KR20210009998A - Carrier device and robot system - Google Patents

Abstract

According to an embodiment, a transfer device comprises: a rotary arm provided to rotate around a central shaft on a base unit installed on an installation surface and having a front end part passing on a circular track; and a turn table attached to the front end part of the rotary arm and transferrable while a predetermined workpiece is mounted between a work position and a withdrawal and insertion position provided on the circular track. The turn table is rotated at integer multiple times of 360 degrees relative on the installation surface by rotating the rotary arm while the turn table is moved from the work position to the withdrawal and insertion position.

Description

Robot system using work-mounted transport device {CARRIER DEVICE AND ROBOT SYSTEM}

Embodiments discussed herein relate to a conveying device and a robot system

[0002] A swing arm whose end passes on a circular orbit, a turntable attached to both ends of the swing arm, and a table rotation mechanism for rotating the turntable around the axis at a position attached to the swing arm A conventional conveying apparatus including a device is known.

A conventional conveying apparatus can convey a workpiece while supporting a workpiece on a turntable between a carrying-in/out position and a working position symmetrical with respect to the center of a circular track. In other words, since the conventional conveying device can perform the operation of supplying one work onto the turntable at the carry-in/out position and the operation of processing another work at the work position substantially simultaneously, the conveying device efficiently performs the work operation. Can be realized.

For example, a prior art such as disclosed in Japanese Patent No. 4190631 is known.

However, the conventional conveying apparatus has a configuration in which the turntable does not rotate with respect to the arm during the turning of the arm, or has a configuration in which the turntable does not rotate with respect to the mounting surface of the conveying device during the turning of the arm. In the case of the latter configuration, the turntable is rotated 180 degrees in a direction opposite to the direction of rotation of the arm while the turntable moves between the working position and the carry-in position according to the turning of the arm. This reason is to make the posture of the turntable always uniform between the working position and the carry-in/out position.

When the turning arm of the conveying device is turned, the work on the turntable is exposed to the wind due to the turning. In a conventional configuration, the work is exposed to a biased wind.

Under such circumstances, when the surface of the work is moist, dust or the like adheres unevenly to a part of the surface of the work. For example, when the treatment operation is a painting operation, there is a possibility that the drying speed is different depending on the surface of the work and thus the painting operation may not be uniformly performed.

An aspect of the embodiment has been made in consideration of the above problems, and an object of the embodiment is to provide a transfer device and a robot system capable of preventing a workpiece from being exposed to a convenient wind during transfer.

A conveying apparatus according to an aspect of the embodiment includes a turning arm whose tip end can pass on a circular orbit, and a turntable attached to the tip end of the turning arm. The turning arm is provided to be pivotable around a central axis on a base provided on the installation surface. The turntable can be conveyed while mounting a predetermined work between the carrying-in/out position and the working position provided on a circular track. By turning the turning arm, the turntable is rotated by an integral multiple of 360 degrees with respect to the installation surface while the turntable is moved from the working position to the carry-in/out position.

According to an aspect of the embodiment, the work can be prevented from being exposed to biased wind during conveyance. Therefore, it is possible to prevent a predetermined surface of the treated work from being affected by the biased wind, and thus the quality of the work may be uniform.

A more complete recognition of the invention and many of its incidental advantages will be readily obtained as it is better understood by reference to the following detailed description when considered in connection with the accompanying drawings.

1 is an explanatory diagram showing a state of use of a robot system according to an embodiment;
2 is a partial cross-sectional view showing a robot system,
3 is a cross-sectional view showing a drive mechanism of the conveying device according to the embodiment;
4 is an explanatory view obtained by expanding a part of the drive mechanism;
5A is a plan view showing a state in which one end of the pivoting arm is positioned in a working position;
Fig. 5B is a plan view showing a state in which one end of the turning arm is positioned at a position other than the working position, Fig. 6 is an explanatory view showing the rotation of the turntable according to the embodiment, and Fig. 7A is a working position and a carry-in position of the turntable Fig. 7B is an explanatory view showing the revolution and rotation between the working position and the carry-in/out position of the turntable according to the first comparative example, and Fig. 7C is a turntable according to the second comparative example. Fig. 8 is an explanatory diagram showing the revolution and rotation between the working position and the carry-in/out position of the turntable according to the first modification;
FIG. 9 is an explanatory view showing revolution and rotation between a working position and a carry-in/out position of a turntable according to a second modified example, FIG. 10 is an explanatory view showing a state of use of a robot system according to another embodiment, and FIG. 11 is An explanatory diagram showing a state of use of a robot system according to another embodiment.

A conveying apparatus according to an aspect of the embodiment includes a turning arm whose tip end can pass on a circular orbit, and a turntable attached to the tip end of the turning arm. The turning arm is provided to be pivotable around a central axis on a base provided on the installation surface. The turntable can be transported while mounting a predetermined workpiece between the carry-in/out position and the working position provided on a circular track.

I can. By turning the turning arm, the turntable is rotated by an integral multiple of 360 degrees with respect to the installation surface while the turntable is moved from the working position to the carrying-in/out position.

[0014] Hereinafter, a conveying device and a robot system according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

In addition, the examples disclosed below are not intended to limit the present invention.

1 is an explanatory view showing a state of use of the robot system 3 according to the embodiment. 2 is a partial cross-sectional view showing the robot system 3. First, an overview of the robot system 3 according to this embodiment will be described.

As shown in the drawing, the robot system 3 is configured by combining a conveying device 1 including a turning arm 11 and a work robot 2 for processing the work 5. The robot system 3 is arranged inside the work booth 4 surrounded by a safety fence 42.

