JP3327770B2 - Robot device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot device provided with a slide device at the end of an arm.

[0002]

2. Description of the Related Art As a robot for linearly moving a work, for example, Japanese Patent Application Laid-Open Nos.
There is one disclosed in Japanese Patent No. 60663. A robot disclosed in Japanese Patent Application Laid-Open No. 5-76965 includes a traveling path extending in a predetermined direction, a robot base movably mounted on the traveling path, a robot trunk mounted on the robot base, and a robot. A robot arm attached to the torso,
A hand attached to the robot arm is provided, and the robot trunk is supported on the robot base so as to be pivotable about an axis extending in the vertical direction.

[0003] In this type of robot, a traveling path is arranged between work devices such as a press device. The work transfer operation is performed as follows. In a state where the robot base is located at one end of the traveling path, the hand holds the work (processed by the working device) located in the working area of one of the working devices, and holds the work. In this state, the robot base is moved from one end of the traveling path to the other end, and during this movement, the robot body is turned 180 degrees around the turning axis, and then the hand holds the work at the other end of the traveling path. Is released, and the work is positioned in the work area of the other work device.

A robot according to a first embodiment disclosed in Japanese Patent Application Laid-Open No. Hei 7-60663 has a base body, an arm that can rotate with respect to the base body, and an axis extending vertically at a tip end of the arm. And a slide device attached to the hand. The slide device includes shift means having a base mounted on a hand, and a tool for moving the shift means from the base to the tip.

[0005] The robot of the first embodiment is also disposed between the two working devices, and the work transfer operation is performed as follows. In a state where the work is positioned at one end of the slide device (the tip of the shift means), the tool holds the work (which has been subjected to predetermined processing) located in the work area of the work device. Next, the tool is moved to the other end of the slide device while holding the workpiece, and the hand is turned 180 degrees about the turning axis while moving. Thereafter, the tool is moved from the other end to the one end of the slide device, and the holding of the work by the tool is released at this position, and thus the work is positioned in the work area of the other work device.

Further, the robot of the second embodiment disclosed in Japanese Patent Application Laid-Open No. 7-60663 has a different configuration of the slide device from that of the first embodiment.
The slide device according to the first aspect of the present invention includes a shift unit and a tool movably mounted on the shift unit from one end to the other end, and a central portion of the shift unit is mounted on a hand.

In the robot of the second embodiment, the tool holds a workpiece (having been subjected to a predetermined processing) located in the working area of the working device while the workpiece is positioned at one end of the slide device. Next, the tool is moved from one end to the other end of the slide device, and the tool is released from holding the work at the moved position, and thus the work is positioned in the work area of the other work device.

[0008]

However, the above-mentioned conventional robot has the following problems to be solved. For example, Japanese Patent Application Laid-Open No. 5-76965 has a structure in which the robot base moves along the traveling path, so that a relatively large and strong traveling path is required. However, there is a problem that a prime mover having a relatively large output is required for this operation, and the cost is increased. Further, in the first embodiment of Japanese Patent Application Laid-Open No. 7-60663, since the base of the shift means has a cantilever structure mounted on the hand, it is difficult to increase the movement range of the shift means. When the hand is rotated to rotate the slide device, an inertial load including the slide device and the work is increased, and there is a problem that the life of the robot is shortened. Further, in the second embodiment of Japanese Patent Application Laid-Open No. 7-60663, even if the tool moves from one end to the other end of the shift means, the tool only moves within the range of the shift means. Therefore, when holding the work, a part of the shift means having relatively high strength is located in the working area of the working device, and if the working device malfunctions, the working device may be damaged by the shift device.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a robot device capable of securing a sufficient moving range for sliding a work.

Another object of the present invention is to provide a robot device which can be conveniently applied to the transfer of a work between, for example, a press device.

Still another object of the present invention is to provide a robot apparatus which can use a region between a pair of working devices as a work transfer path and dispose the base body substantially offset from the transfer path. is there.

