Support structure

Abstract

To provide a support structure capable of making a welding torch of a robot arm reach a butting part of an intermediate position in the depth direction of both adjacent side faces of a one side front face of a steel column even to the steel column of a large size.SOLUTION: A support structure 1 supports a robot arm 2 used for welding a portion 31 between a lower steel column 3A and an upper steel column 3B. The support structure 1 includes a pair of support members 11 and 11 attached to a lower steel column 3A in a state of sandwiching the lower steel column 3A in a horizontal plane orthogonal to the lower steel column 3A and extending in a first direction (X direction) in the horizontal plane, and an operation mechanism 12 attached to the support members 11 and extending in a second direction (Y direction) intersecting the first direction in another horizontal plane orthogonal to the lower steel column 3A and capable of guiding the robot arm 2 to travel in the second direction and also moving the robot arm 2 to the first direction side.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a support structure for supporting a robot arm used for welding the butt joint between an upper steel column and a lower steel column. [Background technology]

[0002] Patent Document 1 discloses an attachment jig for attaching a robot arm, which is used to weld the butt joints of steel columns arranged above and below, to the columns. The attachment jig includes a pair of first support members that support the robot arm, and a rail member that is supported by the pair of first support members and guides the travel of a carriage on which the robot arm is placed, the pair of first support members extending in a horizontal first direction and removably fixed to the outer surfaces of the columns so as to sandwich the columns, and the rail member is fixed across the pair of first support members so as to extend in a horizontal second direction that intersects the first direction.

[0003] With such a support structure, a pair of first support members extend in a first direction and are fixed to the pillar so as to sandwich the pillar, and the rail member is fixed to the pair of first support members so as to extend in a second direction, so that the mounting jig can be fixed to the pillar regardless of the size (diameter) of the pillar. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-159928 Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the conventional structure, for large-sized square steel columns, the welding torch of the robot arm cannot reach the butt joint at the midpoint in the depth direction of the side surfaces on both sides of the front side of the one side, and the butt joint at the midpoint in the depth direction has to be manually welded by a separate welder, which has the disadvantage of making the column welding work less efficient.

[0006] In view of the above circumstances, this invention aims to provide a support structure that enables the welding torch of a robot arm to reach the butt joints at the midpoint in the depth direction of the side surfaces adjacent to the front of one side of a steel column, even for large steel columns. [Means for solving the problem]

[0007] In order to solve the above-mentioned problems, the support structure of the present invention is a support structure for supporting a robot arm used for welding a butt portion between an upper steel column and a lower steel column, A pair of support members attached to the lower steel column in a state in which the lower steel column is sandwiched between the support members in a horizontal plane perpendicular to the lower steel column, and extending in a first direction in the horizontal plane; and an operating mechanism that is attached to the support member in another horizontal plane perpendicular to the lower steel column, and that guides the robot arm to travel in a second direction that intersects with the first direction, and also guides the robot arm to travel in the first direction or moves it toward the first direction.

[0008] With the above configuration, the operating mechanism can guide or move the robot arm not only in the second direction corresponding to the width direction of the steel column, but also in the first direction corresponding to the direction of approaching / moving away from the steel column.Therefore, even for steel columns with larger sizes, it becomes easier to make the tip end (welding torch portion) of the robot arm reach not only the front side of the steel column, but also distant locations on the side of the steel column, making accurate robot welding possible and eliminating the need for partial additional welding by a welder, thereby making column welding work more efficient.

[0009] The operation mechanism may include a rail member that guides the robot arm to travel in the second direction, and a rail swivel unit that moves the robot arm located on the end side of the rail member toward the first direction by rotating the rail member within the other horizontal plane, thereby bringing the robot arm closer to the part of the butt portion on the first direction side. This makes it possible to use an existing rail member as the rail member that guides the robot arm to travel in the second direction, while also moving the robot arm in the first direction, which corresponds to the direction of approaching / moving away from the steel pole.

