Robot driving device and robot system

Abstract

A robot travel device (20) of one embodiment of the present invention is arranged on the ground. The robot travel device comprises: a plurality of bases (21) discretely laid on the ground; a rail base (23) provided on the plurality of bases; a rail portion (27) supported by the rail base; a bracket portion (29) supported by the rail portion so as to be movable and carrying a robot (200); and a cable carrier (31) having flexibility to protect the robot's cable. The height of the base is determined so that a gap of 50-100 mm is provided between the rail base and the cable carrier and the ground. Therefore, the operator's accessibility to the machine tool is not reduced, and maintainability is improved.

Description

Technical Field

[0001] The present invention relates to a robot traveling device and a robot system. Background Art

[0002] For example, in a robot system that loads and unloads workpieces onto a machine tool, robot travel axes are used to move the robot to transport the workpiece. Conventionally, elevated travel axes have been used in machine tools to provide easier access for operators.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 2010-89228. Summary of the Invention

[0006] Problems to be solved by the invention

[0007] When the robot travel axis is placed on the front or side of the machine tool, the operator's feet or toes may hit the robot travel axis when approaching the machine tool, causing obstruction and poor work efficiency (see Figure 8 While an elevated-type robot travel axis (Patent Document 1) is used, which offers advantages in terms of ease of access and space saving, installation and maintenance require work at height, which is labor-intensive and expensive. Therefore, a robot travel axis that does not reduce the operator's accessibility to the machine tool and is highly maintainable is desired.

[0008] Means used to solve problems

[0009] A robot travel device according to one embodiment of the present disclosure is disposed on the ground. The robot travel device comprises: a plurality of bases discretely disposed on the ground; a rail mounted on the plurality of bases; a track supported by the rails; a frame supported by the rails for free movement and carrying a robot; and a flexible cable carrier that protects the robot's cables. The height of the bases is determined to provide a clearance of 50-100 mm between the rails and the cable carrier and the ground.

[0010] Effects of the Invention

[0011] According to this aspect, the operator's accessibility to the machine tool is not reduced, and maintainability is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a perspective view showing a robot system including the robot travel device according to the first embodiment.

[0013] Figure 2 yes Figure 1 Side view of the robotic system.

[0014] Figure 3 yes Figure 2 An enlarged view of the portion of the robot's travel device that is installed on the ground.

[0015] Figure 4 This is a front perspective view showing the robot travel device according to the first embodiment.

[0016] Figure 5 It shows Figure 4 A side view of the robot's travel device.

[0017] Figure 6 It shows Figure 4 Front view of the robot's travel device.

[0018] Figure 7 It shows Figure 4 A top view of the robot's travel device.

[0019] Figure 8 Yes Figure 4 A diagram that provides additional explanation of the effects brought about by the robot driving device.

[0020] Figure 9 This is a side view showing a robot travel device according to a second embodiment.

[0021] Figure 10 yes Figure 9 A top view of the robot's travel device.

[0022] Figure 11 yes Figure 9 An enlarged view of the portion of the robot's travel device that is installed on the ground.

[0023] Figure 12 This is a side view showing a robot travel device according to a third embodiment.

[0024] Figure 13 yes Figure 12 A top view of the robot's travel device.

[0025] Figure 14 yes Figure 12 Front view of the robot's travel device.

[0026] Figure 15 yes Figure 12 An enlarged view of the portion of the robot's travel device that is installed on the ground.

[0027] Figure 16 This is a side view showing a robot travel device according to a fourth embodiment.

[0028] Figure 17 yes Figure 16 A top view of the robot's travel device.

[0029] Figure 18 yes Figure 16 An enlarged view of the portion of the robot's travel device that is installed on the ground. DETAILED DESCRIPTION

[0030] Hereinafter, the robot travel device of this embodiment will be described with reference to the accompanying drawings. In the following description, components having substantially the same function and structure are denoted by the same reference numerals, and repeated description will be given only when necessary.

