JP7233618B1 - Robot reversing jig, robot and robot reversing method - Google Patents

Abstract

A robot inversion jig (20) is attached to the side of the robot (10) and uses forks and wires to invert the robot (10) between a floor-standing posture and a suspended posture. The robot reversing jig (20) has wire hooking parts (24, 25) for raising and lowering the robot (10) on which wires are hung and to which the robot reversing jig (20) is attached. ), and a first protrusion (23) and a second protrusion (22) protruding from the support plate (21).

Description

The present disclosure relates to a robot reversing jig, a robot, and a robot reversing method for vertically reversing a robot.

In industrial robots, in order to secure a wide operating range, there are cases in which a floor-mounted state in which the robot is installed on the floor is adopted, and a state in which it is mounted on the ceiling in which it is suspended from the ceiling. 1). When a heavy robot is turned over in the direction of gravity, a large force is required, and it is necessary to ensure safety.

Japanese Patent Application Laid-Open No. 2006-68806

Therefore, in industrial fields where industrial robots are used, robot reversing jigs capable of reversing robots easily and safely are desired.

The present disclosure has been made in view of the above, and an object thereof is to obtain a robot reversing jig capable of reversing a robot easily and safely.

In order to solve the above-described problems and achieve the object, the robot reversing jig in the present disclosure is attached to the side of the robot, and uses a fork and a wire to reverse the robot between a floor-standing posture and a ceiling-suspended posture. Let The robot reversing jig has a wire hooking portion for elevating the robot to which the robot reversing jig is attached, to which a wire is hooked. a projection having a portion and having a plurality of contacts supported by the fork and projecting from the support plate. When the robot is attached with the robot reversing jig, the center of gravity of the robot is located between a plurality of contact points, and the robot with the robot reversing jig attached is reversed on the fork by raising and lowering the wire, A feature is that the arc-shaped portion of the protrusion is in contact with the fork.

According to the robot reversing jig of the present disclosure, it is possible to easily and safely reverse the robot.

FIG. 4 is a perspective view showing an example of a robot reversed by a robot reversing jig according to Embodiment 1; 1 is a perspective view showing the configuration of a robot reversing jig according to Embodiment 1; FIG. FIG. 4 is a perspective view showing a state in which the robot reversing jig according to Embodiment 1 is attached to the robot in the transport posture with the arm folded. FIG. 4 is a side view showing a state in which the robot reversing jig according to Embodiment 1 is attached to the robot in the transport posture with the arm folded. FIG. 4 is a front view showing a state in which the robot reversing jig according to Embodiment 1 is attached to the robot in the transport posture with the arms folded. FIG. 4 is a top view showing a state in which the robot reversing jig according to Embodiment 1 is attached to the robot in the transport posture with the arm folded. FIG. 5 is a side view showing the robot reversing jig and the initial posture of the robot when the robot is turned upside down using the robot reversing jig according to Embodiment 1; FIG. 4 is a side view showing an intermediate posture of the robot reversing jig and the robot when the robot is vertically reversed using the robot reversing jig according to Embodiment 1; FIG. 10 is a side view showing the robot reversing jig and the final posture of the robot when the robot is turned upside down using the robot reversing jig according to Embodiment 1; FIG. 4 is a perspective view showing the configuration of a robot reversing jig according to Embodiment 2; FIG. 11 is a perspective view showing a state in which the robot reversing jig according to the second embodiment is attached to the robot in the transport posture with the arms folded; The side view which shows the structure of the robot reversing jig|tool which concerns on Embodiment 3. The side view which shows the structure of the robot reversing jig|tool which concerns on Embodiment 4. The side view which shows the structure of the robot reversing jig|tool which concerns on Embodiment 5. The side view which shows the structure of the robot reversing jig|tool which concerns on Embodiment 6.

A robot reversing jig, a robot, and a robot reversing method according to embodiments will be described in detail below with reference to the drawings.

Embodiment 1.
FIG. 1 is a perspective view showing an example of a robot reversed by a robot reversing jig according to Embodiment 1. FIG. The robot 10 can be placed on the floor in a floor posture, or as shown in FIG. 1, can be suspended from the ceiling. A robot reversing jig is used when reversing the robot 10 from the floor-standing posture to the ceiling-suspended posture, or when reversing the robot 10 from the ceiling-suspended posture to the floor-standing posture.

