruptible power supply (UPS) 73, computer 75 that issues a command to control device 71, and control unit 7 And a wiring unit (electrical device) 76 connected to each device.

  The control device 71 is provided on the bottom 52 and is located on the first side surface 581 side of the second space S2. The power supply device 72 is provided on the bottom portion 52 and is located on the third side surface portion 583 side in the second space S2. The uninterruptible power supply 73 is provided on the bottom 52, and is provided between the control device 71 and the power supply 72. The two power supply devices 74 for illumination are provided on the uninterruptible power supply device 73. The computer 75 is provided above the control device 71 and the illumination power supply device 74. Further, the computer 75 is installed so as to be accommodated in a box-shaped support unit 80 suspended from the back surface of the working unit 55. Further, the support 80 is open on the second side surface 582 side, and the computer 75 can be taken in and out from the released second side surface 582 side.

  The wiring unit 76 is attached to the back surface of the working unit 55. Each device of the control unit 7 is electrically connected to the wiring unit 76, and is connected from the wiring unit 76 to a cable (wiring) inserted through the gap 56 and the wiring duct 59.

  Such a control unit 7 is provided in the second space S <b> 2 that is vertically lower than the working unit 55. For this reason, since the center of gravity of the cell 5 can be lowered, the risk of the cell 5 falling down can be reduced. Thereby, since the attitude | position of the cell 5 can be stabilized, the drive of the robot 1 can be stabilized. In the present embodiment, each device included in the control unit 7 is housed inside the cell 5, but at least a part of each device may be provided outside the cell 5. However, since each device is housed in the cell 5, the above-described effects can be more remarkably exhibited.

  With respect to the control unit 7, the robot 1 is provided in the first space S <b> 1 that is vertically above the work surface 551. As described above, since the control unit 7 is provided vertically below the working unit 55, the cell 5 can have a low center of gravity, and thus the robot 1 provided vertically above the working unit 55 is more It can be driven stably.

  In the control unit 7 as described above, in addition to the control of the robot 1, the control device 71 controls each drive of the transport units 31, 32, 33, the positioning unit 90, the drive unit 35, and the two imaging units 36. ing. For this reason, compared with the case where the apparatus which controls these each part is provided separately, the robot system 100 whole can be reduced in size.

  Here, as described above, the safety plate is installed in the portion facing the second space S2 in the first side surface portion 581, the third side surface portion 583, and the fourth side surface portion 584, whereas the second side surface A portion of the portion 582 facing the second space S2 is not provided with a safety plate. Therefore, the control device 71, the power supply device 72, the uninterruptible power supply device 73, and the two illumination power supply devices 74 can be taken in and out from the second side surface portion 582 side of the cell 5. Thus, since each apparatus can be taken in and out from the 2nd side part 582 different from the 1st side part 581 and the 3rd side part 583 which the 1st conveyance part 31 penetrates, for example, each apparatus is taken. When performing maintenance, each apparatus can be taken in and out more easily without causing the first conveyance unit 31 to become an obstacle. For this reason, maintenance can be performed more easily and more quickly.

  In addition, the number of each apparatus with which the control unit 7 is provided is not limited to the number of illustration, and is arbitrary. For example, although two illumination power supply devices 74 are provided in the present embodiment, the number of illumination power supply devices may be one, or may be three or more. Further, the arrangement of each device is not limited to the arrangement shown in the figure. Further, the arrangement of wirings for connecting each device and the robot 1 is not limited to the configuration described above, and is arbitrary.

<Display operation section>
As shown in FIG. 1, a display operation unit 70 is provided above the second side surface part 582 of the cell 5. The display operation unit 70 is attached to the cell 5 via the flexible arm 702. The display operation unit 70 includes a monitor 701, and the monitor 701 can check the driving state of each unit included in the robot system 100. The monitor 701 is a touch panel, and an operator (human) can give an instruction to the control unit 7 via the display operation unit 70.

  In addition, the display operation part 70 may be provided in locations other than illustration. In the present embodiment, the number of display operation units 70 is one, but the number of display operation units is not limited to this and may be plural. In addition, the display operation unit may be configured with, for example, a monitor for confirming the driving state of each unit, a mouse for operating a screen displayed on the monitor, and the like.

<Gas supply unit>
As shown in FIG. 1, the gas supply unit 60 is provided on the top of the ceiling 53. Further, the robot system 100 includes a gas supply device (not shown) provided separately from the robot cell 50, a pneumatic pipe 65 shown in FIG. 3, and a pipe (not shown) connecting the gas supply apparatus and the pneumatic pipe 65. ), And a pipe (not shown) that is inserted from the pneumatic pipe 65 into the gap 56 and the wiring duct 59 and connected to the gas supply unit 60.

  The gas supply unit 60 is configured to remove dust and the like from the supplied gas so as to make the gas (clean gas) having a high cleanliness (cleanness), and a fan 63 provided upstream of the air filter 62. have.

  In the gas supply unit 60, the gas supplied from the gas supply device via the pneumatic pipe 65 is blown by the fan 63, and the gas blown by the fan 63 passes through the air filter 62, thereby having high cleanliness. It becomes gas. Moreover, the gas supply part 60 is provided in the ceiling part 53, and is comprised so that the gas with a high cleanliness from the gas supply part 60 may be ventilated vertically downward. Therefore, dust and the like in the air in the first space S1 can be efficiently discharged to the outside through the discharge portion (not shown), so that the cleanliness in the first space S1 can be further increased.

  The cleanliness in the first space S1 is not particularly limited, but it is preferable that the cleanliness is higher than the class 10000 defined in the US Federal Standard (FED-STD-209).

In the above description, the gas supply unit 60 is provided in the upper part of the ceiling 53. However, the arrangement of the gas supply unit is not limited to this, and may be provided in the first space S1, for example. .
In the above, each part which comprises the robot system 100 was demonstrated.

  Next, an example of work in the robot system 100 will be described with reference to FIG.

  Here, a description will be given of an operation for assembling the part 42 again when the robot 42 incorporates the part 42 into the part 41 and confirms (inspects) whether or not the assembly is correctly performed and then does not incorporate it. To do.

  First, the first transport unit 31 transports the component 41 placed on the jig 371 in the arrow A1 direction (+ X axis direction) in FIG. 13 and places it on the positioning unit 90.

  Next, the robot 1 rotates the robot arm 10 to grip the component 42 placed on the component supply unit 34 by the hand 91, transports the gripped component 42 to the component 41, and arranges it.

  Next, the imaging unit 36 checks whether or not the component 42 is correctly incorporated in the component 41. Next, when it is determined that the assembly is not correctly performed (defective), the first transport unit 31 transports the jig 371 from the positioning unit 90 to the rotation support tool 315. Thereafter, the rotation support tool 315 rotates the jig 371 by 90 ° in the XY plane. Next, the bar 325 pulls the jig 371 from the first transport unit 31 to the second transport unit 32. As a result, the component 41 is transported to the second transport unit 32. When the component 42 is accurately incorporated into the component 41 (good product), the first transport unit 31 transports the component 41 in the direction of the arrow A1 in FIG. Transport.

  Next, the second transport unit 32 transports the defective component 41 in the arrow A2 direction (−Y axis direction) in FIG. 13 and discharges it to the outside of the cell 5. As described above, the second conveyance unit 32 can be used as a conveyance unit that discharges the defective component 41.

  Next, for example, the worker (human) incorporates the component 42 again with respect to the discharged component 41. Thereafter, the operator places the non-defective component 41 on the third transport unit 33. In this way, the third transport unit can be used as a transport unit that transports the non-defective component 41.

Next, the third transport unit 33 transports the component 41 in the arrow A3 direction (+ Y axis direction) in FIG. 13 and transports the component 41 to the first transport unit 31 side of the third transport unit 33. Next, the robot 1 rotates the robot arm 10, grips the component 41 placed on the third transport unit 33 by the hand 91, transports the gripped component 41 to the first transport unit 31, Deploy. And the 1st conveyance part 31 conveys the components 41 to the arrow A1 direction in FIG.
Heretofore, an example of work using the robot system 100 has been described.

  Here, as described above, the robot system 100 includes the transfer units 31, 32, and 33 in addition to the robot 1. Therefore, in the above work, the robot 1 can perform other work while the parts are being transported by the transport units 31, 32, and 33. As a result, the tact time of the entire robot system 100 can be shortened as compared with the case where the transport units 31, 32, and 33 are not provided.

  In addition, since the second transport unit 32 and the third transport unit 33 are different in the transport direction from the first transport unit 31, the defective part 41 is moved in a direction different from the non-defective part 41. Can be transported. For this reason, when a defective component 41 occurs, the next component 41 can be continuously conveyed at any time without stopping the driving of the first conveyance unit 31. Therefore, the tact time in the entire robot system 100 can be further shortened.

