JP6992935B1 - Robot installation assist device and robot installation assist method - Google Patents

Robot installation assist device and robot installation assist method Download PDF

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JP6992935B1
JP6992935B1 JP2021545820A JP2021545820A JP6992935B1 JP 6992935 B1 JP6992935 B1 JP 6992935B1 JP 2021545820 A JP2021545820 A JP 2021545820A JP 2021545820 A JP2021545820 A JP 2021545820A JP 6992935 B1 JP6992935 B1 JP 6992935B1
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plate portion
robot
hanging
wheel
installation
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JPWO2022208650A1 (en
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傑 五十嵐
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Mitsubishi Electric Corp
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Mitsubishi Electric Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Load-Engaging Elements For Cranes (AREA)

Abstract

ロボットの据付補助装置は、内側面にロボットを締結するための締結孔を有する第１板部と、第１板部と平行に対向する第２板部と、第１板部の先端とは反対側に位置する第１基端部及び第２板部の先端とは反対側に位置する第２基端部とを連結する第３板部と、第１板部の先端面である第１先端面に設けられた第１吊掛部と、第１板部の外側面である第１外側面に設けられた第２吊掛部と、第２板部の先端面である第２先端面に設けられた第３吊掛部と、第２板部の外側面である第２外側面に設けられた第４吊掛部と、を含む。The robot installation assist device has a first plate portion having a fastening hole on the inner side surface for fastening the robot, a second plate portion parallel to the first plate portion, and opposite to the tip of the first plate portion. A third plate portion that connects the first base end portion located on the side and the second base end portion located on the opposite side to the tip of the second plate portion, and a first tip surface that is the tip surface of the first plate portion. On the first hanging portion provided on the surface, the second hanging portion provided on the first outer surface which is the outer surface of the first plate portion, and the second tip surface which is the tip surface of the second plate portion. It includes a third hanging portion provided and a fourth hanging portion provided on the second outer surface which is the outer surface of the second plate portion.

Description

本開示は、ロボットの据付補助装置およびロボットの据付補助方法に関する。 The present disclosure relates to a robot installation assisting device and a robot installation assisting method.

従来、工場では、例えば、産業用のロボットが用いられている。ロボットは床置きするだけではなく、使用用途によっては、天井に設置する場合がある。この時、設置する向きにロボットの姿勢を変更する必要がある。 Conventionally, in factories, for example, industrial robots have been used. The robot is not only placed on the floor, but may also be installed on the ceiling depending on the intended use. At this time, it is necessary to change the posture of the robot in the direction of installation.

特許文献１には、ロボットの両側面に着脱可能な取付板と、この取付板の支持軸に回転可能に連結された吊持板と、取付板と吊持板とを固定する位置決め装置と、を備える、ロボットの据付補助装置が開示されている。その位置決め装置は、吊持板のボスの周りに等間隔で設けられた複数の角度調整孔と、取付板の支持軸に設けた位置決め孔と、それら角度調整孔及び位置決め孔に相通する位置決めピンとで構成されている。そして、ロボットの姿勢を変える場合には、フォークリフトで吊持板を吊り上げ状態で位置決めピンを抜いて、ロボットを回動させ、必要な回動角度の角度調整孔に位置決め孔を合わせて位置決めピンを差し替える。 Patent Document 1 describes a mounting plate that can be attached to and detached from both sides of a robot, a hanging plate that is rotatably connected to a support shaft of the mounting plate, and a positioning device that fixes the mounting plate and the hanging plate. A robot installation assist device comprising the above is disclosed. The positioning device includes a plurality of angle adjusting holes provided at equal intervals around the boss of the suspension plate, positioning holes provided on the support shaft of the mounting plate, and positioning pins communicating with the angle adjusting holes and the positioning holes. It is composed of. Then, when changing the posture of the robot, pull out the positioning pin while lifting the suspension plate with a forklift, rotate the robot, align the positioning hole with the angle adjustment hole of the required rotation angle, and position the positioning pin. Replace.

実開平１－１４０３９９号公報Jikkenhei 1-140399 Gazette

特許文献１の据付補助装置にあっては、ロボットの姿勢を変更させる場合に、位置決めピンを抜いてロボットを回動させるには、作業者がロボットを直に触れて力を加えて回動させる必要があり、作業者への負担が大きいという課題があった。 In the installation assist device of Patent Document 1, when changing the posture of the robot, in order to pull out the positioning pin and rotate the robot, the operator directly touches the robot and applies a force to rotate the robot. There was a problem that it was necessary and the burden on the workers was heavy.

本開示は、上記問題点を解決するためになされたものであり、ロボットの姿勢を変更する際に作業者への負担を小さくできるロボットの据付補助装置およびロボットの据付補助方法を提供することを目的とするものである。 The present disclosure has been made to solve the above problems, and is to provide a robot installation assisting device and a robot installation assisting method that can reduce the burden on the operator when changing the posture of the robot. It is the purpose.

本開示に係るロボットの据付補助装置は、内側面にロボットを締結するための締結孔を有する第１板部と、第１板部と平行に対向する第２板部と、第１板部の先端とは反対側に位置する第１基端部及び第２板部の先端とは反対側に位置する第２基端部とを連結する第３板部と、第１板部の先端面である第１先端面に設けられた第１吊掛部と、第１板部の外側面である第１外側面に設けられた第２吊掛部と、第２板部の先端面である第２先端面に設けられた第３吊掛部と、第２板部の外側面である第２外側面に設けられた第４吊掛部と、を含む。 The robot installation assisting device according to the present disclosure includes a first plate portion having a fastening hole on the inner side surface for fastening the robot, a second plate portion parallel to the first plate portion, and a first plate portion. At the tip surface of the first plate and the third plate that connects the first base end located on the opposite side of the tip and the second base end located on the opposite side of the tip of the second plate. The first hanging portion provided on a certain first tip surface, the second hanging portion provided on the first outer surface which is the outer surface of the first plate portion, and the tip surface of the second plate portion. 2. The third hanging portion provided on the tip surface and the fourth hanging portion provided on the second outer surface which is the outer surface of the second plate portion are included.

本開示のロボットの据付補助装置においては、ロボットの姿勢変更を行う際に、作業者がロボット又は据付補助装置に直に触れて力を加えて回動させる必要がなく、作業者の負担を低減できるという効果を奏する。 In the robot installation assist device of the present disclosure, it is not necessary for the operator to directly touch the robot or the installation assist device to rotate it when changing the posture of the robot, which reduces the burden on the operator. It has the effect of being able to do it.

実施の形態におけるロボットの据付補助装置の斜視図であるIt is a perspective view of the installation assist device of a robot in embodiment. 実施の形態におけるロボットの据付補助装置の正面図であるIt is a front view of the robot installation assist device in embodiment. 実施の形態におけるロボットの据付補助装置の上面図であるIt is a top view of the robot installation assist device in embodiment. 実施の形態におけるロボットの据付補助装置の側面図であるIt is a side view of the robot installation assist device in embodiment. 実施の形態におけるロボットの据付補助装置のうち、ロボットへ取り付けられた移送治具を示す斜視図であるIt is a perspective view which shows the transfer jig attached to the robot among the installation assisting devices of the robot in embodiment. 実施の形態におけるロボットの据付補助方法を示す図であるIt is a figure which shows the installation assistance method of the robot in embodiment. 実施の形態におけるロボットの据付補助方法を示す図であるIt is a figure which shows the installation assistance method of the robot in embodiment. 実施の形態におけるロボットの据付補助方法を示す図であるIt is a figure which shows the installation assistance method of the robot in embodiment.

本開示の実施の形態におけるロボットの据付補助装置およびロボットの据付補助方法について図１から図８を用いて説明する。図１は、実施の形態におけるロボットの据付補助装置１の斜視図を示しており、更には、ロボットの据付補助装置１へのロボット２の固定方法も示している。図２は、ロボットの据付補助装置の正面図を示す。図３は、ロボットの据付補助装置の上面図を示す。図４は、ロボットの据付補助装置の側面図を示す。図５は、ロボットの据付補助装置のうち、ロボットへ取り付けられた移送治具を示す斜視図である。 The robot installation assist device and the robot installation assist method according to the embodiment of the present disclosure will be described with reference to FIGS. 1 to 8. FIG. 1 shows a perspective view of the robot installation assisting device 1 according to the embodiment, and further shows a method of fixing the robot 2 to the robot installation assisting device 1. FIG. 2 shows a front view of the robot installation assist device. FIG. 3 shows a top view of the robot installation assist device. FIG. 4 shows a side view of the robot installation assist device. FIG. 5 is a perspective view showing a transfer jig attached to the robot among the robot installation assisting devices.