[0010] The rail pivoting section may have a central shaft portion, which serves as a center of pivoting of the rail member, at a midpoint between the pair of support members, thereby allowing the rail member to be pivoted accurately around the central shaft portion.

[0011] The rail turning unit may include a slide member that is movable in the first direction on each support member and has an upper surface that engages with a lower surface of the rail member. With this, for example, even when the rail member is turned manually, the rail member can be easily turned by the slide member.

[0012] The rail swivel unit may include a rotation power unit that rotates the central shaft unit to rotate the rail member. This reduces the workload of manually rotating the rail member. Furthermore, by linking the movement of the robot arm by the rotation power unit with the carriage of the robot arm, it becomes possible to perform welding while moving the robot arm.

[0013] The operating mechanism may include a locking mechanism that locks the rail member at a specified rotation position, thereby enabling the rail member to be accurately stopped at a specified position.

[0014] The operation mechanism may include a rail member that causes the robot arm to travel in the second direction, and a rail horizontal movement unit that causes the rail member to move horizontally in the first direction. With this, the robot arm can be guided to travel in the second direction using an existing rail member, and can also be moved linearly in the first direction, which corresponds to the direction of approaching / moving away from the steel pole.

[0015] The rail horizontal movement unit may include a slide member that is movable in the first direction on each support member and has an upper surface that engages with a lower surface of the rail member. With this, for example, even when the rail member is moved manually, the slide member can easily move the rail member linearly.

[0016] The slide member may include a self-propelled device that moves on the pair of support members, thereby reducing the workload involved in manually moving the rail member linearly.

[0017] The rail horizontal movement unit may include an intermediate support member extending in the first direction between the pair of support members, and may be horizontally moved in the first direction by an intermediate slide member that moves on the intermediate support member. This configuration allows for only one intermediate slide member to be required, compared to a configuration in which two slide members are provided on the pair of support members.

[0018] The intermediate slide member may include a self-propelled device that moves in the first direction on the intermediate support member, thereby reducing the workload involved in linearly moving the rail member manually.

[0019] The operating mechanism may include a locking mechanism that locks the rail member at a specified movement position, thereby enabling the rail member to be accurately stopped at a specified position.

[0020] The operating mechanism may be a double-ended curved rail member including a straight section that guides the robot arm in a straight line in the second direction, and curved sections on both ends of the straight section that guide the robot arm in a curved line to bring the robot arm closer to the part of the butt section on the first direction side. In this way, the robot arm can be guided in the second direction and also in the first direction, which corresponds to the direction of approach to / movement away from the steel pole, without moving the double-ended curved rail members.

[0021] The operating mechanism may be an overall curved rail member that guides the robot arm along a curve that includes a component in the first direction and a component in the second direction, and moves the robot arm closer to the first direction side of the butt portion as it approaches both ends of the curve. In this way, the robot arm can be guided in the second direction and also in the first direction side, which corresponds to the direction of approach to / movement away from the steel pole, without moving the overall curved rail member. [Effects of the Invention]

[0022] The present invention has the effect of enabling the welding torch of a robot arm to reach the butt joint at the midpoint in the depth direction of the two side surfaces adjacent to the front of one side of the steel column, regardless of the size of the steel column. [Brief explanation of the drawings]

[0023] [Figure 1] FIG. 1 is a front view showing a schematic configuration of a support structure according to an embodiment. [Figure 2] FIG. 2 is a plan view of the support structure of FIG. 1. [Figure 3] 2 is a cross-sectional view showing an outline of a support member and a rail member that constitute the support structure of FIG. 1. FIG. [Figure 4] 2 is an explanatory diagram showing welding teaching positions of the support structure of FIG. 1. FIG. [Figure 5] FIG. 10 is a front view showing a schematic configuration of a support structure according to another embodiment. [Figure 6]FIG. 6 is a plan view of the support structure of FIG. 5. [Figure 7] FIG. 10 is a front view showing a schematic configuration of a support structure according to another embodiment. [Figure 8] FIG. 8 is a plan view of the support structure of FIG. 7. [Figure 9] 1A is a plan view showing a schematic configuration of a support structure according to another embodiment, and FIG. 1B is a side view of a rail member of the support structure of FIG. 1A. [Figure 10] FIG. 10 is a front view showing a schematic configuration of a support structure according to another embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0024] (Embodiment 1) Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings. As shown in Figures 1 and 2, a support structure 1 of the embodiment supports a robot arm 2 used to weld a butt joint 31 between a lower rectangular steel column 3A and an upper rectangular steel column 3B that constitute a rectangular steel column 3. Note that the steel pipes to be welded are not limited to rectangular steel pipes. The same applies to other embodiments.

[0025] The lower square steel column 3A and the upper square steel column 3B are each composed of four flat portions and four curved portions located between these flat portions. An erection piece 32 is welded to each of the flat portions of the lower square steel column 3A and the upper square steel column 3B. During the welding work of the butt joint 31 between the lower square steel column 3A and the upper square steel column 3B, the two erection pieces 32 lined up above and below on the lower square steel column 3A side and the upper square steel column 3B side are temporarily fixed together by existing temporary fixing devices 4.

[0026] In this embodiment, the support structure 1 is assembled to the lower square steel column 3A so that the pair of support members 11, 11 and the two operating mechanisms 12, 12 that guide the robot arms 2 to travel form a grid shape.

[0027] Each support member 11 is made of, for example, an H-shaped steel, and is fixed to the two back-to-back flat portions of the lower rectangular steel column 3A by means of L-angles 5 or the like attached to the two back-to-back flat portions of the lower rectangular steel column 3A. That is, the pair of support members 11, 11 are attached on either side of the lower rectangular steel column 3A in a horizontal plane perpendicular to the lower rectangular steel column 3A, and extend in a first direction (X direction: a direction parallel to the two back-to-back flat portions) in the horizontal plane.

[0028] The operating mechanisms 12 are disposed on one end side and the other end side of the pair of support members 11, 11. Each operating mechanism 12 is supported by the support members 11, 11 in another horizontal plane perpendicular to the lower square steel column 3A, and can guide each robot arm 2 to travel in a second direction (Y direction) perpendicular to the first direction, and can also move it toward the first direction.

[0029] In this embodiment, the operating mechanism 12 includes a rail member 121 and a rail pivot portion 122 .

[0030] Each rail member 121 basically guides the robot arm 2 to travel in the second direction, and an existing rail member can be used. For example, as shown in Fig. 3, the rail member 121 includes a rail base 121a placed on the support member 11, and a rail main body 121b fixed to the rail base 121a. A carriage 22 on which the robot arm 2 is placed is attached to the rail main body 121b, and the carriage 22 moves independently, thereby guiding the robot arm 2 to travel in the second direction (Y direction).

[0031] The rail swivel unit 122 rotates the rail member 121 within the other horizontal plane, thereby moving the robot arm 2 located on the end side of the rail member 121 toward the first direction. The swivel operation of the robot arm 2 located on the end side by the rail swivel unit 122 enables the robot arm 2 to approach the back side (center side) of the part of the butt joint part 31 on the side surface of the square steel column 3 that extends toward the first direction.

[0032] In this embodiment, the rail swivel section 122 comprises a central shaft 122a and a shaft support 122b that supports the central shaft 122a. The central shaft 122a is provided midway between the pair of support members 11, 11 and forms the center for rotating the rail member 121. The shaft support 122b is a bridging member that is fixed across the pair of support members 11, 11. Note that the shaft support 122b is not limited to such a bridging member, and may instead be a support-like member that is erected on the floor of the lower floor and extends to the bottom of the rail platform 121a, or a protruding rod-like member that protrudes horizontally outward from the flat surface of the side surface of the lower square steel column 3A and a support rod member that protrudes diagonally upward from the flat surface of the side surface to support the protruding rod-like member.

