Robot maintenance device and robot maintenance method

Abstract

The present invention provides a robot maintenance device and a robot maintenance method, which can miniaturize the working space and safely separate the arm and the base in the robot installation site. The robot maintenance device comprises: a pair of parallel rails (20) which are arranged on both sides of a predetermined direction in a manner that allows the robot (R) to be detachable; and a plurality of sliders (30), each of which is provided with at least one slider on the pair of rails (20), and each slider (30) supports the arm (2) or the reducer (10) of the robot and enables the supported arm (2) or the reducer (10) to move along the rails (20).

Description

Technical Field

[0001] The invention relates to a robot maintenance device and a robot maintenance method. Background Art

[0002] Conventionally, there is known a jack device for supporting a heavy object in a factory or the like, the jack device comprising: a movable table movably provided on an X-direction track extending in the X-direction; a Y-direction track provided on the movable table in a manner extending in the Y-direction; and a single jack movably supported on the Y-direction track. Such a jack device is described in, for example, Patent Document 1.

[0003] In addition, as a device for replacing a heavy object, i.e., a clamp, used together with an articulated robot, there is known a device comprising: a clamp transport device that passes directly below the articulated robot; and a lifting device that is disposed on the back side of the articulated robot and can move the clamp on the clamp transport device upward. Such a device is disclosed in Patent Document 2.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2002-003179

[0007] Patent Document 2: Japanese Patent Application Publication No. 2000-210834 Summary of the invention

[0008] Problem that the invention aims to solve

[0009] When performing maintenance on a multi-jointed robot, the base and arm of the robot are separated, and the speed reducer disposed between the base and the arm is repaired or replaced. Most arms weigh from several hundred kilograms to several thousand kilograms, and there are many arms with a weight greater than this. In addition, the arm has a complex shape, and its shape and center of gravity position vary depending on the type of robot, the type of equipment such as tools installed on the robot, etc.

[0010] Therefore, the maintenance of the speed reducer between the base and the arm requires a lot of man-hours. In particular, there is a case where there is not enough space for the operation when the above maintenance is performed at the robot installation site. In addition, there is a case where there is no bridge crane for lifting the arm in the factory, and there is a case where a gantry clamp for lifting the arm cannot be installed around the robot.

[0011] In the absence of an overhead crane, a chain pulley or the like is sometimes installed on the top beam of the factory to lift the arm. When the arm is separated from the base, it is preferred to lift the arm directly upward, but this operation cannot be performed if the top beam is not arranged directly above the robot. In addition, when a gantry clamp is used, it is difficult to move the lifted arm in the horizontal direction, so the reducer cannot be operated.

[0012] In view of the above circumstances, a maintenance device for a robot is desired that can reduce the size of a work space and can safely separate an arm from a base at a location where the robot is installed.

[0013] Solutions for solving problems

[0014] The robot maintenance device of the first scheme of the present invention comprises: a pair of parallel rails, which are arranged on both sides of a predetermined direction in a manner that the robot can be detached and assembled; and a plurality of sliders, each of which is equipped with at least one slider on the pair of rails, and each slider is used to support the arm or reducer of the robot and move the supported arm or reducer along the rails.

[0015] The robot maintenance method of the second scheme of the present invention includes the following steps: fixing a pair of parallel tracks on both sides of a predetermined direction relative to the robot; and using a slider to support the arm or reducer of the robot and move the supported arm or reducer along the track, wherein at least one slider is installed on each of the pair of tracks. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a perspective view of a robot maintenance device according to an embodiment.

[0017] Figure 2 It is a side view of the maintenance device according to this embodiment.

[0018] Figure 3 yes Figure 2 III-III sectional view.

[0019] Figure 4 yes Figure 2 IV-IV cross-sectional view.

[0020] Figure 5 It is a plan view of a robot-side member of the maintenance device according to the present embodiment.

[0021] Figure 6 It is a perspective view of the maintenance device according to this embodiment.

[0022] Figure 7 It is a side view showing a maintenance device according to a modified example of the present embodiment.

