Robot maintenance fixture

Abstract

A robot maintenance gripper (10) includes: a gripper body (20) detachably mounted on a robot (100) suspended on a platform; a first suspension part (130) vertically above the center of gravity of a mechanism part (160) of the robot (100) driven by an actuator (121) which is to be maintained, and capable of suspending the mechanism part (160) on the gripper body (20) by a first suspension member (35); and a second suspension part (40) vertically above the center of gravity of the actuator (121) mounted on the robot (100), and capable of suspending the actuator (121) on the gripper body (20) by a second suspension member (45).

Description

Technical Field

[0001] This disclosure relates to maintenance fixtures for robots. Background Technology

[0002] Maintenance tools are known that use a chain trolley positioned above a robot on the ground to lift motors that are removed during robot maintenance (see, for example, Patent Document 1).

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 5-116091 Summary of the Invention

[0006] Problems to be solved by the invention

[0007] The maintenance tool described in Patent Document 1 is a maintenance tool based on a robot installed on the ground, and cannot be used for maintenance work on suspended robots that are suspended from the ceiling.

[0008] Furthermore, in maintenance work on suspended robots, the platform on which the robot is mounted becomes an obstacle, preventing the use of ceiling-mounted cranes. Although it is possible to use a ceiling crane for maintenance work by disassembling the platform and lowering it to the ground along with the robot, the work efficiency is low.

[0009] Therefore, it is desirable to be able to perform maintenance without lowering the suspended robot to the ground.

[0010] Solutions for solving problems

[0011] One aspect of this disclosure is a maintenance gripper for a robot, comprising: a gripper body detachably mounted on a robot suspended on a platform; a first suspension portion configured to be vertically positioned above the center of gravity of a mechanism of the robot, which is driven by an actuator that is the object of maintenance, in a state where the mechanism is mounted on the actuator, and capable of suspending the mechanism portion on the gripper body via the first suspension member; and a second suspension portion configured to be vertically positioned above the center of gravity of the actuator in a state where the actuator is mounted on the robot, and capable of suspending the actuator on the gripper body via the second suspension member. Attached Figure Description

[0012] Figure 1 This is a side view schematically showing an example of a suspended robot equipped with a robot maintenance gripper according to one embodiment of the present disclosure.

[0013] Figure 2 It shows that it is installed Figure 1 A 3D view of a robot using maintenance grippers.

[0014] Figure 3 It shows through Figure 1 The robot uses maintenance fixtures to suspend a 3D view of the status of the mechanism and reducer.

[0015] Figure 4 It shows through Figure 1 The first variant of the robot's maintenance fixture suspends the mechanism and reducer in a three-dimensional view.

[0016] Figure 5 It shows that it is installed Figure 1 A perspective view of a robot with a second variation of a maintenance fixture.

[0017] Figure 6 This means to explain Figure 1 A perspective view of an example of a method for mounting a maintenance fixture on a robot. Detailed Implementation

[0018] The following description, with reference to the accompanying drawings, describes a robot maintenance fixture 10 according to one embodiment of the present disclosure.

[0019] like Figure 1 As shown, the robot maintenance fixture 10 of this embodiment is a maintenance fixture for performing maintenance operations on a suspended robot 100 that is suspended on a platform R.

[0020] For example, such as Figure 1 As shown, the robot 100 includes: a base 110 mounted below on the ceiling of a platform R; and a rotating body 120 supported for rotation relative to the base 110 about a first axis (axis) J1 extending in the vertical direction. The robot 100 also includes: a first arm 130 supported for rotation relative to the rotating body 120 about a second axis J2 extending in the horizontal direction; and a second arm 140 supported for rotation relative to the first arm 130 about a third axis J3 parallel to the second axis J2. A three-axis wrist unit 150 is supported at the front end of the second arm 140.

[0021] like Figure 1 and Figure 2 As shown, the robot maintenance jig 10 of this embodiment is used for maintenance such as replacing the actuator 121 that drives the first arm 130 relative to the rotating body 120. Additionally, the robot maintenance jig 10 is used for maintenance such as replacing the actuator 131 that drives the second arm 140 relative to the first arm 130. Hereinafter, the case of maintaining the actuator 121 that drives the first arm 130 will be described as an example.

