JPH0911162A - Robot holding device - Google Patents

Abstract

PURPOSE: To move a robot in a wide range simply and quickly by controlling respective working quantities and working speeds according to respective positions of a rotationally moving beam, a sliding beam, and a robot fitting base detected by respective position detecting means, in a rotationally moving beam driving mechanism, a sliding beam driving mechanism, and a base driving mechanism. CONSTITUTION: In a robot holding device 1, a travel range of a welding robot RB is widened by a projecting part of a sliding beam 50 from the extreme end of a rotationally moving beam 30. At moving the welding robot RB, respective working quantities and working speeds of a rotationally moving beam driving mechanism 40, a sliding beam driving mechanism 60, and a base driving mechanism 80 are controlled by a control part 100, according to the respective positions of the rotationally moving beam 30, the sliding beam 50, and a robot fitting base 70 respectively detected by an encoder 91 for rotationally moving beam, an encoder 92 for sliding beam, and an encoder 94 for fitting base, and hence the welding robot RB is accurately positioned. As a result, movement of the welding robot RB to an appropriate position is performed simply and quickly.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a welding robot, a painting robot, a machine robot used for cutting and drilling, a material handling robot used for transferring and assembling articles, a cleaning robot used for cleaning and window cleaning, The present invention relates to a robot holding device used to hold various robots such as a construction robot.

[0002]

2. Description of the Related Art Conventionally, the above-mentioned robot holding device is, for example, a so-called cantilever type having a column provided on a floor of a factory and a beam fixed at the upper end of the column in a horizontal direction. Robot holding device and 2
There is a so-called doubly supported robot holding device having a book support and a beam erected between these supports. In these robot support devices, the robot is fixed at an appropriate position in the longitudinal direction of the beam. I have to.

[0003]

However, in the above-mentioned conventional robot holding apparatus, when the working position of the robot is changed, the robot is moved in the longitudinal direction of the beam, but the robot is heavy. For this reason, there is a problem that the above-mentioned moving operation requires a very large amount of time due to reasons such as high accuracy required for positioning.

When the robot is, for example, a welding robot, the robot is fixed to a beam each time it moves,
There is a problem that a portion where welding cannot be performed occurs, such as an inner portion of a deep concave portion opened on the side surface of the work, that is, there is a problem that the shape of the work may be restricted.

In the above-mentioned cantilever type robot holding device, the beam is fixed in the horizontal direction. On the other hand, in the doubly supported type robot holding device, two columns are erected on the floor surface. In any case, the robot holding device occupies a lot of space, and there is a problem that the beams and the columns become obstructive when the robot is not in operation, which solves these problems. This has been a conventional problem.

[0006]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned conventional problems, and enables a robot to move easily and quickly over a wide area while enabling precise positioning of the robot. In the case where the robot is, for example, a welding robot, it is possible to perform welding with almost no restriction on the shape of the work, and to provide a robot holding device that does not hinder other work when not in operation. It is intended to be.

[0007]

According to a first aspect of the present invention, there is provided a robot holding device which drives a rotating beam, which is provided on a building side such as a pillar or a wall so as to be horizontally rotatable. Rotating beam driving mechanism, a sliding beam slidably provided on the rotating beam in the longitudinal direction thereof so as to project from the tip of the rotating beam, and a sliding beam driving mechanism for driving the sliding beam. A robot mounting base movable along the sliding beam, a base mounting mechanism for driving the robot mounting base, the rotating beam,
Position detecting means for each of the sliding beam and the robot mounting base, and the rotating beam driving mechanism and the sliding mechanism in accordance with the respective positions of the rotating beam, the sliding beam and the robot mounting base detected by the position detecting means. It controls the amount and speed of operation of each of the beam drive mechanism and the base drive mechanism, and the robots (welding robot, painting robot, cutting robot) mounted on the rotary beam drive mechanism, slide beam drive mechanism, base drive mechanism, and robot mounting base. Configuration that includes a control unit that controls interlocking with various types of robots such as machining robots used for machining and drilling, material handling robots used for the structure and assembly of articles, cleaning robots used for cleaning and window cleaning, and construction robots. The configuration of the robot holding device is used as means for solving the above-described conventional problems.

Further, in the robot holding apparatus according to claim 2 of the present invention, the rotating beam has a hollow shape, and the sliding beam is fitted into a hollow portion of the rotating beam and protrudes from the tip thereof. In the robot holding device according to claim 3 of the present invention, each of the turning beam and the sliding beam includes an I-shaped steel, and the sliding beam is suspended from the turning beam and protrudes from the tip thereof. I have.

Further, in the robot holding device according to claim 4 of the present invention, the turning beam drive mechanism includes a turning motor provided on the building side, and an output of the turning motor being transmitted to a turning shaft of the turning beam. It is configured to have a gear to transmit,
In the robot holding device according to claim 5 of the present invention,
The sliding beam drive mechanism is configured to include a sliding motor provided on the rotating beam, a pinion provided on the sliding motor, and a rack provided on the sliding beam and meshing with the pinion. In the robot holding device according to claim 6, the base driving mechanism includes: a moving motor provided on the robot mounting base; and a pinion provided on the moving motor.
A rack is provided on the sliding beam and meshes with the pinion.

Further, the robot holding device according to claim 7 of the present invention is provided with a lifting / lowering mechanism for vertically moving the rotating beam and the rotating beam driving mechanism. The related robot holding device has a configuration in which a traveling mechanism that horizontally moves a rotating beam and a rotating beam driving mechanism is provided.

[0011]

In the robot holding apparatus according to the first to sixth aspects of the present invention, since the above-described configuration is adopted, the moving range of the robot is increased by the amount that the sliding beam projects from the tip of the rotating beam, At this time, each driving mechanism of the rotating beam driving mechanism, the sliding beam driving mechanism, and the base driving mechanism corresponds to each position of the rotating beam, the sliding beam, and the robot mounting base detected by each position detecting means. Since the respective operation amounts and operation speeds are controlled by the control unit, the robot can be accurately positioned, and as a result, the robot can be easily and quickly moved to an appropriate position.

[0012] When the control unit controls the rotating beam driving mechanism, the sliding beam driving mechanism, the base driving mechanism and the robot mounted on the robot mounting base in an interlocking manner, the robot is continuously operated within the moving range of the robot. It will work.

When the robot is, for example, a welding robot, the rotating beam, the sliding beam, and the robot mounting base are respectively operated to move the welding robot to an appropriate position. Even when welding is performed on the inner part of the deep recess, the welding is performed without changing the posture of the work. That is, welding is performed with almost no restriction on the shape of the work.

When the sliding beam is moved to the rotating beam side during non-operation and the rotating beam is stopped along, for example, a wall surface, the sliding beam is obstructed by the rotating beam and the sliding beam. Without this, other operations within the movement range of the robot and transfer that passes through the movement range of the robot are performed.

In the robot holding apparatus according to the seventh aspect of the present invention, since the above configuration is adopted, the range of movement of the robot in the up-down direction is increased. In the robot holding apparatus according to the eighth aspect of the present invention, With the above configuration, the range of movement of the robot in the horizontal direction is expanded.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the drawings.

1 to 12 show an embodiment of the robot holding device according to the present invention.

As shown in FIG. 2, the robot holding device 1 has a plurality of robots 1 (only two are shown) standing on a foundation E.
Columns P, P, a frame F supported by cross beams R, R erected between the columns P, P, and a traveling mechanism 10 for moving the frame F horizontally along the cross beams R, R
A base B provided in the frame F, an elevating mechanism 20 for moving the base B in the vertical direction, a turning beam 30 provided on the base B so as to be able to turn in the horizontal direction, and the base B and the turning beam 30 and a rotating beam driving mechanism 40 provided between the
0, a sliding beam 50 provided so as to slide in the longitudinal direction thereof and protrude from the tip (the right end in the figure) of the rotating beam 30;
0, a robot mounting base 70 movable along the sliding beam 50, and a base driving mechanism 80 for driving the robot mounting base 70.

As shown in FIGS. 8 and 9, the traveling mechanism 10 for driving the frame includes brackets 11, 11 provided on a frame F so as to sandwich a cross beam R having an I-shaped cross section from above and below. 11, rollers 12 and 12 running on rails R1 and R1 attached to the upper and lower surfaces of the cross beam R, a servomotor 14 fixed to the lower bracket 11 via a pedestal 13, and an output shaft of the servomotor 14. 14a and a rack 16 fixed to the web Ra of the cross beam R and meshing with the pinion 15.
Is provided.

The lifting mechanism 20 for driving the base is provided along the vertical frames Fa, Fa of the frame F, and the lifting rails 21, 21 for supporting the base B movably in the vertical direction.
1 and an electric chain block 23 suspended from an upper frame Fb of a frame F and having a hook 22a hooked on a base B.

As shown in FIGS. 5 and 7, the rotating beam 30 has a hollow shape that opens downward, and
As shown in FIGS. 4 and 6, an inner hinge 32 provided at a base end (left end in the figure) of the inner via a plate 31 and a vertical pin 33 integrated with the inner hinge 32 by spline connection.
The vertical pin 33 is connected to the base B by being held by the outer hinge 2 provided on the base B. By connecting the upper end of the inner hinge 31 and the intermediate portion of the turning beam 30 with a tension rod with a turnbuckle (not shown) covered with a cover 34, the turning beam 30 can always be kept horizontal. I have to.

The pivoting beam drive mechanism 40 for driving the pivoting beam 30 includes a pivoting servo with a backlash removing function, which is vertically mounted on the outer hinge 2 as shown in FIGS. A motor 41, a small-diameter spur gear 42 attached to an output shaft 41a of the rotation servomotor 41,
A large-diameter spur gear 43 fixed to the upper end of a vertical pin 33 penetrating the upper plate 2a of the outer hinge 2 and meshing with the small-diameter spur gear 42 is provided. In this case, a stopper plate 44 having a plurality of through holes (not shown) arranged at equal intervals in the circumferential direction is fitted to the upper end of the vertical pin 33, and the outer hinge 2 is engaged with the through hole of the stopper plate 44. A detachable solenoid 45 is provided, and when the turning beam 30 is stopped in one place, the operating portion of the solenoid 45 is engaged with an appropriate through-hole of the stopper plate 44 so that the turning beam 30 is moved. I am trying to fix it.

The sliding beam 50 has a rectangular cross section as shown in FIGS. 5 and 7, and the upper surface and both side surfaces of the sliding beam 50 Projected rails 51 slidably engaged with the longitudinal groove block 35 having a dovetail cross section provided on each inner side of the surface are provided respectively, and both side surfaces are provided with both side surfaces of the rotating beam 30. Guides 52 are provided to be in contact with the rollers 36 provided inside each of the guides. When the sliding beam 50 is fitted in the hollow portion of the rotating beam 30, the protruding rails 51 are respectively engaged with the groove blocks 35 of the rotating beam 30, and the rollers 36 of the rotating beam 30 are guided by the guides. By making contact with 52, the rotary beam 30 is slidably supported in the longitudinal direction.

A sliding beam driving mechanism 60 for driving the sliding beam 50
7 is a sliding servomotor 61 fixed to the left side surface of the rotating beam 30 in FIG. 7, and an output shaft 61 of the sliding servomotor 61.
7 and a rack 63 provided on the left side surface of the sliding beam 50 in FIG. 7 and engaged with the pinion 62.

The robot mounting base 70 has a substantially flat plate shape as shown in FIGS. 7 and 12, and the lower surface of the sliding beam 50 is provided on the upper surface of the front and rear ends (left and right ends in the drawing). Are provided with groove blocks 71 each having a dovetail-shaped cross section which slidably engage with the protruding rails 55 provided in the longitudinal direction. By doing so, it is movably supported along the sliding beam 50.

A base driving mechanism 80 for driving the robot mounting base 70 includes a moving servomotor 81 fixed to the robot mounting base 70, a pinion 82 fitted on an output shaft 81 a of the moving servomotor 81, and a slide. A rack 83 is provided on the moving beam 50 and meshes with the pinion 82.

Further, as shown in FIG. 1, the robot holding device 1 has a rotary beam encoder 91 for detecting the rotary angle of the rotary beam 30 adjacent to the rotary servomotor 41, and , A sliding beam encoder 92 and a mounting base encoder 93 for detecting the positions of the sliding beam 50 and the robot mounting base 70 are provided adjacent to the sliding servomotor 61 and the moving servomotor 81, respectively.

The robot holding apparatus 1 further includes a rotating beam encoder 91, a sliding beam encoder 92, and a rotating beam 30, a sliding beam 50, which are detected by encoders 93 and 92, respectively. A control unit 100 is provided for controlling the operation amounts and operation speeds of the rotating beam driving mechanism 40, the sliding beam driving mechanism 60, and the base driving mechanism 80 in accordance with the respective positions of the robot mounting base 70.

The control unit 100 includes a personal computer 101, a set value input keyboard 102, an operation panel 103, and a welding robot teaching box RB.
a, a main control unit 104, a sequence control unit 105, a turning beam inverter 106, a sliding beam inverter 107, and a mounting base inverter 108. The robot mounted on the robot mounting base 70 and the rotating beam driving mechanism 40, the sliding beam driving mechanism 60 and the base driving mechanism 80, in this embodiment, can be controlled in conjunction with the welding robot RB. I have.

In FIG. 1, reference numerals 111 and 112 denote rotation limit switches for defining the rightmost and leftmost positions of the pivoting beam 30, and reference numerals 113 and 114 denote the frontmost positions of the sliding beam 50. And a sliding restriction limit switch for specifying the rearmost position, reference numerals 115 and 116 denote movement restriction limit switches for specifying the frontmost and rearmost positions of the robot mounting base 70, reference numeral 117 denotes a rotating beam origin photosensor, and reference numeral 118. Is the sliding beam origin photo sensor,
Reference numeral 119 denotes a mounting base origin photosensor, which is shown in FIG.
In the figure, reference numeral 120 denotes a cable housing section for housing a power supply cable to the sliding servomotor 61, the sliding beam encoder 92, the moving servomotor 81, the mounting base encoder 93, and the like.

In this robot holding device 1, first, the main operating section 104 of the control section 100 is operated to rotate the rotating beam 30.
Is turned along with the cross beam R, for example, until the turning right limit switch 111 at the turning rightmost position is turned on, and the sliding beam 50 is moved to the rearmost position. The robot mounting base 70 on which the welding robot RB is mounted is also moved to a state where the robot mounting base 70 having the welding robot RB mounted thereon is moved to the rear end position by sliding the robot until it is turned on (shown in FIGS. 3 and 4). Is turned on until it is turned on, and is positioned at the rear end of the sliding beam 50 (the state shown in FIG. 3).
0, the respective states of the sliding beam 50 and the robot mounting base 70 are set to the origin return state.

Next, the main operation unit 104 of the control unit 100
By inputting and setting the initial position of the welding robot RB, and then turning on the start switch of the operation panel 103, the turning beam driving mechanism 40, the sliding beam driving mechanism 60, and the base driving mechanism 80 are operated. Then, the rotating beam 30, the sliding beam 50, and the robot mounting base 70 in the home position return state are respectively operated at the set speed toward the set positions, and at this time, the welding robot RB slides. While moving along the beam 50, the sliding beam 50 is also sliding with respect to the rotating beam 30 at the same time, so that the welding robot RB is quickly moved to the set position.

Then, the rotary beam encoder 91, the sliding beam encoder 92, and the mounting base encoder 93, which are the position detecting means, are set at the respective set positions of the rotary beam 30, the sliding beam 50, and the robot mounting base 70. Is detected, the turning beam drive mechanism 4 is driven by a command from the control unit 100.
0, the sliding beam drive mechanism 60 and the base drive mechanism 80 stop operating, respectively, whereby the welding robot RB
Is set at the initial position with almost no displacement.

Next, the welding path for the work W precisely positioned based on the origin positions of the rotating beam 30, the sliding beam 50, and the robot mounting base 70 is determined by the welding robot teaching box RBa of the main operation unit 104 in the control unit 100. When the robot is taught to the welding robot RB by the operation panel 103 and the operation mode is set to the robot interlocking mode, the welding robot RB performs continuous automatic operation based on the teaching data.

On the other hand, when all the welding is completed, the rotation beam drive mechanism 40, the slide beam drive mechanism 60 and the base drive mechanism 80 are operated by commands from the control unit 100 to operate.
The welding robot RB returns to the initial position with almost no displacement, thereby completing one cycle of welding.

In this state, when the origin return switch on the operation panel 103 is turned on, the rotating beam drive mechanism 40,
By the respective operations of the sliding beam driving mechanism 60 and the base driving mechanism 80, the turning beam 30, the sliding beam 50, and the robot mounting base 70 return to their original positions.

Therefore, in the robot holding apparatus 1, the moving range of the welding robot RB is increased by the amount that the sliding beam 50 protrudes from the tip of the turning beam 30, so that the welding robot RB moves as described above. In addition, the rotating beam driving mechanism 40, the sliding beam driving mechanism 60, and the base driving mechanism 80 are provided with the rotating beam encoder 91, the sliding beam encoder 92, and the rotating beam detected by the mounting base encoder 93, respectively. The control unit 100 controls the respective operation amounts and operation speeds in accordance with the respective positions of the 30, the sliding beam 50 and the robot mounting base 70, so that the welding robot RB is accurately positioned. As a result, the welding robot RB can be easily and quickly moved to an appropriate position.

When the control unit 100 controls the rotating beam driving mechanism 40, the sliding beam driving mechanism 60, the base driving mechanism 80, and the welding robot RB in an interlocking manner, the movement range of the welding robot RB is limited. In, continuous automatic operation is performed.

Further, in the robot holding apparatus 1, for example, when welding is performed on an inner portion of a deep concave portion opened on the side surface formed on the work W,
If the welding robot RB is inserted into the inner portion of the recess by operating the sliding beam 50 and the robot mounting base 70, welding is performed without changing the posture of the workpiece W. The welding is performed with almost no restriction on the shape of the welding.

Further, in the robot holding apparatus 1, when the sliding beam 50 is stored in the rotating beam 30 and the rotating beam 30 is arranged along the horizontal beam R when not operating, the rotating beam 30 and the sliding beam can be moved. Other work within the moving range of the welding robot RB and transfer through this area are performed without the movement beam 50 being a hindrance.

Further, in the robot holding apparatus 1, a base driving elevating mechanism 20 for vertically moving the base B to which the rotating beam 30 is connected and the frame F supporting the base B are attached to the horizontal beams R, R. Since the traveling mechanism 10 for driving the frame for moving the robot in the horizontal direction is provided, both the horizontal movement range and the vertical movement range of the welding robot RB are expanded.

FIGS. 13 to 16 show another embodiment of the robot holding apparatus according to the present invention.

As shown in FIG. 13, this robot holding device 201 is provided with a pillar P standing on a foundation, a rotating beam 230 horizontally rotatably provided on the pillar P, and a rotating beam 230. And a rotating beam driving mechanism 240 for rotating the
30, a sliding beam 250 provided so as to be able to slide in the longitudinal direction thereof and protrude from the tip (right end in the drawing) of the rotating beam 230, a sliding beam driving mechanism 260 for driving the sliding beam 250, Robot mounting base 27 movable along beam 250
0, and a base driving mechanism 280 for driving the robot mounting base 270.

As shown in FIG. 14, the rotating beam 230
A main turning beam 231 made of a shaped steel and a reinforcing turning beam 232 having a rectangular cross section are provided, and the base end thereof (the left end in FIG. 13).
A support base 21 provided on the support P so as to be vertically movable.
0 is connected to the lower end portion of the “0” through a rotating beam drive mechanism 240. The pivoting beam 230 is pivotally connected to a pivoting ring 2 provided on the distal end thereof and the upper bracket 211 of the support base 210.
12 is connected by a stay 233 with a turnbuckle so that the turning beam 230 can always be kept horizontal.

The turning beam driving mechanism 240 for driving the turning beam 230 includes a turning servomotor 241 having a backlash removing function, which is vertically attached to the outer hinge 213 of the support base 210, and the turning servomotor. A small spur gear 242 attached to the output shaft 241 and a large spur gear 243 fixed to a turning shaft 234 that turns integrally with the turning beam 230 and meshed with the small spur gear 242 are provided.

As shown in FIGS. 14 and 15, the sliding beam 250 includes a main sliding beam 251 made of I-shaped steel and a reinforcing sliding beam 252 having a rectangular cross section, like the rotating beam 230. Plates 253 projecting upward are provided on both sides of the base end of the main sliding beam 251. These plates 2
53, two pairs of opposing rollers 254 and 254 are provided on the upper side, and one pair is provided on the lower side.
Numeral 1 designates the upper and lower rollers 254 contacting the upper and lower flanges of the main turning beam 231, respectively.
The pinion 262 of the sliding beam drive mechanism 260 provided at the end of the main beam 30 is engaged with the rack 263 constituting the sliding beam drive mechanism 260 provided on the upper flange of the main sliding beam 251. The rotary beam 230 is slidably supported in the longitudinal direction.

The sliding beam drive mechanism 260 includes a main rotating beam 231.
And a pinion 262 mounted on an output shaft of the sliding servomotor 261 fixed via a plate 235 protruding downward on both sides of the tip of the sliding servomotor 261.
And a rack 263 provided on the upper flange of the main sliding beam 251 and engaged with the pinion 262 as described above.

As shown in FIG. 16, the robot mounting base 270 has a plate 271 on which the welding robot Rb is mounted.
And a supporting portion 272 that slidably fits with the reinforcing sliding beam 252 of the sliding beam 250. A base driving mechanism 280 that drives the robot mounting base 270 is fixed to the supporting portion 272 of the robot mounting base 270. Moving servomotor 281, a pinion 282 fitted to the moving servomotor 281, and a rack 28 provided on the reinforcing sliding beam 252 of the sliding beam 250 and meshing with the pinion 282.
3 is provided.

The robot holding device 201 is provided with a rotary beam encoder for detecting the rotation angle of the rotary beam 230 adjacent to the rotary servomotor 241 (not shown) as in the above embodiment. The encoder for the sliding beam and the encoder for the mounting base for detecting the respective positions of the sliding beam 250 and the robot mounting base 270 are connected to the sliding servomotor 261 and the moving servomotor 28.
1 are provided adjacent to each other.

Further, the robot holding device 201
A rotating beam 230 detected by the rotating beam encoder, the sliding beam encoder and the mounting base encoder;
The rotating beam driving mechanism 240 and the sliding beam driving mechanism 2 according to the respective positions of the sliding beam 250 and the robot mounting base 270.
A control unit that controls each operation amount and operation speed of the base 60 and the base drive mechanism 280 (the description and illustration are omitted because the control unit 100 has the same configuration as the control unit 100 of the above embodiment).
It has.

That is, also in the robot holding device 201 in this embodiment, the moving range of the welding robot Rb is widened by the extent that the sliding beam 250 protrudes from the tip of the rotating beam 230. ,
The rotating beam driving mechanism 240, the sliding beam driving mechanism 260, and the base driving mechanism 270 are the rotating beam 230, the sliding beam detected by the rotating beam encoder, the sliding beam encoder, and the mounting base encoder, respectively. Since the control unit controls the respective operation amounts and operation speeds according to the respective positions of the robot mounting base 270 and the robot mounting base 270, the welding robot Rb is precisely positioned. As a result, the welding robot Rb Moving to an appropriate position will be done easily and quickly.

When the rotating beam drive mechanism 240, the sliding beam drive mechanism 260, the base drive mechanism 280, and the welding robot Rb are controlled by the control unit in an interlocking manner, within the moving range of the welding robot Rb. , Continuous automatic operation will be performed.

Further, in this robot holding device 201, for example, when welding is performed on the inner portion of a deep concave portion opened on the side surface formed on the work, the rotating beam 2
If the welding robot Rb is inserted into the inside of the concave portion by operating the 30, the sliding beam 250 and the robot mounting base 270, welding can be performed without changing the posture of the work. Welding is performed with almost no restrictions.

Further, the robot holding device 201
In the non-operation, the sliding beam 250 is
If the turning beam 230 is moved along the wall surface, for example, along the wall surface, other operations and the area within the moving range of the welding robot Rb can be performed without hindering the turning beam 230 and the sliding beam 250. Will be carried through.

In each of the above embodiments, the case where the robot holding device according to the present invention is used to hold the welding robot has been described. However, the present invention is not limited to this. It is also possible to use it.

The detailed configuration of the robot holding device according to the present invention is not limited to the above-described embodiment. As another configuration, for example, in the first embodiment, the traveling mechanism 10 and the elevating mechanism 20 may be used. May be controlled by the control unit 100 together with the rotating beam driving mechanism 240, the sliding beam driving mechanism 260, and the base driving mechanism 280.

[0057]

As described above, according to the first aspect of the present invention,
In the robot holding apparatus according to any one of the first to sixth aspects, since the above-described configuration is employed, the moving range of the robot can be increased by the amount that the sliding beam protrudes from the tip of the rotating beam. The respective drive mechanisms of the slide beam drive mechanism and the base drive mechanism are controlled by the control unit in accordance with the respective positions of the rotating beam, the slide beam and the robot mounting base detected by the respective position detection means. In addition, since the operating speed is controlled, the robot can be accurately positioned, and as a result, the robot can be easily and quickly moved to an appropriate position. By controlling the mechanism, the sliding beam drive mechanism and the base drive mechanism and the robot mounted on the robot mounting base in an interlocked manner by the control unit, the robot can be connected within its movement range. Very excellent effect that can be actuated is provided.

When the robot is, for example, a welding robot, the rotating beam, the sliding beam, and the robot mounting base can be operated to move the welding robot to an appropriate position. Even if welding is performed on the inner part of the deep recess that opens with
A very excellent effect that welding can be performed without changing the posture of the work, that is, welding can be performed with almost no restriction on the shape of the work.

Further, when the sliding beam is moved to the rotating beam side during non-operation and the rotating beam is stopped along, for example, a wall surface, the rotating beam and the sliding beam interfere with each other. This makes it possible to carry out other operations and carry without carrying out a very excellent effect.

In the robot holding device according to the seventh aspect of the present invention, since the above configuration is adopted, the range of movement of the robot in the up-down direction can be expanded, and in the robot holding device according to the eighth aspect of the present invention. With the above-described configuration, a very excellent effect that the range of movement of the robot in the horizontal direction can be expanded is provided.

[Brief description of the drawings]

FIG. 1 is an overall system explanatory diagram showing an embodiment of a robot holding device according to the present invention.

FIG. 2 is an overall perspective view of the robot holding device shown in FIG.

FIG. 3 is an explanatory side view of the robot holding device shown in FIG. 1 in a state where a sliding beam is housed in a rotating beam.

FIG. 4 is an explanatory plan view showing a state in which a sliding beam of the robot holding device shown in FIG. 1 is housed in a rotating beam.

5 is an explanatory front view of the robot holding device shown in FIG. 1 in a state where a sliding beam is housed in a rotating beam.

6 is an explanatory side view of the robot holding device shown in FIG. 1 in a state where a sliding beam is projected from a rotating beam.

FIG. 7 is an enlarged front explanatory view of a state in which a sliding beam of the robot holding device shown in FIG. 1 is housed in a rotating beam.

FIG. 8 is a partially enlarged front explanatory view showing an elevating mechanism and a traveling mechanism of the robot holding device in FIG. 1;

FIG. 9 is a partially enlarged side view illustrating a servo motor in the traveling mechanism of FIG. 8;

FIG. 10 is a partial perspective explanatory view showing a rotating beam driving mechanism of the robot holding device in FIG. 1;

11 is an enlarged sectional explanatory view of the rotating beam driving mechanism shown in FIG.

12 is a partial perspective explanatory view showing a robot mounting base and a base driving mechanism of the robot holding device in FIG. 1;

FIG. 13 is an explanatory side view of another embodiment of the robot holding device according to the present invention, in which a sliding beam is projected from a rotating beam.

FIG. 14 is an enlarged sectional explanatory view taken along a line AA in FIG. 13;

FIG. 15 is an enlarged cross-sectional explanatory view at the position of line BB in FIG. 13;

FIG. 16 is an enlarged front explanatory view showing a robot mounting base portion in the robot holding device of FIG. 13 in detail.

[Explanation of symbols]

 1,201 Robot holding device 10 Running mechanism 20 Elevating mechanism 30,230 Rotating beam 40,240 Rotating beam driving mechanism 50,250 Sliding beam 60,260 Sliding beam driving mechanism 70,270 Robot mounting base 80,280 Base Driving mechanism 91 Encoder for rotating beam (position detecting means) 92 Encoder for sliding beam (position detecting means) 93 Encoder for mounting base (position detecting means) 100 Control unit P column RB, Rb Welding robot

Claims (8)

[Claims] 1. A rotating beam provided on a building side such as a pillar or a wall so as to be rotatable in a horizontal direction, a rotating beam driving mechanism for driving the rotating beam, and A sliding beam slidably provided so as to protrude from the tip of the rotating beam, a sliding beam driving mechanism for driving the sliding beam, and a robot mounting base movable along the sliding beam. A base drive mechanism for driving the robot mounting base, position detecting means for each of the turning beam, sliding beam and robot mounting base, and a turning beam, sliding beam and robot detected by the position detecting means. The operation amount and the operation speed of the rotating beam driving mechanism, the sliding beam driving mechanism, and the base driving mechanism are controlled in accordance with the respective positions of the mounting base.
A robot holding device, comprising: a control unit that controls a sliding beam driving mechanism and a base driving mechanism in conjunction with a robot mounted on a robot mounting base. 2. The robot holding device according to claim 1, wherein the rotating beam has a hollow shape, and the sliding beam is fitted in a hollow portion of the rotating beam and protrudes from a tip thereof. 3. The robot holding apparatus according to claim 1, wherein each of the pivoting beam and the sliding beam includes an I-beam, and the sliding beam is suspended from the pivoting beam and protrudes from an end thereof. 4. The rotating beam drive mechanism includes a rotating motor provided on the building side and a gear for transmitting an output of the rotating motor to a rotating shaft of the rotating beam. The robot holding device according to any one of the above. 5. A sliding beam driving mechanism comprising: a sliding motor provided on a rotating beam; a pinion provided on the sliding motor; and a rack provided on the sliding beam and meshing with the pinion. The robot holding device according to claim 1. 6. The base driving mechanism includes a moving motor provided on a robot mounting base, a pinion provided on the moving motor, and a rack provided on a sliding beam and meshing with the pinion. Item 6. The robot holding device according to any one of Items 1 to 5. 7. The robot holding device according to claim 1, further comprising an elevating mechanism for vertically moving the rotating beam. 8. The robot holding device according to claim 1, further comprising a traveling mechanism for moving the rotating beam in a horizontal direction.