JP6597756B2 - Vertical articulated robot and robot cell - Google Patents

Description

The present invention relates to an industrial robot, and more particularly to a vertical articulated robot and a robot cell including the vertical articulated robot.

Conventionally, a vertical articulated robot is known as one of industrial robots that perform complicated operations. In the vertical articulated robot, a plurality of arms are sequentially connected to each other through joints, and some of the joints have a rotation axis that is not parallel to the direction of gravity. Thus, the vertical articulated robot can give a high degree of freedom to the movement range of the work end provided at the tip.

By the way, as the vertical articulated robot is used in various work environments, the installation location of the vertical articulated robot is not limited to the floor surface, but is increasingly installed on a wall surface or a ceiling. In fact, for example, Patent Document 1 describes an example of a vertical articulated robot installed on a ceiling. The vertical articulated robot described in Patent Document 1 includes three arms (a swivel unit, a first arm, and a first arm) sequentially connected by joints having rotational axes (W axis and U axis) that are not parallel to the direction of gravity. 2 arms), a joint connected to the arms and having a rotation axis (θ axis) parallel to the arm length direction, and a base for installing the arms on the surface (lower surface) of the ceiling. . That is, this vertical articulated robot is attached to the ceiling via the bottom surface of the base.

JP-A-1-274975

By the way, although the robot can be attached to the ceiling via the bottom surface of the base like the vertical articulated robot described in Patent Document 1, when the bottom surface of the base is attached to the ceiling, The arm position is lowered with respect to the ceiling by the height of the base. For this reason, when a vertical articulated robot is installed on the ceiling, the ceiling needs to have a height that takes into account the length of the base. In particular, in the case of a robot cell that has been increasingly adopted as a self-supporting production facility in recent years, it has been studied to secure a large work range by installing a vertical articulated robot on the ceiling. There are high expectations for improving the stability and further miniaturization of the robot cell by keeping the height including

The present invention has been made in view of such circumstances, and the purpose thereof is a vertical articulated robot capable of suppressing the height of a ceiling to be installed, even when installed on a ceiling, and The object is to provide a robot cell comprising the vertical articulated robot.

A vertical articulated robot according to the present invention includes an arm unit configured by sequentially connecting a plurality of arms via a joint having a rotation axis that is not parallel to the direction of gravity, and a base that supports the arm unit. A vertical articulated robot that is suspended from the ceiling, and is summarized in that at least a part of the base is installed on the ceiling in a state of penetrating the ceiling.

According to such a configuration, since at least a part of the base of the vertical articulated robot installed on the ceiling penetrates the ceiling, the length of the vertical articulated robot protruding below the ceiling is reduced. It can be shortened. As a result, even when the vertical articulated robot is suspended from the ceiling, the height of the ceiling on which the robot is installed can be reduced. As a result, the ceiling height restriction on which the vertical articulated robot is installed is relaxed, and the degree of freedom in installation is improved.

By the way, the vertical articulated robot installed on the floor often has a higher working range than the installation position of the base, so the arm position is raised to increase convenience. According to the above configuration, the ceiling height can be kept low even when such a robot is suspended from the ceiling.

In this vertical articulated robot, the arm unit is supported by the base with an offset that shifts the position of the arm unit from the center line of the base, and the base is The gist is that the line is installed on the ceiling with an inclination to the ceiling surface.

Normally, vertical articulated robots installed on the floor have a base part that is not included in the work range, so the arm part is biased outward from the center line of the base to increase convenience. There are many cases. On the other hand, since the vertical articulated robot suspended from the ceiling does not include the base portion in the work range, it is not necessary to bias the arm portion with respect to the center line of the base.

Therefore, according to such a configuration, even when the arm portion is provided so as to be offset from the center line of the base with the offset, the base is inclined while supporting the base at a predetermined position on the ceiling. Thus, the arm portion can be arranged in a state where the influence of the deviation due to the offset is reduced.

The gist of the vertical articulated robot is that the base is installed on the ceiling via a support that can maintain the inclination of the center line with respect to the ceiling surface.
By using such a support tool, it becomes easy to install the vertical articulated robot while maintaining the inclination with respect to the ceiling surface. Also, the mounting position of the robot on the ceiling can be adjusted by the shape of the support regardless of the shape of the mounting holes (through holes) provided on the ceiling, etc. Even when the projector is installed at an inclination, the installation is easy and the degree of freedom of the mounting posture is maintained high.

