JPH01281891A - Industrial robot device - Google Patents

Abstract

PURPOSE:To reduce the floor space required for installation and to ensure the movement of an industrial robot by making an industrial robot freely movable at the position separated from an installing face by a moving means and installing on the installing face the base part of this moving part only. CONSTITUTION:An articulated link mechanism 18 is borne at the base part 17 of the moving means 10 fixed to an installing face 21 and an industrial robot 9 is fitted to the free end part of this link mechanism 15. The specified painting work is performed for the work under high speed transfer by the robot 9 by driving this link mechanism 18 by driving means 19, 20 and moving the robot 9 at the position separated from the installing face 21. The floor space needed for installation can be reduced by installing the base part 17 only on the installing face 21, the degrees of freedom in the movement of the industrial robot 9 are made larger and yet the movement of the robot 9 is ensured.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to an industrial robot device, and more particularly to an industrial robot device comprising an industrial robot and a moving means for moving the industrial robot.

2. Description of the Related Art For example, in an automobile body painting line using an industrial robot for painting, there is a system in which the industrial robot is moved in parallel with the work to be conveyed (the car body to be painted). An industrial robot device is used in a painting line having such a configuration, and this industrial robot device is composed of an industrial robot and a moving device that moves the industrial robot.

By moving the industrial robot together with the workpiece as described above, the relative speed between the two becomes zero, and even if the workpiece is transported at high speed, it is possible to adequately handle this and carry out the painting process. The relative position of the robot is always the same as that during teaching, and there are advantages such as being able to perform teaching without considering the relative position during playback.

FIG. 9 shows a conventional industrial robot device 1.

In the figure, 2 represents an industrial robot, and 3 represents a moving device. The moving device 3 is installed with an X-direction slider 4 and a Y-direction slider 5 installed directly on the floor.
and a Z-direction lifter 6, and these sliders and lifters 4 to 6 allow the industrial robot 2 to
, Y, and Z directions.

Problems to be Solved by the Invention However, in the above-mentioned conventional industrial fitting device 1, the long sliders 4 to 6 are installed directly on the floor, so the floor space is saved during installation. The problem was that it was widely needed.

In particular, in the industrial robot device 1 for painting, a part of the paint sprayed onto the workpiece falls onto the moving device 30, but when the paint falls onto the drive parts 4 to 6 such as sliders and dries and hardens, In this case, the moving device 3 becomes inoperable. Therefore, a cover 7 is required to cover the driving part (in FIG. 9, the driving parts of each slider 4 to 6 are covered with a bellows-shaped cover 7). Since a large area is required, the cover 7 must also be disposed over a large area, leading to an increase in cost and complicating the assembly process.

Furthermore, in the conventional industrial robot device 1, the cable connected to the industrial robot 2 is installed on the floor, and the installation is movable on the floor following the movement of the industrial robot 2. Therefore, there were problems in that the cable needed to be long to cover the range of movement, and the above-mentioned falling paint had to be dealt with, which was troublesome to handle.

Furthermore, paint mist is generally discharged from the inside of a painting booth using an air shower (rectified air) from top to bottom, but the installation is done using a slider etc. installed on the floor.
6 to 6 became an obstacle to the air shower, which caused a problem in that it disturbed the flow of the air shower and caused a reduction in coating quality.

The present invention was created in view of the above points, and an object of the present invention is to provide an industrial robot device that can realize reliable movement of an industrial robot while reducing the installation area.

Means for Solving the Problem An industrial robot device comprising an industrial robot that performs a predetermined work on a workpiece, and a moving means for moving the industrial robot, wherein the moving means is fixed to a surface. The industrial robot comprises a base part, an articulated link mechanism supported by the base part and to which the industrial robot is attached to the free end, and a drive means for driving the articulated link mechanism. The robot is configured to be moved by the moving means at a position separated from the installation surface.

By configuring the industrial robot device as described above,
Only the base of the moving means is installed on the surface of the hem, making it possible to reduce the floor space required for installing the industrial robot device.

Furthermore, since the industrial robot is installed at a position separated from the surface and moved, the multi-t121 link mechanism and the driving means are also configured to be installed and moved at a position separated from the surface.

Embodiments Next, embodiments of the present invention will be described with reference to the drawings. 1st
The drawings and FIG. 2 show an industrial robot system WI8 which is an embodiment of the present invention. This industrial robot device 8 is
For example, it is installed in an automobile body painting line and performs painting work.

Roughly speaking, the industrial robot device 8 is an industrial robot 9
and a mobile device 10.

The industrial robot 8 is an articulated painting robot,
A base 11 mounted on the moving device 10;
A rotating table 12 that rotates horizontally above the rotating table 12, a branch 13 that stands up on the rotating table 12, an arm 14 supported at the upper end of the column 13, and a wrist mechanism 1 provided at the tip of the arm 14.
5 and more. Furthermore, a paint gun 16 is attached to the wrist machine M415. Therefore, when the industrial robot 9 performs painting work, the painting gun 16 is moved by the movement of each of the movable parts.
Spray the paint while rocking it up, down, forward, back, left, and right.