[0031] (Structure of the Robot System)

[0032] Figure 1 、 Figure 2 as well as Figure 3 A robot system 10 including a robot travel device 20 according to the first embodiment is shown. Figure 1 It's a stereogram. Figure 2 It is a side view. Figure 3 yes Figure 2 An enlarged view of the portion of the robot travel device 20 disposed on the ground. The robot system 10 includes a machine tool 100, a robot 200 for loading and unloading a workpiece from the machine tool 100, and a robot travel device 20 for moving the robot 200 between a workpiece placement area and the machine tool 100.

[0033] like Figure 1 、 Figure 2 as well as Figure 3 As shown, machine tool 100 is a device such as a molding machine or a CNC machining center, used to produce workpieces as formed components, or to combine a supplied workpiece with a formed component and perform predetermined processing such as machining. Typically, machine tool 100 includes a base 101 installed on the ground and a machine tool body 103 mounted on base 101. Inside machine tool body 103 are a worktable 105 on which a workpiece is mounted, and a spindle 107 with a fixture for holding a processing tool. A sliding door 109 is provided on the front surface of machine tool body 103 for access to the interior of machine tool body 103. Furthermore, sliding door 109 is also used by operators to enter machine tool 100 for maintenance work, etc.

[0034] A space is formed between the machine tool body 103 and the ground. Here, the front surface of the machine tool body 103, on which the sliding door 109 is provided, protrudes outward relative to the front surface of the base 101. In other words, a linear space (recess) extending in the left-right direction is formed below the front surface of the machine tool 100.

[0035] The robot travel device 20 of the first embodiment is provided in a recess at the lower portion of the front surface of the machine tool 100 , and is configured to enable the robot 200 to travel at a position close to the slide door 109 on the front surface of the machine tool 100 .

[0036] (First embodiment)

[0037] Figure 4 、 Figure 5 、 Figure 6 as well as Figure 7 A robot travel device 20 according to a first embodiment is shown. Figure 4 It's a stereogram. Figure 5 It is a side view. Figure 6 is the main view, Figure 7 It is a top view.

[0038] The robot travel device 20 includes multiple bases 21. The bases 21 include a base plate 211 and multiple legs 213 that support the base plate 211 so that it can be raised and lowered relative to the ground. Adjusting the height of the legs 213 adjusts the height of the base 21 (the distance from the bottom surface of the legs 213 (the ground) to the top surface of the base plate 211). The multiple bases 21 are discretely arranged parallel to the axis of motion of the robot 200. A rectangular, long rail base 23 is provided on the multiple bases 21.

[0039] A characteristic feature of the robot travel device 20 of the first embodiment is that it allows the operator's toes (the toes of the safety boots worn by the operator) to be inserted between the rail base 23 and the cable carrier 31 (described below) and the ground. To achieve this feature, the rail base 23 is not placed directly on the ground, but is supported by a plurality of discretely arranged bases 21. The height of the bases 21 is determined by the height at which the toes of the safety boots can penetrate between the rail base 23 and the cable carrier 31 and the ground. For example, the height of the bases 21 is preferably 50-100 mm, and is typically set to a height of 70 mm, which is sufficient for the toes of the safety boots to be inserted. Furthermore, in factories where the robot travel device 20 is installed, wearing safety boots is recommended for safety reasons. Safety boot materials and other materials are determined by standards such as the Japanese Industrial Standards (JIS), and safety boots of the same size are generally designed to have a similar appearance. Furthermore, since the operator is not a child, the size of the operator's safety boots does not vary significantly. Therefore, by determining the height of the bases 21 as described above, the toes of the operator wearing safety boots can be inserted with approximately the same level of certainty.

[0040] By inserting the toes of the safety boots between the ground and rail base 23, the operator can access machine tool 100 even if robot travel device 20 is arranged adjacent to machine tool 100. Therefore, it is possible to suppress the operator's maintenance work efficiency being reduced due to the installation of robot travel device 20 adjacent to machine tool 100.

