ROBOT HANGER, ROBOT HANGER KIT, AND ROBOT INSTALLATION PROCEDURE

Abstract

A suspension device (100) for a robot is provided, the suspension device (100) comprising: a mounting plate (70) fixed to a bottom surface (22) of a base (20) of the robot (10); and a frame member (80) detachably attached to the mounting plate (70), the robot (10) being fixed thereto, and surrounding at least a part including a center of gravity of the robot (10). The mounting plate (70) comprises a mounting surface (71) with which the bottom surface (22) is in close contact, and an installation surface (72) fixed to a mounting surface (F) on which the robot (10) is installed. The frame member (80) comprises at least one engagement piece (85) onto which a suspension member is suspended, such that the mounting plate (70) with the frame member (80) attached thereto and the robot (10) can be suspended at an installation angle other than 0°.

Description

{Technical Field}The present disclosure relates to robot hangers, robot hangers, and robot installation methods.{Prior Art}A known method for installing a robot on a mounting surface, e.g., a ceiling, is to change the posture of the robot by attaching a square frame to the robot and suspending the robot while being held in the changed posture (see, e.g., Patent Literature 1).In this method, the square frame is fixed to the upper surfaces of the base of the robot and the whole square frame is rotated by 180°, whereby the robot is placed in a reverse state and the lower surface of the base faces the ceiling. In this state, the robot is suspended together with the square frame by, for example, a crane, and the lower surface of the base is fixed to the ceiling. The square frame is then removed from the robot.{Reference List}{Patent Literature}{PTL 1] Japanese Patent Application Laid-Open No. Sho 61-071992{Explanation of Invention}{Technical Problem}When a frame-like device is to be attached to the robot to install the robot on an attachment surface such as the ceiling, the device is attached to a location that bypasses the lower surface of the base serving as an installation surface of the robot.However, the base of the robot is designed to have a minimum size to achieve a reduction in the size or weight of the robot. Therefore, on surfaces other than the bottom surface, there is sometimes not enough space for mounting the jig.Therefore, it is desirable that the device by which the robot can be suspended and its posture can be changed be attached to the base, and that the robot can be easily installed on the mounting surface regardless of the shape of the base of the robot.{Solution of Object}One aspect of the present disclosure relates to a suspension device for a robot. The hanger includes a mounting plate fixed to the bottom surface of the base of the robot and a frame member detachably attached to the mounting plate, the robot being attached thereto and surrounding the at least one part including the center of gravity of the robot. The attachment plate includes an attachment surface with which the bottom surface is in close contact and an installation surface fixed to an attachment surface on which the robot is installed. The frame member includes at least one engaging piece to which a hanging member is hooked so that the fixing plate with the frame member fixed thereto and the robot can be suspended at an installation angle other than 0°.{Brief Description of Drawings}{ FIG. 1 ] FIG. 1 is a side view illustrating a robot to which an apparatus according to a first embodiment of the present disclosure is attached.{ FIG. 2 ] FIG. 2 is a side view illustrating a state in which the robot in FIG. 1 is installed on a floor surface.{ FIG. 3] FIG. 3 is an enlarged perspective view illustrating a position where the apparatus and the robot in FIG. 1 are connected to each other.{ FIG. 4 ] FIG. 4 is a perspective view showing the apparatus in FIG. 1.{ FIG. 5 ] FIG. 5 is a side view showing a method of attaching the device according to the first embodiment of the present disclosure to the robot.{ FIG. 6 ] FIG. 6 is a side view showing a method for changing the posture of the device and the robot in FIG. 5.{ FIG. 7 ] FIG. 7 is a side view showing the method for changing the posture of the device and the robot in FIG. 5.{ FIG. 8 ] FIG. 8 is a side view showing the method for changing the posture of the device and the robot in FIG. 5.{ FIG. 9 ] FIG. 9 is a perspective view showing an installed state of the robot to which a modification of the apparatus of FIG. 1 is attached.{ FIG. 10 ] FIG. 10 is a perspective view showing a state in which the robot of FIG. 9 is installed from a direction different from that of FIG. 9.{ FIG. 11 ] FIG. 11 is a side view showing a method of changing the posture of a device and a robot in a device set according to a second embodiment of the present disclosure.{ FIG. 12 ] FIG. 12 is a side view showing the method for changing the posture of the device and the robot in FIG. 10.