[0012]

The present invention relates to (a) a slide device 30 comprising: (a1) a slide device main body 3 having a main body frame 36;
And (a2) extending along the axial direction of the main body frame 36 over one end and the other end of the main body frame 36, provided rotatably below the main body frame 36, and having a male screw formed on the peripheral surface. (A3) driving means 50 to 56 provided at the other end of the main body frame 36 to rotate the driving guide 46 around the axis of the driving guide; and (a4) driving guide. A moving member 64 attached to a nut member 62 that is screwed into the driving member 46; (a5) moving the moving member 64 on both sides of the drive guide 46;
Guide rail 6 for guiding the body frame 36 in the axial direction
(A6) a plurality of suction members 74 having a suction cup shape for sucking and holding the work 84; and (a7) a mounting tube 7 extending in the axial direction of the main body frame 36.
2, suction members 74 are disposed at intervals in the longitudinal direction of the mounting pipe 72, and the base end of the mounting pipe 72 is provided on the moving member 64, and the moving member 64 is attached to the main body frame 36.
At the forward position moved toward the one end, most of the mounting tube 72 protrudes outward from the slide device main body 32, and when the moving member 64 is moved toward the other end of the main body frame 36, the mounting tube 72 is mounted. (A8) a first tube 76 having one end connected to the base end of the mounting tube 72; and (a9) a main body frame 36. And (b) a robot, which is a rotatable base body 4, which includes a connecting member 78 to which the other end of the first tube 76 is connected.
The plurality of arms 6, 8, 20, and 22 are sequentially connected so as to be angularly displaceable.
(C) a robot which is capable of angular displacement about an axis 34 extending in the vertical direction and which is connected to a main body frame 36 at a central portion of the main body frame 36 in the axial direction. A second tube 80 having one end connected to the connection member 78; (d) a suction source P for applying a suction force; and (e) the plurality of arms 6, 8, 20, 22 of the robot.
And a valve member 82 connected to the other end of the second tube 80, connected to the suction source P, and holding or releasing the suction source P by suction. (F) one working device 88 having a first working area for working the work, in which the mounting pipe 72 can enter while the moving member 64 is at the front position; and (g) working the work. The other working device 90 which has a second working area to perform and in which the mounting pipe 72 can enter when the moving member 64 is in the forward position.
Is the other working device 9 in which the base body 4 is arranged offset from the region having the first and second working areas to the outside.
0 is a robot device. According to the present invention, one working device 88 and the other working device 90
The base body 4 of the robot is offset from the region connecting the first and second work areas, and is driven by a drive guide 46 provided on the body frame 36 of the slide device 30. The moving member 64 is provided with a base end portion of the mounting tube 72, so that the moving member 64 is in the front position and the mounting tube 72 is
Most project outward from the slide device main body 32.
Therefore, in the first and second working areas, the mounting pipe 72,
The suction member 74 attached to the attachment tube 72 can be reliably inserted. In this way, the work is
And it becomes possible to convey between the 2nd work areas, and a sufficient moving range for slide of a work can be ensured. Further, according to the present invention, a plurality of robot arms 6,
Of the arms 20, 20, and 22, the distal arm 22 is connected at the axial center of the main body frame 36, so that the space required for the main body frame 36 to be angularly displaced by the distal arm 22 is minimized. Can be. According to the present invention, a valve member 82 is attached to the arm 8 connected to the arm 22 at the distal end, and the suction force of the suction source P is applied to the main body frame 36 from the valve member 82 via the second tube 80. The connecting member 78 communicates with the attached connecting member 78 via the first tube 76 to the base end of the mounting tube 72, and the suction member 74 provided on the mounting tube 72 sucks the work 84. Hold / release can be performed. By using the valve member 82, the connecting member 78, and the first and second tubes 76 and 80 as described above, the first and second tubes can be transported during the transfer of the work 84.
There is no possibility that the tubes 76 and 80 may be damaged by being caught on an obstacle or the like, and a reliable operation can be performed.

According to the present invention, the driving means 50 to 56 hold the moving member 64 in the retracted position during the turning of the base body 4 for moving the first and second working area pipes of the mounting pipe 72. It is characterized by. According to the present invention, the pivoting of the base body 4 to move the mounting pipe 72, and hence the suction member 74 holding the workpiece by suction, between the first and second working areas of the one and the other working devices 88 and 90. During the movement, the movable member 64 is held at the retracted position moved toward the other end of the main body frame 36. Further, as described above, the arm 22 at the distal end is connected at the center of the main body frame 36 in the axial direction. Therefore, during this turning, the moment of inertia can be reduced and a stable turning operation can be performed.

