JPH04283081A - Traveling type robot device - Google Patents

Abstract

PURPOSE:To provide a traveling type robot device which increases the degree of freedom of arrangement of a working station to which an industrial robot is moved to effect a robot work. CONSTITUTION:A plurality of working stations 3 are interconnected through a guide rail 2 having a curved part, and an industrial robot 4 engaged with the guide rail 2 is moved with the aid of a linear motor 6 constituted along the guide rail 2. A given robot work is performed at the working station 3 arranged near the guide rail 2, containing a curve part, with the high degree of freedom. Through effective utilization of a working place, a device cost is reduced and productivity of a robot work is improved.

Description

[Detailed description of the invention]

0001

[Field of Industrial Application] This invention relates to a traveling robot device that moves between work stations and performs robot work.

0
002]

2. Description of the Related Art For example, as shown in Japanese Unexamined Patent Publication No. 62-203783, a plurality of work stations are provided apart from each other along a straight line, and a guide rail connecting these work stations and a guide rail are provided. There is a device equipped with an industrial robot that moves while being guided by a robot.

The conventional traveling robot device as described above is controlled so that the industrial robot moves along guide rails, stops at a required work station, and performs the instructed robot work.

0004

SUMMARY OF THE INVENTION In the conventional traveling robot device as described above, the traveling of the industrial robot is restricted to linear movement. For this reason, there is less freedom in arranging work stations for industrial robots, which is disadvantageous in terms of limiting work processes and making effective use of the entire workplace. Therefore, there was a problem in that the production efficiency of the manufacturing equipment was low.

The present invention has been made to solve these problems, and an object of the present invention is to provide a traveling robot device with a high degree of freedom in the arrangement of work stations.

[0006]

[Means for Solving the Problems] A traveling robot device according to the present invention is provided with a guide rail having a curved line connecting a plurality of work stations. Further, a linear motor is provided by mutually utilizing the industrial robot and the guide rail engaged with the guide rail.

[0007]

[Operation] In the traveling robot device configured as described above, the industrial robot and the linear motor are energized via the control device, and the industrial robot travels to the required work station via the guide rail and receives commands. perform robot work.

[0008]

[Example] Example 1. 1 to 3 are diagrams showing one embodiment of the present invention. In the figures, 1 is a running path formed with curved parts and straight parts, and 2 is a guide formed in the shape of an upright wall along one side of the running width. The rails 3 are working stations, which are separated from each other and close to the traveling path 1, and constitute a first to a third working station. Reference numeral 4 denotes an industrial robot that travels on a running path 1, including a traveling device 4b that drives wheels 4a, a working device 4c that has drive and control functions for robot work, and a guiding device 4d that mainly includes rollers that hold the guide rail 1.
, a position detection marker 4e, and a control means 4f are provided. 5 is a sign 4 installed in each work department 3.
a detection device facing e; 5a a control means for the detection device 5;
Reference numeral 6 denotes a linear motor having a control means 6a, which is composed of a primary coil 6b provided on the guide rail 1 and a secondary conductor provided on the industrial robot 4. 7 is a control device having a robot work program and a running procedure program, and includes an I/0 port 7a, a RAM 7b, and a CPU 7c.
, and a computer 7e provided with a ROM 7d. 8 is a work command for the industrial robot 4.

In the traveling robot device configured as described above, the linear motor 6 is energized by the control device 7 in response to the work command 8. Then, the industrial robot 4 travels along the travel path 1 toward the instructed work station 3, and stops when the sign 4e faces the required detection device 5. Next, the actuating device 4c is energized by the control device 7, and the required robot work in the stopped work station 3 is performed. In this way, the robot work in other required work departments 3 is performed according to the work command 8, and the work process is completed. Since the industrial robot 4 is driven by the linear motor 6, it is possible to set the travel path 1, which is a combination of curved and straight guide rails 2, with a high degree of freedom. Therefore, the work department 3 consisting of appropriate production equipment can be easily placed at the appropriate location. Therefore, it is possible to use the entire workplace with high efficiency and to obtain a traveling robot device with high productivity.

0010

Effects of the Invention As explained above, the present invention connects a plurality of work stations by a guide rail having a curved portion, and configures a linear motor by the guide rail and an industrial robot guided by the guide rail to perform the required work. This system allows industrial robots to work in departments. This has the effect of increasing the degree of freedom in arranging work stations, making effective use of the entire work area, manufacturing at low cost, and obtaining a traveling robot device with high production efficiency.

[Brief explanation of the drawing]

FIG. 1 is an overall configuration diagram conceptually showing a first embodiment of the present invention.

FIG. 2 is an enlarged right side view of the main part of FIG. 1;

FIG. 3 is a conceptual circuit diagram showing electrical connections of the device in FIG. 1;

[Explanation of symbols]

2 Guide rail 3 Work department 4 Industrial robots 6 Linear motor

Claims (1)

[Claims] Claim 1: A plurality of work stations installed apart from each other, a guide rail formed with a curved part and laid to connect the respective work stations, and a guide rail configured to be movable and engage with the guide rail. an industrial robot that performs robot work in the work department; a linear motor configured between the guide rail and the industrial robot; and a control device that controls the industrial robot and the linear motor based on instructions for the robot work. A traveling robot device equipped with