Anti-tipping jig

Abstract

This invention provides a fall prevention jig that effectively prevents the tipping of articulated robots with a simple configuration without requiring fixing to the mounting surface. [Solution] The anti-tipping jig 1 prevents a multi-joint robot 100, which is installed unfixed on the installation surface 200, from rotating in a predetermined direction in a vertical plane relative to the installation surface 200 and tipping over. The anti-tipping jig 1 comprises a reaction force receiving member 2 that is in contact with the installation surface 200 and is unfixed to the installation surface 200, and a rotation axis 3 that connects the reaction force receiving member 2 and the multi-joint robot 100 so that they can rotate relative to each other in a vertical plane, and the multi-joint robot 100 is further connected to a connection point 211 on the reaction force receiving member 2 that is at a different position from the rotation axis 3. Because the reaction force receiving member 2 is connected to the multi-joint robot 100 at the connection point 211, when the multi-joint robot 100 attempts to rotate in a predetermined direction in a vertical plane, the reaction force receiving member 2 attempts to rotate in a predetermined direction around the rotation axis 3, pressing against the installation surface 200 and receiving a reaction force R11 from the installation surface 200.

Description

【Technical Field】 【0001】 The present invention relates to a fall prevention jig for preventing a multi-joint robot from falling. 【Background Art】 【0002】 When using a multi-joint robot, as a countermeasure against falling, the multi-joint robot is fixed to an installation surface such as a floor surface (for example, see Patent Document 1). On the other hand, when storing or moving the multi-joint robot, there are cases where the multi-joint robot is placed on the floor without being fixed to the installation surface. 【0003】 When placing a multi-joint robot on the floor, as a countermeasure against falling when an external force is applied, there are methods such as lowering the center of gravity of the multi-joint robot and contacting the tip of the arm of the multi-joint robot with the installation surface to serve as the rotation center at the time of falling. 【Prior Art Documents】 【Patent Documents】 【0004】 【Patent Document 1】 Japanese Patent Application Laid-Open No. 2024-077676 【Summary of the Invention】 【Problems to be Solved by the Invention】 【0005】 However, simply lowering the center of gravity has a weak effect of preventing falling. Also, when the tip of the arm is brought into contact with the installation surface, although it becomes a configuration that is difficult to fall by moving the rotation center at the time of falling away from the center of gravity of the multi-joint robot, there is a risk of falling when a larger external force is applied. 【0006】 In addition, it is also conceivable to prevent the multi-joint robot from falling by using a jig fixed to the installation surface with an anchor or the like, but it takes time to fix the jig to the installation surface. 【0007】 This invention has been made in view of the above problems, and aims to provide a fall prevention jig that effectively prevents a multi-joint robot from tipping over with a simple configuration without being fixed to the mounting surface. [Means for solving the problem] 【0008】 The present invention, for solving the above problems, is a fall prevention jig for preventing an articulated robot, which is installed without being fixed to a mounting surface, from rotating in a predetermined direction in a vertical plane relative to the mounting surface and falling over, comprising: a reaction force receiving member that is in contact with the mounting surface and is not fixed to the mounting surface; and a rotation axis that connects the reaction force receiving member and the articulated robot so that they can rotate relative to each other in the vertical plane, wherein the articulated robot is further connected to a connection point on the reaction force receiving member that is at a different position from the rotation axis, and the reaction force receiving member is connected to the articulated robot at the connection point, so that when the articulated robot attempts to rotate in the predetermined direction in the vertical plane, it attempts to rotate in the predetermined direction around the rotation axis, pressing against the mounting surface and receiving a reaction force from the mounting surface. 