{Description of Embodiments}A hanger (hereinafter referred to as "apparatus 100") for a robot according to a first embodiment of the present disclosure will be described below with reference to the drawings.As illustrated in FIG. 1, the apparatus 100 according to this embodiment is to be used for installing a robot 10 on a mounting surface F having an angle other than 0°, such as a wall surface having an angle of 90° or a ceiling surface having an angle of 180°.As illustrated in FIG. 2, the robot 10 is, for example, a six-axis vertical articulated robot. The robot 10 includes a base 20 fixed to the attachment surface F and a rotating body 30 supported to be rotatable relative to the base 20 about a first axis A extending in a direction perpendicular to the attachment surface F. The robot 10 also includes a first arm 40 that is rotatable relative to the rotating body 30 about a second axis B extending along a plane perpendicular to the first axis A. In addition, the robot 10 includes a second arm 50 supported to be rotatable relative to the first arm 40 about a third axis C parallel to the second axis B, and also includes a triaxial wrist unit 60 attached to the distal end of the second arm 50.As illustrated in FIG. 2, the base 20 includes a flat leg 21 that extends along the plane orthogonal to the first axis A and is substantially rectangular in plan view. The leg 21 has a bottom surface 22 that can come into close contact with the mounting surface F.As illustrated in FIG. 3, the four corners of the leg 21 are provided with a plurality of through holes 21 hextending in the direction of the first axis A. Bolts (not illustrated) extending through the through holes 21 hare fastened to threaded holes (not illustrated) provided in the attachment surface F, so that the robot 10 can be directly installed on the attachment surface F, for example, a floor surface, as illustrated in FIG. 2.As illustrated in FIG. 1, the apparatus 100 includes a mounting plate 70 fixed to the bottom surface 22 of the base 20, and a frame member 80 detachably attached to the mounting plate 70.The fixing plate 70 is a plate-shaped member made of a high strength material such as metal, and has a planar shape such as a rectangular shape larger than the outer dimensions of the leg 21 of the base 20 as shown in FIG. 3.The width of the mounting plate 70 is set to be larger than the width of the robot 10 in a transport position (i.e., the dimension in the second axis B direction). As illustrated in FIG. 2, the transport position of the robot 10 is a position in which the rotating body 30 is set to a starting point and the first arm 40 and the second arm 50 are folded.One side (front side) of the fixing plate 70 is provided with a flat fixing surface 71 in the thickness direction with which the bottom surface 22 of the base 20 is brought into close contact, and the other side (rear side) is provided with an installation surface 72 brought into close contact with the mounting surface F.The mounting surface 71 has threaded holes 73 at positions corresponding to the through holes 21 hwhen the bottom surface 22 of the base 20 is brought into close contact with the mounting surface 71. The bolts (not shown) extending through the through holes 21 hmay be fastened to the corresponding threaded holes 73.The fixing plate 70 has a plurality of through holes 74 extending therethrough in the thickness direction and located outside a region covered by the leg 21 when the base 20 is fixed to the fixing surface 71. Each through hole 74 has an inner diameter that allows a bolt (not shown) to pass therethrough to fix the fixing plate 70 to the mounting surface F.Moreover, the fixing plate 70 includes a plurality of tapped holes (fixing portions) 76 extending therethrough in the thickness direction and arranged along a pair of outer edges opposing each other in the width direction. Bolts 8 (see FIG. 4 ) for fastening the frame member 80 described later to the fastening plate 70 are attachable to the threaded holes 76. The threaded holes 76 are provided along the outer edges with a space therebetween.As illustrated in FIG. 4, the frame member 80 is, for example, a highly stable rectangular parallelepipedic frame-like structural member formed by the combination of 12 rod-shaped steel members 81, for example, prismatic members. The steel members 81 may be joined together by welding so as not to be disassembled, or may be joined together using fastening members such as bolts so as to be disassembled.The frame member 80 has a width W, a length L, and a height H as external dimensions. The frame member 80 has an opening 82 having a width W 1 and a length L 1 as inner dimensions between the four steel members 81 forming a plane to which the fixing plate 70 is fixed.As illustrated in FIG. 4, the width W of the frame member 80 is set to be approximately equal to the width of the fixing plate 70. As illustrated in FIGS. 1 