The present invention is characterized in that the robot makes angular displacements 95 and 97 around the axis 34 of the distal end arm 22 while rotating the base body 4. According to the present invention, in moving the moving member 64 between the first and second work areas, the robot moves the tip arm 22 around the axis 34 of the tip arm 22 while rotating the base body 4. Since the angular displacements 95 and 97 (see FIG. 4 to be described later) are performed, it is possible to reduce the turning operation time for the movement between the first and second work areas.

According to the present invention, the main body frame 3 is provided in the first and second working areas while the moving member 64 is in the front position.
6 does not enter. According to the present invention, the main body frame 36 does not enter the first and second working areas, and only the mounting pipe 72 and the suction member 74 having relatively low strength are provided.
Invading the first and second work areas. Therefore, even if one and the other working devices 88 and 90 are erroneously operated, the mounting pipe 72 and the suction member 7 having such low strength are used.
It is possible to prevent the working devices 88 and 90 from being damaged because only the device 4 is damaged.

[0016]

FIG. 1 is a side view showing a robot according to an embodiment of the present invention. The illustrated robot has a base body 4 installed on the floor 2. A first arm 6 is connected to the base body 4, and a second arm 8 is connected to the first arm 6. A flange 10 is provided at the distal end of the second arm 8, and a tool mounting arm mechanism 12 is connected to the flange 10. In this embodiment, the base body 4 is mounted so as to be pivotable about a first shaft 14 extending in the vertical direction in FIG. 1, and is angularly displaced by a drive motor M1. The first arm 6 has a second shaft 16 extending perpendicularly to the plane of FIG.
, And is angularly displaced by a drive motor M2. The second arm 8 is mounted so as to be pivotable about a third shaft 18 extending in a direction perpendicular to the plane of FIG. 1 and is angularly displaced by a drive motor M3.

The arm mechanism 12 has a third
Arm 20 and a fourth arm 22. The third arm 20 is attached to the second arm 8 so as to be pivotable about a fourth axis 24 (extending in the left-right direction in FIG. 1) passing through the axis of the second arm 8, and the drive motor M4 Angular displacement. In addition, the fourth arm 22
Is a fifth axis 2 extending in a direction perpendicular to the plane of FIG.
6 is attached to the third arm 20 so as to be pivotable about the center 6, and is angularly displaced by a drive motor M5.

A slide device 30 is mounted on the tip of the fourth arm 22. The slide device 30 has a slide device main body 32, which is attached to the fourth arm 22 so as to be pivotable about a sixth axis extending in the vertical direction in FIG. Displaced.

FIG. 2 is a sectional view of the slide device 30, and FIG. 3 is a sectional view taken along line III-III in FIG. With reference to FIG. 1 and FIGS. 2 and 3, the slide device main body 32 includes a main body frame 36 attached to the fourth arm 22. Support frames 38 and 40 are provided at both ends of the main body frame 36, and a drive guide 46 is rotatably mounted on the support frames 38 and 40 via bearings 42 and 44. The drive guide 46 is formed of a rod-shaped member, and a male screw is formed on a peripheral surface thereof. A protective cover 48 is provided on one end of the main body frame 36.
Is provided. A drive motor 50 is provided at the other end of the main body frame 36. Drive motor 50
A gear 52 is attached to the output shaft of the drive guide 4.
The gear 5 has an end protruding from the support frame 38.
4 is attached, and the gears 52 and 54
6 are drivingly connected. Further, the gears 52, 5
A protective cover 58 is attached to the motor 50 so as to cover the motor 4 and the timing belt 56. In the embodiment, the driving force from the driving motor 50 is transmitted to the driving guide 46 via the timing belt 56. However, the output shaft of the driving motor 50 is directly connected to the driving guide 46 to transmit the driving force. You may make it.

In the embodiment, a pair of nut members 62 are screwed to the drive guide 46 at intervals in the left-right direction in FIGS. 1 and 2, and the moving member 46 is attached to the nut member 62. . The moving member 64 is formed of a block-shaped member, and a pair of protrusions 64A, 64B protruding upward is provided on both sides thereof, and the main body frame 36 corresponds to the protrusions 64A, 64B, respectively.
Guide rails 65 and 67 are provided, and guide rails 65 and 6 are provided.
Reference numeral 7 extends from one end to the other end of the main body frame 36 along the drive guide 46.