The moving device 10 is a device for moving the industrial robot 9, and roughly speaking, the moving device 10 includes a base portion 17° and a link mechanism 1.
8 and drive motors 19, 20, etc.

The base part 17 is installed with anchor bolts 22 on the floor 21.
It is firmly fixed. The base portion 17 is mounted such that the support portion 23 is erected with respect to the floor 21. Additionally, a swing gear 24 is attached to this support portion 23.
But the installation is fixed.

The link mechanism 18 is a horizontally two-jointed link mechanism, and is attached to the upper part of the support column 23. This link mechanism 1
8 is constituted by first and second links 25 and 26, and the link 25 of the inner cylinder 1 is rotatably supported on the support column 23.

This first link 25 has a structure in which arms extend left and right with respect to the support column 23, and a drive motor 19 is attached to the part extending to the left in FIG. A second link 26 is rotatably attached to the extending end, and a drive motor 20 is also attached.

The drive motor 19 is connected to the swing gear 24 via a gear 24a, and is driven to swing the first link 25 around the support 23 (the locus of this swing is indicated by arrow A in FIG. 2). ).

The second link 26 has one end attached to the end of the first link 25 as described above, and the industrial robot 9 is attached to the other end.

The end of the second link 26 on the first link 25 side is connected to the drive motor 20, and is configured to be able to pivot around the end of the first link 25 (this pivot The trajectory is indicated by arrow B in Figure 2).

In this way, each link 25, 26 of the linkage mechanism 18 is driven by a drive motor 19, 20, respectively, and the installation is carried out on the floor 2.
1, and the industrial robot 9 rotates by the rotation of the rotation table 12 (indicated by arrow C in FIG. 2), so the industrial robot 2 can be rotated by appropriately combining each operation. It becomes possible to move freely over a wide range.

In addition, the above drive motor 19.20 is connected to each link 25.26.
is placed at the top of the. For this reason each link 25.26
There are no equipment or equipment that protrudes from the bottom of the machine, and there are no accidents where workers collide with these equipment or equipment, increasing safety.

In the moving device 10 having the above configuration, since the link mechanism 18 is attached to the upper part of the support column 23, the slider t14i1
118. The drive motors 19,20 are to be driven at a location remote from the installation floor 21. Therefore, the industrial robot 9 must be installed at a position away from the floor 21 and moved horizontally to the floor 21, and only the base 17 can be installed directly on the floor 21. Become. As a result, the industrial robot device 8
Installation as a can reduce the area.

In addition, the industrial robot 9 is relatively large in length, so the link mechanism 18 that supports and moves it needs to have a strong structure, but as described above, the link mechanism 18 has two horizontal joints. Since it is a link mechanism, it has strong strength against downward loads, and the drive motor 19 is connected to the link 25 on the side different from the side on which the industrial robot 9 is installed via the support section 23.
The load can be balanced between the two. Therefore, even the link mechanism 18 having a simple structure can sufficiently support and move the industrial robot 9.

Furthermore, cables (not shown) connected to the industrial robot 9 may be arranged along each link 25, 26.
The length of the cable can be shortened and the cable can be easily handled.

FIGS. 3 and 4 show the industrial robot device 8 having the above configuration installed in an automobile body painting line.

Note that 27 in the figure is a workpiece (a car body to be painted), which is transported at a constant speed in the direction of arrow V in the figure.

As described above, the industrial robot device 8 can freely move the industrial robot 9 including the X direction and the Y direction (shown in FIG. 2) using the moving device 10. Therefore, the industrial bot 9 can be moved parallel to the workpiece 27 at the same speed. Therefore, when teaching the industrial robot 9, the teaching can be performed without considering the relative position during playback. still,
In addition to movement parallel to the workpiece 27, it is of course possible to perform movement in the Y direction (movement in a direction perpendicular to the movement direction of the workpiece 27!) and rotational movement as the turning table 12 turns. This means that it is possible to perform painting in narrow spaces, which requires complicated movements, as appropriate.

Furthermore, as the industrial robot 9 performs the painting operation, a portion of the sprayed paint is energized by the air shower and falls. The base portion 17 is a component that is not driven. This eliminates the need for a conventional cover to prevent falling paint from adhering.
Moreover, even if it is attached, it is sufficient if it is used only for the driving part of the link mechanism 18. Therefore, it is possible to reduce the cost conventionally required for the cover, and in addition, it is possible to reduce the number of assemblies required for attaching the cover. Furthermore, since there are fewer obstacles on the floor 21 during installation than in the past, the flow of the air shower is smoother, and t! ! The packaging quality can be improved.

On the other hand, the locus of movement of the industrial robot 9 by the moving device M10 is located at a distance from the floor 21 and within a plane parallel to this (hereinafter, this plane will be referred to as a moving plane). Therefore, by making the heights of the moving surfaces of the industrial robots 9 different, the moving surfaces of a plurality of industrial robots 9 can be overlapped.

A concrete example of this is shown in FIG. The industrial robot device 28 shown in the figure includes industrial robots 9a, 9b and link mechanisms 18a, 18b arranged vertically symmetrically on the support section 23 of the base section 17, respectively.
, drive motors 19a, 19b.