The robot 10 is an articulated robot and has a base 11 , a first arm 12 , a first joint 13 , a second arm 14 and a second joint 15 .

FIG. 2 is a perspective view showing the configuration of the robot reversing jig according to Embodiment 1. FIG. FIG. 3 is a perspective view showing a state in which the robot reversing jig according to Embodiment 1 is attached to the robot in the transport posture with the arms folded. FIG. 4 is a side view showing a state in which the robot reversing jig according to Embodiment 1 is attached to the robot in the transport posture with the arms folded. FIG. 5 is a front view showing a state in which the robot reversing jig according to Embodiment 1 is attached to the robot in the transport posture with the arms folded. FIG. 6 is a top view showing a state in which the robot reversing jig according to Embodiment 1 is attached to the robot in the transport posture with the arms folded.

As shown in FIGS. 2 to 6, the robot reversing jig 20 has a pair of reversing jig units 20a and 20b. The reversing jig units 20a and 20b have a symmetrical shape. The reversing jig units 20 a and 20 b have a support plate 21 , a first projecting portion 23 and a second projecting portion 22 . The support plate 21 has a rectangular plate shape. The second protruding portion 22 has a prismatic shape protruding from the support plate 21, for example, a rectangular tubular shape. The first protruding portion 23 has a columnar shape protruding from the support plate 21, for example, a cylindrical shape. The first projecting portion 23 and the second projecting portion 22 are horizontally spaced apart from each other by a constant distance in a state where the robot reversing jig 20 is attached to the robot 10 .

The lower position of the first protruding part 23 and the lower position of the second protruding part 22 are arranged so that the lower position of the first protruding part 23 and the lower position of the second protruding part 22 are at the same height position when the robot reversing jig 20 is attached to the robot 10 . 2 The dimensions and installation positions of the protrusions 22 are set. The upper position of the first protruding part 23 and the upper position of the second protruding part 22 are arranged so that the first protruding part 23 and the second protruding part 22 are at the same height position when the robot reversing jig 20 is attached to the robot 10 . 2 The dimensions and installation positions of the protrusions 22 are set. In Embodiment 1, the center positions of the first projecting portion 23 and the second projecting portion 22 are separated from the long side of the support plate 21 by the same distance, and the second projecting portion 22 is located at the short side of the support plate 21. The length of the parallel sides and the diameter of the first projecting portion 23 are the same length.

The reversing jig units 20 a and 20 b are attached to the side of the robot 10 . In Embodiment 1, two holes 26 are provided at diagonal positions of the support plate 21 , and fasteners 27 such as bolts are inserted into the holes 26 to fix the support plate 21 to the robot 10 .

A wire hooking portion 24 as a second wire hooking portion and a wire hooking portion 25 as a first wire hooking portion are provided on one short side of the support plate 21 . The wire hooking portions 24 and 25 are holes for hooking a hook 41 at the tip of the wire 40 (see FIG. 7).

The positional relationship among the center of gravity W of the robot 10, the wire hooking portions 24 and 25, and the first projecting portion 23 will be described with reference to FIG. A center of gravity W is the center of gravity of the robot 10 when the reversing jig units 20 a and 20 b are attached to the robot 10 . The wire hooking portion 25 on the lower side is used when the robot 10 is turned over from the floor-placed posture to the ceiling-suspended posture. The wire hooking portion 24 on the upper side is used when the robot 10 is turned over from the suspended posture to the floor placed posture.

The wire hooking portion 25 on the lower side is provided at a position where the intersection point P1 as the first intersection point is located above the contact point P3 as the first contact point when the robot reversing jig 20 is attached to the robot 10 . The intersection point P1 is defined by a straight line L1 as a first straight line that passes through the wire hooking portion 25 and the center of gravity W, and a short line perpendicular to the straight line L1 and on which the wire hooking portion 25 is provided in the circular shape of the first projecting portion 23 . This is the point of intersection with a straight line L2 as a second straight line that is in contact with the arc on the side facing the short side 21b that faces the side 21a. A point of contact P3 is a point of contact between the straight line L2 and the arc shape of the first projecting portion 23 . It can also be said that the straight line L2 is the straight line farther from the wire hooking portion 25 of the two straight lines that are perpendicular to the straight line L1 and that are in contact with the first protruding portion 23 .