[0041] Furthermore, by deliberately setting the height so that only the toes of the safety boots can be inserted between the ground and the rail base 23, while the ankle portion of the safety boot cannot be inserted, the operator is prevented from getting too close to other components of the robot travel device 20, such as the cable carrier 31 and the rail portion 27. This prevents the operator from getting too close to these components, causing injury, soiling, or damage to the components. Furthermore, by preventing the operator from getting too close to the machine tool 100, the operator's safety is ensured. Furthermore, since only the toes can be inserted, the risk of the operator falling is reduced compared to a situation where both the ankle and the toes can be inserted, and the operator's mobility is prevented from being reduced, thereby improving safety.

[0042] like Figure 5 As shown, the rail base 23 is mounted at a right angle to the base plate 211 of the base 21 via a right-angled triangle-shaped mounting member 25. The rail portion 27 is supported by the rail base 23. Typically, the rail portion 27 includes a pair of rails 271. The pair of rails 271 are arranged parallel to each other on the rail base 23 in a direction perpendicular to the ground.

[0043] By placing the rail base 23 upright relative to the ground, tools such as screwdrivers can be inserted perpendicularly to the rail base 23 from the front surface of the machine tool 100. Therefore, even if the robot travel device 20 is installed in a location with a limited height, such as below the front surface of the machine tool 100, operations such as replacing the rail portion 27 can be performed without pulling the machine tool 100 forward from the lower front surface. This improves the operator's efficiency in performing maintenance tasks. Furthermore, by placing the rail base 23 upright, debris such as cutting chips and powder is less likely to enter the rail portion 27 compared to when the rail base 23 is installed horizontally, thereby reducing the possibility of robot travel device 20 failures such as driving errors. Furthermore, by placing the rail base 23 upright, while the installation height may be increased, the installation width can be narrowed, allowing the robot travel device 20 to be installed in a location with sufficient height but a narrow depth.

[0044] The support 29 is movably supported by the rail portion 27. A robot 200 is mounted on the support 29. The type of robot 200 used here is not particularly limited. A vertical multi-joint robot, a SCARA (horizontally articulated) robot, or the like can be used.

[0045] The bracket 29 has a slider portion 291 and a bracket body 293. The slider portion 291 is a square flat plate member, which is slidably mounted on the rail portion 27. The bracket body 293 has an outer shape with a longitudinal section that is roughly L-shaped. Specifically, the bracket body 293 is configured as a roughly L-shaped groove body with an open outer side surface. The bracket body 293 has a connection surface with the slider portion 291 at one end and a loading surface for loading the robot 200 at the other end. The bracket body 293 is mounted on the slider portion 291 in such a manner that the portion facing the base end side is parallel to the ground, the portion facing the front end side is perpendicular to the ground, and the robot loading surface faces upward.

[0046] By making the outer shape of the bracket 29 substantially L-shaped, the following effects can be achieved.

[0047] That is, the L-shaped bracket 29 can function as a transfer member that connects the position where the robot travel device 20 is to be installed and the position where the robot 200 is to be driven. Figure 7 As shown, the L-shaped bracket 29 can offset the actual travel axis Ma of the robot 200 in the horizontal and vertical directions relative to the central axis Ca of the track portion 27. Figure 1 、 Figure 2 As shown, even if there is a setting requirement such as setting the robot travel device 20 at the lower part of the front surface of the machine tool 100 and making the robot 200 travel in front of the sliding door 109 on the front surface of the machine tool 100, it can be handled by using the L-shaped bracket 29. By using the L-shaped bracket 29, as shown in FIG. Figure 7 As shown, the travel axis of the robot 200 can be offset in the horizontal direction relative to the center axis Ca of the track, so that the robot 200 will not move directly above the track portion 27, thereby reducing the possibility of cutting chips or liquids such as dripping water falling from the workpiece gripped by the robot 200 adhering to the track portion 27. For example, the risk of such an adverse event as garbage accumulated on the track portion 27 entangled with the slider portion 291, causing the robot 200 to stop traveling, etc., can be suppressed.