【0009】 The system further comprises a connecting member that connects the aforementioned connection point and the articulated robot, wherein the connecting member is a flexible linear member, and the pressure-receiving point where the reaction force receiving member receives the reaction force is located in the vertical plane on the opposite side of the connection point, with the rotation axis in between. 【0010】 The rotation axis is positioned within the vertical plane on the side of the center of gravity of the articulated robot where the reaction force receiving member receives the reaction force. 【0011】 For example, two reaction force receiving members are provided, each connected to the articulated robot by the rotation axis, and when one direction in the vertical plane is defined as the front-rear direction and the other direction opposite to that direction is defined as the front-rear direction, one of the reaction force receiving members receives a reaction force from the mounting surface when the articulated robot rotates in the vertical plane and attempts to tip forward, and the other reaction force receiving member receives a reaction force from the mounting surface when the articulated robot rotates in the vertical plane and attempts to tip backward. [Effects of the Invention] 【0012】 The present invention provides a fall prevention jig that effectively prevents the tipping of a multi-joint robot with a simple configuration without requiring it to be fixed to the mounting surface. [Brief explanation of the drawing] 【0013】 [Figure 1] This is a schematic side view showing a partial cross-section of an example of a fall prevention jig according to an embodiment of the present invention. [Figure 2] This is a schematic diagram showing a partial cross-section of an example of the anti-tipping jig shown in Figure 1, viewed from the front. [Figure 3] This figure shows a horizontal cross-section along line III-III in Figure 2. [Figure 4] This is a side view illustrating the moment balance of the articulated robot shown in Figure 1 when no anti-tipping jig is installed, with a portion of the view shown in cross-section. [Figure 5] This is a side view illustrating the moment balance when a bracket is fixed to the articulated robot shown in Figure 1, with a partial cross-section. [Figure 6] This is a schematic side view showing a modified example of the anti-tipping jig shown in Figure 1, with a portion of it in cross-section. [Figure 7] This is a schematic side view showing another modified example of the anti-tipping jig shown in Figure 1, with a portion of it in cross-section. [Figure 8] This is a schematic side view, partially cross-sectional, showing an example where a reaction force receiving member and a connecting member are provided on the other side of the articulated robot shown in Figure 1. [Figure 9]FIG. 6 is a side view schematically showing a modified example of the fall prevention jig, with a partial cross-section. 【Embodiments for Carrying out the Invention】 【0014】 Hereinafter, preferred embodiments of the present invention will be described in detail based on the drawings. 【0015】 FIG. 1 is a side view schematically showing an example of the fall prevention jig 1 according to an embodiment of the present invention, with a partial cross-section. The fall prevention jig 1 is provided to prevent the multi-joint robot 100 from falling when the multi-joint robot 100 is installed on an installation surface 200 such as a floor surface for storage, due to an external force P1. 【0016】 The multi-joint robot 100 of the present embodiment is a vertical multi-joint robot having a base 110 and a robot arm 120. The base 110 is provided at the base of the multi-joint robot 100. The robot arm 120 is configured by rotatably connecting a plurality of arm members 121 and 122. The multi-joint robot 100 is installed on the installation surface 200 with a basic posture in which the arm members 121 and 122 of the robot arm 120 are in a predetermined inclination in a vertical plane with respect to the installation surface 200. However, the multi-joint robot 100 is not fixed to the installation surface 200 and is in a non-fixed state. 【0017】 The fall prevention jig 1 of the present embodiment prevents the multi-joint robot 100 from rotating counterclockwise in the vertical plane shown in FIG. 1 with respect to the installation surface 200 due to an external force P1 from the rear and falling forward. "Forward" refers to the tip 123 side of the robot arm 120 of the multi-joint robot 100 in a plane. "Rear" refers to the opposite side of the tip 123 of the robot arm 120 in a plane. 【0018】 FIG. 2 is a schematic view showing an example of the fall-preventing jig 1 of FIG. 1 as seen from the front with a partial cross-section. In the present embodiment, the fall-preventing jig 1 is provided only on one side surface of the articulated robot 100. The "side surface" is a surface when the articulated robot 100 is viewed from a direction orthogonal to the vertical plane shown in FIG. 1 (corresponding to the left-right direction in FIG. 2). 【0019】 As shown in FIG. 1, the fall-preventing jig 1 mainly includes a reaction force receiving member 2, a rotating shaft 3, and a connecting member 4. 【0020】 The reaction force receiving member 2 is a substantially T-shaped member that is inverted up and down and formed of a material having rigidity such as metal, and has a cross member 21 and a columnar protruding portion 22 that protrudes upward from the cross member 21 in FIG. 1. The cross member 21 is installed on the installation surface 200 so as to extend in the front-rear direction and is in contact with the installation surface 200. However, the cross member 21 is not fixed to the installation surface 200 and is in a non-fixed state. The "front-rear direction" corresponds to one direction in the vertical plane shown in FIG. 1 and the other direction opposite to the one direction. In the present embodiment, the front end of the cross member 21 is located at a position corresponding to the front end 111 of the base 110 of the articulated robot 100, but it is not limited thereto. 【0021】 The rotating shaft 3 connects the reaction force receiving member 2 and the articulated robot 100 so as to be relatively rotatable within the vertical plane shown in FIG. 1. In the present embodiment, a stripper bolt is used as the rotating shaft 3. The reference symbol G in FIG. 1 is the center of gravity of the articulated robot 100. In a state where the articulated robot 100 is installed in the basic posture shown in FIG. 1, the rotating shaft 3 is provided in front of the center of gravity G. 【0022】 FIG. 3 is a view showing a horizontal cross-section taken along line III-III of FIG. 2. The stripper bolt (rotating shaft 3) is a bolt with a head, and mainly includes a shaft portion 31, a head portion 32, and a screw 33. The shaft portion 31 is a columnar member. The head portion 32 is a portion that is wider than the shaft portion 31 and is provided at one end in the axial direction of the shaft portion 31. The screw 33 is provided at the other end in the axial direction of the shaft portion 31. 【0023】 A through hole 221 is provided at the upper end of the protruding portion 22 of the reaction force receiving member 2 for passing the shaft portion 31 of the rotating shaft 3. The shaft portion 31 of the rotating shaft 3 is passed through the through hole 221, and the thread 33 of the rotating shaft 3 is screwed into a service tap 130 on the articulated robot 100. The service tap 130 is a screw hole pre-provided on the articulated robot 100 for attaching conveying jigs and the like. In this embodiment, by using this service tap 130 for attaching the rotating shaft 3, processing such as adding screw holes to the articulated robot 100 becomes unnecessary. 【0024】 The connecting member 4 connects the connection point 211 of the reaction force receiving member 2 to the articulated robot 100. The connecting member 4 can be a flexible linear member such as a wire or chain, but is not limited to these. 【0025】 The connection point 211 is located in the reaction force receiving member 2 at a position different from the rotation axis 3. In this embodiment, the connection point 211 is provided on the girder member 21 and is located behind the rotation axis 3. In the example in Figure 1, the connection point 211 is a hole provided at the rear end of the girder member 21, and one end of the connecting member 4 is passed through this hole. However, the method of attaching the connecting member 4 is not limited to this. For example, an attachment member such as an eye bolt may be provided on the girder member 21, and one end of the connecting member 4 may be attached to the attachment member. 【0026】 The other end of the connecting member 4 is attached to the robot arm 120 of the articulated robot 100 at a position higher than the rotation axis 3. In this embodiment, the other end of the connecting member 4 is attached to a mounting member 124 provided on the arm member 122 on the tip 123 side of the robot arm 120. The other end of the connecting member 4 is located in front of and higher than one end of the connecting member 4. 