JPS6131837Y2 - - Google Patents

Description

[Detailed Description of the Invention] (Industrial Application Field) The present invention relates to a robot mounting device for mounting a processing robot having a considerable weight on the lower surface of a ceiling surface plate of a machine tool.

(Prior art) Conventionally, when installing a robot with considerable weight on the underside of a ceiling surface plate of a machine tool, the robot was transported to the bottom of the robot mounting part of the ceiling surface plate, and the robot was moved to the ceiling surface plate using a lifter, etc. The robot is lifted up, accurately positioned and fixed to the robot attachment part of the ceiling surface plate, and then various auxiliary devices necessary for making the robot carry out the specified processing industry are attached to the machine tool.

However, when replacing the robot due to a change in the specifications of the workpiece or a malfunction of the robot, the attached device attached to the machine tool must be removed from the machine tool before the robot is replaced, and after the replacement is completed, the robot must be replaced again. The accessory device is attached to the machine tool. For this reason, a great deal of time and effort is spent on replacing robots. Furthermore, when replacing the robot with a robot having different specifications such as shape and dimensions, the robot must be positioned again from the beginning, which further increases the time and effort required for the robot replacement.

On the other hand, in line with recent trends in UDA's needs, there is a strong desire to shorten setup times such as robot replacement work as much as possible in order to further improve production efficiency. .

(Purpose of the invention) The present invention was made in view of the above-mentioned concerns, and its purpose is to provide an extremely simple structure that can be easily attached to machine equipment even when replacing it with a robot with different specifications. A machine device that allows the robot to be mounted easily and in a short time without removing attached equipment, and which fixes the robot to a ceiling plate while being engaged with the rail. An object of the present invention is to provide a robot mounting device.

(Structure of the invention) Therefore, the structure of the invention is such that a pair of guide rails are provided on the ceiling surface plate of the machine tool to guide the processing robot to the robot mounting part on the lower surface of the ceiling surface plate. A pair of arm members removably attached to the ceiling surface plate are rotatably provided with a pair of guide rollers that engage with a pair of guide rails to move the robot to the robot mounting part. , the first part fixed to the robot mounting part.
A second positioning member for positioning and fixing the robot is fixed to the end of the robot mounting member in a removable manner, and the robot is engaged with the rail. It is characterized in that it is fixed to a ceiling plate in a state where it is held in place.

(Function) When installing a robot in such a configuration, first transport the robot to a position below a pair of guide rails arranged on the ceiling surface plate of the machine tool, and then move the robot onto the ceiling surface plate using a crane or the like. Then, a pair of guide rollers provided at both ends of the robot are rotatably engaged with the pair of guide rails via a pair of arm members.

After this, the robot is moved along the guide rail to the robot mounting part of the ceiling surface plate, and while the robot remains engaged with the guide rail, the robot fixed to the robot mounting part is moved with the first positioning member as a reference. The robot is accurately positioned and fixed by a second positioning member provided on the mounting member. As a result, when replacing the robot, the robot can be replaced without causing any damage to the attached device without removing the attached device installed on the machine tool, and also prevents the robot from being accidentally dropped. do not have.

In particular, when replacing a robot with a robot with different dimensional specifications, preparing in advance robot mounting members and arm members that have length dimensions that match the robot being replaced will make it very easy to replace the robot in a short time. can be replaced.

(Example) Hereinafter, an example of the present invention will be described with reference to the drawings. In FIGS. 1 to 3, reference numeral 1 denotes a four-post welder as a working device having a ceiling surface plate 2, and the ceiling surface plate 2 of the four-post welder 1 is supported by four supports 3.

4 is a welding robot that is attached to the lower surface of the ceiling surface plate 2, and a welding gun 5 is attached to the robot 4, and the welding gun 5 is adapted to fit the workpiece W that is positioned and fixed at the proper position of the 4-post welder 1. It's summery. This welding gun 5 can be moved by the robot 4 to any desired welding position within a predetermined working range.

Reference numerals 6 and 6 denote a pair of guide rails for guiding the robot 4 to the robot mounting section on the lower surface of the ceiling surface plate 2. One end of the guide rails is fixed near the robot mounting section of the ceiling surface plate 2, and the other end is connected to the 4 posts. Welder 1
extends to the outside. Reference numerals 7 and 7 designate support members that connect and support the pair of guide rails 6 and 6 to the ceiling surface plate 2. A robot loading port 8 for transporting the robot 4 into the four-post welder 1 is provided at a suitable location on the other end side of the pair of guide rails 6,6.

Reference numerals 9 and 10 denote a pair of arm members detachably fixed to one end and the other end of the robot 4, respectively. The arm members 9 and 10 are provided with a pair of guide rollers 11 and 12 for engaging with the guide rails 6 and 6, respectively, to move the robot 4 to the robot mounting portion of the ceiling base 2.
1 is mounted so as to be freely rotatable.

Reference numerals 12 and 13 designate a pair of positioning blocks as first positioning members, which are fixed to a robot mounting portion on the lower surface of the ceiling platen 2. 14 and 15 are a pair of brackets as robot mounting members for holding both ends of the robot 4;
4 and 15 are positioning blocks 12 and 13, respectively.
It is engaged with and removably fixed to the lower surface of the ceiling surface plate 2. 14', 15' are the brackets 14,
A pair of brackets having the same function as 15,
The brackets 14', 15' are the same as the brackets 14, 15'.
Although it may be constructed integrally with the brackets 15, it is provided separately from the brackets 14 and 15 here.

Reference numerals 16 and 17 indicate positioning blocks as second positioning members fixed to the distal ends of the brackets 14 and 15, and 18 and 19 indicate positioning blocks 16,
A seat plate for attaching the robot 4 to the robot mounting part of the ceiling surface plate 2 by coming into contact with the seat plate 17,
19 are attached to one end and the other end of the robot 4, and are integrally fastened and fixed to the positioning blocks 16 and 17 with bolts (not shown).

It should be noted that the four-post welder 1 is provided with many other various accessory devices, but these are not shown. In addition, 20 is a crane for hoisting the robot 4 that is waiting in the loading area below the robot loading port 8.
It is possible to move and stop at any position along a running rail 21 arranged above.

When installing the robot 4 using this robot installation device, as shown in FIG. Lift it up to the height of the arm members 9 and 10.
Guide roller 1 attached to the robot 4 side via
1 and 11 are inserted through the robot loading port 8 and engaged with the guide rails 6 and 6 in a rolling manner.

The guide rollers 11, 11 are connected to the guide rails 6, 6.
Once engaged, the robot 4 is moved along the guide rails 6, 6 while being lifted by the crane 20 to the robot mounting portion of the ceiling surface plate 2. Next, positioning block 1 fixed to ceiling plate 2
2 and 13, the seat plates 18 and 19 attached to both ends of the robot 4 are integrally attached to the positioning blocks 16 and 17 at the ends of the brackets 14 and 15 fixed to the ceiling surface plate 2 with bolts (not shown). Fasten and fix.

Therefore, the brackets 14 and 15 are connected to the tips of the brackets 14 and 15 and the seat plates 18 and 19 of the robot 4.
Since the robot 4 is fixed to the ceiling surface plate 2 with a small predetermined interval between the robot 4 and the guide, tightening the bolts that connect the brackets 14, 15 and the positioning blocks 16, 17 raises the robot 4, and the guide The robot 4 is positioned and fixed on the ceiling platen 2 with the rollers 11, 11 slightly separated from the guide rails 6, 6.

After the robot 4 is securely positioned and fixed on the ceiling surface plate 2, a welding gun 5 is attached to the robot 4.
Welding work after the welding gun 5 is attached is carried out by moving the welding gun 5 along the workpiece W.
The welding portions of the workpiece W can be sequentially welded.

Next, a case where the welding position of the workpiece W to be welded is changed and the robot 4 is moved and attached in the direction in which the pair of guide rails 6, 6 face each other (hereinafter referred to as the left-right direction) will be described. In addition, in FIG. 2, 4A is a robot having exactly the same dimensions as robot 4, and other symbols and names are exactly the same as robot 4, so the explanation for robot 4 will be used as is. .

First, the contact surfaces of the positioning blocks 12, 13 and the brackets 14, 15 are set on the same plane, and then the brackets are extended in the direction of the arrow X by the same amount as the amount of movement of the robot 4A in the direction of the arrow X in FIG. 1
4 and 15 are fixed to the ceiling platen 2 by contacting the positioning blocks 12 and 13.

Thereafter, the positioning blocks 16 and 17 are moved and fixed to the tips of the brackets 14 and 15 by the same amount as the movement amount of the robot 4A in the direction of the arrow X. Further, the arm member 9 is shortened by the amount of movement of the robot 4A, and the arm member 10 is lengthened by the amount of movement described above, so that both arm members 9 and 10 are moved to the robot 4A.
Attach it to one end and the other end. In the following, the robot 4A may be attached to the ceiling platen 2 in the same manner as described above.