With this configuration, the drive motor 50
Is driven in a predetermined direction (or a direction opposite to the predetermined direction), the drive guide 46 is rotated via the gear 52, the timing belt 56 and the gear 54, and the moving member 64 is moved together with the pair of nut members 62. Are FIGS. 1 and 2
Is moved to the right (or to the left). As shown in FIG. 1, the moving member 64 is located at a front position (a position at one end of the slide device main body 32) indicated by a two-dot chain line and at a rear position (at the other end of the slide device main body 32) indicated by a solid line. Position), and the movable member 64
When moving, it moves along the drive guide 46 and is guided by the guide rails 65 and 67, and thus moves linearly between the front position and the rear position. Moving member 6
The positioning of the position 4 at a desired position is performed by, for example, a detection means (not shown) for detecting the origin and an encoder built in the motor. The drive guide 46
The ball screw structure can be adopted for the nut member 62 and the nut member 62.

In this embodiment, as shown in FIG.
The center of the body frame 36 in the axial direction is the fourth arm 22.
Therefore, the moving member 64 is configured to be substantially equally distributed in the left-right direction in FIG. 1 around the connecting portion (the distance from the connecting portion to the front position). The distance from the connecting portion to the rear position is set to be substantially equal). The distribution ratio of the moving member 64 is determined by the work 8
4 (FIG. 4), the front position side and the rear position side can be appropriately changed to a ratio of, for example, 3 to 7, in consideration of the range of movement of the workpiece 4, the inertia moment including the tool means 60, and the like.

The tool means 60 is mounted on the moving member 64. In the illustrated embodiment, a tool changer 66 is provided below the moving member 64, and this tool changer 6 is provided.
6 is provided with a tool means 60. If the frequency of replacement of the tool means 60 is low, the tool changer 66 can be omitted.

The illustrated tool means 60 comprises a hand means 68 for holding a work. The hand means 68 has a mounting member 70 extending in a direction perpendicular to the paper surface in FIGS. 1 and 2, and three hollow tubes 72 are mounted on the mounting member 70 at intervals in the axial direction. (See FIG. 4). Hereinafter, the hollow tube 72 may be referred to as a mounting tube 72. Each mounting pipe 72 is provided with a suction member 74 in the shape of a suction cup at a central portion and a distal end portion.
A tube 76 is connected to the base of each mounting tube 72 (only one of them is shown in FIG. 1), and an end of the tube 76 is connected to a connecting member 78 mounted on the main body frame 32.
(See FIG. 1), and the connecting member 78 is connected to the tube 80.
Is connected to a valve member 82 attached to the base of the second arm 8 via a valve. The valve member 82 is connected to a suction source P such as a vacuum pump. Therefore, when the valve member 82 is switched to the operating position in a state where the suction source P is biased, the suction force from the suction source P is applied to the tubes 80, 76,
It acts on the work 84 via the mounting pipe 72 and the suction member 74, and the suction member 74 sucks and holds the work 84. On the other hand, when the valve member 82 is switched to the non-operating position, the suction force from the suction source P does not act on the work 84, and the suction holding of the work 84 by the suction member 74 is released. In the embodiment, the attachment member 70 is provided with three hollow tubes 72. However, if the work 84 can be sucked and held as required, one or two or four or more tubes are provided. Can also. Although two suction members 74 are provided in the hollow tube 72, one or three or more suction members can be provided.

In the above-mentioned robot, the drive motors M1 to M6 for turning the various arms 6, 8 and the like are used.
The operation of the individual motors is controlled by control means (not shown) for controlling the robot. Further, the operation of the drive motor 50 of the slide device 30 is also controlled by the control means. Therefore, as will be easily understood, the driving motors M1 to M5 are controlled by the first to fifth axes by the control means, respectively.
The drive motor M6 for turning the zero is controlled on the sixth axis by the control means, and the drive motor 50 for moving the moving member 64 is controlled on the seventh axis by the control means. The seven-axis control of the robot including the slide device 30 can be controlled using a conventional seven-axis control program.

Next, the operation control of the robot will be described mainly with reference to FIGS. This robot has one working device 88 arranged on the left side in FIG.
And the other working device 90 arranged on the right side. In the embodiment, the working devices 88 and 90 are configured by press devices, and the work 84 is a plate-shaped member that is pressed by the device.