【0027】 In this embodiment, the articulated robot 100 is connected to the reaction force receiving member 2 at the connection point 211 by the connecting member 4. When the articulated robot 100 attempts to rotate in the counterclockwise direction (predetermined direction) shown in Figure 1 due to an external force P1, the connection point 211 is pulled by the tension of the connecting member 4, causing the reaction force receiving member 2 to also attempt to rotate in the counterclockwise direction shown in Figure 1 around the rotation axis 3. 【0028】 At this time, the front end of the girder 21 presses downward against the installation surface 200. The front end of the girder 21 stops moving forward due to the frictional force F caused by contact with the installation surface 200. By pressing downward against the installation surface 200, the front end of the girder 21 receives an upward reaction force R11 from the installation surface 200. The front end of the girder 21, that is, the pressure-receiving point where the reaction force receiving member 2 receives the reaction force R11 from the installation surface 200, is located on the opposite side of the connection point 211, with the rotation axis 3 in between. 【0029】 Furthermore, when an external force P1 is applied, the rotating shaft 3 attempts to push the reaction force receiving member 2 forward. As a result, a reaction force R12 is applied to the rotating shaft 3 from the reaction force receiving member 2 in a backward direction. 【0030】 Next, we will explain the effect of the anti-tipping jig 1 shown in Figure 1 on preventing the articulated robot 100 from tipping over. Here, we first consider the case in which the articulated robot 100 rotates counterclockwise in Figure 1 with the rotation axis 3 as the center of rotation and tips over forward. 【0031】 Considering the balance of moments around the rotation axis 3, let W be the weight of the articulated robot 100, H1 be the height from the mounting surface 200 to the point where the external force P1 is applied, H2 be the height from the mounting surface 200 to the rotation axis 3, L11 be the distance in the front-to-back direction from the point on the reaction force receiving member 2 where the reaction force R11 is received (the front end of the beam member 21) to the rotation axis 3, and L12 be the distance in the front-to-back direction from the rotation axis 3 to the center of gravity G of the articulated robot 100. P1>(R11×L11+W×L12-F×H2) / (H1-H2)…(1) At this point, the articulated robot 100 will fall forward. Assuming L11=L12=120(mm), W=600(kg), H1=1500(mm), and H2=300(mm), equation (1) becomes: P1>(R11×2+1200-F×5) / 20…(2) Therefore, the maximum value of the reaction force R11, i.e., the load-bearing capacity of the mounting surface 200, is usually much larger than the values ​​assumed for the external force P1 and frictional force F. As long as the reaction force receiving member 2 does not deform, the articulated robot 100 with the rotation axis 3 as the center of rotation will almost never tip over. 【0032】 Another case to consider is when the articulated robot 100 rotates counterclockwise in Figure 1 with the front end 111 of the base 110 as the rotation center C1, and then tips over forward. 【0033】 Regarding the balance of moments around the rotation center C1, let L1 be the distance in the front-to-back direction from the rotation center C1 to the center of gravity G of the articulated robot 100, and use the notation used in equation (1) where necessary. P1 > (R12 × H2 + W × L1) / H1 ... (3) At this point, the articulated robot 100 will tip over forward. Assuming L1=240(mm), W=600(kg), H1=1500(mm), and H2=300(mm), if we substitute the maximum value of the reaction force R12, i.e., the shear resistance force of the rotation axis 3, which is 14800(kg), into R12 in equation (3), then equation (3) becomes P1>3056…(4) Thus, by utilizing the reaction force R12 described above, it is possible to prevent the articulated robot 100 from tipping over against an external force P1 of up to 3056 kg. 【0034】 Figure 4 is a side view illustrating, in cross-section, the moment balance when the anti-tipping jig 1 is not installed on the articulated robot 100 of Figure 1, as a comparative example. Here, we assume that the articulated robot 100 rotates with the front end 111 of the base 110 as the rotation center C2, and we consider the moment balance around the rotation center C2. 【0035】 Let L2 be the distance in the front-to-back direction from the rotation center C2 to the center of gravity G of the articulated robot 100. Furthermore, if we use the notation used in equation (1) where necessary, P1 > W × L² / H1…(5) At this point, the articulated robot 100 will tip over forward. Assuming L2 = 240 (mm), H1 = 1500 (mm), and W = 600 (kg), P1>96…(6) Consequently, if the external force P1 exceeds 96 kg, the articulated robot 100 will tip over forward. 