WO1989010240A1 - Industrial robot unit - Google Patents

Abstract

An industrial robot unit (8, 28, 30, 33, 34) consisting of an industrial robot (9, 9a, 9b) and a transfer means (10) for moving the industrial robot (9, 9a, 9b), in which the transfer means (10) has a base (17) fixed on an erection surface (21), an articulate link mechanism (18, 18a, 18b) supported on the base (17) and supporting the industrial robot (9, 9a, 9b) on the free end portion thereof, and a driving means (19, 19a, 19b, 32) for actuating the articulate link mechanism (18, 18a, 18b).

Description

 Description Industrial field robot equipment Technical field

 The present invention relates to an industrial port device, and more particularly to an industrial robot device including an industrial port and moving means for moving the industrial port.

 Background art

 For example, there is a car body painting line using an industrial locomotive for painting, which is configured to move the industrial locomotive in parallel according to a work to be conveyed (a car body to be coated). An industrial robot device is used in a coating line having such a configuration. The industrial robot device is composed of an industrial port and a moving device for moving the industrial robot. I have.

By moving the industrial port together with the work as described above, the relative speed between the two becomes zero, and even if the work is conveyed at high speed, the coating process can be performed sufficiently in response to this. There is an advantage that teaching can be performed without considering the relative position at the time of play pack, because the relative position of the industrial port and the industrial port is always in the same state as teaching. Fig. 1 shows conventional industrial! :] Pot device 1 is shown. In the figure, reference numeral 2 denotes an industrial lopot, and reference numeral 3 denotes a mobile device. The moving device 3 is composed of an X-direction slider 4, a Y-direction slider 5 and a Z-direction lifter 6 which are directly installed on the installation floor. Is moved in each of the X, Y and Z directions Had been configured.

 However, the conventional industrial robot 1 shown in Fig. 1 has a configuration in which the long sliders 4 to 6 are installed directly on the installation floor, which requires a large floor area for installation. was there. Especially in the case of an industrial robot for painting, a part of the paint sprayed on the work falls on the moving device 3, but when the paint falls on the drive parts 4 to 6 such as sliders and this is dried and hardened. In this case, the moving device 3 stops working. For this reason, a force par 7 for covering the driving part (in FIG. 1, the driving parts of the sliders 4 to 6 are covered with a bellows-like cover 17) is required. In the case of と す る, since a large floor area is required, the force par 7 must be disposed in a large area accordingly, leading to an increase in cost and a problem that the assembly process becomes complicated.

 Also, in the industrial lopot device 1, the cable connected to the industrial lopot 2 is arranged on the installation floor, and the cable is movable on the installation floor following the movement of the industrial lopot 2. Therefore, the cables need to be long enough to cover the moving range, and the above-mentioned processing for the falling paint (for example, providing a cover) must be performed, which makes the handling of the cables troublesome. was there.

 In addition, paint mist is discharged from the paint ground of the paint line by air * shading (rectifying wind) from the top to the bottom, but sliders 4 to 6 installed on the installation floor are air ♦ There was a problem that it could become an obstacle to the shower, disturbing the flow of the air 'shower and causing a decrease in coating quality.

 Disclosure of the invention

An object of the present invention is to provide an industrial robot for performing a predetermined operation on a workpiece, In the industrial lopot device provided with a moving means for moving the industrial lopot, the moving means is provided with a base fixed to an installation surface, and a free end supported by the base. And a driving means for driving the articulated link mechanism, wherein the industrial rod is separated from an installation surface by the moving means. An object of the present invention is to provide an industrial robot apparatus configured to move. ADVANTAGE OF THE INVENTION According to this invention, the floor area required for installation can be reduced and it can respond also to complicated movement of a workpiece. Another object of the present invention is to provide an industrial lopot for performing a predetermined operation on a workpiece and a moving means for moving the industrial port, wherein the moving means is fixed to a mounting surface. The industrial part comprises: a base part; a multi-joint link mechanism that is supported by the base part and has the free end mounted with the industrial-purpose port; and driving means that drives the multi-joint link mechanism. A plurality of industrial robots configured to move the robot at a position away from the installation surface by the moving means are provided near the work moving line, and a plurality of industrial robots are provided. An object of the present invention is to provide a production line using an industrial port device, wherein a one-bottom device is disposed so as to be substantially parallel to the traveling direction of the work. According to the present invention, the space of the production line can be reduced.

 Further objects and features of the present invention will become apparent from the description given below with reference to the drawings.

 Brief description of drawings

Fig. 1 is a diagram for explaining an example of a conventional industrial robot device, Fig. 2 is a front view of an industrial robot device according to an embodiment of the present invention, and Fig. 3 is an industrial robot device. Plan view of the 4 and 5 are views showing a state in which the industrial lopot device is installed in an automobile body painting line.

