JPH0544483U - Robot traveling device that can freely expand and change the traveling range - Google Patents

Robot traveling device that can freely expand and change the traveling range

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Publication number
JPH0544483U
JPH0544483U JP10362791U JP10362791U JPH0544483U JP H0544483 U JPH0544483 U JP H0544483U JP 10362791 U JP10362791 U JP 10362791U JP 10362791 U JP10362791 U JP 10362791U JP H0544483 U JPH0544483 U JP H0544483U
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Japan
Prior art keywords
traveling
rail member
traveling rail
connecting body
robot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
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JP10362791U
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Japanese (ja)
Inventor
栄 河原
Original Assignee
株式会社河原
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Priority to JP10362791U priority Critical patent/JPH0544483U/en
Publication of JPH0544483U publication Critical patent/JPH0544483U/en
Pending legal-status Critical Current

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Abstract

(57)【要約】 〔目的〕 加工手順に従って適宜ロボット装置の走行方
向を変更自在として、一台の直動的な走行しかできない
ロボット装置の走行範囲を飛躍的に拡大するロボット走
行装置を提供すること。 〔構成〕 長さの異なる複数の単位走行レ−ル部材１７
が直列に連結された一の走行レ−ル部材連結体５と、該
一の走行レ−ル部材連結体５の一端と脱着可能に連結さ
れた回動形式の連架走行レ−ル部材１５と、走行案内機
構を備え該走行案内機構を介して単位走行レ−ル部材上
を往復動するロボット装置７と、回動形式の連架走行レ
−ル部材１５を搭載するタ−ンテ−ブル１３と、複数の
単位走行レ−ル部材１７が一の走行レ−ル部材連結体５
とは異なる方向に直列に連結されて構成された一基の他
の走行レ−ル部材連結体９とから構成される走行範囲の
拡大・変更が自在なロボット走行装置１。 (57) [Abstract] [Purpose] To provide a robot traveling device that can freely change the traveling direction of the robot device according to a processing procedure and dramatically expands the traveling range of the robot device that can perform only one linear motion. thing. [Configuration] A plurality of unit traveling rail members 17 having different lengths
One running rail member connecting body 5 connected in series, and a rotating type running running rail member 15 detachably connected to one end of the one running rail member connecting body 5. A turntable equipped with a traveling guide mechanism, which reciprocates on a unit traveling rail member via the traveling guide mechanism, and a rotating type continuous traveling rail member 15. 13 and a plurality of unit traveling rail members 17 are one traveling rail member connecting body 5.
A robot traveling device 1 capable of expanding / changing a traveling range including one traveling rail member connecting body 9 which is connected in series in a direction different from the above.

Description

【考案の詳細な説明】[Detailed description of the device]

【０００１】[0001]

【産業上の利用分野】[Industrial applications]

本考案は、ロボット装置の走行範囲の拡大・変更の自由度を大幅に拡張したロ ボット走行装置に関する。 The present invention relates to a robot traveling device that greatly expands the degree of freedom in expanding and changing the traveling range of a robot device.

【０００２】[0002]

【従来の技術】[Prior Art]

従来のロボット装置は、特定の工作機械に対するワ−クの供給・搬出、特定の ワ−クに対する加工等をなすものとされ、加工ラインの所定位置に若干の周辺移 動を可能となして設置されるものであった。 しかし近年、生産性の向上を図るべく同一製品を加工し完成するのに、複数の 工作機械、組立手段により加工ラインを編成し管理する必要性が現出した。 これに対応すべく、走行機構を備えた一台のロボット装置と、該一台のロボッ ト装置を走行動可能に搭載する特定長さの一基の走行レ−ル部材とから構成され るロボット走行装置が提案されている。該ロボット装置は、特定ライン長さの特 定の加工ラインのみをくまなく前記ロボット装置が往復動できるようなさしめた ものである。 Conventional robots are used for supplying and unloading work to and from specific machine tools, processing for specific work, etc., and are installed at a predetermined position on the processing line with some peripheral movement possible. It was something that was done. However, in recent years, it has become necessary to organize and manage a processing line with multiple machine tools and assembling means in order to process and complete the same product in order to improve productivity. In order to cope with this, a robot composed of one robot device having a traveling mechanism and one traveling rail member of a specific length on which the one robot device is mounted so as to be capable of traveling. Traveling equipment has been proposed. The robot device is designed so that the robot device can reciprocate all over a specific processing line having a specific line length.

【０００３】[0003]

【考案が解決しようとする課題】[Problems to be solved by the device]

しかるに、多品種少量生産や特定製品の量産を日常的に行う近年の生産工場に おいては、より一層合理的で高能率な生産を遂行するため、加工ラインの増設、 加工ライン設置位置の変更、休止、廃止等が頻繁に行われている。 また、前記した加工ラインの見直しの際には、生産工場の床面積を有効利用す べく限られた床面積にて可能な限り多数の加工ラインを設置する加工ラインの集 積化が講じられることもある。 かかる状況にある生産工場に前記した従来のロボット走行装置で対応しようと すると、加工ラインの増設の場合は、個々の加工ラインに沿ってそれぞれ専用の ロボット走行装置を設置しなければならないことから複数のロボット走行装置が 必要となり、また、加工ライン設置位置の変更の場合は変更の都度ロボット走行 装置全体を吊り上げ装置等により新たな設置位置に移動させねばならず、更に、 加工ラインの休止、廃止の場合は複数のロボット走行装置の一部を倉庫等に一時 保管しておかねばならない。このため、加工ラインの動態的変動にスム−ズに対 応することが不可能であるとともに加工ライン変更に伴う設備費が高額なものと なり、また、ロボット装置本来のフレキシブルな搬送機能を十分に発揮なさしめ ることができないものであった。 In recent years, however, in production plants that perform high-mix low-volume production or mass production of specific products on a daily basis, add more processing lines and change processing line installation positions in order to achieve more rational and highly efficient production. , Suspension, abolition, etc. are frequently performed. In addition, when reviewing the above-mentioned processing lines, in order to make effective use of the floor area of the production plant, the processing floors should be integrated so that as many processing lines as possible are installed on the limited floor area. There is also. If it is attempted to deal with the production plant in such a situation with the above-mentioned conventional robot traveling device, in the case of expanding the processing line, it is necessary to install a dedicated robot traveling device along each processing line, so that there are multiple Robot traveling equipment is required, and if the machining line installation position is changed, the robot traveling equipment must be moved to a new installation position by a lifting device etc. each time the machining line installation position is changed. In this case, some of the multiple robot traveling devices must be temporarily stored in a warehouse. For this reason, it is not possible to respond smoothly to the dynamic fluctuations of the processing line, the equipment cost associated with changing the processing line becomes expensive, and the flexible transfer function inherent in the robot system is not enough. It was something that could not be demonstrated.

【０００４】 本考案は前記した事情に鑑みて創作されたものであって、加工手順に沿って適 宜ロボット装置の走行方向を変更自在として、一台の直動的な走行しかできない ロボット装置の走行範囲を飛躍的に拡大できるロボット走行装置を提供すること を目的とする。The present invention has been made in view of the above-mentioned circumstances, and the traveling direction of the robot device can be freely changed in accordance with the processing procedure, and only one linear motion can be performed. It is an object of the present invention to provide a robot traveling device capable of dramatically expanding the traveling range.

【０００５】[0005]

【課題を解決するための手段】[Means for Solving the Problems]

前記した目的を達成するため本考案が講じた解決手段は以下の如くである。 請求項（１）の考案にあっては、前記した一台のロボット装置の走行範囲を平 面的に拡大・変更自在とするものであって、ロボット装置が走行動を開始する時 、停止する時に該ロボット装置を搭載する連架走行レ−ル部材を所望の方向に回 動できるようにする。また、長さの異なる複数の単位走行レ−ル部材を相互に脱 着可能に直列に連結できる構造として加工ライン長さに相応する所望長さの走行 レ−ル部材連結体を形成し、形成された走行レ−ル部材連結体を設置方向の異な る複数の位置に設けたものである。更に、前記連架走行レ−ル部材と設置方向が 異なる複数の前記走行レ−ル部材連結体とも、該連架走行レ−ル部材がそれぞれ の走行レ−ル部材連結体の設置方向と同方向に向いた時点で、それぞれ臨時に連 結できるようにしたものである。 具体的には、両端部に脱着可能な連結部位を備え、且つ、側面に走行案内溝が 設けられるとともに上面をロボット装置用走行面とした長さの異なる複数の走行 レ−ル部材が適宜な組み合わせにて直列に連結されて構成された一の走行レ−ル 部材連結体と、他の走行レ−ル部材連結体とも臨時に連結可能な一端部が、該一 の走行レ−ル部材連結体の一端と脱着可能に先行して臨時に連結された回動形式 の連架走行レ−ル部材と、走行案内機構を備え、その走行案内機構を介して前記 したロボット装置用走行面上を往復動するロボット装置と、前記回動形式の連架 走行レ−ル部材の底面と当接し、その回動形式の連架走行レ−ル部材を回動可能 に搭載するタ−ンテ−ブルと、前記した複数の単位走行レ−ル部材が、前記した 一の走行レ−ル部材連結体とは異なる方向に、適宜な組み合わせにより直列に連 結されて構成された少なくとも一基の他の走行レ−ル部材連結体と、から構成さ れる走行範囲の拡大・変更が自在なロボット走行装置としたものである。 The solving means taken by the present invention to achieve the above-mentioned object is as follows. According to the invention of claim (1), the traveling range of the above-mentioned one robot device can be expanded and changed in plan view, and when the robot device starts traveling motion, it is stopped. At the same time, it is possible to rotate the traveling rail member mounted with the robot device in a desired direction. Further, as a structure in which a plurality of unit traveling rail members having different lengths can be detachably connected to each other in series, a traveling rail member connecting body having a desired length corresponding to a processing line length is formed and formed. The running rail member connected body is provided at a plurality of positions in different installation directions. Further, in the plurality of running rail member connected bodies having different installation directions from the running running rail member, the running running rail members have the same installation direction as the respective running rail member connecting bodies. When they face each other, they can be temporarily connected to each other. Specifically, a plurality of traveling rail members having different lengths, each of which has a detachable connecting portion at both ends, a traveling guide groove is provided on a side surface, and whose upper surface is a traveling surface for a robot device, are suitable. One running rail member connecting body configured by being connected in series by combination and one end portion that can be temporarily connected to another running rail member connecting body are connected to the one running rail member connecting body. It is equipped with a rotating type continuous traveling rail member that is detachably and temporarily connected to one end of the body, and a traveling guide mechanism. A reciprocating robot device, and a turntable that abuts the bottom surface of the rotating type traveling traveling rail member and rotatably mounts the rotating type traveling traveling rail member. , The plurality of unit traveling rail members described above are the same one traveling rail. It is possible to expand or change the traveling range composed of at least one other running rail member connecting body that is connected in series in a different direction from the material connecting body by an appropriate combination. It is a robot traveling device.

【０００６】 請求項（２）の考案にあっては、前記した一台のロボット装置の走行範囲を立 体的に拡大・変更自在とするものであって、ロボット装置が走行動を開始する時 、停止する時に該ロボット装置を搭載する連架走行レ−ル部材を所望の高さ位置 に昇降できるようにする。また、長さの異なる複数の単位走行レ−ル部材を相互 に脱着可能に直列に連結できる構造として加工ライン長さに相応する所望長さの 走行レ−ル部材連結体を形成し、形成された走行レ−ル部材連結体を設置高さの 異なる複数の位置にそれぞれ設けたものである。更に、前記連架走行レ−ル部材 と設置高さの異なる複数の前記走行レ−ル部材連結体とも、該連架走行レ−ル部 材がそれぞれの設置高さ位置に到達した時点で、それぞれ臨時に連結できるよう にしたものである。 具体的には、両端部に脱着可能な連結部位を備え、且つ、側面に走行案内溝が 設けられるとともに上面をロボット装置用走行面とした長さの異なる複数の走行 レ−ル部材が、適宜な組み合わせにより直列に連結されて構成された下階用走行 レ−ル部材連結体と、上階用走行レ−ル部材連結体とも臨時に連結可能な一端部 が、その下階用走行レ−ル部材連結体の一端と脱着可能に先行して臨時に連結さ れた昇降形式の連架走行レ−ル部材と、走行案内機構を備え、その走行案内機構 を介して前記したロボット装置用走行面上を往復動するロボット装置と、前記し た昇降形式の連架走行レ−ル部材の底面と当接し、その昇降形式の連架走行レ− ル部材を昇降可能に搭載する昇降装置と、前記した下階用走行レ−ル部材連結体 が設置された位置より少なくとも一の上方位置にて、前記した複数の単位走行レ −ル部材が適宜の組み合わせにより直列に連列されて構成された少なくとも一基 の上階用走行レ−ル部材連結体と、から構成される走行範囲の拡大・変更が自在 のロボット走行装置としたものである。According to the invention of claim (2), the traveling range of the above-mentioned one robot device can be expanded and changed in a vertical manner, and when the robot device starts traveling motion. When stopping, the continuous traveling rail member carrying the robot device can be moved up and down to a desired height position. Further, as a structure in which a plurality of unit traveling rail members having different lengths can be detachably connected to each other in series, a traveling rail member connecting body having a desired length corresponding to a processing line length is formed and formed. The traveling rail member connecting bodies are provided at a plurality of positions having different installation heights. Furthermore, both the traveling traveling rail members and the plurality of traveling traveling rail member connecting bodies having different installation heights, at the time when the traveling traveling rail members reach their respective installation height positions, Each of them can be temporarily connected. Specifically, a plurality of traveling rail members with different lengths, which have detachable connecting portions at both ends, traveling guide grooves are provided on the side surfaces, and whose upper surface is the traveling surface for the robot device, are appropriately used. The lower floor traveling rail member connecting body configured to be connected in series by various combinations, and the one end portion that can be temporarily connected to the upper floor traveling rail member connecting body are the lower floor traveling rail member connecting bodies. Equipped with an elevating type continuous traveling rail member that is detachably temporarily connected to one end of the connecting member, and a traveling guide mechanism. The traveling for a robot device described above is provided via the traveling guide mechanism. A robot device that reciprocates on a surface, and an elevating device that abuts the bottom surface of the above-described elevating type continuous traveling rail member and that mounts the elevating type continuous traveling rail member so that it can be raised and lowered. The location where the above-mentioned running rail member connecting body for the lower floor is installed At least one upper position, and at least one upper floor traveling rail member connecting body configured by arranging the plurality of unit traveling rail members in series by an appropriate combination. This is a robot traveling device that can freely expand and change the configured traveling range.