The working robot 2 is an industrial articulated robot, and is integrally attached to the conveying device 1 at a position substantially intermediate thereof through the robot mounting base 62 as shown in FIG. 2.

A base portion 21 provided under the working robot 2 is attached to the robot mounting base 62, and a robot arm 22 having a plurality of joints extends from the base portion 21. In addition, it is assumed that the working robot 2 according to the present embodiment has six joint axes. Here, the number of axes is just an example. Therefore, the number of axes is not limited to six axes.

The robot system 3 according to this embodiment paints the surface of the work 5. Accordingly, the working robot 2 is called a painting robot, and the spray nozzle 23 is attached to the tip of the robot arm 22 as an end effector. In addition, the working robot 2 can perform various tasks by changing the end effector.

As shown in Fig. 1, in the inner space of the working booth 4, the carrying-in/out position 40 and the working position 41 are preset on a circular trajectory R corresponding to the turning trajectory of the turning arm 11 do. The carry-in/out position 40 and the working position 41 are set at a symmetrical position with respect to the center of the circular trajectory R, that is, the center of rotation O of the turning arm 11 (see Fig. 6).

At the carry-in/out position 40, the untreated work 5 is supplied to the turntable 12 to be described below, or the paint-treated work 5 is taken out from the turntable 12. On the other hand, at the working position 41, a painting process is performed on the work 5 by the working robot 2. The conveying device 1 will be described in detail below.

The robot system 3 according to the present embodiment further includes a spray panel 24 that supplies a predetermined coating material and air to the spray nozzle 23, and a controller 25 that controls the robot system 3 to be driven. Include. Moreover, although omitted in FIG. 1, as shown in FIG. 2, the coating material hose 26 is between the spray nozzle 23 and the spray panel 24.

Is connected, and the working robot 2 and the controller 25 are connected via electric cables 27, 28, 29.

The spray panel 24 is a coating material supply device for supplying a predetermined coating material and air to the spray nozzle 23 through a coating material hose 26 having a linear shape, and a spray nozzle 23 supplying air to spray the coating material. It houses the air supply.

The controller 25 stores a work program that includes the spraying time when the spray nozzle 23 sprays the coating material or air, and the transfer device 1 and the working robot 2 are driven to perform a set operation thereby, have.

The conveying device 1 includes a base 6 disposed on an installation surface 100 and a turning arm 11 provided on the base 6 so as to freely pivot.

The base 6 has a hollow structure and includes a hollow portion 60 having at least a center of rotation O (see Fig. 6) of the pivot arm 11 therein. Here, a predetermined linear body, that is, a first electric cable 27, a second electric cable 28, and a third electric cable 29 for a robot, and a coating material hose 26, etc. 60) can be inserted into the inside.

Turntables 12 and 12 are attached to both ends of the turning arm 11. The turntables 12 and 12 may be positioned at any one of a preset carry-in/out position 40 or a working position 41 on the circular track R according to the turning of the turning arm 11.

In other words, the turntables 12 and 12 attached to both ends of the turning arm 11 formed in a substantially linear shape orbit along the circular orbit R, and a preset carry-in/out position 40 on the circular orbit R, and The working position 41 can be reached. this

In this way, each of the turntables 12 and 12 mounts the work 5 on it and conveys the work between the carry-in/out position 40 and the work position 41.

Each of the turntables 12 and 12 is configured to rotate horizontally around an axis in a state where the work 5 is mounted at a position where each turntable is attached to the turning arm 11. In this embodiment, the conveying device 1 has both leading ends of the turning arm 11

It is controlled to stop turning the swing arm 11 when it is located in the carry-in/out position 40 and the working position 41. The turntable 12 located at the working position 41 is rotated around its axis, and the turntable 12 located at the carry-in position 40 is not rotated.

The turning time of the turning arm 11, the prohibition of rotation when the turntable 12 is positioned in the carry-in/out position 40, and the rotation mode when the turntable 12 is positioned in the working position 41 are set to the controller 25. It can be controlled by the stored work program.

In this way, the work 5 can be mounted on one of the turntables 12 and 12 at the carry-in/out position 40, after which the work 5 is pivoted to perform the painting operation at the work position 41. It can be conveyed to the working position 41 by turning the arm 11 by 180 degrees. Then, by rotating the turntable 12 horizontally at that position during painting work

As a result, the entire work 5 having a three-dimensional surface can be uniformly coated.

On the other hand, when the work is performed at the work position 41, the turntable 12 located at the carry-in/out position 40 is stopped and the untreated work 5 to be painted next is mounted thereon. When the painting work is finished at the working position 41, the work 5 is transferred to the carrying-in/out position 40 by additionally turning the turning arm 11 by 180 degrees to take out the painted work 5 do. At this time, the turntable 12 on which the unprocessed work 5 previously mounted in the carry-in/out position 40 is mounted is located at the work position 41. Moreover, the turning direction of the turning arm 11 between the carry-in/out position 40 and the working position 41 can be reversed at both positions to perform a reciprocating movement, or can always be the same to pass both positions.

In this way, the robot system 3 according to the present embodiment can efficiently perform the painting operation according to the work program. Moreover, even when the coating surface of the work 5 is a three-dimensional shape having irregularities, a coating process may be performed on the work so that it has a uniform coating film thickness.