 FIGS. 6, 7, 8 and 9 are diagrams showing another embodiment of the industrial robot apparatus according to the present invention.

 BEST MODE FOR CARRYING OUT THE INVENTION

 FIG. 2 and FIG. 3 show an industrial lopot device 8 according to an embodiment of the present invention. The industrial pot device 8 is provided, for example, on a car body painting line and performs a painting operation.

 The industrial lo- port device 8 is roughly composed of an industrial lo- port 9 and a moving device 0.

 The industrial robot 9 is a multi-joint type robot for painting. The base 11 is mounted on the moving device 10, the swivel table 12 which turns horizontally on the base Ί 、, the swivel table 1 It consists of a pillar 13 standing on the top, an arm 14 supported on the upper end of the pillar 13, and a wrist mechanism 15 provided at the tip of the arm 14. The wrist mechanism 15 is equipped with a coating gun 16. Therefore, the industrial port 9 sprays the paint while swinging the paint gun 16 up, down, front, back, left, and right by the operation of each of the above movable parts when performing the painting work. I do.

 The moving device 10 is a device for moving the industrial robot 9 and is roughly composed of a base 17, a link mechanism 18, drive motors 9 and 20, and the like.

The base 17 is a fixed part 17a that is firmly fixed to the installation floor 21 by an anchor port 22, and a post that is fixed to the installation floor 21 by the fixed part Ί7a in an upright state. And 23. A turning gear 24 is attached to the support 23. The link mechanism 18 is a horizontal two-joint link mechanism, and is attached to the upper part of the column 23. The link mechanism 18 includes first and second links 25 and 26, of which the first link 25 is rotatably supported by a support 23. The first link 25 has a structure in which the arm extends left and right with respect to the support 23, and a drive motor 19 is attached to a portion extending leftward in FIG. A second link 26 is rotatably attached to the end extending to the, and a drive motor 2 is attached to the second link 26.

 The drive motor 19 is connected to the revolving gear 24 via the gear 24a. When driven, the first link 25 is revolved around the column 23 (the trace of this revolving is indicated by an arrow in FIG. 3). A).

The second link 26 has one end attached to the end of the first link 25 as described above, and the industrial port 9 attached to the other end. The end of the second link 26 on the first link 25 side is connected to the drive motor 20 and is configured to be able to turn around the end of the first link 25 (this turning The trajectory is indicated by arrow B in FIG. 3). As described above, the links 25 and 26 of the link mechanism # 8 are driven by the drive motors 19 and 20, respectively, to perform a horizontal turning operation on the installation floor 21, and the industrial robot 9 is a rotary Since the robot rotates by turning (indicated by arrows in FIG. 3), the industrial robot 2 can be freely moved in a wide range by appropriately combining the operations. The drive motors 19 and 20 are disposed above the links 25 and 26, respectively. For this reason, there are no protruding devices or devices below the links 25 and 26, and there is no accident of workers colliding with these devices and devices, and safety can be improved. In the moving device 10 having the above configuration, the link mechanism 18 and the drive motors 19 and 20 are located away from the installation floor 1 21 because the link mechanism 18 is attached to the upper part of the column 23. Will be driven. Therefore, the industrial robot 9 moves horizontally with respect to the installation floor 2Ί away from the installation floor 21 and only the base 17 can be directly installed on the installation floor 21. Become. Thereby, the installation area as the industrial lopot device 8 can be reduced.

 In addition, the industrial robot 9 is relatively heavy, and therefore the link mechanism 8 for supporting and moving the industrial robot 9 needs to have a strong structure. As described above, the link mechanism 18 has two horizontal joints. Since it is a link mechanism, it has high strength against loads in the downward direction, and the drive motor 19 is provided on the link 25 on the side different from the side where the industrial Therefore, the load can be balanced between the two. For this reason, even the link mechanism 18 having a simple structure can sufficiently support and move the industrial rod 9.

 Further, the cables (not shown) connected to the industrial mouth pot 9 may be arranged along each of the links 25 and 26, so that the length of the cables can be shortened, and Handling can be performed easily.

 FIGS. 4 and 5 show a state in which the industrial port device 8 having the above-described configuration is inserted into a car paint-off line. In the figure, reference numeral 27 denotes a work (body to be painted), which is conveyed at a constant speed in the direction of arrow V in the figure.

The industrial lopot device 8 (excluding the industrial lopot device 8a) is disposed near the movement line of the work 27, and its position is substantially parallel to the traveling direction V of the work 27. It is selected to be. In addition, the link distance between adjacent industrial robot devices 8 is determined by the link mechanism 18 by the links 25, The length is set shorter than the length when 26 is extended to the maximum (Fig. 2 shows this state). Therefore, the industrial port devices 8 are arranged close to each other.

