Oil pan structure

Abstract

To provide a conveyance system capable of efficiently collecting oil dropped from an object conveyed by a robot.SOLUTION: The transfer system includes a robot (21) capable of transferring an object, a robot base (22) supporting the robot (21), and an oil pan (810) provided so as to surround the robot base (22) in a top view. The robot base (22) has a saucer shape, and includes an oil receiving portion (871) that receives oil from an oil pan (810).SELECTED DRAWING: Figure 19

Description

[Technical Field]

[0001] The present invention relates to a transport system. [Background technology]

[0002] For example, Japanese Patent Application Laid-Open No. 2017-102825 (Patent Document 1) discloses a composite system that includes a machine tool having a workpiece fixing jig that can move integrally with the table, a workpiece stocker that stores the workpieces, and a robot system that has a robot that supplies and removes workpieces between the workpiece fixing jig and the workpiece stocker. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-102825 Summary of the Invention [Problem to be solved by the invention]

[0004] As disclosed in the above-mentioned Patent Document 1, a conveyance system that conveys workpieces using a robot is known. In such a conveyance system, oil adhering to the workpiece falls as the robot conveys it, and therefore, it is necessary to efficiently collect the fallen oil.

[0005] An object of the present invention is to provide a conveying system that can efficiently collect oil that has fallen from an object being conveyed by a robot. [Means for solving the problem]

[0006] A transfer system according to the present invention includes a robot capable of transferring an object, a robot base supporting the robot, and an oil pan surrounding the robot base in a top view. The robot base has a tray-shaped oil receiving portion that receives oil from the oil pan. [Effects of the Invention]

[0007] According to the present invention, it is possible to provide a conveyance system capable of efficiently recovering oil that has dropped from an object being conveyed by a robot. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a top view showing a transport system according to an embodiment of the present invention; [Figure 2] FIG. 2 is a simplified top view of the transport system in FIG. [Figure 3] FIG. 10 is a perspective view showing the relationship between the master hand, the pallet, the work hand, the shelf board, and the teaching hand. [Figure 4] FIG. 2 is a perspective view showing a master hand. [Figure 5] FIG. 10 is another perspective view showing the master hand. [Figure 6] FIG. 2 is a diagram for explaining the structure of a master hand. [Figure 7] FIG. 2 is a perspective view showing a pallet stocker in FIG. [Figure 8] 8 is a perspective view showing a pallet stocker in the area surrounded by a two-dot chain line VIII in FIG. 7. [Figure 9] FIG. 2 is a block diagram showing a control system of the transport system in FIG. [Figure 10] 1 is a top view showing a floor structure of a transport system according to an embodiment of the present invention. [Figure 11] FIG. 10 is another top view showing the floor structure of the transport system according to the embodiment of the present invention. [Figure 12]12 is a top view showing the robot base and frame in the area surrounded by the two-dot chain line XII in FIG. 11. [Figure 13] 13 is a cross-sectional view showing the robot base and frame as seen in the direction of the arrows on line XIII-XIII in FIG. 12. [Figure 14] 12 is a top view showing a pallet stocker and a frame corresponding to the area surrounded by the two-dot chain line XIV in FIG. 11. [Figure 15] 15 is a top view showing the pallet stocker and frame in the area surrounded by the two-dot chain line XV in FIG. 14. [Figure 16] 12 is a top view showing the work / hand stocker and frame corresponding to the area surrounded by the two-dot chain line XVI in FIG. 11. [Figure 17] 17 is a top view showing the work / hand stocker and frame in the area surrounded by the two-dot chain line XVII in FIG. 16. FIG. [Figure 18] 11 is a cross-sectional view showing the conveyance system as seen in the direction of the arrows on line XVIII-XVIII in FIG. [Figure 19] 19 is a cross-sectional view showing the conveyance system as seen in the direction of the arrows on line XIX-XIX in FIG. 10. [Figure 20] 19 is another cross-sectional view showing the conveyance system as seen in the direction of the arrows on the line XIX-XIX in FIG. 10. [Figure 21] FIG. 11 is a top view schematically showing the oil flow in the oil pan in FIG. [Figure 22] 11 is a cross-sectional view showing the conveyance system as seen in the direction of the arrows on line XXII-XXII in FIG. DETAILED DESCRIPTION OF THE INVENTION

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described with reference to the accompanying drawings, in which the same or equivalent components are designated by the same reference numerals.

[0010] Fig. 1 is a top view showing a transfer system according to an embodiment of the present invention, and Fig. 2 is a top view showing a simplified version of the transfer system shown in Fig. 1.

[0011] 1 and 2, a transfer system 100 according to the present embodiment includes a robot 21 and a robot base 22. The robot 21 and the robot base 22 are similar to those shown in FIG.

[0012] As a typical example, the robot 21 is a six-axis articulated robot. The robot 21 has a base unit 26, a first arm 27, a second arm 28, a hand attachment unit 29, and a master hand 210.

[0013] The robot base 22 is a support platform that supports the robot 21 and is fixed to the floor of a factory or the like. The robot base 22 is made of metal. The base unit 26 is connected to the robot base 22 so as to be rotatable around a central axis of rotation 101. The central axis of rotation 101 is an imaginary straight line that corresponds to the center of rotation of the robot 21 and extends in the vertical direction.

[0014] The first arm 27 is attached to the base 26. The first arm 27 is rotatable about a rotation center axis 102 located at the attachment portion (joint) of the first arm 27 to the base 26. The second arm 28 is attached to the first arm 27. The second arm 28 is rotatable about a rotation center axis 103 located at the attachment portion (joint) of the second arm 28 to the first arm 27, and is capable of rotating the hand attachment portion 29 about a rotation center axis 104 along the second arm 28. The hand attachment portion 29 is attached to the second arm 28. The hand attachment portion 29 is rotatable about a rotation center axis 105 located at the attachment portion (joint) of the hand attachment portion 29 to the second arm 28, and is capable of rotating the master hand 210 about a rotation center axis 106 along the hand attachment portion 29.

[0015] The master hand 210 is attached to a hand attachment portion 29 as an end effector. The master hand 210 is attached to the second arm 28 so as to be rotatable around a rotation center axis 105. The master hand 210 is attached to the second arm 28 via the hand attachment portion 29. The second arm 28 is attached to the first arm 27 so as to be rotatable around a rotation center axis 103.

[0016] The robot 21 further has a plurality of drive servo motors 23 for operating the base 26, the first arm 27, the second arm 28, the hand attachment part 29 and the master hand 210 around the above-mentioned plurality of axes (rotation center axis 101, rotation center axis 102, rotation center axis 103, rotation center axis 104, rotation center axis 105 and rotation center axis 106) (see Figure 9 described below).

[0017] 1, a two-dot chain line 111 indicates the area in which the master hand 210 moves (the operating area of ​​the master hand 210) in the transport system 100. In addition, a two-dot chain line 112 extending in an arc shape around the central pivot axis 101 indicates the maximum area in which the master hand 210 can move.

[0018] The transfer system 100 further includes a machine tool 10 (10S, 10T), a pallet stocker 31 (31S, 31T), a work stocker 71, a hand stocker 81, and a setup station 61 (61S, 61T).

[0019] The machine tool 10 (10S, 10T), pallet stocker 31 (31S, 31T), workpiece stocker 71, hand stocker 81, and setup station 61 (61S, 61T) are provided around the robot base 22. The machine tool 10 (10S, 10T), pallet stocker 31 (31S, 31T), workpiece stocker 71, hand stocker 81, and setup station 61 (61S, 61T) are lined up in the circumferential direction of the turning center axis 101. In the top view shown in FIG. 1 , at least a portion of each of the machine tool 10 (10S, 10T), pallet stocker 31 (31S, 31T), workpiece stocker 71, hand stocker 81, and setup station 61 (61S, 61T) overlaps with the operating area of ​​the master hand 210 indicated by the two-dot chain line 111.

