JP7316096B2 - Jig and robot removal method - Google Patents

Description

The present invention relates to a jig and robot removal method.

In order to maintain or inspect the robot, the wall-fixed robot may be replaced. In this case, a crane is generally used to replace the robot. Patent Literature 1 below discloses a sling device for facilitating the work of lifting a load by a crane.

A sling device disclosed in Patent Document 1 below includes a chain connected to a crane, a hook attached to the chain, and a sling fitting to be hoisted by the hook. The sling fitting is attached to a load to be hoisted, and has a chain through-hole for guiding the chain downward, and a fitting groove provided below the chain through-hole. When the chain guided downward through the chain through-hole of the hoisting fitting is lifted by a crane, the hook attached to the chain engages with the fitting groove of the hoisting fitting. Thereby, the load to which the hanging fitting is attached can be lifted.

JP 2003-341974 A

By the way, in the sling device of Patent Literature 1, the suspended load may sway during the process of hoisting the chain with a crane. Therefore, it is desirable to ensure a wide work space when lifting with a crane. However, objects other than the robot may be arranged around the robot, which tends to restrict the work space.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a jig and a method for removing a robot that can reduce the working space.

A first aspect of the present invention is a jig used for removing a robot fixed to a wall, the jig being detachable from the wall and supporting the robot in a direction away from the wall. A movable mechanism for moving and a slider capable of supporting the robot are slidably guided, one end of which is inserted into a gap between the wall and the robot arranged in a direction away from the wall. and at least one pair of rails fixed to the wall when inserted.

A second aspect of the present invention is a robot removal method for removing a robot fixed to a wall, wherein a movable mechanism for supporting the robot and moving it away from the wall is attached to the wall. a mounting step; a robot moving step of moving the robot using the movable mechanism; and a slider capable of supporting the robot in a gap between the robot and the wall arranged in a direction away from the wall. a rail fixing step of inserting one end of at least one pair of rails for slidably guiding and fixing the one end to the wall;

According to the present invention, the movement direction of the robot can be accommodated in the direction away from the wall and the direction in which the pair of rails extends, so it is possible to reduce the working space.

It is a figure which shows the installation state of a jig|tool. It is a figure which shows the state where the robot was fixed to the wall. It is a schematic diagram which shows a jig. It is a flow chart which shows a robot removal method. It is a figure which shows the state with which the wall was mounted|worn with the movable mechanism. FIG. 10 is a diagram showing a state in which the robot has been moved from the wall; It is a figure which shows the state where the rail base was attached to the wall. FIG. 4 is a diagram showing a state in which one end of a pair of rails is attached to a rail base; FIG. 10 is a diagram showing a state in which the slider is attached to the robot; FIG. 10 is a diagram showing a state in which the movable mechanism is detached while the robot is attached to the slider; FIG. 10 is a diagram showing a state in which the robot is transported to the other end side of a pair of rails;

BEST MODE FOR CARRYING OUT THE INVENTION The present invention will be described in detail below with reference to preferred embodiments and with reference to the accompanying drawings.

[Embodiment]
FIG. 1 is a diagram showing an installation state of a jig 10. FIG. This FIG. 1 shows the vertical direction. The downward direction is the direction in which gravity acts, and the upward direction is the direction opposite to the direction in which gravity acts. A direction orthogonal to the up-down direction (vertical direction) is the horizontal direction.

A jig 10 is a jig for exchanging the robot 12 . That is, the jig 10 is a jig for removing the robot 12 and a jig for attaching the robot 12 . The robot 12 is an industrial robot that can be attached to the machine tool 14, and is a suspended robot in this embodiment.

The machine tool 14 has a protective cover 16 , and the protective cover 16 is provided with an opening OP through which objects to be processed are taken in and out of the protective cover 16 . This opening OP is opened and closed by an open/close door (not shown).

A wall 18 for fixing the robot 12 is provided inside the protective cover 16 . This wall 18 is fixed to the protective cover 16 . In addition, the upper wall of the protective cover 16 may be used as the wall 18 for mounting the robot 12 .

FIG. 2 shows the robot 12 fixed to the wall 18. As shown in FIG. The robot 12 is inserted into each of a plurality of fixing holes 12H provided in the base 12A of the robot 12 and a plurality of fixing holes 18H provided in the wall 18 in a positional relationship corresponding to the fixing holes 12H. It is fixed in a suspended state to the wall 18 by the threaded member SM. The threaded member SM may be a bolt having a head provided at one end of a rod-shaped threaded portion.