実施の形態の図１から図５に示すロボットの据付補助装置１は、ロボット２を天井に据え付けを行う際に、例えば、ロボット２の移送及びロボット２の姿勢を反転させるといった姿勢変更を行う際に用いられる。 The robot installation assisting device 1 shown in FIGS. 1 to 5 of the embodiment is used when the robot 2 is installed on the ceiling, for example, when the robot 2 is transferred and the posture of the robot 2 is changed by reversing the posture. Used for.

図１から図４に示すように、ロボット２の据付補助装置１は、第１板部１１と、第１板部１１と平行に対向する第２板部１２と、第１板部１１の先端とは反対側に位置する第１基端部１１１および第２板部１２の先端とは反対側に位置する第２基端部１２１とを連結する第３板部１３と、含んでおり、側面視でコ字形状をしている。以下、第１板部１１と第２板部１２と第３板部１３とで囲まれた内部空間側を内側とし、第１板部１１と第２板部１２と第３板部１３とで囲まれた内部空間とは反対側を外側として据付補助装置１の詳細構造を説明する。 As shown in FIGS. 1 to 4, the installation assisting device 1 of the robot 2 includes a first plate portion 11, a second plate portion 12 facing parallel to the first plate portion 11, and the tip of the first plate portion 11. A third plate portion 13 connecting the first base end portion 111 located on the opposite side of the above and the second base end portion 121 located on the opposite side of the tip of the second plate portion 12 is included, and the side surface thereof is included. It has a U-shape visually. Hereinafter, the internal space side surrounded by the first plate portion 11, the second plate portion 12, and the third plate portion 13 is set as the inside, and the first plate portion 11, the second plate portion 12, and the third plate portion 13 are used. The detailed structure of the installation assisting device 1 will be described with the side opposite to the enclosed internal space as the outside.

据付補助装置１の第１板部１１の内側面１１０には、ロボット２を締結するための締結孔１４が設けられている。ロボット２を第１板部１１の内側面１１０に締結する際には、ロボット２の基台２１に設けられた挿入孔２２にボルト２４を挿入し、図１の破線矢印で示すように、挿入孔２２に対応した締結孔１４にボルト２４を締結する。なお、図１のロボット２では、基台２１から立設した第１アーム２３が示されているが、本据付補助装置１を用いて移送及び姿勢変更の補助が行われるロボット２はどのような種類のロボットでもよいため、第１アーム２３より先のアームについては図示を省略している。 A fastening hole 14 for fastening the robot 2 is provided on the inner side surface 110 of the first plate portion 11 of the installation assist device 1. When the robot 2 is fastened to the inner side surface 110 of the first plate portion 11, the bolt 24 is inserted into the insertion hole 22 provided in the base 21 of the robot 2, and is inserted as shown by the broken line arrow in FIG. The bolt 24 is fastened to the fastening hole 14 corresponding to the hole 22. In the robot 2 of FIG. 1, the first arm 23 erected from the base 21 is shown, but what kind of robot 2 is used to assist the transfer and the posture change by using the installation assist device 1. Since it may be a type of robot, the arms beyond the first arm 23 are not shown.

また、据付補助装置１は、第１板部１１の先端面である第１先端面１１２に設けられた第１吊掛部１１４と、第１板部１１の外側面である第１外側面１１３に設けられた第２吊掛部１１５と、第２板部１２の先端面である第２先端面１２２に設けられた第３吊掛部１２４と、第２板部１２の外側面である第２外側面１２３に設けられた第４吊掛部１２５と、を含む。 Further, the installation assisting device 1 has a first hanging portion 114 provided on the first tip surface 112 which is the tip surface of the first plate portion 11 and a first outer surface 113 which is the outer surface of the first plate portion 11. The second hanging portion 115 provided in the above, the third hanging portion 124 provided on the second tip surface 122 which is the tip surface of the second plate portion 12, and the outer surface of the second plate portion 12. 2 Includes a fourth hanging portion 125 provided on the outer surface 123.

より詳細には、第２吊掛部１１５は、第１板部１１の第１先端面１１２から第１板部１１の第１基端部１１１に向かう方向である第１方向（図４の左右方向）に沿って２箇所設けられている。また、第４吊掛部１２５は、第１方向に沿って２箇所設けられている。具体的には、本実施の形態では、第２吊掛部１１５が第１方向に沿って２箇所設けられ、第４吊掛部１２５が第１方向に沿って２箇所設けられた据付補助装置１が図示されている。なお、第４吊掛部１２５は、第２板部１２の第２先端面１２２から第２板部１２の第２基端部１２１に向かう長手方向に沿って設けられているとも言い換えることができる。第１板部１１と第２板部１２とは平行であるため、第２板部１２の第２先端面１２２から第２板部１２の第２基端部１２１に向かう長手方向は、第１板部１１の第１先端面１１２から第１板部１１の第１基端部１１１に向かう方向である第１方向と同じである。 More specifically, the second hanging portion 115 has a first direction (left and right in FIG. 4) which is a direction from the first tip surface 112 of the first plate portion 11 toward the first base end portion 111 of the first plate portion 11. Two places are provided along the direction). Further, the fourth hanging portion 125 is provided at two locations along the first direction. Specifically, in the present embodiment, the second hanging portion 115 is provided at two locations along the first direction, and the fourth hanging portion 125 is provided at two locations along the first direction. 1 is illustrated. In addition, it can be said that the fourth hanging portion 125 is provided along the longitudinal direction from the second tip surface 122 of the second plate portion 12 toward the second base end portion 121 of the second plate portion 12. .. Since the first plate portion 11 and the second plate portion 12 are parallel to each other, the longitudinal direction from the second tip surface 122 of the second plate portion 12 to the second base end portion 121 of the second plate portion 12 is the first. It is the same as the first direction, which is the direction from the first front end surface 112 of the plate portion 11 toward the first base end portion 111 of the first plate portion 11.

第２吊掛部１１５と第４吊掛部１２５の設けられている位置について図３および図４を参照しながら更に詳細に説明する。第２吊掛部１１５は、第１板部１１の第１外側面１１３に設けられている点を除き、第４吊掛部１２５に対応した上方に位置している。つまり、第２吊掛部１１５の位置と第４吊掛部１２５の位置は、第３板部１３の上下方向中央を通り第１方向に沿った線（図４の点線）に対して線対称である。そのため、図３に示す第４吊掛部１２５を代表として、より詳細に説明する。第４吊掛部１２５は、第２板部１２の第２外側面１２３の第１方向中央を示す一点鎖線よりも第２板部１２の第２先端面１２２側の第３位置と、第２板部１２の第１方向中央よりも第２板部１２の第２基端部１２１側の第４位置と、に設けられている。なお、第２吊掛部１１５は、第４吊掛部１２５と同様に図４に示すように、第１板部１１の第１外側面１１３の第１方向中央よりも第１板部１１の第１先端面１１２側の第１位置と、第１板部１１の第１方向中央よりも第１板部１１の第１基端部１１１側の第２位置と、に設けられている。 The positions where the second hanging portion 115 and the fourth hanging portion 125 are provided will be described in more detail with reference to FIGS. 3 and 4. The second hanging portion 115 is located above the fourth hanging portion 125, except that the second hanging portion 115 is provided on the first outer surface 113 of the first plate portion 11. That is, the positions of the second hanging portion 115 and the positions of the fourth hanging portion 125 are line-symmetrical with respect to the line (dotted line in FIG. 4) that passes through the center of the third plate portion 13 in the vertical direction and is along the first direction. Is. Therefore, the fourth hanging portion 125 shown in FIG. 3 will be described in more detail as a representative. The fourth hanging portion 125 is a third position on the second tip surface 122 side of the second plate portion 12 and a second position with respect to the alternate long and short dash line indicating the center of the second outer surface 123 of the second plate portion 12 in the first direction. It is provided at a fourth position on the second base end portion 121 side of the second plate portion 12 with respect to the center of the plate portion 12 in the first direction. As shown in FIG. 4, the second hanging portion 115 is the first plate portion 11 rather than the center of the first outer surface 113 of the first plate portion 11 in the first direction, similarly to the fourth hanging portion 125. It is provided at the first position on the first tip surface 112 side and at the second position on the first base end portion 111 side of the first plate portion 11 from the center in the first direction of the first plate portion 11.

