JPH07266281A - Robot changing device - Google Patents

Abstract

PURPOSE:To provide a robot changing device which can change a robot without removing cable and piping. CONSTITUTION:A robot 1 is provided with a change-device upper unit 2, and a working table wired with electric cable and piped is provided with a change- device lower unit 3. The change-device upper unit 2 is provided with a connector 16, a piping end connection 17, and a power connector, and the change-device lower unit 3 is provided with a contact probe 28 for connection to the connector 16, an air passage 29 for connection to the piping end connection 17, and a power connector 30 for connection to the power connector. When the change- device upper unit 2 is positioned with respect to and placed on the change-device lower unit 3, both units 2, 3 are releasably connected together and the working table is electrically connected to the robot 1, and the air passage is also connected.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot exchanging device capable of efficiently and easily moving and carrying a robot as needed in, for example, automated equipment.

[0002]

2. Description of the Related Art Robots are often used in automated facilities such as production factories, but the robots are fixed at fixed positions.The robots are connected to controllers, power supplies, external devices, etc., and electric cables (power cables, signals, etc.). It was directly connected to cables, etc.) and air piping.

The robot is always operating at a predetermined position, and the conveyor conveys the processed parts and the inspection object to the robot, and the robot grips the processed parts and the inspection object to be processed. I was doing assembly and inspection work.

[0004]

However, although it is not impossible to move the robot with the above-described method for installing the robot, the robot is a heavy object and is fixed to the floor or the like. It is very difficult to move and install the robot, and it is difficult to change the setup of the robot.

Further, it is necessary to automate the movement of the robot itself, for example, when sharing the robot as needed, for example, in two automation lines or separate works at mutually distant places, but with the conventional method. I can not cope. This is because the cables and piping that connect the robot to the controller and external devices are obstacles to movement, and the main body alone cannot be moved freely.

Recently, a controller-incorporated robot having a controller inside a robot body has been developed. This is because the cable connecting the robot and controller is not exposed to the outside of the robot, so the cables and piping are simplified, but the robot has an integral structure and is fixed to the floor, etc. It is practically difficult to move and install.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a robot exchanging device in which a robot can be easily moved without removing cables or pipes. .

[0008]

In order to achieve the above-mentioned object, the present invention provides a robot, a robot connecting portion provided in the robot, and an electric cable and piping for wiring and piping. A work table; a plurality of robot connected parts which are provided on the work table and are selectively detachably connected to the robot connecting part; and the work table which is provided on the robot connecting part and the robot connected part when connecting A connecting means for electrically and mechanically connecting to the robot is provided.

A second aspect of the present invention is characterized in that the robot according to the first aspect is a controller-incorporated robot. According to a third aspect of the present invention, the robot connecting portion of the first aspect is an exchange device upper unit that is detachably fixed to the base of the robot, and has a grasped portion that is grasped by the hand of the carrying device. Characterize.

According to a fourth aspect of the present invention, the connected portion of the robot according to the first aspect is a lower part of the exchanging device fixed to the work table, and is connected to an electric cable and pipes mounted on the work table. To do. A fifth aspect of the present invention is characterized in that the connecting means of the first aspect is a connector connected to an electric cable and a joint connected to a pipe.

A sixth aspect of the present invention is the electric cable of the first aspect,
It is a power cable, a signal cable, and a communication cable for communicating with other robots and controllers. A seventh aspect of the present invention is characterized in that the robot connecting portion according to the first aspect has a positioning pin, and the robot connected portion has a positioning hole for performing mutual positioning by inserting the positioning pin.

According to an eighth aspect of the present invention, the robot connecting portion according to the first aspect has a fixing pin, and the robot connected portion has a clinch mechanism for fixing the fixing pin to each other by sandwiching and fixing the fixing pin. It is characterized by A ninth aspect of the invention is characterized in that the pipe of the first aspect is an air pipe for driving a robot.