[0022] The actuator 121 driving the first arm 130 includes a reducer 122 disposed between the rotating body 120 and the first arm 130, and a motor (not shown) fixed to the rotating body 120 and generating power input to the reducer 122. When replacing the motor, in order to prevent the first arm 130 from rotating in the direction of gravity due to the brake of the motor coming loose, it is necessary to suspend the entire mechanism section (hereinafter referred to as mechanism section 160) from the front end of the first arm 130. In addition, when replacing the reducer 122, since the mechanism section 160 must be removed from the reducer 122, it is also necessary to suspend the mechanism section 160.

[0023] The robot maintenance fixture 10 includes a fixture body 20, a first suspension part 30, and a second suspension part 40.

[0024] The fixture body 20 is, for example, a high-rigidity frame structure made of steel, and is fixed to the rotating body 120 by fastening bolts in the threaded holes for robot handling formed on the side of the rotating body 120.

[0025] exist Figure 2 In the example shown, the gripper body 20 has a pair of parallel elongated members 21, which are fixed to the rotating body 120 and extend horizontally in a cantilever beam shape from the rotating body 120 toward the front of the robot 100. Additionally, the gripper body 20 has multiple connecting members 22 and support members 23. The multiple connecting members 22 are mounted on the upper surfaces of the pair of elongated members 221 when mounted on the rotating body 120, and the support members 23 are arranged parallel to each other in the center of the pair of elongated members 21 and mounted on the upper surfaces of the connecting members 22.

[0026] The first suspension part 30 is composed of a lifting device having a ring-shaped part (mounting part) 30a, such as a lifting eye bolt, which is fixed by fastening to a threaded hole provided on the lower surface of the support member 23. Figure 1 As shown, the first suspension part 30 is positioned approximately vertically above the center of gravity of the mechanism part 160 when it is in a maintenance posture after being mounted on the reducer 122. The maintenance posture of the mechanism part 160 is, for example, a posture in which the first arm 130 extends vertically downward and the second arm 140 extends horizontally.

[0027] The second suspension part 40 is composed of a rod-shaped member extending parallel to the second axis J2, and is mounted and fixed on the upper surface of a pair of elongated members 21. The second suspension part 40 is positioned approximately vertically above the center of gravity of the reducer 122 when it is mounted on the rotating body 120.

[0028] The function of the robot maintenance fixture 10 configured in this embodiment will be explained below.

[0029] When replacing the reducer 122 of the suspended robot 100, firstly, as follows: Figure 2 As shown, the fixture body 20 is mounted on the rotating body 120 of the robot 100, which is suspended on the platform R.

[0030] Next, the mechanism 160 is suspended from the first suspension part 30 via the first suspension member 35 installed on the annular part 30a of the first suspension part 30. The first suspension member 35 is in Figure 2 In the example shown, there are three sets of chain pulleys 35a and slings 35b.

[0031] One of the slings 35b, located at both ends of the chain trolley 35a, is installed on the annular portion 30a of the first suspension part 30, and the other sling 35b is wrapped around each part of the mechanism part 160 or hung on the lifting device 160a mounted on the mechanism part 160. Then, the chain trolley 35a is operated to adjust the tension of each sling 35b. In this state, by removing the bolts that mount the mechanism part 160 to the reducer 122, the mechanism part 160 can be separated from the reducer 122 and suspended in the first suspension part 30.

[0032] In this configuration, since the first suspension part 30 is positioned approximately vertically above the center of gravity of the mechanism part 160 when it is mounted on the reducer 122, the mechanism part 160 is suspended vertically above this center of gravity even when separated from the reducer 122. This prevents the mechanism part 160 from moving abruptly at the moment of separation from the reducer 122, thus maintaining a stable suspension.

[0033] Next, as Figure 3 As shown by arrow A, the mechanism 160, which is suspended from the first suspension part 30, is rotated about a vertical line to change its orientation. Since the center of gravity of the mechanism 160 is located in front of the second axis J2, by rotating about a vertical line passing through the center of gravity, the mechanism 160, which is separated from the reducer 122, can be moved away from the reducer 122.

[0034] This ensures a larger working space when removing the reducer 122 from the robot 100, thereby improving work efficiency.

[0035] Next, the reducer 122, exposed through the moving mechanism 160, is suspended using a second suspension member 45 installed on the second suspension section 40. The second suspension member 45 includes a chain pulley 45a and a clamp 45b fixed to the reducer 122. With one hook of the chain pulley 45a hooked on the second suspension section 40 and the other hooked on the clamp 45b, the tension of the chain pulley 45a's wire is adjusted by operating the chain pulley 45a. In this state, by removing the bolts fixing the reducer 122 to the rotating body 120, the reducer 122, removed from the rotating body 120, can be suspended by the second suspension member 45.

[0036] In this case, since the second suspension part 40 is positioned approximately vertically above the center of gravity of the reducer 122 when it is mounted on the rotating body 120, the reducer 122 can be kept in a stable suspension state even when it is separated from the rotating body 120.

[0037] Furthermore, by moving the second suspension member 45 along the second suspension section 40, which is composed of a rod-shaped member, the suspended reducer 122 can be moved away from the rotating body 120. Thus, with the reducer 122 moved to a position where it is not in contact with the rotating body 120, the chain trolley 45a can be operated to hoist the reducer 122 to the ground. Then, the second suspension member 45 is installed onto the repaired reducer 122 or a new reducer 122, and the chain trolley 45a is operated again to hoist the reducer 122 to the position of the second axis J2 and install it on the rotating body 120. The mechanism 160 is then installed on the reducer 122. Thus, the replacement operation of the reducer 122 is completed.

[0038] According to this embodiment, since the reducer 122 and the mechanism 160 are suspended on the fixture body 20 fixed to the rotating body 120, the reducer 122 can be replaced without being obstructed by the platform R on which the robot 100 is mounted. That is, the reducer 122 of the robot 100 in a suspended state can be maintained without using a bridge crane.

[0039] Furthermore, by fixing the clamp body 20 to the rotating body 120, the clamp body 20 and the rotating body 120 can be linked together. Thus, regardless of the angle of the rotating body 120 relative to the base 110, the first suspension part 30 can be positioned vertically above the center of gravity of the mechanism part 160, and the second suspension part 40 can be positioned vertically above the center of gravity of the reducer 122.

[0040] Furthermore, in this embodiment, the first suspension part 30 is constituted by a lifting device having an annular part 30a fixed to the support member 23 of the clamp body 20. Alternatively, the annular part 30a may also be configured to be rotatable relative to the clamp body 20 about a vertical line.

[0041] Therefore, as Figure 3 As shown, the mechanism 160, which is detached from the reducer 122 and suspended from the first suspension part 30 by the first suspension member 35, can be rotated around a vertical line to change its orientation. That is, the mechanism 160 can be easily pulled apart from the reducer 122, which ensures a large working space when removing the reducer 122 from the robot 100 and improves the workability of maintenance work on the reducer 122.

[0042] Alternatively, multiple threaded holes for mounting the lifting device constituting the first suspension part 30 can be provided at intervals along the length of the support member 23. In this case, since the center of gravity of the mechanism part 160 changes according to the weight of the tool or the like mounted at the front end of the wrist unit 150, it is sufficient to fix the lifting device in the threaded hole at the position vertically above the center of gravity.

[0043] In addition, such as Figure 4 As shown, the first suspension part 30 may also have the following structure: a track 31 fixed parallel to the elongated part 21 on the lower surface of the connecting part 22, and a sliding member 32 supported so as to be able to move horizontally along the track 31, with a lifting device fixed on the sliding member 32.

[0044] Therefore, by adjusting the position of the slider 32, the lifting device can be positioned vertically above the center of gravity of the mechanism 160, and the suspended mechanism 160 can be moved horizontally, making it easier to move away from the reducer 122.

[0045] In addition, in order to adjust the position of the center of gravity, the track 31 is preferably arranged in the center of a pair of long strips 21, but in order to move the mechanism 160, it can also be arranged in any horizontal direction.

[0046] In addition, the example shown is that the second suspension part 40 extends parallel to the second axis J2, but instead, the second suspension part 40 can also extend in any direction in the horizontal direction.

[0047] Furthermore, in this embodiment, the first suspension member 35 mounted on the first suspension part 30 includes a chain trolley 35a for adjusting the height position of the suspension mechanism part 160. Instead, as... Figure 5 As shown, the first suspension unit 30 may also have a first height adjustment mechanism 36, such as a chain pulley.

[0048] Similarly, the second suspension unit 40 may also have a second height adjustment mechanism 46, such as a chain pulley, for adjusting the height position of the suspension reducer 122.

[0049] In addition, in this embodiment, Figure 6 As shown, the robot maintenance gripper 10 can also fix the gripper lifting gripper 26 to the rotating body 120 or the base 110. The gripper lifting gripper 26 fixes the chain trolley used to lift the gripper body 20 to the position of the rotating body 120. The gripper body 20 can be lifted as a whole. Since it is a heavy object, the long strip component 21, the connecting component 22 and the supporting component 23 can also be lifted separately and assembled while being fixed to the rotating body 120.

[0050] Furthermore, although the clamp body 20 is fixed to the rotating body 120 in this embodiment, it can also be fixed to the base 110 during maintenance if the rotating body 120 can be positioned relative to the base 110 in a designated maintenance position. Compared to the case where it is mounted on the rotating body 120, mounting the clamp body 20 to the base 110 expands the working space above the mechanism section 160.

[0051] Furthermore, although this embodiment describes the case of replacing the reducer 122, it can also be applied to the case of replacing the motor. When replacing the motor, the mechanism 160 is not separated from the reducer 122. Instead, the motor can be removed from the rotating body 120 while the mechanism 160 is suspended on the first suspension part 30 by the first suspension part 35 and the motor is suspended on the second suspension part 40 by the second suspension part 45.

[0052] Explanation of reference numerals in the attached figures

[0053] 10. Maintenance fixtures for robots

[0054] 20 Fixture Body

[0055] 30 First suspension section

[0056] 30a Annular section (mounting section)

[0057] 35 First suspension component

[0058] 36 First height adjustment mechanism

[0059] 40 Second suspension section

[0060] 45 Second suspension component

[0061] 46 Second height adjustment mechanism

[0062] 100 robots

[0063] 110 base

[0064] 120 rotational body

[0065] 121, 131 actuators

[0066] 160 Institutions Department

[0067] J1 First Axis (Axis)

[0068] R stand

Claims

1. A maintenance fixture for a robot, characterized in that, have: The main body of the gripper is detachably mounted on the robot, which is suspended on the platform. The first suspension part can be configured vertically above the center of gravity of the mechanism part of the robot, which is driven by the actuator that is the object of maintenance, when it is mounted on the actuator, and can suspend the mechanism part to the gripper body by the first suspension member. as well as The second suspension unit can be configured vertically above the center of gravity of the actuator when it is mounted on the robot, and can suspend the actuator from the gripper body via the second suspension component.

2. The maintenance fixture for robots according to claim 1, characterized in that, The robot has a base fixed to the platform and a rotating body supported so as to be able to rotate relative to the base about a vertical axis. The clamp body is detachably fixed to the rotating body.

3. The maintenance fixture for robots according to claim 1 or 2, characterized in that, The first suspension portion has a mounting portion for mounting the first suspension component, the mounting portion being supported so as to be rotatable relative to the clamp body about a vertical line.

4. The maintenance fixture for robots according to claim 1 or 2, characterized in that, The first suspension portion has a mounting portion for mounting the first suspension component, the mounting portion being supported so as to be movable in the horizontal direction relative to the clamp body.

5. The maintenance fixture for robots according to claim 1 or 2, characterized in that, The second suspension part enables the installation position of the second suspension component to move horizontally relative to the clamp body.

6. The maintenance fixture for robots according to claim 1 or 2, characterized in that, The first suspension part has a first height adjustment mechanism that can adjust the height position of the suspension mechanism.

7. The maintenance fixture for robots according to claim 1 or 2, characterized in that, The second suspension unit has a second height adjustment mechanism that can adjust the height position of the suspended actuator.

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