そして、第１吊掛部１１４は、第１板部１１の第１方向（図４の左右方向）に垂直であるとともに第３板部１３の第１板部１１側から第２板部１２側に向かう方向である第２方向（図４の上下方向）にも垂直な方向であり、第１板部１１の幅に沿った方向である第３方向（図４であれば紙面に対して奥行き方向、図２及び図３では左右方向）に沿って、２箇所設けられている。 The first hanging portion 114 is perpendicular to the first direction (left-right direction in FIG. 4) of the first plate portion 11 and is from the first plate portion 11 side to the second plate portion 12 side of the third plate portion 13. It is a direction perpendicular to the second direction (vertical direction in FIG. 4), which is the direction toward, and is a direction along the width of the first plate portion 11 in the third direction (in the case of FIG. 4, the depth with respect to the paper surface). It is provided at two locations along the direction (the left-right direction in FIGS. 2 and 3).

また、第１板部１１の第１外側面１１３に設けられた第２吊掛部１１５は、第１板部１１の第３方向に沿って、２箇所設けられている。より詳細には、第１板部１１の第１外側面１１３に、第１方向に沿って２箇所設けられた第２吊掛部１１５は、第１板部１１の第３方向に沿って、それぞれ２箇所設けられている。第２板部１２の第２先端面１２２に設けられた第３吊掛部１２４も、第３方向に沿って、２箇所設けられている。また、第２板部１２の第２外側面１２３に設けられた第４吊掛部１２５は、第３方向に沿って、２箇所設けられている。より詳細には、第２板部１２の第２外側面１２３に、第１方向に沿って２箇所設けられた第４吊掛部１２５は、第３方向に沿って、それぞれ２箇所設けられている。 Further, the second hanging portion 115 provided on the first outer surface 113 of the first plate portion 11 is provided at two locations along the third direction of the first plate portion 11. More specifically, the second hanging portion 115 provided at two locations along the first direction on the first outer surface 113 of the first plate portion 11 is provided along the third direction of the first plate portion 11. There are two places each. The third hanging portion 124 provided on the second tip surface 122 of the second plate portion 12 is also provided at two locations along the third direction. Further, the fourth hanging portion 125 provided on the second outer surface 123 of the second plate portion 12 is provided at two locations along the third direction. More specifically, the fourth hanging portions 125 provided at two locations along the first direction on the second outer surface 123 of the second plate portion 12 are provided at two locations each along the third direction. There is.

そして、第１吊掛部１１４、第２吊掛部１１５、第３吊掛部１２４、第４吊掛部１２５のそれぞれは、それぞれの設けられている面の第３方向中央に対して対称に設けられている。具体的に説明すると、図２に示すように、２箇所に設けられた第１吊掛部１１４は、第１板部１１の第１先端面１１２の第３方向中央（図中の鎖線）に対して線対称に設けられている。そして、２箇所に設けられた第３吊掛部１２４は、同様に、第２板部１２の第２先端面１２２の第３方向中央（図中の鎖線）に対して線対称に設けられている。また、図３に示すように、第４吊掛部１２５は、第２板部１２の第２外側面１２３の第３方向中央に対して線対称に設けられている。 Then, each of the first hanging portion 114, the second hanging portion 115, the third hanging portion 124, and the fourth hanging portion 125 is symmetrical with respect to the center of the third direction of each of the provided surfaces. It is provided. More specifically, as shown in FIG. 2, the first hanging portions 114 provided at the two locations are located at the center of the first tip surface 112 of the first plate portion 11 in the third direction (chain line in the figure). On the other hand, it is provided line-symmetrically. The third hanging portions 124 provided at the two locations are similarly provided line-symmetrically with respect to the center of the second tip surface 122 of the second plate portion 12 in the third direction (chain line in the figure). There is. Further, as shown in FIG. 3, the fourth hanging portion 125 is provided line-symmetrically with respect to the center of the second outer surface 123 of the second plate portion 12 in the third direction.

また、第１板部１１の第１外側面１１３の四隅と、第２板部１２の第２外側面１２３の四隅と、第３板部１３の外側面である第３外側面１３１の四隅と、に複数の車輪（第１車輪１１６、第２車輪１１７、第３車輪１２６、第４車輪１２７、第５車輪１３２、第６車輪１３３）が設けられている。 Further, the four corners of the first outer surface 113 of the first plate portion 11, the four corners of the second outer surface 123 of the second plate portion 12, and the four corners of the third outer surface 131 which is the outer surface of the third plate portion 13. , A plurality of wheels (first wheel 116, second wheel 117, third wheel 126, fourth wheel 127, fifth wheel 132, sixth wheel 133) are provided.

具体的には、図４に示すように、第１板部１１の第１外側面１１３には、第１方向において、第１板部１１の第１先端面１１２と第１位置に位置する第２吊掛部１１５との間に第１車輪１１６が設けられている。また、第１板部１１の第１外側面１１３には、第１方向において、第１板部１１の後端と第２位置に位置する第２吊掛部１１５との間に第２車輪１１７が設けられている。そして、第２板部１２の第２外側面１２３には、第１方向において、第２板部１２の第２先端面１２２と第３位置に位置する第４吊掛部１２５との間に第３車輪１２６が設けられている。また、第２板部１２の第２外側面１２３には、第１方向において、第２板部１２の後端と第４位置に位置する第４吊掛部１２５との間に第４車輪１２７が設けられている。そして、第３板部１３の第３外側面１３１には、第２方向において、第３板部１３の下端側に第５車輪１３２が設けられており、第３板部１３の上端側に第６車輪１３３が設けられている。 Specifically, as shown in FIG. 4, the first outer surface 113 of the first plate portion 11 is located at the first tip surface 112 and the first position of the first plate portion 11 in the first direction. The first wheel 116 is provided between the two hanging portions 115. Further, on the first outer surface 113 of the first plate portion 11, the second wheel 117 is placed between the rear end of the first plate portion 11 and the second hanging portion 115 located at the second position in the first direction. Is provided. Then, on the second outer surface 123 of the second plate portion 12, in the first direction, between the second tip surface 122 of the second plate portion 12 and the fourth hanging portion 125 located at the third position. Three wheels 126 are provided. Further, on the second outer surface 123 of the second plate portion 12, the fourth wheel 127 is located between the rear end of the second plate portion 12 and the fourth hanging portion 125 located at the fourth position in the first direction. Is provided. The third outer surface 131 of the third plate portion 13 is provided with a fifth wheel 132 on the lower end side of the third plate portion 13 in the second direction, and is provided on the upper end side of the third plate portion 13. Six wheels 133 are provided.

これら第１車輪１１６と、第２車輪１１７と、第３車輪１２６と、第４車輪１２７と、第５車輪１３２と、第６車輪１３３のそれぞれは、第１方向に垂直な方向であるとともに第２方向にも垂直な方向である第３方向において、２箇所設けられている。なお、第２車輪１１７と第５車輪１３２が第３方向に２箇所設けられている点は、図示省略している。 The first wheel 116, the second wheel 117, the third wheel 126, the fourth wheel 127, the fifth wheel 132, and the sixth wheel 133 are each perpendicular to the first direction and the first wheel. Two locations are provided in the third direction, which is also a direction perpendicular to the two directions. The point that the second wheel 117 and the fifth wheel 132 are provided at two locations in the third direction is not shown.