【０００７】 請求項（３）の考案にあっては、前記した一台のロボット装置の走行範囲を平 面的にも立体的にも拡大・変更自在とするものであって、ロボット装置が走行動 を開始する時、停止する時に該ロボット装置を搭載する連架走行レ−ル部材を所 望の方向に回動できるとともに所望の高さ位置にも昇降できるようにする。 また、長さの異なる複数の単位走行レ−ル部材を相互に脱着可能に直列に連結 できる構造として加工ライン長さに相応する所望長さの走行レ−ル部材連結体を 形成し、形成された走行レ−ル部材連結体を設置方向が異なる位置と、設置高さ が異なる位置にそれぞれ設けたものである。更に、前記連架走行レ−ル部材と、 設置方向、設置高さの異なる複数の前記走行レ−ル部材連結体それぞれとも、該 連架走行レ−ル部材がそれぞれの設置方向と同方向に向き、或いは、設置高さに 到達した時点でそれぞれ臨時に連結できるようにしたものである。 具体的には、両端部に脱着可能な連結部位を備え、且つ、側面に走行案内溝が 設けられるとともに上面をロボット装置用走行面とした長さの異なる複数の単位 走行レ−ル部材が、適宜な組み合わせにて直列に連結されて構成された下階用走 行レ−ル部材連結体と、他の下階用走行レ−ル部材連結体及び上階用走行レ−ル 部材連結体とも臨時に連結可能な一端部がその下階用走行レ−ル部材連結体の一 端と脱着可能に先行して臨時に連結された昇降・回動形式の連架走行レ−ル部材 と、走行案内機構を備え、その走行案内機構を介して前記したロボット装置用走 行面上を往復動するロボット装置と、前記昇降・回動形式の連架走行レ−ル部材 の底面と当接し、その昇降・回動形式の連架走行レ−ル部材を昇降可能に搭載す る昇降装置と、その昇降装置が最大限降下した時点で、前記した昇降・回動形式 の連架走行レ−ル部材のロボット装置用走行面と前記した下階用走行レ−ル部材 連結体のロボット装置用走行面とを同一平面となしてその昇降装置を回動可能に 搭載する、その昇降装置の下方に配設されたタ−ンテ−ブルと、前記した複数の 単位走行レ−ル部材が、前記した下階用走行レ−ル部材連結体とは異なる方向に 適宜な組み合わせにて直列に連結されて構成された少なくとも一基の構成要素と して含むことある他の下階用走行レ−ル部材連結体と、前記した複数の単位走行 レ−ル部材が、異なる高さ位置にて異なる方向若しくは同方向に適宜な組み合わ せにて直列に連結されて構成された少なくとも一基の上階用走行レ−ル部材連結 体と、から構成される走行範囲の拡大・変更が自在なロボット走行装置としたも のである。According to the invention of claim (3), the traveling range of the above-mentioned one robot device can be expanded / changed both horizontally and three-dimensionally. When starting or stopping an action, the continuous traveling rail member carrying the robot device can be rotated in a desired direction and can be moved up and down to a desired height position. Further, as a structure in which a plurality of unit traveling rail members having different lengths can be detachably connected to each other in series, a traveling rail member connecting body having a desired length corresponding to the processing line length is formed and formed. In addition, the traveling rail member connecting bodies are provided at different installation directions and at different installation heights. Further, both the traveling traveling rail member and the plurality of traveling traveling rail member connecting bodies having different installation directions and installation heights are arranged in the same direction as the respective traveling traveling rail members. It is designed so that they can be connected temporarily when the orientation or the installation height is reached. Specifically, a plurality of unit traveling rail members having different lengths, each of which has a detachable connecting portion at both ends, a traveling guide groove is provided on a side surface, and an upper surface is a traveling surface for a robot device, A running rail member connecting body for lower floors configured by being connected in series in an appropriate combination, and another running rail member connecting body for lower floors and another running rail member connecting body for upper floors. An elevating / rotating type continuous traveling rail member whose one end that can be temporarily connected is detachably connected to one end of the traveling rail member connecting body for the lower floor temporarily and detachably, A robot device provided with a guide mechanism and reciprocally moving on the above-mentioned running surface for the robot device through the running guide mechanism, and abutting on the bottom surface of the elevating / rotating type continuous running rail member, An elevating device that mounts an elevating and rotating type of traveling traveling rail member so that it can be raised and lowered. When the lifting device descends to the maximum extent, the running surface of the above-mentioned lifting / rotating type continuous running rail member for the robot device and the running surface member for the lower floor above the running device for the robot device. The turntable disposed below the lifting device for rotatably mounting the lifting device with its surface flush with each other and the plurality of unit traveling rail members described above Other lower-floor traveling rail member which may be included as at least one component configured by being connected in series in an appropriate combination in a different direction from the lower-floor traveling rail member connecting body. At least one upper floor running constructed by connecting the connecting body and the above-mentioned plurality of unit traveling rail members in series at different height positions in different directions or in an appropriate combination in the same direction. A traveling range composed of a rail member connecting body and Expansion and change is to be calculated and freely robot traveling device.

【０００８】[0008]

【作用】[Action]

前記構成による本考案の作用は以下の如くである。 請求項（１）の考案の構成により、複数の異なる方向の床面上に設置してある ライン長さの異なる加工ラインに沿って予め長さの異なる複数の単位走行レ−ル 部材を適宜な組み合わせにて直列に連結して構成された複数の適宜長さの走行レ −ル部材連結体をそれぞれ設ける。尚、これら走行レ−ル部材連結体のうち、最 初の加工工程を勤める加工ラインに沿って設けられた一の走行レ−ル部材連結体 と回動形式の連架走行レ−ル部材とは臨時に連結され、該回動形式の連架走行レ −ル部材には走行を開始する直前のロボット装置が搭載されている。そして、該 ロボット装置を、前記一の走行レ−ル部材連結体方向に走行移動させた後、該一 の走行レ−ル部材連結体上にて走行並びに走行停止を繰り返してワ−クの搬送動 作若しくは加工動作をなさしめる。ついで、該動作が完了すると、前記ロボット 装置を、前記回動形式の連架走行レ−ル部材上に再度走行移動させた後、該回動 形式の連架走行レ−ル部材と前記一の走行レ−ル部材連結体との臨時の連結状態 を解消する。 つぎに、タ−ンテ−ブルを時計方向若しくは反時計方向に所定時間回動動作さ せた後回動動作を停止させると、前記回動形式の走行レ−ル部材は、他の走行レ −ル部材連結体設置方向と同方向に向いた状態で該他の走行レ−ル部材連結体と 臨時に連結される。そして、前記ロボット装置を、該他の走行レ−ル部材連結体 方向に走行移動させた後、該他の走行レ−ル部材連結体上にて走行並びに走行停 止を繰り返して前記したと同様の動作をさせる。ついで、該動作が完了すると、 前記したと同様の動作をなさしめて順次タ−ンテ−ブルの回動等をなさしめると 、前記ロボット装置は、同一平面上に設置方向を変えて展開された複数の加工工 程全範囲をスム−ズに搬送動作若しくは加工動作しながら移動することとなる。 この後、前記タ−ンテ−ブルを前記したとは逆方向に回動させると、前記ロボ ット装置を直接搭載する回動形式の連架走行レ−ル部材は回帰動作して前記した 一の走行レ−ル部材連結体と再度臨時に連結されることとなる。 The operation of the present invention having the above-described configuration is as follows. According to the configuration of the invention of claim (1), a plurality of unit traveling rail members having different lengths are preliminarily provided along the processing lines having different line lengths installed on the floor surface in different directions. A plurality of running rail member connecting bodies each having a proper length and configured by connecting them in series are provided. Among these traveling rail member connecting bodies, one traveling rail member connecting body provided along a processing line that performs the first processing step and a rotating type traveling traveling rail member. Are temporarily connected, and the rotary type traveling traveling rail member is equipped with a robot device immediately before starting traveling. Then, after the robot device is moved and moved in the direction of the one traveling rail member connecting body, traveling and stopping of traveling are repeated on the one traveling rail member connecting body to convey the work. Perform an operation or processing operation. Then, when the operation is completed, the robot apparatus is moved again on the rotating type continuous running rail member, and then the rotating type continuous running rail member and the one Eliminates the temporary connection with the running rail member connection. Next, when the turn table is rotated clockwise or counterclockwise for a predetermined period of time and then the rotation operation is stopped, the above-mentioned rotation type traveling rail member is changed to another traveling level member. It is temporarily connected to the other running rail member connecting body in a state of being oriented in the same direction as the installation direction of the connecting body of rule members. Then, after the robot device is moved and moved in the direction of the other traveling rail member connecting body, the traveling and traveling stop are repeated on the other traveling rail member connecting body to perform the same operation as described above. To operate. Then, when the operation is completed, the same operation as described above is performed to sequentially rotate the turntable and the like, and the robot device is deployed on the same plane with different installation directions. Therefore, the entire range of the processing process will be smoothly moved while carrying or processing. After that, when the turn table is rotated in the opposite direction to the above, the rotary type traveling traveling rail member directly mounting the robot device reverts to operate as described above. It will be temporarily connected again with the running rail member connecting body.

【０００９】 請求項（２）の考案の構成により、複数の高さ位置の異なる床面上に設置して あるライン長さの異なる加工ラインに沿って、予め長さの異なる複数の単位走行 レ−ル部材を適宜な組み合わせにて直列に連結して構成された下階用走行レ−ル 部材連結体、上階用走行レ−ル部材連結体をそれぞれ設ける。尚、例えば下方位 置に設置された下階用走行レ−ル部材連結体は、走行を開始する直前のロボット 装置を搭載する昇降形式の連架走行レ−ル部材と臨時に連結されている。 そして、該ロボット装置を下階用走行レ−ル部材連結体方向に走行移動させた 後、該下階用走行レ−ル部材連結体上にて走行並びに走行停止を繰り返して搬送 動作若しくは加工動作をなさしめる。つぎに、該動作が完了した後、前記ロボッ ト装置を昇降形式の連架走行レ−ル部材方向に走行移動させて該ロボット装置を 該昇降形式の連架走行レ−ル部材に再度搭載させた後、該昇降形式の連架走行レ −ル部材と前記下階用走行レ−ル部材連結体との臨時の連結を解除する。 ついで、昇降装置を所定時間上昇動作させると、ロボット装置を搭載する前記 連架走行レ−ル部材は上方位置に設置されている上階用走行レ−ル部材連結体と 同方向に向いた状態で該上階用走行レ−ル部材連結体と臨時に連結される。 ついで、前記ロボット装置を該上階用走行レ−ル部材連結体方向に走行移動さ せた後、該上階用走行レ−ル部材連結体上にて走行並びに走行停止を繰り返して 前記したと同様の動作をさせる。そして前記したと同様な動作をなさしめた後、 前記昇降形式の走行レ−ル部材と前記上階用走行レ−ル部材連結体との臨時の連 結を解消する。しかる後に、前記昇降装置を所定時間下降動作させると、前記昇 降形式の走行レ−ル部材は前記した下階用走行レ−ル部材連結体と同方向に向い た状態で再度臨時に連結されることになる。 この結果、前記ロボット装置は上下に展開された加工工程全範囲をスム−ズに 搬送動作若しくは加工動作しながら移動することとなる。According to the configuration of the invention as claimed in claim (2), a plurality of unit run records having different lengths are previously installed along the processing lines having different line lengths, which are installed on the floor surfaces having different height positions. -Providing a lower floor running rail member connecting body and an upper floor running rail member connecting body, each of which is configured by connecting the rail members in series in an appropriate combination. In addition, for example, the lower floor traveling rail member connecting body installed in the lower position is temporarily connected to an elevating type traveling traveling rail member equipped with a robot device immediately before starting traveling. .. Then, after moving the robot device toward the traveling rail member connecting body for the lower floor, traveling and stopping operations are repeated on the traveling rail member connecting body for the lower floor to repeatedly perform a conveying operation or a machining operation. Give. Next, after the operation is completed, the robot device is moved in the direction of the elevating type continuous traveling rail member to re-mount the robot device on the elevating type continuous traveling rail member. After that, the temporary connection between the ascending / descending type traveling rail member and the lower-layer traveling rail member connecting body is released. Then, when the elevating device is raised for a predetermined time, the continuous traveling rail member equipped with the robot device is oriented in the same direction as the upper floor traveling rail member connection body installed at the upper position. Then, it is temporarily connected to the traveling rail member connecting body for the upper floor. Then, after the robot device is moved in the direction of the upper-layer traveling rail member connected body, traveling and traveling stop are repeated on the upper-layer traveling rail member connected body as described above. The same operation is performed. After performing the same operation as described above, the temporary connection between the elevating type traveling rail member and the upper floor traveling rail member connecting body is eliminated. Then, when the elevating device is lowered for a predetermined time, the ascending-and-descending traveling rail members are temporarily connected again in a state in which they are oriented in the same direction as the traveling rail member connecting body for the lower floor. Will be. As a result, the robot device smoothly moves in the entire processing process range expanded vertically while carrying or processing.

