CA1307306C - Industrial robot device - Google Patents
Industrial robot deviceInfo
- Publication number
- CA1307306C CA1307306C CA000598233A CA598233A CA1307306C CA 1307306 C CA1307306 C CA 1307306C CA 000598233 A CA000598233 A CA 000598233A CA 598233 A CA598233 A CA 598233A CA 1307306 C CA1307306 C CA 1307306C
- Authority
- CA
- Canada
- Prior art keywords
- arm
- industrial robot
- base part
- driving means
- mounting surface
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
Abstract
ABSTRACT OF THE DISCLOSURE
An industrial robot has a moving mechanism for moving the industrial robot. The moving mechanism includes a base stand fixed on an installing floor, a multi-link mechanism rotatably supported on the base stand and mounted with the industrial robot on a free end thereof, and a driving mechanism for driving the multi-link mechanism.
An industrial robot has a moving mechanism for moving the industrial robot. The moving mechanism includes a base stand fixed on an installing floor, a multi-link mechanism rotatably supported on the base stand and mounted with the industrial robot on a free end thereof, and a driving mechanism for driving the multi-link mechanism.
Description
1 3n77)oh The present invention generally relates to an industrial robot device, and more particularly to an industrial robot davice which is constructed with an industrial robot and moving means for moving the industrial robot.
For example, there has been an industrial robot device which is constructed so that the industrial robot is moved in a parallel direction in accordance with a working body (an automobile body to be painted) convey~d on a paint processing line for the automobile body where the industrial robot is employed for the paint processing. In the paint processing line such constructed, an industrial robot device which is composed of the industrial robot and a moving equipment for moving the industrial robot is employed.
In such a case, when the industrial robot is moved together with the working body, the relative speed difference between the industrial robot and the working body becomes zero. As a result, the paint processing subjected to the working body can be carried out with a full correspondence even when the working body is conveyed at a high speed. At the same time, the relative position between the working body and the industrial robot becomes always a same state as the time of teaching to the industrial robot. Therefore, there comes some advantages in that the teaching can be carried out without consideration about the relative position between them at the time of play back or the like.
Fig. 1 is a view for explaining an example of the industrial robot device of the conventional type.
Fig. 2 is a front view showing an embodiment of the industrial robot device according to the present invention.
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Fig. 3 is a plan view of the industrial robot device.
Figs. 4 and 5 are views showing states in that the industrial robot device are installed on the paint processing line of the automobile body.
Figs. 6 through 9 are views showing other embodiments of the industrial robot device according to the present invention.
Fig. 1 shows an industrial robot device 1 according to the conventional type. In Fig. 1, a numeral 2 denotes an industrial robot, and a numeral 3 denotes a moving equipment for the same, respectively. The moving equipment 3 is composed of a slider 4 for moving in X-direction, a slider 5 for moving in Y-direction and a li~ter 6 for moving in Z-direction respectively which are directly installed on aninstalling floor. The industrial robot 2 is moved toward each of directions X, Y and Z in accordance with the movement of each of sliders respectively.
However, in the industrial robot device 1 of the conventional type shown in Fig. 1, there is a problem in which a large floor spacing area becomes necessary for installing the industrial robot on the installing floor, because the industrial robot device 1 is designed so that those sliders and the like which are extended long over are installed directly on the installing floor.
In the case of the industrial robot device 1 specially employed in the paint processing, it happens that some portion of paint sprayed to the working body will drop on the moving equipment 3. In this case, the paint will drop on the driving portions of the sliders and the like, and then the ~.
paints become dry and stiff to cause the moving equipment being unoperated. For this reason, it becomes necessary to cover the driving portions of the sliders and the like by a covering 7. (In Fig. 1, each of the sliders and the like 4 through 6 are covered by the covering 7 having a bellow shape.) However, since the large floor spacing area for installing the industrial robot device 1 of the conventional type is needed, the covering 7 also must be provided in such a large space correspondingly. As a result, it causes some cost-up in the installing operation, and at the same time, the installing operation of the industrial robot device 1 becomes complicated.
Further, in the industrial robot device 1 of the conventional type, cables to be connected to the industrial robot 2 must be provided on the same installing floor, and the cables also are moved ion the installing floor in accordance with the movement of the industrial robot 2.
Therefore, there have been such problems so that the long cables must be used in order to correspond to the moving area of the industrial robot 2, and also a counter measure for the dropping paint on the cables must be taken (for example, providing with a covering for the cables, or the like), and thus these handlings cause cumbersome operations.
Still further, it is noted that painting mist is generally ejected from a painting booth on the paint processing line by aid of an air shower blowing from top to down in the booth. However, the sliders and the like 4 through 6 provided on the installing floor are obstacles for the air shower and make the flow of the air shower disorder and as a result, it causes inferior quality of the paint.
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~ 3073~)6 In one aspect the invention provides an industrial robot, comprising: a robot body; an articulated arm moved relative to the body for processing a work; and a transport mechanism for moving the robot body, said transport mechanism comprising: a base part fixed on a mounting surface; a first arm having a first end and a second end, said first end being connected to the base part such that the first arm is swung in a first place substantially parallel to the mounting surface; a second arm having a first end and a second end; an articulation mechanism connected to the second end of the first arm and to the first end of the second arm such that the second arm swings; in a second plane that is substantially parallel to the mounting surface; said second end of the second arm carrying the body of the industrial robot; first driving means operationally coupled to the first arm and the base part for swinging the first arm relative to the base part in the first plane; and second driving means operationally coupled to the second arm for swinging the second arm relative to the first arm in the second plane.
