WO2023199521A1

WO2023199521A1 - Robot inverting jig, robot, and robot inverting method

Info

Publication number: WO2023199521A1
Application number: PCT/JP2022/017947
Authority: WO
Inventors: 剛志津田
Original assignee: 三菱電機株式会社
Priority date: 2022-04-15
Filing date: 2022-04-15
Publication date: 2023-10-19
Also published as: JP7233618B1; JPWO2023199521A1

Abstract

A robot inverting jig (20) is attached to side surfaces of a robot (10) and uses forks and wires to invert the robot (10) between a floor-standing posture and a ceiling-suspended posture. The robot inverting jig (20) comprises: support plates (21) secured to the side surfaces of the robot (10) and having wire hooking parts (24, 25) on which wires are hooked to raise and lower the robot (10) to which the robot inverting jig (20) is attached; and first projecting parts (23) and second projecting parts (22) that project out from the support plates (21).

Description

Robot reversal jig, robot and robot reversal method

The present disclosure relates to a robot reversing jig, a robot, and a robot reversing method for reversing a robot vertically.

In order to ensure a wide range of motion, industrial robots are sometimes installed on the floor in a floor-standing state, or installed on the ceiling in a ceiling-suspended state (for example, Patent Document 1). Reversing a heavy robot in the direction of gravity requires a large amount of force, and safety must be ensured.

Japanese Patent Application Publication No. 2006-68806

Therefore, in industrial fields where industrial robots are used, there is a strong need for a robot reversing jig that can easily and safely reverse the robot.

The present disclosure has been made in view of the above, and aims to provide a robot reversing jig that can easily and safely reverse a robot.

In order to solve the above-mentioned problems and achieve the objectives, a robot reversing jig in the present disclosure is attached to the side of a robot and uses a fork and a wire to reverse the robot between a floor-standing position and a ceiling-hanging position. let The robot reversing jig has a wire hanging part on which a wire is hung to raise and lower the robot to which the robot reversing jig is attached, a support plate fixed to the side of the robot, and at least a part of the robot having an arc shape. a protrusion projecting from the support plate and having a plurality of contacts supported by the fork. When the robot reversing jig is attached to the robot, the center of gravity of the robot is located between multiple contact points, and in the process of the robot with the robot reversing jig attached being reversed on the fork by raising and lowering the wire, A feature is that the arc-shaped portion of the protrusion comes into contact with the fork.

According to the robot reversing jig in the present disclosure, the robot can be easily and safely reversed.

A perspective view showing an example of a robot that is reversed by the robot reversal jig according to the first embodiment. A perspective view showing the configuration of a robot reversing jig according to Embodiment 1. A perspective view showing a state in which the robot reversing jig according to Embodiment 1 is attached to a robot with its arm folded in a transporting posture. A side view showing a state in which the robot reversing jig according to Embodiment 1 is attached to a robot with its arm folded and in a transfer posture. A front view showing a state in which the robot reversing jig according to Embodiment 1 is attached to a robot with its arm folded and in a transfer posture. A top view showing a state in which the robot reversing jig according to Embodiment 1 is attached to a robot with its arm folded and in a transfer posture. A side view showing the robot reversing jig and the initial posture of the robot when the robot is reversed vertically using the robot reversing jig according to the first embodiment. A side view showing a robot reversing jig and an intermediate posture of the robot when the robot is reversed vertically using the robot reversing jig according to the first embodiment. A side view showing the robot reversing jig and the final posture of the robot when the robot is reversed vertically using the robot reversing jig according to the first embodiment. A perspective view showing the configuration of a robot reversing jig according to Embodiment 2 A perspective view showing a state in which the robot reversing jig according to Embodiment 2 is attached to a robot with its arm folded and in a transporting posture. A side view showing the configuration of a robot reversing jig according to Embodiment 3 Side view showing the configuration of a robot reversing jig according to Embodiment 4 A side view showing the configuration of a robot reversing jig according to Embodiment 5 A side view showing the configuration of a robot reversing jig according to Embodiment 6

Below, a robot reversing jig, a robot, and a robot reversing method according to an embodiment will be described in detail based on the drawings.

Embodiment 1.
FIG. 1 is a perspective view showing an example of a robot that is reversed by the robot reversal jig according to the first embodiment. The robot 10 can take a floor-standing position where it is installed on the floor, or it can take a ceiling-suspended position where it is installed on a ceiling, as shown in FIG. A robot reversing jig is used when reversing the robot 10 from a floor-suspended position to a ceiling-suspended position, or when reversing the robot 10 from a ceiling-suspended position to a floor-suspended position.

The robot 10 is a multi-joint robot and includes a base 11, a first arm 12, a first joint 13, a second arm 14, and a second joint 15.

FIG. 2 is a perspective view showing the configuration of the robot reversing jig according to the first embodiment. FIG. 3 is a perspective view showing a state in which the robot reversing jig according to the first embodiment is attached to a robot with its arm folded in a transporting posture. FIG. 4 is a side view showing a state in which the robot reversing jig according to the first embodiment is attached to a robot with its arm folded in a transporting posture. FIG. 5 is a front view showing a state in which the robot reversing jig according to the first embodiment is attached to a robot with its arm folded in a transporting posture. FIG. 6 is a top view showing a state in which the robot reversing jig according to the first embodiment is attached to a robot with its arm folded in a transporting posture.

As shown in FIGS. 2 to 6, the robot reversing jig 20 includes a pair of reversing

jig units

20a and 20b. The reversing

jig units

20a and 20b have a symmetrical shape. The reversing

jig units

20a and 20b include a support plate 21, a first protrusion 23, and a second protrusion 22. The support plate 21 has a rectangular plate shape. The second protruding portion 22 has a prismatic shape that protrudes from the support plate 21, for example, a quadrangular cylindrical shape. The first protruding portion 23 has a cylindrical shape that protrudes from the support plate 21, for example, a cylindrical shape. The first protrusion 23 and the second protrusion 22 are spaced apart from each other in the horizontal direction by a certain distance when the robot reversing jig 20 is attached to the robot 10.

The lower position of the first protruding part 23 and the lower position of the second protruding part 22 are set such that the lower position of the first protruding part 23 and the lower position of the second protruding part 22 are at the same height position when the robot reversing jig 20 is attached to the robot 10. 2. The dimensions and installation position of the protrusion 22 are set. The upper position of the first protruding part 23 and the upper position of the second protruding part 22 are set so that the upper position of the first protruding part 23 and the upper position of the second protruding part 22 are at the same height position when the robot reversing jig 20 is attached to the robot 10. 2. The dimensions and installation position of the protrusion 22 are set. In the first embodiment, the center positions of the first protrusion 23 and the second protrusion 22 are spaced apart from the long side of the support plate 21 by the same distance, and the center positions of the second protrusion 22 are located on the short side of the support plate 21. The length of the parallel sides and the diameter of the first protrusion 23 are the same length.

The reversing

jig units

20a and 20b are attached to the side of the robot 10. In the first embodiment, two holes 26 are provided at diagonal locations on the support plate 21 , and fixing tools 27 such as bolts are inserted into the holes 26 to fix the support plate 21 to the robot 10 .

A wire hanging part 24 as a second wire hanging part and a wire hanging part 25 as a first wire hanging part are provided on one short side of the support plate 21. The

wire hanging parts

24 and 25 are holes for hanging the hook 41 at the tip of the wire 40 (see FIG. 7).

The positional relationship between the center of gravity W of the robot 10, the

wire hooks

24 and 25, and the first protrusion 23 will be explained using FIG. 4. The center of gravity W is the center of gravity of the robot 10 when the reversing

jig units

20a and 20b are attached to the robot 10. The lower wire hanging part 25 is used when the robot 10 is reversed from a floor-standing position to a ceiling-hanging position. The upper wire hanging part 24 is used when the robot 10 is reversed from a ceiling-suspended position to a floor-standing position.

The lower wire hanging part 25 is provided at a position where the first intersection point P1 is located above the first contact point P3 when the robot reversing jig 20 is attached to the robot 10. The intersection point P1 is a straight line L1 as a first straight line that passes through the wire hanging part 25 and the center of gravity W, and a short line that is perpendicular to the straight line L1 and is provided with the wire hanging part 25 in the circular shape of the first protrusion 23. This is the intersection of the side 21a and the opposite short side 21b with a straight line L2 as a second straight line that is in contact with the arc on the opposite side. The contact point P3 is a contact point between the straight line L2 and the arc shape of the first protrusion 23. It can also be said that the straight line L2 is the straight line that is perpendicular to the straight line L1 and that is farther from the wire hanging part 25 of the two straight lines that are in contact with the first protrusion part 23.