 As described above, the industrial lopot device 8 has a small installation area, and can be freely operated by the moving device 10 having the link mechanism 18. Therefore, it is possible to arrange the industrial port devices 8 close to each other, thereby making it possible to shorten the length of the production line and to reduce the space of the coating line.

Further, as described above, the industrial port device 8 can freely move the industrial robot 9 including the X direction and the Y direction (shown in FIG. 3) by the moving device 0. Therefore, the industrial port 9 can be moved at the same speed in parallel with the work 27. Therefore, when teaching to the industrial mouth port 9, teaching can be performed without considering the relative position at the time of play pack. In addition to the movement parallel to the work 27, the movement in the Y-direction (movement in the direction perpendicular to the movement direction of the work 27) and the turning operation accompanying the turning of the turning table 12 can be accompanied. Needless to say, it is possible to appropriately carry out painting in narrow places with complicated movement.In addition, the industrial port device 8a is used to move the industrial robot 9 to the movement locus of the work 27. It is configured so that it can be positioned and operated in the interior. In the conventional industrial port device 1 (see Fig. 1), if the industrial port 2 is to be operated within the movement path of the work 27, the work 27 The moving device 3 must be provided in the moving line 3. However, it is impossible to provide the moving device 3 on the moving line from the viewpoint of space and the smooth transfer of the work 27. On the other hand, the industrial ^[ 1-pot apparatus 8a ^{] according} to the present application uses the base 17 as a work piece. Installed at a position retreated from the movement line of 27, and with the base unit 17 as a base, move the industrial locomotive 9 into the movement locus of the work 27 with the industrial device 9 away from the installation surface by the moving device 10. Can be done. Therefore, it is possible to make the industrial lo- pit 9 work within the movement trajectory of the work 27 without obstructing the movement of the work 27. And back work can be easily performed.

 In addition, with the painting operation of the industrial robot 9, a part of the sprayed paint is urged by the air shower described above and falls, but in the industrial robot 8, the base is attached to the installation floor 21. Only the unit # 7 is installed, and the base unit # 7 is a component that does not involve driving. For this reason, there is no need for a cover to prevent the falling paint from adhering as in the past, and even if it is installed, it is sufficient to use it only for the drive part of the link mechanism # 8. For this reason, the cost required for the cover in the related art can be reduced, and in addition, the number of assembly steps required for mounting the cover can be reduced. Furthermore, since the number of obstacles on the installation floor 21 is smaller than in the past, the flow of the air * shower is smooth, and the coating quality can be improved.

 On the other hand, the locus of movement of the industrial lo- port 9 by the moving device 10 is located in a plane parallel to the installation floor 2 "1" (hereinafter referred to as a moving surface). Therefore, by making the height of the moving surface of the industrial port 9 different, the moving surfaces of the plurality of industrial ports 9 can be superimposed on a plane.

This specific example is shown in FIG. The industrial robot device 28 shown in the figure has industrial robots 9a and 9b, link mechanisms 18a and 18b, and drive motors, which are vertically symmetrical to the support 23 of the base 17 respectively. 19 a, 19 b, 20 a, and 20 b are provided. By configuring in this way, the plane From the viewpoint, two industrial ports 9a and 9fc> can be moved on a moving surface having an area around the periphery, and the installation space can be effectively used. In addition, since two industrial robots 9a and 9b and link mechanisms 8a and 18b are mounted on one base portion 17, the relative positions as the industrial port device 28 are provided. The footprint is even smaller.

 Although the figure shows the configuration in which the industrial port 9b is inverted, the link mechanisms 18a and 18b are arranged apart from each other, and the industrial port 9b is It may be configured to stand up. In general, the industrial port is designed so that the upright state is in a normal posture, so this configuration does not require a design change of the industrial robot and is effective in terms of cost merit.

Further, the mobile device 1 0 provided above the industrial has ^[iota pop Bok device 8, 2 8, is moved in the vertical direction with respect to installation floor 2 I Industrial port pop Bok 9 a, 9 b However, as shown in FIG. 7, it is also possible to use a cylinder 29 to move up and down with respect to the installation floor 2 据.

The industrial robot device 30 shown in the peripheral diagram has a configuration in which the first link 25 can slide up and down on the support portion 23 and a cylinder 29 (for example, Hydraulic cylinder, etc.), and this piston 3 Ί is connected to the first link 25. According to the industrial port device 30, the industrial port 9 can be moved not only in the X and Y directions but also in the Z direction. :] It is possible to extend the application range of the pot device 30. In the above embodiment, the gears 24 and 24a were used as steps for turning the first link 25 by the drive motor 19. However, the present invention is not limited to this, and a transmission means such as a timing belt or a chain may be used. In addition, a so-called direct drive in which the link 25 is directly driven by the drive motor # 9. As shown in FIG. 8, a drive unit 32 in which a motor and a speed reducer are integrated is provided above a support 23 of the first link 25, and the link unit 25 is provided by the drive unit 32. The industrial port device 33 may be configured to drive the motor.