Similarly, the wire hooking portion 24 on the upper side is provided at a position such that when the robot reversing jig 20 is attached to the robot 10, the intersection point P2 as the second intersection point is positioned below the contact point P4 as the second contact point. . The intersection point P2 is defined by a straight line L3 as a third straight line passing through the wire hooking portion 24 and the center of gravity W, and a short distance between the wire hooking portion 24 of the circular shape of the first projecting portion 23 and perpendicular to the straight line L3. This is the point of intersection with a straight line L4 as a fourth straight line in contact with the arc facing the short side 21b facing the side 21a. A point of contact P4 is a point of contact between the straight line L4 and the arc shape of the first projecting portion 23 . It can also be said that the straight line L4 is the straight line farther from the wire hooking portion 24 of the two straight lines that are perpendicular to the straight line L3 and contact the first protruding portion 23 .

Next, the movement of the robot inversion jig 20 when the robot 10 is inverted upside down will be described with reference to FIGS. 7 to 9. FIG. FIG. 7 is a side view showing initial postures of the robot reversing jig 20 and the robot 10 when the robot 10 is vertically reversed using the robot reversing jig 20 according to the first embodiment. FIG. 8 is a side view showing intermediate postures of the robot reversing jig 20 and the robot 10 when the robot 10 is vertically reversed using the robot reversing jig 20 according to the first embodiment. FIG. 9 is a side view showing final postures of the robot reversing jig 20 and the robot 10 when the robot 10 is vertically reversed using the robot reversing jig 20 according to the first embodiment. One of the floor-placed posture and the ceiling-suspended posture corresponds to the first posture, the other of the floor-placed posture and the ceiling-suspended posture corresponds to the second posture, and the intermediate posture corresponds to the third posture. 7 to 9, the initial posture is the floor standing posture.

First, as shown in FIG. 7 , the robot 10 in the floor-standing posture to which the robot reversing jig 20 is attached is placed on the fork 30 of a forklift (not shown), and the wire 40 is hooked to the wire hooking portion 25 of the robot reversing jig 20 . Specifically, after the arm of the robot 10 is folded into the transport posture, the robot reversing jig 20 is attached to the side surface of the robot 10 by the fixture 27 . In this state, the fork 30 of the forklift is inserted under the second projecting portion 22 and the first projecting portion 23 of the robot reversing jig 20, and the fork 30 of the forklift is used to move the lower portions of the second projecting portion 22 and the first projecting portion 23. support. Also, the hook 41 of the wire 40 is hooked on the wire hooking portion 25 on the lower side. A wire elevator (not shown) such as a crane is attached to the base end of the wire 40 .

When the wire 40 is lifted from the initial state shown in FIG. 7 as indicated by an arrow K1, the robot 10 to which the robot reversing jig 20 is attached moves while the cylindrical surface of the first projecting portion 23 is in contact with the fork 30. It rolls and moves on the fork 30 to the intermediate state shown in FIG. Along with this movement, the center of gravity W of the robot also moves. In the intermediate posture shown in FIG. 8, the line connecting the wire hooking portion 25 and the center of gravity W of the robot 10 coincides with the direction of gravity. That is, in the intermediate posture shown in FIG. 8, the robot 10 to which the robot reversing jig 20 is attached hangs down on the wire 40 under its own weight while being supported by the fork 30. As shown in FIG. In this intermediate state, the center of gravity W of the robot 10 is located on the right side of the point of contact P5 between the cylindrical surface of the first projecting portion 23 and the fork 30 . The contact P5 corresponds to the contact P3 shown in FIG.

