JPH06238591A - Free installation type robot device - Google Patents

Abstract

PURPOSE:To form a robot device equipped with a pendulum type robot arm mechanism which can be freely installed to a variety of installation places, by utilizing a single robot installation plate, even in the case of a single robot machine body. CONSTITUTION:The upper and lower installation surfaces 12c and 12d are installed on the robot body part 12 of a robot machine body, and a single robot installation plate 30 can be integrally fixed with any installation surface of the upper and lower surfaces 12c and 12d, and further, a joint edge 22a which can be separated to the arm 22 of a robot arm mechanism 20 and a link is installed, and the robot movable element in the succeeding stage can be separated in installation.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention comprises an industrial robot, and in particular, a pendulum type robot arm mechanism, which can be mounted in a ceiling-mounted posture or a shelf-mounted posture at the robot installation location and can be attached in a mounting posture. The present invention relates to a freely attachable robot apparatus capable of optimally selecting an operation area of a robot arm mechanism according to changes in

[0002]

2. Description of the Related Art Industrial robots, in particular, pendulum type robot devices equipped with a robot arm mechanism that pendulum-likely hangs from a robot body forming a body are well known. Conventionally, this type of pendulum type robot has a shelf plate surface overhanging horizontally from the ceiling surface or building wall at the site where the robot is used as the installation location of the robot body, and has a body that houses the drive source motor and speed reducer. The robot arm mechanism that hangs down from the robot body, that is, one arm that can swing and swing in a pendulum type around a substantially horizontal rotation axis and link means that mechanically supports the arm It is equipped with a robot arm mechanism that has a complex arm type structure with high mechanical rigidity by connecting the robot arm mechanism with an end effector at the tip of this robot arm mechanism, and the desired robot motion is used as a teaching program for the robot controller. It has a configuration for performing the control according to the above.

[0003]

Here, in the conventional pendulum type robot apparatus, a flange type mounting base is integrally formed and provided on one surface of the robot main body, and the mounting base is fixed to the installation place by bolts or the like. The robot body is attached to the installation location by fixing it using a means. In particular, the robot arm mechanism is different from the simple robot arm mechanism having only a single arm in order to enhance mechanical rigidity, and has a composite arm type structure in which the arm and the support link means are connected via a node. Generally, it is equipped with an arm and a link means, so the installation surface condition can be changed between the ceiling mount type mounting and the shelf mounting type mounting of one robot body at the site of use. It was difficult to properly switch between them depending on the situation. In addition, regarding the operation performance of the robot, there is a tendency that the operation area of the robot arm is inevitably determined and limited depending on the installation location and the installation posture of the robot body.

Therefore, the main object of the present invention is to eliminate the drawbacks of such a conventional pendulum type robot apparatus. Another object of the present invention is to allow a single pendulum type robot device to be used as desired between a ceiling mount type and a shelf mount type, and to operate the robot arm mechanism according to the spatial conditions of the robot use site. An object of the present invention is to provide an attachable robot device capable of setting an area to an optimum state.

[0005]

In order to achieve the above-mentioned object, the present invention provides two attachment surfaces, which are separated from each other, in a robot main body forming a body of a robot apparatus having a pendulum type robot arm mechanism. A robot installation plate that can be detachably fixed on any of the two mounting surfaces is also provided,
This robot installation plate allows the robot body to be mounted on the ceiling or shelf-mounted robot mounting base in a ceiling-suspended or shelf-mounted manner so that a single robot body can be installed. It can be mounted on the ceiling or on a shelf depending on the conditions of the place, and
A connecting end is formed at each end of the first arm and link means of the robot arm mechanism so that the arm and link means of the other stage can be detachably attached. By separating the arm and link means of the other stage from the eye arm and link means, the reverse mounting can be easily performed.

That is, according to the present invention, two predetermined planes separated from each other are formed as the mounting surfaces of the robot body, and the body of the robot between the two planes has one axis, and the robot body has one axis. The first stage includes an arm whose one end is pivotally attached to the body with the axis of the robot body as a rotation axis and an arm supporting link which is attached to the arm and has one end pivotally attached to the body. The robot arm mechanism that is provided as a link with the arm of the robot, and the robot body that is detachably formed on any gap between the mounting surfaces of the robot main body formed by the two planes and that can be fixed to the installation location of the robot body. A robot installation plate having a section so that the robot arm mechanism can be installed in any installation posture, and the robot arm mechanism has coupling ends at the other ends of the arm and the link, respectively. Separated and extended through the end Universal mounting robot apparatus having a capacity arms structure is provided.