 Further, the means for moving the industrial port 9 in the Z direction is not limited to the cylinder 29 (see FIG. 7), and other driving means such as a motor may be used.

 Furthermore, focusing on the column 23, the column 23 is provided with a link mechanism 8 having an industrial rod 9 mounted at one end, so that a large load is applied and the strength must be increased. Therefore, as shown in FIG. 9, when a plurality of moving devices 10a and 10b are arranged close to each other, the strut portion 23a is shared by the respective moving devices 10a and 10b, so that An industrial robot device 34 having a configuration in which the strength of the portion 23a is strengthened may be used.

 Industrial applicability

 As described above, according to the industrial lopot device of the present invention, the floor area required for installation can be reduced, and it is possible to cope with complicated movement of a work. Very useful.

Claims

The scope of the claims 1. An industrial robot device provided with an industrial robot for performing a predetermined operation on a workpiece and a moving means for moving the industrial robot, wherein the moving means is a base fixed to a mounting surface. , A multi-joint link mechanism supported on the base and having the free end mounted with the above-mentioned industrial joint, and a driving means for driving the multi-joint link mechanism. An industrial lopot apparatus characterized in that the lopot is moved by the moving means at a position separated from the installation surface.  2. The industrial port device according to claim 1, wherein said industrial port is a multi-joint type coating port. The industrial port device according to claim 6, wherein the multi-joint link mechanism is a horizontal multi-joint link mechanism including first and second links.  4. The No. 1 link is rotatably supported by a column constituting the base and has arms extending left and right with respect to the column, and one of the arms has the No. 1 arm. The first arm is provided with a first drive means for rotating and driving the second link, and the second arm is provided with a second drive means for rotating and driving the second link on the other arm. 4. An industrial lopot device according to claim 3. 5. The industrial lopot according to claim 3, wherein the second link has one end attached to the first link and the other end attached to the industrial lopot. Device. 6. The industrial lopot device according to claim 3, wherein a cable connected to the industrial port is arranged along the first and second links. . 1 Ί 2- 7. The industrial mouth pot device according to claim 4, wherein said first and second driving means are both mounted on the first link or the upper part of the second link. .  8. A plurality of industrial bases with different vertical positions on the support of the base 2. The industrial port device according to claim 1, wherein one port, a link mechanism, and a driving means are provided.  9. The industrial robot apparatus according to claim 8, wherein the industrial mouth pot, the link mechanism, and the driving means are arranged vertically symmetrically. 10. The industrial pot apparatus according to claim 8, wherein said plurality of industrial port pops are provided in an upright state.  11. The articulated link mechanism is slidably supported in the up and down direction on the column of the base, and the articulated link mechanism is moved up and down with respect to the installation surface by an elevating device. 2. The industrial lopot device according to claim 1, wherein  12. The industrial lopot device according to claim 9, wherein said elevating device comprises a piston and a cylinder.  13. The industrial lopot device according to claim 1, wherein said orbiting means drives said articulated link mechanism via driving force transmitting means.  14. The industrial pot device according to claim 1, wherein the driving means directly flies the multi-link mechanism.  15. The industrial device according to claim 1, wherein said driving means is a driving unit provided on an upper portion of a support portion of said base portion, wherein said driving unit is formed by integrating a motor and a speed reducer. Lopot device. 16. The industrial lopot according to claim 1, wherein the pillar portion constituting the base portion is shared by a plurality of the moving means arranged in close proximity. 17. An industrial port for performing a predetermined operation on a workpiece and a moving means for moving the industrial robot are provided. The moving means is provided with a base fixed to an installation surface, and The industrial robot comprises a multi-joint link mechanism supported on a base and having the industrial port attached to a free end thereof, and driving means for driving the multi-joint link mechanism. A plurality of industrial port devices configured to move at a position separated from the installation surface by moving means are disposed in the vicinity of the work moving line, and the plurality of industrial robot devices are disposed in the vicinity thereof. A production line using an industrial port device, characterized by being arranged almost parallel to the direction of travel of the workpiece ₍ 18. plurality of industrial ^[1 pop Bok device Hankoboshi first claimed you characterized in that the adjacent distance to each other is formed by multi joint link mechanism is set to be shorter than the length which is extended to the maximum A production line using the industrial lopot device according to item 7. 19. The industrial robot device according to claim 17, wherein said industrial port device is capable of moving said industrial robot so as to be positioned within a movement locus of said workpiece. Using production line.