[0033] Each operating mechanism 12 can transition from a first position (basic posture position) in which the running guide direction of the rail member 121 in that operating mechanism 12 is parallel to the second direction (Y direction) to a second position in which the running guide direction of the rail member 121 is inclined to the second direction (Y direction) and one end of the rail member 121 approaches one side of the square steel column 3 by a rotating operation, and can transition to a third position in which the running guide direction of the rail member 121 is inclined in the opposite direction to the second direction (Y direction) and the other end of the rail member 121 approaches the other side of the square steel column 3 by an opposite direction rotating operation.

[0034] The rail mount 121a of the rail member 121 has an axial hole on its underside into which the central shaft 122a fits. When not being welded, the rail mount 121a can be manually rotated to allow the end of the underside to slide on the support member 11. The operating mechanism 12 also includes a locking mechanism 123 that locks the rail mount 121a in a specified rotation position. This locking mechanism 123 is made up of, for example, pin holes formed in the rail mount 121a and the support member 11 so that they overlap at the specified rotation position, and a pin member that fits into these pin holes from above. The pin member is inserted by an operator. In this embodiment, the rail member 121 of the operating mechanism 12 can be locked in position when it is in a first position, a second position, or a third position. In addition, in this embodiment, the locking mechanism 123 is provided on both end sides of the operating mechanism 12, but the locking mechanism 123 may be provided on only one end side of the operating mechanism 12.

[0035] With the above configuration, the operating mechanism 12 can move the robot arm 2 not only in the second direction (Y direction) corresponding to the width direction of the square steel column 3, but also in the first direction (X direction) corresponding to the direction of approaching / moving away from the square steel column 3.Therefore, even for square steel columns 3 with larger sizes, it becomes easier to make the tip side (welding torch portion 21) of the robot arm 2 reach not only the front side of the square steel column 3, but also the middle part of the side side of the square steel column 3, making accurate robot welding possible and eliminating the need for partial additional welding by a welder, thereby making column welding work more efficient.

[0036] FIG. 4 shows teaching points T1 to T17 for welding on the robot arm 2. These teaching points are shown in the order of T1 to T17 for odd-numbered passes, and in the order of T17 to T1 for even-numbered passes. As a basic operation, one robot arm 2 welds teaching points T1 to T9, stops welding temporarily, changes the posture of the robot arm 2, and welds teaching points T9 to T17. Teaching points T1 to T4, T6 to T12, and T14 to T17 are straight sections, and teaching points T4 to T6 and T12 to T14 are curved sections. Teaching points T1 to T9 are the first half of the pass, and teaching points T9 to T17 are the second half of the pass. In the first position of the rail member 121, the distance between the rail member 121 and the front of the steel pipe column is constant, and the carriage 22 moves linearly. To reiterate, the robot arm 2 can be moved not only in the second direction (Y direction) corresponding to the width direction of the square steel column 3, but also in the first direction (X direction) corresponding to the direction of approaching / moving away from the square steel column 3. Therefore, even for larger square steel columns 3, it becomes easier to make the tip end (welding torch portion 21) of the robot arm 2 reach not only the front side of the square steel column 3, but also points T1 and T17 in the middle of the side of the square steel column 3.

[0037] As an example of teaching when the above-mentioned rotation is performed, when the rail member 121 of the operating mechanism 12 is positioned at the second position, T1 to T3 are taught, when the rail member 121 is positioned at the first position, T3 to T15 are taught, and when the rail member 121 is positioned at the third position, T15 to T17 are taught. Welding in the sections of teaching points T3 to T4 and T14 to T15 is performed after, for example, the rail member 121 is manually moved to a different position.

[0038] The rail swivel unit 122 may include a rotation power unit (motor or the like) (not shown) that rotates the central shaft 122a to rotate the rail member 121 connected to the central shaft 122a. By including this rotation power unit, it is possible to reduce the workload involved in manually rotating the rail member 121. As an example, by linking the movement of the robot arm 2 by the rotation power unit with the carriage 22 of the robot arm 2, it becomes possible to perform welding processing while moving the robot arm 2.