and 4, the length L of the frame member 80 is set to be larger than the outer dimension of the robot 10 in the front-rear direction (i.e., a direction extending along a plane orthogonal to the second axis B and orthogonal to the first axis A) when the robot 10 is in the transport position. The height H of the frame member 80 is set to be larger than the outer dimension of the robot 10 in the height direction (i.e., in the direction of the first axis A) when the robot 10 is in the transport position.The width W 1 of the opening 82 in the frame member 80 is set to be larger than the outer dimension of the robot 10 in the width direction (i.e., in the second axis B direction) when the robot 10 is in the transport position. The length L 1 of the opening 82 is set to be larger than the outer dimension of the robot 10 in the front-rear direction when the robot 10 is in the transport position.Specifically, the frame member 80 has therein a space larger than the outer dimensions of the robot 10 in the transport position. Accordingly, in a state where the frame member 80 is fixed to the mounting plate 70, the frame member 80 surrounds the entire robot 10 including its center of gravity. The opening 82 in the frame element 80 is large enough that the robot 10 can pass through in the direction of the first axis A in the transport position.As illustrated in FIGS. 3 and 4, of the four steel members 81 forming the plane to which the fixing plate 70 is fixed, a set of steel members 81 is provided with through holes 83 in the width direction at positions corresponding to the threaded holes 76 in the fixing plate 70. By fastening the bolts 8 extending through the through holes 83 to the threaded holes 76, the frame member 80 is detachably fixed to the fastening surface 71 of the fastening plate 70.The eight corners of the frame member 80 are provided with engaging pieces 85 to which hooks (not shown) can be hooked at first ends of chain runs (hanging members) 90. Each engaging piece 85 is, for example, a hanging member having an annular cross section such as a ring screw, and is to be fixed by being hung in a threaded hole (not shown) at the corresponding corner from the outside.The annular portions of the eight engaging pieces 85 are all disposed on the outer sides of the frame member 80 so that the eight annular portions are disposed around the center of gravity of the robot 10 fixed to the mounting plate 70. Therefore, for example, the device 100 is lifted upward by the four engagement pieces 85 disposed on the upper surface of the robot 10 fixed to the mounting plate 70, thereby lifting the robot 10 and the device 100 upward in a stable posture.Robot installation methods according to an embodiment of the present invention using the apparatus 100 according to this embodiment having the above-described configuration will be described below.Referring to FIG. 2, the following description refers to a case where the robot 10 installable on a floor surface and transported in a transport posture, i.e., in an upright posture, is installed on the mounting surface F (hereinafter also referred to as a "ceiling surface F"), for example, on a ceiling surface having an angle of 180°.First, the mounting plate 70 of the apparatus 100 is separated from the frame member 80 and disposed on a horizontal surface. Then, the robot 10 is lifted upward by, for example, a crane, and suspended downward above the mounting plate 70, whereby the bottom surface 22 of the base 20 is brought into close contact with the mounting surface 71 of the mounting plate 70. The bolts extending through the through holes 21 hin the leg 21 of the base 20 are fastened to the threaded holes 73 in the fastening plate 70, thereby fixing the robot 10 to the fastening plate 70.Subsequently, for example, first ends of chains 91 of the chain trains 90 are hooked to the two front engagement pieces 85 of the four engagement pieces 85 on the upper surface of the frame member 80 (see FIG. 5 ). The first ends of the chains (hanging members) 93, each having a fixed length, are hooked to the two rear engaging pieces 85. Then, the two front trains 90 and the two rear chains 93 are attached to a crane D, and the trains 90 are adjusted so that the four chains 91 and 93 are of equal length.The frame member 80 is lifted upward by the crane D moving upward, and the frame member 80 is lowered from above onto the robot 10, as shown in FIG. 5. Then, the robot 10 is passed through the opening 82 in the frame member 80, the frame member 80 is brought into contact with the fixing surface 71 of the fixing plate 70, and the bolts 8 passing through the through holes 83 are fixed to the threaded holes 76 of the fixing plate 70. Thus, the frame member 80 is fixed to the fixing plate 70 and surrounds the entire robot 10.Then, the crane D rises again, so that the robot 10 is lifted upward together with the apparatus 100 in an upright posture.In this state, as illustrated in FIG. 