From one working device 88 to the other working device 9
When the workpiece 84 is transported to the position 0, the robot is held in the first state shown by the solid line in FIG. That is, the drive motor M6 is rotated, and the slide device main body 32 rotates the second arm 8 by a predetermined angle in the counterclockwise direction indicated by the arrow 95. Further, the drive motor 50 is rotated in a predetermined direction,
The moving member 64 moves in the direction shown by the arrow 93 (FIG. 1) and is positioned at a position in front of one end of the slide device main body 32. In this forward position, as shown in FIGS. 1 and 4, most of the tool means 60 (that is, the mounting pipe 72) protrudes outward from the slide device main body 32, and the suction member 74 is located in the working area of the working device 88. It is located above the plate-shaped work 84 to be formed. In this front position, the relatively strong members, that is, the slide device body 32 having the body frame 36 and the mounting member 70 do not enter the working area of the working device 88, and the hollow tube 72 having relatively weak strength is used. Only the suction member 74 is located above the work area. Therefore, even if the working device 88 is erroneously operated, it is the hollow tube 72 and the suction member 74 that are processed in the working area, and thus a part of the working device, for example, a mold member or the like that processes a work. Breakage is avoided.

Next, the robot is controlled by the control means as required, and the slide device 30 is moved downward by the work 84.
And the suction member 74 is brought into contact with the upper surface of the work 84. With this movement, the valve member 82 is switched to the operating position. Thus, the suction force from the suction source P acts on the work 84, and the work 84 is suction-held by the tool means 60 by the suction force.

After sucking and holding the work 84, the robot is controlled as required to lift the slide device 30 somewhat upward, and then the drive motor 50 of the slide device 30 is lifted.
Are driven to rotate in a direction opposite to the predetermined direction. When rotated, the moving member 64 is moved from the front position in the direction indicated by the arrow 94 (FIG. 1) to the retracted position at the other end of the slide device main body 32 (this second state is determined by the tool means). At 60A, the hollow tube at 72A, and the workpiece at 84A). In this retracted position, the majority of the hollow tube 72 is located below the slide device body 32 and their tips project only slightly from the device body 32. By thus bringing the tool means 60 into the retracted position, it is possible to prevent the tool means 60 and the work 84 held by the tool means 60 from colliding with the column of the working device 88 (for example, the column of the press device) in the subsequent turning.

Next, the base body 4 is turned clockwise as shown by an arrow 96 in FIG. 4, and the slide device 30 is also turned clockwise as shown by an arrow 97 in FIG. 32 slide units
At B, the tool means passes through a pivoting intermediate position (position substantially at the center of both working devices 88, 90) which is indicated by 60B, the hollow tube by 72B and the workpiece by 84B. In the fourth state (in this state, the slide device body is at 32C, the tool means is at 60C, and the hollow tube is at 7C).
2C and the workpiece is indicated by 84C, respectively). During this turning, as can be understood from FIG. 4, the moving member 64 is held at the retracted position, so that the moving member 64, the tool means 60, and the work 84 are the first shaft 14 which is the turning center axis of the base body 4. Is approaching,
Further, the tool means 60 and the workpiece 84 are close to the rotation center axis of the sixth axis, and therefore, these members 64, 6
The moments of inertia of 0, 84 are reduced, and the various arms 6, 8, 20, 22, etc. and the tool means 60,
A large load acting on the work 84 is avoided.
And, in relation to the moment of inertia becoming smaller,
Increasing the turning acceleration / deceleration is allowed. In the turning motion from the second state to the fourth state, the drive motors M1 to M6 can be simultaneously controlled by the control means (not shown), so that the slide device 30 is turned while the base body 4 is turned. That is, the robot can move the arm 22 during its rotation of the base body 4 with its axis 3
Since the angular displacement is made around 4 (reference numerals 95 and 97 in FIG. 4), the turning operation time can be reduced. In addition, it is also possible to control the base body 4 and the slide device 30 to rotate separately.

In the embodiment, after the moving member 64 is positioned at the rear position, the base body 4 and the slide device 30 are turned. However, since the structure is controlled by common control means, the moving member 64 is controlled. To start turning the slide device 30 and the base body 4 when the vehicle approaches the rear position, or
It is also possible to control so that the turning of the base body 4 is started after the turning of the base body 4 is started.