Each of the fixing holes 12H is provided so as to pass through the base 12A of the robot 12 . On the other hand, each of the plurality of fixing holes 18</b>H may be provided so as to penetrate the wall 18 or may be provided so as not to penetrate the wall 18 .

In this embodiment, it is assumed that each of the plurality of fixing holes 18H is provided so as to pass through the wall 18, and the number of the plurality of fixing holes 12H and 18H is four. Further, in the present embodiment, each of the plurality of fixing holes 12H is not provided with a thread groove corresponding to the threaded member SM, and each of the plurality of fixing holes 18H is provided with a threaded member. It is assumed that a thread groove corresponding to the SM is provided.

FIG. 3 is a schematic diagram showing the jig 10. As shown in FIG. The jig 10 includes a movable mechanism 20, a pair of rails 22, a slider 24, a rail base 26, and a rail support member 28 as main components.

The movable mechanism 20 is detachable from the wall 18, and supports the robot 12 while moving it away from the wall 18 (downward) or in a direction toward the wall 18 (upward). In the embodiment, there are two sets of rod-shaped members 20A and movable supports 20B.

The rod member 20A is fixed to the wall 18 by being inserted into the fixing hole 12H (see FIG. 2) of the base 12A and the fixing hole 18H of the wall 18. As shown in FIG. The movable support 20B can move the rod-shaped member 20A along the rod-shaped member 20A while supporting the robot 12 . A specific example of the rod-shaped member 20A is a full screw that can be screwed into the screw groove provided in the fixing hole 18H, and a specific example of the movable support 20B is a nut that can be screwed into the full screw. .

The pair of rails 22 guide the slider 24 in a slidable manner, and extend with the same distance between them. The pair of rails 22 may extend generally parallel to the ground plane, and may have an inclined portion that separates from the ground plane from one end to the other end of the pair of rails 22 .

One end of the pair of rails 22 is arranged at a position spaced downward from the wall 18 and fixed to the wall 18 at that position. Specifically, one end of the pair of rails 22 is supported by a rail base 26 fixed to the wall 18 at a position spaced downward from the wall 18 .

The other ends of the pair of rails 22 are bent, and stoppers 22S for stopping the movement of the slider 24 are provided at the tips of the other ends. In the example shown in FIGS. 1 and 3, the other ends of the pair of rails 22 are bent, but other portions may be bent. Also, the pair of rails 22 may not have a bent portion.

The slider 24 can move along the pair of rails 22 while supporting the robot 12, and in this embodiment has a slider body 24A, a support base 24B, a connecting portion 24C and a robot support portion 24D.

The slider body 24A is slidable on the pair of rails 22, and is formed in a disk shape having a diameter larger than the space between the pair of rails 22, for example. The slider body 24A is placed on the pair of rails 22. As shown in FIG.

The support table 24B is a pedestal on which the robot support portion 24D is provided, and is arranged with a gap from the slider body 24A. To position.

The connecting portion 24C connects the slider body 24A and the support base 24B, and is passed between the pair of rails 22. As shown in FIG. The connecting portion 24</b>C is, for example, shaped like a rod that can be inserted between the pair of rails 22 . Note that the number of connecting portions 24</b>C may be one or plural as long as they can be inserted between the pair of rails 22 .

The robot support portion 24D supports the robot 12 and is provided on the support base 24B. In this embodiment, a pair of robot support portions 24D are provided on the support base 24B and extend substantially parallel from the support base 24B toward the side opposite to the slider main body 24A. Each of the pair of robot support portions 24D is attached to a fixing hole 12H (see FIG. 2) of the base 12A of the robot 12. As shown in FIG. For example, each of the pair of robot support portions 24D is formed in a rod shape that can be inserted into the fixing hole 12H and has a screw groove on the outer peripheral surface thereof, and is inserted through the fixing hole 12H and protrudes from the fixing hole 12H. By screwing a nut onto the portion, it is attached to the fixing hole 12H.

The rail base 26 supports one end of the pair of rails 22, is arranged at a position spaced downward from the wall 18, and is fixed to the wall 18 at that position. The rail base 26 has a rail support frame 26A, a rotating shaft 26C, a fixed base 26B, a pair of fixed rods 26D, and a stopper 26S in this embodiment.

The rail support frame 26A supports one end of the pair of rails 22 while allowing the slider 24 to move along the direction in which the pair of rails 22 extends. , an insertion space IS into which the slider body 24A of the slider 24 can be inserted. The cross section of the rail support frame 26A is, for example, a U-shaped cross section with both ends bent inward.