  Further, as described above, the transport units 31, 32, and 33 satisfy the relationship of installation height L31 <installation height L32 <installation height L33. For this reason, the component 41 can be more easily transported from the first transport unit 31 to the second transport unit 32. Further, the robot 1 can more easily transport the component 41 from the third transport unit 33 to the first transport unit 31. For this reason, the tact time can be further shortened.

  Note that the above-described operation of the robot system 100 is an example, and the robot system 100 can perform various operations other than the above-described operation. Further, for example, in the above description, the worker has again assembled the component 42 and placed the component 41 in which the component 42 is incorporated on the third transport unit 33 with respect to the discharged component 41. However, this operation may be performed by the robot 1 without an operator. That is, for example, the robot 1 may incorporate the part 42 into the defective part 41 again in the third transport unit 33 and transport the non-defective part 41 to the first transport unit 31. Further, after that, the positioning unit 90 may inspect the component 41 that has become non-defective again.

Second Embodiment
FIG. 15 is a diagram showing a second embodiment of the robot system of the present invention. In addition, in FIG. 15, illustration of a gas supply part and a display operation part is abbreviate | omitted.

  Hereinafter, the second embodiment will be described with reference to this drawing. However, the difference from the above-described embodiment will be mainly described, and the description of the same matters will be omitted.

  The robot system according to the present embodiment is different from the first embodiment described above in having a changing mechanism.

  A robot system 100 illustrated in FIG. 15 includes a change mechanism 40 that changes the installation height of the robot 1 with respect to the cell 5. The change mechanism 40 has two spacers 411 provided between the ceiling portion 53 of the cell 5 and the mounting plate 57. By attaching the spacer 411, the separation distance D40 between the base 11 and the cell 5 can be changed. Thereby, for example, when it is desired to change the height of each of the transport units 31, 32, 33, it can be dealt with by attaching a spacer 411 corresponding to the changed height. Therefore, it is not necessary to redesign the configuration of the entire cell 5.

  In addition, the attachment method to the ceiling part 53 of the spacer 411 is not specifically limited, For example, the attachment method by a several volt | bolt, etc. are employable. Further, the number, arrangement, and shape of the spacers 411 are not limited to those illustrated. For example, the number of spacers 411 may be one, or may be three or more. For example, a plurality of spacers 411 may be stacked along the vertical direction. Further, the spacer 411 may be a frame body having a quadrangular shape in a plan view, for example. Further, for example, the changing mechanism 40 is not limited to the configuration having the spacer 411. For example, a support tool (not shown) that supports the mounting plate 57 and a moving mechanism (not shown) that moves the support tool in the vertical direction. ).

  Also according to the second embodiment, the same effects as those of the first embodiment described above can be obtained.

<Third Embodiment>
FIG. 16 is a diagram showing a third embodiment of the robot system of the present invention. FIG. 16A is a front view, and FIG. 16B is a bottom view.

  Hereinafter, the third embodiment will be described with reference to this figure, but the description will focus on the differences from the above-described embodiment, and the description of the same matters will be omitted.

  The robot system according to the present embodiment is different from the above-described first embodiment in that the robot system can be provided with a weight.

  In the robot system 100 shown in FIG. 16A, a box-like support portion 22 suspended from the back surface of the bottom portion 52 is attached below the bottom portion 52 of the cell 5. The support portion 22 is open on the second side surface portion 582 side. The weight 20 can be taken in and out of the support portion 22 from the side of the second side surface portion 582 that is released from the support portion 22.

  Since the weight 20 can be provided below the bottom portion 52 in this way, when the weight 20 is provided, the center of gravity of the cell 5 can be further lowered. For this reason, the possibility that the cell 5 falls can be further reduced. In particular, for example, when the robot 1 is driven at a high speed, it is preferable to provide the weight 20 because the upper part of the cell 5 is more likely to vibrate. On the other hand, for example, when the robot 1 is driven at a low speed, it is easier to move the cell 5 because the entire cell 5 can be lightened without providing the weight 20 in the support portion 22.

  Note that the weight 20 may not be attached below the bottom portion 52 by the support portion 22, and may be directly attached to the back surface of the bottom portion 52, for example. Moreover, the area | region which provides the weight 20 should just be an area | region shown with the dashed-two dotted line of FIG.16 (b).

