JPH04210392A - Industrial robot device - Google Patents

Abstract

PURPOSE:To eliminate the need for a moving cable, etc., for feeding the power for a robot work, and to prevent the accident due to the abnormality of the moving cable, etc., by connecting the feeding device and receiving device of the specified position where a robot is stopped, and providing a control unit which motions this connected feeding device. CONSTITUTION:A feeding device 8 is provided close to a stoppage specified position, for a robot 5 which stops at the specified position with its moving and executes a robot work, and the feeding device 8 is connected to the receiving device 7 of the robot 5 at the robot 5 stoppage time by a control unit 11. The power for a robot work is fed to the robot 5, also, the battery for operation of the robot 5 is charged. Consequently, the noise and dusting at the robot moving time are reduced, the smooth movement is executed and a long hour continuous motion is made possible.

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial robot device that moves along a predetermined route and stops at a predetermined position to perform robot work. [0002]

2. Description of the Related Art For example, as shown in Japanese Unexamined Patent Publication No. 62-203796, a robot that moves along a predetermined route, a moving cable for power supply for operation, a trolley wire, and a work station placed at an appropriate position on a predetermined route There are industrial robot devices equipped with such equipment. [0003] Conventional industrial robot devices are configured as described above, and are moved by power from storage batteries or moving cables, etc., and stop at a predetermined position facing a work station to perform robot work using the power. ing. [0004]

[Problems to be Solved by the Invention] In the conventional industrial robot equipment as described above, there is a lot of movement noise in equipment provided with moving cables for power supply, and furthermore, the amount of dust generated increases in a clean environment. There was a problem. [0005] Furthermore, in devices that use storage battery power, in order to extend the continuous operation time, the storage battery has to be larger and the equipment of the device also has to be larger, which is disadvantageous in terms of manufacturing and operation. was there. [0006] This invention was made in order to solve such problems, and allows smooth movement without any problems.
The purpose is to obtain an industrial robot device that can operate continuously for a long time. [0007]

[Means for Solving the Problems] An industrial robot device according to the present invention includes a device for moving a robot,
A power supply device is provided at a predetermined position where the robot is stopped, a receiving device is installed on the robot and is coupled to the supply device when necessary, and a control device is provided that connects the supply device and the receiving device to supply power to the robot. Further, a storage battery is provided which is not installed in the robot but is supplied with power through the receiving device to energize at least a driving mechanism for moving the robot. [0008]

[Operation] When the robot of the industrial robot system constructed as described above comes to a sudden stop at a working position, both the receiving device and the supplying device are connected and power for the robot work is supplied to the robot. Further, when the robot stops moving, a storage battery for a mobile drive machine or the like is charged through the connection between the two. [0009]

【Example】

Embodiment 1 FIGS. 1 to 3 are diagrams showing an embodiment of the present invention, and in the figures, 1
2 are the floor surfaces of the factory, 2 are workbenches provided at a distance from each other on the floor surface 1, 3 is the ceiling of the factory facing the floor surface 2, and 4 is fixed to the ceiling 3 and provided at a position corresponding to the workbench 2. A running rail 5 is provided with a robot arm 5b having a moving mechanism 5a that moves while being guided by the running rail 4, and a handle 5c. Reference numeral 6 indicates a moving means constituted by a linear motor provided on the running rail 4, a near motor coil 6a, and a secondary conductor 6b provided on the moving mechanism 5a, and 7 indicates the operation of arms 5b and 5c provided on the robot 5. A receiving device 8 for receiving power for robot work, power such as compressed air, and signals for robot work, 8 is located at the stop position of the robot 5, that is, at a corresponding position on the workbench 2, and is mounted on the ceiling 3. With the power supply device, the movable portion 8a is displaced and attached to and detached from the receiving device 7. 9 is a supply control means provided corresponding to each of the supply devices 8; ]O is a movement control means for the robot 5; 11 is a control device; and 12 is a work command attached to the control device 11.

Work commands are sent to the control device 11 by the work command means 12 of the industrial robot device configured as described above.
When inputted, the movement control means 10 energizes the movement means 6. Then, the robot 5 moves by the moving mechanism 5a and stops at a predetermined position on the traveling rail 4 corresponding to the workbench 2, and then the movable part 8a of the supply device 8 is coupled to the receiving device 7 by the supply control means 9. Power for robot work, such as electric power and compressed air, and signals for robot work are supplied to robot 5 according to commands from control device 11 . As a result, the required robot work on the corresponding workbench 2 is performed by the operation of the '1le5b and the handle 5C. [0011] Note that it is also possible to charge an information recording storage battery (not shown) installed in the robot 1 to 5 with electric power via the supply device 8. Kneading can extend the continuous operating time of the storage battery. [0012] Since the power for robot work is supplied by the supply device 8 and the receiving device 7, the movable cable,
Trolley wire becomes useless. Therefore, noise and dust generated by the moving cable etc. are reduced, and breakdowns due to disconnection and generated values can be prevented. Further, the movement-related members of the robot 5 can be simplified, and the entire device can be made smaller and lighter, and manufacturing costs can be reduced. [0013] In the first embodiment, it is possible to easily cope with increasing the distance the robot 5 moves. Further, by applying the first embodiment, the moving means 6 can be a threaded means using a bar screw provided on the fixed part and a nut provided on the robot 5, or the moving means 6 can be wound around the fixed part. It is clear that substantially the same effect as in the first embodiment can be obtained even when a driving device is provided and the winding is performed by connecting the robot 5 to the belt. [0014a FIG. 4 is a diagram showing a second embodiment of the present invention. In the figure, the same reference numerals as in FIGS. 1 to 3 indicate corresponding parts, and 4 indicates a floor surface 1.
5a is a moving mechanism consisting of wheels; 6 is a guide wire buried in the
13 is a guide device attached to the robot 5 and corresponds to the guide wire 4; 14 is a storage battery provided to the robot 5 and operates the moving mechanism 6; A control device 11 and the like are provided in the same manner as in FIGS. 1 to 3. [0015] Also in the industrial robot device as described above, the moving means 6 is energized by the control device 11, and the robot 5 moves and stops at a predetermined position. and supply device 8
, and the receiving device 7, power for robot industry is supplied to the robot 5. Further, while the robot 5 is stopped, the storage battery 14 is charged through the connection between the two. [0016] Therefore, although detailed explanation is omitted, FIG.
It is clear that the same effect as the embodiment shown in FIGS. 1 to 3 can be obtained in the embodiment shown in FIG. In addition, in the embodiment shown in FIG. 4, since the storage battery 14 can be easily charged as needed, the capacity of the storage battery 14 can be reduced, which, together with the weight reduction of the robots 1 and 5, can reduce the manufacturing cost of the device. It is also possible to extend the continuous operation time of the storage battery 14. [0017]

[Effects of the Invention] Since the present invention is constructed as described above, the following effects can be obtained. [0018] Power for robot work is supplied to the robot by coupling the receiving device and the supplying device at a predetermined position where the robot is stopped. This eliminates the need for moving cables to supply power for robot work, prevents breakdowns due to abnormalities in moving cables, etc., and also reduces noise and noise.
Dust generation can be reduced. Furthermore, the movement-related members of the robot can be simplified, and the manufacturing cost of the device can be reduced. [0019] Furthermore, a storage battery as an operating power source provided in the robot is charged by coupling the receiving device and the supplying device when the robot is stopped at a predetermined position. Therefore, the continuous operation time of the storage battery can be extended, the capacity of the storage battery can be reduced, and manufacturing costs can be reduced.

[Brief explanation of the drawing]

FIG. 1 is a conceptual overall configuration diagram showing a first embodiment of the present invention.

FIG. 2 is an enlarged view of the main part of FIG. 1;

FIG. 3 is a left side view of FIG. 2;

FIG. 4 is a diagram corresponding to FIG. 3 showing a second embodiment of the present invention.

[Explanation of symbols]

5 Robot 7 Receiving device 8 Supply device 11 control device 14 storage battery

[Figure 1]

[Figure 4]

Claims (2)

[Claims] 1. A robot that moves along a predetermined route and stops at a predetermined position to perform robot work; a power supply device for the robot work provided at the predetermined position; and a robot configured to be removably attached to the supply device. An industrial robot comprising: the power receiving device provided on the robot; and a control device that couples the feeding device and the receiving device at the predetermined position where the robot is stopped, and operates the coupled feeding device. Device. 2. A robot that moves along a predetermined route and stops at a predetermined position to perform robot work; a device provided at the predetermined position for supplying power for the operation of the robot; and a robot configured to be detachably attached to the supply device. combining the power receiving device provided on the robot, a storage battery provided on the robot to store the power in the motive power, and the supply device and the receiving device at the predetermined position where the robot is stopped;
and a control device for operating the coupled supply device.