JPH04250993A - Industrial robot device - Google Patents

Abstract

PURPOSE:To automatically open or close a bonnet concerning an industrial robot for coating a vehicle body on a carrying line. CONSTITUTION:On both sides of a carrying device 4 to carry a vehicle body 2, an opening/closing robot 5 to open/close a bonnet 3 and a coating robot 6 to paint the back of the bonnet 3 and an engine room are arranged opposite to each other, and a suction hand 7 to suck the bonnet 3 is provided on the extreme end of the arm 5d of the opening/closing robot 5. The opening/closing robot 5 is provided on the running carriage 9b of a running device 9, and moved from the point A to the point B while sucking the bonnet 3 with the suction hand 7. The painting robot 6 is provided on the running carriage 10b of a running device 10 and moved from the point C to the point D while spraying coating on the back of the bonnet 3 from a spray gun 8.

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, and more particularly to an industrial robot device configured to automatically open and close an opening/closing member provided on a workpiece.

0002

2. Description of the Related Art For example, in a painting line that paints the bodies of automobiles that are transported as workpieces, a painting robot or the like that operates in accordance with the transport speed of the vehicle bodies is employed to streamline the painting process. However, when painting the body of an automobile, the coating is applied not only to the exterior of the body but also to the back surface of the bonnet, which serves as a covering member or opening/closing member, and to the engine compartment.

Therefore, in the above-mentioned painting line, before painting the back side of the bonnet and the engine compartment, the worker opens the bonnet and inserts a support rod between the back side of the bonnet and the car body to support the bonnet in the open position. It was installed. Thereafter, when the painting process for the back side of the hood and the engine compartment was completed, another worker removed the support rod and closed the bonnet to prevent damage to the vehicle body and bonnet.

0004

[Problem to be Solved by the Invention] Conventionally, however, in the painting line, a worker is required to open the bonnet and install the support rod, and another worker to remove the support rod and close the bonnet after painting the back side of the bonnet and the engine compartment. Therefore, there was a problem in that it was difficult to further reduce the number of workers and streamline the process.

[0005]Also, it is conceivable to install a device for opening and closing the bonnet on the ceiling of the painting line, but if an attempt is made to open or close the bonnet by hooking a lever etc. on the bonnet, for example, the painted car body and A problem arises in that it is difficult to open and close the bonnet without damaging it.

[0006]Also, it is conceivable to use a vacuum device to suction the bonnet to prevent it from being damaged, but as the bonnet rotates in the opening direction, the angle of inclination of the bonnet changes, so the bonnet may come off the suction cup. There is a risk of it getting lost.

[0007] Accordingly, an object of the present invention is to provide an industrial robot device that solves the above problems.

[0008]

[Means for Solving the Problems] The present invention provides a suction hand that opens or closes the opening of a workpiece by adsorbing it to a cover member that opens or closes the opening, and a suction hand that opens or closes the opening of the workpiece. The arm is provided with a holding member for holding the covered member so that the covered member does not return to its original state after being separated from the suction hand.

Further, the present invention provides a first industrial robot for opening and closing an opening/closing member covering an opening of the work on one side of the transport line where the work is transported, and a first industrial robot for opening and closing the opening/closing member covering the opening of the work. A second industrial robot is provided for working inside the workpiece while the first industrial robot is opening the opening/closing member.

The present invention also provides a first industrial robot that opens and closes an opening/closing member that covers an opening of a workpiece, and a first industrial robot that is provided on one side of a conveyance line through which the workpiece is conveyed. a first traveling device that travels in the same direction to follow the conveyance of the workpiece; and a second industrial robot that operates inside the workpiece while the first industrial robot is opening the opening/closing member. and a second traveling device that is provided on the other side of the conveyance line and causes the second industrial robot to travel in the same direction so as to follow the conveyance of the workpiece; The robot is configured to be able to travel a predetermined distance upstream and downstream of the workpiece transport with respect to the travel range of the second industrial robot.