【００１０】 請求項（３）の構成により、複数の異なる方向の床面上と複数の高さ位置の異 なる床面上にそれぞれ設置してあるライン長さの異なる加工ラインに沿って、予 め長さの異なる複数の単位走行レ−ル部材を適宜な組み合わせにて直列に連結し て構成された複数基の下階用走行レ−ル部材連結体、複数基の上階用走行レ−ル 部材連結体を設ける。尚、これら走行レ−ル部材連結体のうち最先の加工工程を 勤める、例えば下方位置の所定方向に設置された加工ラインに沿って設けられた 一の下階用走行レ−ル部材連結体と昇降・回動形式の連架走行レ−ル部材とは臨 時に連結されており、また、該昇降・回動形式の連架走行レ−ル部材には走行を 開始する直前のロボット装置が搭載されている。つぎに、該ロボット装置を一の 下階用走行レ−ル部材連結体方向に走行移動させた後、該一の下階用走行レ−ル 部材連結体上にて走行並びに走行停止を繰り返してワ−クの搬送動作若しくは加 工動作をなす。そして、該動作が完了すると、前記ロボット装置を前記昇降・回 動形式の連架走行レ−ル部材上に走行移動させた後、該昇降・回動形式の連架走 行レ−ル部材と前記一の下階用走行レ−ル部材連結体との臨時の連結状態を解消 する。 つぎに、前記一の下階用走行レ−ル部材連結体と同一平面に他の下階用走行レ −ル部材連結体が設けてある場合には、タ−ンテ−ブルを所定時間時計方向若し くは反時計方向に回動させた後、該回動を停止すると、前記昇降・回動形式の走 行レ−ル部材は、同一平面内の他の方向上に設置してある他の下階用走行レ−ル 部材連結体と同方向に向いた状態で、該他の下階用走行レ−ル部材連結体と臨時 に連結される。そして、同走行レ−ル部材連結体上にて前記ロボット装置を走行 並びに走行停止を繰り返して搬送動作若しくは加工動作をなし、該動作が完了す ると、前記ロボット装置は同一平面上に展開された複数の加工工程における全て の前記動作を完了することとなる。つぎに、前記タ−ンテ−ブルを回動させた後 か回動させずに、昇降装置を所定時間上昇動作させた後、該上昇動作を停止する と、前記昇降・回動形式の連架走行レ−ル部材は、所定方向に回動した後か回動 せずに、所定高さ上昇する結果、上方位置に設置されている上階用走行レ−ル部 材連結体と同方向に向いた状態で該上階用走行レ−ル部材連結体と臨時に連結さ れる。ついで、前記ロボット装置を、該上階用走行レ−ル部材連結体上にて走行 並びに走行停止を繰り返しながら搬送動作若しくは加工動作をなし、該動作が完 了すると、上方位置に展開された複数の加工工程における全ての前記動作が完了 することとなる。この結果、前記ロボット装置は立体的に展開されると同時に平 面的にも展開された所定の加工工程における全ての搬送動作若しくは加工動作が 完了することとなる。 この後、前記タ−ンテ−ブルを回動させた後か回動させずに前記昇降装置を下 降動作させると、前記昇降・回動形式の連架走行レ−ル部材は当初の一の下階用 走行レ−ル部材連結体と同方向に向いた状態で該一の下階用走行レ−ル部材連結 体と再度臨時に連結される。According to the configuration of claim (3), the preliminary operation is performed along the processing lines having different line lengths, which are installed on the floor surface in a plurality of different directions and on the floor surface having a plurality of different height positions. For this reason, a plurality of lower-level traveling rail member connecting bodies configured by connecting a plurality of unit-running rail members having different lengths in series in an appropriate combination, and a plurality of upper-level traveling rail member connecting bodies. Provide a connecting member for the rule members. It should be noted that one of the running rail member connecting bodies for the lower floor, which performs the earliest processing step, for example, is located along a processing line installed in a predetermined direction at a lower position. And the lifting / rotating type continuous traveling rail member are temporarily connected, and the lifting / rotating type continuous traveling rail member is provided with a robot device immediately before the start of traveling. It is installed. Next, after the robot apparatus is moved and moved in the direction of one lower floor traveling rail member connecting body, traveling and stopping of traveling are repeated on the one lower floor traveling rail member connecting body. Performs a work transfer operation or processing operation. Then, when the operation is completed, the robot device is moved and moved on the elevating / rotating type continuous traveling rail member, and then the elevating / rotating type continuous traveling rail member is moved. The temporary connection state with the one lower floor traveling rail member connection body is eliminated. Next, when another lower floor running rail member connecting body is provided on the same plane as the lower floor running rail member connecting body, the turn table is turned clockwise for a predetermined time. If the rotation is stopped after rotating it in the counterclockwise direction, the traveling rail member of the elevating / rotating type is installed in another direction in the same plane. While being oriented in the same direction as the lower floor traveling rail member connecting body, it is temporarily connected to the other lower floor traveling rail member connecting body. Then, the robot apparatus is repeatedly run and stopped on the same traveling rail member assembly to perform a conveying operation or a machining operation, and when the operation is completed, the robot apparatus is deployed on the same plane. All the above-mentioned operations in a plurality of processing steps will be completed. Next, after raising or lowering the lifting device for a predetermined time with or without rotating the turntable, the raising / lowering operation is stopped. The traveling rail member rises to a predetermined height after rotating in a predetermined direction or without rotating, and as a result, in the same direction as the upper floor traveling rail member connecting body installed in the upper position. In the state of facing, it is temporarily connected to the traveling rail member connecting body for the upper floor. Then, the robot apparatus performs a transport operation or a machining operation while repeatedly traveling and stopping traveling on the upper-layer traveling rail member connection body, and when the operation is completed, a plurality of the robots expanded to the upper position are deployed. All of the above-mentioned operations in the processing step will be completed. As a result, the robot apparatus is unfolded three-dimensionally, and at the same time, all of the carrying operations or working operations in the predetermined working process, which are also unfolded in the plane, are completed. After that, when the lifting device is lowered or lowered after the turn table is rotated or not, the lifting / rotating type traveling traveling rail member is in the original one. The lower floor traveling rail member connecting body is temporarily connected again with the lower floor traveling rail member connecting body in the same direction.

【００１１】[0011]