[0013]

[Operation] The robot is equipped with a robot connection part, and the work table has electrical cables and piping
Since the robot connection part is equipped with piping and a plurality of robot connected parts to which the robot connection part is selectively detachably connected are provided, when the robot connection part is connected to the robot connected part, the work table and the robot are connected. And are electrically and mechanically connected.

When moving to replace a robot,
By disconnecting the robot connecting part and the robot connected part, the electrical connection is also released, and the robot is grasped by the hand of the carrying device such as another large robot and moved to the other robot connected part to move to the robot connected part. The work table and the robot are electrically and mechanically connected to each other.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 shows the overall configuration of the robot exchange device,
Reference numeral 1 is a robot, 2 is an exchange device upper unit as a robot connecting portion, and 3 is a exchange device lower unit as a robot connected portion.

The robot 1 is, for example, a controller built-in robot, and a controller (not shown) is built in the robot body 4. A robot arm 5 is provided for the robot body 4, and a robot hand 7 for holding a work 6 is provided at the tip of the robot arm 5.

A rectangular base 8 projecting outward in a flange shape is integrally provided on the lower portion of the robot body 4, and mounting holes 8a are formed at four corners of the base 8. Further, on the side wall of the robot main body 4, a connector 9 for connecting a power source and a signal cable including a communication cable is projected, and a pipe connection port 10 for forming an air flow path is also projected. ing.

The exchange device upper unit 2 has an arcuate portion 11a at one end in the longitudinal direction of a flat plate-shaped main body 11, and gripped portions 12 are fixed to both sides of the main body 11a. ing.

Each of the gripped portions 12 has a bent portion 13a formed by bending the upper ends of the plate-like members 13 inwardly so as to face each other, thereby forming a bent portion 13a. The fitting portion 14 is formed. That is, a hand of a carrying device (not shown) such as a large robot can be inserted into the fitting portion 14.

Further, on the front surface 15 of the main body 11 of the exchange upper unit 2, a connector 16 as a connecting means for connecting a power source and a signal cable including a communication cable is provided in a protruding manner, and an air flow path is provided. A pipe connection port body 17 formed of an elbow for forming the is formed.

Further, as shown in FIG. 2, for example, three positioning pins 19 and one fixing pin 20 are provided on the lower surface 18 of the main body 11 of the exchange device upper unit 2 so as to project downward. . Further, the lower surface 18 of the main body 11
An air passage 22 and a power supply connector 23, which are joints communicating with the contact probe 21 electrically connected to the connector 16 and the pipe connection port 17, are provided at the front edge of the.

The exchange unit lower unit 3 is constructed as shown in FIG. That is, the main body portion 24 has the same shape as the main body portion 11 of the exchange device upper unit 2, and an arcuate portion 24a is provided at one longitudinal end of the flat body portion 24.
have. The body portion 24 has a positioning hole 26 and a fixing pin 20 to be fitted into the positioning pin 19 at positions corresponding to the three positioning pins 19 of the exchange device upper unit 2.
An opening 27 that fits with the fixing pin 20 at a position corresponding to
Is provided.

Further, on the upper surface 25 of the main body 24, a contact probe 28 connected to the contact probe 21 of the exchange upper unit 2 and an air passage 29 as a joint connecting to the air passage 22 and a power supply connector 23.
A power connector 30 is provided for connection with the.

Further, a connector 32 that is electrically connected to the contact probe 28 and a pipe connection port body 33 that connects to the air passage 29 are provided on the front surface 31 of the main body portion 24, and a side portion 34 of the main body portion 24 is provided. A power supply connector 35 is provided. Further, a clinch mechanism 36 is provided in the opening 27 of the main body 24 to elastically sandwich and fix the fixing pin 20 when the fixing pin 20 is inserted.

Further, as shown in FIG. 1, the robot body 4
Connector 9 and connector 16 of the exchange unit upper unit 2
Sockets 37a at both ends for electrically connecting and
A connection cord 38 having 37b is provided. Further, a connection pipe 40 having connection mouthpieces 39a and 39b is provided at both ends for communicating the pipe connection mouth 10 of the robot body 4 and the pipe connection mouth 17 of the exchange device upper unit 2.