[0011]

[Operation] The suction hand provided on the arm attracts the cover member that opens or closes the opening of the workpiece, and the upward and downward movements of the arm allow the cover member to be opened and closed without damaging it. It is held by a holding member so that it does not return to its original state even if it is separated from the suction hand.

[0012]Also, while the first industrial robot on one side of the conveyance line through which the workpiece is being conveyed is opening the opening/closing member for the workpiece, the second industrial robot installed on the other side of the conveyance line is The first and second industrial robots perform work inside the workpiece and operate without interfering with each other.

[0013] Furthermore, since the first industrial robot that opens and closes the opening/closing member of the workpiece travels a longer distance than the traveling range of the second industrial robot, the first industrial robot opens and closes the opening/closing member of the workpiece. The second industrial robot works inside the workpiece, and after the second industrial robot finishes the work, the first industrial robot closes the opening/closing member.

[0014]

Embodiment FIGS. 1 and 2 show an embodiment of an industrial robot apparatus according to the present invention.

In both figures, an industrial robot device is installed on a painting line 1 for painting car bodies (workpieces) 2 of automobiles. In this painting line 1, after painting the outer surface of the car body 2,
The back surface of the bonnet (covering member or opening/closing member) 3 and the engine room (not shown) provided below the bonnet 3 are painted.

The vehicle body 2 is transported in the A direction at a constant speed by a transport device (transport line) 4. An opening/closing robot (first industrial robot) 5 for opening and closing the bonnet 3 is provided on one side of the transfer device 4, and a robot 5 for opening and closing the bonnet 3 is provided on the reflective side of the transfer device 4. A painting robot (second industrial robot) 6 is provided.

The opening/closing robot 5 is an articulated robot having a base 5a, a rotating base 5b, a column 5c, and an arm 5d, and a suction hand 7 for suctioning the bonnet 3 is attached to the tip of the arm 5d. There is.

Therefore, the suction hand 7 pivots in the horizontal direction by the rotation of the pivot base 5b, moves forward and backward by the rotation of the support column 5c, and moves up and down by the rotation of the arm 5d.

The painting robot 6 is the opening/closing robot 5 described above.
It is a multi-jointed robot similar to , and has a base 6a, a rotating base 6b, a support 6c, and an arm 6d, and a spray gun 8 for spraying paint is attached to the tip of the arm 6d.

The spray gun 8 sprays paint onto the back surface of the bonnet 3, etc., as will be described later, by the movement of each movable part of the painting robot 6.

The opening/closing robot 5 is provided on a first traveling device 9 extending parallel to the conveying device 4. This traveling device 9 has a base 9 fixed approximately to a floor surface 11.
a, and a traveling cart 9b to which the base 5a of the opening/closing robot 5 is fixed.

The traveling carriage 9b has a drive unit (not shown), and moves on the base 9a in the workpiece conveyance direction while supporting the opening/closing robot 5. As will be described later, the opening/closing robot 5 moves in the X direction within a range from point A, where the bonnet 3 of the vehicle body 2 is opened, to point B, where the bonnet 3 is closed.

The painting robot 6 is connected to the first traveling device 9
In contrast, it is provided on a second traveling device 10 provided on the opposite side of the conveying device 4. The traveling device 10 has a base 10a fixed to the floor surface 11 so as to extend parallel to the conveying device 4.
and a traveling carriage 10b to which a base 6a of the painting robot 6 is fixed. Therefore, the opening/closing robot 5 and the painting robot 6 are provided to face each other on both sides of the transport device 4. The traveling cart 10b moves on the base 10a while supporting the painting robot 6. The traveling range of this traveling carriage 10b is shorter than the traveling range of the traveling carriage 9b of the opening/closing robot 5, and is the range from point C to point D in FIG.

That is, the base 9a of the first traveling device 9
Comparing with the base 10a of the second traveling device 10,
The base 9a has a longer overall length than the base 10a, and the upstream end and downstream end of the base 9a are the same as the base 10a.
It protrudes above and downstream from both ends, respectively. Therefore, point A is located upstream of point C, and point B is located downstream of point D.

A sensor 12 detects that the leading end of the vehicle body 2 as a work has arrived at point A, and is composed of, for example, a light reflection type optical sensor.