[0039] (Embodiment 2) The support structure of another embodiment will be described below. Note that the same members as those in the first embodiment will be given the same reference numerals and the description thereof will be omitted.

[0040] 5 and 6, the operating mechanism 12A of the support structure 1A of this embodiment includes a rail member 121 and a rail swivel unit 124. The rail swivel unit 124 includes a linear rail unit 1241 arranged on each support member 11, and a slide member 1242 that moves in the first direction on the linear rail unit 1241. An engagement protrusion 1242a protrudes from the upper surface of the slide member 1242, and this engagement protrusion 1242a is engaged with an elongated hole formed in a rail mount 121a that is a portion on the lower surface of the rail member 121. This elongated hole is elongated in the second direction (Y direction) when the operating mechanism 12 is in the first position.

[0041] In this embodiment, when the rail members 121 are rotated manually, the two slide members 1242 supporting the left and right ends of each rail member 121 in the rail rotation section 124 move in opposite directions in the first direction (X direction), causing each rail member 121 to rotate. This allows the robot arm 2 to move not only in the second direction (Y direction) corresponding to the width direction of the rectangular steel column 3, but also in the first direction (X direction) corresponding to the direction of approach to / movement away from the rectangular steel column 3. Therefore, even for a rectangular steel column 3 with an increased size, the tip end side (welding torch part 21) of the robot arm 2 can easily reach not only the front side of the rectangular steel column 3 but also the middle part of the side side of the rectangular steel column 3, thereby enabling accurate robot welding and eliminating the need for partial additional welding by a welder, thereby improving the efficiency of column welding work.

[0042] If each slide member 1242 is equipped with a commercially available position locking mechanism, the rail member 121 can be locked in position when it is in the first position, the second position, and the third position.

[0043] Each slide member 1242 may be provided with a self-propelled device (carriage or the like) that moves on the linear rail portion 1241. This can reduce the workload involved in manually rotating the rail member 121. Also, by moving the slide member 1242 with the self-propelled device, the movement of the robot arm 2 can be linked with the carriage 22 of the original robot arm 2, making it possible to perform welding processing while moving the robot arm 2.

[0044] In this embodiment, too, by providing the central shaft portion 122a and providing a shaft hole portion into which the central shaft portion 122a fits on the underside of the rail mount 121a of the rail member 121, it is possible to arrange the slide member 1242 only on one end side of each rail member 121, and not on the other side. Also, the slide member 1242 on one end side may be arranged to include the self-propelled device.

[0045] (Embodiment 3) The support structure of another embodiment will be described below. Note that the same members as those in the first embodiment will be given the same reference numerals and the description thereof will be omitted.

[0046] 7 and 8, the operating mechanism 12B of the support structure 1B of this embodiment includes a rail member 121 and a rail horizontal movement unit 125. The rail horizontal movement unit 125 moves the rail member 121 horizontally in the first direction. For example, the rail horizontal movement unit 125 includes a straight rail portion 1251 disposed on each support member 11, and a slide member 1252 that moves horizontally in the first direction on the straight rail portion 1251. The upper surface of the slide member 1252 and a rail base 121a, which is the lower surface of the rail member 121, are fixed to each other by a fastening member 1252a.

[0047] In this embodiment, when the rail members 121 are moved linearly by human power, the two slide members 1252 supporting the left and right ends of each rail member 121 move in the same direction in the first direction (X direction) from the basic position in the figure in the rail horizontal movement unit 125. As a result, the robot arm 2 can be moved not only in the second direction (Y direction) corresponding to the width direction of the rectangular steel column 3 but also in the first direction (X direction) corresponding to the direction of approach / movement from the rectangular steel column 3, thereby positioning the rail members 121 at the approach position in the figure. Therefore, even for a rectangular steel column 3 with an increased size, the tip end side (welding torch part 21) of the robot arm 2 can easily reach not only the front side of the rectangular steel column 3 but also the middle part of the side side of the rectangular steel column 3, thereby enabling accurate robot welding and eliminating the need for partial additional welding by a welder, thereby improving the efficiency of column welding work.