【0036】 Figure 5 is a side view illustrating, in cross-section, the moment balance when a roughly T-shaped bracket 5, inverted vertically, is fixed to the articulated robot 100 of Figure 1, as another comparative example. The bracket 5 has a girder member 51 and a plate-shaped projection 52 that protrudes upward from the girder member 51 in Figure 5. The girder member 51 is installed on the installation surface 200 so as to extend in the front-rear direction, but it is not fixed to the installation surface 200. The projection 52 is fixed to the articulated robot 100, and the bracket 5 cannot rotate relative to the articulated robot 100. 【0037】 In this case, the rotation center C3 of the articulated robot 100 becomes the front end of the beam member 51, and can be positioned further forward than in the example in Figure 4. Considering the balance of moments around the rotation center C3, let L3 be the distance in the front-rear direction from the rotation center C3 to the center of gravity G of the articulated robot 100, and similar to equation (5) above, P1>W×L3 / H1…(7) At this point, the articulated robot 100 will tip over forward. Assuming L3=2L2=480(mm), H1=1500(mm), and W=600(kg), P1>192…(8) Consequently, if the external force P1 exceeds 192 kg, the articulated robot 100 will tip over forward. This represents twice the load-bearing capacity of the example in Figure 4, but it is still smaller than the load-bearing capacity when using the anti-tipping jig 1 of this embodiment. Furthermore, because the beam member 51 extends significantly forward, the bracket 5 becomes larger, which presents problems such as the difficulty in transporting the bracket 5 and the need for a large storage space for the bracket 5. 【0038】 As described above, the reaction force receiving member 2 of the anti-tipping jig 1 of this embodiment receives a reaction force R11 from the mounting surface 200 of the articulated robot 100 when the articulated robot 100 attempts to rotate due to an external force P1 from the rear. In addition, a reaction force R12 is also generated on the rotation axis 3 from the reaction force receiving member 2. By utilizing the above reaction forces R11 and R12, the anti-tipping jig 1 can prevent the articulated robot 100 from rotating and tipping over in the event of a larger external force P1. Furthermore, the anti-tipping jig 1 does not need to be fixed to the mounting surface 200, has a simple structure, and can be easily installed. It is also possible to move the articulated robot 100 with the anti-tipping jig 1 attached. 【0039】 Furthermore, in the anti-tipping jig 1 of this embodiment, the reaction force receiving member 2 and the articulated robot 100 can be easily connected by a flexible linear connecting member 4, such as a wire or chain. By changing the length of the connecting member 4, it can accommodate various articulated robots 100. By attaching one end of the connecting member 4 to the connection point 211 of the reaction force receiving member 2, which is located behind the rotation axis 3, the tension of the connecting member 4 pulls the connection point 211 of the reaction force receiving member 2, and the reaction force R11 can be generated at the pressure-receiving point of the reaction force receiving member 2 located on the opposite side of the connection point 211 across the rotation axis 3. 【0040】 Furthermore, in this embodiment, the rotation axis 3 is located in front of the center of gravity G of the articulated robot 100, that is, on the side of the pressure-receiving point of the reaction force receiving member 2. As a result, with respect to the balance of moments around the rotation axis 3, the moment associated with the weight W of the articulated robot 100 can act as a counterforce against the moment caused by the external force P1. 【0041】 However, the present invention is not limited to the above embodiments. For example, in this embodiment, the reaction force receiving member 2 and the articulated robot 100 are connected by a flexible linear connecting member 4 such as a wire or chain, but it is also possible to connect them with a rigid, inflexible connecting member such as structural steel. In this case, since no slack occurs in the connecting member, the degree of freedom in the position of the connecting member is relatively high. For example, the front end of the girder member 21 of the reaction force receiving member 2 and the robot arm 120 of the articulated robot 100 can also be connected by a connecting member provided in the vertical direction. When the articulated robot 100 attempts to rotate due to an external force P1 from the rear, the front end of the girder member 21 is pushed downward by the connecting member, and a reaction force R11 similar to that described above is generated at the front end of the girder member 21. 