The gist of this vertical articulated robot is that the support has a shape in which a surface contacting the side surface of the base and a surface contacting the ceiling are orthogonal to each other.
In this way, by using a support in which the surface that contacts the base and the surface that contacts the ceiling are orthogonal to each other, it becomes easy to maintain the side surface of the base at a right angle to the ceiling surface.

In this vertical articulated robot, the support is provided with an angle adjusting unit that makes an angle between the center line of the base and the ceiling surface variable on a surface that contacts the base. The gist.

By using such a support, it becomes easy to adjust the inclination of the center line of the base with respect to the ceiling surface, and as a result, it becomes easy to set the work range as a vertical articulated robot suspended from the ceiling.

The gist of this vertical articulated robot is that the ceiling is a ceiling portion of a robot cell automated as a self-supporting production facility.
According to such a configuration, since the base of the vertical articulated robot is provided to penetrate the ceiling portion of the robot cell, the length of the base of the robot cell penetrates the ceiling portion. The height can be lowered. By the way, in a robot cell, it is common to support the ceiling portion of the robot cell on the base of the robot cell via a support column, so that the height of the ceiling portion is reduced so that the robot cell itself is miniaturized. Become. In addition, shortening the column supporting the ceiling portion facilitates securing the column rigidity, and is effective in improving the resistance of the robot cell itself against vibrations and the like caused by the operation of the robot.

The gist of this vertical articulated robot is that the base is installed in such a manner that it is supported at the center of the ceiling portion of the robot cell.
According to such a configuration, since the vertical articulated robot is supported at the center of the ceiling portion of the robot cell, the load and vibration from the base are evenly distributed to the ceiling portion. As a result, the design of the robot cell is facilitated, and the vibration and the like of the supported robot are suppressed, and the work accuracy can be improved.

The gist of this vertical articulated robot is that the center of the movement range of the arm portion is set at the center of the work surface facing the ceiling portion of the robot cell.
According to such a configuration, as in the robot cell, the relative positional relationship between the ceiling portion and the work surface is fixed, and the positional relationship between the installation position of the robot and the operation range of the robot is also restricted. Even in this case, since the center of the robot movement range can be arranged at the center of the work surface, the work surface of the robot cell can be effectively used.

The robot cell of the present invention is a robot cell that has a ceiling part and is suspended from the ceiling part and automated as a self-supporting production facility. The gist is that the vertical articulated robot described is employed.

According to such a configuration, since at least a part of the base of the vertical articulated robot installed on the ceiling part penetrates the ceiling part, the length of the vertical articulated robot protruding below the ceiling part is long. The length can be shortened. As a result, even when the vertical articulated robot is suspended from the ceiling, the height of the ceiling where the robot is installed can be reduced. As a result, the ceiling height limit for installation of the robot is relaxed and the degree of freedom of installation is improved.

In addition, since the height of the ceiling portion of the robot cell is reduced, not only miniaturization but also stabilization due to the lowering of the center of gravity position is promoted. The downsizing facilitates securing the rigidity of the robot cell itself and contributes to the improvement of vibration resistance.

The front view which shows the front structure about 1st Embodiment which actualized the robot cell provided with the vertical articulated robot concerning this invention. The front view of the front structure of the vertical articulated robot of the embodiment. The perspective view which shows the perspective structure of the base part vicinity of the vertical articulated robot of the embodiment. The perspective view shown about the perspective structure of the metal fitting for installing the vertical articulated robot of the embodiment on a ceiling. The perspective view which shows the perspective structure of the base part vicinity about 2nd Embodiment which actualized the vertical articulated robot concerning this invention. The perspective view which shows the perspective structure about an example of the metal fitting which attaches the vertical articulated robot of this embodiment to a ceiling. The perspective view which shows the perspective structure about the other example of the metal fitting which attaches the vertical articulated robot of this embodiment to a ceiling.

(First embodiment)
Hereinafter, a first embodiment embodying a robot cell employing a vertical articulated robot according to the present invention will be described with reference to the drawings. FIG. 1 is a diagram schematically showing the structure of a robot cell 20 including a vertical articulated robot 10 from the front.