【実施例】【Example】

図面を参照しながら、本考案の好適な実施例を説明する。 まず請求項（１）の考案の一実施例を説明する。 図１は本実施例に係る走行範囲の拡大・変更が自在なロボット走行装置を平面 から見た場合を示し、図２は同走行範囲の拡大・変更が自在なロボット走行装置 を一部切断して側面から見た場合を示し、図３は回動形式の連架走行レ−ル部材 が走行レ−ル部材連結体の一端と対面した状態を斜め上方から見た場合を示し、 図４は該回動形式の連架走行レ−ル部材が走行レ−ル部材連結体の一端部と連結 された状態を連結部位を切断して見た場合を示し、図５は単位走行レ−ル部材相 互を連結する一例を斜め上方から見た場合を示し、図６は単位走行レ−ル部材相 互を連結する他の例を連結部位を切断して見た場合を示したものである。 図１に示すように、１は本実施例に係る走行範囲の拡大・変更が自在なロボッ ト走行装置であって、床面３上の一の方向に配設された工作機械群若しくはワ− ク群（共に図示せず）に沿って該床面３上に載置された一の走行レ−ル部材連結 体５と、ロボット装置７と、前記床面３上の他の方向に配設された工作機械群若 しくはワ−ク群（共に図示せず）に沿って該床面３上に載置された他の走行レ− ル部材連結体９と、前記床面３上のその他の方向に配設された工作機械群若しく はワ−ク群（共に図示せず）に沿って載置されたその他の走行レ−ル部材連結体 １１と、前記床面３に適宜深さ埋設され前記した走行レ−ル部材連結体５、９、 １１載置方向が交差する位置を回動中心とするタ−ンテ−ブル１３と、前記一の 走行レ−ル部材連結体５と臨時に連結可能であるとともに前記他の走行レ−ル部 材連結体９及びその他の走行レ−ル部材連結体１１とも臨時に連結可能であり、 前記ロボット装置７が走行を開始する前の時点と走行を完了した時点において該 ロボット装置７を搭載する回動形式の連架走行レ−ル部材１５と、から概略構成 されている。 前記一の走行レ−ル部材連結体５は、前記ロボット装置７が走行を開始する直 前の時点において前記回動形式の走行レ−ル部材１５と次のようにして臨時に連 結され、該ロボット装置７が該一の走行レ−ル部材連結体５上を走行できるよう なしてある。即ち、図３及び図４に示すように、前記回動形式の連架走行レ−ル 部材１５と該単位走行レ−ル部材１７には、それぞれ取付用ねじ穴１９が穿設さ れた取付座部２１が設けられている。そして、両該取付座部２１に連結片２３を 嵌入させて該連結片２３の下面２３ａと前記取付座部２１の底面２１ａとを面着 させるとともに該連結片２３の側面２３ｂと前記取付座部２１の壁面２１ｂとも 面着させ、且つ、取付ボルト２４を螺入させて前記連結片２３を取付座部２１に 固設することにより、前記回動形式の連架走行レ−ル部材１５と前記単位走行レ −ル部材１７とを連結する。この連結の時、回動形式の連架走行レ−ル部材１５ の端面１５ａと前記単位走行レ−ル部材１７の端面１７ａとは、臨時の連結状態 を解消して該回動形式の連架走行レ−ル部材１５が回転可能なよう若干の隙間が あけてある。前記一の走行レ−ル部材連結体５は、図１及び図２に示すように、 長さの異なる複数の単位走行レ−ル部材１７相互が次のような連結例により連結 されて構成されている。 即ち、図５に示すように、前側に位置する単位走行レ−ル部材１７の後端部１ ７ｂと後側に位置する単位走行レ−ル部材１７の前端部１７ｃとを当接させた後 、該後端部１７ｂと該前端部１７ｃの前後両方向からそれぞれコの字形連結子２ ５を接近させた後押圧して、前記前端部１７ｃと前記後端部１７ｂの厚肉部２７ を該コの字形連結子２５の凹形収容部２９に嵌入するとともに、連結ボルト等を 左右両面に穿設された取付穴３０に螺入して前記厚肉部２７と該コの字形連結子 ２５を結合することにより、前記単位走行レ−ル部材１７同士を連結する例があ る。 その他の前記単位走行レ−ル部材１７同士の連結として次のような例がある。 図６に示すように、前側に位置する単位走行レ−ル部材１７の後端部１７ｄを後 側に位置する単位走行レ−ル部材１７の前端部１７ｅより厚みを増して形成し、 該後端部１７ｄには連結子固定用ねじ穴３１が穿設された連結子嵌入穴３３が設 けられる一方、前記前端部１７ｅには連結子貫通穴３５が設けられている。 そして、略正方形の座部３７と該座部３７と一体的に形成され適宜長さにわた ってねじが刻設された連結部３９とから構成されるＴ字形連結子４１の前記座部 ３７を、前記連結子嵌入穴３３に嵌入させるとともに固着ボルト４３を螺入させ ることにより該Ｔ字形連結子４１を後端部１７ｄに固定する。ついで、前記後端 部１７ｄと前記前端部１７ｅとを接近させ、前記連結子貫通穴３５に前記連結部 ３９を挿通させて前記前端部１７ｅの内方に臨ませた後、該連結部３９に固定ナ ット４５を螺合させることにより、前記単位走行レ−ル部材１７同士を連結させ るのである。 図１及び図２に示すように、前記回動形式の連架走行レ−ル部材１５は一の走 行レ−ル部材連結体５の載置方向と一致する前記タ−ンテ−ブル１３の半径方向 部位１３ａ上に搭載されている。前記タ−ンテ−ブル１３は図２に示すように、 前記床面３を適宜深さだけ略円形に掘削することにより円形空間部４７を形成し 、該円形空間部４７に、中心位置に回動支持部４９が、該中心位置から複数の半 径方向に適宜距離離れた位置に複数の回動力作用機構部５１が、周縁位置に回動 力付与機構部５３がそれぞれ配設されている。また、前記円形空間部４７を覆う ようにして適宜板厚の略円形の搭載板５５が前記回動支持部４９により回動可能 に支持されるとともに前記複数の回動力作用機構部５１により回動力を受動可能 なようにして支持され、且つ、前記一の走行レ−ル部材連結体５の下端部と一致 する高さ位置に搭載面５７がくるようにして設けられている。 尚、前記回動力作用機構部５１はＬ字形支持部材５９により回動可能に支持さ れた車輪６１と、下面が該車輪６１の外周面６１ａと接触する一方、上面が前記 搭載板５５の下面と接触する支え部材６３とから構成され、前記回動力付与機構 部５３はブレ−キを備えた駆動電動機６５と、該駆動電動機６５の駆動力を前記 車輪６１に伝達する複数の歯車列等からなる駆動力伝達系６７とから構成されて いる。 A preferred embodiment of the present invention will be described with reference to the drawings. First, an embodiment of the invention of claim (1) will be described. FIG. 1 shows a plan view of a robot traveling device in which the traveling range can be expanded / changed according to the present embodiment, and FIG. 2 is a partially cutaway view of a robot traveling device in which the traveling range can be expanded / changed. FIG. 3 shows a state in which the rotary type traveling traveling rail member faces one end of the traveling rail member connecting body as seen obliquely from above, and FIG. FIG. 5 shows a unit traveling rail member in a state in which the rotating type traveling traveling rail member is coupled to one end portion of the traveling rail member connecting body when the coupling portion is cut. One example of connecting the parts to each other is shown obliquely from above, and FIG. 6 shows another example of connecting the unit running rail member parts to each other by cutting the connecting part. As shown in FIG. 1, reference numeral 1 denotes a robot traveling device according to the present embodiment, which is capable of expanding and changing a traveling range, and is a machine tool group or a work machine arranged in one direction on a floor surface 3. A traveling rail member connecting body 5 placed on the floor surface 3 along a group of groups (both not shown), the robot device 7, and the other direction on the floor surface 3. Other traveling rail member connecting bodies 9 mounted on the floor surface 3 along a group of machine tools or a group of works (both not shown), and other members on the floor surface 3. Other machine tool groups or work groups (both not shown) arranged in the direction of the above, and other running rail member connecting bodies 11 and the floor surface 3 to an appropriate depth. The turntable 13 which is embedded and has the above-mentioned running rail member connecting bodies 5, 9 and 11 as a rotation center at a position where the mounting directions intersect, and the one running rail member. The robot 5 can be temporarily connected to the united body 5 and can also be temporarily connected to the other traveling rail member connecting body 9 and the other traveling rail member connecting body 11, and the robot device 7 starts traveling. It is roughly composed of a rotary type traveling traveling rail member 15 on which the robot device 7 is mounted before the operation and when the traveling is completed. The one traveling rail member connecting body 5 is temporarily connected to the rotation type traveling rail member 15 at the time immediately before the robot device 7 starts traveling as follows. The robot device 7 can travel on the one traveling rail member connecting body 5. That is, as shown in FIGS. 3 and 4, the rotation-type continuous traveling rail member 15 and the unit traveling rail member 17 are attached with mounting screw holes 19 respectively. A seat 21 is provided. Then, the connecting pieces 23 are fitted into both of the mounting seats 21 so that the lower surface 23a of the connecting piece 23 and the bottom surface 21a of the mounting seat 21 are surface-attached, and the side surface 23b of the connecting piece 23 and the mounting seat portion. The connection piece 23 is fixed to the mounting seat portion 21 by screwing the mounting bolts 24 onto the wall surface 21b of the mounting member 21 and the rotating type continuous traveling rail member 15 and The unit traveling rail member 17 is connected. At the time of this connection, the end face 15a of the rotation type continuous traveling rail member 15 and the end face 17a of the unit traveling rail member 17 are released from the temporary connection state and the rotation type continuous rack member 15 is released. There is a slight gap so that the traveling rail member 15 can rotate. As shown in FIGS. 1 and 2, the one running rail member connecting body 5 is configured by connecting a plurality of unit running rail members 17 having different lengths by the following connecting example. ing. That is, as shown in FIG. 5, after the rear end portion 17b of the unit traveling rail member 17 located on the front side and the front end portion 17c of the unit traveling rail member 17 located on the rear side are brought into contact with each other. , The U-shaped connector 25 is approached from both the front and rear directions of the rear end portion 17b and the front end portion 17c and then pressed to push the thick portions 27 of the front end portion 17c and the rear end portion 17b. It is fitted in the concave accommodating portion 29 of the U-shaped connector 25, and connecting bolts and the like are screwed into the mounting holes 30 formed on both left and right sides to connect the thick portion 27 and the U-shaped connector 25. By doing so, there is an example in which the unit traveling rail members 17 are connected to each other. Other examples of connection between the unit traveling rail members 17 are as follows. As shown in FIG. 6, the rear end portion 17d of the unit traveling rail member 17 located on the front side is formed to have a greater thickness than the front end portion 17e of the unit traveling rail member 17 located on the rear side. The end portion 17d is provided with a connector insertion hole 33 having a connector fixing screw hole 31 formed therein, while the front end portion 17e is provided with a connector through hole 35. The seat portion 37 of the T-shaped connector 41 is composed of a substantially square seat portion 37 and a connecting portion 39 which is integrally formed with the seat portion 37 and is engraved with screws over an appropriate length. The T-shaped connector 41 is fixed to the rear end portion 17d by fitting it into the connector fitting hole 33 and screwing the fixing bolt 43. Then, the rear end portion 17d and the front end portion 17e are brought close to each other, the connecting portion 39 is inserted into the connector through hole 35 to face the inside of the front end portion 17e, and then the connecting portion 39 is inserted. By screwing the fixed nut 45, the unit traveling rail members 17 are connected to each other. As shown in FIGS. 1 and 2, the rotating type continuous traveling rail member 15 of the turn table 13 is aligned with the mounting direction of one traveling rail member connecting body 5. It is mounted on the radial portion 13a. As shown in FIG. 2, the turntable 13 forms a circular space portion 47 by excavating the floor surface 3 in a substantially circular shape to an appropriate depth, and the circular space portion 47 is rotated to a central position. A plurality of turning force acting mechanism portions 51 are arranged at positions where the dynamic support portion 49 is appropriately distant from the center position in a plurality of semi-radial directions, and a rotational force imparting mechanism portion 53 is arranged at a peripheral position. Further, a substantially circular mounting plate 55 having an appropriate plate thickness so as to cover the circular space portion 47 is rotatably supported by the rotation support portion 49, and the rotation force is applied by the plurality of rotation force acting mechanism portions 51. Is mounted so as to be passive, and the mounting surface 57 is provided at a height position corresponding to the lower end portion of the one traveling rail member connecting body 5. The turning force acting mechanism 51 has a wheel 61 rotatably supported by an L-shaped support member 59 and a lower surface in contact with an outer peripheral surface 61a of the wheel 61, while an upper surface is a lower surface of the mounting plate 55. The turning force imparting mechanism portion 53 includes a drive motor 65 having a brake and a plurality of gear trains for transmitting the drive force of the drive motor 65 to the wheels 61. And a driving force transmission system 67.

【００１２】 つぎに本実施例の作用について説明する。 ロボット装置７が一の走行レ−ル部材連結体５上を走行並びに走行停止を繰り 返しながら、該一の走行レ−ル部材連結体５に沿って配設された工作機械群に対 するワ−クの供給・取出、若しくはワ−クに対する加工を随時実施する動作が完 了すると、該ロボット装置７は回動形式の連架走行レ−ル部材１５上の所定位置 に走行移動して停止する。つぎに、図３及び図４に示すように、取付ボルト２４ を取付用ねじ穴１９から螺出させるとともに連結片２３を引き出すと、前記回動 形式の連架走行レ−ル部材１５と前記一の走行レ−ル部材連結体を構成する単位 走行レ−ル部材１７とは連結状態は解消される結果、該回動形式の連架走行レ− ル部材１５と該一の走行レ−ル部材連結体５との臨時の連結は解除される。 ついで、図１及び図２に示すように駆動電動機６５を一の方向側に動作開始さ せると駆動力伝達系６７を介して一の方向側の回動力が複数の車輪６１を経由し てタ−ンテ−ブル１３に伝達される。 すると、該タ−ンテ−ブル１３は前記回動形式の連架走行レ−ル部材１５を搭 載したまま反時計方向に回動を開始する。かかる反時計方向への回動を所定時間 継続した後、前記駆動電動機６５の動作を停止すると、前記回動形式の連架走行 レ−ル部材１５が他の走行レ−ル部材連結体９の設置方向と一致する方向に向い た状態で前記タ−ンテ−ブル１３は反時計方向の回動を停止する。 この後、前記連結片２３を前記基本走行レ−ル部材１５の取付座部２１と他の 走行レ−ル部材連結体９を構成する単位走行レ−ル部材１７の取付座部２１に前 記連結片２３を嵌入させるとともに前記取付ボルト２４を前記取付用ねじ穴１９ に螺入させると、前記回動形式の連架走行レ−ル部材１５と前記単位走行レ−ル 部材１７とが連結され該回動形式の連架走行レ−ル部材１５と前記他の走行レ− ル部材連結体９とが臨時に連結される結果、前記ロボット装置７は該他の走行レ −ル部材連結体９上を走行可能となる。そして、該ロボット装置７が該他の走行 レ−ル部材連結体９上を走行並びに走行停止を繰り返しながら上述したと同様な 搬送若しくは加工動作を実行した後、前述したと同様にして前記回動形式の走行 レ−ル部材１５と前記単位走行レ−ル部材１７との連結状態を解消して、該回動 形式の走行レ−ル部材１５と該他の走行レ−ル部材連結体９との臨時の連結を解 消する。つぎに、前記駆動電動機６５を再度一の方向側へ動作させると、前述し たと同様の経路を辿って一の方向側への回動力が前記複数の車輪６１に伝達され る結果、前記タ−ンテ−ブル１３は再度反時計方向への回動を開始する。 かかる回動を所定時間継続した後、前記駆動電動機６５の一の方向側への回動 を停止する。すると、前記回動形式の連架走行レ−ル部材１５が、その他の走行 レ−ル部材連結体１１の設置方向と一致する方向に向いた状態で前記タ−ンテ− ブル１３は反時計方向の回動を停止する。 そして、前述したと同様にして前記回動形式の連架走行レ−ル部材１５と前記 その他の走行レ−ル部材連結体１１を構成する単位走行レ−ル部材１７とを連結 して、該回動形式の連架走行レ−ル部材１５と該その他の走行レ−ル部材連結体 １１とを臨時に連結させて、前記ロボット装置７が該その他の走行レ−ル部材連 結体１１上を走行可能となす。ついで、該ロボット装置７を該その他の走行レ− ル部材連結体１１上にて走行並びに走行停止を繰り返しながら搬送若しくは加工 動作をなさしめる。かかる動作が完了した後、前記駆動電動機６７を他方側に回 動させると前述したと同様の経路を辿って他方側の回動力が前記タ−ンテ−ブル １３に伝達される。すると、該タ−ンテ−ブル１３は時計方向に回動を開始する 。かかる回動を所定時間継続した後、前記駆動電動機６７の動作を停止すると、 該タ−ンテ−ブル１３に積載された前記回動形式の連架走行レ−ル部材１５が前 記一の走行レ−ル部材連結体５の設置方向と一致した方向に向いて該タ−ンテ− ブル１３は回動を停止する。この後、前述したと同様にして前記回動形式の連架 走行レ−ル部材１５と前記一の走行レ−ル部材連結体５を構成する単位走行レ− ル部材１７とを連結すると、該回動形式の連架走行レ−ル部材１５と前記一の走 行レ−ル部材連結体１７とは再度臨時に連結され、前記ロボット装置７が該一の 走行レ−ル連結体５上を走行動可能となる。Next, the operation of this embodiment will be described. While the robot device 7 repeatedly travels and stops traveling on the one traveling rail member connecting body 5, a robot tool for the machine tool group arranged along the one traveling rail member connecting body 5 is repeatedly operated. -When the operation of supplying / removing the work or performing the work on the work is completed, the robot device 7 travels to a predetermined position on the rotary type traveling travel rail member 15 and stops. To do. Next, as shown in FIGS. 3 and 4, when the mounting bolt 24 is screwed out from the mounting screw hole 19 and the connecting piece 23 is pulled out, the rotation type continuous traveling rail member 15 and the above-mentioned one. The unit that constitutes the traveling rail member connecting body of FIG. 7 is released from the connection state with the traveling rail member 17, and as a result, the rotation type continuous traveling rail member 15 and the one traveling rail member. The temporary connection with the connecting body 5 is released. Then, as shown in FIGS. 1 and 2, when the drive motor 65 is started to move in one direction side, the turning force in one direction side passes through the plurality of wheels 61 via the driving force transmission system 67. It is transmitted to the table 13. Then, the turn table 13 starts to rotate counterclockwise while the continuous traveling rail member 15 of the rotating type is mounted. When the operation of the drive motor 65 is stopped after the counterclockwise rotation is continued for a predetermined time, the rotation-type continuous traveling rail member 15 is connected to another traveling rail member connecting body 9. The turntable 13 stops rotating counterclockwise in a state in which the turntable 13 is oriented in the same direction as the installation direction. Thereafter, the connecting piece 23 is attached to the mounting seat portion 21 of the basic traveling rail member 15 and the mounting seat portion 21 of the unit traveling rail member 17 constituting the other traveling rail member connecting body 9. When the connecting piece 23 is fitted and the mounting bolt 24 is screwed into the mounting screw hole 19, the rotating type continuous traveling rail member 15 and the unit traveling rail member 17 are connected. As a result of the temporary connection of the rotating type traveling traveling rail member 15 and the other traveling traveling rail member connecting body 9, the robot apparatus 7 causes the traveling traveling traveling rail member connecting body 9 to move. It becomes possible to drive on. Then, after the robot device 7 repeats traveling and stopping traveling on the other traveling rail member connecting body 9 and executes the same conveying or processing operation as described above, the rotation is performed in the same manner as described above. The traveling rail member 15 and the unit traveling rail member 17 are not connected to each other so that the rotating traveling rail member 15 and the other traveling rail member connecting body 9 are connected to each other. Cancel the temporary connection of. Next, when the drive motor 65 is operated again in the one direction side, the turning force in the one direction side is transmitted to the plurality of wheels 61 by following the same route as described above, and as a result, the tar The table 13 starts rotating counterclockwise again. After continuing the rotation for a predetermined time, the rotation of the drive motor 65 in one direction is stopped. Then, the turntable 13 is rotated counterclockwise in a state in which the rotary type traveling traveling rail member 15 is oriented in a direction corresponding to the installation direction of the other traveling rail member connecting body 11. Stop the rotation of. Then, in the same manner as described above, the rotating type continuous traveling rail member 15 and the unit traveling rail member 17 constituting the other traveling rail member connecting body 11 are connected to each other, and The rotation type continuous traveling rail member 15 and the other traveling rail member connecting body 11 are temporarily connected to each other, and the robot device 7 is mounted on the other traveling rail member connecting body 11. Can be run. Then, the robot device 7 carries out a carrying or working operation while repeating running and stopping of running on the other running rail member connecting body 11. After the operation is completed, when the drive motor 67 is rotated to the other side, the rotational force on the other side is transmitted to the turntable 13 by following the same route as described above. Then, the turntable 13 starts to rotate clockwise. When the operation of the drive motor 67 is stopped after the rotation is continued for a predetermined time, the rotation-type continuous traveling rail member 15 loaded on the turntable 13 travels as described above. The turntable 13 stops rotating in a direction corresponding to the installation direction of the rail member connecting body 5. After that, when the rotating type continuous traveling rail member 15 and the unit traveling rail member 17 constituting the one traveling rail member connecting body 5 are connected in the same manner as described above, The rotation-type continuous traveling rail member 15 and the one traveling rail member connecting body 17 are temporarily connected again, and the robot device 7 moves on the one traveling rail connecting body 5. It becomes possible to move.