[0020] The robot in the present invention is not limited to the six-axis articulated robot described above, but may be, for example, a robot (gantry loader) capable of moving an object to be conveyed in three mutually perpendicular axis directions. In this case, the machine tool, pallet stocker, work stocker, hand stocker, and setup station may be arranged in a straight line.

[0021] Machine tool 10 is a machining center that processes a workpiece by bringing a rotating tool into contact with the workpiece. Machine tool 10 is an NC (Numerically Controlled) machine tool in which various operations for processing the workpiece are automated by computer numerical control.

[0022] Machine tool 10 may be a multi-tasking machine having a turning function using a fixed tool and a milling function using a rotary tool, or may be an AM / SM hybrid machine capable of additive manufacturing and subtractive manufacturing of a workpiece. Machine tool 10S and machine tool 10T may be the same type of machine tool, or may be different types of machine tools.

[0023] Machine tool 10 has a cover body 14. Cover body 14 defines the exterior of machine tool 10 and defines machining area 12. Machining area 12 is a space where workpiece machining is performed, and is sealed by cover body 14 to prevent foreign matter such as chips or cutting oil resulting from workpiece machining from leaking outside the machining area.

[0024] An opening 16 is provided in the cover body 14. The robot 21 transports an object to be transported, such as a workpiece W or a pallet 410, to the processing area 12 through the opening 16. The opening 16 is provided with a door or shutter that can be opened and closed.

[0025] The machining area 12 is provided with a tool spindle for rotating a tool, a table for holding a pallet 410, and the like.

[0026] Machine tool 10 further has an operation panel 18. Operation panel 18 includes a control device that controls the operation of machine tool 10, a display unit (display) for displaying various information related to machining, and an operation unit that accepts various operations on machine tool 10.

[0027] Machine tool 10S and machine tool 10T are provided at positions facing each other across robot base 22. Machine tool 10S and machine tool 10T are provided at angular positions offset by 180° in the circumferential direction about central turning axis 101.

[0028] Pallet stocker 31 is a device for storing pallets 410. Pallet stocker 31 is provided between machine tool 10S and machine tool 10T in the circumferential direction centered on turning central axis 101. Pallet stocker 31S and pallet stocker 31T are provided adjacent to each other in the circumferential direction centered on turning central axis 101.

[0029] The work stocker 71 is a device for storing the workpieces W. The workpiece stocker 71 has a shelf structure on which the workpieces W can be placed. The hand stocker 81 is a device for storing various hands such as the workpiece hand 310 and teaching hand 710, which will be described later. The hand stocker 81 has a shelf structure on which the various hands can be placed.

[0030] The workpiece stocker 71 and the hand stocker 81 are provided between the machine tool 10S and the machine tool 10T in the circumferential direction centered on the central turning axis 101. The workpiece stocker 71 and the hand stocker 81 are provided in a position facing the pallet stocker 31 (31S, 31T) across the robot base 22. The workpiece stocker 71 and the hand stocker 81 are provided next to each other above and below.

[0031] Setup station 61 is a device that mainly performs the work of attaching and detaching workpieces W to and from pallets 410. A pallet placement table (not shown) on which pallets 410 can be placed is installed in setup station 61. Setup station 61 is provided between workpiece stocker 71 and hand stocker 81 and machine tool 10 in the circumferential direction about turning central axis 101. Setup station 61 is provided adjacent to workpiece stocker 71 and hand stocker 81 in the circumferential direction about turning central axis 101.

[0032] The setup station 61S and the setup station 61T are provided on both sides of the work stocker 71 and the hand stocker 81 in the circumferential direction about the central axis of rotation 101.

[0033] The number of each of the machine tools 10, pallet stockers 31, work stockers 71, hand stockers 81 and setup stations 61 provided in the transport system 100 is not particularly limited.

[0034] The transport system 100 further has a plurality of fences 56 (56h, 56i, 56j, 56k). The fences 56 rise from the floor of a factory or the like. In the top view shown in FIG. 1, fence 56h extends between the machine tool 10S and the pallet stocker 31S. In the top view shown in FIG. 1, fence 56i extends between the pallet stocker 31T and the machine tool 10T. In the top view shown in FIG. 1, fence 56j extends between the machine tool 10T and the setup station 61T. In the top view shown in FIG. 1, fence 56k extends between the setup station 61S and the machine tool 10S.

[0035] The robot 21 is placed in a space 113 surrounded by a plurality of fences 56 (56h, 56i, 56j, 56k), machine tools 10 (10S, 10T), pallet stockers 31 (31S, 31T), work stockers 71, hand stockers 81, and setup stations 61 (61S, 61T). The operating area of ​​the master hand 210 indicated by a two-dot chain line 111 is included in the space 113.

[0036] An operator cannot access the pallet stocker 31 from outside the space 113. An operator can load a pallet 410 into the pallet stocker 31 or retrieve a pallet 410 from the pallet stocker 31 through the setup station 61. An operator can access the work stocker 71 and the hand stocker 81 from outside the space 113. An operator can load an unprocessed workpiece W into the conveyance system 100 or retrieve a processed workpiece W' from the conveyance system 100 through the work stocker 71. An operator can load various hands into the conveyance system 100 or retrieve them from the conveyance system 100 through the hand stocker 81.

[0037] The transport system 100 further includes a transport operation panel 51. The transport operation panel 51 includes a control device 610 that controls the operation of the robot 21, a display unit 670 that displays various information related to transport by the robot 21, and an operation unit that accepts various operations for the robot 21 (see FIG. 9 described later). In this embodiment, the display unit 670 is configured with a touch panel display that can be operated by an operator, and performs part of the function of the operation unit. The operation unit may be configured with various buttons that can be pressed, numeric keys that can input numbers, a dial, or the like.

[0038] The transfer operation panel 51 is attached to the work stocker 71 and the hand stocker 81. The location where the transfer operation panel 51 is provided is not particularly limited.

[0039] Fig. 3 is a perspective view showing the relationship between the master hand, the pallet, the work hand, the shelf board, and the teaching hand. Fig. 4 and Fig. 5 are perspective views showing the master hand. Fig. 6 is a diagram for explaining the structure of the master hand.

[0040] 3 to 6, the master hand 210 has a clamping mechanism 220. The clamping mechanism 220 is configured to be operable between a clamped state in which the gripping portion 120 is held and an unclamped state in which the gripping portion 120 is released.

[0041] 4 to 6, grip portion 120 has a grip shape centered on central axis 126. Grip portion 120 is provided with groove portion 121. Groove portion 121 is recessed from the outer circumferential surface of grip portion 120 and has a groove shape that circles around central axis 126.

[0042] The clamp mechanism 220 has the appearance of a block body. The clamp mechanism 220 is provided with a grip insertion hole 221. The grip insertion hole 221 is open facing in one direction.

[0043] The clamp mechanism 220 is made up of a cylinder piston. The clamp mechanism 220 has a pair of pistons 226. The pair of pistons 226 extend in a shaft-like manner along a central axis 231 that is perpendicular to the central axis 126 and intersects with the grip insertion hole 221. The pair of pistons 226 face each other with a gap in between in the axial direction of the central axis 231. The pair of pistons 226 are supported so as to be slidable in the axial direction of the central axis 126. A protrusion 227 that can engage with the groove 121 is provided at the tip of each piston 226.

[0044] When the master hand 210 grips the gripping portion 120, the master hand 210 is positioned so that the clamping mechanism 220 faces the gripping portion 120. The master hand 210 is moved linearly in a direction approaching the gripping portion 120, thereby inserting the gripping portion 120 into the grip insertion hole 221. By supplying air pressure or the like, the pair of pistons 226 are slid toward each other, thereby operating the clamping mechanism 220 from the unclamped state to the clamped state. As a result, the protrusions 227 of the pair of pistons 226 advance into the grip insertion hole 221 and engage with the grooves 121.