A single common installation plate is used as the robot installation plate, and a bolt and screw may be used as a fixing means for fixing the installation plate to the robot main body, and a positioning pin may be used together if necessary. It Further, bolts may be used to fix the robot installation plate to the installation place. Further, bolt screws are also used when connecting the arms and links of other stages to the connecting ends of the arms and links.

[0008]

According to the above construction, the robot installation plate is attached to the robot body according to the installation conditions of the installation site at the site where the robot is used, that is, whether the installation is performed by the ceiling suspension method or the shelf installation method. The robot installation plate may be fixed to one of the surfaces and the robot installation plate may be fixed to the installation location. Further, at this time, the robot main body is installed in the same shelf mounting method or ceiling suspension method by separating the arm and the link of the other step in advance at the connecting end of the first arm and the link of the robot arm mechanism. Also in this case, the robot main body portion can be inverted so that the robot arm mechanism can be attached in accordance with an appropriate operation area. That is,
According to the present invention, four attachment methods can be performed by a single robot body by combining the ceiling-mounted and shelf-mounted attachment modes and the selection of the operation area of the robot arm mechanism.

The present invention will be described below in more detail with reference to the embodiments shown in the accompanying drawings.

[0010]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a front view showing the structure of a freely attachable robot apparatus equipped with a pendulum type robot arm mechanism according to an embodiment of the present invention, and FIG. 2 is a side view taken along the line II-II of FIG. 3, (a) is a side view showing the robot apparatus mounted in a shelf system, (b) is a side view showing the robot apparatus mounted in a ceiling suspension system, and FIG. 3 is a side view showing a state in which the robot arm mechanism is attached so as to secure the same operation area of the robot arm mechanism, and FIG. 5 shows the arm in the robot arm mechanism in the attached robot device shown in FIG. FIG. 7 is a partial front view showing a state in which and links are replaced with each other.

Referring to FIGS. 1 and 2, a universally mountable robot apparatus according to an embodiment of the present invention includes a robot body 12 that forms a body of the machine.
Has a box-like shape, and a robot arm mechanism 20, which will be described later, that forms a robot movable element is attached to the front end face 12a in a pendulum manner. The drive source motor M of the built-in robot arm mechanism 20 is seen on the rear end surface 12b side facing the front end surface 12a, and the rotation output of the drive source motor M is incorporated into an appropriate speed reducer R and output shaft P. Is transmitted to the pendulum type robot arm mechanism 20 via.

The upper and lower surfaces 12c of the robot body 12,
The reference numeral 12d is provided as a mounting surface for mounting the robot body on the installation surface at the site of use, and in the present invention, it is suspended from the ceiling surface C via the installation plate 30 in a ceiling suspension manner or horizontally in a shelf shape. It has a structure which can be mounted on the horizontal stand S in a shelf system. That is, the installation plate 30 is provided on the upper surface 12c or the lower surface 12d of the robot body 12 as desired.
Is attached to the robot main body 12 by using a fixing means such as a bolt screw 34 or a positioning pin (not shown). Then, the integrated body of the robot body 12 and the installation plate 30 is similarly bolt-screwed using the bolt-screw insertion holes 33 formed in the flange 32 formed in the peripheral area of the installation plate 30. It is attached to the ceiling surface C or the horizontal mount S by a fixing means such as 36.

That is, according to the present invention, the robot body has two mounting surfaces 1 provided on the robot body 12.
2c, 12d and any of these mounting surfaces 12c, 12
By using a single installation plate 30 that can be commonly fixed to d, the robot can be arbitrarily mounted on the ceiling surface at the site where the robot is used or on the rack-like horizontal stand S. The solid line display in FIG. 1 shows a case where the robot body is attached to the horizontal pedestal S by the shelf system using the installation plate 30, and the installation plate 3 illustrated by the broken line is shown.
0 is the same plate 3 for mounting the robot body on the ceiling surface C
The position of 0 is shown.