【００１３】 つぎに、請求項（２）の考案の一実施例を説明する。 図７は本実施例に係る走行範囲の拡大・変更が自在な走行装置を側面から見た 場合を示し、図８は昇降形式の連架走行レ−ル部材と上階用走行レ−ル部材連結 体の一端部との連結並びに連結解除の経過を示し、図９は該昇降形式の連架走行 レ−ル部材と下階用走行レ−ル部材連結体の一端部との連結並びに連結解除の経 過を示し、図１０は該昇降形式の連架走行レ−ル部材と下階用走行レ−ル部材連 結体との連結状態を示したものである。 図７に示すように、６９は本実施例にかかる走行範囲の拡大・変更が自在な走 行装置であって、下階床面７１上の特定方向に向いて配設された工作機械群若し くはワ−ク群（共に図示せず）に沿って載置された下階用走行レ−ル部材連結体 ７３と、ロボット装置７と、前記下階床面７１の上方に位置する上階床面７５上 の特定方向に向いて配設された工作機械群若しくはワ−ク群（共に図示せず）に 沿って載置された上階用走行レ−ル部材連結体７７と、前記下階用走行レ−ル部 材連結体７３と臨時に連結可能であるとともに前記上階用走行レ−ル部材連結体 ７７とも臨時に連結可能であり、前記ロボット装置７が走行を開始する前と走行 を完了した時点において、該ロボット装置７を搭載する昇降形式の連架走行レ− ル部材８１と、最大限降下した時点で、前記下階用走行レ−ル部材連結体７３と 臨時に連結される前記昇降形式の連架走行レ−ル部材８１のロボット装置用走行 面８１１と該下階用走行レ−ル部材連結体７３のロボット装置用走行面７３１と が同一平面となるよう前記下階床面７１を適宜深さ掘設させて設けしめた、昇降 装置の一例であるテ−ブルリフタ−７９と、から概略構成されている。 前記上階用走行レ−ル部材連結体７７は、図５又は図６、及び図７に示すよう に前記したと同様にして長さの異なる複数の前記単位走行レ−ル部材１７が相互 に直列に連結されて構成されている。そして、図８に示すように、前記テ−ブル リフタ−７９寄りの上階用端部単位走行レ−ル部材７６は、前記テ−ブルリフタ −７９に搭載される前記昇降形式の連架走行レ−ル部材８１と次のようにして連 結されることにより、該昇降形式の連架走行レ−ル部材８１と前記上階用走行レ −ル部材連結体７７とが臨時に連結される。即ち、図８に示すように、前記上階 用端部単位走行レ−ル部材７６の一端には連結突起収容穴８３が穿設されている 一方、前記昇降形式の連架走行レ−ル部材８１の該上階用端部単位走行レ−ル部 材７６と対面する側の一端には、前記連結突起収容穴８３内に収容可能に形成さ れた連結突起８５が突設されている。そして、前記したテ−ブルリフタ−７９が 所定時間上昇動して前記昇降形式の連架走行レ−ル部材８１が矢印８７方向に上 昇すると、前記連結突起８５が前記連結突起収容穴８３内に収容されることによ り、前記昇降形式の連架走行レ−ル部材８１と前記上階用端部単位走行レ−ル部 材７６とが連結される。また、前記したテ−ブルリフタ−７９が下降動して前記 昇降形式の連架走行レ−ル部材８１が矢印８９方向に下降すると前記連結突起収 容穴８３内に収容されていた前記連結突起８５が離脱することにより、該昇降形 式の連架走行レ−ル部材８１と前記上階用端部単位走行レ−ル部材７６との連結 が解除されるのである。 前記下階用走行レ−ル部材連結体７３は、図５及び図６に示すように前記した と同様にして長さの異なる複数の単位走行レ−ル部材１７が直列に連結されるこ とにより構成される。そして、図９及び図１０に示すように、前記テ−ブルリフ タ−７９寄りの下階用端部単位走行レ−ル部材７２が、前記テ−ブルリフタ−７ ９に搭載される前記昇降形式の連架走行レ−ル部材８１と次のようにして連結さ れることにより、該昇降形式の連架走行レ−ル部材８１と前記下階用走行レ−ル 部材連結体７３とが臨時に連結されるのである。即ち、図９に示すように、前記 下階用端部単位走行レ−ル部材７２の一端には連結突起収容溝７４が設けられお り、前記テ−ブルリフタ−７９が下降動して前記昇降形式の連架走行レ−ル部材 ８１が矢印８９方向に下降すると、前記連結突起８５は前記連結突起収容溝７４ に収容される。この後、図１０に示すように連結突起８５を収容した該連結突起 収容溝７４の残部空間に四角形連結子７８を挿入するとともに取付ボルト２４に て前記連結突起８５の上部と連結し、更に、下階用端部単位走行レ−ル部材７２ の両側面からそれぞれ連結ボルト８０を螺入して連結することにより、該下階用 端部単位走行レ−ル部材７２と前記連結突起８５とを連結して、前記下階用走行 レ−ル部材連結体７３と前記昇降形式の連架走行レ−ル部材８１とを臨時に連結 なさしめるのである。 昇降装置の一例である前記テ−ブルリフタ−７９は、図７に示すように、下枠 体９１と、該下枠体９１の上方に配設されたテ−ブル９３と、該テ−ブル９３と 前記下枠体９１間の両側にそれぞれ配設された一対のシザ−ス型リンク機構９５ と、該シザ−ス型リンク機構９５を開閉動作なさしめて前記テ−ブル９３を水平 状態にて昇降させる油圧シリンダ９７とから構成されている。そして、前記テ− ブル９３が最大限降下した時、前記昇降形式の連架走行レ−ル部材８１のロボッ ト装置用走行面８１１と前記下階用走行レ−ル部材連結体７３のロボット装置用 走行面７３１とが同一平面となるよう前記下階床面７１を適宜深さ掘削して地階 床面９９を形成し、該地階床面９９に前記下枠体９１を載置することにより前記 テ−ブルリフタ−７９を前記下階用走行レ−ル部材連結体７３近傍に配設するの である。Next, an embodiment of the invention of claim (2) will be described. FIG. 7 shows a side view of a traveling device according to the present embodiment in which the traveling range can be expanded / changed freely, and FIG. 8 shows an elevating type continuous traveling rail member and an upper floor traveling rail member. 9 shows the progress of connection and disconnection with one end of the connecting body, and FIG. 9 shows connection and release of connection between the elevating type traveling traveling rail member and one end of the lower floor traveling rail member connecting body. FIG. 10 shows the connection state of the elevating type continuous traveling rail member and the lower floor traveling rail member connecting body. As shown in FIG. 7, reference numeral 69 denotes a traveling device according to the present embodiment, which is capable of expanding and changing the traveling range, and is a machine tool group which is arranged in a specific direction on the lower floor 71. A lower floor traveling rail member connecting body 73 placed along a group of works (both not shown), the robot device 7, and an upper portion located above the lower floor surface 71. An upper floor traveling rail member connecting body 77 mounted along a machine tool group or a work group (both not shown) arranged in a specific direction on the floor surface 75; Before the robot device 7 starts traveling, it can be temporarily connected to the lower-layer traveling rail member connecting body 73 and also temporarily connected to the upper-layer traveling rail member connecting body 77. And when the traveling is completed, an elevating type traveling traveling rail member 81 equipped with the robot device 7, At the time of the maximum descent, the robot-side traveling surface 811 of the elevating type continuous traveling rail member 81 that is temporarily connected to the lower-layer traveling rail member connecting body 73 and the lower-floor traveling rail. A table lifter 79, which is an example of an elevating device, in which the lower floor surface 71 is appropriately dug and provided so that the robot member traveling surface 731 of the link member connection body 73 is flush with the robot member traveling surface 731; , Is roughly configured. As shown in FIG. 5 or FIG. 6 and FIG. 7, the upper floor traveling rail member connecting body 77 includes a plurality of the unit traveling rail members 17 having different lengths in the same manner as described above. It is configured by being connected in series. Then, as shown in FIG. 8, the upper floor end unit traveling rail member 76 near the table lifter 79 is mounted on the table lifter 79, and the elevating type traveling traveling rail is mounted on the table lifter 79. By being connected to the rail member 81 as follows, the ascending / descending type traveling rail member 81 and the upper floor traveling rail member connecting body 77 are temporarily connected. That is, as shown in FIG. 8, a connecting projection accommodating hole 83 is formed at one end of the upper-level end unit traveling rail member 76, while the elevating type traveling traveling rail member is provided. A connecting projection 85 is formed at one end on the side of the upper floor end unit traveling rail member 76 facing the upper projection 81 so as to be housed in the connecting projection housing hole 83. When the above-mentioned table lifter 79 moves upward for a predetermined period of time and the elevating type traveling traveling rail member 81 rises in the direction of the arrow 87, the connecting projection 85 enters the connecting projection accommodating hole 83. By being housed, the elevating type continuous traveling rail member 81 and the upper floor end unit traveling rail member 76 are connected. Further, when the table lifter 79 descends and the elevating type traveling traveling rail member 81 descends in the direction of arrow 89, the connecting projection 85 housed in the connecting projection receiving hole 83. The connection between the up-and-down type continuous traveling rail member 81 and the upper-floor end unit traveling rail member 76 is released by detaching. As shown in FIGS. 5 and 6, the lower floor traveling rail member connecting body 73 has a plurality of unit traveling rail members 17 having different lengths connected in series in the same manner as described above. It is composed of Then, as shown in FIGS. 9 and 10, the lower floor end unit traveling rail member 72 near the table lifter 79 is mounted on the table lifter 79 to move up and down. By being connected to the serial traveling rail member 81 as follows, the elevating type serial traveling rail member 81 and the lower floor traveling rail member connecting body 73 are temporarily connected. Is done. That is, as shown in FIG. 9, a connecting projection accommodating groove 74 is provided at one end of the lower floor end unit traveling rail member 72, and the table lifter 79 descends to move up and down. When the continuous traveling rail member 81 of the type descends in the direction of arrow 89, the connecting projection 85 is housed in the connecting projection housing groove 74. After that, as shown in FIG. 10, a square connector 78 is inserted into the remaining space of the connection projection accommodating groove 74 accommodating the connection projection 85, and is connected to the upper part of the connection projection 85 by the mounting bolt 24. By connecting the connecting bolts 80 from both side surfaces of the lower-level end unit traveling rail member 72 to connect them, the lower-level end unit traveling rail member 72 and the connecting projection 85 are connected. By connecting them, the lower floor traveling rail member connecting body 73 and the elevating type traveling traveling rail member 81 are temporarily connected. As shown in FIG. 7, the table lifter 79, which is an example of an elevating device, includes a lower frame body 91, a table 93 disposed above the lower frame body 91, and the table 93. And a pair of scissor-type link mechanisms 95 disposed on both sides between the lower frame 91 and the scissor-type link mechanism 95, and the table 93 is moved up and down in a horizontal state by opening and closing the scissor-type link mechanism 95. And a hydraulic cylinder 97 for driving. When the table 93 is lowered to the maximum extent, the robot device includes the robot surface 811 for the robot apparatus of the ascending / descending type traveling rail member 81 and the traveling rail member connecting body 73 for the lower floor. The lower floor 71 is appropriately excavated to form the basement floor 99 so that the running surface 731 is flush with the base floor 99, and the lower frame 91 is placed on the basement floor 99. The table lifter 79 is arranged in the vicinity of the traveling rail member connecting body 73 for the lower floor.