また、これら第１車輪１１６と、第２車輪１１７と、第３車輪１２６と、第４車輪１２７と、第５車輪１３２と、第６車輪１３３のそれぞれは、車輪の回転を止めるストッパを有する。このため、ストッパを解除した状態では、車輪は回転可能となり、ストッパを作動させた状態では、車輪は回転不能となる。このストッパは、従来知られているストッパ機構を適用すればよい。 Further, each of the first wheel 116, the second wheel 117, the third wheel 126, the fourth wheel 127, the fifth wheel 132, and the sixth wheel 133 has stoppers for stopping the rotation of the wheels. Therefore, when the stopper is released, the wheel can rotate, and when the stopper is activated, the wheel cannot rotate. A conventionally known stopper mechanism may be applied to this stopper.

そして、各車輪と前記各吊掛部は、前記第１方向に垂直な方向であるとともに前記第２方向にも垂直な方向である第３方向において、後述するクレーン４のスリング４０が車輪に重なることがないようにオフセットしている。 The sling 40 of the crane 4, which will be described later, overlaps the wheels in the third direction, which is perpendicular to the first direction and also perpendicular to the second direction, for each wheel and each hanging portion. It is offset so that it never happens.

より詳細には、図２に示すように、第１板部１１の第１外側面１１３に設けられた第１車輪１１６は、第３方向中央に対して第２吊掛部１１５よりも第３方向外側にオフセットした位置に設けられている。図２では第１車輪１１６と重なっており図示されていないが、図２において第１車輪１１６の紙面奥方に設けられている第２車輪１１７も同様に、第２吊掛部１１５よりも第３方向外側にオフセットした位置に設けられている。第２板部１２の第２外側面１２３に設けられた第３車輪１２６及び第４車輪１２７と第４吊掛部１２５との位置関係も同様である。 More specifically, as shown in FIG. 2, the first wheel 116 provided on the first outer surface 113 of the first plate portion 11 is third with respect to the center in the third direction than the second hanging portion 115. It is provided at a position offset to the outside in the direction. Although it is not shown because it overlaps with the first wheel 116 in FIG. 2, the second wheel 117 provided at the back of the paper surface of the first wheel 116 in FIG. 2 is also a third wheel than the second hanging portion 115. It is provided at a position offset to the outside in the direction. The same applies to the positional relationship between the third wheel 126 and the fourth wheel 127 provided on the second outer surface 123 of the second plate portion 12 and the fourth hanging portion 125.

なお、上述した据付補助装置１は、後述するようにロボット２の姿勢を反転させるために用いられるため、反転治具とも言い換えることができる。 Since the above-mentioned installation assisting device 1 is used for reversing the posture of the robot 2 as described later, it can be paraphrased as a reversing jig.

本実施の形態のロボット２の据付補助装置１は、更に移送治具を備えていてもよい。図５は、実施の形態におけるロボット２の据付補助装置１のうち、ロボット２へ取り付けられた移送治具３を示す斜視図である。 The installation assisting device 1 of the robot 2 of the present embodiment may further include a transfer jig. FIG. 5 is a perspective view showing a transfer jig 3 attached to the robot 2 among the installation assisting devices 1 of the robot 2 in the embodiment.

移送治具３は、第１板部１１の内側面１１０に締結されるロボット２の両側部にボルト３４によって固定される固定部３１と、固定部３１に連結されており、図８で後述するフォークリフト５のフォーク５０を挿入するためのフォーク挿入部３２と、を含む。フォーク挿入部３２は、フォーク５０を挿入できるように挿入口３３を有する。 The transfer jig 3 is connected to a fixing portion 31 fixed by bolts 34 to both side portions of the robot 2 fastened to the inner side surface 110 of the first plate portion 11, and will be described later in FIG. A fork insertion portion 32 for inserting the fork 50 of the forklift 5 is included. The fork insertion portion 32 has an insertion port 33 so that the fork 50 can be inserted.

次に、本実施の形態のロボットの据付補助装置１を用いた据付補助方法について、図６から図８を参照しながら説明する。 Next, an installation assisting method using the robot installation assisting device 1 of the present embodiment will be described with reference to FIGS. 6 to 8.

まず、図１に示したように、据付補助装置１の第１板部１１の内側面１１０にロボット２を締結固定する（固定ステップ）。そして、図５に示したように、ロボット２の両側部に移送治具３を取り付ける（取付ステップ）。なお、移送治具３は、ロボット２を第１板部１１の内側面１１０に締結固定する前に、ロボット２に取り付けてもよい。この作業は、少なくとも床に接地している第１車輪１１６と第２車輪１１７は、ストッパを作動させて回転を止め、据付補助装置１が動かないようにした状態で行うことが好ましい。 First, as shown in FIG. 1, the robot 2 is fastened and fixed to the inner side surface 110 of the first plate portion 11 of the installation assist device 1 (fixing step). Then, as shown in FIG. 5, the transfer jigs 3 are attached to both side portions of the robot 2 (attachment step). The transfer jig 3 may be attached to the robot 2 before the robot 2 is fastened and fixed to the inner side surface 110 of the first plate portion 11. It is preferable that this work is performed in a state where at least the first wheel 116 and the second wheel 117, which are in contact with the floor, are stopped by operating the stoppers so that the installation assisting device 1 does not move.

その後、図６の左側の図に示すように、第１板部１１の第１先端面１１２に設けられた第１吊掛部１１４及び第２板部１２の第２外側面１２３の第４位置に設けられた第４吊掛部１２５のそれぞれに、クレーン４のスリング４０を吊り掛ける。 After that, as shown in the figure on the left side of FIG. 6, the fourth position of the second outer surface 123 of the first hanging portion 114 and the second plate portion 12 provided on the first tip surface 112 of the first plate portion 11. The sling 40 of the crane 4 is hung on each of the fourth hanging portions 125 provided in the crane 4.

そして、図６の中央から右側の図の順に示すように、第１吊掛部１１４及び第４吊掛部１２５に吊り掛けられたスリング４０を巻き上げ及び巻き下げにより、据付補助装置１を９０°回転させる（第１回転ステップ）。この作業は、少なくとも、回転前に床に接地している第１車輪１１６及び第２車輪１１７並びに回転後に床に接地する第５車輪１３２及び第６車輪１３３は、ストッパを作動させて回転を止め、回転前後で据付補助装置１が意図せず滑ったりしないようにした状態で行うことが好ましい。 Then, as shown in the order of the right side view from the center of FIG. 6, the sling 40 suspended on the first hanging portion 114 and the fourth hanging portion 125 is wound up and down to raise the installation assisting device 1 by 90 °. Rotate (first rotation step). In this work, at least the first wheel 116 and the second wheel 117 that are in contact with the floor before rotation and the fifth wheel 132 and the sixth wheel 133 that are in contact with the floor after rotation actuate the stoppers to stop the rotation. It is preferable to perform the operation in a state where the installation assisting device 1 does not unintentionally slip before and after rotation.

そして、第１吊掛部１１４及び第４吊掛部１２５に吊り掛けられたスリング４０を外す。 Then, the sling 40 suspended from the first hanging portion 114 and the fourth hanging portion 125 is removed.

そして、第１板部１１の第１外側面１１３の第２位置に設けられた第２吊掛部１１５及び第２板部１２の第２先端面１２２に設けられた第３吊掛部１２４のそれぞれに、クレーン４のスリング４０を吊り掛ける。この作業は、少なくとも床に接地している第５車輪１３２及び第６車輪１３３は、ストッパを作動させて回転を止め、据付補助装置１が動かないようにした状態で行うことが好ましい。 Then, the second hanging portion 115 provided at the second position of the first outer surface 113 of the first plate portion 11 and the third hanging portion 124 provided on the second tip surface 122 of the second plate portion 12. The sling 40 of the crane 4 is hung on each of them. It is preferable that this work is performed in a state where at least the fifth wheel 132 and the sixth wheel 133, which are in contact with the floor, are stopped by operating the stoppers so that the installation assisting device 1 does not move.