Next, the drive motor 50 is rotated in a predetermined direction, and the moving member 64 moves again in the direction shown by the arrow 93 (FIG. 1) to be positioned at a position in front of one end of the slide device main body 32. Fifth state (in this state, the tool means is 60D, the hollow tube is 72D, and the work is 84D.
). In such a forward position, as shown in FIG. 4, most of the tool means 60 protrudes outward from the slide device main body 32, and the work 84 held by the suction member 74 is moved to the work area of the other work device 90. It is located above. Even in the fifth state, the slide device main body 32 and the mounting member 70 do not enter the working area of the working device 88, and only the hollow pipe 72 and the suction member 74 having relatively low strength are in the working area. It is located above. Therefore, even if the other working device 90 is erroneously operated, it is the hollow tube 72 and the suction member 74 that are processed in the working area. Breakage is avoided.

Thereafter, the robot is controlled by the control means, the slide device 30 is moved downward toward the work area, and the work 84 held by the suction member 74 is moved to the work device 9.
0 is positioned in the work area. Next, the valve member 82 is switched to the non-operation position, and the work 8
4 is released, and the work 84 is positioned in the work area.

After the above-described operation, the robot operates in the opposite direction to the above-described operation, so that the work 84 processed in the work area of one of the work devices 88 is returned to the other work device 90 again.
It is repeatedly operated so as to be conveyed to. The working device 9
The work 84 positioned in the work area 0 is subjected to predetermined processing by the work device 90.

In the robot having such a configuration, as shown in FIG. 4, the fourth arm 22 on which the slide device 30 is mounted is used.
Is controlled by the control means in the sixth axis, and most of the tool means 60 is configured to protrude from the slide device main body 36. Therefore, the base body 4 of the robot is moved to the work area of both of the work apparatuses 88 and 90. Can be arranged substantially offset outward from this region without being provided in the region connecting the. Therefore, as can be understood from FIG. 4, the work 84 can be transported from one working device 88 to the other working device 90 as required, even though the turning angle of the base body 4 is small. The operation time of the robot can be shortened in connection with the small size. In addition, since the intermediate portion of the slide device main body 32 is configured to be connected to the fourth arm 22,
The moving range of the moving member 64 can be increased.

In the illustrated embodiment, the drive motor 50 of the slide device 30 is controlled by control means for driving and controlling the various drive motors M1 to M6 of the robot, but is controlled by control means separate from this control means. You can also do so. In this case, as will be easily understood, a standard robot can be used, and the slide device 30 can be additionally mounted on the fourth arm 22 of the robot. Can be provided as a robot.

The above-described robot has the slide device 30 and the tool unit 60 of the slide device 30 has a wide linear movement range, so that it can be conveniently used as a robot for transferring a work between press devices as a working device.

This slide device can be mounted on various types of robots. That is, it can be equipped with a device that is hung on a wall or the like, or a device that moves along a traveling path.

[0039]

According to the present invention, the arm 22 at the distal end of the robot is connected to the center of the body frame 36 of the slide device 30 in the axial direction, and is further connected to the moving member 64 which is driven by the body frame 36 to move. Since the base end of the mounting tube 72 to which the suction member 74 is mounted is provided, a sufficient moving range for sliding the work can be secured, and the one and the other working devices 88,
The work can be performed by sufficiently inserting the attachment pipe 72 and the suction member 74 into the first and second work areas 90. Further, according to the present invention, the valve member 82 is attached to the arm 8 connected to the arm 22 at the distal end, the connecting member 78 is attached to the main body frame 36, and the attachment pipe 7 is attached.
The first tube 76 is connected between the base end of the second member 2 and the connecting member 78, and the second tube 80 is connected between the valve member 82 and the connecting member 78. 76, 80 can be prevented from being damaged by being caught by an obstacle.
Second, the moving range of the suction member 74 can be made as large as possible.

According to the present invention, while the base body 4 is turning,
By holding the moving member 64 at the retracted position, the base body 4 of the robot can be turned while the moment of inertia is reduced.

According to the present invention, the base body 4 of the robot
During pivoting of the arm, the distal arm 22 is angularly displaced 95, 97 about its axis 34, thereby shortening the operation time between the first and second working areas.