The fixed base 26B is a pedestal for a pair of fixed rods 26D and is spaced apart from the rail support frame 26A. The fixed base 26B is formed in a plate shape, for example, and is arranged substantially parallel to the insertion direction in which one end of the pair of rails 22 is inserted into the insertion space IS.

The rotating shaft 26C rotates the rail support frame 26A with respect to the fixed table 26B. One end of the rotating shaft 26C is rotatably provided on the outer peripheral surface side of the rail supporting frame 26A, is fixed to the fixed base 26B. When the rail base 26 is attached to the wall 18, the rotating shaft 26C extends vertically and is substantially perpendicular to the insertion direction in which one end of the pair of rails 22 is inserted into the insertion space IS.

A pair of fixed rods 26D extends generally parallel to the side opposite to the rail support frame 26A from the fixed base 26B. Each of the pair of fixing rods 26D is attached to the fixing hole 18H of the wall 18. As shown in FIG. For example, each of the pair of fixing rods 26D can be inserted into the fixing hole 18H and has a thread groove on its outer peripheral surface. It is attached to the fixing hole 18H by screwing.

In the present embodiment, the pair of fixing rods 26D are provided in the remaining two fixing holes 18H of the four fixing holes 18H other than the two fixing holes 18H to which the pair of rod-shaped members 20A in the movable mechanism 20 are attached. It is attached to hole 18H.

The stopper 26S stops the movement of the slider 24 inserted into the rail support frame 26A. The stopper 26S is attached to the rail support frame 26A and arranged on the side facing one end of the pair of rails 22 supported by the rail support frame 26A.

The rail support member 28 supports the other ends of the pair of rails 22 . In this embodiment, the rail support member 28 has a pair of leg portions 28A, a rail fixing portion 28B, and a reinforcing portion 28C.

The pair of leg portions 28A serve as the base of the rail support member 28. As shown in FIG. Each of the pair of leg portions 28A is composed of, for example, a base and a rod-like support extending vertically with respect to the base.

One of the pair of rail fixing portions 28B fixes one of the pair of rails 22 to one of the pair of leg portions 28A, and the other of the pair of rail fixing portions 28B fixes the other of the pair of rails 22 to the pair of legs. It is fixed to the other side of the portion 28A. Each of the pair of rail fixing portions 28B is formed, for example, in a bar shape, and one end of each rail fixing portion 28B is attached to the leg portion 28A in a state of being arranged substantially horizontally along the ground plane. A pair of rails 22 are fixed to the other end of each rail fixing portion 28B using bolts or the like.

The reinforcing portion 28C reinforces the pair of leg portions 28A. The reinforcement part 28C is formed in a bar shape, for example, and is arranged substantially horizontally along the ground plane. One end of the reinforcing portion 28C is attached to one of the pair of leg portions 28A, and the other end of the reinforcing portion 28C is attached to the other of the pair of leg portions 28A. In addition, in the example shown in FIGS. 1 and 3, there are a plurality of reinforcing portions 28C, but there may be only one reinforcing portion 28C.

Next, a robot removal method for removing the robot 12 fixed to the wall 18 will be described. The robot removal method is performed by an operator using jig 10 . A worker may be a human or a robot.

FIG. 4 is a flow chart showing the robot removal method. The robot removal method includes a movable mechanism mounting step S1, a robot moving step S2, a rail fixing step S3, a slider mounting step S4, a movable mechanism removing step S5, a robot transporting step S6, a slider removing step S7, and a rail fixing releasing step S8. including.

The movable mechanism mounting step S<b>1 is a step of mounting the movable mechanism 20 on the wall 18 . FIG. 5 is a diagram showing a state in which the movable mechanism 20 is attached to the wall 18. As shown in FIG.

In the movable mechanism mounting step S<b>1 , the operator removes two diagonally opposite screw members SM among the four screw members SM that fix the robot 12 to the wall 18 . Next, the operator inserts the rod-shaped member 20A of the movable mechanism 20 into the fixing holes 12H and 18H where the threaded member SM has been removed, and fixes the inserted rod-shaped member 20A to the wall 18 . Next, the operator attaches the movable support 20B to the rod-shaped member 20A fixed to the wall 18, moves the attached movable support 20B along the rod-shaped member 20A, and hits the base 12A of the robot 12. contact.