As shown in FIG. 1, the robot cell 20 includes a vertical articulated robot 10 suspended from the ceiling. The robot cell 20 includes a foot 21 for installing the entire cell on the floor, a work table 22 supported by the foot 21, and four support columns 23 provided vertically upward from the work table 22. (Only two are shown). Further, a ceiling portion 24 is supported at the upper ends of the four columns 23 (ends in the direction opposite to the work table portion 22).

The robot cell 20 of the present embodiment can be easily installed on a floor surface or the like through a height adjusting function or the like of each foot 21 in order to facilitate transfer.
The work table portion 22 is provided with a work surface 22 </ b> A on the upper surface thereof opposite to the ceiling portion 24 and for performing work on parts and the like in the robot cell 20. The work surface 22A is divided into a work area MA included in the operation range RA of the vertically articulated robot 10 suspended from the ceiling, and work outside areas EA1 and EA2 not included in the operation range RA.

The ceiling portion 24 can support the vertical articulated robot 10 so as to be suspended, and has a rectangular plate shape made of a metal material or the like so as to have the rigidity required for the ceiling support of the vertical articulated robot 10. It is configured. The four corners of the ceiling portion 24 are connected to the upper end of the column 23 so that the lower surface (ceiling surface) faces the work surface 22A of the work table portion 22 and is supported above the work table portion 22. The The ceiling portion 24 has a mounting hole 24H in the center thereof.
Is formed through. The vertical articulated robot 10 is attached to the attachment hole 24H so as to partially penetrate. In this way, the vertical articulated robot 10 is suspended from the robot cell 20.

As shown in FIG. 2, the vertical articulated robot 10 is configured as a 6-axis vertical articulated type, for example. That is, the vertical articulated robot 10 includes a base 11 as a base.
A shoulder portion 12 movably connected to the base 11, an offset portion 12A fixed to the shoulder portion 12 and moving with the shoulder portion 12 with respect to the base 11, and a first arm 13 movably connected to the offset portion 12A It has. Further, a second arm 14 movably connected to the first arm 13, a third arm 15 movably connected to the second arm 14, and a third arm
A wrist 16 movably connected to the arm 15 and a flange 17 movably connected to the wrist 16 are provided.

More specifically, the base 11 is provided with a central axis C1 along the length direction of the base 11, and the shoulder portion 12 is supported so as to be rotatable about the central axis C1. An offset portion 12A having a predetermined angle θ1 with respect to the previous central axis C1 and having a predetermined length L12 is fixedly connected to the shoulder portion 12. That is, the offset portion 12A has an arm portion composed of the arms 13 to 15 etc. connected to the tip of the offset portion 12A.
The center axis C1 is shifted by a predetermined offset distance Lex in the parallel direction and a predetermined offset distance Ley in the vertical direction.

The offset portion 12A includes a rotation axis C2 orthogonal to the length direction of the offset portion 12A.
Is provided, and the first arm 13 is supported so as to be pivotable about the rotation axis C2. Normally, the rotation axis C2 is provided so as to be non-parallel to the direction of gravity, for example, to be orthogonal, so that the first arm 13 is moved up and down with respect to the offset portion 12A.

The first arm 13 is provided with a rotation axis C3 orthogonal to the length direction of the first arm 13, and the second arm 14 is supported so as to be rotatable about the rotation axis C3. . Normally, the rotation axis C3 is also provided so as to be non-parallel to, for example, orthogonal to the direction of gravity, so that the second arm 14 is moved up and down with respect to the first arm 13. The second arm 14 is provided with a central axis C4 along the length direction of the second arm 14, and a third arm 15 is supported rotatably about the central axis C4.

The third arm 15 is provided with a rotation axis C5 orthogonal to the length direction of the third arm 15, and a wrist 16 is supported so as to be pivotable about the rotation axis C5. Normally, the rotation axis C5 is also provided so as to be non-parallel to the direction of gravity, for example, to be orthogonal, so that the wrist 16 is moved up and down with respect to the third arm 15. The wrist 16 is provided with a central axis C6 along the length direction of the wrist 16, and a flange 17 is supported rotatably about the central axis C6.

