KR100287973B1 - Industrial Robot - Google Patents

Abstract

The industrial robot includes a base unit 4, a robot arm 22 that can be rotated relative to the base unit 4 by a drive motor M6, and a slide mechanism 30 mounted on the robot arm 22. ). The slide mechanism 30 is supported on the slide unit 32, the carriage 64 supported to be linearly moved by the drive motor 50 on the slide unit 32, and the carriage 64. It has an end effector 60 such as a robot hand. When the carriage 60 is located in the forward position on the main frame 36, most of the end effector 60 protrudes outwardly from the slide unit 32, thereby handling the work piece 84 on the work machine. Main components of the robot do not interfere with the working machine 88 or 90.

Description

Industrial robot

The invention relates to an industrial robot having a robot arm with a sliding mechanism at its front end.

Industrial robots capable of linearly moving a workpiece are disclosed, for example, in JP-A 5-76965 and 7-60663. The industrial robot disclosed in JP-A 5-76965 includes a base unit capable of moving on a track extending in a predetermined direction, a robot body mounted on the base unit to rotate about a vertical axis, a robot arm supported on the robot body, and And a robot hand attached to the robot arm.

The track for this industrial robot extends between working machines, such as press machines. When conveying the workpiece from the first working machine to the second working machine, the base unit is located at the first end of the track and the robot hand is placed at the working position on the first working machine on which the workpiece is machined. Holding the workpiece with the robot hand and moving from the first end of the track corresponding to the first working machine to the second end of the track corresponding to the second working machine and the robot body moving the track. Rotated at an angle of 180 ° while driving from the first end of the to the second end, the robot hand releases the workpiece at the second end of the track and the workpiece is positioned at the working position on the second working machine.

The industrial robot of the first concept of the invention disclosed in JP-A No. 7-60663 has a base unit, a robot arm supported to rotate on the base unit, and attached to rotate about a vertical axis with respect to the front end of the robot arm. A robot hand and a slide mechanism attached to the robot hand. The sliding mechanism has a moving means having a base end attached to the robot hand and a workpiece holder supported on the moving means for moving from the base end to the front end of the moving means. The robot travels between two working machines to carry the workpiece. When conveying the workpiece machined by the first working machine to the second working machine, the first end of the sliding mechanism, ie the front end of the moving means, is positioned relative to the workpiece arranged in the working area on the first working machine. And the workpiece holder holds the workpiece. Then, the workpiece holder holding the workpiece is moved to the second end of the sliding mechanism, and the robot hand is rotated at an angle of 180 ° about its rotation axis. The workpiece holder is then moved from the second end of the slide mechanism to the first end, after which the workpiece holder releases the workpiece to position the workpiece in the work area on the second working machine.

The industrial robot of the second concept of the invention disclosed in JP-A No. 7-60663 has a sliding mechanism different from that of the industrial robot of the first concept of the same invention. The sliding mechanism of the second concept of the present invention comprises a moving means and a workpiece holder supported on the moving means for moving from the first end to the second end of the moving means, the moving means having its intermediate portion at the robot hand. Attached. When transporting the workpiece from the first working machine to the second working machine, the first end of the sliding mechanism is positioned in relation to the machined workpiece disposed in the working area of the first working machine, the workpiece holder being the workpiece The workpiece holder holding the workpiece and holding the workpiece is moved from the first end to the second end of the sliding mechanism to release the workpiece to position the workpiece in the working area on the second working machine.

However, industrial robots according to these prior arts have the following problems to be solved. The industrial robot disclosed in JP-A 5-76965 requires a relatively large and strong track on which the base unit is driven, requires a prime mover with a relatively high output capacity for moving the base unit, and is therefore expensive. In the industrial robot of the first concept of the invention disclosed in JP-A No. 7-60663, since the base end of the moving means is supported on the robot hand in a cantilever manner, it is difficult to expand the moving range of the moving means. Large inertia loads, including slide mechanisms and workpieces, must be rotated as the robot hand rotates, thereby reducing the life of the industrial robot. In the industrial robot of the second concept of the invention disclosed in JP-A No. 7-60663, the workpiece holder can be moved between the first end and the second end of the moving means only within the moving means. Thus, a portion of the moving means having a relatively high strength is arranged in the working area of the working machine to hold the work, and if the working machine malfunctions, there is a possibility that the working machine is damaged by the moving machine.