Therefore, when the wire 40 is loosened and gradually lowered from this intermediate state as indicated by the arrow K3, the first projecting portion 23 rolls on the fork 30, and the robot reversing jig 20 is attached. The robot 10 that has been moved rotates around the cylindrical surface of the first projecting portion 23 as indicated by an arrow K2. Thereafter, the robot 10 to which the robot reversing jig 20 is attached finally stops on the fork 30 in a suspended state in which it is inverted upside down, as shown in FIG. Thus, the robot 10 to which the robot reversing jig 20 is attached can move from the intermediate state shown in FIG. 8 to the suspended state shown in FIG. , can be rotated. The robot 10 suspended from the ceiling is then transported by a forklift to the installation position of the robot 10 and installed on the ceiling. Then, the robot reversing jig 20 is removed from the robot 10 .

When the robot 10 in the suspended posture is reversed to the floor placed posture, the other wire hooking portion 24 is used to perform the operations opposite to those of FIGS. 7 to 9 . Specifically, first, in the suspended posture shown in FIG. 9, the hook 41 of the wire 40 is hooked on the wire hooking portion 24, and the wire 40 is moved upward to align the wire hooking portion 24 and the center of gravity W of the robot 10. The robot 10 is lifted until it reaches an intermediate state where the connecting line matches the direction of gravity. In this intermediate state, the robot 10 to which the robot reversing jig 20 is attached is in a state symmetrical to that in FIG. Thereafter, by gradually lowering the wire 40, the robot 10 to which the robot reversing jig 20 is attached is rotated on the fork 30 to the floor-placed posture and stopped.

In Embodiment 1, the first projecting portion 23 has an arc-shaped portion at least in part. A plurality of contacts horizontally supported by the fork 30 are configured by the first projecting portion 23 and the second projecting portion 22 . Further, the position of the center of gravity W of the robot 10 when the robot reversing jig 20 is attached to the robot 10, more precisely, the position of the center of gravity W in the horizontal direction is always the first projecting portion 23, which is a plurality of points of contact. It is located between the second projecting portion 22 . In addition, the arc-shaped portion of the first projecting portion 23 is in contact with the fork 30 in the process in which the robot 10 to which the robot reversing jig 20 is attached is reversed on the fork 30 by raising and lowering the wire 40 .

As described above, according to Embodiment 1, the first projecting portion 23 and the second projecting portion 22 are supported by the fork 30, and the arc-shaped portion of the first projecting portion 23 is rolled on the fork 30 so as to be in contact with the fork 30. Since the robot 10 is turned upside down by moving it, the robot can be turned upside down easily and safely with a small force. In addition, the robot 10 is horizontally supported by the fork 30 at the two points of the first projecting portion 23 and the second projecting portion 22, and the position of the center of gravity W of the robot 10 is always positioned between the first projecting portion 23 and the second projecting portion 22. Therefore, in the process of reversing the posture of the robot 10 on the forks 30, even if the position of the center of gravity changes, the reversing operation can be stably performed. Furthermore, when the robot 10 is lifted to the intermediate posture, the center of gravity W of the robot 10 is positioned to the left or right of the point of contact P5 between the cylindrical surface of the first projecting portion 23 and the fork 30. The robot 10 can be rotated to the final posture without applying external force.

Embodiment 2.
FIG. 10 is a perspective view showing the configuration of the robot reversing jig 50 according to the second embodiment. FIG. 11 is a perspective view showing a state in which the robot reversing jig 50 according to Embodiment 2 is attached to the robot 10 in the transport posture with the arms folded. In the robot reversing jig 50, a circular stopper portion 23a having a diameter larger than the diameter of the cylindrical portion of the first protruding portion 23 is provided at the tip of the first protruding portion 23 of the robot reversing jig 20 of the first embodiment. ing. Further, a square stopper portion 22 a having sides longer than each side of the prism portion of the second protrusion 22 is provided at the tip of the second protrusion 22 . Also, the wire hooking portions 24 and 25 which are holes in the first embodiment are replaced with a cylindrical wire hooking portion 51 protruding from the support plate 21 . The cylindrical wire hooking portion 51 has a stopper portion 51a at its distal end portion, which has a larger diameter than that on the proximal end portion side. Other configurations of the second embodiment are the same as those of the first embodiment, and overlapping descriptions are omitted.