With such a structure, the vertical articulated robot 10 can move the flange 17 at the tip of the vertical articulated robot 10 with a high degree of freedom with respect to the base 11 fixed to the ceiling portion 24. It has become.

In the present embodiment, a support connection portion 11 </ b> C is provided on the side surface of the base 11. The support connector 11C is provided so as to protrude from the side surface of the base 11,
A connection surface 11 </ b> D as a plane parallel to the central axis C <b> 1 of the base 11 is formed on the end surface that protrudes from the side surface of the base 11. Two screw holes 11h are formed on the connection surface 11D at a predetermined interval, respectively, and one positioning pin 11P is provided at a central position of the predetermined interval. A screw groove for screwing a bolt is formed in each screw hole 11h. In addition, 11 C of support tool connection parts are provided in the both sides | surfaces of the base 11, and the base 11 is provided with the same support tool connection part 11C as the above also on the opposite side surface symmetrical with respect to the side surface mentioned above. ing. For this reason, the connection surfaces 11D of the support member connection portions 11C provided on both side surfaces of the base 11 become parallel surfaces facing the outside of the base 11.

As shown in FIG. 3, a suspension support 30 for attaching the base 11 to the attachment hole 24H is connected to the support connection part 11C. When the base end of the suspension support 30 is attached to the support connection portion 11 </ b> C, the suspension support 30 is configured in such a shape that its distal end protrudes outward with respect to the side surface of the base 11. Thus, the vertical articulated robot 10 is suspended from the ceiling 24 of the robot cell 20 by the tip of the suspension support 30 projecting from the side surface of the base 11 coming into contact with the periphery of the attachment hole 24H. For the sake of convenience of explanation, the shape of the ceiling portion 24 shown in FIG. 3 is different from the shape of the ceiling portion 24 shown in FIG. 1, but these technical ideas are the same.

Next, the suspension support 30 will be described with reference to the drawings.
As shown in FIGS. 3 and 4, the suspension support 30 is configured by connecting and fixing a plate-like base connection portion 31 and a plate-like ceiling connection portion 32 so as to be orthogonal to each other. That is, the base connection portion 31 constitutes the proximal end of the suspension support 30 and the ceiling connection portion 32 constitutes the distal end of the suspension support 30.

The base connection portion 31 is a connection surface whose surface is connected and fixed to the support connection portion 11 </ b> C of the base 11. The connection surface of the base connection portion 31 includes a connection surface 11D of the support member connection portion 11C.
A through hole 31h is formed at a position corresponding to each of the two screw holes 11h, and a pin hole 31P into which a positioning pin 11P protruding from the connection surface 11D is fitted is formed. In addition, the base connection portion 31 has two screw holes 31j formed on the side surface orthogonal to the connection surface. The side surface having the two screw holes 31j has an inclination θ with respect to a line connecting the two through holes 31h. That is, the angle formed by the line connecting the two through holes 31h and the line connecting the two screw holes 31j is the inclination θ.

The ceiling connection portion 32 is a mounting surface whose surface is connected and fixed to the ceiling portion 24 around the mounting hole 24H. On the mounting surface of the ceiling connecting portion 32, two through holes 32 j are formed in a portion that abuts the ceiling portion 24, and the base connecting portion 3 is provided in a portion from the base end.
Through holes 32h corresponding to the two screw holes 31j are respectively formed.

Accordingly, the two screw holes 31j of the base connection part 31 are inserted into the through holes 32h of the ceiling connection part 32.
The base connection part 31 and the ceiling connection part 32 are brought into contact with each other so that the bolt 32B passing through the through hole 32h is screwed into the screw hole 31j. Will be concluded. That is, by connecting and fixing the base connection portion 31 and the ceiling connection portion 32, the connection surface of the base connection portion 31 and the attachment surface of the ceiling connection portion 32 are orthogonal to each other. At this time, since the ceiling connecting portion 32 is connected to the side surface having the screw hole 31j having an inclination θ with respect to the line connecting the two through holes 31h, the line connecting the two through holes 31h of the base connecting portion 31. And the attachment surface of the ceiling connection portion 32 also has an inclination θ.