  According to the third embodiment, the same effect as that of the first embodiment described above can be obtained.

<Fourth embodiment>
FIG. 17 is a diagram showing a fourth embodiment of the robot system of the present invention. FIG. 18 is a view showing a connecting plate (connecting portion) included in the robot system shown in FIG. FIG. 19 is a diagram for explaining the connection of two first transfer units included in the robot system shown in FIG. FIG. 20 is a diagram illustrating another example of the connection between the two first transport units illustrated in FIG. 19. In addition, in FIG. 18, illustration of the gas supply part is abbreviate | omitted.

  Hereinafter, the fourth embodiment will be described with reference to these drawings. However, differences from the above-described embodiment will be mainly described, and description of similar matters will be omitted.

  The robot system according to the present embodiment is different from the first embodiment described above mainly having two robot cells.

  A robot system 100 shown in FIG. 17 includes a robot (first robot) 1a, a robot cell 50a having a movable cell (first cell) 5a provided with the robot 1a, a robot (second robot) 1b, The robot 1b is provided and has a robot cell 50b having a movable cell (second cell) 5b. The robot cell 50a has the same configuration as the robot cell 50 in the first embodiment. The robot cell 50b has the same configuration as the robot cell 50 in the first embodiment except that it does not have a drive source. Also, the robot cells 50a and 50b are respectively similar to the robot cell 50 in the first embodiment, with the transport unit 3, the positioning unit 90, the imaging unit 36, the control unit 7, the display operation unit 70, A gas supply unit 60 is provided.

  As shown in FIG. 18, the cell 5 a and the cell 5 b are connected by a connecting plate (connecting portion) 83. The connection plate 83 connects the upper surface of the ceiling part 53 of the cell 5a and the upper surface of the ceiling part 53 of the cell 5b. In addition, it does not specifically limit as an attachment method of the connection board 83 with respect to cell 5a, 5b, For example, the attachment method by a several volt | bolt etc. are employable.

  Here, if the robot cells 50a and 50b are individually installed, the upper part of the cell 5a and the upper part of the cell 5a are likely to vibrate. Therefore, as described above, the cells 5a and 5b are integrated by connecting the cells 5a and 5b with the connecting plate 83. Thereby, the total installation area of the cell 5a and the cell 5b, that is, the area of the cell 5a and the cell 5b in plan view is increased. For this reason, the total installation area (aspect ratio) with respect to each height (length in the Z-axis direction) of the cell 5a and the cell 5b can be reduced. Therefore, since the cell 5a and the cell 5b can be installed more stably, each of the robot 1a and the robot 1b can be driven more stably.

  Further, as shown in FIGS. 19A and 19B, the roller 313 included in the first transport unit 31 of the cell 5a and the roller 312 included in the first transport unit 31 of the cell 5b are connected to a connecting belt ( Are connected via a coupling mechanism) 85. Thereby, the two first transport units 31 are connected. A tension pulley 86 is in pressure contact with the connecting belt 85.

  Further, the cell 5b is not provided with a drive source, and the first transport unit 31 of the cell 5b is driven by a drive source 351 provided in the cell 5a via a connecting belt 85. Further, the cell 5b is provided with a power transmission mechanism 352 (see FIG. 1) as in the first embodiment, and the power transmitted to the first transport unit 31 is second transported by the power transmission mechanism 352. Is transmitted to the section 32 and the third transport section 33. Accordingly, the second transport unit 32 and the third transport unit 33 provided in the cell 5b are also driven by the drive source 351 provided in the cell 5a.

  Thus, the connection belt 85 functions as a power transmission unit that transmits the power of the drive source 351 provided in the cell 5a to the conveyance units 31, 32, and 33 of the cell 5b. For this reason, even if the cell 5b does not have a drive source, the transfer units 31, 32, and 33 provided in the cell 5b can be driven, so that the number of drive sources in the entire robot system 100 is reduced. Can do. Therefore, the entire robot system 100 can be made smaller.

  In the present embodiment, as shown in FIG. 19, each first transport unit 31 is connected via a connecting belt 85, but for example, a connecting mechanism shown in FIGS. 20 (a) and 20 (b). Two first transport units 31 may be connected by 87. As shown in FIG. 20, the coupling mechanism 87 includes a gear 871 attached to a roller 313 included in the first transport unit 31 of the cell 5a and a gear 872 attached to a roller 312 included in the first transport unit 31 of the cell 5b. And a gear 873 meshing with the two gears 871 and 872. The two first transport units 31 are connected by the connection mechanism 87. The coupling mechanism 87 also functions as a power transmission unit that transmits the power of the drive source 351 provided in the cell 5a as described above to the conveyance units 31, 32, and 33 of the cell 5b.

  In addition, since the two first transport units 31 are connected, for example, a component can be transported from the cell 5a to the cell 5b. Conversely, it is also possible to transport parts from the cell 5b to the cell 5a. In this way, since the parts can be transported by the first transport units 31, the robot 1a and the robot 1b can perform other operations during the transport. Therefore, the tact time can be shortened.

  The robot 1a operates in the cell 5a, and the robot 1b operates in the cell 5b. Here, for example, if the robot 1a can move into the cell 5b, it is necessary to stop the robot 1a and the robot 1b when performing maintenance due to a malfunction in the cell 5b. On the other hand, the robot 1a operates in the cell 5a, and the robot 1b can operate in the cell 5b, so that the maintenance in the cell 5b can be performed without stopping the driving of the robot 1a. Can do. For this reason, it is possible to reduce a decrease in the production capacity of the entire robot system 100.

  In the present embodiment, as described above, the robot 1a operates in the cell 5a, but the tip of the robot arm 10 may be moved to the outside of the cell 5a. Thereby, for example, the robot 1a can convey the components into the cell 5b by the hand 91 by moving the tip of the robot arm 10 into the cell 5b. Thus, since the tip of the robot arm 10 of the robot 1a can be moved to the outside of the cell 5a, the work range of the robot 1a is widened, and more work can be performed by the robot 1a. Similarly, the robot 1b may move the tip of the robot arm 10 to the outside of the cell 5b and transport the component into the cell 5a by the hand 91.

  Although not shown, by providing a work table so as to be adjacent to the cell 5a, the robot 1a can also grip the parts on the work table and transport them into the cell 5a. The same applies to the robot 1b. In this way, when it is desired to expand each work range of the robots 1a and 1b, a work table or the like may be provided so as to be adjacent to the cells 5a and 5b.

  Moreover, in this embodiment, although the cell 5a and the cell 5b are mutually contact | abutting, these may be connected in the separated state, without contacting. In that case, for example, a work table (not shown) may be provided between the cell 5a and the cell 5b.

  In the present embodiment, the robot cell 50b does not have a drive source, but the robot cell 50b may have a drive source. Even in this case, the two first transport units 31 may be connected, and the transport units 31, 32, and 33 in the cells 5a and 5b may be driven by the drive source 351 provided in the cell 5a. Thus, even if the robot cell 50b has a drive source, the vibration control effect by the connection can be enhanced by connecting the two first transport units 31.

  Also according to the fourth embodiment, the same effects as those of the first embodiment described above can be obtained.

  As described above, the robot system and the robot according to the present invention have been described based on the illustrated embodiment. However, the present invention is not limited to this, and the configuration of each part may be any configuration having the same function. Can be replaced. Moreover, other arbitrary components may be added. Further, the present invention may be a combination of any two or more configurations (features) of the above embodiments.

  In the embodiment, the number of rotation axes of the robot arm included in the robot is six. However, the present invention is not limited to this, and the number of rotation axes of the robot arm is, for example, two. There may be three, four, five or more than seven. Moreover, in the said embodiment, the number of arms which a robot has is six, However, In this invention, it is not limited to this, For example, the number of arms which a robot has is 2, 3, 4, Five or seven or more may be used.

  Moreover, in the said embodiment, although the number of the robot arms which a robot has is one, in this invention, it is not limited to this, For example, the number of the robot arms which a robot has may be two or more. That is, the robot may be a multi-arm robot such as a double-arm robot.

  Moreover, although the said embodiment demonstrated the form which has one robot in one cell, the number of the robot arrange | positioned in one cell is not limited to this, Two or more may be sufficient.

  Moreover, in the said embodiment, although the ceiling surface which is the upper surface of an upper frame was mentioned as an attachment surface which is a location which fixes the base of a robot, an attachment surface is not limited to this. The attachment surface may be, for example, the lower surface of the upper frame, the frame body, the column portion, the work surface, or the like.

  Moreover, in the said embodiment, although the cell had the leg | foot, it does not need to have a leg | foot. In that case, the bottom plate located at the lower end of the work table may be directly installed in the installation space.

  Moreover, in the said embodiment, although the components (object) were conveyed to the positioning part by the 1st conveyance part, for example, a robot may convey a component (object) to the positioning part.

  Moreover, in the said embodiment, when n is 1, about the condition (relationship) of the nth rotation axis, the nth arm, the (n + 1) th rotation axis, and the (n + 1) th arm, that is, the first rotation axis. In the first arm, the second rotation shaft, and the second arm, the case where the condition is satisfied has been described. However, the present invention is not limited thereto, and n is an integer of 1 or more, and n is 1 or more. In any integer, it is only necessary to satisfy the same conditions as in the case where n is 1. Therefore, for example, when n is 2, that is, in the second rotation shaft, the second arm, the third rotation shaft, and the third arm, the same conditions as in the case where n is 1 may be satisfied, Further, when n is 3, that is, the same condition as that in the case where n is 1 may be satisfied in the third rotation shaft, the third arm, the fourth rotation shaft, and the fourth arm, and n Is equal to 4, that is, the fourth rotating shaft, the fourth arm, the fifth rotating shaft, and the fifth arm may satisfy the same condition as when n is 1, and n is 5 In other words, the same conditions as in the case where n is 1 may be satisfied in the fifth rotation shaft, the fifth arm, the sixth rotation shaft, and the sixth arm.

  In the above-described embodiment, the vertical articulated robot has been described as an example. However, the robot included in the robot system of the present invention is not limited to this, and for example, a robot with any configuration such as a horizontal articulated robot (first robot). It may be. As a horizontal articulated robot, for example, a base, a first arm (n-th arm) connected to the base and extending in the horizontal direction, and a first arm having a portion connected to the first arm and extending in the horizontal direction are provided. A configuration having two arms ((n + 1) th arm) can be given. Since such a horizontal articulated robot is small, it is preferable because a region where the robot is placed can be further reduced.

  Moreover, in the said embodiment, the 1st conveyance part (conveyance part), the 2nd conveyance part (conveyance part), and the 3rd conveyance part (conveyance part) 33 respectively have two rollers and two belts. Although it was comprised with the belt conveyor which has, the structure of each conveyance part is not limited to this. For example, the number of belts may be one, or three or more. For example, a single axis module may be sufficient.

  Moreover, in the said embodiment, although the structure provided with a pin was mentioned as an example of a positioning part, the structure of a positioning part is not limited to this. For example, the positioning unit may be configured to include a chuck mechanism and to grip a jig, a part, or the like from both sides by the chuck mechanism.

100 robot system 111 flange 1, 1a, 1b robot 10 robot arm 11: base 12 first arm 121 first part 122 second part 123 second 3 part 124 ... 4th part 13 ... 2nd arm 14 ... 3rd arm 15 ... 4th arm 151, 152 ... support part 16 ... 5th arm 17 ... 6th arm 171, 172, 173 174, 175, 176 ... joints 301, 302, 303, 304, 305, 306 ... motor driver 401 ... first drive source 401M ... motor 402 ... second drive source 402M ... motor 403 ... 3 drive source 403M ... motor 404 ... 4th drive source 404M ... motor 405 ... 5th drive source 405M ... motor 406 ... 6th drive source 406M ... Ter 40 ‥‥ change mechanism 411 ‥‥ spacer 105 ‥‥ region 20 ‥‥ weights 22 ‥‥ support part 3 ‥‥ transport unit 31 ‥‥ first conveyor (conveying unit)
311... Belts 312, 313... Roller 315... Rotating support 32.
321 ... Belts 322, 323 ... Roller 325 ... Bar 33 ... Third transport section (transport section)
331 ... belt 332, 333 ... roller 34 ... parts supply part 35 ... drive part 351 ... drive source 352 ... power transmission mechanism 353 ... shaft 354 ... first power transmission part 355 ... second power Transmission unit 36 ... Imaging unit 361 ... Electronic camera 362 ... Prism 50, 50a, 50b ... Robot cell 5, 5a, 5b ... Cell 51 ... Post 52 ... Bottom 53 ... Ceiling part 531 ... Ceiling Surface 54 ... Foot 541 ... Caster 542 ... Adjuster 543 ... Fixture 55 ... Work part 551 ... Work surface 56 ... Gap 57 ... Mounting plate 59 ... Wiring duct 581 ... First side part (Side part)
582 ... 2nd side part (side part)
583 ... 3rd side (side)
584 ... 4th side (side)
61 ... Bearing 611 ... Center line 621 ... Straight lines 66, 67, 68 ... Arrow 60 ... Gas supply part 62 ... Air filter 63 ... Fan 65 ... Pneumatic piping 7 ... Control unit 71 ... Control unit 72 Power supply unit 73 Uninterruptible power supply unit 74 Lighting power supply unit 75 Computer 76 Wiring unit 70 Display operation unit 701 Monitor 702 Flexible arm 80 Support Part 83 ··· Connection plate 85 ··· Connection belt (connection mechanism)
86 Tension pulley 87 Link mechanism 871, 872, 873 Gear 91 Hand 90 Positioning portion 901 Base 902 Support portion 903 Positioning pin 41 Component 42 Component 371 Jig 372 Hole O1 First rotation axis O2 Second rotation axis O3 Third rotation axis O4 Fourth rotation axis O5 Fifth rotation axis O6 6th pivot axis S ... Area W1, W2, WX ... Width L ... Height L1, L2, L3 ... Length A1, A2, A3 ... Arrow A31 ... Center line D31 ... Separation distance D40... Separation distances L31, L32, L33... Installation height S1... First space S2.

