JPH11216690A - Robot running device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a compact robot running device at a reduced cost further capable of positioning in various positions on the guide a robot main body reciprocatingly supported on a guide fixed to a floor surface and having wrists through a plurality of drive shafts. SOLUTION: A brake cylinder 5 is actuated to press down a movable pad 6 in a direction Y1 to be pressed to a base plate 4, a running table 2 is fixed onto a guide 3, a plurality of drive shafts 13, 14, 15 and wrists 11 of a robot are driven, a pin 9 supported to the wrist 11 of the robot is inserted in a pin hole 71 of a pillar member 7. Then the brake cylinder 5 is made inoperative, a plurality of the drive shafts 13, 14, 15 and wrists 11 of the robot are actuated to move the pin 9 fixed to the wrist 11 of the robot toward a robot main body 1, and by this reaction, the robot main body 1 is moved in a direction X1 by a prescribed distance, thereafter the brake cylinder 5 is actuated to position the running table 2 on the guide 3.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a guide fixed to a floor and a robot traveling apparatus for positioning a robot main body having a wrist via a plurality of drive shafts supported and guided reciprocally by the guide. .

[0002]

2. Description of the Related Art Conventionally, as a robot traveling apparatus for moving a robot body on a guide, when a stop position is at two positions, a cylinder of the robot traveling apparatus having one cylinder is driven to thereby move the robot body. Can be positioned on the guide, but when positioning in multiple positions using cylinders, many cylinders must be used in combination, the mechanism is complicated, the device becomes large and heavy, and the cost increases. . Alternatively, it can be positioned at multiple positions by driving a servomotor. However, there are problems such as an increase in cost and an increase in adjustment time.

[0003]

SUMMARY OF THE INVENTION An object of the present invention is to position a robot main body having a wrist via a plurality of drive shafts supported and guided reciprocally on a guide fixed to a floor at multiple positions on the guide. An object of the present invention is to provide an inexpensive and compact robot traveling device that can perform the operation.

[0004]

SUMMARY OF THE INVENTION Accordingly, the present invention is directed to a robot having a guide fixed to a floor and a wrist fixed to a traveling table supported and guided reciprocally by the guide and having a plurality of drive shafts. A main body, a locking member supported by the wrist, a fixing member fixed to the guide or the floor surface and having a locked portion capable of fitting with the locking member, and the floor surface attached to the traveling table Or a brake cylinder capable of fixing the traveling table to the guide, and operating the brake cylinder to fix the traveling table to the guide, operating a plurality of drive shafts and wrists of the robot, The locking member fixed to the wrist is fitted to the locked portion of the fixing member, the brake cylinder is deactivated, and the locking member supported on the wrist of the robot is Operating the plurality of drive shafts and the wrist so as to move toward the main body, moving the robot main body fixed to the traveling table by a predetermined distance in a reaction, and then operating the brake cylinder to operate the traveling table. The problem of the prior art described above has been solved by providing a robot traveling device characterized in that a robot main body fixed to a robot is positioned on a guide.

[0005]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to FIG. 1 showing a side view of a robot traveling apparatus according to an embodiment of the present invention. The robot traveling apparatus of the present invention is fixed to a guide 3 fixed to a base plate 4 fixed to a floor 10 and to a traveling table 2 supported and guided reciprocally by the guide 3 and via a plurality of drive shafts. A robot body 1 having a wrist 11, a pin 9 fixed to the wrist 11, a column member 7 having a pin hole 71 fixed to the base plate 4 and capable of fitting with the pin 9, and a base plate attached to the traveling table 2 4, a brake cylinder 5 capable of fixing the traveling table 2 to the
Having. 3 'is fixed to the traveling table 2 and the guide 3
It is a guide member that fits. The brake cylinder 5 includes a main body indicated by reference numeral 5 and a movable pad 6 fixed to a rod.

A plurality of drive shafts of the robot of the embodiment include a revolving drum 13 rotatably supported on a robot main body base 12 around a vertical axis (I axis), and a first horizontal axis (II axis) on the revolving drum 13. ), A lower arm 14 rotatably supported in the front-rear direction and rotatably supported around the lower arm 14, and a horizontal shaft 15 rotatably supported on a second horizontal axis (III axis) above the lower arm 14. . Wrist 11 has three axes IV, V, VI, but instead
The robot may have one or two axes,
The robot body 1 may have a wrist 11 via two axes, or a robot other than an articulated robot, such as a rectangular coordinate type or a cylindrical coordinate type. The guide 3 may be directly fixed to the floor 10, and the pin 9 may be an engaging member such as a hook, a rod, or the like. Although the pin 9 is fixed separately from the tool holder 8 held by the wrist 11, the pin 9 may be held by the wrist 11 instead of the tool holder 8 held by the wrist 11. The column member 7 may be a fixed member such as a plate or a column that supports the locking member.
Alternatively, the guide 3 may be fixed to the end. The pin hole 71 may be a locked member such as a hook locking portion or a hole that can be fitted to a rod.