[0048] The operating mechanism 12B may include a locking mechanism that locks the rail base 121a at the home position, which is a specified movement position, and at the approach position. The rail horizontal movement unit 125 may include an intermediate support member 1255 (not shown) that extends in the first direction between the pair of support members 11. The rail horizontal movement unit 125 may then be slid in the first direction by an intermediate slide member (not shown) that moves on the intermediate support member 1255. In this configuration, both ends of the rail base 121a may simply slide on the rail members 121.

[0049] In this embodiment, at the teaching position shown in FIG. 4, as an example, when the rail member 121 is positioned at the approach position, teaching of T1 to T3 and T17 to T15 can be performed, and when the rail member 121 is positioned at the base position, teaching of T15 to T3 can also be performed.

[0050] The slide member 1252 may be provided with a self-propelled device (carriage or the like) that moves on the straight rail portion 1251. This can reduce the workload that would be incurred if the rail member 121 were moved horizontally by human power. Also, by moving the slide member 1252 with the self-propelled device, the movement of the robot arm 2 can be linked with the carriage 22 of the robot arm 2 itself, so that welding processing can be performed while moving the robot arm 2. The same applies when the intermediate slide member is provided with a self-propelled device that moves in the first direction on the intermediate support member 1255.

[0051] In the first to third embodiments described above, the operating mechanisms 12, 12A, and 12B are provided with the rail swivel units 122 and 124 or the rail horizontal movement unit 125, but are not limited to this. As a configuration exclusively for manual operation, the operating mechanisms may be configured with a group of insertion holes added to the support member 11 so that the rail mount 121a of the rail member 121 can be fixed to the support member 11 with bolts or pins in various positions and postures.

[0052] (Embodiment 4) The support structure of another embodiment will be described below. Note that the same members as those in the first embodiment will be given the same reference numerals and the description thereof will be omitted.

[0053] 9(A) and 9(B), the operating mechanism 12C of the support structure 1C of this embodiment is composed of a double-ended curved rail member 126. This double-ended curved rail member 126 has straight sections 1261 that guide the robot arm 2 in a straight line in the second direction, and curved sections 1262 that guide the robot arm 2 in a curved line at both ends of this straight section 1261, bringing the robot arm 2 closer to the section of the butt joint 31 that extends in the first direction. This makes it possible to guide the robot arm 2 in the second direction and also in the first direction, which corresponds to the direction of approach to / away from the square steel column 3, without moving the double-ended curved rail members 126.

[0054] A reinforcing plate 1263 spanning the straight portion 1261 and the curved portion 1262 may be fixed to the back side of the joint between the straight portion 1261 and the curved portion 1262. This makes it possible to prevent distortion of the curved portion 1262 due to the weight of the robot arm 2 when the robot arm 2 moves to the curved portion 1262.

[0055] (Embodiment 5) The support structure of another embodiment will be described below. Note that the same members as those in the first embodiment will be given the same reference numerals and the description thereof will be omitted.

[0056] As shown in FIG. 10 , the operating mechanism 12D of the support structure 1D of this embodiment comprises an overall curved rail member 127. This overall curved rail member 127 guides the robot arm 2 along a curve that includes components in the first direction and the second direction, bringing the robot arm closer to the portion of the butt joint 31 that extends in the first direction toward both ends of the curve. This allows the robot arm 2 to be guided in the second direction without moving the overall curved rail member 127, and also in the first direction, which corresponds to the direction of approach to / away from the square steel column 3. If the overall curved rail member 127 were an arc, it would be necessary to prepare a separate rail member for each column size. However, by using a curved rail member that is not an arc, this need for a separate rail member for each column size is eliminated.