20a and 20b are arranged. By configuring in this way, two moving surfaces with the same area when viewed two-dimensionally can be used.
The industrial robots 9a and 9b can be moved, and the installation space can be used effectively. Further, since two industrial robots 9a, 9b, link mechanisms 18a, 18b, etc. are attached to one base portion 17, the relative installation area of the industrial robot device 28 becomes even smaller.

In addition, in the moving device 10 provided in each of the industrial robot devices 8゜28 described above, the industrial robots 9a, 9b
Although it was not possible to move the cylinder vertically with respect to the floor 21, as shown in Figure 6, the cylinder 2
9, the installation can be configured to move up and down with respect to the floor 21.

The industrial robot device 30 shown in the figure has a structure in which the first link 25 is slidable in the vertical direction on the support portion 23, and a cylinder 29 (for example, a hydraulic cylinder, etc.) is provided in the base portion 17. It has a structure in which this piston 31 is connected to the first link 25. This industrial robot device f30
According to the invention, the industrial robot 9 can be moved in two directions in addition to the X and Y directions, and the range of application of the industrial robot device 30 can be further expanded.

In the above embodiment, the gear 24° 248 is used as a means for turning the first link 25 by the drive motor 19, but the present invention is not limited to this, and a transmission means such as a timing belt or a chain may be used. . It is also possible to use a so-called direct drive structure in which the link 25 is directly driven by the drive motor 19 (furthermore, as shown in FIG.
The industrial robot device 33 may be configured to include an integrally fixed drive unit 32 and drive the link 25 by the drive unit 32.

Further, the means for moving the industrial robot 9 in seven directions is not limited to the cylinder 29 (see FIG. 6), but it goes without saying that other driving means such as a motor may be used.

Furthermore, focusing on the support section 23, since the link mechanism 18 to which the industrial robot 9 is attached to one end is attached to the support section 23, a large load is applied to the support section 23, so that the strength must be increased. Therefore, as shown in FIG. 8, when a plurality of moving devices 10a, 10b are arranged close to each other, the strength of the supporting column 23a is strengthened by sharing the supporting column 23a with each moving device 10a, 10b. It is also possible to use an industrial robot system @34 with the above configuration.

Effect of the invention As mentioned above, according to the invention, an industrial L1 pot.

The articulated link mechanism and drive means are installed so that they move away from the surface, and only the base is installed on the surface, so the floor space required for installation can be reduced, for example. When used for painting, it is not necessary to cover fallen paint, and the cable connected to the industrial robot can also be arranged along the articulated link mechanism, so the cable length can be shortened and the cable length can be reduced. It is easy to handle, and since the movement of the industrial robot is performed by an articulated link mechanism driven by a drive means, the degree of freedom of movement is large, and it can not only move parallel to the workpiece but also move other objects. It can handle complex movements, and in a painting booth equipped with Hoko's industrial robot equipment, there are fewer obstructions on the installation surface, allowing for a smooth flow of air shower. It has features such as being able to improve coating quality.

[Brief explanation of the drawing]

FIG. 1 is a front view of an industrial robot device which is an embodiment of the present invention, FIG. 2 is a plan view of an industrial robot device, and FIG.
4 and 4 are diagrams showing a state in which the industrial robot device is incorporated into an automobile body painting line, and FIGS. 5 to 8 are diagrams for explaining modified examples of the industrial robot according to the present invention,
FIG. 9 is a diagram for explaining an example of a conventional industrial robot device. 8.28.30, 33.34...Industrial robot device, 9.9a, 9b...Industrial robot, 10°10a
, 10b...Movement device, 17...Base portion, 18°1
8 a, 18 b-IJ > mechanism, 19.19a
. 19b, 20.20a, 20b... drive motor, 21
...Installation is on floor-123, 23a...Strut part, 2
5...First link, 26...Second link, 27
...Work, 29...Cylinder. Patent applicant: Tokiko Co., Ltd., Te-゛1N Patent attorney: Kane Matsuura) - Engraving of the drawings (no changes to the contents) Kyu-5 Zuzu G Figure Next 1゜Po4. . Figure 9 Procedural person n (method) August 10, 1988 I Patent application No. 108341 2 Name of the invention Industrial robot device a Relationship with the person making the amendment Patent applicant address 210 1-6-3 Fujimi, Yozaki-ku, Yozaki City, Kanagawa Prefecture Name (305) Tokico Co., Ltd. Representative name: Kou Kawai 4, Agent address: 5-7 Kojimachi, Chiyoda-ku, Tokyo 102, Naturalized U-no-row 4 drawings. 7. Contents of amendment The engraving of the drawing (no changes in content) will be amended as shown in the attached sheet.

Claims (1)

[Scope of Claims] An industrial robot device comprising an industrial robot that performs a predetermined work on a workpiece, and a moving means for moving the industrial robot, wherein the moving means is provided with a base fixed to an installation surface. The industrial robot comprises a base, an articulated link mechanism supported by the base and to which the industrial robot is attached to its free end, and a drive means for driving the articulated link mechanism. An industrial robot device, characterized in that it is configured to be moved by the moving means to a position separated from an installation surface.