[0045] When the master hand 210 releases the gripping portion 120, the pair of pistons 226 are slid away from each other, thereby operating the clamping mechanism 220 from the clamped state to the unclamped state. This causes the protrusions 227 of the pair of pistons 226 to retract from the grip insertion holes 221 and come out of the grooves 121. The master hand 210 is moved linearly away from the gripping portion 120, thereby removing the gripping portion 120 from the grip insertion hole 221.

[0046] 5, the conveyance system 100 further includes a sensor 230. The sensor 230 is a sensor capable of detecting the presence or absence of an object, and is, for example, a non-contact photoelectric sensor. The sensor 230 may be a proximity sensor or a contact sensor such as a limit switch.

[0047] The sensor 230 is mounted on the robot 21. The sensor 230 is mounted on the master hand 210. When the sensor 230 is a photoelectric sensor, the direction of light emitted from the sensor 230 may be parallel to the direction in which the gripper 120 moves forward and backward relative to the master hand 210.

[0048] 3, the transport system 100 further includes a pallet 410 for holding the workpiece. The transport system 100 includes a plurality of pallets 410.

[0049] Pallet 410 is made of a metal plate and has a generally rectangular shape when viewed from above. A clamping mechanism for holding pallet 410 is built into a table provided in machine tool 10. A jig such as a tombstone or a clamping device is attached to pallet 410, and a workpiece is held on pallet 410 via the jig.

[0050] The pallet 410 has a first gripping portion 120A. The first gripping portion 120A corresponds to the gripping portion 120 described above, and is configured to be able to be gripped by the master hand 210. The first gripping portion 120A is provided on a side surface of the pallet 410. The first gripping portion 120A is provided so as to be detachable from the pallet 410.

[0051] The master hand 210 grips the first gripping portion 120A, whereby the robot 21 can transport the pallet 410.

[0052] Fig. 7 is a perspective view showing the pallet stocker in Fig. 1. Fig. 8 is a perspective view showing the pallet stocker in the area surrounded by the two-dot chain line VIII in Fig. 7.

[0053] 7 and 8, as well as other figures showing the pallet stocker 31, show X-, Y-, and Z-axes, which are coordinate axes of the pallet stocker 31. The X-axis extends horizontally corresponding to the width direction (left-right direction) of the pallet stocker 31, the Y-axis extends vertically, and the Z-axis extends horizontally corresponding to the depth direction (front-rear direction) of the pallet stocker 31. The X-, Y-, and Z-axes are three axes that are perpendicular to one another.

[0054] 3, 7 and 8, pallet stocker 31 has a frame body 550, a plurality of support portions 560, and a plurality of shelf boards 510. As shown in FIG.

[0055] The frame body 550 is a rectangular parallelepiped frame body. The frame body 550 is a rectangular parallelepiped frame body with the X-axis direction and the Y-axis direction as its longitudinal direction and the Z-axis direction as its lateral direction. The frame body 550 has four pillars 551. The four pillars 551 are arranged at the four corners of the frame body 550 when viewed from above. Each pillar 551 extends in the Y-axis direction (up and down direction).

[0056] The support portion 560 is configured to be able to support the shelf board 510. The multiple support portions 560 are arranged at intervals from one another in the vertical direction.

[0057] The support portion 560 has a pair of plates 561 on the left and right. The pair of plates 561 are provided with a gap between them in the X-axis direction. The plate 561 extends in the Z-axis direction while forming an L-shaped cross section when cut along the X-axis-Y-axis plane. Both ends of the plate 561 in the Z-axis direction are respectively connected to two pillars 551 aligned in the Z-axis direction.

[0058] The shelf board 510 is configured to be able to place the pallet 410. When viewed from above, the shelf board 510 has a rectangular shape with the X-axis direction as the longitudinal direction and the Z-axis direction as the lateral direction, and has a plate shape with the Y-axis direction as the thickness direction.

[0059] The shelf board 510 has a pair of vertical frames 532 on the left and right sides and a pair of horizontal frames 531 on the front and back sides. The pair of vertical frames 532 are provided at a distance from each other in the X-axis direction. The pair of vertical frames 532 are provided at both ends of the shelf board 510 in the X-axis direction. The vertical frames 532 are made of plate material whose thickness direction is in the Y-axis direction and extend in the Z-axis direction. The pair of horizontal frames 531 are provided at a distance from each other in the Z-axis direction. The horizontal frame 531 extends in the X-axis direction and is connected at both ends to the pair of vertical frames 532.

[0060] 7 and 8, the shelf board 510 is supported by a support portion 560. A pair of vertical frames 532 is placed on a pair of plates 561. The pair of vertical frames 532 supports the weight of the shelf board 510.

[0061] As shown in FIG. 8 , the support portion 560 further has a pin 562. The pin 562 is provided on a plate 561. The pin 562 protrudes upward from the top surface of the plate 561. The vertical frame 532 has a pin hole 533. The pin hole 533 is a through-hole that penetrates the vertical frame 532 in the Y-axis direction. The pin 562 is disposed in the pin hole 533. This configuration prevents the shelf board 510 from shifting position relative to the support portion 560.

[0062] As shown in FIG. 3, the shelf 510 further includes a plurality of pallet supports 520 (520p, 520q, 520r).

[0063] Each pallet support portion 520 is configured to be able to support a pallet 410. Each pallet support portion 520 is configured with four tapered cone receiving portions 525 that are arranged at intervals in the X-axis direction and the Z-axis direction. The tapered cone receiving portions 525 are provided on a horizontal frame 531. The tapered cone receiving portions 525 protrude upward from the top surface of the horizontal frame 531. The tapered cone receiving portions 525 have a concave shape that can receive a tapered cone provided on the bottom surface of the pallet 410.

[0064] Pallet support portion 520p, pallet support portion 520q, and pallet support portion 520r are aligned in the X-axis direction in the order listed.

[0065] The shelf 510 is capable of supporting pallets 410 of different sizes. For example, the shelf 510 is capable of supporting pallets 410 of 400 mm x 400 mm and pallets 410 of 500 mm x 500 mm. When the pallets 410 are 400 mm x 400 mm in size, three pallets 410 can be placed on the shelf 510 using the pallet support portions 520p, pallet support portion 520q, and pallet support portion 520r. When the pallets 410 are 500 mm x 500 mm in size, two pallets 410 can be placed on the shelf 510 using the pallet support portions 520p and pallet support portion 520r.

[0066] As shown in FIGS. 3 and 7, the shelf board 510 has a second gripping portion 120B. The second gripping portion 120B corresponds to the gripping portion 120 described above and is configured to be grippable by the master hand 210. The second gripping portion 120B is provided at the center position of the shelf board 510 in the X-axis direction. The second gripping portion 120B protrudes in the Z-axis direction from the front surface of the shelf board 510 (horizontal frame 531). The second gripping portion 120B is provided below the pallet support portion 520 (tapered cone receiving portion 525). The second gripping portion 120B is provided detachably with respect to the shelf board 510.

[0067] The master hand 210 grips the second gripping portion 120B, thereby enabling the robot 21 to transport the shelf board 510. The robot 21 changes the position of the shelf board 510 between the plurality of supports 560 in the pallet stocker 31.

[0068] 7, the pallet stocker 31 further has a fixed shelf 515. The fixed shelf 515 basically has the same structure as the shelf 510, but differs from the shelf 510 in that it is not provided with the second gripping portion 120B. The fixed shelf 515 cannot be moved between the multiple support portions 560, and its position in the pallet stocker 31 is fixed.

[0069] The pallet stocker 31 has two fixed shelves 515. The two fixed shelves 515 are arranged at the top and bottom of the pallet stocker 31. The shelves 510 can be repositioned within a range in the vertical direction between the fixed shelf 515 arranged at the top and the fixed shelf 515 arranged at the bottom.

[0070] 3, the work hand 310 is configured to be able to grip the work W. The work hand 310 has a pair of gripping claws 320. The pair of gripping claws 320 face each other with a gap therebetween.