[0023] Description of reference numerals:

[0024] R: Robot

[0025] 1: Base

[0026] 1a: threaded hole

[0027] 2: Arm

[0028] 10: Reducer

[0029] 11: First arm part

[0030] 11a: threaded hole

[0031] 12: Second arm part

[0032] 13: The third arm part

[0033] 14: Fourth arm part

[0034] 15: Fifth arm component

[0035] 16: Sixth arm component

[0036] 20: Track

[0037] 21: Mobile Department

[0038] 22: Strengthen the bracket

[0039] 23: Track fixing parts

[0040] 24: Adjusting bolt (adjusting part)

[0041] 30: Slider

[0042] 31: Mounting plate

[0043] 40: Jack

[0044] 42: Axis

[0045] 43: Upper end

[0046] 50: Support components

[0047] 50a: Internal thread hole (adjuster)

[0048] 51: Foot parts

[0049] 60: Robot side parts

[0050] 61: Fixed part

[0051] 62: Extension setting section

[0052] 62a: Mounting hole

[0053] 62b: Support mounting hole

[0054] 70: Brakes

[0055] 80: Bracket

[0056] 90: Suspension mechanism

[0057] B: Bolt DETAILED DESCRIPTION

[0058] Hereinafter, a robot maintenance device according to an embodiment will be described with reference to the drawings.

[0059] like Figure 1 As shown, the robot maintenance device of the present embodiment is used for a vertical articulated robot R. The maintenance device of the present embodiment may be used for other types of robots such as a horizontal articulated robot.

[0060] like Figure 1 As shown, the robot R of the present embodiment includes a base portion 1 and an arm portion 2 , and an arbitrary tool is attached to the front end portion of the arm portion 2 .

[0061] like Figure 1 , Figure 2 As shown in FIG. 1 and FIG. 2 , the arm 2 includes a first arm member 11 supported on a base 1 so as to be rotatable about a first axis J1 extending in the vertical direction. The base 1 is fixed to a predetermined installation surface. Figure 1 as well as Figure 2 , the first arm member 11 is removed from the base portion 1. The arm portion 2 includes: a second arm member 12 whose base end side is supported on the first arm member 11 in a manner that allows swinging around a second axis J2 extending in the horizontal direction; and a third arm member 13 whose base end side is supported on the front end side of the second arm member 12 in a manner that allows swinging around a third axis J3 extending in the horizontal direction.

[0062] In addition, the arm portion 2 includes: a fourth arm member 14, which is supported on the third arm member 13 in a manner capable of rotating around a fourth axis J4 extending along the length direction of the third arm member 13; a fifth arm member 15, which is supported on the fourth arm member 14 in a manner capable of swinging around a fifth axis J5 extending in a direction orthogonal to the fourth axis J4; and a sixth arm member 16, which is supported on the fifth arm member 15 in a manner capable of rotating around a sixth axis J6.

[0063] In addition, the arm 2 includes a plurality of servomotors for driving the first to sixth arm members 11 to 16. Various servomotors such as rotary motors and linear motors can be used as the servomotors. In addition, the robot R of this embodiment is a six-axis articulated robot, but may be an articulated robot other than a six-axis robot.

[0064] like Figure 1 as well as Figure 2 As shown, the first arm member 11 is mounted to the speed reducer 10 for driving the first arm member 11 by a plurality of bolts. Figure 1 as well as Figure 2 In FIG. 1 , the first arm member 11 is removed from the speed reducer 10 . When the robot R is used, the first arm member 11 is fixed to the output shaft of the speed reducer 10 with a plurality of bolts, and the arm 2 rotates about the first axis J1 according to the rotation of the output shaft of the speed reducer 10 .

[0065] The maintenance device of the present embodiment includes: a pair of rails 20 parallel to each other and detachably fixed to the robot R on both sides in a predetermined direction; and two sliders 30 mounted on each of the pair of rails 20 .

[0066] In one example, a pair of rails 20 are detachably mounted on both sides of the robot R in the width direction. Figure 2 As shown in FIG. 1 , the base 1 of the robot R of the present embodiment includes: a rear end 1b provided with a connector for connecting a cable for the robot R; and a front end 1c disposed on the side opposite to the rear end 1b of the base 1. In the present embodiment, the horizontal direction in which the rear end 1b and the front end 1c are opposite is the front-rear direction of the robot R, and the horizontal direction orthogonal to the front-rear direction is the width direction of the robot R.

[0067] like Figure 1 as well as Figure 2 As shown, each rail 20 includes: a moving portion 21 extending in the front-rear direction of the robot R and allowing the slider 30 to move; and a reinforcing bracket 22 to which the moving portion 21 is fixed.

[0068] A well-known linear guide rail can be used as the moving portion 21. In the present embodiment, the moving portion 21 is made of metal, and moving grooves 21a are formed on both sides of the moving portion 21 in the width direction of the robot R, respectively.

[0069] The reinforcing bracket 22 is made of metal such as iron. Figure 3 as well as Figure 4 As shown, a beam material having a substantially H-shaped cross section can be used as the reinforcing bracket 22. Such a beam material is sometimes called H-shaped steel, etc. The moving part 21 is fixed to the upper end surface of the reinforcing bracket 22 by a plurality of bolts, a plurality of rivets, welding, etc.

[0070] A pair of flange portions 22 a extending to both sides in the width direction of the robot R is formed at the lower end portion of the reinforcing bracket 22 .

[0071] like Figure 3 as well as Figure 4As shown, a pair of reinforcing brackets 22 are respectively mounted on the base 1 of the robot R via a rail fixing member 23. In the present embodiment, the rail fixing member 23 is a plate-shaped member extending in the horizontal direction, and the rail fixing member 23 has a long side in the front-to-back direction of the robot R. The rail fixing member 23 is made of metal, and a plurality of internal thread holes 23a are formed on the outer side of the rail fixing member 23 in the width direction of the robot R. The plurality of internal thread holes 23a are arranged at intervals in the front-to-back direction of the robot R, and each internal thread hole 23a penetrates the rail fixing member 23 in the up-down direction. The outer side of the rail fixing member 23 in the width direction of the robot R can also be said to be a portion of the rail fixing member 23 arranged on the side opposite to the base 1.

[0072] The rail fixing member 23 further has a plurality of internal thread holes 23b formed in the middle portion in the width direction of the robot R. The plurality of internal thread holes 23b are arranged at intervals in the front-rear direction of the robot R, and each internal thread hole 23b passes through the rail fixing member 23 in the up-down direction.

[0073] The rail fixing member 23 has a plurality of through holes 23c formed on the inner side in the width direction of the robot R. The plurality of through holes 23c are arranged at intervals in the front-rear direction of the robot R, and each through hole 23c penetrates the rail fixing member 23 in the up-down direction.

[0074] like Figure 3 as well as Figure 4 As shown, fixing bolts 23d are inserted through the plurality of through holes 23c in the up-down direction, and each fixing bolt 23d is screwed into a threaded hole 1a provided in the base 1. Thus, the pair of rail fixing members 23 are fixed to both sides of the base 1 in the width direction.

[0075] The screw hole 1a is used to lift the robot R by a forklift, a chain pulley, etc. when installing the robot R. At this time, an eye bolt, a forklift groove, etc. are fixed to the base 1 by the screw hole 1a. That is, the screw hole 1a is a screw hole generally provided in the base 1.

[0076] like Figure 1 to Figure 4 As shown, a plurality of bolts B are inserted through the flange portion 22a of the reinforcing bracket 22 in the vertical direction, and the plurality of bolts B are threadedly engaged with the internal threaded holes 23a or the internal threaded holes 23b. Thus, the lower end of the rail 20 is fixed to the upper surface of the rail fixing member 23. In addition, the flange portion 22a of the reinforcing bracket 22 is provided with through holes, cutouts, etc. for the bolts B to be inserted through.

[0077] In addition, if Figure 1 , Figure 2 ,as well as Figure 4As shown in the figure, the adjusting bolts 24 as the adjusting parts are threadedly connected with the several internal thread holes 23a. When the adjusting bolts 24 are rotated in a predetermined direction, the lower ends of the adjusting bolts 24 abut against the setting surface. The lower ends of the adjusting bolts 24 may also abut against the upper surface of the lower end of the base 1.

[0078] The rail 20 may be fixed to the fixing member 23 before the rail fixing member 23 is fixed to the base 1 , or the rail 20 may be fixed to the rail fixing member 23 after the rail fixing member 23 is fixed to the base 1 .

[0079] As described above, after the rail 20 is fixed to the base 1, the inclination of the rail 20 is adjusted by each adjustment bolt 24. Specifically, the inclination of the rail 20 is adjusted by appropriately screwing each adjustment bolt 24 in a state where each adjustment bolt 24 is in contact with the lower end portion or the installation surface of the base 1. In one example, the adjustment is performed by each adjustment bolt 24 so that the upper surface of each rail 20 becomes horizontal.