Accordingly, a first object of the present invention is to provide an industrial robot capable of securing a sufficiently wide moving range with respect to the sliding motion of a workpiece.

It is a second object of the present invention to provide an industrial robot suitable for transporting workpieces between press machines.

It is a third object of the present invention to provide an industrial robot having a base unit that can be disposed at a substantially offset position in a work conveying path between a pair of work machines.

1 is a schematic side view of an industrial robot of a preferred embodiment according to the present invention;

2 is a cross-sectional view of the sliding mechanism included in the industrial robot of FIG.

3 is a cross-sectional view taken along the line III-III of FIG.

4 is a schematic plan view to help explain the operation of the industrial robot of FIG.

* Description of the symbols for the main parts *

4: donation unit

6: first robot arm

8: second robot arm

10: flange

12: tool support mechanism

20: third robot arm

22: fourth robot arm

30: sliding mechanism

32: sliding unit

36: main frame

38, 40: support plate

According to the invention, an industrial robot comprises a base unit, a robot arm that can rotate about the base unit, first drive means for rotating the robot arm, control means for controlling the first drive means, and a robot. It consists of a slide mechanism mounted to the arm. The sliding mechanism includes a sliding unit, a carriage movable between the first end and the second end of the sliding unit, second driving means for driving the movable carriage, and a workpiece holding means mounted to the carriage; The same end effector. The sliding unit has its intermediate portion coupled to the free end of the robotic arm, and most or substantially all of the end effector projects outwardly from the sliding unit when the carriage is located at the first end of the sliding unit.

Since the intermediate portion of the slide unit is coupled to the robotic arm, the slide unit can be relatively long, and the workpiece holding means can thus be moved in a relatively wide range. Virtually the entire part of the end effector projects outwardly from the slide unit when the carriage is located at the first end of the slide unit. Thus, when the end effector is the workpiece holding means, the workpiece can be held and released without placing the part of the slide unit in the working area on the press machine when the industrial robot is applied to carry the workpiece from the press machine. Can be.

The workpiece holding means may be a robot hand capable of holding the workpiece. Industrial robots with robotic hands are suitable for transporting workpieces away from press machines.

In the case where the robot is a seven-axis robot, the first drive means for rotating the robot arm may be a first motor controlled by the control means for operation around the sixth axis, and a second drive for moving the carriage. The means may be a second motor controlled by the control means for operation around the seventh axis. Since the first and second drive means are controlled by a single control means, the carriage of the sliding mechanism can be effectively moved while the robot arm is rotated, and the time required for the operation of the industrial robot for displacement can be reduced. The moment of inertia of the robot arm can be reduced during rotation of the robot arm. The base unit can be arranged in an offset position from the path between the working machines because the robot arm is controlled for operation around the sixth axis.

The first drive means for rotating the robot arm can be a first motor controlled by the first control means for actuation around the sixth axis, and the second drive means for moving the carriage controls the first motor. It may be a second motor controlled by the second control means, not the first control means. Since the first and second drive means are controlled by separate control means, the sliding mechanism can be incorporated into a conventional industrial robot as an additional machine, and the industrial robot can be manufactured at low cost. Since the robot arm is controlled to operate around the sixth axis, the base unit can be placed at a position offset from the path between the working machines.

The above and other objects, features and advantages of the present invention will become more apparent from the following description taken in conjunction with the accompanying drawings.

1, the industrial robot of the preferred embodiment according to the present invention is a floor.

