Hoisting jig for robot, hoisting jig set for robot, and method for installing robot

Abstract

A robot hoisting jig (100) includes an attachment plate (70) fixed to a bottom surface (22) of a base (20) of a robot (10), and a frame member (80) removably attached to the attachment plate (70) in a state where the robot (10) is fixed and surrounding at least a portion including a center-of-gravity position of the robot (10), the attachment plate (70) including an attachment surface (71) and an installation surface (72), the attachment surface (71) making the bottom surface (22) close to each other, the installation surface (72) making the attachment surface (71) close to each other, and the installation surface (72) making the attachment surface (71) close to each other. The mounting surface (72) is fixed to a mounting surface (F) on which the robot (10) is mounted, and the frame member (80) is provided with one or more hooking parts (85) for hooking the hoisting member such that the attachment plate (70) to which the frame member (80) is mounted and the robot (10) can be suspended at a mounting angle other than 0 degree.

Description

Technical Field

[0001] The present disclosure relates to a hoisting fixture for a robot, a hoisting fixture set for a robot, and a method for setting up a robot. Background Art

[0002] There is known a method of changing the posture of the robot using a rectangular frame attached to the robot and suspending the robot while maintaining the changed posture, thereby installing the robot on an installation surface such as a ceiling (for example, refer to Patent Document 1).

[0003] In this method, a square frame is mounted on the upper surface of the base of the robot, and the entire square frame is inverted 180 degrees, so that the robot is in an inverted state, with the bottom surface of the base facing the ceiling. Then, in this state, the square frame is lifted together with the robot by a crane, etc., and after the bottom surface of the base is fixed to the ceiling, the square frame is removed from the robot.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Laid-Open No. 61-071992 Summary of the invention

[0007] Problem that the invention aims to solve

[0008] In order to install the robot on an installation surface such as a ceiling, when a frame-shaped jig is attached to the robot, the jig is attached to a position of the robot that avoids the bottom surface of a base serving as the installation surface.

[0009] However, the base of the robot is designed to have the minimum necessary size for the purpose of miniaturization or weight reduction of the robot itself, etc. Therefore, there is a case where sufficient space for attaching the jig is not ensured on the surface other than the bottom surface of the base.

[0010] Therefore, it is desired that a jig capable of suspending the robot and changing its posture can be mounted on the base regardless of the shape of the base of the robot, and the robot can be easily installed on an installation surface.

[0011] Solutions for solving problems

[0012] One embodiment of the present invention is a lifting fixture for a robot, the lifting fixture for the robot comprising: an auxiliary plate, which is fixed to the bottom surface of a base of the robot; and a frame component, which can be detachably mounted on the auxiliary plate in a state where the robot is fixed, and surrounds at least a portion of the robot including the center of gravity position, the auxiliary plate comprising an installation surface and a setting surface, the installation surface makes the bottom surface close to each other, and the setting surface is fixed to the setting surface where the robot is set, and the frame component comprises one or more hooking portions, and the one or more hooking portions hook the lifting component so that the auxiliary plate with the frame component installed and the robot can be suspended at a setting angle other than 0°. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a side view showing a robot equipped with a jig according to the first embodiment of the present disclosure.

[0014] Figure 2 Yes means Figure 1 A side view of a robot set on the ground.

[0015] Figure 3 Yes means Figure 1 An enlarged perspective view of the assembly position of the fixture and the robot.

[0016] Figure 4 Yes means Figure 1 A stereogram of the fixture.

[0017] Figure 5 This is a side view for explaining a method of attaching a clamp to a robot according to the first embodiment of the present invention.

[0018] Figure 6 It is a change Figure 5 A side view of the fixture and the posture of the robot is explained.

[0019] Figure 7 It is a change Figure 5 A side view of the fixture and the posture of the robot is explained.

[0020] Figure 8 It is a change Figure 5 A side view of the fixture and the posture of the robot is explained.

[0021] Fig. 9 It means that the installation Figure 1 A perspective view of a robot setting state of a modified example of a clamp.

[0022] Fig.10 It means from Fig. 9 Different direction settings Fig. 9 A three-dimensional diagram of the state of the robot.

[0023] Fig.11 This is a side view for explaining a method of changing the postures of the clamps and the robot in the clamp assembly according to the second embodiment of the present invention.

[0024] Fig.12 It is a change Fig.10 A side view of the fixture and the posture of the robot is explained. DETAILED DESCRIPTION

[0025] Hereinafter, a robot hoisting jig (hereinafter referred to as a jig 100 ) according to a first embodiment of the present disclosure will be described with reference to the drawings.

[0026] like Figure 1 As shown, the jig 100 of this embodiment is used when the robot 10 is installed on an installation surface F having an angle other than 0°, for example, a wall surface having an angle of 90° or a ceiling surface having an angle of 180°.

[0027] For example, Figure 2 As shown, the robot 10 is a six-axis vertical multi-articulated robot. The robot 10 includes: a base 20, which is fixed to the installation surface F; and a rotating body 30, which is supported to be rotatable relative to the base 20 around a first axis A, and the first axis A extends along a direction orthogonal to the installation surface F. In addition, the robot 10 includes a first arm 40, which is rotatable relative to the rotating body 30 around a second axis B, and the second axis B extends along a plane orthogonal to the first axis A. In addition, the robot 10 includes: a second arm 50, which is supported to be rotatable relative to the first arm 40 around a third axis C parallel to the second axis B; and a three-axis wrist unit 60, which is mounted on the front end of the second arm 50.

[0028] like Figure 2 As shown, the base 20 includes a flat, substantially rectangular leg portion 21 in a plan view extending along a plane perpendicular to the first axis A. The leg portion 21 includes a bottom surface 22 that can be in close contact with the installation surface F.

[0029] In addition, if Figure 3 As shown in FIG. 1 , a plurality of through holes 21h are provided at the four corners of the leg portion 21 and pass through the first axis A. By fastening bolts (not shown) passing through the through holes 21h to threaded holes (not shown) provided on the installation surface F, the leg portion 21 can be installed as shown in FIG. Figure 2 As shown, the robot 10 is directly installed on an installation surface F such as the ground.

[0030] like Figure 1As shown, the jig 100 includes an attachment plate 70 and a frame member 80 . The attachment plate 70 is fixed to the bottom surface 22 of the base 20 , and the frame member 80 is detachably mounted to the attachment plate 70 .

[0031] The auxiliary plate 70 is a flat plate-shaped member formed of a high-rigidity material such as metal, and is Figure 3 As shown, the leg portion 21 of the base 20 is formed in a shape larger than the outer dimensions of the leg portion 21 in a plan view, for example, a rectangular shape.

[0032] The width dimension of the auxiliary plate 70 is set to be larger than the width dimension (dimension in the direction of the second axis B) of the robot 10 in the transport posture. Figure 2 As shown, the rotary body 30 is arranged at the origin position and the first arm 40 and the second arm 50 are folded.

[0033] The auxiliary plate 70 has a flat mounting surface 71 in close contact with the bottom surface 22 of the base 20 on one side (front side) in the plate thickness direction, and a mounting surface 72 in close contact with the mounting surface F on the other side (rear side).

[0034] The mounting surface 71 includes screw holes 73 at positions corresponding to the through holes 21h when the bottom surface 22 of the base 20 is in close contact with the mounting surface 71. The screw holes 73 can be fastened with bolts (not shown) passing through the corresponding through holes 21h.

[0035] In addition, when the base 20 is fixed to the mounting surface 71, the auxiliary plate 70 has a plurality of through holes 74 extending in the plate thickness direction outside the region covered by the leg portion 21. The through holes 74 have an inner diameter dimension capable of allowing bolts (not shown) for fixing the auxiliary plate 70 to the mounting surface F to pass therethrough.

[0036] The attached plate 70 is provided with a plurality of screw holes (mounting portions) 76 penetrating in the plate thickness direction along a pair of outer peripheral edges facing each other in the width direction. The screw holes 76 can fasten bolts 8 (see FIG. 1 ) for mounting a frame member 80 to be described later on the attached plate 70. Figure 4 ) and are arranged at intervals in the direction along the outer periphery.

[0037] The frame member 80 is, for example, Figure 4 As shown in FIG. 1 , a highly rigid rectangular parallelepiped frame structure is formed by combining 12 rod-shaped steel materials 81 such as prism members. The steel materials 81 can be welded together so as to be non-detachable, or can be assembled so as to be detachable using fastening members such as bolts.

[0038] The outer dimensions of the frame member 80 are width dimension W×length dimension L×height dimension H. The frame member 80 has an opening 82 having inner dimensions of width dimension W1×length dimension L1 between four steel members 81 constituting a surface for attaching the attachment plate 70 .

[0039] like Figure 4 As shown in FIG. 1 , the width dimension W of the frame member 80 is set to be equal to the width dimension of the auxiliary plate 70. Figure 1 and Figure 4 As shown, the length dimension L of the frame member 80 is set to be larger than the outer dimension in the front-rear direction (a direction along a plane orthogonal to the second axis B and orthogonal to the first axis A) of the robot 10 in the carrying posture. In addition, the height dimension H of the frame member 80 is set to be larger than the outer dimension in the height direction (the direction of the first axis A) of the robot 10 in the carrying posture.

[0040] The width W1 of the opening 82 of the frame member 80 is set larger than the width dimension (second axis B direction) of the robot 10 in the transport posture. The length L1 of the opening 82 is set larger than the front-rear dimension of the robot 10 in the transport posture.

[0041] That is, the frame member 80 has a space inside that is larger than the outer dimensions of the robot 10 in the transport posture. Thus, the frame member 80 surrounds the entire robot 10 including the center of gravity when fixed to the auxiliary plate 70. In addition, the opening 82 of the frame member 80 has a size that allows the robot 10 in the transport posture to pass through in the direction of the first axis A.

[0042] In addition, if Figure 3 and Figure 4 As shown, a group of steel members 81 in the width direction among the four steel members 81 constituting the surface for mounting the attachment plate 70 are provided with through holes 83 at positions corresponding to the screw holes 76 of the attachment plate 70. By fastening the bolts 8 passing through the through holes 83 to the screw holes 76, the frame member 80 is detachably fixed to the mounting surface 71 of the attachment plate 70.

[0043] In addition, hook portions 85 are provided at eight corners of the frame member 80, and the hook portions 85 can hook a hook (not shown) at one end of a chain of a chain block (hanging member) 90. The hook portions 85 are hanging fittings having a ring-shaped portion such as an eye bolt, for example, which are fixed by being fastened from the outside to a threaded hole (not shown) provided at each corner.

[0044] Since the annular portions of the eight hooks 85 are all arranged outside the frame member 80, the eight annular portions are arranged to surround the center of gravity of the robot 10 fixed to the attachment plate 70. Therefore, for example, by hoisting the jig 100 using the four hooks 85 arranged above the robot 10 fixed to the attachment plate 7, the robot 10 and the jig 100 can be hoisted in a stable posture.

[0045] Hereinafter, a method of installing a robot according to an embodiment of the present disclosure using the jig 100 according to the present embodiment configured in this manner will be described.

[0046] For the Figure 2 The robot 10 shown in the figure is carried in a carrying posture that can be placed on the ground, that is, in an upright posture, and is installed on an installation surface F (hereinafter also referred to as ceiling surface F) such as a ceiling surface having an angle of 180 degrees.

[0047] First, the attachment plate 70 of the jig 100 is separated from the frame member 80 and arranged on a horizontal surface. Then, the robot 10 is lifted by a crane or the like and lowered from above the attachment plate 70 so that the bottom surface 22 of the base 20 is in close contact with the mounting surface 71 of the attachment plate 70. Then, bolts passing through the through holes 21h provided in the legs 21 of the base 20 are fastened to the threaded holes 73 of the attachment plate 70, thereby fixing the robot 10 to the attachment plate 70.

[0048] Next, one end of the chain 91 of the chain block 90 is hooked on the four hooking portions 85 on the upper surface of the frame member 80, for example, on the front two hooking portions 85 (see Figure 5 ). In addition, one end of a chain (hanging member) 93 of a fixed length is hooked on the two hooking parts 85 at the rear. Then, the two chain pulleys 90 at the front and the two chains 93 at the rear are installed on the crane D, and the chain pulleys 90 are adjusted so that the lengths of the four chains 91 and 93 are equal.

[0049] Then, by raising the crane D, the frame member 80 is hoisted and Figure 5 As shown in FIG. 1 , the frame member 80 is lowered from above the robot 10. Then, the robot 10 is passed through the opening 82 of the frame member 80, and the frame member 80 is brought into contact with the upper side of the mounting surface 71 of the attachment plate 70, and the bolts 8 passing through the through holes 83 are fastened to the threaded holes 76 of the attachment plate 70. Thus, the frame member 80 is fixed to the attachment plate 70 and is installed in a state of surrounding the entire robot 10.

[0050] Then, the crane D is raised again to hoist the robot 10 in the upright posture together with the jig 100 .

[0051] In this state, if Figure 6As shown, the chain pulley 90 is operated to extend the two chains 91 disposed on the front side of the robot 10 , thereby rotating the robot 10 and the clamp 100 by their own weight.

[0052] If the chain 91 of the chain block 90 is further stretched from the state where the center of gravity of the robot 10 and the clamp 100 is arranged vertically below the hook of the crane D, the chain 91 will be loosened. In this state, the chain 91 is removed from the hook portion 85 on the upper front side of the frame member 80 and reattached to the hook portion 85 on the lower rear side. Then, the chain block 90 is operated to adjust the length of the chain 91.

[0053] Therefore, if Figure 7 As shown, the robot 10 and the jig 100 are in a posture rotated 90° around an axis parallel to the second axis B and are stably suspended.

[0054] In this state, the chain 93 of fixed length is switched to the chain block 90 , and the chain block 90 is switched to the chain 93 of fixed length.

[0055] Then, similarly to the above, the chain 91 of the chain pulley 90 after the conversion is extended until it is loose, and the hook portion 85 is replaced to shorten the chain 91 of the chain pulley 90. As a result, the robot 10 and the clamp 100 are further rotated by 90 degrees. Figure 8 As shown in FIG. 1 , the robot 10 is placed in an inverted posture rotated 180 degrees from the upright posture. That is, the installation surface 72 of the attachment plate 70 attached to the robot 10 can be made to face the ceiling surface F facing vertically downward.

[0056] Then, the crane D is raised to hoist the robot 10 and the jig 100, so that the installation surface 72 of the attachment plate 70 is in close contact with the ceiling surface F. Then, by fastening bolts (not shown) passing through the through holes 74 of the attachment plate 70 to threaded holes (not shown) provided on the ceiling surface F, the attachment plate 70 can be fixed to the ceiling surface F.

[0057] Thus, the robot 10 is installed on the ceiling surface F via the attachment plate 70. Thereafter, the bolts 8 fixing the attachment plate 70 and the frame member 80 are removed, and the frame member 80 is separated from the attachment plate 70. Then, the crane D is lowered, and the frame member 80 is lowered relative to the robot 10 installed on the ceiling surface F. Thus, the robot 10 passes through the opening 82 of the frame member 80 and is pulled out of the frame member 80, and the robot 10 is held in a state of being installed on the ceiling surface F together with the attachment plate 70, and the installation work is completed.

[0058] In this way, by attaching the attachment plate 70 to the bottom surface 22 of the base 20, the frame member 80 can be attached to the robot 10 via the attachment plate 70. Therefore, even if sufficient space for attaching other components is not ensured on the surface other than the bottom surface 22 of the base 20, the frame member 80 can be attached to the robot 10. In addition, the robot 10 can be suspended by using the frame member 80 to easily change its posture.

[0059] Therefore, regardless of the shape of the base 20 , the robot 10 can be easily installed on the installation surface F having an angle other than 0°.

[0060] In this case, the robot 10 is accommodated inside the frame member 80 and is not exposed outside the frame member 80. Therefore, when the robot 10 is suspended to change its posture, the possibility of the robot 10 contacting surrounding members and the like can be reduced.

[0061] In addition, the frame member 80 is mounted along both outer peripheral edges of the attachment plate 70, and the through hole 74 for mounting the attachment plate 70 on the installation surface F is arranged in the space between the base 20 fixed to the installation surface 71 and the frame member 80. Therefore, the attachment plate 70 in a state where the robot 10 and the frame member 80 are mounted can be easily fixed to the installation surface F, and the frame member 80 can be easily attached to and detached from the attachment plate 70 fixed to the installation surface F.

[0062] In addition, in the present embodiment, the frame member 80 is detachably mounted on the mounting surface 71 on which the robot 10 is mounted on the surface side of the attachment plate 70. Alternatively, the frame member 80 may be mounted on the back side of the attachment plate 70 opposite to the mounting surface 71 in the plate thickness direction. That is, the frame member 80 may be mounted in a state where not only the robot 10 but also the attachment plate 70 is accommodated in the inner space.

[0063] In this case, a larger free space is secured outside the range covered by the leg portion 21 of the base 20 on the mounting surface 71 of the auxiliary plate 70 to which the base 20 is mounted. Therefore, a mounting surface that is in close contact with the mounting surface F can be set in the free space of the mounting surface 71. That is, the mounting surface can be arranged on the same plane as the mounting surface 71.

[0064] This structure, for example, Fig. 9 As shown in FIG. 1 , the robot 10 can be adopted when it is installed in a suspended state between two beams S protruding in the horizontal direction from the wall surface.

[0065] In this case, the robot 10 with the jig 100 attached is hoisted by the crane D in the same manner as the above method on the ground away from the beam S and is placed in an inverted posture. Then, the crane D is raised to a position where the mounting surface 71 of the attachment plate 70 is slightly higher than the upper surface of the beam S. Then, while maintaining this height position, the crane D is moved in the horizontal direction, and the two beams S are inserted into the frame member 80 from the opening portion (not shown) on the side of the frame member 80, and the robot 10 suspended by the crane D is arranged between the two beams S. At this time, since the upper surfaces of the two beams S face the mounting surface 71 of the attachment plate 70 with a small gap, the mounting surface 71 can be brought into close contact with the upper surfaces of the two beams S by lowering the crane D.

[0066] Then, similarly to the above, after the upper surfaces of the two beams S are fixed to the mounting surface 71, the frame member 80 is separated from the attachment plate 70, and the crane D is operated to pull the two beams S out from the opening of the side surface of the frame member 80, and the frame member 80 is lowered to the ground. Thus, the robot 10 can be easily placed in a suspended state via the attachment plate 70 fixed to the upper surfaces of the two beams S.

[0067] In addition, Fig. 9 In the example, the following case is illustrated: the mounting surface 71 of the auxiliary plate 70 is fixed to the side surface (refer to Figure 4 ) is inserted into the opening of the two beams S. Instead, for example, Fig.10 As shown, it is also possible to view the side surface of the frame member 80 having a width dimension W and a height dimension H (see Figure 4 ) are inserted into the two beams S, and the attachment plate 70 is fixed to the two beams S. In this case, in order to remove the frame member 80 from the attachment plate 70 fixed to the two beams S and the robot 10, the frame member 80 may be disassembled and lowered to the ground in units of steel materials 81.

[0068] Next, a robot hoisting fixture set (hereinafter referred to as fixture set 200 ) according to a second embodiment of the present disclosure will be described below with reference to the drawings.

[0069] In the following description, the same reference numerals are given to the same components as those of the above-described clamp 100 , and the description thereof will be omitted.

[0070] The clamp set 200 of this embodiment is, for example, Fig.11 As shown, the auxiliary plate 70, the frame member 80, and the support structure 95 are provided. The support structure 95 supports the frame member 80 so as to be rotatable around the horizontal axis.

[0071] The support structure 95 includes, for example, two pillars 96 extending vertically upward from the horizontal ground, and two beam members 97 a and 97 b horizontally spanned between the two pillars 96 .

[0072] The support 96 is a hollow columnar structure made of a high-rigidity material such as metal. A flange 96p extending outward from the outer peripheral surface in an eave shape is provided at the lower end of the support 96 over the entire circumference. The flange 96p is fixed to the ground in close contact.

[0073] The beam members 97a and 97b are formed into elongated strips of the same material as the support column 96. The beam members 97a and 97b are fixed to the two support columns 96 at both ends thereof by bolts or welding at heights H1 and H2 from the ground, respectively.

[0074] Thus, the support column 96 and the beam members 97 a and 97 b have sufficient strength and rigidity to support the robot 10 and the jig 100 .

[0075] exist Fig.11 In the example shown, the height H1 from the ground where the beam member 97a is disposed is set to be larger than the length dimension L of the frame member 80 (see Figure 4 ). In addition, two connection fittings (connection parts) 98 that can be connected to the hook part 85 of the frame member 80 are attached to the beam member 97a.

[0076] The connection fitting 98 is, for example, a hook that can hook the eye bolt when the hooking portion 85 is an eye bolt. Alternatively, the hooking portion 85 and the connection fitting 98 may both be formed of an eye bolt, and the two eye bolts may be connected by a hook ring.

[0077] The two connection fittings 98 are arranged along the longitudinal direction of the beam member 97 a at a distance corresponding to the two hooking portions 85 on the rear side of the lower surface of the frame member 80 , for example.

[0078] The beam member 97 b is disposed below the beam member 97 a in the vertical direction at a distance shorter than the length L of the frame member 80 .

[0079] Hereinafter, the operation of the clamp set 200 of the present embodiment configured in this manner will be described.

[0080] Hereinafter, a description will be given of a case where the robot 10 in an upright posture with the jig 100 attached thereto is installed on a wall surface having an angle of 90° by the same method as described above.

[0081] One end of a chain 93 of a fixed length is hooked to four hooking parts 85 on the upper surface of the frame member 80 of the clamp 100 mounted on the robot 10 in an upright posture, and the other end of the chain 93 is mounted on the crane D. Fig.11 As shown, the crane D is raised so that the two hook portions 85 on the rear side of the lower surface of the frame member 80 are brought close to the two connection fittings 98 mounted on the beam member 97a of the support structure 95, and the two are connected respectively.

[0082] As a result, the robot 10 and the gripper 100 are connected so as to be rotatable relative to the support structure 95 about a horizontal axis passing through the two connection fittings 98 .

[0083] Next, if Fig.12 As shown, by lowering the crane D, the robot 10 and the fixture 100 are rotated around the horizontal axis due to their own weight. In addition, the two steel members 81 attached to the auxiliary plate 70 of the frame member 80 are brought into contact with the beam member 97b. As a result, the robot 10 and the fixture 100 are stably suspended from the two connection fittings 98 while maintaining a posture rotated 90° from the upright posture.

[0084] In this state, one ends of the four chains 93 are removed and reattached to the four hooks 85 disposed on the rear side of the robot 10. Thereafter, the crane D is raised to prevent the four chains from being loosened and the hooks 85 are separated from the two connection fittings 98.

[0085] Thus, the robot 10 and the jig 100 are suspended in a posture rotated by 90 degrees, and the installation surface 72 of the attachment plate 70 can be arranged at an angle of 90 degrees. Then, by operating the crane D, the installation surface 72 is brought into close contact with the wall surface, and the attachment plate 70 is fixed to the wall surface. Thus, the robot 10 can be installed on the wall surface via the attachment plate 70. Thereafter, in the same manner as described above, the frame member 80 is separated from the attachment plate 70 and lowered to the ground, thereby completing the installation operation of the robot 10 on the wall surface.

[0086] In this case, the posture of the robot 10 and the clamp 100 can be changed without adjusting the length of the hanging member for hanging the robot 10 and the clamp 100. Therefore, there is an advantage that the chain block 90 does not need to be used, and the workload involved in adjusting the length of the chain 91 of the chain block 90 can be reduced.

[0087] In addition, in the present embodiment, the case where the robot 10 is installed on a wall surface having an angle of 90° is exemplified, but the present invention is also applicable to a case where the robot 10 is installed on a ceiling surface having an angle of 180°.

[0088] In this case, after the robot 10 is changed from the upright posture to the posture inclined by 90 degrees by the above method, the robot 10 may be changed to the inverted posture rotated by 180 degrees by further performing the same operation.

[0089] In addition, in the present embodiment, two beam members 97a and 97b are provided between the two pillars 96, but the beam member 97b that contacts the frame member 80 tilted 90° may be omitted. In this case, for example, the frame member 80 rotated 90° may be supported from below by a forklift or the like, so that the frame member 80 may be maintained in the rotated 90° state.

[0090] In addition, as the support structure 95 , a wall surface may be used instead of the support column 96 .

[0091] In the above embodiments, the six-axis vertical articulated robot 10 is exemplified, but the present invention is not limited thereto. For example, the present invention may be applied to a case where an industrial robot such as a horizontal articulated robot or a linear motion robot is installed on an installation surface F other than 0°.

[0092] In addition, in the above-mentioned embodiments, the frame member 80 is exemplified as having a size that surrounds the entire robot 10. Alternatively, the frame member 80 may be sized to surround only a portion of the robot 10. In this case, the frame member 80 only needs to be installed at a position that surrounds at least the center of gravity of the robot 10.

[0093] Thus, similarly to the above, the robot 10 and the jig 100 can be stably suspended, and even if the postures of the robot 10 and the jig 100 are changed in the suspended state, the robot 10 and the jig 100 can continue to be stably suspended.

[0094] In this case, when the opening 82 of the frame member 80 is smaller than the projected area of ​​the robot 10 , the opening 82 can be enlarged by removing a portion of the steel material 81 , thereby making it possible to attach and detach the frame member 80 to and from the robot 10 .

[0095] In addition, in the above-mentioned embodiments, one hook portion 85 is installed at each of the eight corners of the frame member 80, but the present invention is not limited thereto. For example, any number of three or more hook portions 85 may be installed at positions of the frame member 80 that surround the center of gravity of the robot 10. In this case, when the posture of the robot 10 is changed, the reinstallation operation of the hanging member may be performed on the entire hook portion 85.

[0096] In addition, in the above-mentioned embodiments, as the hoisting member, the case of using the chain block 90 and the chain 93 is exemplified. Instead, a nylon sling and a winding device for adjusting the length of the sling may be used. In addition, as the hook portion 85, an eye bolt is exemplified, but a hole provided at a corner of the frame member 80 and through which a sling or chain can pass may be used as the hook portion 85.

[0097] The embodiments of the present disclosure are described in detail above, but the present disclosure is not limited to the above-mentioned embodiments. In these embodiments, various additions, substitutions, changes, partial deletions, etc. can be made without departing from the scope of the main purpose of the invention, or without departing from the concept and purpose of the present invention derived from the contents recorded in the claims and their equivalents. For example, in the above-mentioned embodiments, the order of each action and the order of each process are shown as an example and are not limited to this.

[0098] Description of reference numerals:

[0099] 10: Robots

[0100] 20: Base

[0101] 22: Bottom surface

[0102] 70: Subsidiary board

[0103] 71: Mounting surface

[0104] 72: Setting the surface

[0105] 76: threaded hole (mounting part)

[0106] 80: Frame components

[0107] 85: Hooking part

[0108] 90: Chain pulley (hoisting parts)

[0109] 93: Chain (hoisting parts)

[0110] 95: Support structure

[0111] 98: Connecting accessories (connecting part)

[0112] 100: Lifting fixture for robots

[0113] 200: Robot lifting fixture set

[0114] F: Set surface

Claims

1. A lifting fixture for a robot, characterized in that: have: an attachment plate fixed to the bottom surface of the base of the robot; and a frame member that is detachably mounted on the auxiliary plate to which the robot is fixed and surrounds at least a portion of the robot including the center of gravity. The auxiliary plate includes a mounting surface and a setting surface, wherein the mounting surface is in close contact with the bottom surface, and the setting surface is fixed to a setting surface on which the robot is set. The frame member includes one or more hooking parts, and the one or more hooking parts hook a hanging member so as to be able to suspend the auxiliary plate and the robot to which the frame member is attached at an installation angle other than 0°.

2. The robot lifting fixture according to claim 1, characterized in that: The frame member surrounds the entire robot.

3. The robot lifting fixture according to claim 1 or 2, characterized in that: A mounting portion to which the frame member can be mounted is provided in a region of the auxiliary plate that is located outside the base fixed to the mounting surface.

4. A robot hoisting fixture assembly, characterized in that: have: an accessory plate fixed to the bottom surface of the base of the robot; a frame member that is detachably mounted on the auxiliary plate to which the robot is fixed and surrounds at least a portion of the robot including a center of gravity; as well as a supporting structure that supports the frame member so as to be rotatable about a predetermined horizontal axis, The auxiliary plate includes a mounting surface and a setting surface, wherein the mounting surface is in close contact with the bottom surface, and the setting surface is fixed to a setting surface on which the robot is set. The frame member includes one or more hooking parts and a connecting part. The one or more hooking parts hook a hanging member so as to be able to suspend the auxiliary plate and the robot mounted with the frame member at a setting angle other than 0°. The connecting part is connected to the supporting structure.

5. A method for setting a robot, which uses the robot hoisting fixture according to claim 1 to set the robot on a setting surface with a setting angle other than 0°, characterized in that: include: fixing the auxiliary plate to the bottom surface of the base; Mounting the frame member on the auxiliary plate; The hanging member is hooked on the hook portion, and the auxiliary plate to which the frame member is mounted and the robot are hung by the hanging member in a state where the robot is tilted at a setting angle other than 0°; After the installation surface is fixed to the installation target surface, the frame member is removed from the auxiliary plate.

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