[0080] A known linear guide slider can be used as the slider 30 . In the present embodiment, a plurality of metal balls are arranged in the slider, and the metal balls roll on the movement grooves 21 a of the rail 20 .

[0081] like Figure 1 , Figure 2 ,as well as Figure 4 As shown, each slider 30 has a mounting plate 31 on its upper end side. The lower end of a small jack 40 is fixed to each mounting plate 31 by bolts or the like. The jack 40 is a well-known jack such as a hydraulic jack. The jack 40 has an operating rod 41, and by operating the operating rod 41 in the upward and downward directions, a shaft 42 at the upper end of the jack 40 moves upward. By operating other operating parts of the jack 40 or operating the operating rod 41 in other directions, the shaft 42 of the jack 40 moves downward.

[0082] On the other hand, Figure 1 to Figure 3 As shown, the maintenance device of this embodiment includes a robot side component 60 fixed to the arm 2 of the robot R. In this embodiment, a pair of robot side components 60 are fixed to both side surfaces of the arm 2 in the width direction of the robot R by a plurality of bolts B. In one example, each robot side component 60 is fixed to a side surface of the first arm component 11.

[0083] A plurality of threaded holes 11a are formed on the side surface of the first arm member 11. The threaded holes 11a are used to lift the arm 2 using a forklift, a chain pulley, or the like. At this time, an eyebolt, a forklift groove, or the like is fixed to the first arm member 11 using the threaded holes 11a. That is, the threaded holes 11a are threaded holes that are generally provided on the first arm member 11. In addition, a plurality of robot side members 60 may be respectively mounted on both side surfaces of the arm 2 in the width direction of the robot R.

[0084] Each robot side member 60 includes: a fixed portion 61 fixed to the arm 2 by a plurality of bolts B; and an extended portion 62 extending from the upper end of the fixed portion 61 toward the outside in the horizontal direction relative to the robot R. Figure 5 As shown, a plurality of mounting holes 62a are formed on the extension portion 62, and the mounting holes 62a are used to fix the upper end portion 43 of the shaft 42 of the jack 40 to the extension portion 62. In addition, a plurality of support mounting holes 62b are formed on the extension portion 62, and the support mounting holes 62b are used to fix the upper end portion of the support member 50 described later to the extension portion 62. Each mounting hole 62a and each support mounting hole 62b is a long hole that is long in the width direction of the robot R.

[0085] The upper end portion 43 of the shaft 42 of the jack 40 is provided with, for example, an internal threaded hole. Figure 1 , Figure 2 , Figure 5 As shown in FIG. 1 and FIG. 2 , the upper end portion 43 of the shaft 42 of the jack 40 is fixed to the robot-side member 60 by screwing a plurality of bolts B inserted through the mounting holes 62 a of the extension portion 62 into the internal threaded holes of the upper end portion 43 .

[0086] The support member 50 is made of metal, reinforced plastic, etc. Figure 1 to Figure 3 The figure shows a rod-shaped component or a cylindrical component extending in the up-down direction. An internal threaded hole 50a extending in the up-down direction is formed at the lower end of the support component 50, and the internal threaded hole 50a can be threadedly connected with the external threaded portion 51c of the foot component 51. The foot component 51 has a large diameter portion 51a on the lower end side and a shaft portion 51b, and the shaft portion 51b extends upward from the large diameter portion 51a. In the present embodiment, an external threaded portion 51c is formed at the upper end of the shaft portion 51b. The lower surface of the large diameter portion 51a abuts against the upper surface of a portion of the slider 30 from above. A cover component 32 covering the large diameter portion 51a from above is fixed to the upper surface of each slider 30. The cover component 32 abuts against the upper surface of the large diameter portion 51a from above, whereby the foot component 51 is mounted on the slider 30, and the cover component 32 is used to prevent the foot component 51 from tipping over. An internal threaded hole 50b extending in the up-down direction is also formed at the upper end of the support component 50. As shown Figure 1 , Figure 2 , Figure 3 , Figure 5As shown in FIG. 1 and FIG. 2 , the upper end of the support member 50 is fixed to the robot-side member 60 by screwing the bolt B inserted through the support mounting hole 62 b of the extension portion 62 into the internal thread hole 50 b .

[0087] like Figure 1 to Figure 3 As shown, a brake 70 is provided on each slider 30. The brake 70 can utilize a brake provided on a slider of a known linear guide. The brake 70 has a rod 71 and a brake mechanism 72, and the brake mechanism 72 clamps the moving part 21 in the width direction of the robot R according to the rotation of the rod 71.