Next, a case will be described in which a robot 4B smaller in size than the robot 4 is attached. First of all,
The dimensional difference occurs by the dimensional difference in the vertical direction and the horizontal direction (directions in which the pair of guide rails 6, 6 face each other) at the mounting positions of the seat plates 18, 19 of the robot 4 and the seat plates 18, 19 of the robot 4B. The brackets 14, 15 are lengthened in the direction, respectively, and the brackets 14, 15 are aligned with the positioning blocks 12, 13.
It is fixed to the ceiling surface plate 2 by bringing it into contact with the ceiling plate 2.

Similarly, the positioning blocks 16, 17 move the positioning blocks 16, 17 by the dimensional difference in the direction in which the dimensional difference occurs, so that the brackets 14, 1
It sticks to the tip of 5. In addition, a pair of arm members 9, 1
0 is lengthened by the dimensional difference between the mounting positions of the robot 4 and the robot 4B, and is mounted on one end and the other end of the robot 4B. In the following, the robot 4B may be attached to the ceiling platen 2 in the same manner as described above.

Although various other cases are envisaged, for example, the robots 4C and 4D shown in FIG. 1 can be easily attached using the same procedure as described above. That is, in accordance with the dimensional specifications of the robots 4C and 4D to be attached, the vertical and horizontal length dimensions of the brackets 14 and 15, the mounting positions of the positioning blocks 16 and 17 fixed to the tips of the brackets 14 and 15, By simply setting the length dimensions of the arm members 9 and 10 appropriately and attaching them, changes in the specifications of the robots 4C and 4D can be easily accommodated.

In this embodiment, the robot 4 is hoisted up by the crane 20 to carry out the work, so even if the ceiling plate 2 of the 4-post welder 1 has a narrow space and is located at a high place, the robot 4 can be lifted up by the crane 20. The robot 4 can be attached in a short time.

In addition, in the above embodiment, the pair of guide rails 6,
6, and the case where the interval between the ceiling surface plate 2 and the pair of guide rails 6, 6 is constant, but the present invention is not limited to this.
For example, multiple robots 4 or 4B are mounted on a ceiling plate 2.
It can be applied even if the distance between the pair of guide rails 6, 6 and the distance between the ceiling surface plate 2 and the pair of guide rails 6, 6 are different (see FIG. 1).

(Effect of the invention) As explained above, according to the invention, the robot is moved along a pair of guide rails to the robot mounting part of the ceiling surface plate, and the robot is moved to the first robot mounting part while being engaged with the guide rails. , the robot is configured to be reliably positioned and fixed by the second positioning member, the robot mounting member, and the pair of arm members, so that the robot can be reliably positioned and fixed without moving various attached devices installed on the machine tool. , the robot can be easily installed in a predetermined position, and in this case, there is an advantage that the attached device will not be damaged by the robot.

In addition, when replacing a robot with a robot with different specifications in terms of shape and dimensions, use robot mounting members and arm members that have lengths that match the specifications of the robot. Since it can be easily handled, the robot installation time can be significantly reduced and production efficiency can be increased.

Furthermore, if the robot falls due to a human-made installation error during robot installation, the pair of guide rails can catch the robot from falling, which improves work safety and prevents the robot from falling. Damage to peripheral devices can be prevented.

[Brief explanation of the drawing]

1 to 3 show an embodiment of the present invention, in which FIG. 1 is a front view of a model in which the distance between a pair of guide rails and the distance between the pair of guide rails and the ceiling surface plate are different, and FIG. FIG. 2 is a plan view of a robot in which the distance between a pair of guide rails is constant and the dimensions of the robot are different, and FIG. 3 is a side view of the main part of FIG. 1. 1...4 post welder (machine equipment), 2...
Ceiling surface plate, 4... Robot, 6, 6... Guide rail, 9, 10... Arm member, 11, 11... Guide roller, 12, 13... Positioning block (first positioning member), 14, 15... Bracket (robot mounting member), 16, 17... Positioning block (second positioning member).

Claims (1)

[Scope of utility model registration request] In a machining device that has a ceiling surface plate and a processing robot is attached to the lower surface of the ceiling surface plate, the robot is installed on the ceiling surface plate of the machining device, and the robot is connected to the robot mounting part on the lower surface of the ceiling surface plate. A pair of guide rails for guiding the robot and a pair of arm members removably attached to both ends of the robot are rotatably provided, and are engaged with the pair of guide rails to move the robot to the robot mounting section. a first positioning member fixed to the robot mounting portion of the ceiling surface plate; It consists of a fixed robot mounting member and a second positioning member fixed to the end of the robot mounting member for positioning and fixing the robot, and the robot is fixed to the robot mounting member with respect to the first positioning member. A robot mounting device for a machine tool, characterized in that the robot is positioned via a second positioning member and is fixed to the ceiling surface plate in a state in which the robot is engaged with a guide rail.