In this manner, the movable mechanism 20 can be attached to the wall 18 using existing fixing holes 18H provided in the wall 18 for fixing the robot 12 therein. Therefore, the number of parts of the jig 10 can be reduced, and working efficiency can be easily improved.

The robot moving step S<b>2 is a step of moving the robot 12 using the movable mechanism 20 attached to the wall 18 . FIG. 6 is a diagram showing a state in which the robot 12 has been moved from the wall 18. As shown in FIG.

In the robot moving step S2, the operator removes the remaining two screw members SM that have not been removed in the movable mechanism mounting step S1, and moves the movable support 20B away from the wall 18 (downward). As a result, the robot 12 moves in a direction away from the wall 18 (downward) along the rod-shaped member 20A.

Thus, the movable mechanism 20 can move the robot 12 along the rod-shaped member 20A. Therefore, the operator can move the robot 12 only in the direction in which the rod-shaped member 20A extends without shaking the robot 12 .

In the rail fixing step S3, one end of the pair of rails 22 is inserted into a position separated from the wall 18 (the gap between the wall 18 and the robot 12 separated from the wall 18 in the robot moving step S2), is fixed to the wall 18. FIG. 7 is a diagram showing a state in which the rail base 26 is attached to the wall 18, and FIG. 8 is a diagram showing a state in which one end of the pair of rails 22 is attached to the rail base 26. As shown in FIG.

In the rail fixing step S3, the worker fixes the rail base 26 to the wall 18 as shown in FIG. Specifically, the operator fixes the rail base 26 to each of the four fixing holes 18H provided in the wall 18, into which the rod-shaped member 20A of the movable mechanism 20 is not inserted. The rod 26D is inserted and the inserted fixing rod 26D is fixed to the wall 18. - 特許庁

Thus, the rail base 26 can be attached to the wall 18 using existing fixing holes 18H provided in the wall 18 for fixing the robot 12 therein. Therefore, the number of parts of the jig 10 can be reduced, and working efficiency can be easily improved.

When the rail base 26 is attached to the wall 18, it is positioned in a gap between the robot 12 and the wall 18, which are separated from the wall 18. At that position, the rail base 26 is rotatable around a rotation axis 26C along the vertical direction. is in a good state. Therefore, by rotating the rail support frame 26A, the operator rotates the rail base 26 so that the pair of rails 22 can be arranged while avoiding parts of the machine tool 14 inside the protective cover 16 (see FIG. 1). can be pre-adjusted as needed.

Next, the operator inserts one end of the pair of rails 22 into the protective cover 16 through the opening OP (see FIG. 1) of the protective cover 16, and as shown in FIG. is inserted into the rail support frame 26A of the rail base 26. As shown in FIG. At this time, the operator fixes the other end portions of the pair of rails 22 arranged outside the protective cover 16 to the rail support member 28 (see FIG. 1).

The slider mounting step S4 is a step of mounting the robot 12, which has been separated from the wall 18 in the robot moving step S2, on the slider 24. FIG. FIG. 9 is a diagram showing a state in which the slider 24 is attached to the robot 12. As shown in FIG.

In the slider mounting step S4, first, the worker places the slider 24 on one end of the pair of rails 22 supported by the rail support frame 26A. Specifically, as shown in FIG. 3, an operator passes the connecting portion 24C of the slider 24 between the pair of rails 22 from the other end side of the pair of rails 22 and places the slider body 24A on the pair of rails 22. be placed on. After that, the operator moves the slider body 24A to the insertion space IS of the rail support frame 26A. As a result, the slider 24 is arranged at one end of the pair of rails 22 supported by the rail support frame 26A.

Next, the operator mounts the slider 24 arranged at one end of the pair of rails 22 on the robot 12 . Specifically, as shown in FIG. 9, the operator selects two fixing holes 12H provided in the base 12A of the robot 12, into which the rod member 20A of the movable mechanism 20 is not inserted. The robot support portion 24D of the slider 24 is inserted into each of the holes 12H, and the inserted robot support portion 24D is fixed to the base 12A. The robot 12 is thereby supported by the slider 24 .

Thus, the slider 24 can support the robot 12 using existing fastening holes 12H in the robot 12 for fastening the robot 12 to the wall 18. FIG. Therefore, the number of parts of the jig 10 can be reduced, and working efficiency can be easily improved.

The movable mechanism detachment step S5 is a step of detaching the movable mechanism 20 attached in the movable mechanism attachment step S1 while the robot 12 is attached to the slider 24 . FIG. 10 is a diagram showing a state in which the movable mechanism 20 is detached while the robot 12 is attached to the slider 24. As shown in FIG.