【００１４】 つぎに本実施例の作用について説明する。 前記ロボット装置７が前記下階用走行レ−ル部材連結体７３上を走行並びに走 行停止を繰り返しながら、該下階用走行レ−ル部材連結体７３に沿って設けられ た工作機械群若しくはワ−ク群（共に図示せず）に対するワ−クの供給・搬出、 若しくはワ−クに対する加工を随時実施する動作をなし、これが完了すると、該 ロボット装置７は前記回動形式の連架走行レ−ル部材８１上の所定位置に走行移 動して停止する。つぎに、図１０に示すように前記取付ボルト２４を前記四角形 連結子７８と前記連結突起８５から螺出するとともに前記連結ボルト８０を該連 結突起８５と前記下階用端部単位走行レ−ル部材７２から螺出することにより、 前記下階用走行レ−ル部材連結体７３と前記昇降形式の連架走行レ−ル部材８１ との臨時の連結を解除する。ついで、前記油圧シリンダ９７を上昇側に動作させ ると前記シザ−ス型リンク機構９５は開動作する。すると、図７に示すようにし 、前記テ−ブル９３は上階床面７５方向に水平状態で上昇する。 かかる該テ−ブル９３の上昇動を所定時間継続した後、前記油圧シリンダ９７ の上昇側への動作を停止すると、図７及び図８に示すように、前記昇降形式の連 架走行レ−ル部材８１は前記連結突起８５が前記連結突起収容穴８３に収容され て該昇降形式の連架走行レ−ル部材８１と前記上階用端部単位走行レ−ル部材７ ６とが連結される結果、該昇降形式の連架走行レ−ル部材８１と上階用走行レ− ル部材連結体７７とは臨時に連結される。 この後、前記ロボット装置７が前記上階用走行レ−ル部材連結体７７上にて走 行並びに走行停止を繰り返しながら、該上階用走行レ−ル部材連結体７７に沿っ て設けられた工作機械群若しくはワ−ク群（共に図示せず）に対するワ−クの供 給・搬出、若しくはワ−クに対する加工を随時実施する動作をなし、これが完了 すると、該ロボット装置７は前記昇降形式の連架走行レ−ル部材８１上の所定位 置に走行移動して停止する。つぎに、前記したと同様にして該昇降形式の連架走 行レ−ル部材８１と前記上階用走行レ−ル部材連結体７７との臨時の連結を解除 する。ついで、前記油圧シリンダ９７を下降側に動作させると、前記シザ−ス型 リンク機構９５は閉動作し、前記テ−ブル９３は下階床面７１方向に水平状態で 下降する。 かかる該テ−ブル９３の下降動を所定時間継続した後、前記油圧シリンダ９７ の下降側への動作を停止すると、図９及び図１０に示すように、前記連結突起８ ５は前記連結突起収容溝７４に収容される。この後、図１０に示すように、前記 したと同様にして連結すると、前記昇降形式の連架走行レ−ル部材８１と前記下 階用端部単位走行レ−ル部材７２はスム−ズなロボット装置走行面を現出した状 態で連結される結果、該昇降形式の連架走行レ−ル部材８１は前記下階用走行レ −ル部材連結体７３が再度臨時に連結される。Next, the operation of this embodiment will be described. While the robot device 7 repeatedly travels and stops running on the lower floor traveling rail member connecting body 73, a machine tool group provided along the lower floor traveling rail member connecting body 73 or An operation of supplying and unloading a work to and from a work group (both not shown) or performing a work on the work is performed at any time, and when this is completed, the robot device 7 causes the rotation type continuous traveling. It travels to a predetermined position on the rail member 81 and then stops. Next, as shown in FIG. 10, the mounting bolt 24 is screwed out from the square connector 78 and the connecting protrusion 85, and the connecting bolt 80 is connected to the connecting protrusion 85 and the lower floor end unit traveling rail. By being unscrewed from the rule member 72, the temporary connection between the lower floor traveling rail member connecting body 73 and the elevating type continuous traveling rail member 81 is released. Then, when the hydraulic cylinder 97 is moved upward, the scissor type link mechanism 95 is opened. Then, as shown in FIG. 7, the table 93 rises horizontally in the direction of the upper floor 75. When the upward movement of the hydraulic cylinder 97 is stopped after the ascending movement of the table 93 is continued for a predetermined time, as shown in FIGS. 7 and 8, the elevating type continuous traveling rail is provided. In the member 81, the connecting projection 85 is accommodated in the connecting projection accommodating hole 83 to connect the elevating type continuous traveling rail member 81 and the upper floor end unit traveling rail member 76. As a result, the ascending / descending type traveling rail member 81 and the upper-layer traveling rail member connecting body 77 are temporarily connected. After that, the robot device 7 is provided along the upper-floor traveling rail member connecting body 77 while repeatedly running and stopping on the upper-floor traveling rail member connecting body 77. When robots 7 are operated in the above-described ascending-and-descending mode, they perform operations for supplying and unloading work to and from machine tools or work groups (both not shown), or machining the work as needed. The traveling traveling rail member 81 is moved to a predetermined position and stopped. Then, similar to the above, the temporary connection between the elevating type traveling running rail member 81 and the upper floor traveling rail member connecting body 77 is released. Then, when the hydraulic cylinder 97 is operated to the descending side, the scissor type link mechanism 95 is closed, and the table 93 descends horizontally toward the lower floor 71. When the downward movement of the hydraulic cylinder 97 is stopped after the descending movement of the table 93 is continued for a predetermined time, as shown in FIGS. 9 and 10, the connecting projection 85 is housed in the connecting projection housing. It is accommodated in the groove 74. Thereafter, as shown in FIG. 10, if the same operation as described above is performed, the elevating type continuous traveling rail member 81 and the lower floor end unit traveling rail member 72 are not smoothed. As a result of being connected in a state where the running surface of the robot device is exposed, the elevating type traveling running rail member 81 is temporarily connected again to the traveling floor member connecting body 73 for lower floor.

【００１５】 ついで、請求項（３）の考案の一実施例を説明する。 図１１は本実施例にかかる走行範囲の拡大・変更が自在なロボット走行装置を 側面から見た場合を示し、図１２は複数の走行レ−ル部材連結体を、下階床面及 び上階床面上のそれぞれ異なる位置、異なる方向に設置した一例を斜め上方から 見た場合を示したものである。 図１１及び図１２に示すように、１０１は本実施例にかかる走行範囲の拡大・ 変更が自在なロボット走行装置であって、請求項（１）の考案の一実施例である 走行範囲の拡大・変更が自在なロボット走行装置１と、請求項（２）の考案の一 実施例である走行範囲の拡大・変更が自在なロボット走行装置６９の両機能を合 わせ持ったロボット走行装置である。 即ち、本実施例にかかる走行範囲の拡大・変更が自在なロボット走行装置１０ １は、前記したと同様の構成、同様の連結構造にて下階床面７１上に異なる設置 方向にそれぞれ載置された二基の下階用走行レ−ル部材連結体７３と、前記した と同様の構成、同様の連結構造にて上階床面７５上に一基が前記下階用走行レ− ル部材連結体７３の真上に、他の一基が反時計方向の異なる設置方向にそれぞれ 載置された二基の上階用走行レ−ル部材連結体７７と、前記したロボット装置７ と、該上階用走行レ−ル部材連結体７７の一端と臨時に連結可能であるとともに 前記下階用走行レ−ル部材連結体７３の一端とも臨時に連結可能であって、前記 ロボット装置７が走行を開始する前と走行を完了した時点において、該ロボット 装置７を搭載する昇降・回動形式の連架走行レ−ル部材１０３と、該昇降・回動 形式の連架走行レ−ル部材１０３の底面１０３ａと当接し、該昇降・回動形式の 連架走行レ−ル部材１０３を昇降可能に搭載する、前記したと同様の構成の昇降 装置の一例であるテ−ブルリフタ−７９と、該テ−ブルリフタ−７９を構成する 前記したテ−ブル９３が最大限降下した時、前記昇降・回動形式の連架走行レ− ル部材１０３のロボット装置用走行面１０３１と前記下階用走行レ−ル部材連結 体７３のロボット装置用走行面７３１とが同一平面となるよう前記下階床面７１ を適宜深さ掘削して地階床面１０５を形成し、該地階床面１０５上に載置された 前記したと同様の構成のタ−ンテ−ブル１３と、から構成されている。Next, an embodiment of the invention of claim (3) will be described. FIG. 11 shows a side view of a robot traveling device according to the present embodiment in which the traveling range can be expanded / changed freely. FIG. 12 shows a plurality of traveling rail member connecting bodies on the lower floor and the upper floor. This is an example of the case where the units are installed at different positions on the floor and in different directions, when viewed from diagonally above. As shown in FIGS. 11 and 12, reference numeral 101 denotes a robot traveling device according to the present embodiment, which is capable of freely expanding and changing the traveling range, which is an embodiment of the invention of claim (1). A robot traveling device having both functions of the robot traveling device 1 which can be changed freely and the robot traveling device 69 which can freely expand and change the traveling range which is an embodiment of the invention of claim (2). .. That is, the robot traveling device 101 according to the present embodiment, which is capable of expanding and changing the traveling range, is mounted on the lower floor 71 in different installation directions with the same configuration and the same connection structure as described above. The two lower floor running rail member connecting bodies 73 and one lower floor running rail member 75 on the upper floor 75 with the same structure and connection structure as described above. Directly above the connecting member 73, another one unit is mounted in different installation directions in the counterclockwise direction, and two upper-floor traveling rail member connecting members 77, the robot device 7 described above, The robot device 7 can be temporarily connected to one end of the upper floor traveling rail member connecting body 77 and also temporarily connected to one end of the lower floor traveling rail member connecting body 73. Install the robot device 7 before starting and at the time when the traveling is completed. The elevating / rotating type continuous traveling rail member 103 is brought into contact with the bottom surface 103a of the elevating / rotating type continuous traveling rail member 103, and the elevating / rotating type continuous traveling rail member 103 is contacted. The table lifter 79, which is an example of a lifting device having the same structure as that described above, in which the table member 103 is liftably mounted, and the above-described table 93, which constitutes the table lifter 79, are lowered to the maximum extent. At this time, the traveling surface 1031 for the robot device of the elevating / rotating type traveling traveling rail member 103 and the traveling surface 731 for the robot device of the lower floor traveling rail member connecting body 73 are flush with each other. As described above, the lower floor 71 is excavated to an appropriate depth to form a basement floor 105, and the turntable 13 having the same structure as that described above is mounted on the basement floor 105. Has been done.