Here, the work 5 includes, for example, a chassis of a mobile phone, a chassis of a personal computer, and an instrument panel of a vehicle. However, in this regard, if the work has to be painted and can be mounted on the turntables 12, 12 of the conveying device 1, the work 5 is

It can be any work. Moreover, the number of workpieces mounted on the turntable 12 at a time may be more than one.

The characteristic configuration of the transfer device 1 and the robot system 3 according to the present embodiment is that the turntable 12 works with the carry-in/out position 40 by rotating the turning arm 11 of the transfer device 1 by 180 degrees. This is the rotation mode of the turntables 12 and 12 while passing or reciprocating between positions 41.

In other words, the turntables 12 and 12 are configured to be rotated by an integer multiple of 360 degrees with respect to the installation surface 100, while the turntable 12 rotates the turning arm 11 by 180 degrees to work with the carry-in/out position 40. Passing or returning between positions (41)

do.

In the following, the rotation mode of the turntable 12 will be described in detail together with the specific configuration of the conveying device 1. First, the conveying apparatus 1 included in the robot system 3 according to the present embodiment will be described with reference to FIGS. 2 to 5B. Figure 3

It is a cross-sectional view showing a drive mechanism of the conveying device 1 according to the embodiment. 4 is an explanatory view obtained by expanding a part of the drive mechanism. 5A is a plan view showing a state in which one end of the pivoting arm 11 is positioned at the working position 41.

5B is a plan view showing a state in which one end of the turning arm 11 is positioned at a position other than the working position 41. As shown in Figs. 2 and 3, the conveying device 1 is a tubular base (6) It includes a turning arm 11 provided to be rotatable on the top

Is configured to contain. Here, the tubular base 6 includes an installation base 61 provided at a lower end so as to be fixed to the installation surface 100, and a robot mounting base 62 provided at an upper end. The pivot arm 11 extends linearly about the base 6. A pair of turntables 12 and 12 are attached to both ends of the turning arm.

As shown in FIG. 3, the arm turning mechanism 7 for turning the turning arm 11 includes an arm turning ring gear 71 and a turning motor 72. The arm pivoting ring gear 71 is connected to the arm support circumferential surface 6a of the base 6 and is also connected to the bottom of the pivoting arm 11. The slewing motor 72 has a tip portion attached to the drive gear 73 meshing with the arm slewing ring gear 71.

A fitted output shaft 721 is provided. Moreover, a reducer (not shown) is connected to the output shaft 721 of the turning motor 72.

The turning motor 72 is attached to the outside of the base 6. More specifically, when the conveying device 1 is disposed inside the work booth 4, the turning motor 72 is on the side close to the carry-in position 40 from the outside of the base 6, and the turning motor is a motor case ( Accommodated within 700)

Attached in the state

The arm slewing ring gear 71 is fixed to the lower part of the slewing arm 11 and connected to the arm support circumferential surface 6a of the base 6 through a cross roller 70, which is a base ( 6) by rotating along the circumferential surface of the

Turn.

In other words, the power for rotating the turning arm 11 is "slewing motor 72 → output shaft 721 → drive gear 73 → arm turning ring gear 71 → turning arm in the arm turning mechanism 7" (11)". In this way, the pivot arm 11 can be pivoted in such a way that the turntables 12 and 12 orbit around the base 6.

The turning motor 72 is controlled by a work program such that the output of the turning motor is stopped whenever the arm turning ring gear 71 is rotated 180 degrees. In other words, the turning arm 11 is provided at both ends and turns along the circular orbit R.

The blocks 12 and 12 may be rotated or reciprocated while stopping the turntable for a predetermined time at that position between the carry-in/out position 40 and the work position 41 in which the base 6 is positioned between.

By adopting such a configuration, when the turning motor 72 is driven, the arm turning ring gear 71 is rotated and thus the turning arm 11 is turned with its tip end drawing a turning trajectory. In other words, the turntables 12 and 12 respectively attached to both ends of the turning arm 11 move along the circular trajectory R between the carry-in/out position 40 and the working position 41. Such

In this way, the work 5 mounted on the turntable 12 can be conveyed from the carry-in/out position 40 to the work position 41 or from the work position 41 to the carry-in/out position 40.

When one of the turntables 12 and 12 provided at both ends of the turning arm 11 so as to be rotatable in the horizontal direction is located at the working position 41, the conveying device 1 includes the turntable 12 and the turning arm 11 ) In a position attached to the turntable 12 to rotate around its axis.

The table rotation mechanism 8 includes a first in-case rotating shaft 121 and a second in-case rotating shaft 122 accommodated in the arm case 110 of the rotating arm 11, and a primary table coupled to them in an interlocking manner. It includes a rotating shaft 81.

In other words, as shown in FIGS. 2 and 3, the rotation shaft 121 in the first case is directly connected to the turntable 12 and extends vertically. On the other hand, the rotation shaft 122 in the second case extends in the horizontal direction from the inside of the arm case 110, where the tip thereof is coupled to the rotation shaft 121 in the first case in an interlocking manner, and the base end thereof The secondary bevel gear 124 is connected to the transmission shaft 123 provided.

2 and 3, the table rotation mechanism 8 further includes a table rotation motor 80 serving as a power source capable of being coupled to the primary table rotation mechanism 81 in an interlocking manner. When the conveying device 1 is disposed inside the work booth 4, the table rotation motor 80 is on the side close to the work position 41 from the outside of the base 6, and the table rotation motor is

It is attached in a state accommodated in the case 800.

The primary table rotation shaft 81 constitutes a part of the table rotation mechanism to be described below. 3, the primary table rotation shaft 81 is inserted into the through hole 710 provided in the arm turning ring gear 71

Together with the arm 11, it rotates (orbits) around the base 6.

Furthermore, as shown in FIG. 3, a primary bevel gear 811 meshed with the secondary bevel gear 124 is provided at the front end of the primary table rotation shaft 81. On the other hand, at the base end of the primary table rotation shaft 81, as shown in Figs. 3 and 4, the table can be engaged with the guide ring gear 63 fixed on the outer circumferential surface of the base 6 and in an interlocking manner. A transmission gear 91 that is coupled to the rotation shaft 801 of the rotation motor 80 is provided.

In this case, the two pairs of the first in-case rotation shaft 121, the second in-case rotation shaft 122, the electric shaft 123, and the primary table rotation shaft 81, the base 6 is between Positioned, each component of the two pairs is in a symmetrical position.

It is provided in the table rotation mechanism 8 described above in a positioned manner.

In the table rotation motor 80 provided solely on the side close to the working position 41 of the base 6, the rotation shaft 801 extends upward. Therefore, when the primary table rotation shaft 81 is positioned at the working position 41, the lower portion of the tubular transmission gear 91 provided at the base end of the primary table rotation shaft 81 and the rotation shaft of the table rotation motor 80 The output gears 802 provided at the tip end of 801 mesh with each other at this time.

When the turning operation of the turning arm 11 is stopped and one of the turntables 12 and 12 is positioned at the working position 41, the other of the turntables 12 and 12 is positioned at the carrying-in/out position 40. At this time, the turntable 12 located at the carry-in/out position 40 is

It does not rotate (rotate around the shaft), because the drive gear 91 of the primary table rotation shaft 81 coupled to the turntable 12 is fixed on the outer peripheral surface of the base 6, the guide ring gear 63 Because it is mechanically engaged with.

As described above, the transfer device 1 according to the present embodiment uses the table rotation motor 80 when the turntable 12 is positioned at the working position 41 to achieve a desired rotation speed and rotation speed of the turntable 12. Can be rotated with In addition, the table rotation motor 80, which is a power source for rotation, can be realized by a single motor. Thus, cost reduction can be achieved.

On the other hand, as shown in Fig. 4, since the upper portion of the transmission gear 91 meshes with the guide ring gear 63, the transmission gear 91 is the arm swing ring gear 71 is rotated and the swing arm 11 ) While being engaged with the guide ring gear (63) when rotating

It rotates (orbits) together with the swing arm 11.

In other words, the primary table rotation shaft 81 is rotated (orbited) together with the swing arm 11. At this time, the primary table rotation shaft 81 is rotated around the shaft through the transmission gear 91 meshed with the arm pivot ring gear 71 (details will be described below). On the other hand, the primary table rotation shaft 81 Is coupled to the turntable 12 through the rotation shaft 122 in the second case and the rotation shaft 121 in the first case in an interlocking manner as described above. Accordingly, the rotational operation of the primary table rotation shaft 81 in revolution causes the turntable 12 to rotate around the axis through the rotation shaft 122 in the second case and the rotation shaft 121 in the first case.

As described above, the conveying device 1 according to the present embodiment allows the turntable 12 to rotate around an axis while the turntable 12 passes or reciprocates between the carry-in/out position 40 and the working position 41. It includes a table rotation mechanism. The table rotation mechanism shares a primary table rotation shaft 81 constituting a part of the table rotation mechanism 8.

The primary table rotation shaft 81 is coupled to the turntable 12 through the second in-case rotation shaft 122 and the first in-case rotation shaft 121 in an interlocking manner at its tip, and its base end portion is coupled to a transmission gear ( 91) to be fixed and rotated, it has a configuration that engages with the guide ring gear 63 fixed on the outer circumferential surface of the base 6.

At this time, the angular velocity of revolution and the angular velocity of rotation of the turntable 12 are the same. In other words, while the turntable 12 passes or reciprocates between the carry-in/out position 40 and the working position 41, the angular speed of the turning of the turning arm 11 versus the rotation of the turntable 12

The ratio of the angular velocity of is set to 1:1. The operation of the turntable 12 in this case will be described in detail below with reference to FIGS. 6 and 7A to 7C.

In this way, the conveying device 1 according to the present embodiment rotates the turning arm 11 by 180 degrees, so that the turntable 12 passes between the carry-in/out position 40 and the working position 41 or while reciprocating. (12) is rotated by 180 degrees with respect to the turning arm 11 in the same direction as the turning direction of the turning arm 11.

As described above, the table rotation mechanism 8 rotates (revolves) components other than the table rotation motor 80 around the base 6 together with the swing arm 11, and the turntable 12 is axially rotated. Rotate around Then, when one of the turntables 12 and 12 on the turning arm 11 is positioned at the working position 41, the turntable 12 is then operated in an interlocking manner.

It is coupled to the rotation motor 80, and accordingly can be rotated at a rotation speed and rotation speed suitable for painting work.

In other words, the power of the table rotation mechanism 8 for rotating the turntable 12 at a desired rotational speed and rotational speed is one of the turntables 12 and 12 on the turning arm 11 as described below. While located at (41) I

Is reached.

In other words, the power for rotating the turntable 12 is “table rotation motor 80 → rotation shaft 801 → output gear 802 → transmission gear 91 → primary table rotation shaft 81 → primary bevel gear (811) → secondary bevel gear 124 → electric shaft 123 → rotation shaft 122 in the second case → rotation shaft 121 in the first case → turntable 12" is supplied.