【0042】 Furthermore, in this embodiment, the shaft portion 31 of the rotating shaft 3 is passed through the through hole 221 of the protrusion 22 of the reaction force receiving member 2, but a U-shaped groove may be provided at the upper end of the protrusion 22, and the shaft portion 31 of the rotating shaft 3 may be placed in the groove. Also, in this embodiment, a stripper bolt is provided as the rotating shaft 3, but a regular bolt may be used. In this case, the diameter of the through hole 221 should be larger than the shaft diameter of the bolt. It is also possible to use a shaft member other than a bolt as the rotating shaft 3, and it is also possible to provide a bearing such as a bearing in the through hole 221. Moreover, in this embodiment, the rotating shaft 3 is located in front of the center of gravity G of the articulated robot 100, but it is not essential that the rotating shaft 3 is located in front of the center of gravity G. 【0043】 Furthermore, the shape of the reaction force receiving member 2 is not particularly limited. Figure 6 is a schematic side view showing a modified example of the anti-tipping jig 1 of Figure 1, specifically the anti-tipping jig 1a, with a portion of it in cross-section. 【0044】 The reaction force receiving member 2a of the anti-tipping jig 1a is a long diagonal member positioned at an inclination with respect to the vertical. The longitudinal middle portion of the reaction force receiving member 2a is connected to the articulated robot 100 by a rotation axis 3 so as to be rotatable relative to it. One longitudinal end of the reaction force receiving member 2a contacts the mounting surface 200 in front of the rotation axis 3, but is not fixed to the mounting surface 200 and is in an unfixed state. This end corresponds to, but is not limited to, the front end 111 of the base 110 of the articulated robot 100. 【0045】 The other longitudinal end of the reaction force receiving member 2a is located behind the rotation axis 3, and one end of the connecting member 4 is attached to the connection point 23 at this end. The connection point 23 is a hole through which one end of the connecting member 4 passes, similar to the connection point 211, but is not limited to this. The other end of the connecting member 4 is attached to a mounting member 124 provided on the robot arm 120 at a position higher than the rotation axis 3. The other end of the connecting member 4 is located in front of and higher than one end of the connecting member 4. 【0046】 By using this anti-tipping jig 1a, the same relationship as in equations (1) and (3) above holds, and by utilizing the reaction force R11 received by the reaction force receiving member 2a and the reaction force R12 received by the rotating shaft 3, the articulated robot 100 can be prevented from tipping over even with a larger external force P1. 【0047】 Furthermore, it is possible to connect the reaction force receiving member directly to the articulated robot 100 without using the connecting member 4. Figure 7 is a schematic side view showing a partial cross-section of the anti-tipping jig 1b, which is another modified example of the anti-tipping jig 1 of Figure 1. 【0048】 The reaction force receiving member 2b of the anti-tipping jig 1b is similar to the reaction force receiving member 2 in Figure 1, with a columnar projection 22b provided on the beam member 21, and the projection 22b and the articulated robot 100 are connected so as to be able to rotate relative to each other by the rotation axis 3. However, the projection 22b extends further upward from the rotation axis 3 in Figure 7, and its upper end (connection point) is fixed to the robot arm 120 of the articulated robot 100 by a mounting member 125 such as a bolt. In this way, the reaction force receiving member 2b and the articulated robot 100 are directly connected. 【0049】 By using this anti-tipping jig 1b, the articulated robot 100 can be prevented from tipping over even with a larger external force P1 by utilizing the reaction force R11 received by the reaction force receiving member 2b and the reaction force R12 received by the rotating shaft 3. However, the shape of the reaction force receiving member 2b must correspond to the shape of each articulated robot 100, and in this respect, the anti-tipping jig 1 shown in Figure 1, which can be applied to various articulated robots 100 by using connecting members 4 of different lengths, is more advantageous. 