In a further aspect the invention provides a production line using a plurality of industrial robots for processing a work that is transported in a predetermined direction, comprising: a plurality of industrial robot systems, each including an industrial robot and a transport mechanism, said transport mechanism comprising: a base part fixed on a mounting surface; a first arm having a first end and a second end, said first end being connected to the base part such that the first arm is swung in a first place substantially parallel to the mounting surface; a second arm having a first end and a second end; an articulation mechanism connected to the second end of the first arm and to the first end of the second arm such that the second arm swings; in a second plane ~-that is substantially parallel to the mounting surface; said , - ., ...., ~
1 3n7306 second end of the second arm carrying the body of the ir,dustrial robot; first driving means operationally coupled to the first arm and the base part for swinging the first arm relative to the base part in the first plane; and second driving means op~rationally coupled to the second arm for swinging the second arm relative to the first arm in the second plane; each said industrial robot systems being provided in the vicinity of a line of transportation of the work such that said plurality of industrial robot systems are generally aligned in the direction of transportation of the work.
Figs. 2 and 3 show an embodiment of an industrial robot device 8 according to the present invention. The industrial robot device 8 is provided along with the paint processing line for the automobile body, for example, and is employed for the paint processing.
Ths industrial robot device 8 is comprised of an industrial robot 9 and a moving equipment 10, roughly speaking.
The industrial robot 9 is an articulated robot employed for the paint processing, and roughly speaking, is comprised of a base body 11 which is fitted on the moving equipment 10, a rotary table 12 which rotates in a hori~ontal level on the base body 11, a supporting rod 13 which rises straight on the rotary table 12, an arm 14 which is supported by an upper end of the supporting rod 13, and a wrist mechanism 15 which is provided on the tip end of the arm 14. Further, a painting gun 16 is furnished with the wrist mechanism 15.
Accordingly, when the paint processing is operated by using 1 30730~
the industrial robot 9, the painting gun 16 is swinging in the up, down, forward, rear, right and left directions by the operation of the movable portions of the above-mentioned parts, mechanism and the like in order to spray the paint.
The moving equipment 10 is an equipment for moving the above-mentioned industrial robot 9, and roughly speaking, is comprised of a base stand 17, a link mechanism 18, and driving motors 19 and 20 and the like.
The base stand 17 is composed of an anchor portion 17a which is steadily fixed to an installing floor 21 to be installed thereon by using anchor bolts 22 and a supporting portion 23 which is fixed with respect to the installing floor 21 in vertically rising manner. Further, a rotary gear 24 is fitted to the supporting portion 23.
The link mechanism having two articulations in a horizontal level manner is fitted by a root thereof to an upper part of the supporting portion 23. The link mechanism 18 is composed of a first link 25 and a second link 26, and the first link 25 is supported with the supporting portion 23 in a freely rotatable manner. The first link 25 has a construction so that it extends arms over in right and left directions with respect to the supporting portions 23. As shown in Fig. 2, a driving motor 19 is provided on the arm extended over in the left direction. On the other hand, the second link 26 is fitted on a tip end of the arm of the first link 25, extended over in the right direction in a freely rotatable manner. While, a driving motor 20 is provided on the tip end of said arm of the first link 25.
The driving motor 19 is coupled with a rotary gear 24 through a gear 24a and makes rotate the first link 25 around ,,;.
, . . .
1 3?73n6 the supporting portion as a center. (A locus of this rotation of the first link 25 is shown by an arrow A in Fig.
3.) As described before, one end of the second link 26 is fitted to the tip end of the arm of the first link, while the industrial robot 9 is fitted to the other end of the second lin~ 26. The driving motor 20 is provided on a tip end of the second link 26 which corresponds to the tip end of the arm of the first link 25, and the second link 25 is constructed rotatable around the tip end of the first link 25 as a center. (A locus of this rotation of the second link 26 is shown by an arrow B in Fig. 3.) As is seen from the description heretofore, each of the links 25 and 26 of the link mechanism 18 carries out a rotatable movement in a hori~ontal level with respect to the installing floor 21 with activated by the driving motors 19 and 20 respectively. Also, the industrial robot 9 rotates in accordance with the rotation of the rotary table 12 (in a direction shown by an arrow C in Fig. 3). Therefore, it becomes possible to make freely move the industrial robot device 8 in a large area depended on a suitable combination of each operation thereof.
Further, it is noted that the above-mentioned driving motors 19 and 20 are provided over each of the links 2~ and 26, and as a result, there is no apparatuses or equipments projected under each of links 25 and 26. Accordingly, there becomes no accidents of workers to run against such apparatuses or equipments. This introduces a high safety in the factory.
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t 1 30;730~) As is seen in the moving equipment 10 having the above-mentioned construction, since the link mechanism 18 is provided on the upper part of the supporting portion 23, the driving motors 18 and 20 are driven at a position of a level separated from the installing floor 21. Accordingly, the industrial robot 9 moves at a position of a level separated from the installing floor 21 in a horiæontal manner with respect to the installing floor 21, and only the base stand 17 is directly installed on the installing floor 21.
Therefore, it becomes possible to reduce a spacing area to be installed with the industrial robot device 8 on the installing floor 21.
Further, it is noted that the industrial robot 8 has relatively a high weight and accordingly, the link mechanism 18 which supports and make move the industrial robot 9 must have a strong construction. However, as described before, the link mechanism 18 has enough supporting strength against the load toward underneath direction because the link mechanism 18 has two articulation in a horizontal level manner. Also the driving motor 19 is provided on one end of the link 25 which is a different end thereof being provided with the industrial robot, intermediate of the supporting portion 23. Therefore, the load for both the driving motor 18 and the industrial robot 9 can be balanced between them.
For this reason, the link mechanism 18 is enough able to support and make move the industrial robot 9, even though the link mechanism 18 has a simple construction.
Furthermore, it is possible to make short the length of the cable (not shown) to be coupled to the industrial robot 9 because the cable is enough to be provided along each of the links 25 and 26. As a result, handling of the cable can be easily carried out~
I 3n7306 Figs. 4 and 5 show a state where the industrial robot device 8 having the construction described heretofore is installed along the paint processing line for the automobile body. In Figs. 4 and 5, a numeral 27 denotes a working body (an automobile body to be painted), and the working body is conveyed at a predetermined speed in an arrow V-direction shown in the figures.
The industrial robot device 8 (excluded and industrial robot device 8a) is installed at the vicinity along the conveying line of the working body 27, and the position to be installed along the conveying line is selected so as to be approximately parallel with respect to the arrow V-direction of the working body conveyed. Further, distances between neighbouring each of the industrial robot device 8 to be installed along the conveying line are set to the distances which are shorter than the ma~imum length of the links 25 and 26 when they are extended (as shown in Fig. 2). That is, each of the industrial robot device 8 is installsd with relatively closed position respectively.
As described before, the industrial robot 8 occupies relatively small spacing area to be installed, and is able to freely operated by the moving equipment lO comprising the link mechanism 18. Accordingly, it is possible to closely install a plurality of the industrial robot device 8. As a result, it is possible to reduce the length of the manufacturing line and to achieve the reduction of the spacing area for the paint processing line.
In addition, as described before, the industrial robot device 8 can make freely move the industrial robot 9 in both directions of arrows X and Y (as shown in Fig. 3) by using of the moving equipment lO. That is, the industrial robot 9 can .:
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be moved at a same speed in parallel with the working body 27. Therefore, when giving a teaching to the industrial robot 9, it can be easily given without considering about the relative position of the industrial robot 9 at the time of play back. Furthermore, as well as the above-mentioned parallel movement with respect to the working body, there is no question in that ~he industrial robot 9 can carry out the movement toward the arrow Y-direction (which is a rectangular direction against the moving direction of the working body 27) and also a rotational operation corresponding to the rotation of the rotary table 12. Thus, the paint processing or the like which is needed for a complicated movement of the industrial robot 9 can be suitably carried out.
Still further, the industrial robot device 8a is constructed so that the industrial robot 9 can be positioned within a moving locus of the working body 27 and the working operation can be carried out accordingly. It is noted that in case of the conventional type of the industrial robot device 1 trefer to Fig. 1), when it is intended to operate the industrial robot 2 within a moving locus of the working body 27, a moving equipment 3 must be provided on the moving line (a conveyer belt) of the working body 27. In this case, it is difficult to provide the moving equipment 3 on the moving line from the view point of the spacing area as well as the smooth movement of the working body 27. Thus, the above-mentioned construction could not be taken. On the contrary, according to the industrial robot device 8a of the present invention, the base stand 17 is installed at a position retired from the moving line of the working body 27 and thus, the industrial robot 9 can be moved to any position within the moving locus of the working body 27 by the moving equipment 10 from the base stand 17 as a base in a state where the industrial robot 9 is separated over from the . .~ . A,~
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installing floor. Accordingly, it becomes possible to c~rry out the operation of the industrial robot 9 within the moving locus of the working body 27, without hindering the movement of the working body 27. As a result, it can be easily carried out the operations of the industrial robot 9 at the front and back positions of the working body 27 which were difficult in the conventional type of the industrial robot device 1.
Further, as mentioned before, during the paint processing operation by the industrial robot 9, some portion of the sprayed paint drops by urging of the air shower mentioned before. In this case, it is noted that the industrial robot device 8 is constructed so that only the base stand 17 is installed on the installing floor 21, and the base stand 17 is constructed so as not to be driven.
Therefore, the covering for preventing the sticking of the dropped paint, which was necessary in the conventional device, becomes unnecessary. Otherwise, at least, the covering might be used only for the driving part of the link mechanism 18 in case of the present invention. Accordingly, it becomes possible to reduce the cost which was necessary for the covering in the conventional device and also to reduce the processing steps which were necessary for mounting the covering in the conventional device. Furthermore, because quantity of obstacles laid on the installing floor 21 can be reduced compared with the conventional device, the flow of air shower becomes smooth and the ~uality of the paint processing can be improved.
Still further, the moving locus of the industrial robot 9 according to the moving equipment 10 is separated over from the installing floor 21 and also is positioned within a parallel level with the installing floor 21 (this level is . . ~
referred to a moving level). Accordingly, the mo~ing levels of a plurality of the industrial robot 8 can be stacked each other in a horizontal manner by differing each height of the moving levels of the industrial robot 9 from each other.
Fig. 6 shows an embodiment in such case mentioned in above. As shown in Fig. 6, an industrial robot device 28 is provided with industrial robots 9a and 9b, link mechanism 18a and 18b, and driving motors l9a and l9b, and 20a and 20b which are fitted with a supporting portion 23 of a base stand 17 in an upper and a lower symmetrical manner. According to such a construction, two industrial robots 9a and 9b can be moved within two moving levels having the same horizontal area, and thus, the effective utilization of the spacing area can be achieved. In this case, it is noted that the relative installing area for the industrial robot device 28 can be further reduced since two industrial robots 9a and 9b and two link mechanisms 18a and 18b are fitted to one base stand 17.
In addition, as shown in Fig. 6, the industrial robot 9b is provided in a reversed rising state. However, another construction in that the link mechanism 18a and 18b are provided in a separated distance and the industrial robots 9a and 9b are provided in a normal rising state may be applicable. Generally speaking, since the industrial robot is designed so as to be employed in the normal rising state, there is no need to change the design of the industrial robot in the latter case which will be effective for cost performance or the like.
Still further, according to the moving equipment 10 which is provided in each of the industrial robot devices 8 and 28, the movement of the industrial robots 9a and 9b toward up and down is not possible. However, it is possible . ,~
1 3n7306 to move the industrial robot toward up and down with respect to the installing floor 21 by employing a cylinder 29 as shown in Fig. 7.
An industrial robot device 30 shown in Fig. 7 is constructed so that the first link 25 is provided in a slidable manner in a direction of up and down on the supporting portion 23, the cylinder 29 (an oil-pre~sure cylinder, for example) is provided on the base stand 17, and a piston 31 is coupled with the first link 25. According to the industrial robot device 30, it is possible to move the industrial robot 9 toward the Z-direction as well as the X
and Y directions. Thus, the applicable range of the industrial robot 30 becomes extended.
In addition, in the above-mentioned embodiment, gears 24 and 24a are employed as means for rotating the first link 25 by the driving motor 19, and it is noted that means is not limited to the gears, but other transmission means such as a timing belt, a chain or the like may be employed. Also, so called direct drive which directly drives the link 25 by the driving motor lg may be employed. Further, as shown in Fig.
8, an industrial robot device constructed so that a driving unit 32 which makes a motor and a speed reducer a unit is provided on the upper part of the supporting portion 23 of the first link 25 and the link 25 is driven by the driving unit 32 may be applicable.
In addition, it is needless to say that means for moving the industrial robot 9 toward the Z-direction is not limited to the cylinder 29 (refer to Fig. 7), but other driving means such as the motor or the like may be applicable.
1 3~7~06 Still further, with respect to the supporting portion 23, it is noted that a high load is applied to the supporting portion 23, because the link mechanism 18 comprising of the industrial robot 9 at one end thereof is fitted to the supporting portion 23. Therefore, the supporting portion 23 must be strongly constructed. For this reason, in a case where a plurality of the moving equipments lOa and lOb are provided closely each other as shown in Fig. 9, a supporting portion 23a may be commonly employed for each of the moving equipments lOa and lOb. Thus, an industrial robot devi~e 34 in which the supporting portion 23a is constructed relatively strong may be applicable.
As described heretofore, the industrial robot device according to the present invention is very useful in the practical use, since it is possible to reduce the floor spacing area necessary for its installation and to correspond to the complicated movement of the working body.
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For example, there has been an industrial robot device which is constructed so that the industrial robot is moved in a parallel direction in accordance with a working body (an automobile body to be painted) convey~d on a paint processing line for the automobile body where the industrial robot is employed for the paint processing. In the paint processing line such constructed, an industrial robot device which is composed of the industrial robot and a moving equipment for moving the industrial robot is employed.
In such a case, when the industrial robot is moved together with the working body, the relative speed difference between the industrial robot and the working body becomes zero. As a result, the paint processing subjected to the working body can be carried out with a full correspondence even when the working body is conveyed at a high speed. At the same time, the relative position between the working body and the industrial robot becomes always a same state as the time of teaching to the industrial robot. Therefore, there comes some advantages in that the teaching can be carried out without consideration about the relative position between them at the time of play back or the like.
Fig. 1 is a view for explaining an example of the industrial robot device of the conventional type.
Fig. 2 is a front view showing an embodiment of the industrial robot device according to the present invention.
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Fig. 3 is a plan view of the industrial robot device.
Figs. 4 and 5 are views showing states in that the industrial robot device are installed on the paint processing line of the automobile body.
Figs. 6 through 9 are views showing other embodiments of the industrial robot device according to the present invention.
Fig. 1 shows an industrial robot device 1 according to the conventional type. In Fig. 1, a numeral 2 denotes an industrial robot, and a numeral 3 denotes a moving equipment for the same, respectively. The moving equipment 3 is composed of a slider 4 for moving in X-direction, a slider 5 for moving in Y-direction and a li~ter 6 for moving in Z-direction respectively which are directly installed on aninstalling floor. The industrial robot 2 is moved toward each of directions X, Y and Z in accordance with the movement of each of sliders respectively.
However, in the industrial robot device 1 of the conventional type shown in Fig. 1, there is a problem in which a large floor spacing area becomes necessary for installing the industrial robot on the installing floor, because the industrial robot device 1 is designed so that those sliders and the like which are extended long over are installed directly on the installing floor.
In the case of the industrial robot device 1 specially employed in the paint processing, it happens that some portion of paint sprayed to the working body will drop on the moving equipment 3. In this case, the paint will drop on the driving portions of the sliders and the like, and then the ~.
paints become dry and stiff to cause the moving equipment being unoperated. For this reason, it becomes necessary to cover the driving portions of the sliders and the like by a covering 7. (In Fig. 1, each of the sliders and the like 4 through 6 are covered by the covering 7 having a bellow shape.) However, since the large floor spacing area for installing the industrial robot device 1 of the conventional type is needed, the covering 7 also must be provided in such a large space correspondingly. As a result, it causes some cost-up in the installing operation, and at the same time, the installing operation of the industrial robot device 1 becomes complicated.
Further, in the industrial robot device 1 of the conventional type, cables to be connected to the industrial robot 2 must be provided on the same installing floor, and the cables also are moved ion the installing floor in accordance with the movement of the industrial robot 2.
Therefore, there have been such problems so that the long cables must be used in order to correspond to the moving area of the industrial robot 2, and also a counter measure for the dropping paint on the cables must be taken (for example, providing with a covering for the cables, or the like), and thus these handlings cause cumbersome operations.
Still further, it is noted that painting mist is generally ejected from a painting booth on the paint processing line by aid of an air shower blowing from top to down in the booth. However, the sliders and the like 4 through 6 provided on the installing floor are obstacles for the air shower and make the flow of the air shower disorder and as a result, it causes inferior quality of the paint.
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~ 3073~)6 In one aspect the invention provides an industrial robot, comprising: a robot body; an articulated arm moved relative to the body for processing a work; and a transport mechanism for moving the robot body, said transport mechanism comprising: a base part fixed on a mounting surface; a first arm having a first end and a second end, said first end being connected to the base part such that the first arm is swung in a first place substantially parallel to the mounting surface; a second arm having a first end and a second end; an articulation mechanism connected to the second end of the first arm and to the first end of the second arm such that the second arm swings; in a second plane that is substantially parallel to the mounting surface; said second end of the second arm carrying the body of the industrial robot; first driving means operationally coupled to the first arm and the base part for swinging the first arm relative to the base part in the first plane; and second driving means operationally coupled to the second arm for swinging the second arm relative to the first arm in the second plane.
In a further aspect the invention provides a production line using a plurality of industrial robots for processing a work that is transported in a predetermined direction, comprising: a plurality of industrial robot systems, each including an industrial robot and a transport mechanism, said transport mechanism comprising: a base part fixed on a mounting surface; a first arm having a first end and a second end, said first end being connected to the base part such that the first arm is swung in a first place substantially parallel to the mounting surface; a second arm having a first end and a second end; an articulation mechanism connected to the second end of the first arm and to the first end of the second arm such that the second arm swings; in a second plane ~-that is substantially parallel to the mounting surface; said , - ., ...., ~
1 3n7306 second end of the second arm carrying the body of the ir,dustrial robot; first driving means operationally coupled to the first arm and the base part for swinging the first arm relative to the base part in the first plane; and second driving means op~rationally coupled to the second arm for swinging the second arm relative to the first arm in the second plane; each said industrial robot systems being provided in the vicinity of a line of transportation of the work such that said plurality of industrial robot systems are generally aligned in the direction of transportation of the work.
Figs. 2 and 3 show an embodiment of an industrial robot device 8 according to the present invention. The industrial robot device 8 is provided along with the paint processing line for the automobile body, for example, and is employed for the paint processing.
Ths industrial robot device 8 is comprised of an industrial robot 9 and a moving equipment 10, roughly speaking.
The industrial robot 9 is an articulated robot employed for the paint processing, and roughly speaking, is comprised of a base body 11 which is fitted on the moving equipment 10, a rotary table 12 which rotates in a hori~ontal level on the base body 11, a supporting rod 13 which rises straight on the rotary table 12, an arm 14 which is supported by an upper end of the supporting rod 13, and a wrist mechanism 15 which is provided on the tip end of the arm 14. Further, a painting gun 16 is furnished with the wrist mechanism 15.
Accordingly, when the paint processing is operated by using 1 30730~
the industrial robot 9, the painting gun 16 is swinging in the up, down, forward, rear, right and left directions by the operation of the movable portions of the above-mentioned parts, mechanism and the like in order to spray the paint.
The moving equipment 10 is an equipment for moving the above-mentioned industrial robot 9, and roughly speaking, is comprised of a base stand 17, a link mechanism 18, and driving motors 19 and 20 and the like.
The base stand 17 is composed of an anchor portion 17a which is steadily fixed to an installing floor 21 to be installed thereon by using anchor bolts 22 and a supporting portion 23 which is fixed with respect to the installing floor 21 in vertically rising manner. Further, a rotary gear 24 is fitted to the supporting portion 23.
The link mechanism having two articulations in a horizontal level manner is fitted by a root thereof to an upper part of the supporting portion 23. The link mechanism 18 is composed of a first link 25 and a second link 26, and the first link 25 is supported with the supporting portion 23 in a freely rotatable manner. The first link 25 has a construction so that it extends arms over in right and left directions with respect to the supporting portions 23. As shown in Fig. 2, a driving motor 19 is provided on the arm extended over in the left direction. On the other hand, the second link 26 is fitted on a tip end of the arm of the first link 25, extended over in the right direction in a freely rotatable manner. While, a driving motor 20 is provided on the tip end of said arm of the first link 25.
The driving motor 19 is coupled with a rotary gear 24 through a gear 24a and makes rotate the first link 25 around ,,;.
, . . .
1 3?73n6 the supporting portion as a center. (A locus of this rotation of the first link 25 is shown by an arrow A in Fig.
3.) As described before, one end of the second link 26 is fitted to the tip end of the arm of the first link, while the industrial robot 9 is fitted to the other end of the second lin~ 26. The driving motor 20 is provided on a tip end of the second link 26 which corresponds to the tip end of the arm of the first link 25, and the second link 25 is constructed rotatable around the tip end of the first link 25 as a center. (A locus of this rotation of the second link 26 is shown by an arrow B in Fig. 3.) As is seen from the description heretofore, each of the links 25 and 26 of the link mechanism 18 carries out a rotatable movement in a hori~ontal level with respect to the installing floor 21 with activated by the driving motors 19 and 20 respectively. Also, the industrial robot 9 rotates in accordance with the rotation of the rotary table 12 (in a direction shown by an arrow C in Fig. 3). Therefore, it becomes possible to make freely move the industrial robot device 8 in a large area depended on a suitable combination of each operation thereof.
Further, it is noted that the above-mentioned driving motors 19 and 20 are provided over each of the links 2~ and 26, and as a result, there is no apparatuses or equipments projected under each of links 25 and 26. Accordingly, there becomes no accidents of workers to run against such apparatuses or equipments. This introduces a high safety in the factory.
.,,, ,,: ~ , .
t 1 30;730~) As is seen in the moving equipment 10 having the above-mentioned construction, since the link mechanism 18 is provided on the upper part of the supporting portion 23, the driving motors 18 and 20 are driven at a position of a level separated from the installing floor 21. Accordingly, the industrial robot 9 moves at a position of a level separated from the installing floor 21 in a horiæontal manner with respect to the installing floor 21, and only the base stand 17 is directly installed on the installing floor 21.
Therefore, it becomes possible to reduce a spacing area to be installed with the industrial robot device 8 on the installing floor 21.