[0057] Although the embodiments of the present invention have been described above with reference to the drawings, the present invention is not limited to the illustrated embodiments. Various modifications and variations can be made to the illustrated embodiments within the same scope as the present invention or within an equivalent scope. [Explanation of symbols]

[0058] 1:Support structure 1A: Support structure 1B: Support structure 1C: Support structure 1D: Support structure 2: Robot arm 3: Square steel column 3A: Lower square steel column 3B: Upper corner steel column 4: Temporary fixing device 5: L angle 11: Support member 12: Operating mechanism 12A: Operating mechanism 12B: Operating mechanism 12C: Operating mechanism 12D: Operating mechanism 21: Welding torch 22: Carriage 31: Butt joint 32: Erection Piece 121: Rail member 121a: Rail stand 121b: Rail body 122: Rail turning section 122a: Central shaft part 122b: Shaft support part 123: Locking mechanism 124: Rail turning section 125: Rail horizontal movement section 126: Curved rail member at both ends 127: Overall curved rail member 1241: Linear rail section 1242: Slide member 1242a: Engagement protrusion 1251: Straight rail section 1252: Slide member 1252a: Fastening member 1255: Intermediate support member 1261: Straight line part 1262:Curved part 1263: Reinforcement plate

Claims

1. A support structure for supporting a robot arm used to weld the butt portion between an upper steel column and a lower steel column, A pair of support members attached to the lower steel column in a state in which the lower steel column is sandwiched between the support members in a horizontal plane perpendicular to the lower steel column, and extending in a first direction in the horizontal plane; a support structure comprising: an operating mechanism attached to the support member in another horizontal plane perpendicular to the lower steel column, the operating mechanism guiding the robot arm to travel in a second direction intersecting the first direction, and also guiding the robot arm to travel in the first direction or moving it toward the first direction.

2. 2. The support structure according to claim 1, wherein the operating mechanism comprises a rail member that guides the robot arm in the second direction, and a rail rotation unit that rotates the rail member within the other horizontal plane, thereby moving the robot arm located on the end side of the rail member toward the first direction, and bringing the robot arm closer to the first direction side of the butt portion.

3. 3. The support structure according to claim 2, wherein the rail swivel portion has a central shaft portion, which is a center of rotation of the rail member, at a midpoint between the pair of support members.

4. 4. A support structure according to claim 2 or claim 3, characterized in that the rail rotation portion is provided with a slide member that is movable in the first direction on each of the support members and whose upper surface engages with the lower surface of the rail member.

5. 4. The support structure according to claim 3, wherein the rail turning portion includes a turning power portion that turns the central shaft portion to turn the rail member.

6. 3. The support structure according to claim 2, wherein the operating mechanism includes a locking mechanism for locking the rail member at a specified rotational position.

7. 2. The support structure according to claim 1, wherein the operating mechanism comprises a rail member that causes the robot arm to travel in the second direction, and a rail horizontal movement unit that causes the rail member to move horizontally in the first direction.

8. 8. The support structure according to claim 7, wherein the rail horizontal movement section comprises a slide member that is movable in the first direction on each of the support members and whose upper surface engages with the lower surface of the rail member.

9. 8. The support structure according to claim 7, wherein the rail horizontal movement section has an intermediate support member extending in the first direction between the pair of support members, and is horizontally moved in the first direction by an intermediate slide member moving on the intermediate support member.

10. 8. A support structure according to claim 7, wherein said operating mechanism includes a locking mechanism for locking said rail member at a specified movement position.

11. 2. The support structure according to claim 1, wherein the operating mechanism is a double-ended curved rail member having a straight section that guides the robot arm in a straight line in the second direction, and curved sections at both ends of the straight section that guide the robot arm in a curved line to bring it closer to the first direction side of the butted section.

12. 2. The support structure according to claim 1, wherein the operating mechanism is an overall curved rail member that guides the robot arm along a curve that includes a component in the first direction and a component in the second direction, and brings the robot arm closer to the first direction side of the butt portion as it approaches both ends of the curve.

Images