According to the second embodiment, since the stopper portion 23a and the stopper portion 22a are provided at the tip portions of the first projecting portion 23 and the second projecting portion 22, in addition to the effects of the first embodiment, the robot reversing jig The robot 10 to which the 50 is attached is less likely to drop off from the fork 30, and an effect can be obtained that a more stable reversal operation can be performed. Moreover, since the wire hooking portion 51 has a cylindrical shape protruding from the support plate 21 , the hook 41 of the wire 40 can be easily attached to the wire hooking portion 51 . It should be noted that stopper portions similar to those in the second embodiment may be provided also in the third to sixth embodiments described later. Further, in Embodiments 3 to 6, which will be described later, as in Embodiment 2, the wire hooking portions 24 and 25, which are holes, may be changed to a wire hooking portion 51 having a cylindrical shape.

Embodiment 3.
FIG. 12 is a side view showing the configuration of the robot reversing jig 60 according to the third embodiment. A robot reversing jig 60 of Embodiment 3 has a support plate 21 , a third projecting portion 62 and a fourth projecting portion 61 . In the third embodiment, the prism-shaped second protrusion 22 of the first embodiment is replaced with a cylindrical fourth protrusion 61 having the same diameter as the third protrusion 62 . The third protrusion 62 of the third embodiment corresponds to the first protrusion 23 of the first embodiment. Other configurations of the third embodiment are the same as those of the first embodiment, and overlapping descriptions are omitted.

According to Embodiment 3, since the third projecting portion 62 and the fourth projecting portion 61 are cylinders having the same diameter, in addition to the effects of the first embodiment, the third projecting portion 62 and the fourth projecting portion 61 are commonly used. It is possible to obtain the effect that the manufacturing cost can be reduced.

Embodiment 4.
FIG. 13 is a side view showing the configuration of the robot reversing jig 70 according to the fourth embodiment. A robot reversing jig 70 according to Embodiment 4 has a support plate 21 and a protruding portion 71 protruding from the support plate 21 . The projecting portion 71 has a D-shaped columnar shape with an arc-shaped portion. The projecting portion 71 has a D-shaped ring shape.

In Embodiment 4, projection 71 has an arc-shaped portion at least in part. Also, the lower surface and upper surface of the projecting portion 71 have a plurality of contact points that are horizontally supported by the forks 30 . Further, the position of the center of gravity W of the robot 10 when the robot reversing jig 70 is attached to the robot 10 , more precisely, the position of the center of gravity W in the horizontal direction is always located inside the projecting portion 71 . The arc-shaped portion of the projecting portion 71 is in contact with the fork 30 while the robot 10 to which the robot reversing jig 70 is attached is inverted on the fork 30 by raising and lowering the wire 40 . Also in the fourth embodiment, the positional relationship among the center of gravity W of the robot 10, the wire hooking portions 24 and 25, and the arc-shaped portion of the protruding portion 71 is the intersection point P1 and the contact point P3 and the positional relationship between the intersection point P2 and the contact point P4. Other configurations of the fourth embodiment are the same as those of the first embodiment, and overlapping descriptions are omitted.

According to the fourth embodiment, since the projecting portion 71 is formed into a single D-shape, in addition to the effect of the first embodiment, alignment of a plurality of projecting portions becomes unnecessary, and the manufacturing difficulty can be reduced. can be obtained.

Embodiment 5.
FIG. 14 is a side view showing the configuration of a robot reversing jig 80 according to Embodiment 5. As shown in FIG. A robot reversing jig 80 according to Embodiment 5 has a support plate 21 and a protruding portion 81 protruding from the support plate 21 . The projecting portion 81 includes a first arc 81a having an arc-shaped portion, a second arc 81b having the same central axis as the first arc 81a, and two parallel straight lines 81c connecting the first arc 81a and the second arc 81b. It is a pillar shape surrounded by

In Embodiment 5, the projecting portion 81 has a first circular arc 81a having an arc-shaped portion at least partially. Also, the lower surface and upper surface of the protruding portion 81 have a plurality of contacts that are horizontally supported by the fork 30 . Further, the position of the center of gravity W of the robot 10 when the robot reversing jig 80 is attached to the robot 10 , more precisely, the position of the center of gravity W in the horizontal direction is always located inside the projecting portion 81 . Further, the first arc 81 a of the projecting portion 81 is in contact with the fork 30 while the robot 10 to which the robot reversing jig 80 is attached is being reversed on the fork 30 by raising and lowering the wire 40 . Also in the fifth embodiment, the positional relationship among the center of gravity W of the robot 10, the wire hooking portions 24 and 25, and the first circular arc 81a of the protruding portion 81 is the same as the intersection point described in FIG. It is set so that a relationship similar to the positional relationship between P1 and contact point P3 and the positional relationship between intersection point P2 and contact point P4 is established. Other configurations of the fifth embodiment are the same as those of the first embodiment, and overlapping descriptions are omitted.

According to the fifth embodiment, the protruding portion 81 is composed of two straight lines 81c parallel to the first arc 81a and the second arc 81b having the same central axis, and in addition to the effects of the first embodiment, Since the cylinder can be easily formed by removing the upper and lower surfaces from the cylinder, the manufacturing cost can be reduced.

Embodiment 6.
FIG. 15 is a side view showing the configuration of the robot reversing jig 90 according to the sixth embodiment. A robot reversing jig 90 according to Embodiment 6 includes a support plate 21, an arc portion 91 protruding from the support plate 21, a cylindrical fifth protrusion 92 having a small diameter, and a sixth cylindrical protrusion having a small diameter. a portion 93; The upper end of the fifth projecting portion 92 is provided so as to be at the same height position as the upper end of the arc portion 91 when the robot reversing jig 90 is attached to the robot 10 . The lower end of the sixth protruding portion 93 is provided so as to be at the same height position as the lower end of the arc portion 91 when the robot reversing jig 90 is attached to the robot 10 .

In Embodiment 6, arc portion 91 has an arc-shaped portion. Also, the arc portion 91 , the fifth projecting portion 92 , and the sixth projecting portion 93 form a plurality of contact points that are horizontally supported by the fork 30 . Further, the position of the center of gravity W of the robot 10 when the robot reversing jig 90 is attached to the robot 10, more precisely, the position of the center of gravity W in the horizontal direction is always the arc portion 91, the fifth projecting portion 92, and the position of the center of gravity W. It is located between the sixth projecting portion 93 . Further, the circular arc portion 91 is in contact with the fork 30 in the process in which the robot 10 to which the robot reversing jig 90 is attached is reversed on the fork 30 by raising and lowering the wire 40 . Also in the sixth embodiment, the positional relationship among the center of gravity W of the robot 10, the wire hooking portions 24 and 25, and the arc portion 91 is the intersection point P1 and the contact point P3 described in FIG. and the positional relationship between the intersection point P2 and the contact point P4. Other configurations of the sixth embodiment are the same as those of the first embodiment, and overlapping descriptions are omitted.

According to the sixth embodiment, the arc portion 91, the fifth projecting portion 92, and the sixth projecting portion 93 are lightened, and in addition to the effect of the first embodiment, the lightweight robot reversing jig 90 can be realized, and the transportation or The effect of facilitating installation can be obtained.

The configuration shown in the above embodiment shows an example of the content of the present disclosure, and can be combined with another known technology. It is also possible to omit or change the part.

10 robot, 11 base, 12 first arm, 13 first joint, 14 second arm, 15 second joint, 20, 50, 60, 70, 80, 90 robot reversing jig, 20a, 20b reversing jig unit, 21 support plate 21a, 21b short side 22 second projection 22a, 23a, 51a stopper 23 first projection 24, 25, 51 wire hooking portion 26 hole 27 fixture 30 fork 40 wire, 41 hook, 61 fourth projection, 62 third projection, 71, 81 projection, 81a first arc, 81b second arc, 81c straight line, 91 arc, 92 fifth projection, 93 sixth projection part, L1, L2, L3, L4 straight lines, P1, P2 intersection points, P3, P4, P5 points of contact, W center of gravity.