【0050】 Furthermore, in this embodiment, the reaction force receiving member 2 and the connecting member 4 are provided only on one side of the articulated robot 100 shown in Figure 1. However, it is also possible to provide the reaction force receiving member 2 and the connecting member 4 on the other side of the articulated robot 100 shown in Figure 1. Figure 8 is a schematic side view showing a partial cross-section of an example in which the reaction force receiving member 2 and the connecting member 4 are provided on the other side of the articulated robot 100 shown in Figure 1. 【0051】 When providing the reaction force receiving member 2 and connecting member 4 on the other side of the articulated robot 100, the reaction force receiving member 2 and connecting member 4 in Figure 1 can be reversed front to back. That is, one end of the connecting member 4 is attached to the connection point 211 at the front end of the girder member 21, in front of the rotation axis 3 (corresponding to the right side in Figure 8). The other end of the connecting member 4 is attached to the robot arm 120, behind the one end of the connecting member 4 (corresponding to the left side in Figure 8). This prevents the articulated robot 100 from tipping backward due to an external force P2 from the front by utilizing the reaction force R21 from the mounting surface 200 at the rear end of the girder member 21 and the reaction force R22 received by the rotation axis 3. In this way, the reaction force receiving member 2 and connecting member 4 provided on both sides of the articulated robot 100 can prevent the articulated robot 100 from tipping over due to external forces P1 and P2 from the rear and front. 【0052】 In contrast, it is also possible to prevent the articulated robot 100 from tipping over due to external forces P1 and P2 from the rear and front by providing an anti-tipping jig on one side of the articulated robot 100. Figure 9 is a schematic side view showing a modified example of the anti-tipping jig 1a of Figure 6, namely the anti-tipping jig 1c, with a partial cross-section. The anti-tipping jig 1c is provided on one side of the articulated robot 100 and prevents the articulated robot 100 from tipping over due to external forces P1 and P2 from the rear and front. 【0053】 The anti-tipping jig 1c is provided with two reaction force receiving members 2a and two connecting members 4 as described in Figure 6. The two reaction force receiving members 2a (2a-1, 2a-2) are arranged in an X shape in a vertical plane and connected to the articulated robot 100 by connecting members 4 (4-1, 4-2). The two reaction force receiving members 2a-1 and 2a-2 intersect in the middle of their longitudinal direction and are connected to the articulated robot 100 by a rotation axis 3 at the intersection so as to be able to rotate relative to each other. 【0054】 One reaction force receiving member 2a-1 and connecting member 4-1 are provided in the same manner as the reaction force receiving member 2a and connecting member 4 in Figure 6. The other reaction force receiving member 2a-2 is positioned at an inclination opposite to that of the reaction force receiving member 2a-1 with respect to the vertical direction. One end of the reaction force receiving member 2a-2 in the longitudinal direction is in contact with the installation surface 200 behind the rotation axis 3. The other end of the reaction force receiving member 2a-2 in the longitudinal direction is located in front of the rotation axis 3, and one end of the connecting member 4-2 is attached to the connection point 23 at this end. The other end of the connecting member 4-2 is attached to a mounting member 126 provided on the arm member 122 of the robot arm 120 at a position higher than the rotation axis 3. The other end of the connecting member 4-2 is located behind and higher than one end of the connecting member 4-2. 【0055】 In this example, to prevent the articulated robot 100 from tipping forward against an external force P1 from the rear, the reaction force R11 received by the reaction force receiving member 2a-1 and the reaction force R12 received by the rotation axis 3 are utilized, as explained in Figure 6. Furthermore, to prevent the articulated robot 100 from tipping backward against an external force P2 from the front, the reaction force R21 from the mounting surface 200 at the rear end of the reaction force receiving member 2a-2 and the reaction force R22 received by the rotation axis 3 are utilized, similar to the example in Figure 8. 