Further, it is noted that the industrial robot 8 has relatively a high weight and accordingly, the link mechanism 18 which supports and make move the industrial robot 9 must have a strong construction. However, as described before, the link mechanism 18 has enough supporting strength against the load toward underneath direction because the link mechanism 18 has two articulation in a horizontal level manner. Also the driving motor 19 is provided on one end of the link 25 which is a different end thereof being provided with the industrial robot, intermediate of the supporting portion 23. Therefore, the load for both the driving motor 18 and the industrial robot 9 can be balanced between them.
For this reason, the link mechanism 18 is enough able to support and make move the industrial robot 9, even though the link mechanism 18 has a simple construction.
Furthermore, it is possible to make short the length of the cable (not shown) to be coupled to the industrial robot 9 because the cable is enough to be provided along each of the links 25 and 26. As a result, handling of the cable can be easily carried out~
I 3n7306 Figs. 4 and 5 show a state where the industrial robot device 8 having the construction described heretofore is installed along the paint processing line for the automobile body. In Figs. 4 and 5, a numeral 27 denotes a working body (an automobile body to be painted), and the working body is conveyed at a predetermined speed in an arrow V-direction shown in the figures.
The industrial robot device 8 (excluded and industrial robot device 8a) is installed at the vicinity along the conveying line of the working body 27, and the position to be installed along the conveying line is selected so as to be approximately parallel with respect to the arrow V-direction of the working body conveyed. Further, distances between neighbouring each of the industrial robot device 8 to be installed along the conveying line are set to the distances which are shorter than the ma~imum length of the links 25 and 26 when they are extended (as shown in Fig. 2). That is, each of the industrial robot device 8 is installsd with relatively closed position respectively.
As described before, the industrial robot 8 occupies relatively small spacing area to be installed, and is able to freely operated by the moving equipment lO comprising the link mechanism 18. Accordingly, it is possible to closely install a plurality of the industrial robot device 8. As a result, it is possible to reduce the length of the manufacturing line and to achieve the reduction of the spacing area for the paint processing line.
In addition, as described before, the industrial robot device 8 can make freely move the industrial robot 9 in both directions of arrows X and Y (as shown in Fig. 3) by using of the moving equipment lO. That is, the industrial robot 9 can .:
.
be moved at a same speed in parallel with the working body 27. Therefore, when giving a teaching to the industrial robot 9, it can be easily given without considering about the relative position of the industrial robot 9 at the time of play back. Furthermore, as well as the above-mentioned parallel movement with respect to the working body, there is no question in that ~he industrial robot 9 can carry out the movement toward the arrow Y-direction (which is a rectangular direction against the moving direction of the working body 27) and also a rotational operation corresponding to the rotation of the rotary table 12. Thus, the paint processing or the like which is needed for a complicated movement of the industrial robot 9 can be suitably carried out.
Still further, the industrial robot device 8a is constructed so that the industrial robot 9 can be positioned within a moving locus of the working body 27 and the working operation can be carried out accordingly. It is noted that in case of the conventional type of the industrial robot device 1 trefer to Fig. 1), when it is intended to operate the industrial robot 2 within a moving locus of the working body 27, a moving equipment 3 must be provided on the moving line (a conveyer belt) of the working body 27. In this case, it is difficult to provide the moving equipment 3 on the moving line from the view point of the spacing area as well as the smooth movement of the working body 27. Thus, the above-mentioned construction could not be taken. On the contrary, according to the industrial robot device 8a of the present invention, the base stand 17 is installed at a position retired from the moving line of the working body 27 and thus, the industrial robot 9 can be moved to any position within the moving locus of the working body 27 by the moving equipment 10 from the base stand 17 as a base in a state where the industrial robot 9 is separated over from the . .~ . A,~
1 307~0~
installing floor. Accordingly, it becomes possible to c~rry out the operation of the industrial robot 9 within the moving locus of the working body 27, without hindering the movement of the working body 27. As a result, it can be easily carried out the operations of the industrial robot 9 at the front and back positions of the working body 27 which were difficult in the conventional type of the industrial robot device 1.
Further, as mentioned before, during the paint processing operation by the industrial robot 9, some portion of the sprayed paint drops by urging of the air shower mentioned before. In this case, it is noted that the industrial robot device 8 is constructed so that only the base stand 17 is installed on the installing floor 21, and the base stand 17 is constructed so as not to be driven.
Therefore, the covering for preventing the sticking of the dropped paint, which was necessary in the conventional device, becomes unnecessary. Otherwise, at least, the covering might be used only for the driving part of the link mechanism 18 in case of the present invention. Accordingly, it becomes possible to reduce the cost which was necessary for the covering in the conventional device and also to reduce the processing steps which were necessary for mounting the covering in the conventional device. Furthermore, because quantity of obstacles laid on the installing floor 21 can be reduced compared with the conventional device, the flow of air shower becomes smooth and the ~uality of the paint processing can be improved.
Still further, the moving locus of the industrial robot 9 according to the moving equipment 10 is separated over from the installing floor 21 and also is positioned within a parallel level with the installing floor 21 (this level is . . ~
referred to a moving level). Accordingly, the mo~ing levels of a plurality of the industrial robot 8 can be stacked each other in a horizontal manner by differing each height of the moving levels of the industrial robot 9 from each other.
Fig. 6 shows an embodiment in such case mentioned in above. As shown in Fig. 6, an industrial robot device 28 is provided with industrial robots 9a and 9b, link mechanism 18a and 18b, and driving motors l9a and l9b, and 20a and 20b which are fitted with a supporting portion 23 of a base stand 17 in an upper and a lower symmetrical manner. According to such a construction, two industrial robots 9a and 9b can be moved within two moving levels having the same horizontal area, and thus, the effective utilization of the spacing area can be achieved. In this case, it is noted that the relative installing area for the industrial robot device 28 can be further reduced since two industrial robots 9a and 9b and two link mechanisms 18a and 18b are fitted to one base stand 17.