In the base 11, the suspension support 30 connects the pin hole 31 </ b> P of the base connection portion 31 to the connection surface 11.
The positioning pin 11P protruding to D is fitted and the two through holes 31h are made to correspond to the screw holes 11h of the connection surface 11D, and the bolts 31B penetrated through the through holes 31h are screwed into the screw holes 11h. Can be attached. As a result, the suspension support 30 is fastened to the side surface of the base 11. At this time, the mounting surface of the ceiling connection portion 32 is formed by two through holes 3.
Since there is an inclination θ with respect to the line connecting 1h, the two screw holes 11h of the connection surface 11D
The line connecting the two also has an inclination θ. The two screw holes 11h of the connection surface 11D are
Since it is provided so as to be orthogonal to the central axis C1 of the base 11, the mounting surface of the ceiling connecting portion 32 is inclined by an inclination θ with respect to an angle orthogonal to the central axis C1 of the base 11. become.

Then, the base 11 is attached to the ceiling portion 24 through the suspension support 30.
That is, in the ceiling connection part 32 of the suspension support 30, when the base 11 passes through the attachment hole 24 </ b> H, a tip portion protruding from the base 11 is brought into contact with the ceiling part 24 around the attachment hole 24 </ b> H. And the through-hole 32j formed in the part contact | abutted to the ceiling part 24
The base 11 is fixed to the ceiling portion 24 by fastening a screw hole (not shown) formed in the ceiling portion 24 through the bolt 33. The mounting surface of the ceiling connection part 32 is the base 11.
Since the suspension support 30 is attached to the ceiling portion 24, the base 11 is centered with respect to the direction orthogonal to the ceiling surface of the ceiling portion 24. C1 is inclined by the inclination θ. As a result, the vertical articulated robot 10 supported by the base 11 is also suspended from the ceiling 24 so that it has an inclination θ with respect to the vertical direction of the ceiling cell 24, that is, the robot cell 20 (see FIG. 1). ).

Note that the vertical articulated robot 10 suspended from the ceiling so as to have an inclination θ also cancels the inclination θ1 of the offset portion 12A, and the rotation axis C2 is moved toward the center of the ceiling portion 24. As the rotation axis C2 approaches the center of the ceiling part 24, the arm parts (the arms 13 to 15) connected to the rotation axis C2 of the offset part 12A approach the center, and the operating range RA of the arm part also extends to the ceiling. It approaches the center of the part 24. That is, the operating range RA of the arm portion is also arranged at the center position of the work surface 22A with respect to the work surface 22A of the work table portion 22 facing the ceiling portion 24, so MA can be secured. As a result, the work area MA is reduced from being detached from the work surface 22A, and the work area MA can be secured most widely on the work surface 22A.
In addition, it is possible to reduce the possibility of interference between the vertical articulated robot 10 that operates and the support column 23 by arranging the work area MA in the center.

Particularly, in the robot cell 20, the relative positional relationship between the ceiling surface and the work surface 22A is fixed, and there is almost no freedom in the relative positional relationship. Therefore, the vertical articulated robot 10 is
For example, if it is arranged at the center of the ceiling part 24 without being inclined, the working range of the flange 17 is biased with respect to the center of the work surface 22A by the offset distance Lex in the horizontal direction. Further, for example, in order to arrange the operation range RA of the flange 17 in the center of the work surface 22A, the vertical articulated robot 1
Although the position of 0 can be deviated from the central portion of the ceiling portion 24 by an offset distance Lex in the horizontal direction, the center of gravity of the ceiling portion 24 is deviated and the center of gravity of the robot cell 20 is also deviated. On the other hand, in the present embodiment, the ceiling-mounted vertical articulated robot 10 is disposed at the center of the ceiling 24, and the center of the operating range RA of the flange 17 is set to the work surface 22A.
It can be provided in the central part. As a result, the center of gravity is maintained near the center of the ceiling portion 24 to maintain stability, and the center of gravity of the robot cell 20 is also maintained near the center to improve stability and vibration resistance. In addition, the degree of freedom of arrangement of parts with respect to the work surface 22A is
As the possibility of interference with the support 23 is reduced, the degree of freedom of work and use as the robot cell 20 is improved, and convenience is increased.