[0071] The workpiece hand 310 is configured to be operable between a clamped state in which the workpiece W is gripped by the pair of gripping jaws 320, and an unclamped state in which the pair of gripping jaws 320 release the workpiece W. By sliding the pair of gripping jaws 320 in directions in which they approach each other, the workpiece hand 310 moves from the unclamped state to the clamped state. By sliding the pair of gripping jaws 320 in directions in which they move away from each other, the workpiece hand 310 moves from the clamped state to the unclamped state.

[0072] The workpiece hand 310 has a piston cylinder 330 and a servo motor 340 as a power source for sliding the pair of gripping jaws 320 (see FIG. 9 described later).

[0073] The workpiece hand 310 further has a third gripping portion 120C. The third gripping portion 120C corresponds to the gripping portion 120 described above, and is configured to be able to grip the master hand 210. The third gripping portion 120C has a grip shape that extends in a direction perpendicular to the sliding direction of the pair of gripping jaws 320. The third gripping portion 120C is provided detachably with respect to the workpiece hand 310.

[0074] The master hand 210 grips the third gripping portion 120C, thereby making it possible to attach the workpiece hand 310 to the robot 21. The robot 21 can transport the workpiece W using the workpiece hand 310.

[0075] The teaching hand 710 has a touch probe 720. The teaching hand 710 is used for teaching the robot 21 using the touch probe 720.

[0076] The teaching hand 710 further has a fourth gripping portion 120D. The fourth gripping portion 120D corresponds to the gripping portion 120 described above and is configured to be able to be held by the master hand 210. The touch probe 720 has a pin-shaped contactor 720g that comes into contact with the measurement object. The fourth gripping portion 120D has a grip shape that extends in a direction perpendicular to the direction in which the pin-shaped contactor 720g extends. The fourth gripping portion 120D is detachably provided to the teaching hand 710.

[0077] The teaching hand 710 can be attached to the robot 21 by the master hand 210 gripping the fourth gripping portion 120D.

[0078] The first gripping portion 120A, the second gripping portion 120B, the third gripping portion 120C, and the fourth gripping portion 120D have the same grip shape. The master hand 210 is configured to be able to selectively hold one of the gripping portions 120: the first gripping portion 120A, the second gripping portion 120B, the third gripping portion 120C, and the fourth gripping portion 120D.

[0079] Fig. 9 is a block diagram showing a control system of the transfer system in Fig. 1. Referring to Fig. 9, the transfer system 100 further includes a control device 610.

[0080] Each component of the control device 610 is realized by hardware including computing units such as a CPU (Central Processing Unit) and various computer processors, storage devices such as memory or storage, and wired or wireless communication lines connecting them, as well as software stored in the storage devices and supplying processing instructions to the computing units. The computer programs constituting the software may be composed of device drivers, an operating system, various application programs located at higher layers thereof, or libraries that provide common functions to these programs. The computer programs may be recorded on a computer-readable storage medium or a non-transitory computer-readable storage medium. The computer programs may be included in a computer program product. Each block described below represents a functional unit block.

[0081] The control device 610 has an operation receiving unit 660 and a robot control unit 620. The operation receiving unit 660 receives an operation from the worker via a display unit 670 (operation unit) formed of, for example, a touch panel display. The operation receiving unit 660 outputs a signal corresponding to the operation by the worker to the robot control unit 620.

[0082] The robot control unit 620 controls the operation of the robot 21 (including the operation of the workpiece hand 310 attached to the master hand 210).

[0083] The robot control unit 620 includes a program storage unit 621 , a program analysis unit 622 , an axis control unit 623 , a hand control unit 624 , and a parameter storage unit 625 .

[0084] The program storage unit 621 stores various operation programs 641 that command the operation of the robot 21. The operation programs 641 stored in the program storage unit 621 include, for example, operation commands that define the movement and stopping of the robot 21, position commands that define the position and orientation (posture) of the master hand 210, path commands that define movement paths such as linear movement and circular movement, and speed commands that define the movement speed. The operation programs 641 are input via an input / output device 630 connected to the robot control unit 620 and stored in the program storage unit 621.

[0085] The operation program 641 is written in, for example, a language called SLIM (Standard Language for Industrial Manipulators). The specific position and orientation (posture) of each position command included in the operation program 641 is obtained by operating the robot 21 through a manual operation called a teaching operation. As the robot 21 operates through the teaching operation, the rotation angle positions of each drive servo motor 23 built into the robot 21 are acquired as parameters, and the acquired parameters are stored in the parameter storage unit 625 via the input / output device 630.

[0086] In response to a signal from the operation receiving unit 660, the program analysis unit 622 reads out the operation program 641 to be executed from the operation program 641 stored in the program storage unit 621. The program analysis unit 622 analyzes the operation program 641, extracts commands related to movement, and transmits the commands to the axis control unit 623. The program analysis unit 622 analyzes the operation program 641, extracts commands related to hand operation, and transmits the commands to the hand control unit 624.

[0087] The axis control unit 623 controls the multiple drive servo motors 23 in response to commands from the program analysis unit 622. The hand control unit 624 controls the master hand 210 and / or the workpiece hand 310 in response to commands from the program analysis unit 622.

[0088] Specifically, the axis control unit 623 reads out parameters corresponding to each position command from the parameter storage unit 625, generates rotation commands (control signals) for each drive servo motor 23, and transmits them to each drive servo motor 23 so that the rotation angle position of each drive servo motor 23 becomes the read rotation angle position, the movement path of the master hand 210 becomes the commanded movement path (linear movement or circular movement), and further, moves at the commanded speed. The plurality of drive servo motors 23 move the master hand 210 to the commanded position by being supplied with drive currents corresponding to the rotation commands from the axis control unit 623.

[0089] In response to a command from the program analysis unit 622, the hand control unit 624 generates an open / close command for an air valve so that the pair of pistons 226 slides, and sends the open / close command to the clamp mechanism 220. In response to a command from the program analysis unit 622, the hand control unit 624 generates an open / close command for an air valve so that the pair of gripping jaws 320 slides, and sends the open / close command to the piston cylinder 330, and generates a rotation command (control signal) for the servo motor 340 and sends the rotation command to the servo motor 340.

[0090] Next, a description will be given of the floor structure constructed around the robot base 22 in the transfer system 100 according to this embodiment. Figures 10 and 11 are top views showing the floor structure of the transfer system according to this embodiment. Figure 11 shows the floor structure shown in Figure 10 with an oil pan 810, which will be described later, removed.

[0091] For the convenience of explaining the floor structure of conveyance system 100, a first direction 150, which is one direction along the horizontal direction, and a second direction 160, which is a direction along the horizontal direction and perpendicular to first direction 150, are shown in Figures 10 and 11 and in subsequent figures. First direction 150 corresponds to the direction in which machine tool 10S and machine tool 10T in Figure 1 face each other, and second direction 160 corresponds to the direction in which pallet stocker 31 faces work stocker 71 and hand stocker 81. In the following, the device integrating work stocker 71 and hand stocker 81 will be referred to as "work / hand stocker 70."

[0092] 10 and 11, the transport system 100 includes a frame 820, a plurality of legs 841, and an oil pan 810.

[0093] 11, the frame 820 extends in a plane at a position spaced above the floor FL of a factory or the like where the conveyance system 100 is installed. The frame 820 is arranged parallel to the horizontal direction. When viewed from above, the frame 820 has a frame shape with multiple openings. The openings formed by the frame 820 have rectangular and / or polygonal shapes including triangles.

[0094] The frame 820 is provided around the robot base 22 in a top view. The frame 820 is provided at a position lower than the top surface of the robot base 22. The frame 820 is provided between the machine tool 10S and the machine tool 10T in the first direction 150. The frame 820 is provided between the pallet stocker 31 and the workpiece / hand stocker 70 in the second direction 160.