その後、図７の左側から中央の図の順に示すように、第２吊掛部１１５及び第３吊掛部１２４に吊り掛けられたスリング４０を巻き上げ及び巻き下げにより、据付補助装置１を更に９０°回転させる（第２回転ステップ）。これにより、据付補助装置１は、最初の位置から１８０°回転し、据付補助装置１に締結固定されたロボット２は反転した姿勢に変更されることとなる。なお、この作業は、少なくとも、回転前に床に接地している第５車輪１３２及び第６車輪１３３並びに回転後に床に接地する第３車輪１２６及び第４車輪１２７は、ストッパを作動させて回転を止め、回転前後で据付補助装置１が意図せず滑ったりしないようにした状態で行うことが好ましい。 After that, as shown in the order from the left side to the center of FIG. 7, the sling 40 suspended from the second hanging portion 115 and the third hanging portion 124 is wound up and down to further 90 the installation assist device 1. ° Rotate (second rotation step). As a result, the installation assisting device 1 rotates 180 ° from the initial position, and the robot 2 fastened and fixed to the installation assisting device 1 is changed to the inverted posture. In this work, at least the fifth wheel 132 and the sixth wheel 133 that are in contact with the floor before rotation, and the third wheel 126 and the fourth wheel 127 that are in contact with the floor after rotation are rotated by operating the stoppers. It is preferable to stop the wheel so that the installation assisting device 1 does not slip unintentionally before and after rotation.

続いて、図７の右側の図に示すように、第２吊掛部１１５及び第３吊掛部１２４に吊り掛けられたスリング４０を外す。 Subsequently, as shown in the figure on the right side of FIG. 7, the sling 40 suspended from the second hanging portion 115 and the third hanging portion 124 is removed.

前述した第２回転ステップの後、図８の左側の図に示すように、移送治具３のフォーク挿入部３２にフォークリフト５のフォーク５０を差し込んだ状態で、ロボット２と第１板部１１の内側面１１０との締結固定を解除する（解除ステップ）。 After the second rotation step described above, as shown in the figure on the left side of FIG. 8, the robot 2 and the first plate portion 11 have the fork 50 of the forklift 5 inserted into the fork insertion portion 32 of the transfer jig 3. The fastening and fixing with the inner side surface 110 is released (release step).

その後、フォークリフト５によってロボット２を据付位置まで移送する（移送ステップ）。そして、据付位置にてロボット２を天井に締結固定し、天井据付が完了する。 After that, the robot 2 is transferred to the installation position by the forklift 5 (transfer step). Then, the robot 2 is fastened and fixed to the ceiling at the installation position, and the ceiling installation is completed.

なお、据付補助装置１を１８０°回転（反転）させる際の手順を上述したが、据付補助装置１が１８０°回転した反転状態から図６の左側の図のような初期状態に１８０°逆回転させて戻す場合には、逆の手順を行えばよい。 The procedure for rotating (reversing) the installation assisting device 1 by 180 ° has been described above, but the installation assisting device 1 is rotated 180 ° in reverse from the inverted state rotated by 180 ° to the initial state as shown in the left side of FIG. If you want to return it, you can do the reverse procedure.

本実施の形態におけるロボットの据付補助装置１は、内側面１１０にロボット２を締結するための締結孔１４を有する第１板部１１と、第１板部１１と平行に対向する第２板部１２と、第１板部１１の先端とは反対側に位置する第１基端部１１１及び前記第２板部１２の先端とは反対側に位置する第２基端部１２１とを連結する第３板部１３と、第１板部１１の先端面である第１先端面１１２に設けられた第１吊掛部１１４と、第１板部１１の外側面である第１外側面１１３に設けられた第２吊掛部１１５と、第２板部１２の先端面である第２先端面１２２に設けられた第３吊掛部１２４と、第２板部１２の外側面である第２外側面１２３に設けられた第４吊掛部１２５と、を含む。そのため、ロボット２の姿勢変更を行う際に、作業者がロボット２又は据付補助装置１に直に触れて力を加えて回動させる必要がなく、作業者の負担を低減できるという効果を奏する。 The robot installation assisting device 1 in the present embodiment has a first plate portion 11 having a fastening hole 14 for fastening the robot 2 on the inner side surface 110, and a second plate portion 11 facing parallel to the first plate portion 11. 12 is connected to the first base end portion 111 located on the side opposite to the tip of the first plate portion 11 and the second base end portion 121 located on the side opposite to the tip of the second plate portion 12. 3 Plate portion 13, the first hanging portion 114 provided on the first tip surface 112 which is the tip surface of the first plate portion 11, and the first outer surface 113 which is the outer surface of the first plate portion 11. The second hanging portion 115, the third hanging portion 124 provided on the second tip surface 122 which is the tip surface of the second plate portion 12, and the second outer surface which is the outer surface of the second plate portion 12. Includes a fourth hanging portion 125 provided on the side surface 123. Therefore, when the posture of the robot 2 is changed, it is not necessary for the operator to directly touch the robot 2 or the installation assisting device 1 to rotate the robot 2, which has the effect of reducing the burden on the operator.

また、本実施の形態におけるロボットの据付補助装置１においては、第２吊掛部１１５は、第１板部１１の第１先端面１１２から第１板部１１の第１基端部１１１に向かう方向である第１方向に沿って、２箇所設けられ、第４吊掛部１２５は、第１方向に沿って、２箇所設けられる。そのため、ロボット２の姿勢変更を行う際に、状況に応じて、第１板部１１の第１先端面１１２側の第２吊掛部１１５と第１板部１１の第１基端部１１１側の第２吊掛部１１５のどちらかにクレーン４のスリング４０を吊り掛けて作業を行うことができ、第２板部１２の第２先端面１２２側の第４吊掛部１２５と第２板部１２の第２基端部１２１側の第４吊掛部１２５のどちらかにクレーン４のスリング４０を吊り掛けて作業を行うことができるという効果を奏する。 Further, in the robot installation assisting device 1 of the present embodiment, the second hanging portion 115 is directed from the first front end surface 112 of the first plate portion 11 to the first base end portion 111 of the first plate portion 11. The fourth hanging portion 125 is provided at two locations along the first direction, which is the direction, and the fourth hanging portion 125 is provided at two locations along the first direction. Therefore, when changing the posture of the robot 2, depending on the situation, the second hanging portion 115 on the first tip surface 112 side of the first plate portion 11 and the first base end portion 111 side of the first plate portion 11 The sling 40 of the crane 4 can be hung on either of the second hanging portions 115 of the above, and the fourth hanging portion 125 and the second plate on the second tip surface 122 side of the second plate portion 12 can be used. The effect is that the sling 40 of the crane 4 can be hung on either of the fourth hanging portions 125 on the second base end portion 121 side of the portion 12 to perform the work.

また、本実施の形態におけるロボットの据付補助装置１においては、第１吊掛部１１４は、第１板部１１の第１方向に垂直な方向であるとともに第３板部１３の第１板部１１側から第２板部１２側に向かう方向である第２方向にも垂直な方向である第３方向に沿って、２箇所設けられ、第２吊掛部１１５は、第３方向に沿って２箇所設けられ、第３吊掛部１２４は、第３方向に沿って２箇所設けられ、第４吊掛部１２５は、第３方向に沿って２箇所設けられている。そのため、ロボット２の姿勢変更を行う際に、クレーン４のスリング４０を第３方向に沿って設けられた２箇所の吊掛部を用いて吊り掛けて巻き上げ及び巻き下げを行うことができるので、巻き上げ及び巻き下げ際の据付補助装置１の姿勢が安定するという効果を奏する。 Further, in the robot installation assist device 1 according to the present embodiment, the first hanging portion 114 is in a direction perpendicular to the first direction of the first plate portion 11 and the first plate portion of the third plate portion 13. Two locations are provided along the third direction, which is a direction perpendicular to the second direction, which is the direction from the 11 side to the second plate portion 12, and the second hanging portion 115 is provided along the third direction. The third hanging portion 124 is provided at two locations, the third hanging portion 124 is provided at two locations along the third direction, and the fourth hanging portion 125 is provided at two locations along the third direction. Therefore, when the posture of the robot 2 is changed, the sling 40 of the crane 4 can be hung by using two hanging portions provided along the third direction to wind up and down. This has the effect of stabilizing the posture of the installation assisting device 1 during hoisting and lowering.