Similarly, the upper wire hanging portion 24 is provided at a position where the second intersection point P2 is located below the second contact point P4 when the robot reversing jig 20 is attached to the robot 10. . The intersection point P2 is a straight line L3 as a third straight line that passes through the wire hanging part 24 and the center of gravity W, and a short line that is perpendicular to the straight line L3 and is provided with the wire hanging part 24 in the circular shape of the first protrusion 23. This is the intersection of the side 21a and the opposite short side 21b with a straight line L4 as a fourth straight line that is in contact with the opposite circular arc. The contact point P4 is a contact point between the straight line L4 and the arc shape of the first protrusion 23. It can also be said that the straight line L4 is the straight line that is perpendicular to the straight line L3 and that is farther from the wire hanging part 24 of the two straight lines that are in contact with the first protrusion part 23.

Next, the movement of the robot reversing jig 20 when reversing the robot 10 vertically will be explained according to FIGS. 7 to 9. FIG. 7 is a side view showing the initial posture of the robot reversing jig 20 and the robot 10 when the robot 10 is reversed vertically using the robot reversing jig 20 according to the first embodiment. FIG. 8 is a side view showing an intermediate posture of the robot reversing jig 20 and the robot 10 when the robot 10 is reversed vertically using the robot reversing jig 20 according to the first embodiment. FIG. 9 is a side view showing the final posture of the robot reversing jig 20 and the robot 10 when the robot 10 is reversed vertically using the robot reversing jig 20 according to the first embodiment. One of the floor-standing posture and the ceiling-suspended posture corresponds to the first posture, the other of the floor-standing posture and the ceiling-suspended posture corresponds to the second posture, and the intermediate posture corresponds to the third posture. In FIGS. 7 to 9, the initial posture is the floor-standing posture.

First, as shown in FIG. 7, the robot 10 in a floor standing position with the robot reversing jig 20 attached is placed on the fork 30 of a forklift (not shown), and the wire 40 is hung on the wire hanging part 25 of the robot reversing jig 20. Specifically, after the arm of the robot 10 is folded into a transporting posture, the robot reversing jig 20 is attached to the side surface of the robot 10 using a fixture 27. In this state, the fork 30 of the forklift is inserted into the lower part of the second protrusion 22 and the first protrusion 23 of the robot reversing jig 20, and the fork 30 of the forklift is inserted into the lower part of the second protrusion 22 and the first protrusion 23. support. Further, the hook 41 of the wire 40 is hooked onto the lower wire hook portion 25. A wire elevator (not shown) such as a crane is attached to the base end side of the wire 40.

When the wire 40 is raised from the initial state shown in FIG. 7 as shown by the arrow K1, the robot 10 to which the robot reversing jig 20 is attached will move the cylindrical surface of the first protrusion 23 into contact with the fork 30. It rolls and moves on the fork 30 to the intermediate state shown in FIG. Along with this movement, the center of gravity W of the robot also moves. In the intermediate posture shown in FIG. 8, a line connecting the wire hanging portion 25 and the center of gravity W of the robot 10 coincides with the direction of gravity. That is, in the intermediate position shown in FIG. 8, the robot 10 to which the robot reversing jig 20 is attached hangs down from the wire 40 under its own weight while being supported by the fork 30. In this intermediate state, the center of gravity W of the robot 10 is located to the right of the contact point P5 between the cylindrical surface of the first protrusion 23 and the fork 30. Contact P5 corresponds to contact P3 shown in FIG.

Therefore, when the wire 40 is loosened and gradually lowered from this intermediate state as shown by arrow K3, the first protrusion 23 rolls on the fork 30, and the robot reversing jig 20 is attached. The robot 10 rotates about the cylindrical surface of the first protrusion 23 as a fulcrum, as shown by arrow K2. Thereafter, the robot 10 to which the robot reversing jig 20 is attached finally stops on the fork 30 in an upside-down suspended state, as shown in FIG. In this way, the robot 10 to which the robot reversing jig 20 is attached can be moved from the intermediate state shown in FIG. 8 to the suspended state shown in FIG. 9 by simply supporting it with the wire 40 without applying any external force for rotation. , can be rotated. The robot 10 suspended from the ceiling is then transported by a forklift to its installation position and installed on the ceiling. The robot reversing jig 20 is then removed from the robot 10.

When reversing the robot 10 from the ceiling-suspended position to the floor-standing position, use the other wire hanging part 24 to perform the operations reverse to those shown in FIGS. 7 to 9. Specifically, first, in the ceiling hanging attitude shown in FIG. Lift the robot 10 until it reaches an intermediate state where the connecting line coincides with the direction of gravity. In this intermediate state, the robot 10 to which the robot reversing jig 20 is attached is in a state symmetrical to that in FIG. 8, and the center of gravity W is located on the left side of the first protrusion 23. Thereafter, by gradually lowering the wire 40, the robot 10 to which the robot reversing jig 20 is attached is rotated on the fork 30 to a floor-standing position and then stopped.

In the first embodiment, the first protrusion 23 has an arc-shaped portion at least in part. Further, a plurality of contacts horizontally supported by the fork 30 are configured by the first protrusion 23 and the second protrusion 22. Furthermore, when the robot reversing jig 20 is attached to the robot 10, the position of the center of gravity W of the robot 10, more precisely, the horizontal position of the center of gravity W, is always at the first protrusion 23, which is a plurality of contact points. It is located between the second protrusion 22 and the second protrusion 22 . Furthermore, the arc-shaped portion of the first protrusion 23 is in contact with the fork 30 during the process in which the robot 10 to which the robot reversing jig 20 is attached is reversed on the fork 30 by raising and lowering the wire 40 .

According to the first embodiment, the first protrusion 23 and the second protrusion 22 are supported by the fork 30 and rolled on the fork 30 such that the arc-shaped portion of the first protrusion 23 is in contact with the fork 30. By moving the robot 10, the robot 10 is reversed, so the robot can be easily and safely turned upside down with a small force. Further, the robot 10 is horizontally supported by the fork 30 at two points, the first protrusion 23 and the second protrusion 22, and the center of gravity W of the robot 10 is always located between the first protrusion 23 and the second protrusion 22. Therefore, even if the center of gravity changes during the process of reversing the posture of the robot 10 on the fork 30, a stable reversal operation can be performed. Furthermore, when the robot 10 is lifted to the intermediate position, the center of gravity W of the robot 10 is located to the left or right of the contact point P5 between the cylindrical surface of the first protrusion 23 and the fork 30, so that The robot 10 can be rotated to the final posture without applying external force.

Embodiment 2.
FIG. 10 is a perspective view showing the configuration of a robot reversing jig 50 according to the second embodiment. FIG. 11 is a perspective view showing a state in which the robot reversing jig 50 according to the second embodiment is attached to the robot 10 with its arm folded in a transporting posture. In the robot reversing jig 50, a circular stopper part 23a having a diameter larger than the diameter of the cylindrical part of the first protruding part 23 is provided at the tip of the first protruding part 23 of the robot reversing jig 20 of the first embodiment. ing. Furthermore, a rectangular stopper portion 22 a having each side longer than each side of the prismatic portion of the second protrusion 22 is provided at the tip of the second protrusion 22 . Further, the

wire hanging parts

24 and 25, which are holes in the first embodiment, are replaced with a cylindrical wire hanging part 51 protruding from the support plate 21. The cylindrical wire hanging portion 51 has a stopper portion 51a at its distal end having a diameter larger than that at its base end. The other configurations of the second embodiment are the same as those of the first embodiment, and redundant explanation will be omitted.

According to the second embodiment, since the stopper portion 23a and the stopper portion 22a are provided at the tips of the first protrusion 23 and the second protrusion 22, in addition to the effects of the first embodiment, the robot reversing jig The robot 10 to which the robot 50 is attached is less likely to fall off the fork 30, and more stable reversing operations can be achieved. Moreover, since the wire hanging part 51 has a cylindrical shape protruding from the support plate 21, the hook 41 of the wire 40 can be easily attached to the wire hanging part 51. Note that in Embodiments 3 to 6, which will be described later, the same stopper portion as in Embodiment 2 may be provided. Further, in Embodiments 3 to 6, which will be described later, as in Embodiment 2, the

wire hanging parts

24 and 25, which are holes, may be changed to the wire hanging part 51, which has a cylindrical shape.