On the other hand, in the robot apparatus according to the present embodiment, the pendulum type robot arm mechanism 20 pivotally attached to the front end surface 12a of the robot body 12 has an output shaft P.
To the robot main body so as to be rotatable about an axis L1 parallel to the rotation axis J1 of the first step arm 22. It is configured with a first stage link 24 pivotally attached to 12. The latter first-stage link 24 is connected to the first-stage arm 22 via a suitable number of joints in a lower region (not shown), for example, by forming a link mechanism of a pantograph structure. The mechanical rigidity of the arm 22 is enhanced.

The first stage arm 2 of the robot arm mechanism 20.
2, coupling ends 22a and 24a of a flange structure are provided at the lower ends of the first stage links 24, respectively.
The second-stage arm member 26 and the second-stage link member (not shown) are further coupled so as to be separable by 24a, thereby forming a robot upper arm mechanism of an appropriate length. An arm 28 of the robot forearm mechanism is pivotally attached to the other end of the second stage arm member 26 via a joint 27 so as to be rotatable about a rotation axis J2. Although not shown, various end effectors are attached to the tip of the robot forearm mechanism via the robot wrist so that desired robot work can be performed.

Here, according to the present invention, as described above, the first stage arm 22 and the first stage link 2 of the robot arm mechanism 20 are used.
4 has coupling ends 22a and 24a to allow the movable elements after the second stage arm 26 to be separated. Therefore, when the robot body 12 of the robot body is attached to the ceiling surface C or the horizontal pedestal S, the attachment work can be simplified by separating the movable element, and other attachment methods described below can be used. It will be possible.

Here, referring to FIG. 3, a state in which the robot apparatus according to the above-described embodiment is attached to the horizontal mount S by a shelf system is shown in FIG. The state of being mounted on the ceiling surface C by the ceiling suspension method is illustrated in FIG. At this time, the robot arm mechanism 20
It is assumed that the robot forearm 28 is provided to perform a desired robot motion in a motion area A indicated by a dotted line. That is, the end effector (not shown) attached to the tip of the robot upper arm 28 pivotally attached to the lower end of the robot upper arm composed of the first and second stage arms 22 and 26, for example, grips a workpiece in the operation area A. It is provided so as to perform a desired robot work such as holding and assembling.

However, due to the spatial restrictions of the site where the robot is used, as shown in (a) and (b) of FIG. 4, the robot installation location, that is, the arrangement condition of the horizontal mount S and the ceiling surface C is shown in FIG. The front and rear surfaces 12a and 12b of the robot body 12 are set to 180 ° with respect to the states shown in (a) and (b).
It is assumed that there is a condition that it is necessary to rotate around the vertical axis for mounting and that the same operating region A needs to be secured as the operating region. Under such conditions, according to the present invention, the robot body can be easily attached in the state shown in FIG.

That is, for example, the state of FIG.
It is possible to easily switch the mounting method between the state (a) and the state (b). That is, in the state of FIG. 3A, the installation plate 30 is fixed and integrated on the lower surface 12d of the robot body 12,
Next, the installation plate 30 is attached to the upper surface of the horizontal pedestal S in a fixed state.

However, depending on the conditions of the installation location, FIG.
When it is necessary to attach the installation plate 30 to the upper surface 12c of the robot body 12, the first stage arm 22 and the first stage link 24 of the robot arm mechanism 20 are attached.
The movable elements connected thereafter are connected to the connecting ends 22a, 24.
Separated at a to form a compact robot body state.

Next, the robot body 12 of the robot body thus compacted is turned over by 180 ° about an axis parallel to the operating axis J1, and the upper surface 12c side to which the installation plate 30 is fixed is the lower side. In addition, the lower surface 12d side where the installation plate 30 is not fixed comes to the upper side.
Further, the front and rear surfaces 12a and 12b are reversed to fix the installation plate 30 on the horizontal mount S. In the attachment work process described above, since the robot arm mechanism 20 is previously cut off at the connecting ends 22a and 24a of the first-stage arm and the links 22 and 24, the robot main body 12 can be easily inverted. It is possible.

Thus, when the fixing of the robot body 12 is completed, the movable elements of the robot arm mechanism 20 on and after the first stage can be sequentially connected to obtain the state shown in FIG. Can be done. Similarly, between the state of FIG. 3B and the state of FIG. 4B, the robot arm mechanism 20 and the end effector can be easily reversed in the desired operation area A to perform the desired robot work. It is possible. FIG. 5 is a front view seen from the front end side of the robot apparatus when mounted in the state of FIG. 4 (a) or (b). In such a state, as compared with the case shown in FIG. It can be seen that the positions of the arms and links of the robot arm mechanism 20 are reversed by 180 °.