[0088] The procedure for lifting the arm 2 of the robot R using the above-mentioned maintenance device is briefly described. First, the operator fixes the pair of rails 20 to the base 1 of the robot R as described above. Two sliders 30 are mounted on each rail 20. On the other hand, a pair of robot side parts 60 are fixed to the arm 2 using bolts B. After adjusting the inclination of each rail 20 using each adjustment bolt 24, the operator fixes the upper end 43 of each jack 40 to the robot side part 60 using a plurality of bolts B. At this time, the two sliders 30 of each rail 20 are arranged at a distance from each other in the front-rear direction of the robot R.

[0089] Furthermore, preferably, Figure 1 as well as Figure 2 As shown, the operator fixes the rear ends of the pair of rails 20 to each other using the rear end side beam member 25, and fixes the front ends of the pair of rails 20 to each other using the front end side beam member 26. Thus, the pair of rails 20 are reinforced, and the work described later can be performed more safely.

[0090] Next, the operator removes the bolts fixing the first arm member 11 and the reducer 10, and releases the connection between the first arm member 11 and the reducer 10. Next, the operator raises the arm 2 by operating the operating lever 41 of each jack 40 in the up-down direction. At this time, the movement of each slider 30 is restricted by the brake 70. After the arm 2 rises to a predetermined height, the operator mounts the lower ends of the plurality of support members 50 to the slider 30. Specifically, the external threaded portion 51c of the foot member 51 is threadedly coupled to the internal threaded hole 50a at the lower end of each support member 50, so that the lower surface of the large diameter portion 51a abuts against the upper surface of a portion of the slider 30 from above, and is fixed from above by the cover member 32.

[0091] Next, the operator adjusts the amount of thread engagement between the internal thread hole 50a at the lower end of each support member 50 and the external thread portion 51c of the leg member 51. The adjustment of the amount of thread engagement is used to make the height of each support member 50 suitable for the lifting amount of each jack 40. In addition, each support member 50 is used to maintain the height of the robot side member 60 relative to the slider 30. Therefore, the internal thread hole 50a at the lower end of each support member 50 also functions as an adjuster for adjusting the height of the robot side member 60 relative to the slider 30.

[0092] Next, the operator attaches the upper end of each support member 50 to the robot-side member 60 as described above. Preferably, the predetermined height is a height that is several centimeters to several tens of centimeters between the upper end of the speed reducer 10 and the lower end of the arm 2 in the vertical direction.

[0093] Next, the operator moves the four sliders 30 along the rails 20 while operating the brakes 70, thereby Figure 2 As shown, the arm 2 is moved along the extending direction of the rail 20. This makes it easier to work on the speed reducer 10.

[0094] In addition, if Figure 6 As shown, a slider 30 may be provided on each of the pair of rails 20. In this case, the slider 30 supports the bracket 80, and a suspension mechanism 90 such as a chain pulley is suspended from the upper end of the bracket 80. The suspension mechanism 90 includes a suspension chain 91, and the reducer 10 is suspended at the lower end of the chain 91.

[0095] The bracket 80 is made of metal or the like and has a pair of vertically extending portions 80a whose lower ends are fixed to the pair of sliders 30 and a beam portion 80b whose both ends are fixed to the upper ends of the pair of vertically extending portions 80a. The pair of sliders 30 may also be provided with a brake 70.

[0096] When the bracket 80 is supported by the pair of sliders 30 and the suspension mechanism 90 is suspended from the upper end of the bracket 80, the speed reducer suspended by the suspension mechanism 90 can be moved along the rail 20. This structure can facilitate maintenance and replacement of the speed reducer 10.

[0097] In the above embodiment, the rails 20 are respectively attached to both sides in the width direction of the base 1 of the robot R. Therefore, the mutual interval between the pair of rails 20 can be reduced. In addition, the position of the rails 20 relative to the base 1 is stable.

[0098] In addition, in the above-mentioned embodiment, the sliders 30 are respectively provided on the pair of rails 20, and the arm 2 or the reducer 10 is supported by the sliders 30, and the arm 2 or the reducer 10 is moved along the rails 20 by the sliders 30. Therefore, the working space becomes a range along the rails 20, and becomes compact. In addition, since the position of the rails 20 relative to the base 1 is stable, the efficiency and safety of the work are improved.