In this embodiment, in order to realize the transmission of the power described above, as shown in Figs. 4 and 5A, on the periphery of the guide ring gear 63 fixed to the base 6, the surface at the working position 41 An arc-shaped cutout 64 is formed at the position.

In other words, when one of the turntables 12 and 12 is located at the working position 41 and the turning of the turning arm 11 is stopped, the primary rotation and rotation around the base 6 together with the turning arm 11 The transmission gear 91 of the table rotation shaft 81 meshes with the output gear 802 of the table rotation motor 80. On the other hand, so far, the transmission gear 91 meshes with the guide ring gear 63 and revolves around the base, but the transmission gear 91 is the guide ring gear 63 after the transmission gear 91 is positioned at the cutout 64 )Wow

Is free from interlocking.

Therefore, when the turning motor 72 of the arm turning mechanism 7 is stopped by the work program when one of the turntables 12 and 12 of the turning arm 11 is positioned at the working position 41, the turning arm ( 11) stops turning around the base (6). In this state, when the table rotation motor 80 is driven by the work program, the power from the table rotation motor 80 is transferred through the gear 91 to the turntable 12 as indicated by the aforementioned power transmission path. And thus the turntable 12 can be rotated around its axis. While the turntable 12 is rotating, the working robot 2 performs painting work on the work mounted on the rotating table 12.

After the painting operation is finished by the lapse of a predetermined period, the table rotation motor 80 is stopped by the work program.

On the other hand, the turning motor 72 of the arm turning mechanism 7 is driven by the work program to start turning the turning arm 11 again. By doing so, the transmission gear 91 of the primary table rotation shaft 81 is freed from meshing with the output gear 802 of the table rotation motor 80. Then, the transmission gear 91 moves from the cutout 64 and re-engages with the guide ring gear 63, thereby revolving and rotating around the base 6 with the turning of the turning arm 11 Start. 5B shows a state in which the primary table rotation shaft 81 is positioned at a position other than the working position 41. In this case, the transmission gear 91 meshes with the guide ring gear 63 and rotates (orbits) with the preferred arm 11 during rotation.

As described above, the robot system 3 and the work robot 2 according to the present embodiment have a table rotation mechanism constituted by a part of the table rotation mechanism 8 and a part of the arm rotation mechanism 7. Moreover, by the action of the table rotation mechanism, the turntable 12 revolves along the circular trajectory R and rotates around the axis in the horizontal direction with the work 5 mounted thereon. In other words, while the turntable 12 passes or reciprocates between the carry-in position 40 and the working position 41 by rotating the turning arm 11 by 180 degrees, the turntables 12 and 12 are mounted on the mounting surface 100 Rotate by an integer multiple of 360 degrees

Can be.

Now, the operation of the turntable 12 will be described with reference to Figs. 6 and 7A to 7C. These drawings are viewed from above

These are plan views of the conveying device 1 of. 6 is an explanatory diagram showing the rotation of the turntable 12 according to the present embodiment. 7A is an explanatory diagram showing the revolution and rotation between the working position 41 and the carrying-in/out position 40 of the turntable 12. 7B is a diagram showing the revolution and rotation between the working position 41 and the carrying-in/out position 40 of the turntable 12 according to the first comparative example.

Is an explanatory diagram. 7C is an explanatory view showing the revolution and rotation between the working position 41 and the carrying-in/out position 40 of the turntable 12 according to the second comparative example. Here, the same components in Figs. 7B and 7C as those of the conveying apparatus 1 according to the present embodiment have the same reference numerals, and detailed descriptions thereof will be omitted. For illustrative purposes, these drawings

The turntable 12 is shown larger than the turntables of FIGS. 1 and 2.

In Fig. 6, one of the turntables 12 and 12 provided on the turning arm 11 of the conveying device 1 is a rectangular table having a side A, a side B, a side C, and a side D, and a carry-in/out position 40 And the working position 41 is located on the left and right sides of the ground, respectively

have. The axis (L) passing through the center of rotation (O) of the turning arm (11) is positioned to connect the carry-in position (40) and the working position (41).

And the initial state (a) is assumed to be a state in which one of the turntables 12 and 12 is positioned at the working position 41.

In the initial state (a), the turntable 12 has a side A on the right side, a side C on the left side, a side B on the lower side, and a side D on the upper side of the ground opposite side B. Here, it is assumed that the turning arm 11 turns clockwise.

In the state (b) where the turning arm 11 is turned 45 degrees from the initial state (a), the side A of the turntable 12 faces the lower side of the ground. In other words, the turntable 12 is rotated 90 degrees with respect to the mounting surface 100 of the conveying device 1 compared to the initial state (a). This result is only 45 degrees for the turning arm 11 in the same direction as the turning direction of the turning arm 11.

A large amount is obtained by rotating the turntable 12. In this state, the turntable 12 is rotated 90 degrees (45 degrees + 45 degrees) with respect to the installation surface 100 compared to the initial state (a).

Similarly, in the state (c) with the turning arm 11 turned 90 degrees from the initial state (a), the side A of the turntable 12 faces the left side of the ground. In other words, the turntable 12 is rotated 180 degrees with respect to the mounting surface 100 of the conveying device 1 compared to the initial state (a). This result is obtained by rotating the turntable 12 by 90 degrees with respect to the turning arm 11 in the same direction as the turning direction of the turning arm 11. In this state, the turntable 12 is rotated 180 degrees (90 degrees + 90 degrees) with respect to the installation surface 100 compared to the initial state (a).