【００１６】 つぎに本実施例の作用を説明する。 前記ロボット装置７が前記下階床面７１上の時計方向側に載置された下階用走 行レ−ル部材連結体７３上を走行並びに走行停止を繰り返しながら該下階用走行 レ−ル部材連結体７３に沿って配設された工作機械群若しくはワ−ク群（共に図 示せず）に対するワ−クの供給・搬出、加工を随時実施する動作をなし、該動作 が完了すると、前記ロボット装置７が昇降・回動形式の連架走行レ−ル部材１０ ３上の所定位置に走行移動させた後、停止させる。つぎに、前記したと同様にし て、該昇降・回動形式の連架走行レ−ル部材１０３と前記下階用走行レ−ル部材 連結体７３との臨時の連結を解除した後、前記タ−ンテ−ブル１３を時計方向で ある矢印１０７方向に所定時間回動させると該昇降・回動走行レ−ル部材１０３ は他の下階用走行レ−ル部材連結体７３の設置方向と同方向に向く。ついで、該 昇降・回動走行レ−ル部材１０３と該下階用走行レ−ル部材連結体７３を前記し たと同様にして臨時に連結した後、前記ロボット装置７を前記したと同様の走行 動作をなさしめ、この走行動作が完了すると該ロボット装置７は再び前記昇降・ 回動走行レ−ル部材１０３上に移動して走行を停止する。 その後、前記したと同様にして該昇降・回動形式の連架走行レ−ル部材１０３ と前記下階用走行レ−ル部材連結体７３との臨時の連結を解除した後、前記タ− ンテ−ブル１３上に搭載されている前記テ−ブルリフタ−７９を前記したと同様 にして所定時間上昇側に動作させると、前記テ−ブル９３に搭載されている前記 昇降・回動走行レ−ル部材１０３は、下階床面７１から上階床面７５方向である 矢印１０９方向に水平状態で上昇し前記他の下階用走行レ−ル部材連結体７３の 真上に位置する上階床面７５上に設置されている上階用走行レ−ル部材連結体７ ７と同一高さ位置にて向き合う。 つぎに、前記したと同様にして前記昇降・回動形式の連架走行レ−ル部材１０ ３と前記上階用走行レ−ル部材連結体７７とを臨時に連結させた後、前記ロボッ ト装置７を該上階用走行レ−ル部材連結体７７上で前記したと同様の所定の走行 動作をなさしめる。この走行動作が完了後、前記したと同様にして前記昇降・回 動形式の連架走行レ−ル部材１０３と前記上階用走行レ−ル部材連結体７７との 臨時の連結を解除した後、前記したタ−ンテ−ブル１３を反時計方向である矢印 １１１方向に所定時間回動させると、前記昇降・回動形式の連架走行レ−ル部材 １０３は、前記した上階用走行レ−ル部材連結体７７に対し反時計方向に位置す る前記上階床面７５上に設置されている他の上階用走行レ−ル部材連結体７７の 設置方向と同方向に向く。そして、前記昇降・回動形式の連架走行レ−ル部材１ ０３と前記上階用走行レ−ル部材連結体７７とを前記したと同様にして臨時に連 結した後、前記ロボット装置７の該上階用走行レ−ル部材連結体７７上での所定 の走行動作をなさしめ、該走行動作が完了すると、下階床面７１と上階床面７５ にそれぞれに配設されている全ての工作機械群若しくはワ−ク群（共に図示せず ）に対するワンサイクルのワ−クの供給・搬出、若しくはワ−クに対する加工が 完了することになる。 つぎに、所定時間前記テ−ブルリフタ−７９を矢印１１３方向に下降動作させ た後、前記タ−ンテ−ブル１３を時計方向である矢印１１５方向に回動動作させ るか、若しくは該回動動作させた後、該下降動作させるか、又は、該下降動作と 該回動動作とを同時に動作させるかすると、前記昇降・回動形式の連架走行レ− ル部材１０３は前記下階床面７１の反時計方向側に載置されている前記下階用走 行レ−ル部材連結体７３の設置方向と同方向に向く。そして前記したと同様の連 結動作をなさしめると、前記昇降・回動形式の連架走行レ−ル部材１０３と前記 下階用走行レ−ル部材連結体７３とは再度臨時に連結される。 尚、前記したワ−クの供給・搬出、若しくはワ−クに対する加工をなしたと逆 の順序で順次、前記タ−ンテ−ブル１３、前記テ−ブルリフタ−７９をそれぞれ 回動動作、昇降動作をさせると、前記昇降・回動形式の連架走行レ−ル部材１０ ３は前記したとは逆の順序で回動移動、昇降移動等して、前記下階用走行レ−ル 部材連結体７３、上階用走行レ−ル部材連結体７７に対する臨時の連結並びに連 結解除を繰り返す。そして、前記ロボット装置７は前記したとは逆の順序で前記 したワ−クの供給・搬出、若しくはワ−クに対する加工を随時実施しながら走行 動作することとなる。Next, the operation of this embodiment will be described. The robot device 7 travels on the lower floor running rail member connecting body 73 mounted on the lower floor floor 71 in the clockwise direction, and the lower floor running rail is repeatedly run and stopped. An operation of supplying / unloading a work to / from a machine tool group or a work group (both not shown) arranged along the member connecting body 73 is performed at any time, and when the operation is completed, The robot device 7 is moved to a predetermined position on the elevating / rotating type continuous traveling rail member 103, and then stopped. Then, in the same manner as described above, after temporarily disconnecting the lifting / rotating type continuous traveling rail member 103 and the lower floor traveling rail member connecting body 73, the When the table 13 is rotated in the direction of the arrow 107, which is the clockwise direction, for a predetermined time, the elevating / rotating traveling rail member 103 is aligned with the installation direction of the other lower floor traveling rail member connecting body 73. Turn to the direction. Then, the lifting / rotating traveling rail member 103 and the lower floor traveling rail member connecting body 73 are temporarily connected in the same manner as described above, and then the robot device 7 travels in the same manner as described above. When the traveling operation is completed and the traveling operation is completed, the robot apparatus 7 moves again to the elevating / rotating traveling rail member 103 and stops traveling. Thereafter, in the same manner as described above, the temporary running connection between the elevating / rotating type traveling traveling rail member 103 and the lower floor traveling traveling rail member connecting body 73 is released, and then the turntable is released. -When the table lifter 79 mounted on the table 13 is moved upward for a predetermined time in the same manner as described above, the lifting / rotating traveling rail mounted on the table 93 is moved. The member 103 rises in a horizontal state from the lower floor 71 to the upper floor 75 in the direction of arrow 109, and is located above the other lower floor traveling rail member connecting body 73. The upper floor traveling rail member connecting body 77 installed on the surface 75 faces at the same height position. Next, in the same manner as described above, the up / down rotation type continuous traveling rail member 103 and the upper floor traveling rail member connecting body 77 are temporarily connected, and then the robot is connected. The device 7 performs the predetermined traveling operation similar to that described above on the traveling rail member connecting body 77 for the upper floor. After this traveling operation is completed, after temporarily disconnecting the lifting / rotating type traveling traveling rail member 103 and the upper floor traveling rail member connecting body 77 in the same manner as described above. When the turntable 13 is rotated in the direction of the arrow 111 which is the counterclockwise direction for a predetermined time, the elevating / rotating type traveling traveling rail member 103 causes the traveling traveling rail for upper floors described above. -It is oriented in the same direction as the installation direction of the other upper floor traveling rail member connection body 77 installed on the upper floor floor surface 75 which is located counterclockwise with respect to the rail member connection body 77. Then, the ascending / descending / rotating type continuous traveling rail member 103 and the upper floor traveling rail member connecting body 77 are temporarily connected in the same manner as described above, and then the robot device 7 is connected. When a predetermined traveling operation is performed on the traveling rail member connecting body 77 for the upper floor, and the traveling operation is completed, they are respectively arranged on the lower floor surface 71 and the upper floor surface 75. One-cycle supply / unloading of work to all machine tool groups or work groups (both not shown), or machining of work is completed. Next, after the table lifter 79 is lowered in the direction of arrow 113 for a predetermined time, the turn table 13 is rotated in the direction of arrow 115, which is the clockwise direction, or the rotation operation is performed. After that, when the descending operation is performed or the descending operation and the rotating operation are simultaneously performed, the ascending / descending type continuous traveling rail member 103 causes the lower floor surface 71 to move. Of the lower floor running rail member connecting body 73 placed on the counterclockwise side of the same. When the same connecting operation as described above is performed, the elevating / rotating type traveling traveling rail member 103 and the lower floor traveling rail member connecting body 73 are temporarily re-connected. .. In addition, the turn table 13 and the table lifter 79 are sequentially rotated and moved up and down in the reverse order of the above-mentioned work supply / carry-out or work processing. Then, the elevating / rotating type traveling traveling rail member 103 is pivotally moved, moved up and down in the reverse order to the above, and the lower traveling rail member connecting body is connected. 73, the temporary connection and the disconnection of the upper floor traveling rail member connecting body 77 are repeated. Then, the robot device 7 runs in the reverse order of the above while supplying and unloading the work or processing the work as needed.

【００１８】 以上請求項（１）乃至請求項（３）の考案の一実施例の説明において、前記ロ ボット装置７が所定時間内に走行並びに走行停止を繰り返しながら前記した搬送 動作、加工動作を完了できるワンサイクル内における、複数の長さの異なる単位 走行レ−ル部材の連結体のである走行レ−ル部材連結体の配設の一例、種々の形 式の連架走行レ−ル部材の臨時の連結動作と回動並びに昇降動作の一例、及び前 記ロボット装置７の動作の一例について詳述したが、本考案はこれらに限定され ないものである。 即ち、予め生産工場の全床面、及び（又は）全ての階層の床面に、前記ロボッ ト装置７を当面前記したと同様の動作をなす必要のある範囲、次段階に移行した 時点で動作をなす範囲、当面休止する範囲等に役割分担なさしめて前記複数の走 行レ−ル部材連結体をそれぞれ設置するとともに前記連架走行レ−ル部材を適宜 これら走行レ−ル部材連結体と臨時に連結しえるよう配設する。 そして、加工ラインの増設、変更、休止、並びに、加工品、加工方法の変更に 応じて適切なる前記走行レ−ル部材連結体を選択し、該選択した走行レ−ル部材 連結体上にて、前記ロボット装置７が走行並びに走行停止を繰り返すことにより 該ロボット装置７がワ−クの搬送・供給、ワ−クに対する加工等をなすことも可 能である。In the above description of the embodiment of the invention of claims (1) to (3), the robot device 7 repeats traveling and stopping within a predetermined time while carrying out the above-mentioned carrying operation and machining operation. One example of the arrangement of the traveling rail member connecting body, which is a connecting body of a plurality of unit traveling rail members having different lengths in one cycle that can be completed, and a series of traveling traveling rail member members. Although an example of the temporary connecting operation, pivoting and ascending / descending operation, and an example of the operation of the robot device 7 described above have been described in detail, the present invention is not limited to these. That is, the robot device 7 must be operated on the entire floor surface of the production plant and / or the floor surfaces of all floors in advance in the range where it is necessary to perform the same operation as described above for the time being, and when the robot moves to the next stage. The running traveling rail member connecting body is installed in such a manner as to be divided into a range where the traveling traveling rail member is temporarily stopped and a range where the traveling traveling rail member is temporarily stopped. It is arranged so that it can be connected to. Then, the traveling rail member connecting body that is appropriate according to the addition, change, suspension of the processing line, and the change of the processed product and the processing method is selected, and on the selected traveling rail member connecting body. By repeating the running and stopping of the running of the robot device 7, it is possible for the robot device 7 to carry and supply the work, and to process the work.

【００１９】[0019]

【考案の効果】[Effect of the device]

以上詳述した本考案によれば、次のような効果が発揮されるものである。 請求項（１）の考案によれば、床面積の広い生産工場において一台のロボット 装置の走行範囲を平面的に拡大・変更自在とすることができる。 また、かかる走行範囲の拡大・変更を、走行レ−ル部材連結体の適宜な組み合 わせと適宜な配設、一台のロボット装置を適宜に選択された該走行レ−ル部材連 結体上を走行させることによって実現したことから、生産現場での加工ラインの 変更に的確に対応することができるとともに、複数の加工ラインが同時に稼働し ている場合、一定の時間差さえあれば、一台のロボット装置で対応することが出 来る。 According to the present invention described in detail above, the following effects are exhibited. According to the invention of claim (1), the traveling range of one robot apparatus can be expanded and changed in a plane in a production factory having a large floor area. Further, the expansion / change of the traveling range is appropriately combined with the traveling rail member connecting body, arranged appropriately, and one robot apparatus is appropriately selected. Since it was realized by running on the top, it is possible to accurately respond to changes in the processing line at the production site, and when multiple processing lines are operating at the same time, if there is a certain time difference, one machine It will come to be supported by the robot device of.

【００２０】 請求項（２）の考案によれば、床面積が複数階層の生産工場において一台のロ ボット装置の走行範囲を立体的に拡大・変更自在とすることができる。 このため、床面積の狭い生産工場において一定の時間差さえあれば、複数階層 のそれぞれの多数の加工ラインを同時に稼働させることができ生産効率、生産量 を飛躍的に向上させることができる。さらに、加工ラインの変更の都度、ロボッ ト装置等を吊り上げて他の上方位置に窮屈な場所替えする必要がなく、床面積が 狭い複数階層の生産工場において、加工ラインの自在な増設、変更、休止等をす ることが可能となる。According to the invention of claim (2), it is possible to three-dimensionally expand and change the traveling range of one robot device in a production factory having a plurality of floor areas. Therefore, if there is a certain time difference in a production plant with a small floor area, it is possible to simultaneously operate a large number of processing lines on multiple hierarchies, which can dramatically improve production efficiency and production volume. In addition, it is not necessary to lift the robot equipment etc. every time the processing line is changed to change the position to a cramped position in another upper position, and it is possible to freely add or change the processing line in a multi-story production plant with a small floor area. It is possible to take a break, etc.

【００２１】 請求項（３）の考案によれば、一階分の床面積が広くしかも複数階層の生産工 場において、一台のロボット装置の走行範囲を平面的にも立体的にも拡大・変更 自在とすることができる。このため、最も床面積が広いこの種生産工場であって も、最小台数のロボット装置により、生産効率の向上、加工ラインの自在な増設 、変更、休止等をすることができるとともに、かかる生産方式の見直しによる設 備費を大幅に圧縮することが可能となる。According to the invention of claim (3), in a production factory having a large floor area for one floor and a plurality of hierarchies, the traveling range of one robot device can be expanded both planarly and three-dimensionally. It can be changed freely. For this reason, even in this type of production plant with the largest floor area, it is possible to improve production efficiency, freely add, change, and suspend production lines by using the minimum number of robot devices, and to use this production method. It is possible to significantly reduce equipment costs by reviewing the above.