It has a base unit 4 installed in the floor 2. The first robot arm 6 is supported to rotate on the base unit 4, and the second robot arm 8 is connected to the first robot arm 6. The flange 10 is attached to the front end of the second robot arm 8, and the tool support mechanism 12 is connected to the flange 10. The base unit 4 is rotated around the vertical first axis 14 to the predetermined angular position by the first drive motor M1. The first robot arm 6 can be rotated around the horizontal axis 16, ie, the axis perpendicular to the figure, by the second drive motor M2 to a predetermined angular position. The second robot arm 8 can be rotated around the horizontal axis 18, ie, the axis perpendicular to the figure, by the third drive motor M3 to predetermined respective positions.

The tool support mechanism 12 has a third robot arm 20 and a fourth robot arm 22 connected to the third robot arm 20. The third robot arm 20 is coupled to the second robot arm 8 to rotate about a fourth axis 24 coinciding with the axis of the second robot arm 8, ie a horizontal axis as shown in FIG. 1. It is rotated to predetermined each position by the 4th drive motor M4. The fourth robot arm 22 is pivotally coupled to the third robot arm 20 to rotate about a fifth axis 26, ie a horizontal axis perpendicular to the drawing as shown in FIG. 1, so that the fifth motor M5 It rotates to predetermined each position.

The slide mechanism 30 is attached to the end of the fourth arm 22. The sliding mechanism 30 has a sliding unit 32 coupled to the fourth arm 22 to rotate about a sixth axis 34, that is, a vertical axis as shown in FIG. 1, and the sixth motor M6. It rotates to predetermined each position.

2 and 3 with reference to FIG. 1, the sliding unit 32 has a main frame 36 attached to the fourth arm 22. Support plates 38 and 40 supporting bearings 42 and 44, respectively, are attached to both ends of the main frame 36, respectively. The drive shaft 46 is supported to rotate in the bearings 42 and 44. The drive shaft 46 is a rod provided at its periphery with a male thread. The protective cover 48 is attached to one end of the main frame 36, and the drive motor 50 is mounted on the other end of the main frame 36. The timing-belt pulley 52 is mounted to the output shaft of the drive motor 50, the timing-belt pulley 54 is mounted to one end of the drive shaft 46 protruding from the support plate 38, and the timing belt ( 56 extends between timing-belt pulleys 52 and 54 to transmit the driving force of drive motor 50 to drive shaft 46. The protective cover 58 is attached to the drive motor 50 to cover the timing-belt pulleys 52 and 54 and the timing belt 56. The output shaft of the drive motor 50 may be directly coupled with the drive shaft 46 to transmit the driving force of the drive motor 50 to the drive shaft 46.

The pair of support members 62 each having a screw hole is mounted on the drive shaft 46 with a predetermined axial space therebetween, and the carriage 64 having a cuboidal shape is supported by the support member. Attached to 62. The pair of projections 64A, 64B protrude upward from both sides of the carriage 64, and the pair of guide rails 65, 67 are attached to the main frame 36 so as to correspond to the projections 64A, 64B, respectively. Guide rails 65, 67 extend parallel to drive shaft 46 between opposing longitudinal ends of main frame 36.

When the output shaft of the drive motor 50 is driven to rotate in a predetermined vertical direction or in a reverse direction opposite to the vertical direction, the drive shaft 46 is a timing-belt pulley 52, a timing belt 56, and a timing. By rotating through the belt pulley 54, the carriage 64 is moved left and right as shown in FIGS. 1 and 2 with a pair of support members 62. Accordingly, the carriage 64 is in the forward position (position corresponding to the first end of the slide unit 32) indicated by the dashed-dotted line in FIG. 1 and in the rear position indicated by the solid line in FIG. Position corresponding to the two ends]. The carriage 64 moves linearly along the drive shaft 46 between the front position and the rear position, and is guided by the guide rails 65, 67 during the movement. The carriage 64 is located at a predetermined position based on the signal provided by the origin detector for detecting the origin of the carriage 64 and the encryption provided by the encoder mounted on the drive motor 50. The drive shaft 46 and the support member 62 can form a ball-screw mechanism.