As described above, according to the driving support apparatus of the present embodiment, the effects listed below can be obtained.
(1) The vertical articulated robot 10 that protrudes below the ceiling surface by penetrating at least a part of the base 11 of the vertical articulated robot 10 installed on the ceiling 24 into the ceiling surface of the ceiling 24. The length of was shortened. Thereby, even when the vertical articulated robot 10 is suspended from the ceiling, the height of the ceiling portion 24 on which the robot is installed can be reduced. As a result, the height restriction of the ceiling portion 24 where the vertical articulated robot is installed is relaxed, and the degree of freedom of installation is improved.

By the way, the vertical articulated robot installed on the floor often has a working range higher than the installation position of the base, so the arm position is raised to improve convenience, According to the above configuration, the height of the ceiling portion 24 can be kept low even when such a robot is suspended from the ceiling.

(2) Normally, a vertical articulated robot installed on the floor surface is not included in the work range, so the convenience is improved by biasing the arm part outward from the center line of the base. There are many. On the other hand, since the vertical articulated robot suspended from the ceiling does not include the base portion in the work range, it is not necessary to bias the arm portion with respect to the center line of the base.

Therefore, the center axis C of the base 11 having the offset by the offset portion 12A.
Even when the arm portion is provided so as to be deviated from 1, the base portion 11 is tilted while being supported at a predetermined position of the ceiling portion 24, so that the arm portion is reduced in a state where the influence of the offset due to the offset is reduced. It becomes possible to arrange.

(3) The use of the suspension support 30 facilitates the installation of the vertical articulated robot 10 while maintaining the inclination with respect to the ceiling surface. Further, the mounting holes 24H (
Regardless of the shape of the through hole, etc., the mounting posture of the robot on the ceiling portion 24 can be adjusted by the shape of the suspension support 30, so that the base 11 is inclined with respect to the ceiling surface. Even in the case of installation, the installation is easy and the degree of freedom of the mounting posture is maintained high.

(4) By using the suspension support 30 in which the surface that contacts the side surface of the base 11 and the surface that contacts the ceiling portion 24 are orthogonal, it is easy to maintain the side surface of the base 11 at a right angle to the ceiling surface. Become.

(5) By using the suspension support 30, it becomes easy to adjust the inclination of the central axis C1 of the base 11 with respect to the ceiling surface, so that the operation range RA as the vertical articulated robot 10 suspended from the ceiling is set. Will also be easier.

(6) Since the base 11 of the vertical articulated robot 10 is provided through the ceiling 24 of the robot cell 20, the ceiling height of the robot cell 20 is equal to the length of the base 11 that penetrates the ceiling 24. Can be lowered. By the way, in the robot cell 20,
Since the ceiling portion 24 is supported on the work table portion 22 as a base of the robot cell 20 via the support column 23, the height of the ceiling portion 24 is reduced, so that the robot cell 20 is reduced.
It becomes smaller in itself. The shortening of the column 23 that supports the ceiling portion 24 facilitates ensuring the rigidity of the column 23 and is effective in improving the resistance of the robot cell 20 itself against vibrations and the like caused by the operation of the robot.

(7) Since the vertical articulated robot 10 is supported at the center of the ceiling portion 24 of the robot cell 20, loads and vibrations from the base 11 are evenly distributed to the ceiling portion 24. As a result, the design of the robot cell 20 is facilitated, and the vibration and the like of the supported robot are suppressed, and the work accuracy can be improved.

(8) In the robot cell 20, the relative positional relationship between the ceiling portion 24 and the work surface 22A is fixed, and the positional relationship between the installation position of the vertical articulated robot 10 and the operation range RA of the robot is also Restrictions arise. However, even in this case, since the center of the operation range RA of the vertical articulated robot 10 can be arranged at the center of the work surface 22A, the work surface 22A of the robot cell 20 can be used effectively.

(Second Embodiment)
A second embodiment that embodies a robot cell employing a vertical articulated robot according to the present invention will be described with reference to FIG. FIG. 5 shows that the vertical articulated robot 10 has a ceiling portion 2.
It is a perspective view which shows the aspect suspended from the ceiling. In the present embodiment, the suspension support 40 is
Although different from the suspension support tool 30 of the first embodiment, the other configuration is the same as the configuration of the first embodiment. For convenience, the same reference numerals are given to the same members, and the description thereof is omitted.