Before the vehicle body 2 is transported to the painting booth, both robots 5 and 6 are waiting at points A and C, respectively. Then, the vehicle body 2 is transported in the X1 direction by the transport device 4 with the bonnet 3 side at the beginning. When the sensor 12 detects that the vehicle body 2 has arrived at point A, the traveling bogie 9
b begins to move, and after a slight delay, the traveling trolley 10b moves to X1.
Start moving in the direction.

Therefore, the opening/closing robot 5 and the painting robot 6 move in the X1 direction together with the traveling carts 9b and 10b at the same speed as the vehicle body 2 while performing predetermined tasks taught in advance. That is, the opening/closing robot 6 paints the back side of the hood 3 and the inside of the engine room.

Note that the opening/closing robot 5 is a painting robot 6.
is provided on the opposite side of the bonnet 3 from the lateral direction of the vehicle body 2.
will open. On the other hand, the painting robot 6 moves to a position downstream from the opening/closing robot 5,
The spray gun 8 is held from the front of the vehicle body 2. Therefore, both robots 5 and 6 do not interfere with each other and can efficiently perform their respective tasks.

Furthermore, while moving from point C to point D, the painting robot 6 finishes painting the back side of the bonnet 3 and the inside of the engine room, as shown in FIG. The painting robot 6 retreats the spray gun 8 from the transport path of the vehicle body 2, and the traveling trolley 10b temporarily stops and returns to the origin position (point C).

On the other hand, the opening/closing robot 5 moves from point A to the vehicle body 2.
The painting robot 6 moves in accordance with the painting robot 6, holds the bonnet 3 open until the painting robot 6 completes the work, and operates to close the bonnet 3 after the work is completed.

The configuration of the suction hand 7 attached to the tip of the arm of the opening/closing robot 5 will now be described.

As shown in FIGS. 4 and 5, the suction hand 7 is supported by a wrist portion 13 provided at the end of the arm 5d of the opening/closing robot 5, and extends downward.

14 is an L-shaped bracket, and the wrist portion 13
It has a vertical part 14a to which a shaft 15 is fixed, and a horizontal part 14b to which a shaft 15 is screwed. This shaft 15 has a large-diameter flange 15a at its lower end, and this flange 15a is inserted into a cylindrical case 16.

A thrust bearing 17 is interposed between the upper end of the case 16 and the horizontal portion 14b of the bracket 14. Therefore, even if a force in the rotational direction is applied to the case 16 side, the case 16 is rotated by θ1 around the axis E extending in the hanging direction.
Since the suction hand 7 can be rotated in the direction, the suction hand 7 has a structure in which no torsional stress is applied to the wrist portion 13 and the arm 5d.

Reference numeral 18 denotes a disk-shaped spring support plate, which is attached to the shaft 15.
The case 16 is screwed to face the flange 15a of the case 16. As shown in FIG. 6, two pins 18a and 18b are planted on the upper surface of the spring support plate 18, and a pin is placed on the lower surface of the flange 15a at a position that forms the apex of an isosceles triangle with respect to the pins 18a and 18b. 15b is planted.

Coil springs 19 and 20 are stretched between the pin 15b and each pin 18a and 18b. The pair of coil springs 19 and 20 constitute a return mechanism that balances each other in the state shown in FIG. 6, and operates to return the case 16 to its original position when the case 16 rotates in the θ1 direction. That is, when the rotating pins 18a and 18b rotate with respect to the fixed pin 15b, the springs 19 and 20
When one of the springs contracts and the other expands, the difference in spring force between the pair of springs 19 and 20 increases. Therefore, pin 1
8a, 18b acts on the pins 18a, 18b to return to their original states as shown in FIG.
Returns to the home position where the spring force is balanced.

Reference numeral 21 denotes a piston, which is inserted into the case 16 so as to be able to slide vertically, and has a large-diameter flange portion 21a projecting outwardly at the upper portion, and a stopper portion 21b projecting inwardly at the lower portion. .