In addition, as shown in Fig. 6, the industrial robot 9b is provided in a reversed rising state. However, another construction in that the link mechanism 18a and 18b are provided in a separated distance and the industrial robots 9a and 9b are provided in a normal rising state may be applicable. Generally speaking, since the industrial robot is designed so as to be employed in the normal rising state, there is no need to change the design of the industrial robot in the latter case which will be effective for cost performance or the like.
Still further, according to the moving equipment 10 which is provided in each of the industrial robot devices 8 and 28, the movement of the industrial robots 9a and 9b toward up and down is not possible. However, it is possible . ,~
1 3n7306 to move the industrial robot toward up and down with respect to the installing floor 21 by employing a cylinder 29 as shown in Fig. 7.
An industrial robot device 30 shown in Fig. 7 is constructed so that the first link 25 is provided in a slidable manner in a direction of up and down on the supporting portion 23, the cylinder 29 (an oil-pre~sure cylinder, for example) is provided on the base stand 17, and a piston 31 is coupled with the first link 25. According to the industrial robot device 30, it is possible to move the industrial robot 9 toward the Z-direction as well as the X
and Y directions. Thus, the applicable range of the industrial robot 30 becomes extended.
In addition, in the above-mentioned embodiment, gears 24 and 24a are employed as means for rotating the first link 25 by the driving motor 19, and it is noted that means is not limited to the gears, but other transmission means such as a timing belt, a chain or the like may be employed. Also, so called direct drive which directly drives the link 25 by the driving motor lg may be employed. Further, as shown in Fig.
8, an industrial robot device constructed so that a driving unit 32 which makes a motor and a speed reducer a unit is provided on the upper part of the supporting portion 23 of the first link 25 and the link 25 is driven by the driving unit 32 may be applicable.
In addition, it is needless to say that means for moving the industrial robot 9 toward the Z-direction is not limited to the cylinder 29 (refer to Fig. 7), but other driving means such as the motor or the like may be applicable.
1 3~7~06 Still further, with respect to the supporting portion 23, it is noted that a high load is applied to the supporting portion 23, because the link mechanism 18 comprising of the industrial robot 9 at one end thereof is fitted to the supporting portion 23. Therefore, the supporting portion 23 must be strongly constructed. For this reason, in a case where a plurality of the moving equipments lOa and lOb are provided closely each other as shown in Fig. 9, a supporting portion 23a may be commonly employed for each of the moving equipments lOa and lOb. Thus, an industrial robot devi~e 34 in which the supporting portion 23a is constructed relatively strong may be applicable.
As described heretofore, the industrial robot device according to the present invention is very useful in the practical use, since it is possible to reduce the floor spacing area necessary for its installation and to correspond to the complicated movement of the working body.
~ ' .. I ~
Claims (14)
1. An industrial robot, comprising:
a robot body;
an articulated arm moved relative to the body for processing a work; and a transport mechanism for moving the robot body, said transport mechanism comprising:
a base part fixed on a mounting surface;
a first arm having a first end and a second end, said first end being connected to the base part such that the first arm is swung in a first place substantially parallel to the mounting surface;
a second arm having a first end and a second end;
an articulation mechanism connected to the second end of the first arm and to the first end of the second arm such that the second arm swings; in a second plane that is substantially parallel to the mounting surface;
said second end of the second arm carrying the body of the industrial robot;
first driving means operationally coupled to the first arm and the base part for swinging the first arm relative to the base part in the first plane; and second driving means operationally coupled to the second arm for swinging the second arm relative to the first arm in the second plane.
a robot body;
an articulated arm moved relative to the body for processing a work; and a transport mechanism for moving the robot body, said transport mechanism comprising:
a base part fixed on a mounting surface;
a first arm having a first end and a second end, said first end being connected to the base part such that the first arm is swung in a first place substantially parallel to the mounting surface;
a second arm having a first end and a second end;
an articulation mechanism connected to the second end of the first arm and to the first end of the second arm such that the second arm swings; in a second plane that is substantially parallel to the mounting surface;
said second end of the second arm carrying the body of the industrial robot;
first driving means operationally coupled to the first arm and the base part for swinging the first arm relative to the base part in the first plane; and second driving means operationally coupled to the second arm for swinging the second arm relative to the first arm in the second plane.
2. An industrial robot as claimed in claim 1 in which said first and second arms are further defined in that said arms are swung in first and second planes that substantially coincide with each other.
3. An industrial robot as claimed in claim 1 in which said articulation mechanism comprises a first part and a second part, said first part being fixed on the second end of the first arm, said second part being fixed on the first end of the second arm, said second part being rotatable mounted on the first part such that the second arm swings in the second plane.
4. An industrial robot as claimed in claim 1 in which said base part comprises a pillar extending normal to the mounting surface, said pillar carrying the first end of the first arm such that the first arm swings about the pillar, said first arm carrying the first driving means.
5. An industrial robot as claimed in claim 4 in which each of said first and second arms has a side lying generally parallel to said first and second planes and facing in a common direction, and said first and second driving means are disposed adjacent said sides of said sides of said first and second arms.
6. An industrial robot as claimed in claim 5 in which said first and second driving means swing the first and second arms respectively via a force transmission mechanism.
7. An industrial robot as claimed in claim 1 in which said first arm is held on a pillar of said base part slidably up and down, and said first arm is moved up and down relative to said mounting surface by an elevating apparatus.
8. An industrial robot as claimed in claim 1 in which said elevating apparatus comprises a piston and a cylinder.
9. An industrial robot as claimed in claim 5 in which said driving means drives said first and second arms directly.
10. An industrial robot as claimed in claim 4 in which said driving means comprises a drive unit in which a motor and a reduction gear system are integrated, the drive unit being provided on a top part of the pillar of said base body.