また、本実施の形態におけるロボットの据付補助装置１においては、第３方向に沿って２箇所設けられている第１吊掛部１１４から第４吊掛部１２５のそれぞれは、それぞれの設けられている面の第３方向中央に対して対称に設けられている。そのため、ロボット２の姿勢変更を行う際に、巻き上げ及び巻き下げ際の据付補助装置１の姿勢が更に安定するという効果を奏する。 Further, in the robot installation assisting device 1 according to the present embodiment, each of the first hanging portion 114 to the fourth hanging portion 125 provided at two locations along the third direction is provided. It is provided symmetrically with respect to the center of the third direction of the surface. Therefore, when the posture of the robot 2 is changed, the posture of the installation assisting device 1 at the time of hoisting and lowering is further stabilized.

また、本実施の形態におけるロボットの据付補助装置１は、第１板部１１の第１外側面１１３の四隅と、第２板部１２の第２外側面１２３の四隅と、第３板部１３の外側面である第３外側面１３１の四隅と、に設けられた複数の車輪を更に含む。そのため、第１板部１１と第２板部１２と第３板部１３のいずれを下側に位置させた状態であっても、据付補助装置１を床面に対して移動させることができるという効果を奏する。 Further, the robot installation assisting device 1 in the present embodiment has four corners of the first outer surface 113 of the first plate portion 11, four corners of the second outer surface 123 of the second plate portion 12, and the third plate portion 13. Further includes the four corners of the third outer surface 131, which is the outer surface of the vehicle, and a plurality of wheels provided on the third outer surface 131. Therefore, the installation assisting device 1 can be moved with respect to the floor surface regardless of which of the first plate portion 11, the second plate portion 12, and the third plate portion 13 is positioned on the lower side. It works.

また、本実施の形態におけるロボットの据付補助装置１においては、各車輪と各吊掛部は、第１方向に垂直な方向であるとともに第２方向にも垂直な方向である第３方向において、オフセットしている。そのため、ロボット２の姿勢変更を行う際に、クレーン４のスリング４０が車輪に引っ掛かることを抑制できるという効果を奏する。 Further, in the robot installation assist device 1 according to the present embodiment, each wheel and each hanging portion are in a third direction which is a direction perpendicular to the first direction and also a direction perpendicular to the second direction. It is offset. Therefore, when the posture of the robot 2 is changed, the sling 40 of the crane 4 can be prevented from being caught on the wheels.

また、本実施の形態におけるロボットの据付補助装置１は、各車輪には、車輪の回転を止めるストッパが設けられる。そのため、ロボット２の姿勢変更を行う際に、据付補助装置１が意図せず移動してしまうことを抑制できるという効果を奏する。 Further, in the robot installation assisting device 1 according to the present embodiment, each wheel is provided with a stopper for stopping the rotation of the wheel. Therefore, when the posture of the robot 2 is changed, it is possible to prevent the installation assisting device 1 from unintentionally moving.

また、本実施の形態におけるロボットの据付補助装置１においては、第１板部１１の内側面１１０に締結されるロボット２の両側部に固定される固定部３１と、固定部３１に連結されており、フォーク５０を挿入するためのフォーク挿入部３２と、を含む移送治具３を更に含む。そのため、ロボット２の姿勢変更により反転させた後、ロボット２を据付補助装置１から外した後、ロボット２を据付位置までフォークリフト５で移送することができるという効果を奏する。 Further, in the robot installation assist device 1 according to the present embodiment, the fixing portions 31 fixed to both side portions of the robot 2 fastened to the inner side surface 110 of the first plate portion 11 and the fixing portions 31 are connected to the fixing portions 31. Further includes a transfer jig 3 including a fork insertion portion 32 for inserting the fork 50. Therefore, after the robot 2 is inverted by changing the posture, the robot 2 can be removed from the installation assisting device 1, and then the robot 2 can be transferred to the installation position by the forklift 5.

また、本実施の形態におけるロボットの据付補助方法は、第１板部１１の内側面１１０にロボット２を締結固定する固定ステップと、第１吊掛部１１４及び第４吊掛部１２５のそれぞれに、クレーン４のスリング４０を吊り掛けてスリング４０の巻き上げ及び巻き下げにより反転治具を回転させる第１回転ステップと、第２吊掛部１１５及び第３吊掛部１２４のそれぞれに、クレーン４のスリング４０を吊り掛けてスリング４０の巻き上げ及び巻き下げにより前記反転治具を回転させる第２回転ステップと、を含む。そのため、ロボット２の姿勢変更を行う際に、作業者がロボット２又は据付補助装置１に直に触れて力を加えて回動させる必要がなく、作業者の負担を低減できるという効果を奏する。 Further, in the method of assisting the installation of the robot in the present embodiment, the fixing step of fastening and fixing the robot 2 to the inner side surface 110 of the first plate portion 11 and the first hanging portion 114 and the fourth hanging portion 125 are respectively. , The first rotation step of suspending the sling 40 of the crane 4 and rotating the reversing jig by hoisting and lowering the sling 40, and the second hanging portion 115 and the third hanging portion 124 of the crane 4 respectively. A second rotation step of suspending the sling 40 and rotating the reversing jig by hoisting and lowering the sling 40 is included. Therefore, when the posture of the robot 2 is changed, it is not necessary for the operator to directly touch the robot 2 or the installation assisting device 1 to rotate the robot 2, which has the effect of reducing the burden on the operator.

また、本実施の形態におけるロボットの据付補助方法は、ロボット２の両側部に固定される固定部３１と、フォークリフト５のフォーク５０を挿入するためのフォーク挿入部３２を含む移送治具３をロボット２に取り付ける取付ステップと、第２回転ステップ後に、移送治具３にフォーク５０を差し込んだ状態で、ロボット２と第１板部１１の内側面１１０との締結固定を解除する解除ステップと、解除ステップ後に、フォークリフト５によってロボット２を据付位置まで移送する移送ステップと、を更に含む。そのため、ロボット２の姿勢変更により反転させた後、ロボット２を据付補助装置１から外した後、ロボット２を据付位置までフォークリフト５で移送することができるという効果を奏する。 Further, in the method of assisting the installation of the robot in the present embodiment, the robot uses a transfer jig 3 including a fixing portion 31 fixed to both side portions of the robot 2 and a fork insertion portion 32 for inserting the fork 50 of the forklift 5. A mounting step for attaching to 2, a release step for releasing the fastening and fixing of the robot 2 and the inner surface 110 of the first plate portion 11 with the fork 50 inserted into the transfer jig 3 after the second rotation step, and a release step. After the step, a transfer step of transferring the robot 2 to the installation position by the forklift 5 is further included. Therefore, after the robot 2 is inverted by changing the posture, the robot 2 can be removed from the installation assisting device 1, and then the robot 2 can be transferred to the installation position by the forklift 5.

変形例．
上述の実施の形態では、第２吊掛部１１５は、第１方向に沿って２箇所設けられ、第４吊掛部１２５は、第１方向に沿って２箇所設けられていたが、それぞれ３箇所以上でもよい。Modification example.
In the above-described embodiment, the second hanging portion 115 is provided at two locations along the first direction, and the fourth hanging portion 125 is provided at two locations along the first direction. It may be more than one place.

上述の実施の形態では、第２吊掛部１１５及び第４吊掛部１２５を、第１方向に沿ってそれぞれ２箇所設けたがこれに限定されない。例えば、第２吊掛部１１５を第１方向に沿って２箇所設け、第４吊掛部１２５を第１方向に沿って１箇所設けるようにしてもよいし、第４吊掛部１２５を第１方向に沿って２箇所設け、第２吊掛部１１５を第１方向に沿って１箇所設けるようにしてもよい。つまり、第２吊掛部１１５及び第４吊掛部１２５の少なくとも一方は、第１方向に沿って少なくとも２箇所設けようにしてもよい。 In the above-described embodiment, the second hanging portion 115 and the fourth hanging portion 125 are provided at two locations each along the first direction, but the present invention is not limited to this. For example, the second hanging portion 115 may be provided at two locations along the first direction, the fourth hanging portion 125 may be provided at one location along the first direction, or the fourth hanging portion 125 may be provided at the first location. Two locations may be provided along one direction, and the second hanging portion 115 may be provided at one location along the first direction. That is, at least one of the second hanging portion 115 and the fourth hanging portion 125 may be provided at at least two locations along the first direction.