[0095] The frame 820 extends from the robot base 22. The frame 820 abuts against the pallet stocker 31 and the workpiece / hand stocker 70. The frame 820 abuts against the pallet stocker 31 and the workpiece / hand stocker 70 in the horizontal direction. The frame 820 is separated from the machine tool 10 (10S, 10T).

[0096] As shown in Fig. 11 and Figs. 19 and 20 described later, the multiple legs 841 are provided at intervals from one another. The legs 841 extend upward from a floor FL of a factory or the like. The frame 820 is fastened to the upper ends of the legs 841 using bolts or the like. The frame 820 is supported by the multiple legs 841.

[0097] 10 and 11, the oil pan 810 is placed on a frame 820. The oil pan 810 is provided so as to surround the robot base 22 in a top view.

[0098] Oil pan 810 is provided in space 113 surrounded by multiple fences 56 (56h, 56i, 56j, 56k), machine tool 10 (10S, 10T), pallet stocker 31 (31S, 31T), workpiece stocker 71, hand stocker 81, and setup station 61 (61S, 61T) shown in FIG. 1. Oil pan 810 is configured to be able to receive oil that drops from workpiece W or pallet 410 transported by robot 21. The oil received by oil pan 810 may contain coolant.

[0099] The robot base 22 is made of metal. The robot base 22 is made of, for example, casting. The robot base 22 is fixed to the floor FL of a factory or the like using anchor bolts (see FIG. 19 described later).

[0100] 11, the robot base 22 has a rectangular shape in a top view having a pair of first end sides 41 and a pair of second end sides 42. The first end sides 41 extend in a first direction 150. The pair of first end sides 41 face the pallet stocker 31 and the workpiece / hand stocker 70, respectively, in a second direction 160. The second end sides 42 extend in the second direction 160. The pair of second end sides 42 face the machine tool 10S and the machine tool 10T in FIG. 1, respectively, in the first direction 150.

[0101] The frame 820 has a plurality of rods 821. The rods 821 extend linearly. The rods 821 extend horizontally. The plurality of rods 821 are connected to one another. The plurality of rods 821 are connected to one another by bolts, welding, or the like.

[0102] The plurality of rods 821 are classified into a plurality of first rods 821j, a plurality of second rods 821k, and a plurality of third rods 821p depending on the direction in which each rod 821 extends.

[0103] The first rod 821j and the second rod 821k extend in directions perpendicular to each other. The first rod 821j extends in a second direction 160. The second rod 821k extends in a first direction 150. The multiple first rods 821j and the multiple second rods 821k are combined in a lattice pattern around the robot base 22. The multiple first rods 821j and the multiple second rods 821k are combined with each other to form a rectangular opening surface in a top view.

[0104] The third rod 821p extends obliquely relative to the first rod 821j and the second rod 821k. The multiple third rods 821p are arranged at positions away from the robot base 22 and facing the pallet stockers 31 (31S, 31T). The third rod 821p, combined with the first rod 821j and the second rod 821k, forms a substantially triangular opening in top view.

[0105] The structure of the frame 820 will be described in further detail below. Fig. 12 is a top view showing the robot base and frame in the area surrounded by the two-dot chain line XII in Fig. 11. Fig. 13 is a cross-sectional view showing the robot base and frame as seen in the direction of the arrows on the line XIII-XIII in Fig. 12.

[0106] 11 to 13, the plurality of rods 821 includes a plurality of first extension rods 821A and a plurality of second extension rods 821B.

[0107] A plurality of first extension rods 821A extend from a pair of first end edges 41 of the robot base 22. Two first extension rods 821A extend from each first end edge 41. The first extension rods 821A extend in the second direction 160 and are classified as first rods 821j. A plurality of second extension rods 821B extend from a pair of second end edges 42 of the robot base 22. Two second extension rods 821B extend from each second end edge 42. The second extension rods 821B extend in the first direction 150 and are classified as second rods 821k.

[0108] 12 and 13, the robot base 22 has a rod connection portion 851. The rod connection portion 851 has a convex shape that protrudes in the second direction 160 at the first end side 41. The rod connection portion 851 has a rod mounting surface 851a. The rod mounting surface 851a is a horizontal surface facing upward.

[0109] The first extension rod 821A has a cylindrical portion 826 and a plate portion 828. The cylindrical portion 826 is made of a pipe material. When the cylindrical portion 826 is cut by a plane perpendicular to the second direction 160, the opening shape of the cylindrical portion 826 is rectangular. The plate portion 828 is made of a plate material whose thickness direction is in the vertical direction. The plate portion 828 is joined to the bottom surface of the cylindrical portion 826 by welding or the like. The plate portion 828 is placed on the rod placement surface 851a. The plate portion 828 is attached to the robot base 22. The plate portion 828 is fastened to the rod connection portion 851 using bolts.

[0110] The second extension rod 821B is connected to the robot base 22 in the same manner as the first extension rod 821A.

[0111] Fig. 14 is a top view showing the pallet stocker and frame corresponding to the area surrounded by the two-dot chain line XIV in Fig. 11. Fig. 15 is a top view showing the pallet stocker and frame in the area surrounded by the two-dot chain line XV in Fig. 14.

[0112] 14 and 15 show the X-axis and Z-axis, which are coordinate axes of the pallet stocker 31 described with reference to Fig. 7. In a top view, the pallet stocker 31T is disposed obliquely with respect to each of the first direction 150 and the second direction 160. The X-axis of the pallet stocker 31T extends in a third direction 180 oblique to the first direction 150. The Z-axis of the pallet stocker 31T extends in a fourth direction 170 oblique to the second direction 160.

[0113] As shown in FIGS. 10 and 11, the pallet stocker 31S is provided symmetrically to the pallet stocker 31T with respect to an imaginary line that passes through the central axis of rotation 101 and extends in the second direction 160.

[0114] 7, 14, and 15, the plurality of rods 821 further includes a plurality of first abutment rods 821C. The first abutment rods 821C extend in the fourth direction 170 and are classified as third rods 821p. The plurality of first abutment rods 821C abut against the pallet stocker 31T in the fourth direction 170.

[0115] The pallet stocker 31 further has a cross beam 847 and a plurality (two) of first abutment plates 846. The cross beam 847 extends in the third direction 180 (X-axis direction). Both ends of the cross beam 847 in the third direction 180 are respectively connected to a pair of pillars 551 arranged in front of the pallet stocker 31.

[0116] The first abutment plate 846 is made of a plate material whose thickness direction corresponds to the fourth direction 170 (Z-axis direction). The abutment plate 346 is joined to the crosspiece 847 by welding or the like. The two first abutment plates 846 are provided spaced apart from each other in the third direction 180 (X-axis direction). The first abutment plate 846 is provided at a position lower than the fixed shelf 515 arranged at the lowest level in the pallet stocker 31. The first abutment plate 846 is provided inside the operating area of ​​the master hand 210 indicated by the two-dot chain line 111 in FIG. 1.

[0117] The first abutting rod 821C has a cylindrical portion 827 and a plate portion 829. The cylindrical portion 827 is made of a pipe material. When the cylindrical portion 827 is cut along a plane perpendicular to the fourth direction 170, the opening shape of the cylindrical portion 827 is rectangular. The plate portion 829 is made of a plate material whose thickness direction is the fourth direction 170. The plate portion 829 is joined to the tip of the cylindrical portion 827 in the fourth direction 170 by welding or the like. The plate portion 829 abuts against a first abutting plate 846 in the fourth direction 170. The plate portion 829 and the first abutting plate 846 are in surface contact with each other in a plane perpendicular to the fourth direction 170.

[0118] 14, a third rod 821p extending in the third direction 180 is disposed opposite the horizontal beam 847 in the fourth direction 170. Both ends of the third rod 821p are connected to two first abutment rods 821C. The third rod 821p, together with the two first abutment rods 821C and the horizontal beam 847, forms a rectangular opening surface in top view, with the third direction 180 corresponding to the longitudinal direction and the fourth direction 170 corresponding to the lateral direction.