【0056】 In addition, by connecting the front end of the beam member 21 of the reaction force receiving member 2 of the anti-tipping jig 1 in Figure 1 to the robot arm 120 of the articulated robot 100 with a connecting member 4, it is also possible to prevent the articulated robot 100 from tipping over due to external forces P1 and P2 from the rear and front. 【0057】 In this embodiment, the anti-tipping jig 1 prevents the articulated robot 100 from tipping over during storage, but it is not limited to this. The anti-tipping jig 1 can also be used as a measure against tipping when moving the articulated robot 100 on a transport platform or the like. The anti-tipping jig 1 is also effective as a measure against tipping over during earthquakes. 【0058】 In this embodiment, the articulated robot 100 is a vertical articulated robot, but it is not limited to this. For example, it may be a horizontal articulated robot. The anti-tipping jig 1 can also be used to prevent other objects from tipping over, such as robots other than the articulated robot 100 or various devices other than robots. 【0059】 Preferred embodiments of the present invention have been described above with reference to the attached drawings, but the present invention is not limited to these examples. It will be obvious to those skilled in the art that various modifications or alterations can be conceived within the scope of the technical idea disclosed herein, and these will naturally also fall within the technical scope of the present invention. [Explanation of Symbols] 【0060】 1, 1a, 1b, 1c: Anti-tipping fixtures 2, 2a, 2a-1, 2a-2, 2b: Reaction force receiving material 3: Rotation axis 4, 4-1, 4-2: Connecting material 21, 51: Girder material 22, 22b, 52: Protrusion 23, 211: Connection points 100: Multi-joint robot 110: Bass 120: Robot Arm 121, 122: Arm members 200: Installation surface

Claims

[Claim 1] A fall prevention jig for preventing a multi-joint robot, which is installed without being fixed to a mounting surface, from rotating in a predetermined direction within a vertical plane relative to the mounting surface and tipping over, A reaction force receiving member that is in contact with the aforementioned installation surface and is not fixed to the aforementioned installation surface, A rotation axis connects the reaction force receiving member and the articulated robot so that they can rotate relative to each other within the vertical plane, Equipped with, The joint robot is further connected to a connection point in the reaction force receiving member that is located at a position different from the axis of rotation. The reaction force receiving member is connected to the articulated robot at the connection point, and when the articulated robot attempts to rotate in the predetermined direction within the vertical plane, it attempts to rotate in the predetermined direction around the axis of rotation, pressing against the mounting surface and receiving a reaction force from the mounting surface. [Claim 2] The system further comprises a connecting member that connects the aforementioned connection point and the articulated robot, The connecting member is a flexible linear member, The tipping prevention jig according to claim 1, characterized in that the pressure-receiving point of the reaction force receiving member is located in the vertical plane on the opposite side of the connecting point, with the rotation axis in between. [Claim 3] The anti-tipping jig according to claim 1, characterized in that the rotation axis is located in the vertical plane on the side of the pressure-receiving point where the reaction force receiving member receives the reaction force with respect to the center of gravity of the articulated robot. [Claim 4] Two of the aforementioned reaction force receiving members are provided, each connected to the articulated robot by the rotation axis. When one direction in the aforementioned vertical plane and the other direction opposite to that direction are defined as the front-back direction, On the other hand, the reaction force receiving member receives a reaction force from the mounting surface when the articulated robot rotates in the vertical plane and attempts to tip forward. The anti-tipping jig according to claim 1, characterized in that the other reaction force receiving member receives a reaction force from the installation surface when the articulated robot rotates in the vertical plane and attempts to tip over backward.

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