[0099] In the above embodiment, the pair of rails 20 are detachably fixed to the base 1 of the robot R. Therefore, even when the installation surface around the robot R does not have a space for installing the rails 20 , the rails 20 can be stably fixed.

[0100] In addition, in the above-mentioned embodiment, each rail 20 is fixed to the base 1 via the rail fixing member 23. An internal threaded hole 23a is provided at a portion of the rail fixing member 23 on the side opposite to the base 1, and an adjustment bolt 24 is threadedly engaged in the internal threaded hole 23a. Since the adjustment bolt 24 abuts against the base 1 or the installation surface, the inclination of the rail fixing member 23 and the rail 20 can be adjusted by the adjustment bolt 24. This structure is beneficial for making the slider 30 move smoothly and performing the operation safely.

[0101] Among them, the center of gravity of various robots R is different. In addition, the robot R can take various postures. In the above embodiment, jacks 40 are respectively provided on the plurality of sliders 30. This structure can adjust the lifting amount of each of the plurality of jacks 40 according to the center of gravity position, posture, etc. of the raised arm 2. This structure is beneficial to the facilitation of the operation and the improvement of the safety of the operation.

[0102] In the above embodiment, the robot-side member 60 fixed to the arm 2 is used, and the upper end portion 43 of each jack 40 is fixed to the robot-side member 60 . Therefore, regardless of the type of the robot R, the arm 2 can be stably lifted by the jack 40 .

[0103] In addition, the mounting hole 62a for mounting the upper end portion 43 in the robot side component 60 is a long hole that is long in the width direction of the pair of rails 20. Therefore, although it is difficult to completely eliminate the inclination of the rails 20, the upper end portion 43 of the jack 40 can be easily and reliably fixed to the robot side component 60 within the allowable range of the inclination of the rails 20.

[0104] The maintenance device includes a plurality of support members 50, which are respectively mounted on a plurality of sliders 30 after the arm 2 is lifted up by a plurality of jacks 40, wherein the lower end of each support member 50 is mounted on the slider 30, and the upper end of each support member 50 is mounted on the robot side member 60. Therefore, the arm 2 is reliably supported by each slider 30.

[0105] Furthermore, in the above embodiment, the jack 40 and the support member 50 are arranged in the extending direction of the rail 20 on each slider 30. This structure is advantageous in improving resistance to the force applied to the arm 2 in the extending direction of the rail 20.

[0106] In addition, each support member 50 has an internal threaded hole 50a for changing the height of the robot side member 60 relative to the slider 30. The center of gravity of each robot R is different. In addition, the robot R can take various postures, but this structure is conducive to safely performing operations suitable for various robots R.

[0107] In the above embodiment, two sliders 30 are provided on each of the plurality of rails 20. In the above embodiment, the arm 2 is lifted up in a state where the two sliders 30 are separated from each other on each rail 20.

[0108] Since the interval between the two sliders 30 can be appropriately adjusted according to the shape of the arm 2 , this structure is beneficial for stabilizing the support of the arm 2 and the movement of the arm 2 along the rail 20 .

[0109] In addition, the jack 40 does not have to be fixed to the slider 30. For example, the lower end of the jack 40 may be detachably mounted on the rail 20. For example, after a plurality of jacks 40 are mounted on the rail 20, the upper end 43 of the jack 40 may be mounted on the robot side component 60, and the arm 2 may be lifted by the plurality of jacks 40. Furthermore, after the lower ends of the plurality of support components 50 are respectively fixed to the corresponding sliders 30, and the upper ends of the plurality of support components are fixed to the robot side component 60, the jack 40 may be removed from the robot side component 60 and the rail 20. In this case, the arm 2 is supported on the slider 30 by the plurality of support components 50, and the arm 2 may be moved along the rail 20 in the same manner as described above.

[0110] In addition, in the above embodiment, if Figure 7 As shown, a connecting member 33 may be used to connect two sliders 30 of each rail 20. If the connecting member 33 is used, the arm 2 is supported on the slider 30 more stably.

[0111] In addition, in the above-described embodiment, the pair of rails 20 may be disposed on both sides of the robot R in the front-rear direction, or may be disposed on both sides of the robot R in other directions.