[0119] The abutment structure of frame 820 against pallet stocker 31S is similar to the abutment structure of first abutment rod 821C against pallet stocker 31T described above.

[0120] Fig. 16 is a top view showing the work / hand stocker and frame corresponding to the area surrounded by the two-dot chain line XVI in Fig. 11. Fig. 17 is a top view showing the work / hand stocker and frame in the area surrounded by the two-dot chain line XVII in Fig. 16.

[0121] 16 and 17, the plurality of rods 821 further includes a second abutting rod 821D. The second abutting rod 821D extends in the first direction 150 and is classified as a second rod 821k. The second abutting rod 821D abuts against the work / hand stocker 70 in the second direction 160.

[0122] The workpiece / hand stocker 70 further has a plurality (two) of second abutment plates 850. The second abutment plates 850 are made of a plate material whose thickness direction corresponds to the second direction 160. The second abutment plates 850 are provided spaced apart from one another in the first direction 150. The second abutment plates 850 are provided inside the operating area of ​​the master hand 210 indicated by the two-dot chain line 111 in FIG. 1. The second abutment plates 850 are provided at the same height as the first abutment plate 846 in the pallet stocker 31 in FIG. 7.

[0123] The second abutting rod 821D has a tubular portion 824. The tubular portion 824 is made of a pipe material. When the tubular portion 824 is cut by a plane perpendicular to the first direction 150, the opening shape of the tubular portion 824 is rectangular. The tubular portion 824 abuts against a plurality of second abutting plates 850 in the second direction 160. The tubular portion 824 and the plurality of second abutting plates 850 are in surface contact with each other in a plane perpendicular to the second direction 160.

[0124] Referring to Figures 12 to 17, the frame 820 has a butting portion 820U that butts against the pallet stocker 31 and the work / hand stocker 70, an attachment portion 820V that is attached to the robot base 22, and an extension portion 820W that extends from the attachment portion 820V toward the butting portion 820U.

[0125] The abutting portion 820U corresponds to the first abutting plate 846 of the first abutting rod 821C in Figures 14 and 15, which abuts against the pallet stocker 31, and the cylindrical portion 824 of the second abutting rod 821D in Figures 16 and 17, which abuts against the work / hand stocker 70. The attachment portion 820V corresponds to the plate portion 828 of the first extension rod 821A in Figures 12 and 13. The extension portion 820W corresponds to the multiple rods 821 in Figures 12, 14, and 16, which are connected between the attachment portion 820V and the abutting portion 820U.

[0126] 11, when installing the transport system 100 in a factory or the like, one possible installation method is to first install the robot base 22, then mark the positions of the pallet stocker 31 and work / hand stocker 70 on the floor FL of the factory or the like using the rotation center axis 101 of the robot 21 determined by the robot base 22 as a reference, and then use the markings as landmarks to install the pallet stocker 31 and work / hand stocker 70. However, this method has the problem of being time-consuming to mark, and misalignment of the markings can result in the installation of the devices having to be redone, resulting in poor work efficiency when installing the transport system 100.

[0127] In contrast, the transport system 100 in this embodiment has a frame 820 that extends from the robot base 22 and abuts against the pallet stocker 31 and work / hand stocker 70. With this configuration, after the robot base 22 is installed, the frame 820 extending from the robot base 22 is provided, and the pallet stocker 31 and work / hand stocker 70 are then installed abutting against the frame 820. This makes it possible to position the pallet stocker 31 and work / hand stocker 70 relative to the robot base 22 (the rotation center axis 101 of the robot 21) using the frame 820, without marking the floor surface FL of a factory or the like. As a result, good workability can be achieved when installing the transport system 100 in a factory or the like.

[0128] Fig. 18 is a cross-sectional view showing the conveyance system as seen in the direction of the arrows on line XVIII-XVIII in Fig. 10. With reference to Figs. 1, 10, 11 and 18, a plurality of fences 56 (56h, 56i, 56j, 56k) are supported by a frame 820.

[0129] The transport system 100 further includes a fence mounting member 831. The fence 56 is supported by the frame 820 via the fence mounting member 831.

[0130] The fence mounting member 831 has a bracket portion 833 and a frame portion 832. The bracket portion 833 is attached to the periphery of the frame 820 when viewed from above. The multiple rods 821 include a periphery rod 821E. The periphery rod 821E is disposed on the periphery of the frame 820 when viewed from above. The bracket portion 833 is attached to the periphery rod 821E. The bracket portion 833 projects horizontally from the periphery rod 821E, away from the robot base 22.

[0131] The frame portion 832 is connected to the bracket portion 833. The frame portion 832 is arranged on the opposite side of the bracket portion 833 from the peripheral rod 821E in the horizontal direction. The frame portion 832 extends in a frame-like manner in the vertical direction from the bracket portion 833. The frame portion 832 has a wall shape that extends in the vertical direction. The fence 56 is attached to the frame portion 832. The fence 56 extends in the vertical direction along the frame portion 832.

[0132] Next, the structure of oil pan 810 will be described in detail. With reference to Figures 1 and 10, oil pan 810 includes a plurality of oil pan components 811 (811A, 811B, 811C, 811D, 811E, 811F, 811G, 811H, ​​811I, 811J, 811K, 811L, 811M, 811N, 811P, 811Q, 811R, and 811S). The plurality of oil pan components 811 are combined with one another on a plane.

[0133] Figures 19 and 20 are cross-sectional views showing the transfer system as seen in the direction of the arrows on line XIX-XIX in Figure 10. Figure 19 shows the cross-sectional shape of the transfer system 100 on the side closer to the robot base 22 as seen in the direction of the arrows on line XIX-XIX in Figure 10, and Figure 20 shows the cross-sectional shape of the transfer system 100 on the side farther from the robot base 22 as seen in the direction of the arrows on line XIX-XIX in Figure 10.

[0134] 10, 19, and 20, a first oil pan component 811A and a second oil pan component 811B of the multiple oil pan components 811 are disposed between the robot base 22 and the machine tool 10S in FIG. 1 in the first direction 150. The first oil pan component 811A is disposed adjacent to the robot base 22 in the first direction 150. The second oil pan component 811B is disposed on the opposite side of the robot base 22 from the first oil pan component 811A in the first direction 150. The second oil pan component 811B is disposed adjacent to the oil pan component 811A in the first direction 150.

[0135] The oil received by the first oil pan component 811A flows toward the robot base 22 (the oil receiving portion 871 described below). The oil received by the second oil pan component 811B flows toward the robot base 22 (the oil receiving portion 871 described below) via the first oil pan component 811A.

[0136] As shown in FIG. 19 , the robot base 22 has an oil receiving portion 871. The oil receiving portion 871 has a tray shape. The oil receiving portion 871 opens upward and has a groove shape in which the vertical direction corresponds to the depth direction. In a top view, the oil receiving portion 871 is provided at a position spaced radially outward from the turning central axis 101. In a top view, the oil receiving portion 871 is provided so as to wrap around the turning central axis 101 in an annular shape. In a top view, the oil receiving portion 871 extends linearly along the first end side 41 and the second end side 42. In a top view, the oil receiving portion 871 is provided along the four sides of the pair of first end sides 41 and the pair of second end sides 42.

[0137] The oil receiving portion 871 receives oil from the oil pan 810. The oil receiving portion 871 is configured to be able to store the oil from the oil pan 810. The oil receiving portion 871 is formed by casting that forms the robot base 22.

[0138] An oil recovery hole 872 is provided in robot base 22. Oil recovery hole 872 is a through-hole that penetrates the bottom portion of oil receiving portion 871. A pipe member 882 is connected to oil recovery hole 872. Pipe member 882 may be a steel pipe or a resin hose. The oil stored in oil receiving portion 871 is recovered into oil-water separation tank 886 through oil recovery hole 872 and pipe member 882. The coolant separated from the oil in oil-water separation tank 886 may be returned to machine tool 10 manually or by a pump.