Embodiment 3.
FIG. 12 is a side view showing the configuration of a robot reversing jig 60 according to the third embodiment. The robot reversing jig 60 of the third embodiment includes a support plate 21, a third protrusion 62, and a fourth protrusion 61. In the third embodiment, the prismatic second protrusion 22 of the first embodiment is replaced with a cylindrical fourth protrusion 61 having the same diameter as the third protrusion 62. The third protrusion 62 of the third embodiment corresponds to the first protrusion 23 of the first embodiment. The other configurations of the third embodiment are the same as those of the first embodiment, and redundant explanation will be omitted.

According to the third embodiment, since the third protrusion 62 and the fourth protrusion 61 are made of cylinders having the same diameter, in addition to the effects of the first embodiment, the third protrusion 62 and the fourth protrusion 61 are made common. It is possible to obtain the effect of reducing manufacturing costs.

Embodiment 4.
FIG. 13 is a side view showing the configuration of a robot reversing jig 70 according to the fourth embodiment. A robot reversing jig 70 according to the fourth embodiment includes a support plate 21 and a protrusion 71 that protrudes from the support plate 21. The protruding portion 71 has a D-shaped column shape having an arc-shaped portion. The protrusion 71 has a D-shaped ring shape.

In the fourth embodiment, the protrusion 71 has an arc-shaped portion at least in part. Further, the lower surface portion and the upper surface portion of the protruding portion 71 have a plurality of contact points that are horizontally supported by the fork 30. Further, when the robot reversing jig 70 is attached to the robot 10 , the position of the center of gravity W of the robot 10 , more precisely, the horizontal position of the center of gravity W is always located inside the protrusion 71 . Further, in the process of the robot 10 to which the robot reversing jig 70 is attached being reversed on the fork 30 by the lifting and lowering of the wire 40, the arc-shaped portion of the protrusion 71 is in contact with the fork 30. Also, in the fourth embodiment, the positional relationship between the center of gravity W of the robot 10, the

wire hanging parts

24 and 25, and the arc-shaped portion of the protruding part 71 is at the intersection P1, which was explained in FIG. 4 of the first embodiment. The positional relationship between the intersection point P2 and the contact point P3 and the positional relationship between the intersection point P2 and the contact point P4 are set so that the same relationship holds true. The other configurations of the fourth embodiment are the same as those of the first embodiment, and redundant explanation will be omitted.

According to the fourth embodiment, since the protrusion 71 has a single D-shape, in addition to the effect of the first embodiment, there is no need to align the plurality of protrusions, and the difficulty of manufacturing can be reduced. can be obtained.

Embodiment 5.
FIG. 14 is a side view showing the configuration of a robot reversing jig 80 according to the fifth embodiment. A robot reversing jig 80 according to the fifth embodiment includes a support plate 21 and a protrusion 81 that protrudes from the support plate 21. The protrusion 81 includes a first circular arc 81a having an arc-shaped portion, a second circular arc 81b having the same central axis as the first circular arc 81a, and two parallel straight lines 81c connecting the first circular arc 81a and the second circular arc 81b. It has a columnar shape surrounded by.

In the fifth embodiment, the protrusion 81 has a first circular arc 81a that has an arc-shaped portion at least in part. Further, the lower surface portion and the upper surface portion of the protruding portion 81 have a plurality of contact points that are horizontally supported by the fork 30. Further, when the robot reversing jig 80 is attached to the robot 10, the position of the center of gravity W of the robot 10, more precisely, the horizontal position of the center of gravity W is always located inside the protrusion 81. Further, the first arc 81a of the protrusion 81 is in contact with the fork 30 during the process in which the robot 10 to which the robot reversing jig 80 is attached is reversed on the fork 30 by the raising and lowering of the wire 40. Also, in the fifth embodiment, the positional relationship between the center of gravity W of the robot 10, the

wire hanging parts

24 and 25, and the first circular arc 81a of the protruding part 81 is determined at the intersection point described in FIG. 4 of the first embodiment. It is set so that the same relationship as the positional relationship between P1 and the contact point P3 and the positional relationship between the intersection point P2 and the contact point P4 is established. The other configurations of the fifth embodiment are the same as those of the first embodiment, and redundant explanation will be omitted.

According to the fifth embodiment, the protrusion 81 is composed of two straight lines 81c parallel to the first circular arc 81a and the second circular arc 81b having the same central axis, and in addition to the effects of the first embodiment, By removing the upper and lower two surfaces from the cylinder, it can be easily molded, resulting in an effect of reducing manufacturing costs.

Embodiment 6.
FIG. 15 is a side view showing the configuration of a robot reversing jig 90 according to the sixth embodiment. The robot reversing jig 90 of the sixth embodiment includes a support plate 21, a circular arc portion 91 protruding from the support plate 21, a fifth protrusion 92 having a cylindrical shape with a small diameter, and a sixth protrusion having a cylindrical shape with a small diameter. 93. The upper end of the fifth protrusion 92 is provided so as to be at the same height as the upper end of the arcuate part 91 when the robot reversing jig 90 is attached to the robot 10. The lower end of the sixth protrusion 93 is provided at the same height as the lower end of the arcuate part 91 when the robot reversing jig 90 is attached to the robot 10.

In the sixth embodiment, the arc portion 91 has an arc-shaped portion. Furthermore, the arc portion 91, the fifth protrusion 92, and the sixth protrusion 93 constitute a plurality of contact points that are supported horizontally by the fork 30. Further, when the robot reversing jig 90 is attached to the robot 10, the position of the center of gravity W of the robot 10, more precisely, the horizontal position of the center of gravity W is always between the arcuate portion 91, the fifth protrusion 92, and the center of gravity W of the robot 10. It is located between the sixth protrusion 93 and the sixth protrusion 93 . Furthermore, the arc portion 91 is in contact with the fork 30 in the process of inverting the robot 10 to which the robot reversing jig 90 is attached on the fork 30 by raising and lowering the wire 40 . Also, in the sixth embodiment, the positional relationship between the center of gravity W of the robot 10, the

wire hanging parts

24 and 25, and the circular arc part 91 is the same as that of the intersection point P1 and the contact point P3, as explained in FIG. 4 of the first embodiment. , and the same relationship as the positional relationship between the intersection point P2 and the contact point P4 is established. The other configurations of the sixth embodiment are the same as those of the first embodiment, and redundant explanation will be omitted.

According to the sixth embodiment, the weight of the circular arc portion 91, the fifth protrusion 92, and the sixth protrusion 93 is reduced, and in addition to the effects of the first embodiment, a lightweight robot reversing jig 90 can be realized, and it is easy to transport or It is possible to obtain the effect that installation can be made easy.

The configurations shown in the embodiments described above are examples of the contents of the present disclosure, and can be combined with other known technologies, and the configurations can be modified without departing from the gist of the present disclosure. It is also possible to omit or change parts.

10 robot, 11 base, 12 first arm, 13 first joint, 14 second arm, 15 second joint, 20, 50, 60, 70, 80, 90 robot reversal jig, 20a, 20b reversal jig unit, 21 Support plate, 21a, 21b short side, 22 Second protrusion, 22a, 23a, 51a Stopper part, 23 First protrusion, 24, 25, 51 Wire hanging part, 26 Hole, 27 Fixture, 30 Fork, 40 Wire, 41 hook, 61 fourth protrusion, 62 third protrusion, 71, 81 protrusion, 81a first arc, 81b second arc, 81c straight line, 91 arc, 92 fifth protrusion, 93 sixth protrusion part, L1, L2, L3, L4 straight line, P1, P2 intersection, P3, P4, P5 contact point, W center of gravity.