A ring-shaped spring holder 2 is provided at the bottom of the case 16.
2 is fixed. This spring receiver 22 and the piston 2
A coil spring 23 is interposed between the second large diameter flange 21a and the second large diameter flange 21a. Therefore, the piston 21 is urged upward by the pressing force of the spring 23.

Therefore, when the arm 5d tries to lift the suction hand 7 upward, the spring 23 is pressed upward and compressed, and the piston 21 is pressed upward through the pressing force of the spring 23. .

Reference numeral 24 denotes a suction unit that suctions the hood 3 of the vehicle body 2, and is suspended below the case 16. Further, a shaft 25 of a suction unit 24 is inserted into the piston 21 . The shaft 25 has a collar portion 25a at its upper end that abuts the stopper portion 21b. A coil spring 2 is provided between the collar portion 25a and the spring support plate 18.
6 intervenes.

This coil spring 26 is attached to the suction unit 24.
When an upward force is applied to it, it is compressed and absorbs the impact. Therefore, the interior of the case 16 has a shock-absorbing structure having springs 23 and 26. The springs 23 and 26 buffer the upward and downward shocks accompanying the upward and downward movements of the suction hand 7, and protect the wrist portion 13 and the arm. Prevent excessive force from acting on 5d.

Reference numeral 27 denotes a first base of the suction unit 24, which is provided at the lower end of the shaft 25. As shown in FIG. 4, this base 27 has support parts 27a and 27b that protrude downward from both ends.
Two guide shafts 28 extending in the Y direction are provided between 7b.
, 29 are arranged in parallel. Both ends of the pair of guide shafts 28, 29 pass through the support parts 27a, 27b and are supported, and retaining rings 30 that abut against the outer walls of the support parts 27a, 27b are fitted to both ends to prevent them from falling off. ing.

Furthermore, a pair of guide shafts 28, 29
A second base 31 is supported at the central portion of the base. Incidentally, a thrust bearing 32 that slides on the guide shafts 28 and 29 is assembled to the second base 31. Therefore, the base 31 is provided so as to be slidable in the Y direction along the guide shafts 28 and 29. Also, guide shaft 2
Coil springs 33 and 34 are wound around the outer peripheries of the bases 8 and 29 to press the side walls of the base 31 from both sides. Therefore, the coil springs 33 and 34 are connected to the support parts 27a and 27b and the base 3.
1 and biases the base 31 to an intermediate position between the guide shafts 28 and 29.

As shown in FIG. 5, the second base 31 has support parts 31a and 31b that protrude downward from both ends, and two guides extending in the X direction are provided between the support parts 31a and 31b. Shafts 35 and 36 are arranged in parallel. These guide shafts 35 and 36 are connected to the guide shaft 2.
8 and 29, and both ends are connected to the support part 31.
a, 31b and is supported by a shaft. Further, retaining rings 37 that abut against the outer walls of the support portions 31a, 31b are fitted at both ends of the guide shafts 35, 36 to prevent them from falling off from the support portions 31a, 31b.

Furthermore, a suction base 38 is supported at the center portions of the guide shafts 35, 36. A thrust bearing (indicated by a broken line in FIG. 5) 39 that slides on the guide shafts 35 and 36 is attached to the suction base 38. Therefore, the suction base 38 is attached to the guide shafts 35, 36.
It is provided so as to be slidable in the X direction along.

Further, coil springs 40 and 41 are provided on the outer peripheries of the guide shafts 35 and 36 to press the side walls of the suction base 38.
is wrapped. Therefore, the suction base 38
1a and 31b, the guide shafts 35 and 36 are urged to an intermediate position by the pressing force of springs 40 and 41 interposed between the guide shafts 35 and 36.

The suction base 38 is attached to the guide shaft 35
, 36 so as to be slidable in the X direction, and via the base 31 by the guide shafts 28, 29 so as to be slidable in the Y direction. This prevents unreasonable force from acting on the wrist portion 13 and the arm 5d by sliding in the direction. Furthermore, when the suction base 38 is displaced in the X and Y directions, it is returned to the intermediate position by the spring force of the coil springs 33, 34, 40, and 41 wound around the respective guide shafts 28, 29, 35, and 36 upon removal of the external force. do.