[0112] In the above embodiment, the upper end 43 of the jack 40 and the upper end of the support member 50 are mounted on the robot side member 60. As another example, the upper end 43 of the jack 40 may be fixed to the side surface of the first arm member 11 or the like by using the threaded hole 11a, and the upper end of the support member 50 may be fixed to the side surface of the first arm member 11 or the like by using the threaded hole 11a.

[0113] In the above-mentioned embodiment, the rail 20 is fixed to the base 1. As another example, one or all of the pair of rails 20 may be provided on the installation surface of the base 1. In this case, preferably, the front ends of the pair of rails 20 are fixed to each other by the front end side beam member 26. Alternatively, the rear ends of the pair of rails 20 may be fixed to each other by the rear end side beam member 25. In addition, if a part of the rail 20 provided on the installation surface is connected to the base 1, the position of the rail 20 relative to the base 1 is stabilized.

Claims

1. A robot maintenance device, characterized in that: have: A pair of parallel tracks are arranged on both sides of a predetermined direction in a manner that the robot can be detached and assembled. A plurality of sliders are respectively installed on the pair of parallel rails. At least one of the plurality of sliders installed on one of the pair of tracks and at least one of the plurality of sliders installed on the other of the pair of tracks are used as at least one pair of sliders to support the arm of the robot and move the supported arm along the pair of tracks, At least one other slider among the plurality of sliders installed on one track of the pair of tracks, and at least one other slider among the plurality of sliders installed on the other track of the pair of tracks, as at least another pair of sliders, are used to support a reducer of the robot and move the supported reducer along the pair of tracks, The robot maintenance device comprises: a bracket supported by the at least another pair of slides; and a suspension mechanism, which is suspended from the upper end of the bracket, The suspension mechanism is used for suspending the reducer.

2. The robot maintenance device according to claim 1, characterized in that: The pair of rails is detachably mounted on a base portion of the robot.

3. The robot maintenance device according to claim 2, characterized in that: The robot maintenance device includes a pair of rail fixing members for fixing the lower ends of the pair of rails. Each of the rails is fixed to the base portion via the rail fixing member. An internal threaded hole penetrating through each rail fixing component in the up-down direction is provided at a portion of each rail fixing component on the side opposite to the base portion. An adjusting component is threadedly coupled to the internal thread hole, and a lower end of the adjusting component abuts against the base portion or a setting surface where the base portion is set.

4. The robot maintenance device according to any one of claims 1 to 3, characterized in that: The robot maintenance device includes a plurality of jacks respectively supported by the at least one pair of sliders. The plurality of jacks lift up the arm.

5. The robot maintenance device according to claim 4, characterized in that: The robot maintenance device includes a robot side component fixed to the arm of the robot, The lower ends of the jacks are respectively supported on the at least one pair of sliders, and the upper ends of the jacks are fixed on the robot side components.

6. The robot maintenance device according to claim 5, characterized in that: A mounting hole for fixing the upper end of the jack is provided on the robot side component. The mounting hole is a long hole that is long in the predetermined direction.

7. The robot maintenance device according to claim 5 or 6, characterized in that: The robot maintenance device includes a plurality of support members, and the plurality of support members are respectively mounted on the at least one pair of sliders after the arm is lifted up by the plurality of jacks. The lower ends of the support members are respectively mounted on the at least one pair of sliders, and the upper ends of the support members are mounted on the robot side member.

8. The robot maintenance device according to claim 7, characterized in that: Each of the support members has an adjuster for changing the height of each of the robot-side members relative to the at least one pair of sliders.

9. The robot maintenance device according to any one of claims 1 to 3, characterized in that: The robot maintenance device includes a brake, which is provided on each of the plurality of sliders and restricts movement of the slider relative to the rail.

10. A robot maintenance method, characterized in that: The following steps are involved: A pair of parallel tracks are fixed on both sides of a predetermined direction relative to the robot; Using at least one slider among a plurality of sliders installed on one track of the pair of tracks and at least one slider among a plurality of sliders installed on the other track of the pair of tracks as at least one pair of sliders to support the arm of the robot, and moving the supported arm along the pair of tracks; Using at least another slider among the plurality of sliders installed on one track of the pair of tracks and at least another slider among the plurality of sliders installed on the other track of the pair of tracks as at least another pair of sliders to support the reducer of the robot, and moving the supported reducer along the pair of tracks; as well as The speed reducer is suspended by a bracket supported by the at least another pair of sliders and a suspension mechanism suspended from an upper end portion of the bracket.

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