[0048] In addition, not all components of the robot travel device 20 are stacked on top of the base 21, and the bracket 29 extends sideways from a point above the base 21. Therefore, the height of the robot travel device 20 can be suppressed. For example, in the first embodiment, the height from the ground to the upper edge of the rail base 23 is suppressed to below 500 mm. Therefore, it can also be set in a high and narrow position such as the lower part of the front surface of the machine tool 100. Since the base 21, rail base 23, rail part 27 and cable carrier 31 that constitute the robot travel device 20 except the bracket 29 are gathered in the space below the front surface of the machine tool 100, the possibility of garbage or liquid such as cutting chips from the machine tool 100 adhering to these components is also suppressed.

[0049] Furthermore, since bracket 29 serves as a connecting member connecting the location where robot travel device 20 is to be installed with the location where robot 200 is to be driven, its outer shape is not limited to an L-shape. For example, bracket 29 can be curved into an arc or have multiple steps. If there is an obstacle between the location where robot travel device 20 is to be installed and the location where robot 200 is to be driven, bracket 29 can have various shapes to avoid the obstacle.

[0050] Mounted within the bracket body 293 are the motor unit 35 and a control device (not shown). The motor unit 35 includes a motor that generates the driving force for the movement of the slider 291 and a speed reducer that reduces the motor's rotation. The control device controls the motor. Because the outer surface of the bracket body 293 is open, operators can easily access these devices, improving the operator's efficiency during maintenance work.

[0051] Cables connected to the control device mounted inside the bracket 29 are routed through a cable carrier 31. The cable carrier 31 consists of multiple hollow frames pivotally connected to each other. Cables are protected by passing through this hollow portion. The cable carrier 31 is longer than the rail 27 and is configured so that its mid-section is bent into a U-shape and spans vertically over the base portion of the bracket body 293, which is parallel to the ground. One end 31a of the cable carrier 31 is secured to the bracket body 293 via a carrier 37. This end 31a is secured to the upper surface of the base portion of the bracket body 293, which is parallel to the ground, near the rail 27. The other end 31c of the cable carrier 31 is secured to a support plate 33 that extends horizontally across the upper surfaces of the multiple bases 21. This end 31c is secured near the center of the length of the robot travel device 20 (rail portion). The support plate 33 prevents the cable carrier portion from sagging downward from the end 31c to the bent portion 31b of the cable carrier 31. Of course, the end 31c of the cable carrier 31 may be fixed directly or indirectly to the upper surface of the central base 21 among the plurality of bases 21.

[0052] A cable extending from an external system control device or an external power supply is inserted into the cable carrier 31 from an end 31c of the cable carrier 31 fixed near the center of the length of the robot travel device 20, passes through the cable carrier 31, and is pulled out to the outside from an end 31a of the cable carrier 31 fixed to the bracket 29. The cable routed through the cable carrier 31 to the bracket 29 is connected to the robot 200 mounted on the bracket 29 and the control device installed inside the bracket 29.

[0053] Since the cables can be routed while being protected by the cable carrier 31 , even when the bracket 29 moves, damage due to interference with other components or entanglement of the cables can be avoided, thereby enabling the robot travel device 20 and the robot 200 to operate stably.

[0054] By arranging the cable carrier 31 between the robot 200 and the rail 27, the likelihood of debris such as cutting chips falling from the workpiece gripped by the robot 200 adhering to the rail can be reduced. Furthermore, when the robot travel device 20 is positioned on the ground below the protruding portion of the machine tool 100, the rail 27 can be positioned further back, further reducing this likelihood. This also reduces the likelihood of liquids such as water used in the machine tool 100 adhering to the rail 27, the cable carrier 31, and the like. Furthermore, since the cable carrier 31 is positioned on the surface of the rail base 23, the operator can easily access the cable carrier 31 when the robot travel device 20 is positioned below the front surface of the machine tool. Since cables are components that require frequent maintenance, the placement of the cable carrier 31 in this manner improves maintenance efficiency.

[0055] According to the robot travel device 20 of the first embodiment described above, a gap is formed between the floor and the rail base 23, allowing the toe of a safety boot to enter. Therefore, the operator can access the sliding door 109 of the machine tool 100 more easily than if no gap were formed. Furthermore, the use of an L-shaped bracket 29 reduces the installation height of the robot travel device 20, allowing the location of the rail portion 27 to be offset horizontally and vertically relative to the location where the robot 200 is to travel. This allows the robot travel device 20 to be installed in a narrow space below the front surface of the machine tool 100 and to travel close to the sliding door 109 protruding from the front surface of the machine tool 100. Since the main components of the robot travel device 20 are clustered below the front surface of the machine tool 100, with only the bracket 29 protruding from the front surface, the bracket 29 can be retracted from the front surface of the machine tool 100, allowing the operator to access the sliding door 109 of the machine tool 100.

[0056] As described above, according to the two structural features of "setting a gap between the ground and the rail base 23 for the toes to enter" and "setting an L-shaped bracket 29", as shown in FIG. Figure 8 As shown, the robot travel device 20 of the first embodiment can be installed in the narrow space below the front surface of the machine tool 100, and the operator W can approach the machine tool 100 in the same manner as when the robot travel device 20 is not installed (see Figure 8 (a) and (b) in FIG. 1 ). This is different from the case where an existing robot driving device is installed (refer to Figure 8 Compared with (c) in the figure, the length of the distance L equal to the width of the existing robot travel device can be approached to the machine tool 100, so that maintenance work on the machine tool 100 can be performed at almost the same position as when the robot travel device 20 is not installed, thereby suppressing the reduction in work efficiency caused by the installation of the robot travel device 20.

[0057] (Second embodiment)

[0058] The robot travel device 20 of the first embodiment has the cable carrier 31 disposed on the front side of the rail base 23, but the position of the cable carrier 31 is not limited thereto. In the robot travel device 40 of the second embodiment, the cable carrier 31 disposed on the front side of the rail base 23 in the robot travel device 20 of the first embodiment is disposed on the back side of the rail base 23. Figure 9 、 Figure 10 as well as Figure 11 The robot travel device 40 according to the second embodiment will be described.

[0059] like Figure 9 、 Figure 10 as well as Figure 11 As shown, the robot travel device 40 includes a base 41, a rail base 43, a rail portion 47, a bracket 49, a cable carrier 51, and a support plate 53. Since the base 41, rail base 43, rail portion 47, and bracket 49 of the robot travel device 40 of the second embodiment are configured similarly to the base 21, rail base 23, rail portion 27, and bracket 29 of the robot travel device 20 of the first embodiment, their description will be omitted.

[0060] The cable carrier 51 is located on the back side of the rail base 23. One end 51a of the cable carrier 51 is fixed to the bracket body 493 via the carrier. The height from the ground to the top surface of the cable carrier 51 is equal to or slightly lower than the height from the ground to the top of the rail base 43. The other end 51c of the cable carrier 51 is fixed to a support plate 53 that extends horizontally across the top surfaces of the multiple bases 41. The other end 51c of the cable carrier 51 is fixed near the center of the length of the robot travel device 40 (rail portion 47).

[0061] Since the cable carrier 51 of the robot travel device 40 of the second embodiment is arranged on the back side of the rail base 43, compared with the robot travel device 20 of the first embodiment in which the cable carrier 31 is arranged on the surface side of the rail base 23, although the efficiency of the cable maintenance work is low, the other effects can be achieved by the same as those of the robot travel device 20 of the first embodiment.

[0062] (Third embodiment)

[0063] The robot travel devices 20 and 40 of the first and second embodiments have rail bases 23 and 43 installed vertically, but the rail bases 23 and 43 may also be installed horizontally. The robot travel device 60 of the third embodiment has rail bases 63 installed horizontally. Figure 12 、 Figure 13 、 Figure 14 as well as Figure 15 A robot travel device 60 according to a third embodiment will be described.

[0064] like Figure 12 、 Figure 13 、 Figure 14 as well as Figure 15 As shown, the robot travel device 60 includes multiple bases 61. A rectangular, long, plate-shaped rail base 63 is horizontally mounted on the multiple bases 61. The rail base 63 supports a rail section 67. The rail section 67 includes a pair of rails 671 arranged parallel to the ground. A bracket 69 is supported by the rail section 67 for free movement. The robot 200 is placed on the bracket 69.

[0065] Bracket 69 includes a slider portion 691 and a bracket body 693. Slider portion 691 is a square, flat plate member slidably mounted relative to rail portion 67. Bracket body 693 has a generally L-shaped exterior. Bracket body 693 is mounted to slider portion 691 with its base end parallel to the ground and its front end perpendicular to the ground. The side surface of bracket body 693 on the base end side is mounted to slider portion 691.

[0066] The cable carrier 71 is positioned above the rail base 63, extending vertically across the bracket body 793 and the slider 691. One end 71a of the cable carrier 71 is secured to the bracket body 793 via a carrier 77. The other end 71c of the cable carrier 71 is secured to a support plate 73 disposed below the pair of rails 671. The other end 71c of the cable carrier 71 is secured near the center of the length of the robot travel device 60 (rail portion 67) between the pair of rails 671.

[0067] Because the robot travel device 60 of the third embodiment has a horizontal rail base 63, compared to the robot travel devices 20 and 40 of the first and second embodiments, which have vertical rail bases 23 and 43, the rail portion 67 is more susceptible to accumulation of debris, cutting chips, dust, and the like, potentially increasing the frequency of maintenance. Furthermore, during maintenance such as rail replacement, the robot travel device 60 must be pulled out of the space below the front surface of the machine tool 100, potentially reducing maintenance efficiency. However, the horizontal rail base 63 arrangement allows the installation height to be kept low, allowing the robot travel device 60 to be positioned in a deep but low location. Other effects, other than those described above, are comparable to those of the robot travel devices 20 and 40 of the first and second embodiments.

[0068] (Fourth embodiment)

[0069] The robot travel device 20 of the third embodiment sets the cable carrier 71 above the rail base 63, but the position of the cable carrier 71 is not limited thereto. The robot travel device 80 of the fourth embodiment arranges the cable carrier 71, which is arranged above the rail base 63 in the robot travel device 60 of the third embodiment, adjacent to the rail base 63. Figure 16 、 Figure 17 as well as Figure 18 A robot travel device 80 according to a fourth embodiment will be described.

[0070] The robot travel device 80 includes multiple bases 81. A rectangular, long, plate-shaped rail base 83 is horizontally mounted on the multiple bases 81. The rail base 83 supports a rail portion 87. The rail portion 87 movably supports a frame 89. The robot 200 is mounted on the frame 89.

[0071] Bracket 89 includes a slider portion 891 and a bracket body 893. Slider portion 891 is a square, flat plate member slidably mounted relative to rail portion 87. Bracket body 893 has a generally L-shaped outer shape. Bracket body 893 is mounted to slider portion 891 with its base end parallel to the ground and its front end perpendicular to the ground.

[0072] The cable carrier 91 is positioned adjacent to the rail base 83, extending vertically across the base end of the bracket body 893. One end 91a of the cable carrier 91 is secured to the bracket body 893 via a carrier 97. This end 91a is secured slightly above the base end of the bracket body 893. The other end 91c of the cable carrier 91 is secured to a support plate 93 that extends horizontally across the upper surfaces of the multiple bases 81. This end 91c is secured near the center of the length of the robot travel device 80 (rail portion 87).