上述の実施の形態では、第２吊掛部１１５を、第１方向に沿って、第１板部１１の第１先端面１１２側の第１位置と、第１板部１１の第１方向中央よりも第１板部１１の第１基端部１１１側の第２位置と、に設けたが、第１位置の第２吊掛部１１５を省略してもよい。同様に、第３位置の第４吊掛部１２５を省略してもよい。 In the above-described embodiment, the second hanging portion 115 is placed at the first position on the first tip surface 112 side of the first plate portion 11 and the center of the first plate portion 11 in the first direction along the first direction. Although it is provided at the second position on the side of the first base end portion 111 of the first plate portion 11, the second hanging portion 115 at the first position may be omitted. Similarly, the fourth hanging portion 125 at the third position may be omitted.

上述の実施の形態では、第１吊掛部１１４と、第２吊掛部１１５と、第３吊掛部１２４と、第４吊掛部１２５のそれぞれは、第３方向に２箇所設けられていたが、少なくとも２箇所設けられていればよく、３箇所以上設けられていてもよい。 In the above-described embodiment, the first hanging portion 114, the second hanging portion 115, the third hanging portion 124, and the fourth hanging portion 125 are each provided at two locations in the third direction. However, it suffices if it is provided at least two places, and may be provided at three or more places.

上述の実施の形態では、第１車輪１１６と、第２車輪１１７と、第３車輪１２６と、第４車輪１２７と、第５車輪１３２と、第６車輪１３３のそれぞれは、第３方向において、２箇所設けられていたが、少なくとも２箇所設けられていればよく、３箇所以上設けられていてもよい。 In the above embodiment, the first wheel 116, the second wheel 117, the third wheel 126, the fourth wheel 127, the fifth wheel 132, and the sixth wheel 133 are each in the third direction. Although it was provided at two places, it may be provided at at least two places and may be provided at three or more places.

上述の実施の形態では、移送治具３は、固定部３１とフォーク挿入部３２とを含み、ロボット２の両側部に直接取り付けられていたが、これに限定されない。例えば、ロボット２の側面部に治具取付部を取り付け、治具取付部に移送治具を取り付けるといったように、ロボット２と移送治具３との間に別部材を介在させてもよい。 In the above-described embodiment, the transfer jig 3 includes the fixing portion 31 and the fork inserting portion 32, and is directly attached to both side portions of the robot 2, but is not limited thereto. For example, another member may be interposed between the robot 2 and the transfer jig 3, such as attaching a jig mounting portion to the side surface portion of the robot 2 and attaching the transfer jig to the jig mounting portion.

本発明は、広義の精神と範囲を逸脱することなく、様々な実施形態及び変形が可能とされるものである。また、上述した実施形態は、本発明を説明するためのものであり、本発明の範囲を限定するものではない。つまり、本発明の範囲は、実施形態ではなく、請求の範囲によって示される。そして、請求の範囲内及びそれと同等の発明の意義の範囲内で施される様々な変形が、本発明の範囲内とみなされる。 The present invention allows for various embodiments and modifications without departing from the broad spirit and scope. Further, the above-described embodiment is for explaining the present invention, and does not limit the scope of the present invention. That is, the scope of the invention is indicated by the claims, not by embodiments. And various modifications made within the scope of the claims and within the equivalent meaning of the invention are considered to be within the scope of the present invention.

１ 据付補助装置、２ ロボット、３ 移送治具、４ クレーン、５ フォークリフト、１１ 第１板部、１２ 第２板部、１３ 第３板部、１４ 締結孔、２１ 基台、２２ 挿入孔、２３ 第１アーム、３１ 固定部、３２ フォーク挿入部、３３ 挿入口、３４ ボルト、４０ スリング、５０ フォーク、１１１ 第１基端部、１１２ 第１先端面、１１３ 第１外側面、１１４ 第１吊掛部、１１５ 第２吊掛部、１１６ 第１車輪、１１７ 第２車輪、１２１ 第２基端部、１２２ 第２先端面、１２３ 第２外側面、１２４ 第３吊掛部、１２５ 第４吊掛部、１２６ 第３車輪、１２７ 第４車輪、１３１ 第３外側面、１３２ 第５車輪、１３３ 第６車輪 1 Installation assist device, 2 Robot, 3 Transfer jig, 4 Crane, 5 Forklift, 11 1st plate, 12 2nd plate, 13 3rd plate, 14 Fastening hole, 21 base, 22 Insert hole, 23 1st arm, 31 fixing part, 32 fork insertion part, 33 insertion port, 34 bolt, 40 sling, 50 fork, 111 1st base end part, 112 1st tip surface, 113 1st outer surface, 114 1st hanging , 115 2nd hanging part, 116 1st wheel, 117 2nd wheel, 121 2nd base end part, 122 2nd tip surface, 123 2nd outer surface, 124 3rd hanging part, 125 4th hanging part Jig, 126 3rd wheel, 127 4th wheel, 131 3rd outer surface, 132 5th wheel, 133 6th wheel

Claims (13)