The base 8 of the robot body 4 is placed on the body portion 11 of the upper unit 2 of the exchange device, and the fixing screw 8b inserted into the mounting hole 8a is screwed into the body portion 11, whereby the robot body 4 and the exchange device are replaced. It is fixed integrally with the upper unit 2.

The work table 41 is constructed as shown in FIG. That is, the table main body 42 having a large space in which a plurality of robots 1 can be installed is formed hollow, and the power cable 42, the signal cable 43 including the communication cable, and the air pipe 44 are formed in the hollow portion.
Is wired and piped, and the power cable 42 is
The air pipe 44 is connected to an air supply source (not shown) such as an air compressor.

In this embodiment, the table body 42
The first to third robot installation units 45a, 45
b and 45c are provided, and the exchange unit lower unit 3 is fixed to each of them. A power cable 42 is connected to each power connector 35 via a socket 46. In addition, each connector 32
Is connected to a signal cable 43 via a socket 47, and an air pipe 44 is connected to the pipe connection port body 33.
Connected through.

The first and third robot installation parts 45a are also provided.
An exchange device upper unit 2 on which the robot 1 is mounted is mounted on the exchange device lower unit 3 located at positions 45 and 45c. In this case, the three locating pins 19 of the upper unit 2 of the exchange device are aligned with the positioning holes 26 of the lower unit 3 of the exchange device.
Since the clinch mechanism 36 elastically clamps the fixing pin 20 with the fixing pin 20 fitted in the opening 27, the exchange device upper unit 2 and the exchange device lower unit 3 are integrated. Be combined with.

Moreover, the contact probe 21 of the exchange unit upper unit 2 is connected to the exchange unit lower unit 3 by connecting the exchange unit upper unit 2 and the exchange unit lower unit 3.
Of the contact probe 28, the air passage 22 is connected to the air passage 29, and the power supply connector 23 is electrically connected to the power supply connector 30.

Therefore, the power source provided on the work table 41 is electrically connected to the robot 1 via the upper unit 2 of the exchange unit and the lower unit 3 of the exchange unit, and the air supply source also has an air passage through the upper unit of the exchange unit. The robot 1 through the air passage between the unit 2 and the lower unit 3 of the exchange device.
Communicate with.

Further, the robots 1 and 1 installed on the work table 1 are connected to each other via a signal cable 43,
It is possible to communicate with a controller built in the robot 1. Further, when the controller is on the work table 41 outside the robot 1, the controller and the robot 1 can communicate with each other via the signal cable 43.

According to the robot exchanging device configured as described above, the first robot setting section 4 of the work table 41 is provided.
5a and the robots 1 and 1 installed on the third robot installation unit 45c are operated to grip the work 6 by the hand 7 provided on the robot arm 5 and carry the work 6 into the processing unit (inspection unit) or perform processing (inspection). It is possible to carry in the work 6 for which the process () has been completed to the next step.

Further, the robot 1 is not installed in the second robot installation section 45b, but the work position is changed and the robot 1 installed in the third robot installation section 45c.
When moving the robot to the second robot installation portion 45b, another large robot or a hand of a transfer device or the like is inserted into the fitting portion 14 provided in the gripped portion 12 of the exchange device upper unit 2 and exchanged. By lifting the robot 1 together with the device upper unit 2, the exchange device upper unit 2 can be separated from the exchange device lower unit 2.

Therefore, the robot 1 together with the exchanging device upper unit 2 is operated by a large robot or a transfer device.
Is moved to the second robot installation section 45b and the exchange device upper unit 2 is positioned and placed on the exchange device lower unit 3 so that the positioning pins 19 of the exchange device upper unit 2 are positioned on the exchange device lower unit 3. Since the clinch mechanism 36 elastically clamps the fixing pin 20 with the fixing pin 20 fitted in the hole 26 and the fixing pin 20 fitted in the opening 27, the replacement device upper unit 2 and the replacement device lower unit 3 Are joined together. Therefore, the robot 1 of the first robot installation unit 45a and the robot 1 of the second robot installation unit 45b can be operated for processing and inspection.