As shown in FIG. 4, the suction base 38 has flange portions 38a and 38b protruding from both sides, and joints 42 and 43 connected to a vacuum device (not shown) are fixed to the flange portions 38a and 38b. has been done. A spherical shaft portion 42a having an intake port (not shown) is provided at the lower end of the joints 42, 43;
43a is provided.

Reference numerals 44 and 45 denote rubber vacuum cups, which are supported on spherical shaft portions 42a and 43a of joints 42 and 43, respectively. The vacuum cups 44, 45 have openings on the lower surface side that communicate with the intake ports of the spherical shaft portions 42a, 43a,
The spherical shaft portions 42a and 43a are tilted in any direction to absorb the deviation of the workpiece from the attracted portion.

The vacuum cups 44 and 45 are pressed against the upper surface of the tip of the bonnet 3 of the vehicle body 2, as will be described later.
Thereafter, the inside becomes vacuum by suction from a vacuum device (not shown), and the bonnet 3 is attracted.

Reference numeral 46 denotes a fall prevention device, which has a hook-shaped hook (
holding member) 48, one end 50a is connected to a bracket 49 fixed on the base 27, and the other end 50b is connected to the hook 48.
It consists of an air cylinder 50 connected near the upper end of the cylinder.

The hook 48 is attached to the vacuum cup 44,
45 is attached to the bonnet 3, the air cylinder 50
Compressed air is supplied to the holder, and the holder is rotated to the retracted position shown by the two-dot chain line in FIG. However, vacuum cup 44.4
5 attracts the bonnet 3 and the bonnet 3 begins to open, the air supply to the air cylinder 50 is switched and the hook 48 rotates to the locking position shown by the solid line in FIG.

[0053] Since the tip 48a of the hook 48 is bent at 90 degrees, the hook 48 rotates to the latching position and slips under the bonnet 3. Also, hook 48
A rubber pad 48b is attached to the tip 48a of the hood 3 to prevent damage to the bonnet 3.

This pad 48b is normally located at a distance from the bottom surface of the bonnet 3, but in case the vacuum cup 4
If 4 and 45 come off the bonnet 3, the bonnet 3
is held against the pad 48b.

The operation of the suction hand 7 having the above structure will now be explained together with the operations of the opening/closing robot 5 and the painting robot 6.

In FIG. 1, the opening/closing robot 5 and the painting robot 6 are waiting for the vehicle body 2 to arrive at points A and C. When the vehicle body 2 is transported at a constant speed in the X1 direction by the transport device 4 and the tip of the vehicle body 2 is detected by the sensor 12, the traveling carts 9b and 10b of the traveling devices 9 and
As the opening/closing robot 5 begins to move in the 1 direction, the opening/closing robot 5
As shown in FIG. 2, one of the arms 5d is lowered to lower the suction hand 7 to the tip of the bonnet 3.

As shown in FIG. 7, the opening/closing robot 5 brings the vacuum cups 44 and 45 at the lower end into contact with the upper surface of the tip of the bonnet 3 with the hook 48 rotated to the retracted position. Although the upper surface of the bonnet 3 is a curved surface, the vacuum cups 44 and 45 are connected to the spherical shaft portions 42a of the joints 42 and 43.
, 43a as a fulcrum, it rotates in accordance with the shape of the bonnet 3 and comes into close contact with the bonnet 3.

Furthermore, when the vacuum cups 44 and 45 come into contact with the bonnet 3, the shaft 25 of the suction hand 7 slides upward within the piston 21 and compresses the spring 26. The compression of the spring 26 absorbs the impact from the vacuum cups 44 and 45, and as a result, the wrist portion 13 and the arm 5
The bonnet 3 can be suctioned so that no impact force is transmitted to d, and the bonnet 3 is also prevented from being damaged by the suction operation.

At the same time, air is sucked into the vacuum cups 44 and 45 by the vacuum device, creating a vacuum.