As shown in FIG. 5, the vertical articulated robot 10 is suspended from the robot cell 20 so that the base 11 passes through the mounting hole 25 of the ceiling portion 24 of the robot cell 20.

Specifically, in the vertical articulated robot 10, the suspension support 40 is attached to the support connection portion 11 </ b> C of the base 11. The suspension support tool 40 is formed of a rectangular plate-like member, and a through-hole penetrating up to the screw hole 11h of the support tool connection portion 11C is formed through the side surface. And 11 C of support tool connection parts are fastened with respect to 11 C of support tool connection parts with the volt | bolt 41 inserted through the through-hole. Thereby, the suspension support tool 40 is attached to the base 11 so as to protrude from the side surface of the base 11 outward.

Further, the suspension support tool 40 is configured such that when the base 11 is inserted through the attachment hole 25, the base 11
The surface of the tip projecting from the side surface of the abuts on the ceiling surface. The suspension support 40 has a through hole formed at a tip portion that comes into contact with the ceiling surface, and a bolt 42 inserted through the through hole is fastened to a screw hole formed in the ceiling surface. Is attached to the ceiling 24. As a result, the base 11 is attached so as to pass through the lower surface (ceiling surface) of the ceiling portion 24, so that the base 11 is inserted by the amount that the base 11 passes through the ceiling surface.
Becomes shorter, and the distance between the work surface and the ceiling surface (ceiling part 24) can be shortened.

As described above, according to this embodiment, the above (1) and (4) of the first embodiment are also provided.
, (6), (7), or equivalent effects, and the following effects can be obtained.

(9) By penetrating and installing at least a part of the base 11 of the vertical articulated robot 10 installed on the ceiling 24 through the ceiling surface of the ceiling 24 via the suspension support 40 having a simple structure,
The length of the vertical articulated robot 10 protruding below the ceiling surface was shortened. Thus, even when the vertical articulated robot 10 is suspended from the ceiling, the ceiling portion 24 on which the robot is installed.
The height of can be lowered. As a result, the height restriction of the ceiling portion 24 where the vertical articulated robot is installed is relaxed, and the degree of freedom of installation is improved.

In addition, each said embodiment can also be implemented in the following aspects, for example.
In the first embodiment, when the angle between the line connecting the two through holes 31h of the base connecting portion 31 of the suspension support tool 30 and the line connecting the two screw holes 31j is set to the inclination θ. It illustrated about. However, the present invention is not limited to this, and an angle adjusting portion may be provided in the base connecting portion so that, for example, an angle formed by a line connecting two through holes and a line connecting two screw holes can be adjusted.

For example, the angle adjusting unit shown in FIG. 6 has one of the two through holes as a through hole 31h similar to that in the first embodiment, and the other as a long hole having the previous through hole 31h as a rotation center. 31k. At this time, the pin hole is also a long hole 31q with the previous through hole 31h as the center of rotation. Thereby, the attachment angle of the suspension support with respect to the base 11 can be changed within the range of the angle θ2, and the degree of freedom of the attachment posture of the vertical articulated robot 10 with respect to the ceiling portion 24 is improved.

In addition, for example, in the angle adjusting unit shown in FIG. 7, one of the two through holes is a through hole 31h similar to the first embodiment, and the other is the previous through hole 31h as a rotation center. Long hole 31
m. In this case, the guide portion 3 for positioning the bolt around the long hole 31m.
By forming 1n, the angle that can be adjusted is limited to several, and the adjustment angle can be selected and set. At this time, the through hole 31h is set as the rotation center, and the pin hole 31r is provided at an angle corresponding to each adjustment angle. This also makes the suspension support 3
The attachment angle between 0 and the base 11 becomes selectable within the range of the angle θ3, and the degree of freedom of the attachment posture of the vertical articulated robot 10 with respect to the ceiling portion 24 is improved.

In each of the above embodiments, the case where the ceiling portion 24 is indicated by the four columns 23 is illustrated. However, the present invention is not limited to this, and if the ceiling has rigidity capable of supporting the vertical articulated robot as the ceiling part of the robot cell, the number of supporting columns supporting the ceiling can be 5 or less.
It may be more than a book. Also, the support is not limited to a rod-shaped member, and may be a planar or lattice-shaped member. As a result, the vertical articulated robot can be suspended from the robot cells having various pillar shapes.