[0073] Because the cable carrier 91 of the robot travel device 80 of the fourth embodiment is positioned between the rail portion 87 and the robot 200, compared to the robot travel device 60 of the third embodiment, in which the cable carrier 91 is positioned above the rail portion 87, the amount of debris dropped from the machine tool 100 that accumulates on the rail portion 87 can be reduced. Furthermore, while the installation width is increased, the installation height can be kept low. Consequently, the robot travel device 80 can be positioned in a location with depth but a low height. Furthermore, other effects other than those described above can be achieved similarly to those of the robot travel device 60 of the third embodiment.

[0074] Although several embodiments of the present invention have been described, these embodiments are provided as examples only and are not intended to limit the scope of the present invention. These embodiments may be implemented in various other ways and may be omitted, replaced, or modified without departing from the gist of the invention. These embodiments or modifications thereof are intended to be included within the scope or gist of the invention, and are also intended to be included within the invention set forth in the claims and their equivalents.

[0075] Description of Reference Numerals

[0076] 10: Robot system, 20: Robot travel device, 100: Machine tool, 101: Base, 103: Machine tool body, 105: Workbench, 107: Spindle, 109: Sliding door.

Claims

1. A robot travel device, attached to a machine tool, wherein: have: Multiple bases are discretely set on the ground. A rail base is provided on the plurality of bases, A track portion, supported by the rail base, a bracket portion, supported by the rail portion so as to be movable, on which a robot is mounted, and A cable carrier, which is flexible and protects the cables of the robot; The gap from the ground to the rail base and the gap from the ground to the cable carrier are both 50-100 mm. The base, the rail base, the rail portion, and the cable carrier are arranged in a space below the front surface of the machine tool.

2. The robot travel device according to claim 1, wherein: The track portion has a pair of tracks. The pair of rails are arranged in an aligned direction perpendicular to the ground.

3. The robot travel device according to claim 2, wherein: The height from the ground to the upper edge of the rail portion is 500 mm or less.

4. The robot travel device according to claim 2, wherein: The cable carrier is arranged on the same side of the rail base as the pair of rails.

5. The robot travel device according to claim 2, wherein: The cable carrier is arranged on opposite sides of the pair of rails across the rail base.

6. The robot travel device according to claim 1, wherein: The track portion has a pair of tracks. The pair of rails are arranged in an aligned direction relative to the ground.

7. The robot travel device according to claim 6, wherein: The cable carrier is arranged above the rail base.

8. The robot travel device according to any one of claims 1 to 7, wherein: The bracket portion has an L-shaped longitudinal cross-section.

9. A robot travel device, attached to a machine tool, wherein: have: Multiple bases are discretely set on the ground. A rail base is provided on the plurality of bases, a track portion supported by the rail base, and a bracket portion, supported by the rail portion so as to be movable, and carrying a robot; The track portion has a pair of tracks. The pair of rails are arranged in a direction perpendicular to the ground. The bracket portion has an L-shaped longitudinal section. The gap from the ground to the rail base is 50-100 mm, The base, the rail base, and the rail portion are arranged in a space below the front surface of the machine tool.

10. A robotic system, wherein: have: machine tools, and a robot travel device attached to the machine tool, the robot travel device supporting the robot so as to be movable, the robot loading and unloading a workpiece relative to the machine tool; The machine tool has: a base, set in the ground, and a machine tool body, placed on the base; The robot driving device has: A plurality of bases are discretely arranged on the ground, A rail base is provided on the plurality of bases, A track portion, supported by the rail base, a bracket portion, supported by the rail portion so as to be movable, and carrying the robot; and A cable carrier, which is flexible and protects the cables of the robot; The gap from the ground to the rail base and the gap from the ground to the cable carrier are both 50-100 mm. The base, the rail base, the rail portion, and the cable carrier are centrally arranged in the space between the machine tool body and the ground. The bracket portion has an L-shaped longitudinal cross-section that curves from the rail portion to the front surface of the machine tool body, so that the robot can be arranged on the front surface of the machine tool body.

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