【図面の簡単な説明】[Brief description of drawings]

【図１】請求項（１）の考案の一実施例を示した平面図
である。FIG. 1 is a plan view showing an embodiment of the invention of claim (1).

【図２】請求項（１）の考案の一実施例を一部断面して
示した側面図である。FIG. 2 is a side view showing a partial cross-section of an embodiment of the invention of claim (1).

【図３】回動形式の連架走行レ−ル部材が走行レ−ル部
材連結体の一端と対面した状態を示した斜視図である。FIG. 3 is a perspective view showing a state in which a rotating type continuous traveling rail member faces one end of a traveling rail member connecting body.

【図４】回動形式の連架設走行レ−ル部材と走行レ−ル
部材連結体の一端部とが連結された状態を示した断面図
である。FIG. 4 is a cross-sectional view showing a state in which a rotation-type continuous traveling rail member and one end portion of a traveling rail member connecting body are connected to each other.

【図５】単位走行レ−ル部材相互を連結する一例を示し
た斜視図である。FIG. 5 is a perspective view showing an example in which unit traveling rail members are connected to each other.

【図６】単位走行レ−ル部材相互を連結する他の例を示
した断面図である。FIG. 6 is a cross-sectional view showing another example of connecting the unit traveling rail members to each other.

【図７】請求項（２）の考案の一実施例を示した側面図
である。FIG. 7 is a side view showing an embodiment of the invention of claim (2).

【図８】昇降形式の連架走行レ−ル部材と上階用走行レ
−ル部材連結体の一端部との連結並びに連結解除の経過
を示した斜視図である。FIG. 8 is a perspective view showing a process of connection and disconnection between an elevating type traveling traveling rail member and one end of an upper floor traveling rail member connecting body.

【図９】昇降形式の連架走行レ−ル部材と下階用走行レ
−ル部材連結体の一端部との連結並びに連結解除の経過
を示した斜視図である。FIG. 9 is a perspective view showing a process of connecting and disconnecting an up-and-down type traveling rail member and one end of a lower floor traveling rail member connecting body.

【図１０】昇降形式の連架走行レ−ル部材と下階用走行
レ−ル部材連結体の一端部との連結状態を示した断面図
である。FIG. 10 is a cross-sectional view showing a connection state between an ascending / descending type traveling rail member and one end of a lower floor traveling rail member connecting body.

【図１１】請求項（３）の考案の一実施例を示した一部
省略側面図である。FIG. 11 is a partially omitted side view showing an embodiment of the invention of claim (3).

【図１２】複数の走行レ−ル部材連結体を、下階床面及
び上階床面上のそれぞれの異なる位置に異なる設置方向
にて配設した一例を示した斜視図である。FIG. 12 is a perspective view showing an example in which a plurality of running rail member connected bodies are arranged at different positions on a lower floor surface and an upper floor surface in different installation directions.

【符号の説明】[Explanation of symbols]

１ 走行範囲の拡大・変更が自在なロボット走行装
置（請求項（１）） ７ ロボット装置 １３ タ−ンテ−ブル １５ 回動形式の連架走行レ−ル部材 １７ 単位走行レ−ル部材 ６９ 走行範囲の拡大・変更が自在なロボット走行装
置（請求項（２）） ７１ 下階床面 ７５ 上階床面 ７９ テ−ブルリフタ− ８１ 昇降形式の連架走行レ−ル部材 ９３ テ−ブル １０１ 走行範囲の拡大・変更が自在なロボット走行装
置（請求項（３）） １０３ 昇降・回動型走行レ−ル部材1 Robot traveling device capable of expanding / changing traveling range freely (Claim (1)) 7 Robot device 13 Turntable 15 Rotating type continuous traveling rail member 17 Unit traveling rail member 69 Traveling Robot traveling device whose range can be expanded / changed (Claim (2)) 71 Lower floor 75 Upper floor 79 Table lifter 81 Elevating type continuous traveling rail member 93 Table 101 Traveling Robot traveling device whose range can be expanded and changed freely (Claim (3)) 103 Elevating / rotating traveling rail member

Claims (3)

【実用新案登録請求の範囲】[Scope of utility model registration request] 【請求項１】 両端部に脱着可能な連結部位を備え、且
つ、側面に走行案内溝が設けられるとともに上面をロボ
ット装置用走行面とした長さの異なる複数の単位走行レ
−ル部材が、適宜な組み合わせにより直列に連結されて
構成された一の走行レ−ル部材連結体と、 他の走行レ−ル部材連結体とも臨時に連結可能な一端部
が、該一の走行レ−ル部材連結体の一端と脱着可能に先
行して臨時に連結された回動形式の連架走行レ−ル部材
と、 走行案内機構を備え、該走行案内機構を介して前記ロボ
ット走行面上を往復動するロボット装置と、 前記回動形式の連架走行レ−ル部材の底面と当接し、該
回動形式の連架走行レ−ル部材を回動可能に搭載するタ
−ンテ−ブルと、 前記複数の単位走行レ−ル部材が、前記一の走行レ−ル
部材連結体とは異なる方向に、適宜な組み合わせにより
直列に連結されて構成された少なくとも一基の他の走行
レ−ル部材連結体と、 から構成されていることを特徴とする、走行範囲の拡大
・変更が自在なロボット走行装置。1. A plurality of unit traveling rail members each having a detachable connecting portion at both ends, provided with traveling guide grooves on side surfaces, and having upper surfaces as traveling surfaces for a robot device and having different lengths. One running rail member connecting body configured by being connected in series by an appropriate combination and one end portion that can be temporarily connected to another running rail member connecting body are the one running rail member connecting body. A revolving type continuous traveling rail member detachably and temporarily connected to one end of the connecting body, and a traveling guide mechanism, and reciprocates on the robot traveling surface via the traveling guide mechanism. And a turn table for abutting the bottom surface of the rotary type continuous traveling rail member and rotatably mounting the rotary type continuous traveling rail member. A plurality of unit traveling rail members are different from the one traveling rail member connecting body. The traveling range can be freely expanded or changed, and the traveling range can be freely changed, and the traveling range can be freely changed. Robot traveling device. 【請求項２】 両端部に脱着可能な連結部位を備え、且
つ、側面に走行案内溝が設けられるとともに上面をロボ
ット装置用走行面とした長さの異なる複数の単位走行レ
−ル部材が、適宜な組み合わせにより直列に連結されて
構成された下階用走行レ−ル部材連結体と、 上階用走行レ−ル部材連結体とも臨時に連結可能な一端
部が、該下階用走行レ−ル部材連結体の一端と先行して
臨時に脱着可能に臨時に連結された昇降形式の連架走行
レ−ル部材と、 走行案内機構を備え、該走行案内機構を介して前記ロボ
ット装置用走行面上を往復動するロボット装置と、 前記昇降形式の連架走行レ−ル部材の底面と当接し、該
昇降形式の連架走行レ−ル部材を昇降可能に搭載する昇
降装置と、 前記下階用走行レ−ル部材連結体が設置された位置より
少なくとも一の上方位置にて、前記複数の単位走行レ−
ル部材が適宜の組み合わせにて直列に連結されて構成さ
れた少なくとも一基の上階用走行レ−ル部材連結体と、 から構成されていることを特徴とする、走行範囲の拡大
・変更が自在なロボット走行装置。2. A plurality of unit traveling rail members having detachable connecting portions at both ends, provided with traveling guide grooves on side surfaces, and having upper surfaces as traveling surfaces for a robot apparatus, the unit traveling rail members having different lengths. The lower floor traveling rail member connecting body configured by being connected in series by an appropriate combination and the one end part that can be temporarily connected to the upper floor traveling rail member connecting body are the lower floor traveling rail member connecting bodies. -Elevating type continuous traveling rail member that is temporarily detachably connected to one end of the connecting member of the rail members and a traveling guide mechanism, and is for the robot device via the traveling guide mechanism. A robot device that reciprocates on a traveling surface; an elevating device that abuts a bottom surface of the elevating-type continuous traveling rail member and that mounts the elevating-type consecutive traveling rail member so as to be able to elevate and lower; Less than the position where the lower level running rail member connection was installed Both in one upper position, the plurality of unit travel Les -
A traveling range can be expanded or changed, which is characterized by comprising at least one upper-floor traveling rail member connecting body configured by connecting the serial members in an appropriate combination in series. Flexible robot traveling device. 【請求項３】 両端部に脱着可能な連結部位を備え、且
つ、側面に走行案内溝が設けられるとともに上面をロボ
ット装置用走行面とした長さの異なる複数の単位走行レ
−ル部材が、適宜な組み合わせにて直列に連結されて構
成された下階用走行レ−ル部材連結体と、 他の下階用走行レ−ル部材連結体及び上階用走行レ−ル
部材連結体とも臨時に連結可能な一端部が該下階用走行
レ−ル部材連結体の一端と脱着可能に先行して臨時に連
結された昇降・回動形式の連架走行レ−ル部材と、 走行案内機構を備え、該走行案内機構を介して前記ロボ
ット装置用走行面上を往復動するロボット装置と、 前記昇降・回動形式の連架走行レ−ル部材の底面と当接
し、該昇降・回動形式の連架走行レ−ル部材を昇降可能
に搭載する昇降装置と、 該昇降装置が最大限降下した時点で、前記昇降・回動形
式の連架走行レ−ル部材のロボット装置用走行面と前記
下階用走行レ−ル部材連結体のロボット装置用走行面と
を同一平面となして該昇降装置を回動可能に搭載する、
該昇降装置の下方に配設されたタ−ンテ−ブルと、 前記複数の単位走行レ−ル部材が、前記下階用走行レ−
ル部材連結体とは異なる方向に適宜な組み合わせにて直
列に連結されて構成された少なくとも一基の構成要素と
して含むことある他の下階用走行レ−ル部材連結体と、 前記複数の単位走行レ−ル部材が、異なる高さ位置にて
異なる方向若しくは同方向に適宜な組み合わせにて直列
に連結されて構成された少なくとも一基の上階用走行レ
−ル部材連結体と、 から構成されていることを特徴とする走行範囲の拡大・
変更が自在なロボット走行装置。3. A plurality of unit traveling rail members each having a detachable connecting portion at both ends, provided with traveling guide grooves on side surfaces, and having upper surfaces as traveling surfaces for a robot device and having different lengths. The lower floor traveling rail member connecting body configured by being connected in series in an appropriate combination, and the other lower floor traveling rail member connecting body and the upper floor traveling rail member connecting body are also temporary. An elevating / rotating type continuous traveling rail member, one end portion of which is connectable to the lower floor traveling rail member connecting body detachably and temporarily connected in advance to the other end, and a traveling guide mechanism. A robot device that reciprocates on the traveling surface for the robot device through the traveling guide mechanism, and the elevating / rotating device that abuts on the bottom surface of the lifting / rotating type traveling traveling rail member. And an elevating device that mounts a continuous traveling rail member of a type capable of elevating and lowering, At the time of the maximum descent, the running surface for the robot device of the ascending / descending type continuous running rail member and the running surface for the robot device of the lower floor running rail member combination are made flush with each other. Mount the lifting device rotatably,
A turntable disposed below the lifting device and the plurality of unit traveling rail members are provided for the lower floor traveling rail.
Other lower floor traveling rail member connected body that may be included as at least one component configured by being connected in series in an appropriate combination different from that of the member connected body, and the plurality of units. And at least one traveling floor member connecting body for upper floors configured by connecting traveling rail members in series in different directions at different height positions or in an appropriate combination in the same direction. Expansion of the driving range characterized by being
Robot traveling device that can be changed freely.
JP10362791U 1991-11-20 1991-11-20 Robot traveling device that can freely expand and change the traveling range Pending JPH0544483U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP10362791U JPH0544483U (en) 1991-11-20 1991-11-20 Robot traveling device that can freely expand and change the traveling range

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP10362791U JPH0544483U (en) 1991-11-20 1991-11-20 Robot traveling device that can freely expand and change the traveling range

Publications (1)

Publication Number Publication Date
JPH0544483U true JPH0544483U (en) 1993-06-15

Family

ID=14359008

Family Applications (1)

Application Number Title Priority Date Filing Date
JP10362791U Pending JPH0544483U (en) 1991-11-20 1991-11-20 Robot traveling device that can freely expand and change the traveling range

Country Status (1)

Country Link
JP (1) JPH0544483U (en)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5970527A (en) * 1982-10-16 1984-04-21 Oiles Ind Co Ltd Preparation of cable guide pipe equipped with curved part
JPS6133371A (en) * 1984-04-14 1986-02-17 Toshiba Corp Inspection working device

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5970527A (en) * 1982-10-16 1984-04-21 Oiles Ind Co Ltd Preparation of cable guide pipe equipped with curved part
JPS6133371A (en) * 1984-04-14 1986-02-17 Toshiba Corp Inspection working device

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