When positioning the robot main body 1 on the guide 3, the brake cylinder 5 is operated to push down the movable pad 6 in the Y1 direction and press it against the base plate 4, thereby fixing the traveling table 2 on the guide 3. Then, the rotating shaft 13, lower arm 14, horizontal shaft 15, and three axes IV, V, and VI of the wrist 11, which are the plurality of drive shafts of the robot, are driven, and the pin 9 supported on the wrist 11 of the robot is moved to the column. The robot body 1 fixed on the traveling table 2 is inserted into the pin hole 71 of the member 7, then the movable cylinder 6 is pulled up in the Y2 direction in a direction away from the base plate 4 while the brake cylinder 5 is deactivated. The robot is made movable, and the plurality of drive shafts and the wrist of the robot are operated to move the pin 9 fixed to the wrist 11 of the robot toward the robot body 1.
Since the pin 9 is inserted into the pin hole 71 of the column member 7 and cannot be moved, the movable body of the robot 1 is moved by a predetermined distance in the X1 direction by the reaction. Thereafter, the brake cylinder 5 is operated to push down the movable pad 6 in the Y1 direction and press it against the base plate 4 to position the robot body fixed on the traveling table 2 on the guide. Then, the plurality of drive shafts and the wrist of the robot are driven to remove the pin 9 inserted into the pin hole 71,
Return to the original posture shown. These multiple drive shafts and wrists 11
Needless to say, a robot teaching device or a program can be used for driving the three axes.

[0008]

As described above, according to the present invention, the locking member supported on the wrist of the robot is fitted to the locked portion of the fixed member, and the plurality of drive shafts and the wrist of the robot are used for the robot. The locking member fixed to the wrist is moved toward the robot body, and the reaction moves the robot body by a predetermined distance to position the robot body on the guide. An inexpensive and compact robot traveling device that can be positioned at a position has been provided.

[Brief description of the drawings]

FIG. 1 is a side view showing a robot traveling device according to an embodiment of the present invention.

[Explanation of symbols]

 1. Robot body 2. Traveling table 3. Guide 4. Base plate 5. Brake cylinder 6. Movable pad 7. 7. Column members (fixing members) Polystool 9. Pin (locking member) 10. Floor 12. Robot body base 71. Pin hole (locked part)

Claims (2)

[Claims] 1. A robot fixed to a floor, a robot body fixed to a traveling table reciprocally supported and guided by the guide and having a wrist via a plurality of drive shafts, and an engagement fixed to the wrist. A stop member, a fixed member fixed to the guide or the floor surface and having a locked portion that can be fitted with the locking member, and a traveling table attached to the traveling table and capable of fixing the traveling table to the floor surface or the guide. And a brake cylinder, wherein the brake cylinder is actuated to fix the traveling table to the guide, and a locking member fixed to the wrist of the robot is fitted to a locked portion of the fixing member. The brake cylinder is deactivated, and a plurality of drive shafts and a wrist of the robot are operated to move a locking member supported by the wrist of the robot toward the robot body. Serial to operate multiple drive shafts and wrist,
By moving the robot body fixed to the traveling table by a predetermined distance by the reaction, the brake cylinder is operated to position the robot body fixed to the traveling table on the guide. And a robot traveling device. 2. A robot body fixed to a base plate fixed to a floor surface, a robot body fixed to a traveling table supported and guided reciprocally by the guide and having a wrist via a plurality of drive shafts, A pin fixed to the wrist, a column member having a pin hole fixed to the base plate and capable of fitting with the pin, and a brake cylinder attached to the traveling table and capable of fixing the traveling table to the base plate. Then, the travel cylinder is fixed to the guide by operating the brake cylinder, and a plurality of drive shafts and a wrist of the robot are operated to insert a pin fixed to the wrist of the robot into a pin hole of the column member. Then, the brake cylinder is deactivated, and the plurality of drive shafts and the plurality of drive shafts are moved so that a pin supported on the wrist of the robot is moved toward the robot body. After operating the wrist, the robot body fixed to the traveling table is moved by a predetermined distance by the reaction thereof, and then the brake cylinder is operated to position the robot body fixed to the traveling table on the guide. A robot traveling device characterized in that: