Patent Application
20130309055
1. Field of the Invention
The present invention relates to a robot turning apparatus for extending a working area of an industrial robot.
2. Description of the Related Art
In a production system using an industrial robot, it is desirable that a working area be extended as possible in order to reduce cost and be more efficient. For example, Japanese Unexamined Patent Publication (Kokai) No. 2005-46966, which discloses a production system, describes that “in the present production system, dual-arm robot 1 is constituted by combining conventional robot arms 7 and 8, whereby the cost of facilities may be low in comparison to an expensive multi-joint robot arm. Further, dual-arm robot 1 may travel on traveling rail (or traveling axis) 10 and may be positioned at an arbitrary position, whereby only one dual-arm robot 1 is necessary in order to give or receive workpiece 6 between the robot and each machine tool 2 to 4.”
Japanese Unexamined Patent Publication (Kokai) No. 5-76965, which discloses a work pressing apparatus machine using a press machine and a robot, describes that “even when the distance between press machines is large, by the combination of linear traveling of a robot pedestal along a linear track arranged between the machines, rotational motion of the robot arm about a vertical axis of the robot pedestal, and telescopic motion of the robot arm along an arm axis, a hand for gripping may be moved between one press machine and the other press machine in a short time. Therefore, cycle time for automatically conveying the workpiece can be lowered.”
Further, Japanese Unexamined Patent Publication (Kokai) No. 2010-221355, which discloses a robot system including a multi-joint robot, describes that “a multi-joint robot is connected to a turning unit so that a pivot axis of a robot arm of the robot and a rotation axis of a turning table of the turning unit are not parallel to each other, degree of freedom of the robot is increased by one. Therefore, an inexpensive robot system may be provided while increasing the degree of freedom of the robot.”
In the production system as described in Japanese Unexamined Patent Publication (Kokai) No. 2005-46966, in order to give or receive the workpiece between the industrial robot and each machine tool, the traveling rail, on which the robot can travel, is arranged along a production line. However, since it is necessary to arrange the traveling rail in front of each machine tool, the production system is not preferable in terms of, maintenance thereof.
In the pressing apparatus as described in Japanese Unexamined Patent Publication (Kokai) No. 5-76965, the press machine is usually arranged in a pit, and an area around the press machine or between each press machine is often covered or protected by a pit cover. Therefore, it may be difficult to constitute the traveling rail.
Further, in the robot system as described in Japanese Unexamined Patent Publication (Kokai) No. 2010-221355, although the robot is positioned on the turning unit, this is intended to increase the degree of freedom of the robot, not to considerably extend a working area of the robot.
An object of the present invention is to provide a robot turning apparatus capable of considerably extending a working area of a robot without using a traveling axis, etc., which is also advantageous in terms of maintenance and cost.
According to the present invention, a turning apparatus for a robot is provided, the turning apparatus comprising: a base section arranged on a floor surface; a turning section connected to the base section so that the turning section may be turned about a turning axis extending in a vertical direction; a robot mounting section for mounting the robot thereon, formed on the turning section; and a driving section which turns the turning section about the turning axis, wherein the robot mounted on the robot mounting section has a robot base part, and a robot arm part attached to the robot base part so that the robot arm part may be rotated about a rotation axis extending in a vertical direction, and wherein the robot base part is attached to the robot mounting section so that the rotation axis is offset from the turning axis in a horizontal direction by a predetermined distance.
In a preferred embodiment, the turning apparatus comprises a counterbalance positioned on a portion of the turning section, the portion being opposed to the robot mounting section with respect to the turning axis.
In a preferred embodiment, the turning apparatus comprises a fixing and supporting device arranged on the floor below a working position of the robot, the fixing and supporting device being configured to fix and support the turning section from below.
The above and other objects, features and advantages of the present invention will be made more apparent by the following description of the preferred embodiments thereof with reference to the accompanying drawings wherein:
Robot 20 mounted on robot mounting section 22 has a robot base part 26 attached to robot mounting section 22, and a robot arm part 30 attached to robot base part 26 so that robot arm part 30 may be rotated about a rotation axis 28. Robot base part 28 is attached to robot mounting section 22 so that rotation axis 28 extends in a vertical direction and so that rotation axis is offset from turning axis 16 in a horizontal direction by a predetermined distance “d.” In other words, turning section 18 has a first portion 32 extending from turning axis 16 in a generally horizontal direction, and robot mounting section 22 is formed on first portion 32.
By virtue of such a configuration, robot base part 28 may be moved generally along a circumference having a radius corresponding to offset distance “d,” in other words, robot base part 28 may be moved relative to floor surface 12 by at most a distance corresponding to double of offset distance “d.” Therefore, a working area of robot 20 may be considerably extended without using a traveling device, etc. Further, since it is not necessary to arrange a traveling rail, etc., on the floor surface, a space for maintenance or mold exchanging by using a forklift, etc., may be easily obtained, for example, when the present invention is applied to a system including a press machine.
In the illustrated embodiment, robot arm part 30 has a rotating body 34 attached to robot base part 26 so as to rotate about rotation axis 28, an upper arm 38 rotatably attached to rotating body 34, a forearm 38 rotatably attached to upper arm 36, and a robot hand 40 rotatably attached to forearm 38. However, the application of the invention is not limited to the robot having such a configuration. In addition, the shape and/or material of turning section 18 may be determined based on the desired working area of the robot and/or the weight of the robot. In this regard, as shown in
The configuration of turning apparatus 110 of the second embodiment is different from turning section 18 of the first embodiment. Concretely, turning section 118 has a first portion 132 extending from turning axis 116 in a generally horizontal direction, robot mounting section 122 formed on first portion 132, a second portion 134 extending in a generally horizontal direction opposed to first portion 132, and a counterbalance 148 positioned on second portion 134.
In the second embodiment, counterbalance 148 is positioned on a portion of turning section 118, the portion being opposed to robot mounting section 122 with respect to turning axis 116. In the second embodiment, turning section 118 is not a cantilever structure such as turning section 18 which is supported by base section 14. Instead, turning section 118 is supported by based section 114 at the generally center thereof, and has two loads (i.e., root 20 and counterbalance 148) positioned at both sides thereof. Therefore, a moment applied to turning apparatus 110 may be lowered, as a result, the cost (or design strength) of the turning apparatus may be reduced. The shape and/or material of turning section 118 may be determined based on a desired working area of the robot and the weights of the robot and the counterbalance, etc. In this regard, as shown in
In the embodiment of
By using the fixing and supporting device, turning section 118 may be accurately positioned and held at a turning angular position corresponding to the working position of robot 20, whereby operational stability of robot 20 may be improved. Further, since the fixing and supporting device may support the weight of robot 20 and/or the operation load applied to robot 20 during the operation thereof, from below turning section 118, the rigidity and/or the strength of the turning apparatus (or the turning section) may be lowered, whereby the cost of the turning apparatus may be reduced. However, the fixing and supporting device may be applied to turning apparatus 10 of
In system 200 as shown in
According to the present invention, by positioning the robot offset from the turning axis of the turning section, the working area of the robot obtained by the turning motion of the turning section can be widely extended. Therefore, a system, wherein one robot can deliver a work between a plurality of machines such as press machines, can be realized without using a traveling axis or traveling rail. Further, since it is not necessary to arrange a fixed structure such as the traveling rail in the front area of the machine, a space for the maintenance and/or exchanging the mold by using a forklift may be obtained.
By arranging the counterbalance on the turning section, the turning section can be configured as a both end support structure, not a cantilever structure. Therefore, a moment applied to the turning apparatus is lowered, and the cost of the turning apparatus may be reduced.
By using the fixing and supporting device, the operation load of the robot can be supported by the device, whereby the rigidity and/or the strength of the turning apparatus may be lowered, and the cost of the turning apparatus may be reduced.
While the invention has been described with reference to specific embodiments chosen for the purpose of illustration, it should be apparent that numerous modifications could be made thereto, by a person skilled in the art, without departing from the basic concept and scope of the invention.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2012-111404 | May 2012 | JP | national |