[0139] As shown in FIGS. 19 and 20, the oil pan part 811 has a bottom portion 812, a side portion 813, and a guide portion 815.

[0140] The bottom portion 812 constitutes the bottom portion of the oil pan component 811. The bottom portion 812 has a plate shape whose thickness direction corresponds to the up-down direction. The bottom portion 812 has a rectangular shape when viewed from above.

[0141] The side portion 813 and the guide portion 815 are provided along the periphery of the bottom portion 812 when viewed from above. The side portion 813 extends upward from the periphery of the bottom portion 812 when viewed from above. The side portion 813 extends in a strip-like shape along the periphery of the bottom portion 812 when viewed from above, while maintaining a constant height in the up-down direction. The guide portion 815 extends downward from the periphery of the bottom portion 812. The guide portion 815 extends in a strip-like shape along the periphery of the bottom portion 812, while maintaining a constant height in the up-down direction.

[0142] Guide portion 815 is provided on the periphery of bottom portion 812 located downstream of the oil flow in each oil pan part 811. Side portion 813 is provided on the periphery of bottom portion 812 other than the periphery where guide portion 815 is provided.

[0143] As shown in Figures 10, 19, and 20, the oil pan component 811 further includes a plurality of step plates 866. The step plates 866 are made of a perforated plate material. The step plates 866 are provided with a plurality of holes that penetrate vertically and are arranged horizontally in a plane. The step plates 866 are made of, for example, punched metal or expanded metal.

[0144] The plurality of step plates 866 are respectively placed on the plurality of oil pan components 811. The step plates 866 are arranged on the bottom portion 812 at positions surrounded by the side portions 813. When an operator enters the space 113 for maintenance of the transport system 100 or the like, the operator can stand on the step plates 866.

[0145] A footplate 861 is placed on the robot base 22. The footplate 861 is made of a perforated plate material similar to the footplate 866. When viewed from above, the footplate 861 is provided along four sides, namely, the pair of first end sides 41 and the pair of second end sides 42. The footplate 861 is disposed above the oil receiving portion 871. The footplate 861 is provided so as to be flush with the footplate 866 in the horizontal direction.

[0146] 19 and 20, the transfer system 100 further includes a plurality of blocks 881. The blocks 881 are interposed between the frame 820 and the oil pan 810 in the vertical direction. The blocks 881 are interposed between the rod 821 and the bottom portion 812 in the vertical direction. The oil pan 810 is placed on the frame 820 via the blocks 881.

[0147] A first block 881a is interposed as a block 881 between first oil pan component 811A and frame 820. A second block 881b is interposed as a block 881 between second oil pan component 811B and frame 820. The thickness of second block 881b in the vertical direction is greater than the thickness of first block 881a in the vertical direction.

[0148] The first oil pan component 811A has a first bottom 812a as the bottom 812. The first bottom 812a is placed on the first block 881a. The second oil pan component 811B has a second bottom 812b as the bottom 812. The second bottom 812b is placed on the second block 881b. The second bottom 812b is provided at a higher position than the first bottom 812a. The first bottom 812a is provided at a higher position than the oil receiving portion 871.

[0149] First bottom 812a may have a vertical gradient that decreases as it approaches oil receiving portion 871 in first direction 150. Second bottom 812b may have a vertical gradient that decreases as it approaches first oil pan component 811A in first direction 150. A vertical thickness relationship may be established between multiple blocks 881 on which bottoms 812 are placed, and a gradient may be created in bottom 812 depending on the thickness relationship.

[0150] 10 and 20, the second bottom portion 812b is provided so as to partially overlap the first bottom portion 812a in a top view. The second bottom portion 812b has a constant width in the first direction 150 and overlaps with the first bottom portion 812a in a band-shaped region extending in the second direction 160 in a top view.

[0151] Second oil pan component 811B has second guide component 815b as the guide portion 815. Second guide component 815b is provided directly above first bottom component 812a. Second guide component 815b faces side component 813 of first oil pan component 811A with a gap in between in first direction 150. Second guide component 815b is configured to guide oil from second bottom component 812b toward first bottom component 812a.

[0152] 10 and 19, first bottom portion 812a is provided so as to partially overlap, in top view, with the opening surface of oil receiving portion 871. First bottom portion 812a has a certain width in first direction 150 and overlaps with the opening surface of oil receiving portion 871 in a band-shaped region extending in second direction 160, in top view.

[0153] First oil pan component 811A has a first guide portion 815a as the guide portion 815. First guide portion 815a is provided directly above the bottom of oil receiving portion 871. First guide portion 815a extends downward from the periphery of first bottom portion 812a and enters the inside of oil receiving portion 871. First guide portion 815a is configured to guide oil from first bottom portion 812a toward oil receiving portion 871.

[0154] 10. Referring to FIGS. 1 and 21, oil pan components 811C and 811D are disposed between the robot base 22 and the machine tool 10S in the first direction 150. The oil pan component 811C is disposed adjacent to the robot base 22 in the first direction 150 and adjacent to the first oil pan component 811A in the second direction 160. The oil pan component 811D is disposed on the opposite side of the robot base 22 from the oil pan component 811C in the first direction 150. The oil pan component 811D is disposed adjacent to the oil pan component 811C in the first direction 150 and adjacent to the second oil pan component 811B in the second direction.

[0155] The oil pan components 811J, 811K, 811L, and 811M are disposed between the robot base 22 and the machine tool 10T in the first direction 150. The oil pan components 811J, 811K, 811L, and 811M are disposed symmetrically to the oil pan components 811A, 811B, 811C, and 811D, respectively, with respect to an imaginary line that passes through the turning center axis 101 and extends in the second direction 160.

[0156] The oil pan components 811E, 811F, and 811G are disposed between the robot base 22 and the pallet stocker 31S in the second direction 160. The oil pan component 811E is disposed adjacent to the robot base 22 in the second direction 160. The oil pan component 811F is disposed on the opposite side of the robot base 22 from the oil pan component 811E in the second direction 160. The oil pan component 811F is disposed adjacent to the oil pan component 811E in the second direction 160. The oil pan component 811G is disposed adjacent to the oil pan component 811E in the first direction 150 and adjacent to the oil pan component 811A in the second direction 160.

[0157] The oil pan components 811N, 811P, and 811Q are disposed between the robot base 22 and the pallet stocker 31T in the second direction 160. The oil pan components 811N, 811P, and 811Q are disposed symmetrically with the oil pan components 811E, 811F, and 811G, respectively, with respect to an imaginary line that passes through the turning center axis 101 and extends in the second direction 160.

[0158] The oil pan components 811H, ​​811I, 811R, and 811S are disposed between the robot base 22 and the workpiece / hand stocker 70 in the second direction 160. The oil pan component 811H is disposed adjacent to the robot base 22 in the second direction 160. The oil pan component 811I is disposed adjacent to the oil pan component 811H in the first direction 150 and adjacent to the oil pan component 811C in the second direction 160.

[0159] The oil pan components 811R and 811S are provided symmetrically to the oil pan components 811H and 811I, respectively, with respect to an imaginary line that passes through the turning center axis 101 and extends in the second direction 160.

[0160] The oil received in first oil pan component 811A, oil pan component 811C, oil pan component 811J, oil pan component 811L, oil pan component 811E, oil pan component 811N, oil pan component 811H, ​​and oil pan component 811R flows into oil receiving portion 871.

[0161] The oil received by second oil pan component 811B flows into oil receiving portion 871 via oil pan component 811A, and the oil received by oil pan components 811D and 811I flows into oil receiving portion 871 via oil pan component 811C. The oil received by oil pan component 811K flows into oil receiving portion 871 via oil pan component 811J, and the oil received by oil pan components 811M and 811S flows into oil receiving portion 871 via oil pan component 811L.

[0162] The oil received by oil pan components 811F and 811G flows through oil pan component 811E into oil receiving portion 871. The oil received by oil pan components 811P and 811Q flows into oil receiving portion 871 through oil pan component 811N.