6, the chain trains 90 are operated to lengthen the two chains 91 disposed on the front side of the robot 10, whereby the robot 10 and the apparatus 100 are rotated due to their own weight.When the chains 91 of the chain trains 90 are further pulled out from a state in which the center of gravity of the robot 10 and the apparatus 100 is perpendicular to the hooks of the crane D, the chains 91 become looser. In this state, the chains 91 are removed from the front engaging pieces 85 on the upper surface of the frame member 80 and are re-fastened to the rear engaging pieces 85 on the lower surface. Then, the trains 90 are operated to adjust the length of the chains 91.Accordingly, as shown in FIG. 7, the robot 10 and the apparatus 100 are brought into a position in which they have been rotated through 90° about an axis parallel to the second axis B and are stably suspended.In this state, the fixed length chains 93 are replaced with the chain trains 90, and the chain trains 90 are replaced with the fixed length chains 93.Then, the chains 91 of the exchanged trains 90 are extended as described above until they are loosened and are again fastened to the engaging pieces 85, thereby shortening the chains 91 of the trains 90. Accordingly, the robot 10 and the apparatus 100 are further rotated by 90°. As a result, as shown in FIG. 8, the robot 10 can be brought to a reverse position in which it is rotated 180° from the upright position. Specifically, the installation surface 72 of the attachment plate 70 attached to the robot 10 may be adjusted to face the ceiling downward surface F.Then, the crane D rises to raise the robot 10 and the apparatus 100, whereby the installation surface 72 of the mounting plate 70 is brought into close contact with the surface F of the ceiling. Subsequently, bolts (not shown) extending through the through holes 74 in the fixing plate 70 are fastened to threaded holes (not shown) provided in the surface F of the ceiling, so that the fixing plate 70 can be fixed to the surface F of the ceiling.Consequently, the robot 10 is installed on the surface F of the ceiling with the fixing plate 70 interposed therebetween. Then, the bolts 8 with which the fixing plate 70 and the frame member 80 are joined together are removed, thereby separating the frame member 80 from the fixing plate 70. Then, the crane D descends so that the frame member 80 descends relative to the robot 10 installed on the surface F of the ceiling. The robot 10 is pulled out from the inside of the frame member 80 through the opening 82 of the frame member 80, and the installation operation is completed while the robot 10 remains attached to the surface F of the ceiling together with the attachment plate 70.By thus attaching the attachment plate 70 to the bottom surface 22 of the base 20, the frame part 80 can be attached to the robot 10 with the attachment plate 70 interposed therebetween. Therefore, the frame member 80 can be fixed to the robot 10 even when there is not sufficient space for fixing another member to a surface other than the bottom surface 22 of the base 20. By using this frame member 80, the robot 10 can be suspended and its posture can be easily changed.Therefore, regardless of the shape of the base 20, the robot 10 can be easily installed on the mounting surface F having an angle other than 0°.In this case, the robot 10 is accommodated inside the frame member 80 and is not exposed to the outside of the frame member 80. Therefore, when the robot 10 is to be suspended and changed in posture, the possibility that the robot 10 comes into contact with, for example, a peripheral member can be reduced.The frame member 80 is fixed along two outer edges of the fixing plate 70, and the through holes 74 for fixing the fixing plate 70 to the mounting surface F are located in the space between the base 20 fixed to the fixing surface 71 and the frame member 80. Therefore, the fixing plate 70 to which the robot 10 and the frame member 80 are fixed can be easily fixed to the mounting surface F, and the frame member 80 can be easily fixed to and removed from the fixing plate 70 fixed to the mounting surface F.In this embodiment, the frame member 80 is detachably attached to the attachment surface 71 that is located on the front side of the attachment plate 70 and to which the robot 10 is attached. Alternatively, the frame member 80 may be fixed to the rear side in the thickness direction opposite to the fixing surface 71 of the fixing plate 70. Specifically, the frame member 80 may be fixed in a state of accommodating not only the robot 10 but also the fixing plate 70 in its internal space.In this case, a larger available space is ensured outside the area covered by the leg 21 of the base 20 and belonging to the fastening surface 71 of the fastening plate 70 to which the base 20 is fastened. Thus, a mounting surface to be brought into close contact with the mounting surface F can be set in this available space of the mounting surface 71. Specifically, the installation surface may be disposed in the same plane as the fixing surface 71.As illustrated in FIG. 9, this configuration can be applied, for example, in a case where the robot 10 is to be installed in a ceiling suspended state between two beams S horizontally protruding from a wall surface.In this case, the robot 10 with the apparatus 100 attached thereto is lifted upward on a floor surface remote from the beams S by the crane D and brought to the inverted position, similarly to the above-described method. Then, the crane D rises until the mounting surface 71 of the mounting plate 70 is positioned slightly higher than the upper surface of the beams S. While maintaining this height position, the crane D is moved in the horizontal direction so that two beams S are inserted into the frame member 80 through an opening (not shown) in a side surface of the frame member 80, and the robot 10 is disposed between the two beams S in a state suspended from the crane D. In this case, since the upper surface of the beams S and the attachment surface 71 of the attachment plate 70 are opposed with a small gap therebetween, the attachment surface 71 can be brought into close contact with the upper surface of the beams S by lowering the crane D.Then, similarly to the above, after the upper surface of the beams S and the fixing surface 71 are fixed to each other, the frame member 80 is separated from the fixing plate 70. By operating the crane D, the beams S are pulled out through the opening in the side surface of the frame member 80, and the frame member 80 is lowered to the floor surface. Accordingly, the robot 10 can be easily installed hanging from the ceiling by the fastening plate 70 fixed to the upper surface of the two beams S.The example shown in FIG. 9 is a case where the fastening surface 71 of the fastening plate 70 is fastened to the two beams S inserted through the opening in the side surface (see FIG. 4 ) having the length L and the height H of the frame member 80. Alternatively, for example, as shown in FIG. 10, the two beams S may be inserted through a side surface (see FIG. 4 ) having the width W and the height H of the frame member 80, and the fixing plate 70 may be fixed to the beams S. In this case, the frame member 80 for removing the frame member 80 may be disassembled from the fixing plate 70 fixed to the beam S and the robot 10, and the steel members 81 may be lowered to the floor surface.Hereinafter, with reference to the drawings, a hanger set (hereinafter referred to as "apparatus 200") for a robot according to a second embodiment of the present disclosure will be described.In the following description, portions having the same configuration as that of the above-described device 100 are denoted by the same reference numerals, and the description thereof is omitted.As shown in FIG. 11, the device set 200 according to this embodiment includes, for example, the mounting plate 70, the frame member 80, and a support structure 95 that rotatably supports the frame member 80 about a horizontal axis.The support structure 95 includes, for example, two pillars 96 vertically upwardly extending from a horizontal bottom surface, and two beam members 97 aand 97 blocated between the pillars 96 in the horizontal direction.Each pillar 96 is, for example, a hollow pillar-shaped structural object made of a high-strength material, e.g., metal. The lower end of the column 96 is provided with a flange 96p which extends over the entire circumference and projects outwardly in a flange-like manner from the outer surface. The flange 96p is fixed to the bottom surface in close contact therewith.The beam members 97 aand 97 bare made of the same material as the pillars 96, and each have an elongated plate-like shape. The beam members 97a and 97b are disposed at height positions spaced from the floor surface by the distances H1 and H2, respectively, and are respectively fixed at their opposite ends to the two columns 96 by bolts or welding.Accordingly, the pillars 96 and the beam members 97 aand 97 bhave sufficient strength and rigidity to support the robot 10 and the apparatus 100.In the example illustrated in FIG. 11, the height H 1 at which the beam member 97 ais disposed from the bottom surface is larger than the length L (see FIG. 4 ) of the frame member 80. To the beam member 97 a, two connection parts (connection portions) 98 that are connectable to the engagement pieces 85 of the frame member 80 are fixed.For example, if the engaging pieces 85 are stud bolts, the connecting pieces 98 are hooks to which the stud bolts can be hooked. Alternatively, both the engagement pieces 85 and the connection pieces 98 may be set screws, and the set screws may be connected to shackles.For example, the two connecting pieces 98 may be arranged along the longitudinal axis of the beam member 97 awith a distance therebetween corresponding to the two rear engaging pieces 85 on the lower surface of the frame member 80.The beam element 97 bis arranged below the beam element 97 ain the vertical direction and is at a smaller distance from the latter than the length L of the frame element 80.The operation of the device set 200 according to this embodiment having the above-described configuration will be described below.The following description refers to a case where the robot 10 is installed in an upright posture and with the device 100 attached thereto on a wall surface at an angle of 90° according to a similar method as above.The first ends of the fixed-length chains 93 are hooked to the four hooks 85 on the upper surface of the frame member 80 of the apparatus 100 attached to the robot 10 in an upright posture, and the second ends of the chains 93 are attached to the crane D. Then, as shown in FIG. 11, the crane D rises so that the two rear hooks 85 on the lower surface of the frame member 80 are approached to the two joints 98 attached to the beam member 97 aof the support structure 95 to connect them to each other.Accordingly, the robot 10 and the apparatus 100 are connected to the support structure 95 so as to be rotatable about a horizontal axis passing through the two joints 98.Subsequently, as illustrated in FIG. 12, the crane D descends so that the robot 10 and the apparatus 100 are rotated about the horizontal axis by their own weight. Then, the two steel members 81 fixed to the fixing plate 70 of the frame member 80 are abutted with the beam member 97b. Thereby, the robot 10 and the apparatus 100 are stabilized in a suspended state at the two joints 98 while being held in a posture rotated 90° from the upright position.In this state, the first ends of the four chains 93 are removed and re-attached to the four engagement pieces 85 on the rear side of the robot 10. Then, the crane D is lifted upward to put the four chains in an unlocked state, and the engaging pieces 85 are separated from the two connecting pieces 98.Accordingly, the robot 10 and the apparatus 100 are suspended in a position rotated by 90° so that the installation surface 72 of the mounting plate 70 can be disposed at an angle of 90°. Then, the crane D is operated to bring the installation surface 72 into close contact with the surface of the wall, thereby fixing the fixing plate 70 to the wall surface. Thereby, the robot 10 can be installed on the surface of the wall with the fixing plate 70 interposed therebetween. Subsequently, the frame member 80 is similarly separated from the mounting plate 70 and lowered to the floor surface, thereby completing the operation of installing the robot 10 to the installation surface.In this case, the robot 10 and the device 100 can be changed in posture without adjusting the length of the hanging members serving to suspend the robot 10 and the device 100. This is advantageous in that the trains 90 need not be used, so that the labor for adjusting the lengths of the chains 91 of the trains 90 can be reduced.Although the above-described embodiment relates to the case where the robot 10 is installed on a wall surface at an angle of 90°, the same may also apply to the case where the robot 10 is installed on a ceiling surface at an angle of 180°.In this case, after the robot 10 is brought from the upright posture to a posture tilted by 90° according to the method described above, the same process may be further performed to bring the robot 10 to a posture reversed by 180°.Although in this embodiment the two beam members 97 aand 97 bare provided between the two pillars 96, the beam member 97 b, with which the frame member 80 tilted by 90° is brought into abutment, may be omitted. In this case, the lower surface of the frame member 80 rotated by 90° may be supported with, for example, a forklift, and the posture of the frame member 80 may be maintained in the state rotated by 90°.In addition, the support structure 95 may be a wall surface instead of the pillars 96.Although the above embodiments each relate to the six-axis vertical articulated robot 10, the embodiments are not limited thereto. For example, each embodiment can be applied to a case where an industrial robot such as a horizontal articulated robot or a direct drive robot is installed on the mounting surface F at an angle other than 0°.The above embodiments each refer to a case where the frame member 80 has a size surrounding the entire robot 10. Alternatively, the frame element 80 can also be so large that it encloses only a part of the robot 10. In this case, the frame member 80 may be fixed at a location surrounding at least the center of gravity of the robot 10.Accordingly, the robot 10 and the apparatus 100 can be stably suspended as described above even when their posture in the suspended state is changed.In this case, when the opening 82 in the frame member 80 is smaller than a projection area of the robot 10, one or more steel members 81 may be removed to expand the opening 82, so that the frame member 80 may be attached to and removed from the robot 10.Although the engaging pieces 85 are individually fixed to the eight corners of the frame member 80 in each of the above embodiments, the configuration is not limited thereto. For example, any number of engaging pieces 85, for example, three or more, may be attached to positions of the frame member 80 surrounding the center of gravity of the robot 10. In this case, the method of remounting the hanging members may be performed upon a change in posture of the robot 10 for each engagement piece 85.In each of the above embodiments, as the hanging members, the trains 90 and the chains 93 are used. Alternatively, nylon loops and a winder for adjusting the length of the loops may also be used. In addition, although ring screws are referred to as engaging pieces 85, the engaging piece 85 may be formed of holes provided at the corners of the frame member 80 through which the stopper means or the chains can be inserted.Although the embodiments of the present disclosure have been described in detail, the present disclosure is not limited to the individual embodiments described above. These embodiments may be variously supplemented, replaced, modified, and partially deleted, for example, as long as they do not depart from the spirit and scope of the present invention that are expressed in the contents described in the claims and their equivalents. For example, in the above embodiments, the order of the operations and the order of the processes are given as examples, and are not limited thereto.{List of Reference Numerals}10 Robot 20 Base 22 Bottom surface 70 Mounting plate 71 Mounting surface 72 Installation surface 76 Threaded hole (mounting portion) 80 Frame member 85 Engaging piece 90 Chain pull (hanging member) 93 Chain (hanging member) 95 Support structure 98 Terminal fitting (terminal portion) 100 Robot hanger 200 Robot hanger set F Mounting surfaceReferences included in the specificationThis list of documents cited by the applicant has been produced in an automated manner and is only included for the better information of the reader. The list is not part of the German patent application or utility model application. The DPMA does not take any adhesion for any faults or omissions.Patent Literature citedJP 61-071992

[0004]

Claims

A hanger for a robot, the hanger comprising: a fixing plate fixed to the bottom surface of a base of the robot; and a frame member detachably fixed to the fixing plate, the robot being fixed thereto and surrounding at least a part including a center of gravity of the robot, wherein the fixing plate has a fixing surface with which the bottom surface is closely contacted and an installation surface fixed to a mounting surface on which the robot is installed, and wherein the frame member has at least one engaging piece with which a hanging member is hooked so that the fixing plate with the frame member fixed thereto and the robot are hangable at an installation angle other than 0°.The suspension device for the robot according to claim 1, wherein the frame member surrounds the entire robot.The suspension device for the robot according to claim 1 or 2, characterized in that the fixing plate is provided with a fixing portion that is located in an area outside the base that is fixed to the fixing surface and enables fixing of the frame member.A hanger set for a robot, the hanger set comprising: a mounting plate attached to the bottom surface of a base of the robot; a frame member detachably attached to the mounting plate, the robot being fixed thereto and surrounding at least a part including a center of gravity of the robot; and a support structure supporting the frame member rotatably about a predetermined horizontal axis, wherein the mounting plate has a mounting surface with which the bottom surface is in close contact and a mounting surface attached to a mounting surface on which the robot is installed, and wherein the frame member has at least one engagement piece with which a hanger member is suspended so that the mounting plate with the frame member attached thereto and the robot are suspendable at an installation angle other than 0° and also has a connection portion connected to the support structure.A robot installation method for installing a robot on a mounting surface having an installation angle other than 0° using the hanger for the robot according to claim 1, the robot installation method comprising: mounting the fixing plate on the bottom surface of the base; fixing the frame member to the fixing plate; hanging the hanging member into the engagement piece and hanging the fixing plate having the frame member fixed thereto and the robot using the hanging member, so that the fixing plate and the robot are inclined at an installation angle other than 0°; and removing the frame member from the fixing plate after the installation surface is fixed on the mounting surface.

Images