11. An industrial robot as claimed in claim 4 in which said pillar comprising said base part is used in common by a plurality of said transport mechanisms disposed closely to each other.
12. A production line using a plurality of industrial robots for processing a work that is transported in a predetermined direction, comprising:
a plurality of industrial robot systems, each including an industrial robot and a transport mechanism, said transport mechanism comprising:
a base part fixed on a mounting surface;
a first arm having a first end and a second end, said first end being connected to the base part such that the first arm is swung in a first place substantially parallel to the mounting surface;
a second arm having a first end and a second end;
an articulation mechanism connected to the second end of the first arm and to the first end of the second arm such that the second arm swings; in a second plane that is substantially parallel to the mounting surface;
said second end of the second arm carrying the body of the industrial robot;
first driving means operationally coupled to the first arm and the base part for swinging the first arm relative to the base part in the first plane; and second driving means operationally coupled to the second arm for swinging the second arm relative to the first arm in the second plane;
each said industrial robot systems being provided in the vicinity of a line of transportation of the work such that said plurality of industrial robot systems are generally aligned in the direction of transportation of the work.
a plurality of industrial robot systems, each including an industrial robot and a transport mechanism, said transport mechanism comprising:
a base part fixed on a mounting surface;
a first arm having a first end and a second end, said first end being connected to the base part such that the first arm is swung in a first place substantially parallel to the mounting surface;
a second arm having a first end and a second end;
an articulation mechanism connected to the second end of the first arm and to the first end of the second arm such that the second arm swings; in a second plane that is substantially parallel to the mounting surface;
said second end of the second arm carrying the body of the industrial robot;
first driving means operationally coupled to the first arm and the base part for swinging the first arm relative to the base part in the first plane; and second driving means operationally coupled to the second arm for swinging the second arm relative to the first arm in the second plane;
each said industrial robot systems being provided in the vicinity of a line of transportation of the work such that said plurality of industrial robot systems are generally aligned in the direction of transportation of the work.
13. A production line as claimed in claim 12 in which said plurality of industrial robot systems are disposed with a mutual separation set shorter than a maximum extension of said first and second arms.
14. A production liens as claimed in claim 12 in which each of said industrial robot systems moves the industrial robot in the system to a position above the work transported in the predetermined direction.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10834188A JPH01281891A (en) | 1988-04-30 | 1988-04-30 | Industrial robot device |
| JP108341/1988 | 1988-04-30 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA1307306C true CA1307306C (en) | 1992-09-08 |
Family
ID=14482234
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA000598233A Expired - Fee Related CA1307306C (en) | 1988-04-30 | 1989-04-28 | Industrial robot device |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JPH01281891A (en) |
| CA (1) | CA1307306C (en) |
| WO (1) | WO1989010240A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8127415B2 (en) | 2006-05-05 | 2012-03-06 | Thyssenkrupp Drauz Nothelfer Gmbh | Device for machining components, in particular of a vehicle body |
| US8132306B2 (en) | 2006-05-05 | 2012-03-13 | Thyssenkrupp Drauz Nothelfer Gmbh | Device for machining components, in particular of a vehicle body |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CH677745A5 (en) * | 1988-02-15 | 1991-06-28 | Amada Co Ltd | |
| FR2638386B1 (en) * | 1988-11-02 | 1995-08-11 | Eurl Seirob | BIPOLAR TELEMANIPULATOR ARM |
| JP2699510B2 (en) * | 1989-01-23 | 1998-01-19 | ソニー株式会社 | Articulated robot |
| ES2060896T3 (en) * | 1989-11-09 | 1994-12-01 | Mueller Weingarten Maschf | SLOT STAMPING INSTALLATION. |
| US6757586B2 (en) * | 2001-09-05 | 2004-06-29 | Abb Automation Inc. | Multiple arm robot arrangement |
| JP5044138B2 (en) * | 2006-04-17 | 2012-10-10 | 川崎重工業株式会社 | Transport system and processing equipment |
| JP5298873B2 (en) * | 2009-01-19 | 2013-09-25 | 株式会社安川電機 | Robot system |
| JP5628873B2 (en) | 2012-08-31 | 2014-11-19 | ファナック株式会社 | Parallel link robot |
| JP7072489B2 (en) * | 2018-11-02 | 2022-05-20 | 鹿島建設株式会社 | Welding equipment and welding method |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5647274A (en) * | 1979-09-26 | 1981-04-28 | Shin Meiwa Ind Co Ltd | Automatic welding robot |
| JPS60142092U (en) * | 1984-02-29 | 1985-09-20 | ナショナル住宅産業株式会社 | robot equipment |
| JPS60201887A (en) * | 1984-03-23 | 1985-10-12 | 株式会社日立製作所 | Working machine |
| JPS6179585A (en) * | 1984-09-28 | 1986-04-23 | ぺんてる株式会社 | Double arm type robot |
| JPS62188686A (en) * | 1986-02-08 | 1987-08-18 | 株式会社クボタ | Working machine |
-
1988
- 1988-04-30 JP JP10834188A patent/JPH01281891A/en active Pending
-
1989
- 1989-04-27 WO PCT/JP1989/000442 patent/WO1989010240A1/en unknown
- 1989-04-28 CA CA000598233A patent/CA1307306C/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8127415B2 (en) | 2006-05-05 | 2012-03-06 | Thyssenkrupp Drauz Nothelfer Gmbh | Device for machining components, in particular of a vehicle body |
| US8132306B2 (en) | 2006-05-05 | 2012-03-13 | Thyssenkrupp Drauz Nothelfer Gmbh | Device for machining components, in particular of a vehicle body |
Also Published As
| Publication number | Publication date |
|---|---|
| WO1989010240A1 (en) | 1989-11-02 |
| JPH01281891A (en) | 1989-11-13 |
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| Date | Code | Title | Description |
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| MKLA | Lapsed |