内側面にロボットを締結するための締結孔を有する第１板部と、
前記第１板部と平行に対向する第２板部と、
前記第１板部の先端とは反対側に位置する第１基端部及び前記第２板部の先端とは反対側に位置する第２基端部とを連結する第３板部と、
前記第１板部の先端面である第１先端面に設けられた第１吊掛部と、
前記第１板部の外側面である第１外側面に設けられた第２吊掛部と、
前記第２板部の先端面である第２先端面に設けられた第３吊掛部と、
前記第２板部の外側面である第２外側面に設けられた第４吊掛部と、
を備えるロボットの据付補助装置。
A first plate portion having a fastening hole for fastening the robot on the inner side surface,
The second plate portion parallel to the first plate portion and the second plate portion
A third plate portion that connects the first base end portion located on the side opposite to the tip of the first plate portion and the second base end portion located on the side opposite to the tip of the second plate portion.
A first hanging portion provided on the first tip surface, which is the tip surface of the first plate portion,
A second hanging portion provided on the first outer surface, which is the outer surface of the first plate portion, and
A third hanging portion provided on the second tip surface, which is the tip surface of the second plate portion,
A fourth hanging portion provided on the second outer surface, which is the outer surface of the second plate portion, and
Robot installation assist device equipped with.
 前記第２吊掛部は、前記第１板部の前記第１先端面から前記第１板部の前記第１基端部に向かう方向である第１方向に沿って、少なくとも２箇所設けられ、
前記第４吊掛部は、前記第１方向に沿って、少なくとも２箇所設けられる、
請求項１に記載のロボットの据付補助装置。
The second hanging portion is provided at least at two locations along the first direction, which is the direction from the first tip surface of the first plate portion to the first base end portion of the first plate portion.
The fourth hanging portion is provided at least two places along the first direction.
The robot installation assist device according to claim 1.
 前記第２吊掛部は、少なくとも、前記第１板部の前記第１方向中央よりも前記第１板部の前記第１先端面側の第１位置と、前記第１板部の前記第１方向中央よりも前記第１板部の前記第１基端部側の第２位置と、に設けられ、
前記第４吊掛部は、少なくとも、前記第２板部の前記第１方向中央よりも前記第２板部の前記第２先端面側の第３位置と、前記第２板部の前記第１方向中央よりも前記第２板部の前記第２基端部側の第４位置と、に設けられる、
請求項２に記載のロボットの据付補助装置。
The second hanging portion is at least a first position on the first tip surface side of the first plate portion from the center of the first plate portion in the first direction, and the first position of the first plate portion. It is provided at a second position on the first base end side of the first plate portion from the center of the direction.
The fourth hanging portion is at least a third position on the second tip surface side of the second plate portion from the center of the second plate portion in the first direction, and the first position of the second plate portion. It is provided at the fourth position on the second base end side of the second plate portion from the center of the direction.
The robot installation assist device according to claim 2.
 前記第１吊掛部は、前記第１板部の前記第１方向に垂直な方向であるとともに前記第３板部の第１板部側から第２板部側に向かう方向である第２方向にも垂直な方向である第３方向に沿って、少なくとも２箇所設けられ、
前記第２吊掛部は、前記第３方向に沿って、少なくとも２箇所設けられ、
前記第３吊掛部は、前記第３方向に沿って、少なくとも２箇所設けられ、
前記第４吊掛部は、前記第３方向に沿って、少なくとも２箇所設けられている、
請求項２または３に記載のロボットの据付補助装置。
The first hanging portion is a direction perpendicular to the first direction of the first plate portion and a second direction which is a direction from the first plate portion side to the second plate portion side of the third plate portion. At least two places are provided along the third direction, which is also the vertical direction.
The second hanging portion is provided at least two places along the third direction.
The third hanging portion is provided at least two places along the third direction.
The fourth hanging portion is provided at least two places along the third direction.
The robot installation assist device according to claim 2 or 3.
 前記第３方向に沿って少なくとも２箇所設けられている前記第１吊掛部から前記第４吊掛部のそれぞれは、それぞれの設けられている面の前記第３方向中央に対して対称に設けられている、
請求項４に記載のロボットの据付補助装置。
Each of the first hanging portion to the fourth hanging portion provided at least two places along the third direction is provided symmetrically with respect to the center of the third direction of each provided surface. Has been
The robot installation assist device according to claim 4.
 前記第１板部の前記第１外側面の四隅と、前記第２板部の前記第２外側面の四隅と、前記第３板部の外側面である第３外側面の四隅と、に設けられた複数の車輪、
を更に備える請求項１から５のいずれか一項に記載のロボットの据付補助装置。
Provided at the four corners of the first outer surface of the first plate portion, the four corners of the second outer surface of the second plate portion, and the four corners of the third outer surface which is the outer surface of the third plate portion. Multiple wheels,
The robot installation assisting device according to any one of claims 1 to 5.
 前記第１方向において、前記第１板部の前記第１先端面と前記第１位置との間に設けられた第１車輪と、
前記第１方向において、前記第１板部の後端と前記第２位置との間に設けられた第２車輪と、
前記第１方向において、前記第２板部の前記第２先端面と前記第３位置との間に設けられた第３車輪と、
前記第１方向において、前記第２板部の後端と前記第４位置との間に設けられた第４車輪と、
前記第３板部の前記第１板部側から前記第２板部側に向かう方向である第２方向において、前記第３板部の下端側に設けられた第５車輪と、
前記第２方向において、前記第３板部の上端側に設けられた第６車輪と、
を備える請求項３に記載のロボットの据付補助装置。
In the first direction, the first wheel provided between the first tip surface of the first plate portion and the first position, and
In the first direction, a second wheel provided between the rear end of the first plate portion and the second position, and
In the first direction, a third wheel provided between the second tip surface of the second plate portion and the third position, and
In the first direction, a fourth wheel provided between the rear end of the second plate portion and the fourth position, and
The fifth wheel provided on the lower end side of the third plate portion in the second direction, which is the direction from the first plate portion side of the third plate portion to the second plate portion side, and the fifth wheel.
In the second direction, the sixth wheel provided on the upper end side of the third plate portion and
3. The robot installation assist device according to claim 3.
 前記第１車輪と、前記第２車輪と、前記第３車輪と、前記第４車輪と、前記第５車輪と、前記第６車輪のそれぞれは、前記第１方向に垂直な方向であるとともに前記第２方向にも垂直な方向である第３方向において、少なくとも２箇所設けられる、
請求項７に記載のロボットの据付補助装置。
The first wheel, the second wheel, the third wheel, the fourth wheel, the fifth wheel, and the sixth wheel are each perpendicular to the first direction and described above. At least two locations are provided in the third direction, which is also perpendicular to the second direction.
The robot installation assist device according to claim 7.
 前記各車輪と前記各吊掛部は、前記第１板部の前記第１先端面から前記第１板部の前記第１基端部に向かう方向である第１方向に垂直な方向であるとともに前記第３板部の前記第１板部側から前記第２板部側に向かう方向である第２方向にも垂直な方向である第３方向において、オフセットしている、
請求項６から８のいずれか一項に記載のロボットの据付補助装置。
The wheels and the hanging portions are in a direction perpendicular to the first direction, which is a direction from the first tip surface of the first plate portion to the first base end portion of the first plate portion. It is offset in the third direction, which is a direction perpendicular to the second direction, which is the direction from the first plate portion side of the third plate portion to the second plate portion side.
The robot installation assisting device according to any one of claims 6 to 8.
 前記各車輪には、前記車輪の回転を止めるストッパが設けられる、
請求項６から９のいずれか一項に記載のロボットの据付補助装置。
Each wheel is provided with a stopper that stops the rotation of the wheel.
The robot installation assist device according to any one of claims 6 to 9.
 前記第１板部の前記内側面に締結される前記ロボットの両側部に固定される固定部と、前記固定部に連結されており、フォークが挿入されるためのフォーク挿入部と、を含む移送治具を更に備える、
請求項１から１０のいずれか一項に記載のロボットの据付補助装置。
A transfer including a fixing portion fixed to both side portions of the robot fastened to the inner side surface of the first plate portion, and a fork insertion portion connected to the fixing portion for inserting a fork. Further equipped with jigs,
The robot installation assisting device according to any one of claims 1 to 10.
 内側面にロボットを締結するための締結孔を有する第１板部と、
前記第１板部と平行に対向する第２板部と、
前記第１板部の先端とは反対側に位置する第１基端部及び前記第２板部の先端とは反対側に位置する第２基端部とを連結する第３板部と、
前記第１板部の先端面である第１先端面に設けられた第１吊掛部と、
前記第１板部の外側面である第１外側面に設けられた第２吊掛部と、
前記第２板部の先端面である第２先端面に設けられた第３吊掛部と、
前記第２板部の外側面である第２外側面に設けられた第４吊掛部と、
を備える反転治具を用いたロボットの据付補助方法であって、
前記第１板部の前記内側面に前記ロボットを締結固定する固定ステップと、
前記第１吊掛部及び前記第４吊掛部のそれぞれに、クレーンのスリングを吊り掛けて前記スリングの巻き上げ及び巻き下げにより前記反転治具を回転させる第１回転ステップと、
前記第２吊掛部及び前記第３吊掛部のそれぞれに、前記クレーンの前記スリングを吊り掛けて前記スリングの巻き上げ及び巻き下げにより前記反転治具を回転させる第２回転ステップと、
を備えるロボットの据付補助方法。
A first plate portion having a fastening hole for fastening the robot on the inner side surface,
The second plate portion parallel to the first plate portion and the second plate portion
A third plate portion that connects the first base end portion located on the side opposite to the tip of the first plate portion and the second base end portion located on the side opposite to the tip of the second plate portion.
A first hanging portion provided on the first tip surface, which is the tip surface of the first plate portion,
A second hanging portion provided on the first outer surface, which is the outer surface of the first plate portion, and
A third hanging portion provided on the second tip surface, which is the tip surface of the second plate portion,
A fourth hanging portion provided on the second outer surface, which is the outer surface of the second plate portion, and
It is a method of assisting the installation of a robot using a reversing jig equipped with.
A fixing step for fastening and fixing the robot to the inner surface of the first plate portion,
A first rotation step in which a crane sling is hung on each of the first hanging portion and the fourth hanging portion, and the reversing jig is rotated by hoisting and lowering the sling.
A second rotation step in which the sling of the crane is hung on each of the second hanging portion and the third hanging portion, and the reversing jig is rotated by hoisting and lowering the sling.
How to assist the installation of a robot equipped with.
 ロボットの両側部に固定される固定部と、フォークリフトのフォークが挿入されるためのフォーク挿入部を含む移送治具を前記ロボットに取り付ける取付ステップと、
前記第２回転ステップ後に、前記移送治具に前記フォークを差し込んだ状態で、前記ロボットと前記第１板部の前記内側面との締結固定を解除する解除ステップと、
前記解除ステップ後に、前記フォークリフトによって前記ロボットを据付位置まで移送する移送ステップと、
を更に備える請求項１２に記載のロボットの据付補助方法。A fixing step fixed to both sides of the robot, a mounting step for attaching a transfer jig including a fork insertion section for inserting a fork of a forklift to the robot, and a mounting step.
After the second rotation step, a release step of releasing the fastening and fixing of the robot and the inner surface of the first plate portion with the fork inserted into the transfer jig.
After the release step, a transfer step of transferring the robot to the installation position by the forklift, and a transfer step.
12. The method for assisting the installation of a robot according to claim 12.
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