JP4136868B2 - Robot traveling device - Google Patents

Description

  The present invention relates to a robot traveling apparatus in which a robot is mounted on a traveling carriage moving on a track and handles workpieces with respect to a plurality of processing machines.

  An example of a conventional robot traveling apparatus will be described with reference to FIGS. FIG. 4 shows a machining line for performing a plurality of machining operations on the workpiece, and a plurality of machining machines 3 are arranged on both sides of the track 2 of the robot traveling apparatus 1. As shown in FIGS. 5 and 6, the robot traveling apparatus 1 is equipped with a robot 5 that handles a workpiece on a traveling carriage 4 that moves on a track 2. As a result, the workpiece can be gripped by the hand 8 of the arm 7 of the robot 5 and can be attached to and detached from each processing machine 3, and the workpiece is moved to each processing machine 3 by moving the traveling carriage 4 along the track 2. Can be moved between the two, and a plurality of machining operations can be automatically applied to the workpiece.

  In the conventional robot traveling apparatus 1, the cable bear 9 is laid on the side of the track 2. As shown in FIG. 7, the cable bear 9 is configured such that a plurality of rectangular frames 10 arranged in a substantially rectangular row are rotatably coupled by pins 11 to be bent in the vertical direction. A cable 12 such as a power supply line for hydraulic pressure, air pressure, electric power, etc. and a signal line is accommodated in a space formed inside. One end of the cable bear 9 is folded back into a U-shape (see FIG. 6), and the leading end thereof is connected to the traveling carriage 4, thereby preventing the traveling carriage 4 and the movement carriage 4 from moving. Necessary power and control signals can be supplied to the robot 5.

The periphery of the robot traveling device 1 is surrounded by a safety fence 13 to prevent entry from the outside. The safety fence 13 is provided with an entry / exit door 14 so that an operator can access these machines during maintenance of the robot traveling device 1 and each processing machine 3 or when each processing machine 3 is used manually. It is like that. 5 and 6, reference numeral 15 indicates a base, and reference numeral F indicates a floor surface.
Patent Document 1 discloses a robot traveling apparatus that supplies power and control signals to a traveling carriage and a robot using a cable bear as described above.
JP-A-7-52078

  However, the conventional robot traveling cart 1 has the following problems. Since the cable bearer 9 is laid on the side of the track 2, it becomes an obstacle when an operator works in the safety fence 13, and the workability is poor.

  Since the coolant (cutting fluid) is attached to the workpiece machined by the processing machine 3, conventionally, an oil pan is attached to the processing machine 3 or the floor F, and the coolant dripped from the workpiece is collected. However, in order to avoid interference with the traveling carriage 4 around the moving range of the traveling carriage 4, an oil pan cannot be installed sufficiently. For this reason, when the robot 5 mounted on the traveling carriage 4 receives a workpiece from each processing machine 3, the coolant dripped from the workpiece will contaminate the floor surface F and the track 2, and regular cleaning is required. In addition, the coolant recovery is insufficient. Furthermore, if the coolant dripped from the workpiece enters the connector portions of various cables, it may cause a failure. Moreover, in order to ensure the installation space of an oil pan, the restrictions on space are large.

  Further, since the robot 5 handles the workpiece by the single arm 7 and the hand 8, when the workpiece is attached to or detached from the processing machine 3 between the processes, or when the orientation of the workpiece set in the processing machine 3 is changed. Needs to temporarily place the work on the work temporary table and change the work. For this reason, conventionally, each processing machine 3 is provided with a temporary work table, and space constraints are increased.

  The present invention has been made in view of the above points, and an object of the present invention is to provide a robot traveling device capable of improving workability such as maintenance, promoting coolant recovery, and improving space efficiency. To do.

In order to solve the above-described problems, the invention according to claim 1 is directed to a robot traveling apparatus for handling a workpiece to a plurality of processing machines by a robot mounted on a traveling carriage moving on a track. A cable bearer connected to the cable carrier is laid along the track below the traveling carriage, and a tread is provided between the cable bear and the plurality of processing machines so as to be at the same height as the upper surface of the cable bearer. The working floor is flush with the upper surface of the cable carrier and the tread .
According to a second aspect of the present invention, there is provided the robot travel device according to the first aspect of the present invention, wherein the robot traveling device receives the coolant dripped from the workpiece handled by the robot after being machined by the processing machine using the coolant. An oil pan is attached to the traveling carriage, a discharge port is provided at a lower portion of the oil pan, an opening through which coolant discharged from the discharge port is permeated is provided on the work floor, and the discharge is provided below the work floor. A ridge facing the outlet is arranged along the track.

  By comprising in this way, the level | step difference of a cable bear and a work floor surface is lose | eliminated, and workability | operativity, such as a maintenance, improves. In addition, by attaching an oil pan to the traveling carriage, the coolant dripping from the workpiece being handled can be reliably received, and the coolant discharged from the oil pan discharge port is collected by the dredge through the opening on the work floor. be able to. The work floor surface can be flattened by arranging the scissors below the floor surface.

Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. In addition, the same code | symbol is attached | subjected and demonstrated to the part similar to the said prior art example.
FIG. 3 shows a machining line according to the present embodiment, and a plurality of machining machines 3 are arranged on both sides of the track 2 of the robot traveling device 16. Each processing machine 3 performs predetermined machining such as plane machining, inner surface machining, drilling, and screw machining on the workpiece set by the robot 5.

  As shown in FIGS. 1 and 2, the robot traveling device 16 includes a traveling cart 4 that moves on the track 2 and a robot 5 that handles a workpiece. The robot 5 includes an arm 7 and a hand 8 and is provided with a necessary degree of freedom. Upon receiving a control signal from a controller (not shown), the robot 5 grips a workpiece and attaches / detaches it to each processing machine 3 be able to.

  The track 2 is a linear bearing including a pair of rails 18 fixed on the base 17 installed on the floor surface F and extending in parallel, and a slider 19 guided along the rails 18. A table 21 of the traveling carriage 4 is attached to the slider 19 via a bracket 22. The table 21 is lifted to a certain height from the upper surface of the base 17 by the leg portions 22 </ b> A of the bracket 22, and a space S is formed between the base 17 and the table 21. The traveling carriage 4 includes a drive device (not shown) including a servo motor and the like, and can move and position on the rail 18 in response to a control signal from the controller.

  A cable bear 9 is laid along the rail 18 in the space S between the table 21 and the base 17. The cable bear 9 is guided by a guide frame 24 mounted on the base 17 and is arranged at a certain height. One end side of the cable bear 9 is folded back into a U shape, and the tip end portion thereof is connected to the traveling carriage 4. The cable bear 9 accommodates a cable 12 (see FIG. 7) for supplying power such as electric power, hydraulic pressure, and air pressure and a control signal from the controller to the driving device of the traveling carriage 4 and the robot 5. . As a result, power, control signals, and the like necessary for the traveling carriage 4 and the robot 5 can be supplied without hindering the movement of the traveling carriage 4.

The upper end portion of the guide frame 24 for guiding both sides of the cable carrier 9, step board unit 24A having the same height as the upper surface of the cable carrier 9 (step plate) is formed, the edge of the step board portion 24 A, the slider 19 is extended to the vicinity of the leg portion 22A of the bracket 22 that moves along the rail 18 together with the rail 19. On the base 17, on both sides of the pair of rails 18, a tread plate member 25 (tread) having the same height as the upper surface of the cable bear 9 guided by the guide frame 24 and the tread portion 24 </ b> A of the guide frame 24 is attached. The edge of the tread member 25 extends to the vicinity of the leg portion 22 </ b> A of the bracket 22. Thus, a slit 26 through which the leg portion 22A of the bracket 22 is inserted is formed between the edge portion of the tread plate portion 24A of the guide frame 24 and the edge portion of the tread plate member 25. A portion between the base 17 and each processing machine 3 has a mesh-like step board 27 (entirely) so that the upper surface of the cable bear 9, the step board portion 24A of the guide frame 24 and the step board member 25 are at the same height. (A mesh 27A is provided). Thereby, when the traveling carriage 4 is in the retracted position shown in FIG. 3, the flush work floor surface having the slit 26 is formed by the upper surfaces of the cable bear 9, the tread plate portion 24 </ b> A, the tread member 25, and the tread plate 27. .

  A temporary work table 28 is attached to the traveling carriage 4 around the base of the robot 5. An oil pan 29 that receives coolant dripping from the work handled by the robot 5 is attached to the lower side of the work temporary table 28. The oil pan 29 has a bottom formed in a funnel shape and is provided with a discharge port 30 that opens toward the mesh-shaped tread plate 27. The oil pan 29 collects coolant dripped inside and discharges it from the discharge port 30 to the outside. It is like that. Under the mesh-shaped tread 27, a recovery rod 31 (樋) extending along the track 2 is provided so as to face the discharge port 30 of the oil pan 29. A pipe 32 communicating with a coolant tank (not shown) is connected to the recovery tank 31.

  The periphery of the robot traveling device 16 is surrounded by a safety fence 13 to prevent intrusion from the outside. The safety fence 13 is provided with an entrance door 14 so that an operator can access these machines during maintenance of the robot traveling device 16 and each processing mechanism 3 or when each processing machine 3 is used manually. It is like that.

Next, the operation of the present embodiment configured as described above will be described.
The robot traveling device 16 operates the traveling carriage 4 and the robot 5 by the power and control signal supplied from the controller via the cable 12 accommodated in the cable bear 9, handles the workpiece, and sequentially processes each processing machine 3. Remove and attach to the machine. At this time, by temporarily placing the workpiece on the workpiece temporary placement table 28 that moves together with the traveling carriage 4, the robot 5 having the single arm 7 and the hand 8 allows the workpiece to be attached to and detached from the processing machine 3 and the orientation of the workpiece. Can be replaced.

  The coolant that adheres to the workpiece during machining and drops from the workpiece during handling by the robot 5 is collected by the oil pan 29. The coolant in the oil pan 29 is discharged from the discharge port 30, flows into the recovery rod 31 through the mesh 27 </ b> A of the tread plate 27, is recovered in the coolant tank through the pipe line 32, and is recycled.

  Since the cable bear 9 is disposed under the traveling carriage 4 and the upper surfaces of the cable bear 9, the tread plate portion 24A, the tread board member 25, and the tread board 27 are set to the same height, the traveling carriage 4 is in the retracted position shown in FIG. When the safety fence 13 is formed on the inner side of the safety fence 13 without any step, the workability when the robot traveling device 16 and the processing machine 3 are maintained or when the processing machine 3 is used manually is improved. Can be increased.

  By mounting the work temporary table 28 and the coolant collecting oil pan 29 on the traveling carriage 4 side and moving them together with the robot 5, it is not necessary to provide them on the processing machine 3 side, thereby achieving space saving. Can do. In addition, the coolant dripping from the workpiece during handling by the robot 5 can be reliably recovered, and the occurrence of failure due to contamination of the floor surface and intrusion of coolant into the connector portions of various cables can be prevented.

1 is a front view of a robot traveling device according to an embodiment of the present invention, partially broken away. It is a side view of the robot traveling apparatus shown in FIG. It is a top view which shows roughly the machining line using the robot traveling apparatus shown in FIG. It is a top view which shows roughly the machining line using the conventional robot travel apparatus. FIG. 5 is a partially cutaway front view of a conventional robot traveling device used in the machining line shown in FIG. 4. It is a side view of the robot traveling apparatus shown in FIG. It is a perspective view of the cable bear which can be used for the robot traveling apparatus shown in FIG.1 and FIG.5.

Explanation of symbols

2 Tracks, 3 processing machines, 4 traveling carts, 5 robots, 9 cable bearers, 24A tread parts (work floor), 25 tread members (work floor), 27 treads (work floor), 27A mesh (opening) 29 Oil pan, 30 outlets, 31 recovery tank

Claims (2)

In a robot traveling apparatus for handling a workpiece to a plurality of processing machines by a robot mounted on a traveling carriage moving on a track, a cable bear coupled to the traveling carriage is disposed below the traveling carriage along the track. The treadle is laid between the cable carrier and the plurality of processing machines so as to be at the same height as the top surface of the cable carrier, and the top surface of the cable carrier and the treadle are flush with each other. A robot traveling device characterized by forming a floor surface. An oil pan that receives coolant dripped from a workpiece handled by the robot after being machined using the coolant by the processing machine is attached to the traveling carriage, and a discharge port is provided at a lower portion of the oil pan. 2. The floor according to claim 1, wherein an opening that allows coolant to be discharged from the discharge port to permeate is provided on the floor surface, and a ridge facing the discharge port is disposed along the track below the work floor surface. The robot traveling device described.

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