Since the longitudinal middle part of the main frame 36 is coupled to the free end of the fourth robot arm 22 as shown in FIG. 1, the carriages 64 are substantially left and right from the middle part of the main frame 36, respectively. Go the same distance. That is, the first distance between the intermediate position of the main frame 36 coupled to the fourth robot arm 22 and the free end of the main frame 36 and the intermediate position and the first position of the main frame 36. The second distance between the two ends is substantially equal to each other, so the ratio between the first and second distances is in fact 1: 1. The ratio between the first and second distances may not be 1: 1, for example, given a condition, the condition is the range in which the work 84 (FIG. 4) moves and the work 84 and the work. 3: 7 when it is necessary to include the moment of inertia of a system comprising a water holding device or end effector 60. The workpiece holding end actuator 60 is supported on the carriage 64. In this embodiment, the tool changer 66 is attached to the lower surface of the carriage 64 and the workpiece holding end actuator 60 is supported on the tool changer 66. If the workpiece retaining end actuator 60 is changed only once for a long time, the tool changer 66 can be omitted.

The workpiece holding device or end effector 60 has a robot hand 68 for holding the workpiece. The robot hand 68 has a mounting portion 70 extending perpendicular to the drawing as shown in FIGS. 1 and 2, and the three suction pipes 72 are parallel in the mounting portion 70 as shown in FIG. 4. Spaced apart so as to extend perpendicular to the length of the mounting portion 70. Suction members 74, such as suction cups, are attached to the middle and end of each suction pipe 72, respectively. Each of the tubes 76 (only one of the tubes 76 is shown in FIG. 1) has one end connected to the base end of the suction pipe 72 and a connecting member 78 attached to the main frame 36 (FIG. 1) has the other end connected to it. The connecting member 78 is connected to a suction device P, such as a vacuum pump, via a valve 82 attached to the base of the second robot arm 8. With the suction device P in operation, the suction force generated by the suction pipe 72 causes the suction member on the tubes 80 and 76, the suction pipe 72 and the workpiece 84 when the valve 82 is opened. It acts through 74 to suck and hold the workpiece 84 by the suction member 74. When the valve 82 is closed, the suction force is removed from the workpiece 84 and the suction member 74 releases the workpiece. Although three suction pipes 72 are attached to the mounting portion 70 in this embodiment, any suitable number of suction pipes, such as one, two or four or more suction pipes, may also be suitable for the workpiece 84. It can be attached to the mounting portion 70 as long as it can be retained. Each suction pipe 72 may be provided with one or three or more suction members instead of two suction members 74.

Drive motor M1 for rotating the base unit 4, drive motors M2 to M5 for driving the robot arms 6, 8, 20, 22, and drive motor for rotating the main frame 36 ( The operation of the drive motor 50 of M6 and the sliding mechanism 30 is controlled by the control unit 100. As can be easily understood, the drive motors M1 to M5 are controlled by the control unit l00 to rotate the relevant component members about the first to fifth axes, and the drive motor M6 is the sliding mechanism 30. Is controlled by the control unit 100 to rotate it about the sixth axis, and the drive motor 50 is controlled by the control unit 100 to move the carriage 64 along the seventh axis. The actuation of the constituent members of the industrial robot including the slide mechanism 30 around six axes and along the seventh axis can be controlled according to a conventional seven axis control program.

Operation of the industrial robot will be mainly described with reference to FIGS. 1 and 4. The industrial robot is disposed between the first working machine 88 arranged on the left side as shown in FIG. 4 and the second working machine 90 arranged on the right side as shown in FIG. In this case, the working machines 88 and 90 are assumed to be press machines, and the work piece 84 is a plate which is pressed on the press machine. When moving the workpiece 84 from the first working machine 88 to the second working machine 90, the industrial robot is set at the position indicated by the solid line in Fig. 4, where the drive motor M6 It is operated to rotate the main frame 36 counterclockwise, ie in the direction of the arrow 95, with respect to the two robotic arms 8 at a predetermined angle, and the drive motor 50 moves the carriage 64 to the main frame 36. It is operated to move in the direction of arrow 93 (Fig. 1) to the front end of the.

1 and 4, when the carriage 64 is located at the front end of the main frame 36, most or substantially all of the workpiece holding end actuator 60, i.e., the suction pipe 72 The majority of) extend out of the main frame 36 and the suction member 74 is positioned on the plate-like workpiece 84 located in the working area of the first working machine 88. In this state, the members having relatively high strength, that is, the main frame 36, the base member, etc., are kept outside the working area of the working machine 88, and the suction pipe 72 having the relatively low strength and Only the suction member 74 is located above the work area. Therefore, when the working machine 88 malfunctions, the working force of the working machine 88 is applied only to the suction pipe 72 and the suction member 74. Thus, the constituent members of the working machine 88, such as the workpiece working die, are not damaged.

Thereafter, the control unit controls the industrial robot to move the slide mechanism 30 toward the workpiece 84 to a distance at which the suction member 74 comes into contact with the upper surface of the workpiece 84, and then the valve 82. Will be opened. As a result, the suction force of the suction device P acts on the workpiece 84, and the workpiece 84 is held on the workpiece holding end actuator 60 by the suction action. After the workpiece 84 is thus held on the workpiece holding end actuator 60, the sliding mechanism 30 is raised to some extent, and the drive motor 50 moves the carriage 64 to the main frame 36. It operates to rotate the screw drive shaft 46 in the reverse direction to move in the direction of the arrow 94 (Fig. 1) from the front position to the rear position on the side. The workpiece holding end actuator 60, the suction pipe 72 and the workpiece 84 in the second state are indicated by reference numerals 60A, 72A and 84A, respectively. When the carriage 64 is located in the rear position, most of the suction pipe 72 is located below the main frame 36, and only a small length of the suction pipe 72 protrudes outward from the main frame 36. do. Since the workpiece holding end actuator 60 is thus retracted, the workpiece holding end actuator 60 and the workpiece 84 held on the actuator 60 and, for example, columns and Collisions between the constituent members of the same work machine 88 can be avoided during the rotation of the workpiece holding end actuator 60.

Next, the base unit 4 rotates clockwise, that is, in the direction of the arrow 96 in Fig. 4, to change the state of the robot to the fourth state via the third state. In the third state, the workpiece holding end actuator 60 is in substantial increment of the working machine 88, 90. In the fourth state, the workpiece holding end actuator 60 is in a position for transferring the workpiece 84 to the second working machine 90. The main frame 36 in the third state, the workpiece holding end actuator 60, the suction pipe 72 and the workpiece 84 are denoted by reference numerals 36B, 60B, 72B, respectively. And 84B. The main frame 36 in the fourth state, the workpiece holding end actuator 60, the suction pipe 72 and the workpiece 84 are denoted by reference numerals 36C, 60C, 72C, respectively. And 84C. As is apparent from FIG. 4, the carriage 64, the workpiece holding end actuator 60 and the workpiece 84 are adjacent to the first axis 14 corresponding to the axis of rotation of the base unit 4. It is held, and the workpiece holding end effector 60 and the workpiece 84 are held adjacent to the sixth axis 34 because the carriage 64 is held in the rear position. Thus, the moment of inertia of the system including the workpiece holding end actuator 60, the carriage 64 and the workpiece 84 is relatively small, and the robot arms 6, 8, 20, 22, The workpiece holding end actuator 60 and the workpiece 84 are not heavily loaded during the rotational motion of the industrial robot. Thus, the robot can be operated at high acceleration and high deceleration. While the robot makes a rotational movement from the position of the second state to the position of the fourth state, the drive motors M1 to M6 are simultaneously controlled by the control unit 100. Thus, the sliding mechanism 30 can be rotated while the base unit 4 is rotated, thus reducing the time required to position the workpiece holding end actuator 60 to a predetermined position. Naturally, the base unit 4 and the sliding mechanism 30 can rotate continuously.

In this embodiment, the base unit 4 and the sliding mechanism 30 are rotated after the carriage 64 is located in the rear position. However, the rotation of the slide mechanism 30 and the base unit 4 may begin while the carriage 64 approaches the rear position, or the rotation of the base unit 4 may begin after the rotation of the slide mechanism 30 begins. have.

After the industrial robot is set in the fourth state, the drive motor 50 is operated to move the carriage 64 in the direction of the arrow 93 (Fig. 1) to the front position on the slide unit 32 to move the industrial robot to the fifth position. Set to state. The workpiece holding end actuator 60, the suction pipe 72 and the workpiece 84 in the fifth state are denoted by reference numerals 60D, 72D and 84D, respectively. When the carriage 64 is positioned in the forward position, most of the workpiece holding end actuator 60 protrudes outward from the main frame 36 and is retained by the suction member 74. ) Is located above the working area of the second working machine 90. In the fifth state, the main frame 36 and the base member 70 are outside the working area of the second working machine 90, and only the suction pipe 72 and the suction member 74 having relatively low strengths are provided. It is located above the work area. Therefore, the working force of the working machine 90 acts only on the suction pipe 72 and the suction member 74 when the working machine 90 malfunctions. Thus, the constituent members of the working machine 90, such as the work die for work 84, are not damaged.

Thereafter, the control unit 100 controls the industrial robot and lowers the slide mechanism 30 toward the work area, whereby the work piece 84 held by the suction member 74 causes the second work machine 90 to operate. Make sure you are in the work area. As a result, the valve 82 closes to release the workpiece 84 from the suction member 74, thereby allowing the workpiece 84 to be positioned in the work area.

The industrial robot reverses the above-described operating steps to repeat the above-described workpiece transfer cycle to transfer the workpiece 84 from the work area on the first work machine 88 to the work area on the second work machine 90. . The second working machine 90 performs a predetermined processing operation to process the workpiece 84 located in the working area on the second working machine 90.

As shown in FIG. 4, the fourth robot arm 22 to which the slide unit mechanism 30 is coupled is controlled to rotate about the sixth axis 34, and the majority of the workpiece holding end actuator 60 is rotated. May protrude from the main frame 36. Thus, the base unit 4 of the industrial robot need not be disposed in the intermediate region interconnecting the working regions on the working machines 88 and 90, but may be arranged in the offset region from the intermediate region. Thus, as can be seen from FIG. 4, the workpiece 84 is rotated by the base unit 4 at a relatively small angle at a relatively small angle for a relatively short time in the first working machine 88 as a second working miracle. Can be transferred from the first working machine 88 to the second working machine 90 in a relatively short time. Because the intermediate portion of the main frame 36 is coupled to the fourth robot arm 22, the carriage 64 can be moved in an enlarged range.

Although the drive motor 50 of the sliding mechanism 30 is controlled by the control unit 100 which controls the drive motors M1 to M6 of the industrial robot in this embodiment, the drive motor 50 has other control. It may be controlled by a unit. If the drive motor 50 is individually controlled, the slide mechanism 30 may be attached to the fourth robot arm 22 of a standard industrial robot to provide a low cost industrial robot with a slide mechanism.

Industrial robots with sliding mechanisms 30 for supporting a workpiece holding end actuator 60 moving linearly over a wide range are used to transfer workpieces from one working machine to another, such as a press machine. It is appropriate to The workpiece holding actuator 60 supported on the slide mechanism 30 is replaced by the other end actuator so that the industrial robot is a cleaning robot for cleaning parts or the like, or a welding robot or parts for welding two members. It can be used as a painting robot for painting them. When an industrial robot is to be used as a cleaning robot, welding robot or painting robot, end actuators such as cleaning nozzles are supported such that most of the end actuators protrude from the main frame of the sliding mechanism when the carriage is in the forward position on the main frame. . Therefore, the end effector is separated at a relatively large distance from the base unit during operation, and thus contamination of the industrial robot due to the washing liquid or the like can be prevented.

The sliding mechanism can be incorporated into various types of industrial robots, such as wall-mounted industrial robots or traveling industrial robots running along tracks. The sliding mechanism can also be incorporated into 5-axis, 4-axis and 3-axis industrial articulated robots.

As is evident from the foregoing description, according to the present invention, the intermediate portion of the slide unit is coupled to the robot arm, so that the slide unit is relatively long, and the workpiece holding means can thus be moved in a relatively wide range. . Most of the workpiece holding means protrude outwardly from the slide unit when the carriage is located at the front end of the slide unit. Thus, when an industrial robot is used to transport a workpiece from one work machine to another, the work piece can be held and released without placing the parts of the slide unit in a work area on the work machine, such as a press machine.

Since the end effector is a robot hand capable of holding the workpiece, the industrial robot is suitable for transporting the workpiece from the press machine to another press machine.

Since the first drive means and the second drive eggs are controlled by the control means, the carriage of the slide unit can be effectively moved while the robot arm is rotating, and the time required for the operation of the industrial robot for displacement can be reduced. And the moment of inertia of the robot arm can be reduced during rotation of the robot arm. Since the robot arm is controlled for operating the sixth axis, the base unit can be arranged at a position offset from the path between the working machines.

Since the first driving means for rotating the robot arm can be controlled by the first control means, and the second manual means for moving the carriage can be controlled by the second control means, the sliding unit is conventional It can be incorporated as an additional machine to the robot. Thus, a low cost industrial robot is provided. Since the robot arm is controlled to operate around the sixth axis, the base unit can be arranged in a position offset from the path between the working machines.

Although the present invention has been described in some specific and preferred forms, many obvious changes and modifications are possible. Accordingly, the invention may be practiced otherwise than as specifically set forth in the text without departing from its scope and spirit.

Claims (7)

Base unit 4, robot arms 6, 8, 20, 22 that can be rotated relative to the base unit, arm drive means M for rotationally driving the robot arm, and the arm drive means M An industrial robot comprising a control means (100) for controlling a) and a sliding mechanism (30) mounted on the robot arm, wherein the sliding mechanism (30) comprises an elongated main frame (36) and the main A carriage 64 that can be moved between a front position at one end of the frame and a rear position at the other end, a carriage driving means 50 for moving the carriage, and mounted on the carriage 64 An end effector (60), the intermediate portion of the elongated main frame (36) being coupled to the free end of the robot arm, and the end effector (60) having the carriage (64) of the elongated shape. When positioned in the forward position on the main frame 36 most of the end effector 16 is upwards. Protrudes outward from the region of the elongated main frame 36 and overlaps with the region of the elongated main frame 36 when the carriage 64 is located at a rear position of the elongated main frame 36. An industrial robot, extending from the carriage in the direction of the forward position from the rear position. 2. The robot according to claim 1, wherein the robot is a seven-axis robot, and the arm drive means 17 is a first motor controlled by control means for actuating driving the associated component member to rotate around the sixth axis, The carriage driving means (50) is an industrial robot, characterized in that the second motor controlled by the control means for the operation of driving the relevant component member to rotate around the seventh axis. 2. The robot according to claim 1, wherein the robot is a seven-axis robot, and the arm drive means 17 is a first motor controlled by control means for the task of rotating the relevant component member to rotate around the sixth axis, The carriage driving means (50) is an industrial robot, characterized in that the second motor controlled by another control means. 2. An industrial robot according to claim 1, wherein the end effector (60) is a robot hand for holding a workpiece. 2. The industrial robot according to claim 1, wherein said end effector (60) is a cleaning head. 2. The end effector (60) according to claim 1, wherein the end effector (60) is a welding head. Industrial robot. 2. The end effector (60) according to claim 1, wherein the end effector (60) is a paint head. Industrial robot.

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