Then, in the state (d) in which the turning arm 11 is turned 135 degrees from the initial state (a), the side A of the turntable 12 faces the upper side of the ground. In other words, the turntable 12 is rotated 270 degrees with respect to the mounting surface 100 of the conveying device 1 compared to the initial state (a). This result is the same for the turning arm 11 in the same direction as the turning arm 11

It is obtained by rotating the turntable 12 by 135 degrees. In this state, the turntable 12 is rotated 270 degrees (135 degrees + 135 degrees) with respect to the installation surface 100 compared to the initial state (a).

Then, in the state (e) where the turning arm 11 is rotated 180 degrees from the initial state (a) and one of the turntables 12, 12 is located in the working position 41, the side A of the turntable 12 Is toward the right side of the ground similar to the initial state (a). In other words, the turntable 12 is rotated 360 degrees with respect to the mounting surface 100 of the conveying device 1 compared to the initial state (a). This result is obtained by rotating the turntable 12 by 180 degrees with respect to the turning arm 11 in the same direction as the turning direction of the turning arm 11. In this state, the turntable 12 is 360 degrees with respect to the installation surface 100 compared to the initial state (a).

Rotated degrees (180 degrees + 180 degrees).

Next, compared with Figs. 7A, 7B, and 7C, the work 5 in which the transfer device 1 and the robot system 3 according to this embodiment are held on the turntable 12 is convenient during transfer. It will be explained that it can prevent exposure to the wind.

Fig. 7A shows states (a) to (e) of Fig. 6 on the same circular orbit R.

In FIGS. 7A to 7C, it is assumed that the working position 41 is provided on the upper side of the paper and the carry-in/out position 40 is provided on the lower side of the paper. Moreover, reference numeral R1 denotes the outermost circular trajectory when the preferred arm 11 provided with the rectangular turntable 12 is turned in each figure. Reference numeral R2 denotes a circular trajectory drawn by the center of the turntable 12.

As shown in FIG. 7A, while the turntable 12 is rotated 180 degrees from the working position 41 to the carrying-in/out position 40, the turntable 12 is rotated 360 degrees about the axis with respect to the installation surface 100. . Accordingly, the turntable 12 rotates once about the axis with respect to the installation surface 100 when it is revolved in the range of 180 degrees along the circular orbit R.

Accordingly, when the turning arm 11 is rotated, that is, when the turntable 12 is revolved, the surface of the work 5 held on the turntable 12 against the wind gradually changes. In other words, the work 5 is being conveyed from the work position 41 to the carry-in position 40

During the work 5 can be prevented from being exposed to a convenient wind. In particular, since the robot system 3 according to the present embodiment performs a painting operation on the work 5, the degree of drying of the work 5 after painting is substantially equalized over the surface, and thus the painting quality is Can be achieved equally over.

The posture of the turntable 12 with respect to the installation surface 100 is the same in the carry-in/out position 40 and the work position 41. In other words, the posture of the work 5 mounted on the turntable 12 does not change at the carry-in/out position 40 and the work position 41. Therefore, when the work 5 is mounted on the turntable 12 in the posture most suitable for painting or the posture most suitable for handling, the work efficiency increases because painting and carrying-in can be performed in that posture.

On the other hand, in the first comparative example shown in FIG. 7B, the posture with respect to the installation surface 100 does not change while the turntable 12 is revolved 180 degrees from the working position 41 to the carry-in/out position 40. In other words, the turntable 12 revolves with respect to the installation surface 100 in a state that does not clearly rotate around its axis. This result is that the turntable 12

It is obtained by rotating the turntable 12 by 180 degrees with respect to the turning arm 11 in a direction opposite to the turning direction of the turning arm 11 when orbiting in a range of 180 degrees along (R). In this state, the turntable 12 is rotated 0 degrees (180 degrees-180 degrees) relative to the installation surface 100 as a result.

As described above, it is preferable that the posture of the work 5 does not change at the carry-in/out position 40 and the work position 41 [0082].

However, as a result, the surface against the wind of the work 5 mounted on the turntable 12 hardly changes. In other words, while the work 5 is being conveyed from the work position 41 to the carry-in/out position 40, the work 5 is consequently exposed to the biased wind. In other words, the surface of the work 5 after painting has an uneven degree of drying or the coating material is uniform.

It is difficult to achieve paint quality evenly across the surface because it has no flow. Moreover, there is a possibility that dust or the like will adhere to the comfortable surface.

In the second comparative example shown in Fig. 7C, the turntable 12 is fixed to the turning arm 11. Accordingly, the turntable 12 is rotated 180 degrees with respect to the mounting surface 100, similar to the turning arm 11, while the turntable 12 is rotated 180 degrees from the working position 41 to the carrying-in/out position 40. In other words, the turntable 12 revolves about the mounting surface 100 without rotating around its axis.

Accordingly, while the turntable 12 is rotated 180 degrees from the working position 41 to the carrying-in/out position 40, only a substantially limited surface of the work 5 is exposed to the wind and the other surface is exposed to vortex or the like. In other words, since the surface of the work 5 after painting has a different degree of drying or the coating material has a non-uniform flow, it is difficult to achieve the coating quality evenly across the surface. Moreover, there is a possibility that dust or the like will adhere to the defined surface. Further, since the posture of the work 5 has opposite reflections at the work position 41 and the carry-in/out position 40, it is slightly disadvantageous from the viewpoint of work efficiency.