In the movable mechanism detachment step S5, the operator removes the movable support 20B from the rod-shaped member 20A while the movable support 20B is attached to the rod-shaped member 20A, or removes the movable support 20B from the rod-shaped member 20A. Remove the bar member 20A from. As a result, the robot 12 is removed from the wall 18 , and the robot 12 can be transported to the outside of the protective cover 16 by the slider 24 supporting the robot 12 .

The robot transporting step S6 is a step of transporting the robot 12 supported by the slider 24 . FIG. 11 is a diagram showing a state in which the robot 12 is transported to the other end side of the pair of rails 22. As shown in FIG. In the robot transfer step S6, the worker moves the slider 24 supporting the robot 12 from one end of the pair of rails 22 to the other end, thereby moving the protective cover 16 (see FIG. 1) from inside to outside. to transport the robot 12 to.

The slider detachment step S7 is a step of detaching the slider 24 from the robot 12 . In the slider detachment step S7, the worker removes the slider 24 from the robot 12 by releasing the robot support portion 24D of the slider 24 fixed to the fixing hole 12H of the robot 12 . This allows the robot 12 to be transported to another location using, for example, a cart.

The rail unfixing step S8 is a step of unfixing one end of the pair of rails 22 to the wall 18 . In the rail unfixing step S8, the operator removes one end of the pair of rails 22 inserted into the rail support frame 26A of the rail base 26, and fixes the rail base 26 fixed to the fixing hole 18H of the wall 18. Remove rod 26D.

Next, a robot mounting method for mounting the robot 12 fixed to the wall 18 will be described. However, since the robot attachment method is similar to the robot removal method, differences from the robot removal method will be mainly described here.

The robot mounting method includes a rail fixing step S3, a slider mounting step S4, a robot transporting step S6, a movable mechanism mounting step S1, a slider removing step S7, a rail fixing releasing step S8, a robot moving step S2, and a movable mechanism removing step S5. Executed in order.

In the rail fixing step S<b>3 , the worker inserts the fixing rods 26</b>D of the rail base 26 into each of the two fixing holes 18</b>H in the wall 18 and fixes the inserted fixing rods 26</b>D to the wall 18 . After that, the worker inserts one end of the pair of rails 22 into the rail support frame 26A of the rail base 26 . At this time, the operator fixes the other end portions of the pair of rails 22 arranged outside the protective cover 16 to the rail support member 28 .

In the slider mounting step S<b>4 , the worker places the slider 24 on the other end of the pair of rails 22 . After that, the operator inserts the robot support portion 24D of the slider 24 into each of the two fixing holes 12H in the robot 12 that has been transported using a cart or the like, and fixes the inserted robot support portion 24D to the base 12A. .

In the robot transfer step S6, the operator moves the slider 24 supporting the robot 12 from the other end of the pair of rails 22 to one end. This positions the robot 12 at a position spaced downward from the wall 18 .

In the movable mechanism mounting step S1, the operator installs two fixing holes 12H in the robot 12 into which the robot support portions 24D of the sliders 24 are inserted, and two fixing holes 12H in the wall 18 into which the fixing rods 26D of the rail base 26 are inserted. The rod member 20A of the movable mechanism 20 is inserted into the opening 18H. After that, the operator fixes the rod-shaped member 20A inserted into the fixing holes 12H and 18H to the wall 18, attaches the movable support 20B to the rod-shaped member 20A, and brings it into contact with the base 12A of the robot 12. This connects the robot 12 to the wall 18 .

In the slider detachment step S7, the operator releases the robot support portion 24D of the slider 24 fixed to the fixing hole 12H and moves the slider 24 from one end of the pair of rails 22 to another position.

In the rail fixing release step S8, the operator removes one end of the pair of rails 22 inserted into the rail support frame 26A of the rail base 26. As shown in FIG. Thereafter, the worker removes the fixing rod 26D of the rail base 26 fixed to the fixing hole 18H of the wall 18 and moves the rail base 26 to another location. As a result, a space is secured between the wall 18 and the robot 12 which is connected to the wall 18 via the bar member 20A at a position separated from the wall 18 .

In the robot moving step S<b>2 , the operator moves the movable support 20</b>B in a direction (upward) approaching the wall 18 to bring the base 12</b>A of the robot 12 into contact with the wall 18 .

In the movable mechanism detachment step S5, the operator temporarily fixes the robot 12 to the wall 18 by attaching the threaded member SM to the fixing holes 12H and 18H into which the rod member 20A of the movable mechanism 20 is not inserted. Next, the operator removes the bar member 20A from the fixing hole 18H of the wall 18 and removes it from the fixing holes 12H and 18H, attaches the screw members SM to the fixing holes 12H and 18H, and starts the robot 12. It is temporarily fixed to the wall 18 . After that, the operator adjusts the temporarily fixed four threaded members SM to fix the robot 12 to the wall 18 .

[Modification]
Although the above embodiment has been described as an example of the present invention, the technical scope of the present invention is not limited to the scope described in the above embodiment. It goes without saying that various modifications or improvements can be made to the above embodiments. It is clear from the description of the scope of claims that forms with such modifications or improvements can also be included in the technical scope of the present invention.

(Modification 1)
In the above embodiment, the rail base 26 was used to fix one end of the pair of rails 22 to the wall 18 . However, the rail base 26 may be omitted. Without the rail base 26 , one end of the pair of rails 22 is fixed to the wall 18 by a predetermined fixture instead of the rail base 26 . Note that the movable mechanism 20 may be used as a fixture that fixes one end of the pair of rails 22 to the wall 18 .

(Modification 2)
In the above-described embodiment, the robot 12 is of a ceiling-suspended type in which the robot 12 is fixed while suspended from the wall 18 . However, the robot 12 may, for example, be fixed to a vertically extending wall. When the robot 12 is fixed to a wall extending in the vertical direction, a slider support is provided to support the slider 24 with respect to the pair of rails 22 in order to prevent the slider 24 from falling off the pair of rails 22 . may be

(Modification 3)
A pair of rails 22 is employed in the above embodiment. However, multiple pairs of rails 22 may be employed. When a plurality of pairs of rails 22 are employed, it becomes easier to transport the robot 12 that is heavier than a pair of rails 22 . In this case, the rail support frame 26A may be formed to support one end of a plurality of pairs of rails 22 arranged along the same direction. Also, the slider body 24A may be slidable on a plurality of pairs of rails 22 arranged in the same direction. Also, the connecting portion 24C of the slider 24 may be passed through each of a plurality of pairs of rails 22 arranged in the same direction. It may be passed between specific rails 22 out of 22 .

(Modification 4)
The embodiment and Modifications 1 to 3 described above may be combined arbitrarily within a consistent range.

[Invention obtained from the embodiment]
Inventions that can be understood from the above embodiments and modifications will be described below.

(First invention)
A first invention is a jig (10) used to remove a robot (12) fixed to a wall (18). A jig (10) comprises a movable mechanism (20) and at least a pair of rails (22). The movable mechanism (20) is detachable from the wall (18), and moves the robot (12) in a direction away from the wall (18) while supporting the robot (12). A pair of rails (22) slidably guides a slider (24) capable of supporting the robot (12), one end of which is positioned away from the wall (18). ) and the wall (18) and fixed to the wall (18).

As a result, the movement direction of the robot (12) can be accommodated in the direction away from the wall (18) and in the direction in which the pair of rails (22) extend, thereby reducing the working space.

The wall (18) and the robot (12) are each formed with fixing holes (18H, 12H) into which screw members (SM) for fixing the robot (12) to the wall (18) are inserted, The movable mechanism (20) includes a rod-shaped member (20A) inserted into fixing holes (18H, 12H) formed in the wall (18) and the robot (12) and fixed to the wall (18); and a movable support (20B) that is movable while supporting the robot (12) along (20A). Thereby, the movable mechanism (20) can move the robot (12) along the rod-shaped member (20A). Therefore, the operator can move the robot (12) only in the direction in which the bar member (20A) extends without shaking the robot (12).

The pair of rails (22) may have a sloping portion from one end to the other end and away from the ground plane toward the other end. As a result, the slider (24) supporting the robot (12) can be prevented from accelerating when sliding from one end to the other end.

The jig (10) may include a rail support member (28) that supports the other end side. Thereby, the pair of rails (22) can slidably guide the slider (24) in a stable state.

The jig (10) may include a rail base (26) that is fixed to the wall (18) in the above gap and supports one end. This makes it easier to stabilize the pair of rails (22).

The rail base (26) has an axis of rotation (26C) along a direction away from the wall (18) and may be fixed to the wall (18) for rotation about the axis of rotation (26C). . As a result, the rail base (26) allows the operator to rotate the rail base (26) so that the pair of rails (22) can be arranged while avoiding parts of the machine tool (14). The position of the rail base (26) can be pre-adjusted as needed.

The rail base (26) has a plurality of fixing holes (18H) formed in the wall (18) that are different from the fixing holes (18H) to which the rod-shaped member (20A) is fixed. ) may be fixed to at least one of This allows the rail base (26) to be attached to the wall (18) using existing fixing holes (18H) in the wall (18) for fixing the robot (12). Therefore, the number of parts of the jig (10) can be reduced, and work efficiency can be easily improved.

The jig (10) comprises a slider (24) comprising a slider body (24A) slidable on a pair of rails (22) and a robot support (24D) for supporting the robot (12). and a support base (24B) on which a robot support part (24D) is provided, the slider body (24A) and the support base (24B) are connected, and a connecting part (24C) passed between the pair of rails (22) ) and may have Thereby, the slider (24) can slide stably without detaching when the pair of rails (22) slide.

The rail base (26) may have a rail support frame (26A) that supports one end while allowing the slider (24) to move along the direction in which the pair of rails (22) extends. This makes it easier for the rail base (26) to support the support position at one end of the pair of rails (22) while securing the movement (sliding) of the slider (24).

The robot support part (24D) has a fixing hole (12H) different from the fixing hole (12H) into which the rod-shaped member (20A) is inserted, among the plurality of fixing holes (12H) formed in the robot (12). 12H). This allows the slider (24) to support the robot (12) using existing fixing holes (12H) in the wall (18) for fixing the robot (12). Therefore, the number of parts of the jig (10) can be reduced, and work efficiency can be easily improved.

(Second invention)
The second invention is a robot removal method for removing a robot (12) fixed to a wall (18). The robot removal method includes a movable mechanism mounting step (S1), a robot moving step (S2) and a rail fixing step (S3). In the movable mechanism mounting step (S1), a movable mechanism (20) is mounted on the wall (18) to move the robot (12) away from the wall (18) while supporting the robot (12). The robot moving step (S2) moves the robot (12) using the movable mechanism (20). In the rail fixing step (S3), a slider (24) capable of supporting the robot (12) is slid into the gap between the robot (12) and the wall (18) arranged in a direction away from the wall (18). One end of at least one pair of guide rails (22) is inserted and one end is fixed against the wall (18).

As a result, the movement direction of the robot (12) can be accommodated in the direction away from the wall (18) and in the direction in which the pair of rails (22) extend, thereby reducing the working space.

The wall (18) and the robot (12) are each formed with fixing holes (18H, 12H) into which screw members (SM) for fixing the robot (12) to the wall (18) are inserted, In the movable mechanism mounting step (S1), the threaded member (SM) is removed, and the rod-shaped member (20A) of the movable mechanism (20) is inserted into the fixing holes (18H, 12H) formed in the wall (18) and the robot (12). ) is inserted and fixed to the wall (18), and in the robot moving step (S2), a movable support ( 20B) may be used to move the robot (12). Thereby, the robot (12) can be moved along the rod-shaped member (20A). Therefore, the operator can move the robot (12) only in the direction in which the bar member (20A) extends without shaking the robot (12).

In the rail fixing step (S3), a rail base (26) that supports one end is placed in the gap, and the placed rail base (26) is fixed to the wall (18), thereby fixing the one end to the wall (18). part can be fixed. This makes it easier to stabilize the pair of rails (22).

In the rail fixing step (S3), among the plurality of fixing holes (18H) formed in the wall (18), a fixing hole (18H) different from the fixing hole (18H) to which the rod-shaped member (20A) is fixed ( 18H) may be fixed to at least one of the rail bases (26). This allows the rail base (26) to be attached to the wall (18) using existing fixing holes (18H) in the wall (18) for fixing the robot (12). Therefore, the number of parts of the jig (10) can be reduced, and work efficiency can be easily improved.

The robot removal method comprises a slider mounting step (S4) of mounting the robot (12) arranged in the direction away from the wall (18) to the slider (24), and mounting the robot (12) on the slider (24). a movable mechanism detachment step (S5) of detaching the movable mechanism (20) mounted in the movable mechanism mounting step (S1) in the state of being attached.

In the slider mounting step (S4), among a plurality of fixing holes (12H) formed in the robot (12) arranged in a direction away from the wall (18), a fixing hole into which the rod-shaped member (20A) is inserted. A robot support (24D) of the slider (24) may be attached to at least one fixing hole (12H) other than the hole (12H). This allows the robot (12) to be supported on the slider (24) using existing fixing holes (12H) in the wall (18) for fixing the robot (12). Therefore, the number of parts of the jig (10) can be reduced, and work efficiency can be easily improved.

DESCRIPTION OF SYMBOLS 10... Jig 12... Robot 14... Machine tool 16... Protective cover 18... Wall 20... Movable mechanism 22... Pair of rails 24... Slider 26... Rail base 28... Rail supporting member

Claims (16)

A jig used to remove the robot from a wall to which the robot is suspended and fixed ,
a movable mechanism that is detachable from the wall and moves the robot in a direction away from the wall while supporting the robot;
A slider capable of supporting the robot is slidably guided, one end of which is inserted into a gap between the robot arranged in a direction away from the wall and the wall, at least one pair of rails fixed to the wall;
Jig with The jig according to claim 1,
Each of the wall and the robot is formed with a fixing hole into which a threaded member for fixing the robot to the wall is inserted,
The movable mechanism is
a rod-shaped member inserted into the fixing hole formed in the wall and the robot and fixed to the wall;
a movable support that can move while supporting the robot along the rod-shaped member;
A jig. The jig according to claim 1 or 2,
A jig, wherein the pair of rails has a sloping portion that is further away from the ground plane toward the other end from the one end toward the other end. The jig according to any one of claims 1 to 3,
A jig comprising a rail support member that supports the other end side of the pair of rails . The jig according to any one of claims 1 to 4,
A jig comprising a rail base that is fixed to the wall while positioned in the gap and supports the one end. The jig according to claim 5,
The jig according to claim 1, wherein the rail base has a rotation axis extending in a direction away from the wall, and is fixed to the wall so as to be rotatable about the rotation axis. The jig according to claim 5 or 6, which is dependent on claim 2,
The rail base is fixed to at least one of the plurality of fixing holes formed in the wall, which is different from the fixing hole to which the rod-shaped member is fixed. . The jig according to any one of claims 1 to 7,
comprising the slider;
The slider includes a slider body slidable on the pair of rails, a robot support section that supports the robot, a support base on which the robot support section is provided, the slider body and the support base that are connected to each other, and and a connecting portion passed between the pair of rails. The jig according to claim 8, which is dependent on any one of claims 5 to 7,
The jig according to claim 1, wherein the rail base has a rail support frame that supports the one end while the slider is movable along the direction in which the pair of rails extends. A jig according to claim 8 or 9 depending on claim 2,
The robot support part is a jig attached to at least one of the plurality of fixing holes formed in the robot, which is different from the fixing hole into which the rod-like member is inserted. . A robot removal method for removing the robot from a wall to which the robot is fixed in a suspended state ,
a movable mechanism mounting step of mounting on the wall a movable mechanism that supports the robot and moves it away from the wall;
a robot moving step of moving the robot using the movable mechanism;
One end of at least a pair of rails for slidably guiding a slider capable of supporting the robot is inserted into a gap between the robot and the wall arranged in a direction away from the wall, a rail fixing step of fixing the one end by
Robotic removal method including. A robot removal method according to claim 11, comprising:
Each of the wall and the robot is formed with a fixing hole into which a threaded member for fixing the robot to the wall is inserted,
In the movable mechanism mounting step, the screw member is removed, and a rod-shaped member of the movable mechanism is inserted into the fixing hole formed in the wall and the robot to fix it to the wall;
The robot moving step moves the robot using a movable support of the movable mechanism capable of moving while supporting the robot along the rod member. The robot removal method according to claim 11 or 12,
In the rail fixing step, a rail base that supports the one end is arranged in the gap, and the arranged rail base is fixed to the wall, thereby fixing the one end to the wall, removing the robot. Method. A robot removal method according to claim 13 depending on claim 12,
The rail fixing step includes fixing the rail base to at least one of the plurality of fixing holes formed in the wall, which is different from the fixing hole to which the rod-like member is fixed. robot removal method. The robot removal method according to any one of claims 11 to 14,
a slider mounting step of mounting the robot arranged in a direction away from the wall to the slider;
a movable mechanism detachment step of detaching the movable mechanism mounted in the movable mechanism mounting step in a state where the robot is mounted on the slider;
Robotic removal method. A robot removal method according to claim 15 depending on claim 12, comprising:
In the slider mounting step, among the plurality of fixing holes formed in the robot arranged in a direction away from the wall, the fixing holes other than the fixing holes into which the rod-like members are inserted are inserted. and attaching a robot support of the slider to at least one of

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