As described above, by moving the robot 1 together with the exchanging device upper unit 2 by the carrying device such as a large-sized robot or a transfer device, the robot 1 can be automatically exchanged without human intervention. Setup can be facilitated and safety can be improved.

Further, since the power supply cable, the signal cable and the air pipe are all provided inside the exchanging device upper unit 2, the exchanging device lower unit 3 and the work table 41 and are not exposed to the outside, the entire robot exchanging device is provided. Is simplified, and even when the robot 1 is transported, the cables, pipes, etc. are not entangled, and the robot 1 can be easily transported.

In the above-mentioned embodiment, the controller-incorporated robot in which the controller is incorporated in the robot 1 has been described, but the present invention can be applied to a general robot provided with an external controller.

Although the replacement device upper unit 2 having a separate structure is fixed to the base 8 of the robot body 4 by the fixing screw 8b, if the base 8 of the robot body 4 is provided with the same equipment as the replacement device upper unit 2. The replacement device upper unit 2 is not required. Similarly, the exchange device lower unit 3 is provided on the work table 41 so as to be attachable to and detachable from the exchange device upper unit 2, but if the same equipment as the exchange device lower unit 3 is provided, the exchange device lower unit 3 becomes unnecessary. .

[0040]

As described above, according to the present invention, the robot can be easily moved / installed, and the robot can be exchanged at the time of movement without removing cables or pipes. Therefore, the work setup becomes easy,
There is an effect that work efficiency can be improved.

[Brief description of drawings]

FIG. 1 is an exploded perspective view of a robot replacement device according to an embodiment of the present invention.

2A and 2B are a front view and a bottom view of a replacement device upper unit of the embodiment.

FIG. 3 is a top view, a front view, and a bottom view of the lower part of the exchange device of the embodiment.

FIG. 4 is a perspective view of a usage example of the robot exchanging device of the embodiment.

[Explanation of symbols]

1 ... Robot, 2 ... Exchanger upper unit, 3 ... Exchanger lower unit, 12 ... Gripping part, 16, 32 ... Connector, 22, 29 ... Air passage, 23, 30 ... Power supply connector, 41 ... Work table.

Claims (9)

[Claims] 1. A robot, a robot connecting portion provided on the robot, a work table on which electric cables and pipes are wired and equipped with a pipe, and the robot connecting portion provided on the work table is selectively removable. A plurality of connected parts to be connected to the robot, and connection means provided on the robot connecting part and the connected part to electrically and mechanically connect the work table and the robot at the time of connection. Robot replacement device. 2. The robot replacement device according to claim 1, wherein the robot is a robot with a built-in controller. 3. The robot connecting part is an exchange device upper unit detachably fixed to a robot base,
The robot replacement device according to claim 1, further comprising a gripped portion that is gripped by a hand of the transportation device. 4. The robot according to claim 1, wherein the connected portion of the robot is a lower unit of the exchanging device fixed to the work table, and is connected to an electric cable and pipes equipped on the work table. Exchange device. 5. The robot exchanging device according to claim 1, wherein the connecting means is a connector connected to the electric cable and a joint connected to the pipe. 6. The electric cable is a power cable, a signal cable, and a communication cable for communicating with other robots and controllers.
The robot replacement device described. 7. The robot connecting part has a positioning pin, and the robot connected part has a positioning hole for positioning each other by inserting the positioning pin. Robot replacement device. 8. The robot connecting portion has a fixing pin, and the robot connected portion has a clinch mechanism for fixing the fixing pins by clamping the fixing pins. 1. The robot replacement device according to 1. 9. The robot exchanging device according to claim 1, wherein the pipe is an air pipe for driving the robot.