According to the present invention, the slide device main body 32 does not enter the first and second working areas in a state where the moving member 64 is in the forward position, and the mounting pipe 72 and the suction member 74 are provided.
Only one intruder, one and the other working device 88,
In the event of a malfunction of the working device 90, the work tube 8 and the suction member 74 having such a low strength allow these working devices 8 to operate.
8, 90 can be prevented from being damaged.

[Brief description of the drawings]

FIG. 1 is a side view showing a robot according to an embodiment of the present invention.

FIG. 2 is a sectional view showing a slide device of the robot shown in FIG. 1;

FIG. 3 is a sectional view taken along line III-III in FIG. 2;

FIG. 4 is a simplified plan view for explaining the operation of the robot in FIG. 1;

[Explanation of symbols]

 Reference Signs List 4 Base body 6 First arm 8 Second arm 12 Tool mounting arm mechanism 30 Slide device 32 Slide device body 46 Drive guide 50 Drive motor 60 Tool means 64 Moving member 68 Hand means 84 Work M1 to M6 Drive motor P Suction source

──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Tetsuya Yoshida 1-1, Kawasaki-cho, Akashi-shi, Hyogo Kawasaki Heavy Industries, Ltd. Inside the Akashi factory (56) References JP-A-6-206190 (JP, A) Hei 4-42390 (JP, U) Japanese Utility Model Showa 58-63993 (JP, U) (58) Fields surveyed (Int. Cl. ⁷ , DB name) B25J 17/02 B25J 9/00

Claims (4)

(57) [Claims] 1. (a) a slide device 30, (a1) a slide device main body 3 including a main body frame 36
And (a2) extending along the axial direction of the main body frame 36 over one end and the other end of the main body frame 36, provided rotatably below the main body frame 36, and having a male screw formed on the peripheral surface. (A3) driving means 50 to 56 provided at the other end of the main body frame 36 to rotate the driving guide 46 around the axis of the driving guide; and (a4) driving guide. A moving member 64 attached to a nut member 62 that is screwed into the driving member 46; (a5) moving the moving member 64 on both sides of the drive guide 46;
Guide rail 6 for guiding the body frame 36 in the axial direction
(A6) a plurality of suction members 74 having a suction cup shape for sucking and holding the work 84; and (a7) a mounting tube 7 extending in the axial direction of the main body frame 36.
2, the suction members 74 are spaced from each other in the longitudinal direction of the mounting pipe 72.
The base end of the mounting tube 72 is provided on the moving member 64. At the front position where the moving member 64 has moved toward the one end of the main body frame 36, most of the mounting tube 72 is mounted on the slide device main body. At the retracted position where the moving member 64 protrudes outward from the main body frame 32 and moves toward the other end of the main body frame 36, most of the mounting pipe 72 is located below the slide device main body 32; A) a first tube 76 having one end connected to the base end of the mounting tube 72; and (a9) a connection member 78 attached to the body frame 36 and connected to the other end of the first tube 76. A slide device 30; and (b) a plurality of arms 6, 8, 2
0, 22 are sequentially connected so as to be angularly displaceable. Of these arms 6, 8, 20, 22, the arm 22 at the tip is angularly displaceable about an axis 34 extending in the vertical direction. A robot connected to the main body frame 36 at the center in the axial direction of the main body frame 36; (c) a second tube 80 having one end connected to the connecting member 78; and (d) applying a suction force. (E) the plurality of arms 6, 8, 20, 22 of the robot;
And a valve member 82 connected to the other end of the second tube 80, connected to the suction source P, and holding or releasing the suction source P by suction. (F) one working device 88 having a first working area for working the work, in which the mounting pipe 72 can enter while the moving member 64 is at the front position; and (g) working the work. The other working device 90 which has a second working area to perform and in which the mounting pipe 72 can enter when the moving member 64 is in the forward position.
Is the other working device 9 in which the base body 4 is arranged offset from the region having the first and second working areas to the outside.
0. A robot apparatus comprising: 2. The driving means 50 to 56 hold the moving member 64 at the retracted position during the turning of the base body 4 for moving the first and second working area tubes of the mounting tube 72. The robot device according to claim 1, wherein 3. The robot apparatus according to claim 1, wherein the robot makes an angular displacement of the arm at the distal end by 95 and 97 around the axis while rotating the base body. 4. A moving member 6 in the first and second working areas.
The robot apparatus according to any one of claims 1 to 3, wherein the main body frame 36 does not enter when the device 4 is at the front position.