[0163] The multiple oil pan components 811 are provided with a step structure on the bottom 812, as explained using the first oil pan component 811A and the second oil pan component 811B as examples, to allow the above-mentioned oil flow between adjacent oil pan components 811.

[0164] With this configuration, oil that falls from the workpiece W or pallet 410 during transportation by the robot 21 can be received by the oil pan 810, and the oil received by the oil pan 810 can be collected all at once by the robot base 22. This allows for efficient collection of oil.

[0165] Fig. 22 is a cross-sectional view showing the transport system as seen in the direction of the arrows on the line XXII-XXII in Fig. 10. With reference to Figs. 10 and 22, the transport system 100 further includes a line body 896 and a duct 891.

[0166] The line body 896 is a long body extending from the robot 21. The line body 896 may be, for example, wiring such as a power line and a signal line of the robot 21, or may be air piping used in the clamping mechanism 220 of the master hand 210, etc.

[0167] The duct 891 houses a line body 896. In a top view, the duct 891 extends along the periphery of the oil pan component 811. In a top view, the duct 891 is made of a box body that extends along the periphery of the oil pan component 811. In a top view, the duct 891 extends along the periphery of the oil pan component 811J, the oil pan component 811L, and the oil pan component 811S. In a top view, the duct 891 extends along the boundary between the oil pan component 811J and the oil pan component 811L and the robot base 22.

[0168] The oil pan part 811 further has a support angle 892. The support angle 892 extends upward from the bottom part 812. The support angle 892 is disposed between the footplate 861 and the footplate 866. The support angle 892 supports the duct 891 on the footplate 861 and the footplate 866.

[0169] To summarize the structure of the transfer system 100 according to the embodiment of the present invention as described above, the transfer system 100 according to the present embodiment includes a robot 21 capable of transferring an object, a robot base 22 that supports the robot 21, and an oil pan 810 that is provided to surround the robot base 22 in a top view. The robot base 22 has a tray-like shape and includes an oil receiving portion 871 that receives oil from the oil pan 810.

[0170] With this configuration, oil that falls from an object during transportation by the robot 21 can be received by the oil pan 810, and the oil received by the oil pan 810 can be collected all at once by the robot base 22. This allows for efficient collection of oil.

[0171] The oil pan 810 also includes a plurality of oil pan parts 811 that are combined together in a planar manner.

[0172] According to this configuration, by combining a plurality of oil pan parts 811 in accordance with the range of movement of the object by robot 21, oil pan 810 having an appropriate planar shape can be obtained.

[0173] The multiple oil pan components 811 include a first oil pan component 811A provided adjacent to the robot base 22, and a second oil pan component 811B located on the opposite side of the robot base 22 from the first oil pan component 811A and provided adjacent to the first oil pan component 811A. The first oil pan component 811A has a first bottom 812a. The second oil pan component 811B is provided at a higher position than the first bottom 812a and has a second bottom 812b that partially overlaps with the first bottom 812a in a top view.

[0174] With this configuration, oil can flow down from the second bottom 812b to the first bottom 812a, thereby forming an oil flow from the second oil pan component 811B through the first oil pan component 811A toward the robot base 22.

[0175] The conveying system 100 also includes a frame 820 extending in a plane parallel to the horizontal direction and on which the oil pan 810 is placed, a first block 881a interposed between the first bottom 812a and the frame 820, and a second block 881b having a thickness greater than that of the first block 881a in the vertical direction and interposed between the second bottom 812b and the frame 820.

[0176] According to this configuration, a step can be provided between the first bottom portion 812a and the second bottom portion 812b with a simple configuration.

[0177] The conveying system 100 also includes a line body 896 that includes at least one of wiring and piping and extends from the robot 21, and a duct 891 that extends along the periphery of the oil pan component 811 in a top view and accommodates the line body 896.

[0178] With this configuration, a path for the line body 896 entering and exiting the duct 891 can be easily secured.

[0179] The embodiments disclosed herein should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is defined by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0180] 10, 10S, 10T machine tool, 12 machining area, 14 cover body, 16 opening, 18 operation panel, 21 robot, 22 robot base, 23 drive servo motor, 26 base part, 27 first arm, 28 second arm, 29 hand attachment part, 31, 31S, 31T pallet stocker, 41 first end edge, 42 second end edge, 51 transport operation panel, 56, 56h, 56i, 56j, 56k fence, 61, 61S, 61T setup station, 70 work / hand stocker, 71 work stocker, 81 hand stocker, 100 transport system, 101 turning center axis, 102, 103, 105 rotation center axis, 104, 106 rotation center axis, 113 space, 120 gripping part, 120A First gripping portion, 120B, second gripping portion, 120C, third gripping portion, 120D, fourth gripping portion, 121, groove portion, 126, 231, central axis, 150, first direction, 160, second direction, 170, fourth direction, 180, third direction, 210, master hand, 220, clamping mechanism, 221, grip insertion hole, 226, piston, 227, protrusion, 230, sensor, 310, work hand, 320, gripping jaw, 330, piston cylinder, 340, servo motor, 346, 561, 846, 850, plate, 410, pallet, 510, shelf, 515, fixed shelf, 520, 520p, 520q, 520r, pallet support portion, 525, tapered cone receiving portion, 531, horizontal frame, 532, vertical frame, 533 Pin hole, 550 frame body, 551 column, 560 support part, 610 control device, 620 robot control part, 621 program memory part, 622 program analysis part, 623 axis control part, 624 hand control part, 625 parameter memory part, 630 input / output device, 641 operation program, 660 operation acceptance part, 670 display part, 710 teaching hand, 720 touch probe, 720g contactor, 810 oil pan, 811, 811A, 811B, 811C, 811D, 811E, 811F, 811G, 811H, ​​811I, 811J, 811K, 811L, 811M, 811N, 811P, 811Q, 811R,811S oil pan part, 811A first oil pan part, 811B second oil pan part, 812 bottom part, 812a first bottom part, 812b second bottom part, 813 side part, 815 guide part, 815a first guide part, 815b second guide part, 820 frame, 820U abutment part, 820V mounting part, 820W extension part, 821 rod, 821A first extension rod, 821B second extension rod, 821C first abutment rod, 821D second abutment rod, 821E peripheral rod, 821j first rod, 821k second rod, 821p third rod, 824, 826, 827 cylinder part, 828, 829 plate part, 831 fence mounting member, 832 frame part, 833 Bracket part, 841 leg part, 847 crosspiece, 851 rod connection part, 851a rod mounting surface, 861, 866 step board, 871 oil receiving part, 872 oil recovery hole, 881 block, 881a first block, 881b second block, 882 pipe member, 886 oil-water separation tank, 891 duct, 892 support angle, 896 line body, FL floor surface, W work.

Claims

1. a robot capable of transporting an object; a robot base that supports the robot; an oil pan provided so as to surround the robot base in a top view, The robot base has a tray-shaped oil receiving portion that receives oil from the oil pan.

2. The transfer system of claim 1 , wherein the oil pan includes a plurality of oil pan parts that are planarly assembled together.

3. The plurality of oil pan components include: a first oil pan component provided adjacent to the robot base; a second oil pan component disposed on the opposite side of the robot base with respect to the first oil pan component and adjacent to the first oil pan component, the first oil pan component has a first bottom; The transport system according to claim 2 , wherein the second oil pan part has a second bottom part that is provided at a higher position than the first bottom part and that partially overlaps the first bottom part in a top view.

4. a frame extending in a plane parallel to the horizontal direction and on which the oil pan is placed; a first block interposed between the first bottom and the frame; The transport system according to claim 3 , further comprising a second block having a thickness greater than that of the first block in the vertical direction and interposed between the second bottom portion and the frame.

5. a line body including at least one of wiring and piping and extending from the robot; The transport system according to claim 2 , further comprising: a duct that extends along a periphery of the oil pan part in a top view and that houses the line body.

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