Claims (12)

A robot reversing jig attached to the side of a robot and reversing the robot between a floor-standing posture and a ceiling-suspended posture using a fork and a wire,
a support plate fixed to a side surface of the robot, having a wire hooking portion for lifting the robot to which the wire is hooked and to which the robot reversing jig is attached;
a projecting portion having a circular arc-shaped portion at least in part, having a plurality of contact points supported by the fork, and projecting from the support plate;
with
a position of the center of gravity of the robot when the robot reversing jig is attached to the robot is positioned between the plurality of contact points;
A robot reversing jig, wherein the arc-shaped portion of the projecting portion comes into contact with the fork in a process in which the robot to which the robot reversing jig is attached is reversed on the fork by raising and lowering the wire. The wire hooking portion has a first wire hooking portion for hooking the wire when the robot is reversed from the floor-placed posture to the suspended posture,
When the robot reversing jig is attached to the robot, a first straight line passing through the first wire hooking portion and the center of gravity of the robot when the robot reversing jig is attached to the robot; A first intersection point, which is a point of intersection with a second straight line that is perpendicular and is in contact with the arc-shaped portion of the protrusion, is above a first contact that is a contact point between the second straight line and the arc-shaped portion of the protrusion. The robot reversing jig according to claim 1, characterized in that it is positioned at The wire hooking section has a second wire hooking section for hooking the wire when the robot is reversed from the suspended posture to the floor standing posture,
a third straight line passing through the second wire hooking portion and the center of gravity of the robot when the robot reversing jig is attached to the robot when the robot reversing jig is attached to the robot; and A second point of intersection, which is a point of intersection with a fourth straight line that is perpendicular to and in contact with the arc-shaped portion of the protrusion, is a second point of contact that is a point of contact between the fourth straight line and the arc-shaped portion of the protrusion. 3. The robot reversing jig according to claim 2, which is positioned below. The protrusion is
a prism-shaped first protrusion;
a cylindrical second protrusion having the arc-shaped portion;
The robot reversing jig according to any one of claims 1 to 3, characterized by comprising: The protrusion is
a cylindrical third protrusion having the arc-shaped portion;
a cylindrical fourth projection;
The robot reversing jig according to any one of claims 1 to 3, characterized by comprising: The protrusion is
The robot reversing jig according to any one of claims 1 to 3, wherein the jig has a D-shaped pillar shape having the arc-shaped portion. The protrusion is
A columnar shape surrounded by a first circular arc having the circular arc-shaped portion, a second circular arc having the same central axis as the first circular arc, and two parallel straight lines connecting the first circular arc and the second circular arc. The robot reversing jig according to any one of claims 1 to 3, characterized by: The protrusion is
an arc portion having the arc-shaped portion;
a cylindrical fifth projecting portion having an upper end that is at the same height position as the upper end of the arc portion when the robot reversing jig is attached to the robot;
a cylindrical sixth projecting portion having a lower end at the same height position as the lower end of the arc portion when the robot reversing jig is attached to the robot;
The robot reversing jig according to any one of claims 1 to 3, characterized by comprising: The robot reversing jig according to any one of claims 1 to 3, wherein the protruding portion has a stopper portion at its tip. The robot reversing jig according to any one of claims 1 to 3, wherein the wire hooking portion is a hole or a columnar projection. A robot to which the robot reversing jig according to any one of claims 1 to 3 can be fixed. It has a wire hooking portion for hooking a wire, a support plate fixed to the side surface of the robot, and a plurality of contact points that have arc-shaped portions at least in part and are supported by forks, and the support is attached to the robot. The center of gravity of the robot when the plate is attached is positioned between the plurality of contact points. A robot reversing method for reversing a robot between a first posture that is one of a placement posture and a suspended posture and a second posture that is the other of the floor placed posture and the suspended posture,
a step of supporting the robot in the first posture, to which the robot reversing jig is attached, by the fork at the plurality of contact points of the protruding portion;
With the wire hooked on the wire hooking portion, the wire is lifted and rolled on the fork while the arc-shaped portion of the projecting portion is in contact with the fork. is attached to the robot from the first posture to a third posture in which a line connecting the wire hooking portion and the center of gravity of the robot coincides with the direction of gravity;
With the wire hooked on the wire hooking portion, the wire is lowered and rolled on the fork while the arc-shaped portion of the protruding portion is in contact with the fork, whereby the robot reversing jig is rotating the robot with the attached from the third pose to the second pose;
A method for reversing a robot, comprising:

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