In short, according to the present invention, it is possible to mount in two modes, a ceiling suspension system and a shelf system, and
Also in each of the above-described both types of mounting modes, the upper and lower two mounting surfaces 12c and 12d provided on the robot body 12 are provided.
By cleverly using a common single installation plate 30, it is possible to secure the same operation area A while coping with changes in the conditions of the installation place, and eventually, a plurality of installation methods (4 in the embodiment). Seed) can be realized.

Of course, the operation area B shown in FIGS. 4 (a) and 4 (b) is a mounting system obtained by simply changing the front and rear ends of the robot body 12 by 180 °.
It is possible to obtain at least 6 types of mounting methods.

[0025]

As can be understood from the above description of the embodiments, according to the present invention, two robot bodies which form the body of a robot apparatus having a pendulum type robot arm mechanism are separated from each other. One mounting surface (upper and lower surfaces in the embodiment) is provided, and a robot installation plate that can be fixed in a detachable manner is provided in common with any deviation of the two installation surfaces, and the robot body is mounted on the ceiling surface via the robot installation plate. It is possible to mount a single robot main body to the ceiling depending on the conditions of the installation location of the robot body by making it possible to mount it on the horizontal platform for mounting the robot mounted on The robot arm mechanism can be mounted in a hanging or shelving manner, and a coupling end is formed at each end of the arm and the link means of the first stage of the robot arm mechanism so that the arm and the link means of the other stage can be detached. Can be worn By constructing the robot body, the robot body can be made compact by separating the arm and link means of the first stage from the arm and link means of the first stage during the installation work of the robot body. Not only that, it is possible to obtain an effect that it is possible to secure an appropriate operation region of the robot movable element while coping with changes in the conditions of the installation place.

Further, according to the present invention, a single robot body can cope with various mounting conditions regardless of the space restrictions at the site where the robot is used. Therefore, the design of the robot body can be changed according to the installation conditions. It is possible to reduce the cost of manufacturing the robot apparatus itself because the necessity of performing the robot apparatus can be reduced, and various attachments can be freely performed without increasing the number of parts.

[Brief description of drawings]

FIG. 1 is a front view showing the configuration of a freely attachable robot apparatus equipped with a pendulum type robot arm mechanism according to an embodiment of the present invention.

FIG. 2 is a side view taken along the line II-II of FIG.

FIG. 3A is a side view showing the robot device mounted in a shelf system, and FIG. 3B is a side view showing the robot device mounted in a ceiling suspension system.

4 (a) and (b) are (a) and (b) of FIG. 3, respectively.
FIG. 11 is a side view showing a state in which the robot device shown in (b) is attached so as to ensure the same operation area of the robot arm mechanism.

5 is a perspective view showing the attached robot device shown in FIG.
FIG. 7 is a partial front view showing a state in which the arms and the links in the robot arm mechanism are replaced with each other.

[Explanation of symbols]

 12 ... Robot main body part 12a ... Front end part 12b ... Rear end part 12c ... Upper surface 12d ... Lower surface 20 ... Robot arm mechanism 22 ... First stage arm 24 ... Stand 1 stage link 22a ... Joining end 24a ... Joining end 26 ... Second stage Arm 30 ... Installation plate C ... Ceiling surface S ... Horizontal mount

Claims (1)

[Claims] 1. A robot main body having a predetermined two planes separated from each other as a mounting surface of a robot body, and having a shaft center in a body portion between the two planes, and an axis of the robot main body. An arm whose one end is pivotally attached to the body with its center being the axis of rotation and a link for supporting the arm which is attached to the arm and one end of which is pivotally attached to the body are provided as the first-stage arm and the link. And a robot arm mechanism having a mounting part that is detachably formed on any of the mounting surfaces of the robot main body part formed of the two planes and that can be fixed at the installation location of the robot body. The robot arm mechanism includes a plate and can be attached in any installation posture, and the robot arm mechanism has a coupling end at each of the other ends of the arm and the link, and is separated via the coupling end. Has extendable arm structure A freely attachable robot device characterized by: