JPH106259A - Straight conveyance method for large size flat plate and the like and conveying robot therefor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To convey objects without changing the heading, in which the mechanism and layout of a conveying robot are arranged reasonably and objects of various sorts are moved horizontally on a straight line. SOLUTION: The first arm 12 is pivoted on the base of a conveying robot 100 while the second arm 13 is rotatably pivoted at the free end of the first arm, and a rotary carriage 10 is installed on the second arm 13 in such a way as capable of straight motion in the horizontal direction. The base is installed on the machine table, and the carrier 10 is located above the machine table B and the base 15, and an object W grasped by the carriage 10 is conveyed straight in the horizontal direction. Thereby objects of various sorts, in particular a large-sized flat plate, can be conveyed without changing the heading in a straight motion horizontally.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transfer method for linearly transferring a work such as a flat plate in a horizontal direction and a transfer robot, and particularly to a transfer method for transferring a large flat plate or the like straight without interfering with a robot arm or a base. The present invention relates to a new transfer method and a transfer robot thereof.

[0002]

2. Description of the Related Art Conventionally, various types of transfer robots have been proposed. For example, the one shown in FIG. 4 is referred to as a vertical articulated robot R1, and the first arm A
The first arm and the second arm A2 are articulated, and a gripper H for the work W1 is attached to the tip (wrist) of the second arm A2, and is conveyed from one position E1 to another position E2. FIG.
Is a horizontal articulated robot R2, and has a first arm A1 'and a second arm A2' on a machine base 1 '.
And a gripper H ′ for the work W is attached to the tip (wrist) of the second arm A2 ′, and is conveyed from one position E1 to another position E2. In the drawing, a fork-shaped gripper H 'is attached, and a large-sized flat work W2 is transported.

[0003]

In the above-described conventional vertical articulated robot R1 and horizontal articulated robot R2, as shown in FIGS. 5 and 6, when the workpieces W1 and W2 are transported in the horizontal direction, a gripper is used. H, H 'are arms and machine base 1, 1
Therefore, there is a problem that the transport trajectory does not become a straight line but becomes an arc-shaped transport trajectory K1, K2. In particular, the large work interferes with the grippers H and H ', the arms and the machine bases 1 and 1', and its dimensions are restricted. Also, the arc-shaped transport trajectories K1 and K2 must be large.

Further, in order to move between two points (E1, E2) without changing the directions of the works W1, W2, the grippers H,
There is a problem that the direction of H 'must be reversed by 180 degrees. In particular, in the case of a large work, there is a problem that not only the work is not smoothly and speedily carried out, but also a space that is larger than necessary is taken up and cannot be used in a small factory.

Therefore, as shown in FIG. 7, a conveyed product Wo is transferred between two machines MC1 and MC2 by a single-axis moving loader R.
Has been proposed that moves horizontally in a straight line. However, according to this embodiment, there is a disadvantage that the single-axis moving loader R takes up a large space in the machine and becomes an obstacle when opening and closing the shutters S1, S2 and the like.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and rationally arranges the mechanism and arrangement of the transfer robot to save space. An object of the present invention is to provide a transfer robot improved so that it can be transferred without changing the direction of the transfer robot.
In particular, it is an object of the present invention to allow a large workpiece to move linearly.

[0007]

According to the present invention, there is provided an articulated positioning / transporting means for linearly moving a carrier attached to a moving body in a horizontal direction. And transporting the object gripped by the carrier in a straight line in a horizontal direction at a high place.

According to the first aspect of the present invention, since the transporter disposed above moves horizontally in a straight line while maintaining the horizontal posture, it is moved from a small work to a large work at the shortest distance without being limited by its dimensions, and is smoothly moved. And speedy conveyance is enabled.

[0009] Claim 2 of the present invention provides the base with the first
An arm is pivoted, a second arm is rotatably supported on the free end of the first arm, and a rotatable carrier is provided on the second arm, and the carrier is linearly movable in a horizontal direction. In such a transfer robot, the base is placed on the machine base with the base upward, and the transfer tool is disposed above the machine base and the base, and the transfer object gripped by the transfer tool is horizontally rotated without turning. This is a transfer robot for a large flat plate or the like, which is transferred in a straight line in the direction.

According to the second aspect of the present invention, since the transfer tool of the transfer robot arranged upward moves horizontally in a straight line while keeping the horizontal posture, it can move from a small work to a large work in the shortest distance without being limited by its size. This enables smooth and speedy conveyance. Further, since the transfer tool can move between two points without being inverted, a small work to a large work can smoothly move between two points without changing the direction of the work. The transport is enabled by the movement of. In addition, space saving is achieved, and the device is compactly stored in the machine.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments including the technology described in each claim of the present invention will be described. FIG. 1 shows an embodiment of a transfer robot 100 used in the present invention. The configuration of the transfer robot 100 includes a transfer tool 10 as a gripper H, H for holding a workpiece W, three arms 12, 13,
A base 15 for supporting the first arm 12 is attached to the machine base B, and each arm is hung downward.

The carrier 10, which is a gripper (chuck) provided at the tip of the third arm, is held so as to protrude above the base 15, and has a receiving position (E1) and a transferring position (E2).
The sheet is moved along a straight transport path K in the horizontal direction on the X axis. That is, when the first arm is swung by the motor M provided at the base end of the first arm 12 of the transfer robot 100,
The second arm 13 articulated with this is swung in the opposite direction so that the carrier 10 provided on the third arm 14 faces the article in a horizontal posture, where the carrier 10 moves the article horizontally from below. , And transport it in a horizontal position.

The joint configuration of each of the arms 12, 13, and 14 of the transfer robot 100 according to the present invention that operates as described above is as shown in FIGS. The base 15 supports a base 12A of the first arm 12. The base 12A of the first arm 12 has a non-rotatable first wheel body 16 and a free end 12B of the first arm 12. A third wheel body 17 is fixed to the arm via a support shaft 12C. A second wheel body (18) integral with the second arm (13) is provided on a pivotal support portion (13A) of the second arm (13) which is articulated with the support shaft (12C) of the third wheel body (17) on the free end (12B) side of the first arm.
Further, the third arm 14 is attached to a pivot portion 14A of the third arm 14 which is articulated with the support shaft 19 of the free end 13B of the second arm.
And a fourth wheel body 20 integral with the second wheel body.

The base 12A of the first arm 12
A positive band 21 is wound between the first wheel body 16 on the side and the second wheel body 18 of the second arm 13. Furthermore, the first arm 1
A positive band 22 is wound between the third wheel body 17 on the free end side of the second and the fourth wheel body 20 of the third arm 14. Each of the wheel bodies 16, 17, 18, and 20 is a sprocket or a timing pulley, and the positive moving bands 21 and 22 are a chain or a timing belt. And each said ring body 16,17,1
8, 20 indicate that the ratio of the number of teeth is 2: 1 (16 and 18) and 1: 2.
(17 and 20).

Each of the ring bodies 16, 17, 18, and 20 has a gear ratio of 2: 1 (16 and 18) and 1: 2 (17 and 2).
When the first arm 12 is turned by the turning motor M provided on the base 12A of the first arm 12 under the relationship of 0), the second arm 13 turns in the opposite direction at a double turning angle, and The arm 14 turns in the same direction at the same turning angle as the first arm 12. Then, as shown in FIG.
The turning angle θ of the third arm 13 increases and decreases in the same relationship, and the tip 14B of the third arm 14 equipped with the carrier 10 moves left and right along a horizontal linear trajectory K in the X-axis direction. Thereby, the carrier 1 which is a gripper (chuck) provided at the tip of the third arm
0 moves horizontally between the receiving position (E1) and the delivering position (E2) along a straight transport trajectory K, and conveys various workpieces W from small to large workpieces without being limited in size.

Thus, the transfer tool 10, which is a gripper (chuck) provided at the tip of the third arm, moves in a horizontal direction along a straight transfer trajectory K in the space above the position where the transfer robot is arranged. The size of the small to large workpieces is not limited by the interference of the workpieces, and the various workpieces W are transported smoothly and speedily.

In particular, a large flat plate, for example, a glass plate is made safe without any interference and without reversing its direction, so that the receiving position (E1) and the transferring position (E2) can be moved quickly. It is moved along a straight transport path K in the horizontal direction.

According to the present invention, the following effects can be obtained. First, each arm is arranged below the machine base, and the carrier is arranged above the machine base and the base. Since the transfer robot to be transferred is arranged, the transfer tool of the transfer robot placed upward moves horizontally in a straight line while maintaining the horizontal posture, and from the small work to the large work, it is moved at the shortest distance without being limited by its dimensions. This has the effect of enabling smooth and speedy conveyance.

Further, since the carrier can be moved between two points without being inverted, small to large workpieces can be moved.
There is an effect that it is possible to smoothly move between the two points without changing its directionality, and to convey with a minimum space and a minimum movement.

It should be noted that the present invention is not limited to the above-described embodiment, and it is needless to say that the design can be freely changed within the scope of the invention. For example, the type of robot may use an articulated positioning device such as a horizontal articulated robot or a vertical articulated robot. Alternatively, the carrier may be positioned at a higher position, and in this state, the carrier may be linearly moved in the horizontal direction. Further, the mounting arrangement between the base and the machine base of the robot may be something other than the above-mentioned illustration.

[0021]

According to the first aspect of the present invention, in the articulated positioning / transporting means for linearly moving a carrier attached to a moving body in a horizontal direction, the carrier is arranged above and the carrier grasps. Since the conveyed object is transferred in a straight line in a horizontal direction at a high place, the conveying tool arranged upward moves in a straight line horizontally while maintaining the horizontal posture, and from the small work to the large work, at the shortest distance without being subject to the dimensional restrictions. There is an effect that it can be moved to enable smooth and speedy conveyance.

According to a second aspect of the present invention, a carrier is disposed on the machine base with the base upward, and the carrier is arranged above the machine base and the base, and the carrier gripped by the carrier. Since the transfer robot is arranged so that it is transferred horizontally in a straight line without turning, the transfer tool of the transfer robot that is placed upward moves horizontally in a straight line while maintaining its horizontal posture, and its dimensions range from small workpieces to large workpieces. There is an effect that the transfer is performed at the shortest distance without restriction and smooth and speedy conveyance is enabled.

Further, since the carrier can be moved between two points without being inverted, small to large workpieces can be moved.
It moves smoothly between two points without changing its direction, and enables transport with minimal space and minimal movement.
Further, there is an effect that a space saving is achieved and a transfer robot that can be compactly stored in the machine can be provided.

[Brief description of the drawings]

FIG. 1 is a side view showing a relationship in which a transfer robot of the present invention is arranged on a machine base.

FIG. 2 is a front view showing a relationship in which the transfer robot of the present invention is arranged on a machine base.

FIG. 3 is an operation plan view showing a movement trajectory of the transfer robot of the present invention.

FIG. 4 is a front view showing a conventional robot.

FIG. 5 is a plan view showing a conventional robot.

FIG. 6 is a plan view showing a conventional robot.

FIG. 7 is a front view in which a conventional one-axis moving loader is used for conveying a work.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 10 Carrier 12-14 Arm 15 Base 16,17,18,20 First, Second, Third, Fourth wheel 21,22 Positive zone B Machine base E1 Receiving position E2 Delivery position K Transport trajectory M Turning Motor W1, W2, Wo Work 100 Transfer robot

Claims (2)

[Claims] An articulated positioning / transporting means for linearly moving a carrier attached to a moving body in a horizontal direction, wherein the carrier is disposed at an upper position, and a conveyed object grasped by the carrier is horizontally moved at a high place. A method of transporting a large flat plate or the like in a straight line, wherein the transport is performed in a straight line. 2. A first arm is pivotally mounted on a base, a second arm is pivotally supported on a free end of the first arm, and a rotatable carrier is provided on the second arm. In the transfer robot capable of linearly moving the transfer tool in the horizontal direction, the transfer tool is disposed on the machine base with the base upward, and the transfer tool is disposed above the machine base and the base, and is gripped by the transfer tool. A transport robot for a large flat plate or the like, wherein the transported product is transferred in a straight line in a horizontal direction without turning.