Next, the arm 5d of the opening/closing robot 5 rotates upward to lift the suction hand 7 upward. At this time, since the insides of the vacuum cups 44 and 45 are already in a vacuum, the tip of the bonnet 3 is pulled upward together with the suction hand 7 and rotated in the F direction, as shown in FIG.

Note that when the suction hand 7 rises, the case 1
Since the piston 21 moves upward after the spring 23 in the arm 5d is compressed, the bonnet 3 can be opened more slowly than the upward movement of the arm 5d.
The movement of the bonnet 3 is not directly transmitted to the bonnet 3, so that the bonnet 3 is not damaged when it is opened.

Further, when the bonnet 3 begins to rotate in the F direction, the air supply to the air cylinder 50 of the suction hand 7 is switched, the hook 48 rotates in the G direction, and the tip portion 48
Dive a under the bonnet 3.

It should be noted that the wrist portion 13 operates so that the bonnet 3 rotates in the direction F and opens, and the suction hand 7 tilts. Therefore, as shown by the two-dot chain line in FIG. 7, the suction hand 7 tilts according to the opening operation of the bonnet 3,
3 and the operation of arm 5d are vacuum cups 44, 45.
The rotation trajectory may deviate from the rotation trajectory.

In such a case, the vacuum cup 44,
Since the suction base 38 that supports the vacuum cups 45 can freely move along the guide shafts 35, 36 and 28, 29 in the X and Y directions, the vacuum cups 44, 45 may be moved in the X direction due to misalignment of the arm 5d or the wrist portion 13. It is possible to prevent a force that would try to shift it from acting on it.

[0065] Also, due to the opening operation of the bonnet 3, the wrist portion 1
3. It is also possible to prevent excessive external forces from acting on the arm 5d in the X and Y directions.

Furthermore, even if the vacuum cups 44 and 45 should come off the bonnet 3, the bonnet 3 is retained by the hook 48, thereby preventing an accident in which the opened bonnet 3 falls off from the suction hand 7 and is damaged.

When the bonnet 3 is opened in this manner, the painting robot 6 is moved to the spray gun 8 as shown in FIG.
Insert it under the bonnet 3 and paint the back side of the bonnet 3 and the inside of the engine room. During this time, Bonnet 3
is held in the open position by an opening/closing robot 5.

The painting robot 6 finishes the painting work while moving from point C to point D, moves the spray gun 8 away from the vehicle body 2, and retreats the arm 6d from the transport path of the vehicle body 2.

[0069] At the same time as the painting robot 6 finishes the above-mentioned retracting operation, the opening/closing robot 5 lowers the arm 5d and performs a closing operation that is the opposite of the above-mentioned opening operation. Therefore, hand 7 is
It descends from the open position shown by the middle two-dot chain line to the closed position shown by the solid line. Immediately before the suction hand 7 reaches the above position, the air supply to the air cylinder 50 is switched, and the hook 48 is rotated to the retracted position.

Then, as the bonnet 3 descends to the closed position, the suction hand 7 stops descending, air suction in the vacuum cups 44 and 45 is stopped, and suction to the bonnet 3 is released.

In this way, the opening/closing robot 5 completes the closing operation of the bonnet 3, moves the suction hand 7 away from the bonnet 3, and retreats the arm 5d from the transport path of the vehicle body 2.

Note that the impact when the bonnet 3 reaches the closed position due to the descent of the suction hand 7 is applied to the suction unit 24.
The shaft 25 moves upward within the piston 21 and compresses the spring 26, thereby absorbing the force. Therefore, the attack when the bonnet 3 is closed is prevented from being transmitted to the wrist portion 13, and the load of the suction hand 7 is also prevented from acting on the bonnet 3.

In this way, by providing the opening/closing robot 5 that runs on the traveling devices 9 and 10 on both sides of the conveyance path along which the vehicle body 2 is conveyed, the bonnet 3 can be opened and closed automatically without damaging the bonnet 3. This makes it possible to reduce the number of workers required to open and close the bonnet 3. Further, a painting robot 6 is provided on the opposite side of the conveyance path, and the opening/closing robot 5 and the painting robot 6 are operated without interfering with each other to automatically paint the back side of the bonnet 3 and the inside of the engine room. becomes possible.

In the above embodiment, the bonnet 3 of the car body 2 is opened and closed, but the workpiece is not limited to the car body, but can also be used to open other shapes, such as the lid of a container or a door. Also good.

Further, in the above embodiment, a painting robot is used, but any robot other than the painting robot, such as a welding robot or an assembly robot, may be used as long as it performs a predetermined operation on the workpiece.

[0076]

Effects of the Invention As described above, since the industrial robot device according to the present invention has a suction hand on the arm that suctions the cover member of the workpiece, it can automatically open and close without damaging the cover member, and the workpiece can be easily opened and closed. It is possible to reduce the number of workers on the conveyance line where the materials are conveyed. Furthermore, even if the cover member is separated from the suction hand, it is held by the holding member and is prevented from returning to its original state, thereby preventing damage to the cover member.

Furthermore, by arranging the industrial robots for opening and closing and the industrial robots for working on opposite sides of the transfer line, the opening and closing members can be opened and closed automatically, and each robot can perform its own operations without interfering with each other. can be carried out and work efficiency can be increased.

In addition, a first traveling device for running an industrial robot for opening and closing and a second traveling device for running an industrial robot for work are provided on both sides of the conveyance line, and a second traveling device for running an industrial robot for opening and closing is provided. By making the range longer than the travel range of the work robot, the opening/closing member can be opened and closed automatically, and the work robot can efficiently perform work inside the work while the opening/closing robot is opening the workpiece opening/closing member. It has characteristics such as being able to.

[Brief explanation of the drawing]

FIG. 1 is a plan view of an embodiment of an industrial robot device according to the present invention.

FIG. 2 is a front view for explaining the operation of the opening/closing robot when opening the bonnet.

FIG. 3 is a front view for explaining the operations of an opening/closing robot and a painting robot.

FIG. 4 is an enlarged side view showing the configuration of the suction hand.

FIG. 5 is an enlarged front view showing the configuration of the suction hand.

6 is a cross-sectional view taken along line VI-VI in FIG. 5. FIG.

FIG. 7 is a diagram for explaining the operation when opening and closing the bonnet via the suction hand.

[Explanation of symbols]

1 Painting line 2 Car body 3 Bonnet 4 Transfer device 5 Opening/closing robot 6 Painting robot 7 Suction hand 8 Spray gun 9, 10 Traveling device 9b, 10b Traveling trolley 12 Sensor 16 Case 21 Piston 25 Shaft 27, 31 Base 28, 29, 35 , 36 Guide shaft 38 Suction base 44, 45 Vacuum cup 50 Air cylinder

Claims (3)

[Claims] 1. A suction hand that opens or closes the opening of a workpiece by adsorbing it to a cover member that opens or closes the opening of the workpiece, and a suction hand that opens or closes the cover member that is opened or closed by the suction hand. An industrial robot characterized in that the arm is provided with a holding member for holding the cover member so that it does not return to its original state when separated from the cover member. 2. A first industrial robot that opens and closes an opening/closing member that covers the workpiece opening is provided on one side of the conveyance line through which the workpiece is conveyed, and a first industrial robot that opens and closes an opening/closing member that covers the workpiece opening is provided on the other side of the conveyance line. An industrial robot device comprising: a second industrial robot that operates inside the workpiece while the robot opens the opening/closing member. 3. A first industrial robot that opens and closes an opening/closing member that covers an opening of a workpiece; and a first industrial robot that is provided on one side of a conveyance line through which the workpiece is conveyed. a first traveling device that moves in the same direction to follow the first industrial robot; a second industrial robot that operates inside the workpiece while the first industrial robot is opening the opening/closing member; a second traveling device that is provided on the other side of the conveyance line and causes the second industrial robot to travel in the same direction so as to follow the conveyance of the workpiece;
The first industrial robot is configured to be able to travel a predetermined distance upstream and downstream of workpiece transport with respect to the travel range of the second industrial robot. Device.