(1st modification)

It has been described that the turning arm 11 of the conveying device 1 has a substantially linear shape with turntables 12 and 12 provided at both ends thereof. However, according to the first modified example, as shown in Fig. 8, the turning arm 11 is substantially V-shaped at an interval of 120 degrees from the central axis in which the two arms 11A and 11B act as rotation centers O. A configuration that extends in shape

Have.

8 is an explanatory diagram schematically showing revolution and rotation between a working position and a carry-in/out position of the turntable according to the first modification. As shown in Fig. 8, the turntables 12A and 12B are attached to the two arms 11A and 11B, respectively. two

Both of the turntables 12A and 12B are configured to be rotatable about the axis in the horizontal direction in the attachment position.

[0088] In this example, the two carry-in/out positions (401, 402) and the working position 410 are circular tracks of the turning arm 11 at intervals of 120 degrees

It is set in advance on the figure R. Arrow F shows the loading and unloading of the workpiece 5 (see Fig. 1) at the carry-in/out positions 401 and 402.

Burn.

In the following, the operation of the conveying device 1 in this case will be described. As shown in Fig. 8, in the first state (a), the turntable 12A is positioned at the working position 410 and a painting operation is performed on the work 5. In the meantime, the unpainted work 5 is supplied to the turntable 12B at the carry-in/out position 401 located on the right side of the drawing. Moreover, the first

In the state (a), the side A of the turntable 12A faces the upper side of the ground.

When the painting operation is completed, the turning arm 11 turns counterclockwise, and the already painted work 5 on the turntable 12A is conveyed to the carry-in/out position 402 located on the left side of the drawing. At this time, the turntable 12B supplied with the unpainted work 5 goes toward the working position 410. As described above, the state in which the turning arm 11 is turned counterclockwise after painting is the second state (b). In the second state (b) of Fig. 8, the turning arm 11 is turned 60 degrees.

In the second state (b), when the turning arm 11 is rotated (orbited) 60 degrees from the first state (a), for example, the side A of the turntable 12A faces the lower side of the ground. In other words, the turntable 12A is rotated 180 degrees with respect to the mounting surface 100 of the conveying device 1 compared to the first state (a). This result is obtained by rotating the turntable 12A by 120 degrees with respect to the turning arm 11 in the same direction as the turning direction of the turning arm 11. The turntable 12A is rotated 180 degrees (60 degrees + 120 degrees) with respect to the installation surface 100 compared to the first state (a). In the meantime, the turntable 12B is also

It is rotated 120 degrees with respect to the turning arm 11 in the same direction as the turning direction, and accordingly, it is rotated 180 degrees (60 degrees + 120 degrees) with respect to the mounting surface 100 compared to the first state (a).

It is assumed that the state in which the turntable 12A has reached the carry-in/out position 402 is the third state (c). In the third state (c), the painted work 5 is taken out at the carry-in/out position 402 and the work 5 on the turntable 12B is painted at the work position 410.

In the third state (c), the side A of the turntable 12A faces the upper side of the ground. In other words, the turntable 12A is rotated 360 degrees with respect to the mounting surface 100 of the conveying device 1 compared to the first state a), while the turning arm 11 is rotated 120 degrees from the first state (a). It becomes (orbital). This result is in the turning arm 11 in the same direction as the turning arm 11

It is obtained by rotating the turntable 12A by 240 degrees. The turntable 12A is rotated 360 degrees (120 degrees + 240 degrees) with respect to the installation surface 100 compared to the first state (a).

In the meantime, the turntable 12B is also rotated 240 degrees with respect to the turning arm 11 in the same direction as the turning direction of the turning arm 11, and accordingly, with respect to the mounting surface 100 compared to the first state (a). It is rotated 360 degrees (120 degrees + 240 degrees).

Next, when the painting work is completed in the third state (c), the turning arm 11 rotates clockwise at this time and the already painted work 5 on the turntable 12B is placed in the carry-in/out position ( 401). At this time, the turntable 12A is toward the work position 410 where the unpainted work 5 is newly supplied at the carry-in/out position 402 located on the left side of the drawing.

Goes. As described above, assuming that the state in which the turning arm 11 is turned clockwise after painting is the fourth state (d), the turning arm 11 returns to the first state (a) after the fourth state (d). Returns. When the turning arm returns from the third state (c) to the first state (a), the turntables 12A, 12B are placed on the turning arm 11 in the same direction as the turning direction of the turning arm.

On the other hand, the rotating arm 11 is rotated (orbited) by 120 degrees, and thus rotated 360 degrees (120 degrees + 240 degrees) with respect to the installation surface 100 compared to the third state (c). After that, the cycle of the first state (a) to the fourth state (d) is

It repeats again.

As described above, the interval from the first state (a) to the third state (c) and the interval from the third state (c) to the first state (a), that is, while the work 5 is conveyed immediately after painting, The work 5 is also rotated once with respect to the mounting surface 100 together with the turntable 12A (12B). Therefore, since the work 5 can be prevented from being exposed to the biased wind immediately after painting, the degree of drying of the work 5 is substantially equalized and the painting quality can be achieved equally.

(Second Modified Example) The turning arm 11 of the conveying device 1 is not limited to a substantially linear shape, and is not limited to a substantially V-shaped shape. For example, as shown in Figure 9, three arms (11A, 11B, 11C) act as the rotation center (O)

It may be configured to extend in the radial direction at intervals of 120 degrees from the central axis.

9 is an explanatory diagram schematically showing revolution and rotation between the working position of the turntable and the carrying and carrying out positions of the turntable according to the second modified example. As shown in Fig. 9, the turntable 12 is attached to the three arms 11A, 11B and 11C, respectively.