In each of the above embodiments, the case where the ceiling portion 24 is a plate-like rectangle has been illustrated. However, the present invention is not limited to this, and the shape of the ceiling portion may be circular, elliptical, or polygonal as long as it has rigidity capable of supporting the vertical articulated robot as the ceiling portion of the robot cell. This also makes it possible to suspend the vertical articulated robot from various ceiling-shaped robot cells.

In the first embodiment, the case where the suspension support 30 is configured by the base connection portion 31 and the ceiling connection portion 32 has been illustrated. However, the present invention is not limited to this, and the suspension support device tilts the base toward the ceiling portion. So long as they can be attached to each other, they may be integrally formed or may be composed of a plurality of parts.

-In the said 1st Embodiment, although the case where the suspension support tool 30 inclined and attached the base 11 to the ceiling part 24 was illustrated, not only this but a suspension support tool attaches without tilting a base to a ceiling part. Also good.

In each of the above embodiments, the case where the vertical articulated robot 10 is suspended from the ceiling so as to penetrate the ceiling surface of the robot cell 20 is illustrated. However, the present invention is not limited to this, and this vertical articulated robot may be installed so as to penetrate the ceiling surface of the building or the like. As a result, the distance between the ceiling surface and the operating range of the vertical articulated robot can be shortened.

In addition, if this vertical articulated robot is installed on a ceiling by tilting it on the ceiling of a building, the relative positional relationship between the ceiling and the operation range of the vertical articulated robot can be adjusted.
In each of the above embodiments, the case where the vertical articulated robot 10 is provided with the offset portion 12A for offsetting the arm portion with respect to the base 11 is illustrated. However, the present invention is not limited to this, and the vertical articulated robot may not be provided with the offset unit. This also makes it possible to shorten the distance between the ceiling surface and the operation range of the vertical articulated robot by installing the base through the ceiling surface.

In each of the above embodiments, the case where the vertical articulated robot is a 6-axis vertical articulated type is illustrated. However, the present invention is not limited to this, and the number of axes of the vertical articulated robot may be 5 axes or less, or 7 axes or more, as long as the degree of freedom necessary for work can be secured. Further, the direction and combination of the connecting shafts such as the arm portions are not limited to the combinations of the above embodiments. As a result, a wide variety of vertical articulated robots can be suspended from the ceiling with a high degree of freedom.

DESCRIPTION OF SYMBOLS 10 ... Vertical articulated robot, 11 ... Base, 11C ... Support tool connection part, 11D ... Connection surface, 11h ... Screw hole, 11P ... Positioning pin, 12 ... Shoulder part, 12A ... Offset part, 13 ... 1st arm, DESCRIPTION OF SYMBOLS 14 ... 2nd arm, 15 ... 3rd arm, 16 ... Wrist, 17 ... Flange, 20 ... Robot cell, 21 ... Foot part, 22 ... Worktable part, 22A ... Work surface, 23 ... Strut,
24 ... Ceiling part, 24H, 25 ... Mounting hole, 30, 40 ... Suspension support, 31 ... Base connection part, 31B, 32B, 33, 41, 42 ... Bolt, 31h ... Through hole, 31j ... Screw hole, 3
1k, 31m ... long hole, 31n ... guide part, 31P ... pin hole, 31q ... long hole, 32 ... ceiling connection part, 32h, 32j ... through hole, C1, C4, C6 ... central axis, C2, C3, C5 ... Axis of rotation.

Claims (5)

A base having a first part and a second part;
A first movable portion connected to the base so as to be rotatable around a first rotation axis;
A second movable portion connected to the first movable portion so as to be rotatable around a second rotation axis;
The axial direction of the first rotating shaft when the base is installed at the first part is different from the axial direction of the first rotating shaft when the base is installed at the second part. Vertical articulated robot.   The vertical articulated robot according to claim 1, wherein the first part is on a side surface of the base.   The vertical articulated robot according to claim 1, wherein the second part is on a bottom surface of the base.   The vertical articulated robot according to any one of claims 1 to 3, wherein the base is supported by a support member and installed via the support member. A robot cell comprising the vertical articulated robot according to any one of claims 1 to 4 .

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