Claims (20)

A first robot;
A first cell provided with the first robot and movable;
A robot system comprising: a positioning unit provided in the first cell for positioning an object.   The robot system according to claim 1, further comprising a first transport unit that transports the object to the positioning unit. A second transport unit for transporting the object;
The robot system according to claim 2, wherein the second transport unit is different from the first transport unit in a transport direction for transporting the object.   The robot system according to claim 3, further comprising a drive unit that drives the first transport unit and the second transport unit.   5. The robot system according to claim 3, wherein each of the first transport unit and the second transport unit includes a portion installed inside the first cell. A third transport unit for transporting the object;
The robot system according to any one of claims 3 to 5, wherein the third transport unit is different from the second transport unit in a transport direction for transporting the object. Each of the first transport unit, the second transport unit, and the third transport unit has a portion installed inside the first cell;
In the first cell, the installation height of the third transport unit is higher than the installation height of the second transport unit,
The robot system according to claim 6, wherein an installation height of the second transfer unit is higher than a height of the first transfer unit in the first cell. A second robot for placing the object on the first transport unit;
A second cell provided with the second robot,
The first robot operates in the first cell;
The robot system according to any one of claims 2 to 7, wherein the second robot operates in the second cell. The first robot is
An n-th arm rotatable around an n-th (n is an integer of 1 or more) rotation axis;
2. The (n + 1) th arm provided on the nth arm so as to be rotatable about an (n + 1) th rotation axis that is an axial direction different from the axial direction of the nth rotation axis. 9. The robot system according to any one of items 8 to 8. The length of the nth arm is longer than the length of the (n + 1) th arm,
10. The robot system according to claim 9, wherein the n-th arm and the (n + 1) -th arm can overlap each other when viewed from the axial direction of the (n + 1) -th rotation axis. The first robot includes a base provided in the first cell,
The robot system according to claim 9 or 10, wherein the n-th arm is provided on the base. The first robot includes a base provided in the first cell;
An n-th arm provided on the base and rotatable about an n-th (n is an integer of 1 or more) rotation axis;
9. The (n + 1) th arm provided on the nth arm so as to be rotatable about a (n + 1) th axis which is an axial direction parallel to the axial direction of the nth rotation axis. The robot system according to any one of the above.   12. The first robot is provided such that a connection portion between the base and the n-th arm is positioned vertically above a connection portion between the n-th arm and the (n + 1) -th arm. Or the robot system of 12. The first cell has a ceiling;
The robot system according to claim 11, wherein the base is provided on the ceiling portion.   The robot system according to any one of claims 1 to 14, further comprising a changing mechanism capable of changing an installation height of the first robot with respect to the first cell. The first robot has a base attached to the first cell, and an nth (n is 1) arm connected to the base.
The robot system according to claim 15, wherein the changing mechanism includes a spacer that changes a separation distance between the base and the first cell.   The robot system according to any one of claims 1 to 16, further comprising a gas supply unit that is provided in the first cell and supplies a clean gas.   The robot system according to claim 17, wherein the gas flows vertically downward from the gas supply unit.   The robot system according to claim 17 or 18, wherein the gas supply unit includes a filter. A robot provided in a movable cell,
A robot having a positioning part for positioning an object inside the cell and working on the object positioned by the positioning part.

Images