Here, each of the turntables 12 is configured to be rotatable about an axis in the horizontal direction at the attachment position.

In this case, the carry-in position 400, the work position 410, and the take-out position 420 are preset clockwise at intervals of 120 degrees on the circular trajectory R of the turning arm 11. Here, the supply of the work 5 (see Fig. 1) at the carrying position 400 is

It is performed in the direction of the arrow f1 and the take-out of the work 5 at the take-out position 420 is performed in the direction of the arrow f2.

In other words, in this example, the carry-out position is, on the circular track R, the carry-out position 420 where the carry-out of the painted work 5 is performed at the work position 410, and the unpainted work 5 It is divided into a carry-in location 400 where carry-in of is performed.

When the preferred arm 11 is sequentially rotated in a clockwise direction in units of 120 degrees, such as the carry-in position 400 → work position 410 → take-out position 420, the turntable 12 has at least the turning arm 11 Revolved from the working position 410 to the take-out position 420

It can be configured to rotate at an integral multiple of 360 degrees with respect to the installation surface 100 (see Figs. 2 and 3) of the conveying device 1 during the process.

For example, assuming that the turntable 12 rotates once (rotated by 360 degrees) with respect to the installation surface 100 while the turning arm 11 is revolving from the working position 410 to the carrying position 420, the turntable As a result, it is rotated 240 degrees with respect to the arms 11A, 11B and 11C to which the turntable itself is attached in the same direction as the turning direction of the turning arm 11 while the turning arm 11 turns 120 degrees as a result.

Even in the case of such a configuration, for example, when a painting operation is performed on the work 5 on the turntable 12, the work 5 immediately after painting can be prevented from being exposed to a convenient wind. Accordingly, the degree of drying of the work 5 is substantially equalized between the surfaces and thus the painting quality can be achieved equally.

As described above, in the conveyance device 1 according to the present embodiment, the turntable 12 is rotated by turning the turning arm 11 to move the turntable 12 into and out positions 40, 401 and 402 (or the take-out position 420 and the carry-in position ( 400)) and during the passage or reciprocating between the working positions 41 and 410, the turntable 12 is rotated with respect to the corresponding swing arm in the same direction as that of the swing arm 11, in the meantime, the installation surface It has a configuration in which the sum of the rotation angle of the turning arm 11 with respect to 100 and the rotation angle of the turntable 12 with respect to the turning arm 11 is an integer multiple of 360 degrees.

In the above-described embodiment, the turntable 12 passes between or reciprocates between the carry-in/out position 40, 401, 402 (or the carry-out position 420 and the carry-in position 400) and the work positions 41, 410. (12) is rotated once with respect to the mounting surface (100)

Explained. However, the rotation may be more than two times. At this time, since it is preferable that the posture of the turntable 12 with respect to the installation surface 100 (the posture of the work 5) does not change at the carry-in/out position (or the take-out position and the carry-in position) and the work position, the turntable is It is configured to rotate in an integer multiple of 360 degrees with respect to (100). Moreover, the turntable 12

When rotated twice or more with respect to (100), the turntable can be rotated in a direction opposite to the turning direction of the turning arm (11).

On the other hand, in the above-described embodiments and modifications, it has been described that the conveying apparatus 1 includes two or more turntables. However, for example, the conveying device 1 may be configured to include one arm that has a leading end attached to the turntable 12 and a proximal end coupled to the base 6 so as to pivot freely in an interlocking manner.

According to the present embodiment, it has been described that the robot system 3 is a system that performs a painting operation. However, this embodiment is not limited to this. It suffices if the robot system 3 is manufactured by appropriately combining the working robot 2 performing a predetermined operation and the conveying device 1 having the above-described configuration.

According to this embodiment, it has been described that the turntable 12 of the conveying device 1 has a rectangular shape that is elongated in the horizontal direction. However, the turntable 12 may have a shape that is elongated in the vertical direction. Alternatively, the turntable 12 may have a circular shape or the like. The turntable 12 is not limited to any shape.

It has been described that the working robot 2 is disposed above the conveying device 1 of the robot system 3. The arrangement of the working robot 2 is not limited to the embodiment.

For example, as shown in Figs. 10 and 11, the transfer device 1 and the work robot 2 can be installed separately.

In the example shown in Fig. 10, the work robot 2 is disposed near the ceiling 44 of the work booth 4, and the robot arm 22 extends downward to perform the painting operation.

In the example shown in FIG. 11, the conveying device 1 and the work robot 2 are spaced at a predetermined distance in a direction perpendicular to the direction connecting the carrying-in/out position 40 and the work position 41 in the work booth 4. Are arranged adjacent to each other.

1: transfer device 2: work robot
3: robot system 4: work booth
5: Work 6: Donation
7: arm turning mechanism 11: turning arm
12: turntable 40: carry-in position
41: working position 71: arm turning ring gear
72: swing motor 80: table rotation motor
Patent Publication 10-2013-0112677
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Claims (1)

A carrier device, comprising: a swivel arm provided on a base installed on an installation surface so as to be pivotable around a central axis and capable of passing through a circular orbit; And a turntable attached to the distal end of the turning arm and capable of carrying a predetermined workpiece between a working position and a carry-in/out position provided on the circular track, wherein the turntable is rotated by turning the turning arm. While moving from the working position to the carry-in/out position, the turntable is rotated by an integer multiple of 360 degrees with respect to the installation surface.

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