Claims

A robot reversing jig that is attached to the side of a robot and uses a fork and a wire to reverse the robot between a floor-standing position and a ceiling-suspended position,
a support plate fixed to a side surface of the robot, the support plate having a wire hanging part on which the wire is hung to raise and lower the robot to which the robot reversing jig is attached;
a protrusion that has an arc-shaped portion at least in part, has a plurality of contact points supported by the fork, and protrudes from the support plate;
Equipped with
The center of gravity of the robot when the robot reversing jig is attached to the robot is located between the plurality of contact points,
A robot reversing jig, characterized in that the arc-shaped portion of the protrusion comes into contact with the fork during a process in which the robot to which the robot reversing jig is attached is reversed on the fork by raising and lowering the wire.
The wire hanging part has a first wire hanging part on which the wire is hung when the robot is reversed from the floor-standing posture to the ceiling-hanging posture,
When the robot reversing jig is attached to the robot, a first straight line passing through the first wire hanging part and the center of gravity of the robot when the robot reversing jig is attached to the robot; A first point of intersection, which is a point of intersection with a second straight line that is at a right angle and is in contact with the arc-shaped portion of the protrusion, is above a first point of contact that is the point of contact between the second straight line and the arc-shaped portion of the protrusion. The robot reversing jig according to claim 1, wherein the robot reversing jig is located at .
The wire hanging part has a second wire hanging part on which the wire is hung when the robot is reversed from the ceiling-suspended attitude to the floor-standing attitude,
a third straight line passing through the second wire hanging portion and the center of gravity of the robot when the robot reversing jig is attached to the robot when the robot reversing jig is attached to the robot; A second point of intersection, which is a point of intersection with a fourth straight line that is perpendicular to The robot reversing jig according to claim 2, wherein the robot reversing jig is located below.
The protruding portion is
a prismatic first protrusion;
a cylindrical second protrusion having the arc-shaped portion;
The robot reversing jig according to any one of claims 1 to 3, characterized in that it has the following.
The protruding portion is
a cylindrical third protrusion having the arc-shaped portion;
a cylindrical fourth protrusion;
The robot reversing jig according to any one of claims 1 to 3, characterized in that it has the following.
The protruding portion is
The robot reversing jig according to any one of claims 1 to 3, wherein the robot reversing jig has a D-shaped column shape having the arc-shaped portion.
The protruding portion is
A columnar shape surrounded by a first circular arc having the circular arc-shaped portion, a second circular arc having the same central axis as the first circular arc, and two parallel straight lines connecting the first circular arc and the second circular arc. The robot reversing jig according to any one of claims 1 to 3, characterized in that:
The protruding portion is
a circular arc portion having the circular arc shape portion;
a cylindrical fifth protrusion having an upper end that is at the same height as the upper end of the circular arc portion when the robot reversing jig is attached to the robot;
a cylindrical sixth protrusion having a lower end that is at the same height as the lower end of the arcuate portion when the robot reversing jig is attached to the robot;
The robot reversing jig according to any one of claims 1 to 3, characterized in that it has the following.
The robot reversing jig according to any one of claims 1 to 8, wherein the protruding portion includes a stopper portion at a tip.
The robot reversing jig according to any one of claims 1 to 8, wherein the wire hanging part is a hole or a cylindrical protrusion.
A robot, wherein the robot reversing jig according to any one of claims 1 to 10 can be fixed.
a support plate fixed to a side surface of the robot; a plurality of contact points supported by a fork; and a support plate fixed to a side surface of the robot; The center of gravity of the robot when the plate is attached is located between the plurality of contact points, and a pair of robot reversing jigs including a protrusion protruding from the support plate are used to move the robot to the floor. A method for reversing a robot between a first posture, which is one of a standing posture and a ceiling-suspending posture, and a second posture, which is the other of the floor-standing posture and the ceiling-suspending posture, the method comprising:
supporting the robot in the first posture to which the robot reversing jig is attached by the fork at the plurality of contacts of the protrusion;
The robot reversing jig is manufactured by raising the wire with the wire hanging on the wire hanging portion and rolling it on the fork with the arc-shaped portion of the protrusion in contact with the fork. rotating the robot, to which is attached, from the first posture to a third posture in which a line connecting the wire hanging part and the center of gravity of the robot coincides with the direction of gravity;
The robot reversing jig is manufactured by lowering the wire with the wire hung on the wire hanging part and rolling it on the fork with the arc-shaped part of the protrusion in contact with the fork. rotating the robot to which the robot is attached from the third posture to the second posture;
A robot reversal method comprising: