Collaborative robots and robotic trolleys

Abstract

The objective is to provide a collaborative robot 1 and a robot trolley 2 that can improve the flexibility of the layout. [Solution] The collaborative robot 1 is characterized by comprising a robot body 3, a stand 10 on which the robot body 3 is placed, and a swivel caster 11 attached to the stand 10, wherein the stand 10 is provided with a top plate 200 that covers an upper frame 110, and the top plate 200 is provided with a first divided top plate 203 that spans from one end to the other in the front-rear direction Y of the upper frame 110, a detachable second divided top plate 204 that is placed side by side with respect to the first divided top plate 203 along the width direction X and has a length in the front-rear direction Y that is shorter than that of the first divided top plate 203, and a detachable third divided top plate 205 that covers the opening formed by the first divided top plate 203 and the second divided top plate 204, and a plurality of fixing parts for fixing the robot body 3 are provided on the first divided top plate 203 and the second divided top plate 204.

Description

Technical Field

[0001] This invention relates to a collaborative robot and a cart for a robot that performs a predetermined operation in cooperation with a person, for example, at a manufacturing site.

Background Art

[0002] As one of industrial robots operating at manufacturing sites and the like, a collaborative robot that can cooperate with a person is known. For example, in Patent Document 1, a handle for a user to grip is provided at the upper part, and a robot body is placed and fixed on the upper surface of a pedestal provided with casters and stoppers at the lower part, and a control unit of the robot body is arranged inside the pedestal. A collaborative robot is disclosed.

[0003] A collaborative robot such as that in Patent Document 1 not only is compact but can be introduced at a low cost compared to a large industrial robot operating in, for example, an automobile assembly factory, and thus has the merit that it is easy for small and medium-sized enterprises that wish to introduce a robot to introduce it.

[0004] By the way, since the collaborative robot of Patent Document 1 has a configuration in which the robot body is fixed at a predetermined position on the top plate of the pedestal, even when the position of the robot body is slightly changed, it is necessary to move the robot body together with the pedestal.

[0005] However, at an installation site where the installation space for the collaborative robot is limited, there is a possibility that the collaborative robot cannot be moved to a desired position due to peripheral equipment or the like. For this reason, there has been a demand for a collaborative robot with a high degree of layout freedom that can move the position of the robot body without moving the pedestal.

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

Summary of the Invention

[0007] In view of the above-mentioned problems, the present invention aims to provide a collaborative robot and a robot trolley that can improve the degree of freedom in layout. [Means for solving the problem]

[0008] This invention relates to a collaborative robot comprising an arm-shaped robot body, a frame on which the robot body is positioned on the upper surface, and a plurality of traveling parts attached to the lower part of the frame to make the frame movable, wherein the frame comprises an upper frame constituting the upper framework of the frame, and a top plate attached to the upper frame and covering the upper frame to form the upper surface, wherein the top plate comprises a first divided top plate arranged across one end to the other in a predetermined direction of the upper frame, a detachable second divided top plate arranged in parallel with respect to the first divided top plate along a direction substantially perpendicular to the predetermined direction in a plan view, and having a shorter length in the predetermined direction than the first divided top plate, and a detachable third divided top plate covering the opening formed by the first divided top plate and the second divided top plate, and wherein a plurality of fixing parts for fixing the robot body are provided on the first divided top plate and the second divided top plate among the first divided top plate, the second divided top plate and the third divided top plate.

[0009] This invention relates to a robot carriage comprising a frame on which an arm-shaped robot body is positioned on its upper surface, and a plurality of traveling parts attached to the lower part of the frame to make the frame movable, wherein the frame comprises an upper frame constituting the upper framework of the frame, and a top plate attached to the upper frame and covering the upper frame to form the upper surface, wherein the top plate comprises a first divided top plate arranged across one end to the other in a predetermined direction of the upper frame, a detachable second divided top plate arranged side by side with respect to the first divided top plate in a direction substantially perpendicular to the predetermined direction in a plan view, and having a shorter length in the predetermined direction than the first divided top plate, and a detachable third divided top plate covering the opening formed by the first divided top plate and the second divided top plate, and wherein a plurality of fixing parts for fixing the robot body are provided on the first divided top plate and the second divided top plate among the first divided top plate, the second divided top plate and the third divided top plate.

[0010] The above-mentioned running parts refer to fixed or swivel casters, rollers, or wheels axled on a frame. The upper frame mentioned above refers to frames that are roughly rectangular or roughly circular in plan view, etc. The above-mentioned fixed portion refers to, for example, a fixed portion composed of a T-groove and T-slot nut extending in a predetermined direction, or a fixed portion composed of a screw hole extending in the thickness direction of the top plate.

[0011] According to this invention, since the first and second divided top plates, which have different lengths in a predetermined direction, are arranged side by side in orthogonal directions, the position of the third divided top plate, which covers the opening formed by the first and second divided top plates, can be changed by changing the position of the second divided top plate in the predetermined direction and in the orthogonal direction.

[0012] Therefore, by rearranging the arrangement of the first, second, and third divided top plates, the collaborative robot and robot trolley can be configured to have top plates with different positions for fixing the robot body.

[0013] Furthermore, since the fixed part is not provided on the third divided top plate, the collaborative robot and robot trolley can use the third divided top plate, whose position on the top plate can be arbitrarily changed, for purposes other than fixing the robot body.

[0014] For example, collaborative robots and robotic trolleys can utilize the third-part top plate as a holding section for wire harnesses extending from the robot body, or as a section for mounting emergency stop buttons.

[0015] This allows collaborative robots and robot trolleys to position not only the robot body but also wire harnesses, emergency stop buttons, and other components at appropriate locations on the top surface of the base. Therefore, collaborative robots and robot trolleys can have greater layout flexibility, and even when slightly changing the position of the robot body, it becomes unnecessary to move the base.

[0016] In one aspect of this invention, the third divided top plate may be provided with a holding portion for holding a wire harness extending from the robot body. The above-mentioned retaining part refers to a grommet that holds the wire harness by insertion, or a clamp that holds the wire harness by gripping, etc.

[0017] This configuration allows the wire harness to be positioned using a holding mechanism, and enables the wire harness to be routed to pass through any desired location on the upper surface of the frame. As a result, the collaborative robot can improve the flexibility of the wire harness routing path and route the wire harness in a more aesthetically pleasing manner.

[0018] In another aspect of this invention, a control unit connected to the robot body via the wire harness may be provided, and the holding portion may be composed of a grommet that introduces the wire harness into the inside of the frame.

[0019] According to this configuration, the wire harness can be directly introduced from the top plate into the inside of the gantry. Therefore, the collaborative robot can not only easily arrange the control unit connected to the wire harness inside the gantry, but also suppress the length of the wire harness exposed outside the gantry.

[0020] As a result, the collaborative robot can prevent the user from accidentally contacting the wire harness compared to the case where the wire harness is routed along the outer surface of the gantry. Therefore, the collaborative robot can improve the degree of freedom in layout and enhance safety.

[0021] As another aspect of the present invention, the fixed portion may be composed of a T-groove extending in the predetermined direction and a T-slot nut fitted into the T-groove. According to this configuration, a top plate provided with a plurality of T-grooves extending in the predetermined direction along the orthogonal direction can be formed.

[0022] As a result, the collaborative robot can finely adjust the position of the robot body at least in the predetermined direction compared to a top plate provided with a plurality of screw holes as the fixed portion, so that the degree of freedom in the layout of the robot body can be improved.

[0023] As another aspect of the present invention, a detachable fourth divided top plate having a plurality of the fixed portions may be provided to cover the opening formed by the first divided top plate and the second divided top plate instead of the third divided top plate.

[0024] According to this configuration, it is possible to prevent the installation space of the robot body from being narrowed by the unused third divided top plate. Therefore, the collaborative robot can effectively utilize the limited space on the upper surface of the gantry without sacrificing the degree of freedom in layout.

[0025] Also, as an aspect of the present invention, the upper frame is formed in a substantially rectangular shape in a plan view that is long in the predetermined direction, and the first divided top plate and the second divided top plate have substantially the same length in the orthogonal direction and are formed in a substantially rectangular shape in a plan view that is long in the predetermined direction, and a plurality of each may be provided.

[0026] According to this configuration, since a substantially rectangular top plate can be configured regardless of how the first divided top plate, the second divided top plate, and the third divided top plate are recombined, for example, compared with an upper frame having a substantially circular shape in a plan view, the degree of freedom in combining the first divided top plate, the second divided top plate, and the third divided top plate can be improved. Thereby, the collaborative robot can diversify the configuration of the top plate, and thus the degree of freedom in layout can be further improved.

Effects of the Invention

[0027] According to the present invention, it is possible to provide a collaborative robot and a cart for a robot that can improve the degree of freedom in layout.

Brief Description of the Drawings

[0028] [Figure 1] An external perspective view showing the appearance of the collaborative robot as viewed from the front upper side. [Figure 2] A block diagram showing the internal configuration of the collaborative robot. [Figure 3] A side view showing the appearance of the collaborative robot in a side view. [Figure 4] A front view showing the appearance of the collaborative robot in a front view. [Figure 5] A plan view showing the appearance of the collaborative robot in a plan view. [Figure 6] An exploded perspective view showing the state where the laser scanner is removed. [Figure 7] A cross-sectional view taken along the line A-A in FIG. 3. [Figure 8] A cross-sectional view taken along the line B-B in FIG. 3. [Figure 9] A cross-sectional view taken along the line C-C in FIG. 3. [Figure 10] An exploded perspective view showing the top plate in a disassembled state. [Figure 11] Cross-sectional view taken along arrow DD in Figure 5. [Figure 12] An explanatory diagram showing the structure of the tabletop in a plan view. [Figure 13] A plan view showing the appearance of the top panel in another embodiment. [Modes for carrying out the invention]

[0029] One embodiment of this invention will be described below with reference to the drawings. This embodiment describes a collaborative robot 1 that performs predetermined tasks in cooperation with humans in manufacturing sites and the like, using Figures 1 to 12. Figure 1 shows an external perspective view of collaborative robot 1 as seen from the front and above, Figure 2 shows a block diagram of collaborative robot 1, Figure 3 shows a side view of collaborative robot 1, Figure 4 shows a front view of collaborative robot 1, and Figure 5 shows a top view of collaborative robot 1.

[0030] Furthermore, Figure 6 shows an exploded perspective view with the laser scanner 6 removed, Figure 7 shows a cross-sectional view taken along the arrow AA in Figure 3, Figure 8 shows a cross-sectional view taken along the arrow BB in Figure 3, Figure 9 shows a cross-sectional view taken along the arrow CC in Figure 3, Figure 10 shows an exploded perspective view of the top plate 200, Figure 11 shows a cross-sectional view taken along the arrow DD in Figure 5, and Figure 12 shows an explanatory diagram illustrating the configuration of the top plate 200 in a plan view.

[0031] Furthermore, to clarify the illustrations, the fixing bracket 14 is shown as a dashed line in Figure 3, and the edge member 202 is omitted from the illustration in Figure 10. Furthermore, in the diagram, only parts of the air hose H, robot wire harness W1, button wire harness W2, terminal wire harness W3, and scanner wire harness W4 are shown, with detailed illustrations omitted.

[0032] Furthermore, with the upper side of Figure 1 being considered upward and the lower side being considered downward, the arrow X in the figure indicates the width direction of the collaborative robot 1 in a plan view (hereinafter referred to as the width direction X).

[0033] Furthermore, in the figure, arrow Y indicates the front-to-back direction (hereinafter referred to as the front-to-back direction Y) which is approximately perpendicular to the width direction X in a plan view, arrow Yf indicates the front side of the front-to-back direction Y (hereinafter referred to as the front side Yf), and arrow Yr indicates the rear side of the front-to-back direction Y (hereinafter referred to as the rear side Yr).

[0034] As shown in Figure 1, the collaborative robot 1 of this embodiment includes a self-propelled robot carriage 2 that can be moved by being pushed by a user, an arm-shaped robot body 3, an emergency stop button 4, a teaching terminal 5, and a laser scanner 6 arranged on the outer surface of the robot carriage 2. Furthermore, as shown in Figures 2 and 3, the collaborative robot 1 is equipped with a power supply unit 7, a compressor 8, and a control unit 9 located inside the robot carriage 2.

[0035] First, as shown in Figures 1, 3, and 4, the robot trolley 2 is roughly rectangular in plan view, elongated in the front-to-back direction Y, and includes a frame 10 on which the robot body 3 is mounted and fixed, four swivel casters 11 that make the frame 10 movable, and a handle 12 that the user grips to move the collaborative robot 1.

[0036] More specifically, as shown in Figure 1, the frame 10 of the robot carriage 2 is a columnar body with a roughly rectangular shape in plan view, and is formed such that the entire area from one end to the other in the width direction X is recessed from the front side Yf to the rear side Yr in the front-rear direction Y, and there is a recessed space S with both sides in the width direction X open, located below approximately the center in the vertical direction.

[0037] As shown in Figures 3 and 4, the frame 10 comprises a frame body 100 constructed from, for example, an extruded aluminum member, a top plate 200 that forms the upper surface of the robot trolley 2, and a plurality of decorative panels attached to the frame body 100 and covering the opening of the frame body 100. Furthermore, as shown in Figures 3 and 4, the frame 10 includes four adjusters 13 that form legs that contact the floor surface, and four fixing brackets 14 for fixing to the floor surface.

[0038] Specifically, as shown in Figure 3, the frame body 100 is located above the concave space S and has a roughly rectangular upper frame section 100A in plan view that occupies two-thirds of the size of the frame body 100, a roughly rectangular lower frame section 100B in plan view that is located below the concave space S, and a frame connecting section 100C that connects the rear side Yr of the upper frame section 100A to the rear side of the lower frame section 100B, with the frame connecting section 100C having a concave space S on its front side Yf.

[0039] Furthermore, the frame body 100 is provided with a frame reinforcement section 100D at the front side Yf of the frame connection section 100C, which reinforces the space between the upper frame section 100A and the lower frame section 100B, thereby ensuring the rigidity of the frame body 100 having a concave space S.

[0040] The frame body 100 has openings on the front side Yf and widthwise side X of the upper frame section 100A, on the widthwise side X of the frame connecting section 100C, and on the rear side Yr extending from the upper frame section 100A to the lower frame section 100B.

[0041] As shown in Figure 1, in such a frame body 100, the opening on the front side Yf at the top of the frame 100A is covered with a thin first decorative panel 15, and the opening in the width direction X at the top of the frame 100A is covered with a thin second decorative panel 16.

[0042] Furthermore, as shown in Figure 1, the frame body 100 has an opening in the width direction X at the frame connection section 100C covered with a thin third decorative panel 17, and the rear side opening Yr extending from the upper part 100A to the lower part 100B of the frame is covered with a thin fourth decorative panel 18 (see Figure 8).

[0043] Furthermore, as shown in Figure 1, the top plate 200 of the frame 10 covers the upper opening in the upper part 100A of the frame, and is configured to allow the robot body 3 to be positioned at any desired location. This top plate 200 will be described in detail later.

[0044] Furthermore, as shown in Figures 3 and 4, the four adjusters 13 of the frame 10 are attached to flat plates (not shown) provided at the four corners of the lower part 100B of the frame body 100. These adjusters 13 are configured to be able to switch between a state in which they contact the floor surface to restrict the movement of the robot cart 2 and a state where they are separated from the floor surface by operation by the user.

[0045] Furthermore, as shown in Figures 3 and 4, the four fixing brackets 14 of the frame 10 are brackets that are detachably attached to the lower part 100B of the frame 10 and are roughly L-shaped in a front view, with one pair of brackets facing each other in the width direction X and spaced apart in the front-rear direction Y.

[0046] The fixing bracket 14 is configured such that the portion having thickness in the width direction X is detachably attached to the frame 10, and the portion having thickness in the vertical direction is detachably attached to the floor surface.

[0047] Furthermore, as shown in Figures 3 and 4, the four swivel casters 11 of the robot trolley 2 are attached together with adjusters 13 to flat plates (reference numerals omitted) provided at the four corners of the lower part 100B of the frame body 100. The swivel caster 11 is positioned such that its width X position is approximately the same as that of the adjuster 13, and its front-to-back Y position is located further inward in the front-to-back Y direction than that of the adjuster 13.

[0048] Furthermore, as shown in Figures 1 and 3, the handle portion 12 of the robot trolley 2 is attached to the front surface of the upper part 100A of the frame 10, near the upper end of the upper part 100A of the frame 10, so as to span from one end to the other in the width direction X.

[0049] Furthermore, as shown in Figure 1, the robot body 3 is fastened and fixed to the top plate 200 of the robot carriage 2 at any position on the top plate 200 of the robot carriage 2 via fastening bolts 19 (see Figure 5), which will be described later. For example, as shown in Figure 5, the robot body 3 is fixed to the top plate 200 of the robot carriage 2 at the rear side Yr in the front-to-back direction Y, and approximately in the center in the width direction X.

[0050] The robot body 3 consists of a robot arm connected to a control unit 9 (described later) via a robot wire harness W1, and a suction hand 33 for holding transported objects by suction is detachably attached to its tip. The robot body 3 has the function of operating each axis based on control signals from the control unit 9, the function of holding the transported object by suction, and the function of releasing the state of holding the transported object by suction.

[0051] Specifically, as shown in Figure 1, the robot body 3 comprises a base plate 31 that is roughly rectangular in plan view and fixed to the upper surface of the robot carriage 2, an arm portion 32 extending upward from the base plate 31, and a suction hand 33 provided at the tip of the arm portion 32. As shown in Figure 5, the base plate 31 of the robot body 3 is a plate that is roughly rectangular in plan view, and one end of the arm 32 is fixed to its center.

[0052] This base plate 31 has four elongated oval-shaped first slots 31a extending along the diagonal, and two elongated oval-shaped second slots 31b extending in the width direction X, which are formed between the first slots 31a and at the ends in the front-to-back direction Y. The first elongated hole 31a and the second elongated hole 31b are formed as through holes through which fastening bolts 19, which will be screwed into the T-slot nuts 207 of the top plate 200 (described later), are inserted.

[0053] The arm 32 of the robot body 3, although a detailed explanation is omitted, has six axes controlled by the control unit 9, and each axis is equipped with a drive motor and a torque sensor. Based on the control signals from the control unit 9, the drive motors on each axis of the arm 32 are rotated, so that the tip can move freely within a predetermined range centered on the base plate 31.

[0054] The suction hand 33 of the robot body 3 is electrically connected to the arm 32 and is also connected to a compressor 8 (described later) via an air hose H (see Figure 1). Inside the suction hand 33, there is an on / off valve (not shown) that opens and closes an internal passage that communicates with the air hose H. Furthermore, the on / off valve of the suction hand 33 is configured to be able to switch between a closed state, which closes the internal flow path, and an open state, which releases the blockage of the internal flow path, based on a control signal from the control unit 9.

[0055] Furthermore, the emergency stop button 4 is a push-button switch that forcibly stops the operation of the robot body 3, and is fixed at any position on the top plate 200 of the robot carriage 2. For example, as shown in Figure 5, the emergency stop button 4 is fixed to one end of the top plate 200 of the robot carriage 2, on the front side Yf in the front-rear direction Y and on the width side X.

[0056] As shown in Figure 2, this emergency stop button 4 is connected to the control unit 9 via the button wire harness W2 (see Figure 1) and has the function of detecting when the button is pressed by the user and outputting a press signal indicating the user's press to the control unit 9.

[0057] Furthermore, the teaching terminal 5 is a terminal used to program the movements of the robot body 3 by teaching so that it can perform the desired actions, and is connected to the control unit 9 via the terminal wire harness W3 (see Figure 1).

[0058] This teaching terminal 5, although a detailed explanation will be omitted, consists of a tablet-type terminal equipped with a touch panel display (code omitted) that displays various information and accepts various operations from the user, as well as an emergency stop button (code omitted). Furthermore, as shown in Figure 1, the teaching terminal 5 can be housed by being attached to a hook (not shown) provided on the first decorative panel 15 of the robot carriage 2.

[0059] Furthermore, the laser scanner 6 is a device that detects objects by irradiating a wide area with laser light and receiving reflected light reflected from objects within the irradiation range of the laser light, and is configured to irradiate a range of up to 270° in a planar view. In other words, the laser scanner 6 is a device with an effective detection angle of up to 270° in a planar view, capable of detecting objects.

[0060] This laser scanner 6 is connected to the control unit 9 via a scanner wire harness W4 (see Figure 6) and has the functions of emitting laser light based on control signals from the control unit 9, detecting objects approaching the robot body 3 based on reflected light, and outputting a detection signal to the control unit 9 according to the distance to the detected object.

[0061] Furthermore, the laser scanner 6 is configured to accept changes to the effective detection angle and settings for partial non-detection areas via external devices connected to an external input terminal (details omitted from the illustration). As shown in Figures 3 and 4, such a laser scanner 6 is positioned in a concave space S that extends from the front side Yf to the rear side Yr, approximately in the center of the width direction X and near the end on the front side Yf in the front-to-back direction Y.

[0062] Specifically, as shown in Figures 6 and 7, the laser scanner 6 is fixed via a base plate 20 to the lower part of the base 100B, approximately in the center of the width direction X, and near the front end of the lower part of the base 100B (the short side member 132 of the front side Yf of the lower frame 130, which will be described later).

[0063] As shown in Figures 6 and 7, the base plate 20 has an upper surface on which the laser scanner 6 is placed, and is a flat plate that is roughly rectangular in plan view and can be attached to the lower part 100B of the frame. It is provided with screw holes (not shown) through which screws (not shown) that are screwed into the laser scanner 6 from below are inserted.

[0064] Furthermore, when the laser scanner 6 is fixed to the lower part 100B of the mount, it is positioned such that the detection angle in the clockwise direction and the detection angle in the counterclockwise direction are both 135° with respect to a virtual straight line (not shown) along the front-to-back direction Y that passes through approximately the center in the plan view.

[0065] Furthermore, as shown in Figure 3, the power supply unit 7 is located inside the upper part 100A of the frame on the robot carriage 2. This power supply unit 7 has the function of receiving power from an external source and the function of transforming the external power and outputting it to the robot body 3, compressor 8, teaching terminal 5, and laser scanner 6.

[0066] Furthermore, as shown in Figure 3, the compressor 8 is located inside the upper part 100A of the frame of the robot trolley 2 and is electrically connected to the control unit 9. This compressor 8 operates according to the control signals of the control unit 9 and has the function of drawing in air through the connected air hose H and discharging it to the outside.

[0067] Furthermore, the control unit 9 consists of hardware such as a CPU and memory, and software such as a control program, and is located inside the upper part 100A of the frame of the robot carriage 2, as shown in Figure 3.

[0068] This control unit 9 has processing functions related to the operation of the robot body 3, processing functions related to the operation of the on / off valve of the suction hand 33, processing functions related to the exchange of various information with the teaching terminal 5, and various processing functions based on the emergency stop button 4 and the laser scanner 6.

[0069] For example, if the laser scanner 6 does not detect an object such as the user or the luggage the user is carrying, the control unit 9 controls the movement of the robot body 3 at a predetermined operating speed.

[0070] On the other hand, if the laser scanner 6 detects an object and the distance from the laser scanner 6 to the object is relatively far, the control unit 9 controls the movement of the robot body 3 at a slower operating speed than a predetermined operating speed because the object is approaching the robot body 3. Furthermore, if the distance from the laser scanner 6 to the object is short, the control unit 9 stops the operation of the robot body 3 because the object is too close to the robot body 3.

[0071] Next, we will provide further details about the frame body 100 and top plate 200 of the robot trolley 2 described above. As described above, the frame body 100 has a shape in which the upper frame 100A, lower frame 100B, and frame connecting portion 100C have a concave space S located approximately below the center in the vertical direction, and the rigidity of the frame body 100 is ensured by the frame reinforcing portion 100D.

[0072] As shown in Figures 1 and 3, the upper part 100A, lower part 100B, and connecting part 100C of the frame body 100 are constructed by connecting in the vertical direction an upper frame 110, a middle frame 120, and a lower frame 130, which are roughly rectangular frames in plan view and are arranged at predetermined intervals in the vertical direction.

[0073] More specifically, the upper part 100A of the frame body 100 is composed of an upper frame 110 and an intermediate frame 120, which are roughly rectangular in plan view, a pair of first column members 101 that connect the front side Yf of the intermediate frame 120 to the upper frame 110, and a pair of second column members 102 and one third column member 103 that connect the rear side Yr of the intermediate frame 120 to both the upper frame 110 and the lower frame 130.

[0074] Specifically, as shown in Figures 3 and 4, the upper frame 110 is formed into a frame that is approximately rectangular in plan view, consisting of a pair of long side members 111 extending in the front-to-back direction Y at predetermined intervals in the width direction X, and a pair of short side members 112 connecting the ends of the long side members 111 in the width direction X.

[0075] Furthermore, the upper frame 110 includes, internally, a pair of widthwise members 113 (see Figure 10) that connect the long side members 111 in the width direction X at predetermined intervals in the front-rear direction Y, and a front-rear member 114 (see Figure 11) that connects the approximate center of the widthwise members 113 in the front-rear direction Y in the width direction X.

[0076] Of this upper frame 110, the upper surfaces of the long side member 111, the short side member 112, and the width direction member 113 are recessed with T-grooves (reference numeral omitted) for fixing the top plate 200, although detailed illustrations are omitted. Furthermore, as shown in Figure 4, a handle portion 12 extending from one end to the other in the width direction X is attached to the short side member 112 of the front side Yf of the upper frame 110.

[0077] Furthermore, as shown in Figures 3 and 8, the middle frame 120 is formed into a frame that is approximately rectangular in plan view by a pair of long side members 121 that extend in the front-to-back direction Y at approximately the same distance in the width direction X as the long side members 111 of the upper frame 110, and a pair of short side members 122 that connect the ends of the long side members 121 in the width direction X. Furthermore, the short side member 122 on the rear side Yr of the middle frame 120 is connected to the long side member 121 via the second column member 102, which will be described later.

[0078] Furthermore, as shown in Figure 8, the intermediate frame 120 is provided with a pair of widthwise members 123 that connect the long side members 121 in the widthwise direction X via a third column member 103, which will be described later, at a point Yr slightly behind the approximate center in the front-rear direction Y.

[0079] Furthermore, as shown in Figures 3 and 4, the pair of first column members 101 are members that extend vertically at predetermined intervals in the width direction X, and connect the front side Yf corner of the upper frame 110 and the front side Yf corner of the middle frame 120 in the vertical direction. Specifically, the first column member 101 connects the front end of the long side member 111 in the upper frame 110 and the front end of the long side member 121 in the middle frame 120 in the vertical direction.

[0080] Furthermore, as shown in Figures 3 and 8, the pair of second column members 102 are members that extend vertically at predetermined intervals in the width direction X, and connect the rear Yr corner of the upper frame 110, the rear Yr corner of the middle frame 120, and the rear Yr corner of the lower frame 130 in the vertical direction.

[0081] Specifically, the second column member 102 connects the rear end of the long side member 111 in the upper frame 110, the rear end of the long side member 121 in the middle frame 120, and the rear end of the long side member 131 in the lower frame 130, which will be described later, in the vertical direction.

[0082] Furthermore, although detailed illustrations are omitted, one third column member 103 is a member that extends vertically inside the frame body 100 at a point slightly rearward Yr from approximately the center in the front-rear direction Y, and connects the upper frame 110, the middle frame 120, and the lower frame 130 in the vertical direction.

[0083] Specifically, as shown in Figures 7 and 8, the third column member 103 connects the front-to-back member 114 of the upper frame 110, the widthwise member 123 of the middle frame 120, and the front-to-back member 133 of the lower frame 130 (described later) in the vertical direction, approximately in the center of the width direction X.

[0084] Furthermore, as shown in Figures 1 and 3, the lower part of the support frame 100B consists of a lower frame 130, which is a roughly rectangular frame in plan view and is positioned below the middle frame 120 at a predetermined distance; a front bottom plate 104 positioned on the front side Yf of the lower frame 130; and a rear bottom plate (reference numeral omitted) positioned on the rear side Yr of the lower frame 130.

[0085] Specifically, as shown in Figures 3 and 4, the lower frame 130 is formed into a frame that is roughly rectangular in plan view by a pair of long side members 131 that extend in the front-to-back direction Y at approximately the same width direction X distance from the long side members 121 of the middle frame 120, and a pair of short side members 132 that connect the ends of the long side members 131 in the width direction X. Furthermore, the rear-side short-side member 132 of the lower frame 130 is connected to the long-side member 131 via the lower end of the second column member 102.

[0086] Furthermore, as shown in Figures 7 and 9, the lower frame 130 includes a front-to-back member 133 that connects the short side member 132 in the front-to-back direction Y at approximately the center in the width direction X, and a pair of width-direction members 134 that connect the long side member 131 in the width direction X via the front-to-back member 133 at approximately the same front-to-back direction Y position as the width-direction member 123 of the middle frame 120.

[0087] Furthermore, the lower end of the aforementioned third column member 103 is connected to the portion where the widthwise member 134 intersects the front-rear direction member 133. Flat plates (not shown in the reference numerals) are attached to the four corners of the lower surface of this lower frame 130, so as to span the long side member 131 and the short side member 132, and are used to attach the adjusters 13 and swivel casters 11 mentioned above.

[0088] Furthermore, as shown in Figures 6 and 7, a base plate 20 to which the laser scanner 6 is fixed is fastened and secured to the lower frame 130 via fastening bolts 21 to the upper surface of the short side member 132 on the front side Yf.

[0089] Furthermore, the front bottom plate 104, as will be described in detail later, is made of a thick metal plate that covers the opening between the short side member 132 and the width direction member 134 of the front side Yf of the lower frame 130. Furthermore, although detailed illustrations are omitted, the rear bottom plate is composed of a thin plate that covers the opening between the rear-side short-side member 132 and the width-direction member 134 of the lower frame 130.

[0090] Furthermore, as shown in Figures 1 and 3, the frame connection section 100C is composed of the aforementioned second column member 102 and third column member 103 that connect the upper frame 110 to the lower frame 130 via the middle frame 120, and a pair of fourth column members 105 that connect the middle frame 120 to the lower frame 130 in the vertical direction at a position Yr slightly behind the approximate center in the front-rear direction Y.

[0091] Specifically, as shown in Figures 3 and 7, the pair of fourth column members 105 connect the long side members 121 of the middle frame 120 and the long side members 131 of the lower frame 130 in the vertical direction at approximately the same front-to-back Y position as the widthwise member 123 of the middle frame 120 and the widthwise member 134 of the lower frame 130.

[0092] Furthermore, as shown in Figures 4 and 7 to 9, the support structure reinforcement section 100D is composed of a pair of inclined members 124 provided on the middle frame 120, the aforementioned front bottom plate 104 fixed to the front side Yf on the upper surface of the lower frame 130, and a pair of wall members 106 connecting the inclined members 124 to the front bottom plate 104.

[0093] As shown in Figure 8, the pair of inclined members 124 are arranged inside the intermediate frame 120 so as to follow a virtual straight line (not shown) in a roughly V-shape in plan view, which has its apex approximately at the center in the width direction X, and extends toward the rear side Yr in the front-rear direction Y and toward the outside in the width direction X.

[0094] Specifically, the inclined member 124 connects the approximate center of the width direction X in the short side member 122 of the front side Yf and the approximate center of the front-to-back direction Y in the long side member 121 in a roughly V-shape in plan view, so as to be roughly parallel to the main body portion 106a of the wall member 106, which will be described later.

[0095] Furthermore, an upper surface cover 107 (see Figures 8 and 9), which is roughly rectangular in plan view, is attached to the lower surface of the inclined member 124. This cover covers the opening Yf in the middle frame 120 that is forward of the widthwise member 123 from below, and also forms the upper surface of the concave space S.

[0096] Furthermore, as shown in Figures 7 and 9, the front bottom plate 104 is a flat metal plate that covers from above the opening surrounded by the short side member 132, the pair of long side members 131 and the width direction member 134 on the front side Yf of the lower frame 130, and together with the base plate 20 to which the laser scanner 6 is fixed, forms the bottom of the concave space S. Furthermore, the front base plate 104 has a notch 104a formed in which the portion that overlaps with the base plate 20 is cut out in a roughly rectangular shape in plan view.

[0097] As shown in Figure 9, this front bottom plate 104 is a member with high mechanical strength against loads acting from above downwards, and is formed with a thickness that is thicker than the thickness of the decorative panel covering the opening of the frame body 100 and the thickness of the base plate 20 to which the laser scanner 6 is attached.

[0098] Furthermore, as shown in Figures 4 and 7, the pair of wall members 106 are arranged at a predetermined distance in the width direction X on the rear side Yr of the laser scanner 6, and are fastened and fixed to the inclined member 124 and the front bottom plate 104 of the intermediate frame 120, respectively.

[0099] This wall member 106 is a member with high mechanical strength against loads acting from above downwards, and is formed with a thickness that is thicker than the thickness of the decorative panel and the base plate 20, but thinner than the thickness of the front bottom plate 104.

[0100] Specifically, as shown in Figures 7 to 9, the wall member 106 is integrally formed in a concave shape with an opening at the front Yf, consisting of a main body portion 106a that is elongated in the width direction X, an upper flange portion 106b that extends from the upper end of the main body portion 106a toward the front Yf, and a lower flange portion 106c that extends from the lower end of the main body portion 106a toward the front Yf.

[0101] As shown in Figure 7, the main body portion 106a of this pair of wall members 106 is positioned so as to follow a virtual straight line (not shown) in a roughly V-shape in plan view that extends from the fourth column member 105 located at both ends in the width direction X on the front side Yf of the frame connection portion 100C toward the approximate center in plan view of the laser scanner 6.

[0102] More specifically, as shown in Figure 7, the pair of wall members 106 are positioned such that the angle θ formed by the two main body portions 106a, centered approximately at the center of the laser scanner 6 in a plan view, passes through the laser scanner 6 side and is 270°, which is the same as the effective detection angle of the laser scanner 6.

[0103] Furthermore, as shown in Figure 9, the pair of wall members 106 have their upper flange portion 106b fastened and fixed to the inclined member 124 of the intermediate frame 120 via the upper cover 107, and their lower flange portion 106c fastened and fixed to the front bottom plate 104. Furthermore, on the rear side Yr of the laser scanner 6, the gap formed by the pair of wall members 106 is covered by a thin plate front cover member 108, which has an opening at its bottom through which the scanner wire harness W4 extending from the laser scanner 6 passes, as shown in Figures 4 and 7.

[0104] Furthermore, the gap between the rear end Yr of the wall member 106 and the fourth column member 105 is covered by a pair of rear cover members 109 shaped along a virtual straight line connecting the front surface of the main body portion 106a of the wall member 106 and the fourth column member 105, as shown in Figures 4 and 7.

[0105] Therefore, the wall member 106, at the rear side Yr of the laser scanner 6, forms a wall surface that, together with the front cover member 108 and the rear cover member 109, has a roughly trapezoidal shape in plan view with the front side Yf as the shorter side.

[0106] Thus, the collaborative robot 1 has a recessed portion (not shown in numerals) that constitutes the concave space S, which is composed of the above-mentioned top cover 107, the base plate 20 and the front bottom plate 104, a pair of wall members 106, a front cover member 108 and a pair of rear cover members 109. Furthermore, the collaborative robot 1 reinforces the front side Yf of the frame body 100 with the frame reinforcement part 100D without obstructing the effective detection range of the laser scanner 6 positioned in the recessed area.

[0107] Furthermore, as shown in Figures 1 and 5, the top plate 200 of the robot trolley 2 is approximately the same size as the upper frame 110 of the frame body 100, is roughly rectangular in plan view, and is detachably attached to the upper frame 110. Furthermore, edge members 202 with a roughly inverted L-shaped cross-section, which close the opening of the T-groove 206 (described later), are attached to the front and rear edges of the top plate 200 using screws 201.

[0108] As shown in Figures 5 and 10, the top plate 200 is divided into four first divided top plates 203 having approximately the same length in the front-to-back direction Y as the upper frame 110, two second divided top plates 204 having a shorter length in the front-to-back direction Y than the first divided top plates 203, and two third divided top plates 205 that cover the opening formed by the first divided top plates 203 and the second divided top plates 204.

[0109] The first divided top plate 203, the second divided top plate 204, and the third divided top plate 205 are roughly rectangular in plan view with approximately the same length in the width direction X, and the second divided top plate 204 and the third divided top plate 205 are placed side by side in the front-to-back direction Y, and are also placed side by side in the width direction X relative to the first divided top plate 203.

[0110] Specifically, as shown in Figures 5 and 10, the first divided top plate 203 is a flat plate that is long in the front-to-back direction Y and is roughly rectangular in plan view, and is formed to span the length in the front-to-back direction Y across a pair of short-side members 112 in the upper frame 110. As shown in Figures 10 and 11, the first divided top plate 203 has a cross-sectional shape that is approximately an inverted T shape in the vertical cross-section along the width direction X, and three T-grooves 206 extending along the front-to-back direction Y are recessed in the width direction X at predetermined intervals.

[0111] Furthermore, as shown in Figures 5 and 10, the second divided top plate 204 is a flat plate that is long in the front-to-back direction Y and is roughly rectangular in plan view, and is formed to span the length in the front-to-back direction Y, between the widthwise member 113 on the front side Yf and the short side member 112 on the rear side Yr of the upper frame 110.

[0112] As shown in Figures 10 and 11, the second divided top plate 204 has a cross-sectional shape that is approximately an inverted T shape in the vertical cross-section along the width direction X, and three T-grooves 206 extending along the front-to-back direction Y are recessed in the width direction X at predetermined intervals.

[0113] Furthermore, T-slot nuts 207 are inserted from one end in the front-rear direction Y into the T-grooves 206 of the first divided top plate 203 and the T-grooves 206 of the second divided top plate 204. Fastening bolts 19 for fixing the robot body 3 and fastening bolts (not shown) for fixing the emergency stop button 4 are screwed into these T-slot nuts 207.

[0114] As a result, the T-grooves 206 of the first divided top plate 203 and the T-grooves 206 of the second divided top plate 204 work in cooperation with the T-slot nuts 207 to function as fixed parts to which the robot body 3 is fixed and to which the emergency stop button 4 is fixed.

[0115] Furthermore, as shown in Figures 5 and 10, the third divided top plate 205 is a flat plate in plan view that is approximately rectangular in length Y in the front-to-back direction and has a shorter length Y in the front-to-back direction than the second divided top plate 204, and is formed so that the length Y in the front-to-back direction including the second divided top plate 204 placed side by side in the front-to-back direction Y is approximately the same as the length Y in the front-to-back direction of the first divided top plate 203.

[0116] As shown in Figures 5 and 10, the third divided top plate 205 is provided with a grommet 208 fitted into a through-hole (not shown) that is roughly circular in plan view and penetrates vertically. As shown in Figure 1, the grommet 208 of the third divided top plate 205 has the function of being an insertion hole for inserting the wire harness and air hose H into the inside of the frame 10, and the function of regulating the position of the wire harness and air hose H on the top plate 200.

[0117] Specifically, as shown in Figure 1, the robot wire harness W1 extending from the robot body 3, the terminal wire harness W3 extending from the teaching terminal 5, and the air hose H extending from the suction hand 33 are inserted through one of the grommets 208. On the other hand, as shown in Figure 1, the button wire harness W2 extending from the emergency stop button 4 is inserted through the other grommet 208.

[0118] Furthermore, the top plate 200 of this embodiment is made possible by appropriately combining four first divided top plates 203, two second divided top plates 204, and two third divided top plates 205, thereby differentiating the range of the T-groove 206 to which the robot body 3 and emergency stop button 4 are fixed, and the position of the grommet 208.

[0119] For example, as shown in Figure 5, this embodiment makes it possible to construct a tabletop 200A having grommets 208 at the corners of the front side Yf by combining four first divided tabletops 203, two second divided tabletops 204, and two third divided tabletops 205.

[0120] Specifically, the top plate 200A has a second divided top plate 204 positioned on both sides and at the rear Yr in the width direction X, a first divided top plate 203 positioned side by side along the width direction X between the second divided top plates 204, and a third divided top plate 205 positioned at the front Yf of the second divided top plate 204.

[0121] Furthermore, in the top plate 200A with the configuration shown in Figure 5, by swapping the positions of the second divided top plate 204 and the third divided top plate 205, which are located on one side in the width direction X, in the front-to-back direction Y, it is possible to construct a top plate 200B having grommets 208 at the corner on the front side Yf on one side in the width direction X and at the corner on the rear side Yr on the other side in the width direction X, as shown in Figure 12(a).

[0122] Furthermore, in the top plate 200A with the configuration shown in Figure 5, by swapping one first divided top plate 203 located near the approximate center in the width direction X with a pair of second divided top plates 204 and third divided top plates 205 located on the other side in the width direction X, it is possible to construct a top plate 200C having grommets 208 at the corner on one side of the width direction X and the front side Yf, and at the approximate center of the width direction X and the front side Yf, as shown in Figure 12(b).

[0123] In this way, the collaborative robot 1 is configured to have top plates 200 with different areas in a plan view where the robot body 3 and emergency stop button 4 can be installed, and where the grommets 208 are located.

[0124] As described above, the collaborative robot 1 of this embodiment is equipped with an arm-shaped robot body 3, a frame 10 on which the robot body 3 is positioned above, and a plurality of swivel casters 11 attached to the lower part of the frame 10 to make the frame 10 movable.

[0125] This frame 10 is equipped with an upper frame 110 that forms the upper framework of the frame 10, and a top plate 200 that is attached to the upper frame 110 and covers the upper frame 110, forming the top surface.

[0126] Furthermore, the top plate 200 includes a first divided top plate 203 arranged across the upper frame 110 from one end to the other in the front-to-back direction Y, a detachable second divided top plate 204 positioned alongside the first divided top plate 203 along the width direction X which is substantially perpendicular to the front-to-back direction Y in a plan view, and whose length in the front-to-back direction Y is shorter than that of the first divided top plate 203, and a detachable third divided top plate 205 that covers the opening formed by the first divided top plate 203 and the second divided top plate 204.

[0127] Furthermore, of the first divided top plate 203, second divided top plate 204, and third divided top plate 205, the first divided top plate 203 and the second divided top plate 204 are provided with multiple fixing parts (T-grooves 206 and T-slot nuts 207) for fixing the robot body 3.

[0128] Furthermore, the robot carriage 2 of this embodiment is equipped with a frame 10 on which an arm-shaped robot body 3 is positioned on top, and a plurality of swivel casters 11 attached to the lower part of the frame 10 to make the frame 10 movable.

[0129] This frame 10 is equipped with an upper frame 110 that forms the upper framework of the frame 10, and a top plate 200 that is attached to the upper frame 110 and covers the upper frame 110, forming the top surface.

[0130] Furthermore, the top plate 200 includes a first divided top plate 203 arranged across the upper frame 110 from one end to the other in the front-to-back direction Y, a detachable second divided top plate 204 positioned alongside the first divided top plate 203 along the width direction X which is substantially perpendicular to the front-to-back direction Y in a plan view, and whose length in the front-to-back direction Y is shorter than that of the first divided top plate 203, and a detachable third divided top plate 205 that covers the opening formed by the first divided top plate 203 and the second divided top plate 204.

[0131] Furthermore, of the first divided top plate 203, second divided top plate 204, and third divided top plate 205, the first divided top plate 203 and the second divided top plate 204 are provided with multiple fixing parts (T-grooves 206 and T-slot nuts 207) for fixing the robot body 3.

[0132] In this configuration, since the first divided top plate 203 and the second divided top plate 204, which have different lengths in the front-to-back direction Y, are placed side by side in the width direction X, the position of the third divided top plate 205, which covers the opening formed by the first divided top plate 203 and the second divided top plate 204, can be changed by changing the position of the second divided top plate 204 in the front-to-back direction Y and the width direction X.

[0133] Therefore, the collaborative robot 1 and the robot carriage 2 can be configured with top plates 200 in which the fixed parts for securing the robot body 3 are in different positions by rearranging the arrangement of the first divided top plate 203, the second divided top plate 204, and the third divided top plate 205.

[0134] Furthermore, since there is no fixed part on the third divided top plate 205, the collaborative robot 1 and the robot carriage 2 can use the third divided top plate 205, whose position on the top plate 200 can be arbitrarily changed, for purposes other than fixing the robot body 3.

[0135] For example, the collaborative robot 1 and the robot carriage 2 can utilize the third divided top plate 205 as a part to which a grommet 208 that holds the robot wire harness W1 extending from the robot body 3 is attached.

[0136] This allows the collaborative robot 1 and the robot carriage 2 to position not only the robot body 3 but also the robot wire harness W1 at appropriate locations on the upper surface of the frame 10. Therefore, the collaborative robot 1 and the robot trolley 2 can be designed with greater flexibility in layout, and even if the position of the robot body 3 is slightly changed, it becomes unnecessary to move the support frame 10.

[0137] Furthermore, the third divided top plate 205 is equipped with a retaining part (grommet 208) for holding the robot wire harness W1 extending from the robot body 3. With this configuration, the position of the robot wire harness W1 can be restricted by the holding part (grommet 208), and the robot wire harness W1 can be routed to pass through any position on the upper surface of the frame 10. As a result, the collaborative robot 1 can improve the degree of freedom of the routing path of the robot wire harness W1 and route the robot wire harness W1 in an aesthetically pleasing manner.

[0138] Furthermore, the collaborative robot 1 is equipped with a control unit 9 connected to the robot body 3 via a robot wire harness W1. The holding section consists of a grommet 208 that introduces the robot wire harness W1 into the frame 10.

[0139] With this configuration, the robot wire harness W1 can be directly introduced into the frame 10 from the top plate 200. As a result, the collaborative robot 1 can not only easily place the control unit 9 to which the robot wire harness W1 is connected inside the frame 10, but also reduce the length of the robot wire harness W1 that is exposed outside the frame 10.

[0140] As a result, the collaborative robot 1 can prevent users from unintentionally coming into contact with the robot's wire harness W1, compared to when the robot's wire harness W1 is routed along the outer surface of the frame 10. Therefore, the collaborative robot 1 can improve both the flexibility of its layout and safety.

[0141] Furthermore, the fixed portion consists of a T-groove 206 extending in the front-rear direction Y, and a T-slot nut 207 that fits into the T-groove 206. This configuration allows for the creation of a top plate 200 in which multiple T-grooves 206 extending in the front-to-back direction Y are provided along the width direction X.

[0142] As a result, the collaborative robot 1 can finely adjust the position of the robot body 3 at least in the front-to-back direction Y, compared to a top plate with multiple screw holes as the fixed part, thus improving the freedom of layout for the robot body 3.

[0143] Furthermore, the upper frame 110 is formed in a roughly rectangular shape in plan view, with the length elongated in the front-to-back direction Y. The first divided top plate 203 and the second divided top plate 204 have approximately the same length in the width direction X and are formed in a roughly rectangular shape in plan view, with the length elongated in the front-to-back direction Y, and multiple units of each are provided.

[0144] With this configuration, a tabletop 200 with a roughly rectangular shape in plan view can be constructed regardless of how the first divided tabletop 203, the second divided tabletop 204, and the third divided tabletop 205 are rearranged. Therefore, compared to, for example, an upper frame 110 with a roughly circular shape in plan view, the degree of freedom in combining the first divided tabletop 203, the second divided tabletop 204, and the third divided tabletop 205 can be improved. This allows the collaborative robot 1 to diversify the configuration of the top plate 200, thereby further improving the flexibility of its layout.

[0145] In the correspondence between the structure of this invention and the embodiments described above, The running section of this invention corresponds to the swivel caster 11 of the embodiment, The same applies to the following: The upper frame corresponds to the upper frame 110. The predetermined direction corresponds to the front-rear direction Y, The orthogonal direction corresponds to the width direction X, The fixed portion corresponds to the T-slot 206 and the T-slot nut 207. The wire harness is compatible with the W1 wire harness for robots. The retaining part corresponds to grommet 208, This invention is not limited to the configuration of the embodiments described above, and many other embodiments can be obtained.

[0146] For example, the robot body 3 is a 6-axis robot arm, but it is not limited to this, and a robot body with an appropriate configuration may be used. Furthermore, although a suction hand 33 was attached to the tip of the robot arm, the robot arm is not limited to this, and a gripping hand or the like for grasping objects may also be attached to the tip of the robot arm.

[0147] Furthermore, although the robot trolley 2 is equipped with swivel casters 11 as a means of movement, it is not limited to this, and any other means that allows movement, such as fixed casters, rollers, or wheels pivotally supported on the frame 10, may also be used.

[0148] Furthermore, although the upper frame 110 and top plate 200 are roughly rectangular in plan view, they are not limited to this, and for example, the upper frame and top plate may be roughly circular in plan view. Even in this case, the same effects as in the above embodiment can be achieved by dividing the top plate which is roughly circular in plan view.

[0149] Furthermore, although the first divided top plate 203 is a detachable top plate 200, the design is not limited to this. As long as the second divided top plate 204 and the third divided top plate 205 are detachable, the first divided top plate 203 may be a top plate 200 fixed to the upper frame 110. For example, as shown in Figure 5, the first divided top plate 203 placed between the second divided top plates 204 may be a top plate 200 fixed to the upper frame 110.

[0150] Furthermore, although the tabletop 200 is provided with two detachable second-part tabletops 204 and two detachable third-part tabletops 205, it is not limited to this configuration. For example, a set of second-part tabletops 204 and third-part tabletops 205 arranged side-by-side in the front-to-back direction Y may be used, and one of the two sets of second-part tabletops 204 and third-part tabletops 205 may be fixed to the upper frame 110.

[0151] Furthermore, the combination of arrangements of the first divided top plate 203, the second divided top plate 204, and the third divided top plate 205 in the above-described embodiment is merely an example and is not limited thereto; any other arrangement may be used as appropriate. Furthermore, although the top plate 200 is provided with a fixed portion consisting of a T-groove 206 and a T-slot nut 207, it is not limited to this, and the fixed portion may also be composed of a screw hole extending in the thickness direction of the top plate 200.

[0152] Furthermore, although the third divided top plate 205 is equipped with a grommet 208, it is not limited to this, and the third divided top plate may also be equipped with a clamp for gripping the wire harness and air hose H. In this case as well, the position of the wire harness and air hose H can be restricted, so the same effects as in the above-described embodiment can be achieved. Alternatively, the third section of the top panel may not have grommets 208 or clamps. In this case, an emergency stop button 4 or the like may be placed and fixed to the third section of the top panel.

[0153] Furthermore, while the tabletop 200 is described as being composed of a first divided tabletop 203, a second divided tabletop 204, and a third divided tabletop 205, it is not limited to this configuration. For example, as shown in Figure 13, which shows a plan view of the tabletop 200 in another embodiment, instead of the third divided tabletop 205 having a grommet 208, a configuration may be used in which one opening formed by the first divided tabletop 203 and the second divided tabletop 204 is covered by a detachable fourth divided tabletop 209 having a T-groove 206.

[0154] This configuration prevents the installation space for the robot body 3 from being reduced by the unused third section top plate 205. As a result, the collaborative robot 1 can effectively utilize the limited space on the top surface of the frame 10 without compromising layout flexibility.

[0155] Furthermore, the division positions of the top plate 200 are not limited to the embodiment described above. For example, the first divided top plate and the second divided top plate may be arranged side by side in the front-to-back direction Y. In this case, the second divided top plate and the third divided top plate are arranged side by side in the width direction X.

[0156] Furthermore, although the T-groove 206 of the top plate 200 is configured to extend in the front-to-back direction Y, it is not limited to this configuration, and the T-groove may also extend in the width direction X. Furthermore, although the robot body 3 and emergency stop button 4 are placed on the top plate 200, the equipment placed on the top surface of the top plate 200 may be any appropriate equipment.

[0157] Furthermore, although a laser scanner 6 was described as an object detection means for detecting objects approaching the robot body 3, the method is not limited to this, and any suitable device capable of detecting objects approaching the robot body 3 may be used.

[0158] Furthermore, while the configuration described uses a single laser scanner 6 capable of detecting a 270° range in plan view, it is not limited to this configuration, and a configuration using multiple object detection means capable of detecting a 270° range in plan view is also possible.

[0159] Furthermore, while the effective detection angle of the laser scanner 6 is set to a range of 270° in a plan view, this is merely an example and is not limited to this; the effective detection angle of the laser scanner 6 may be within an appropriate angular range. [Explanation of symbols]

[0160] 1…Collaborative robots 2… Robot cart 3…Robot body 9…Control Unit 10… Stand 11… Swivel casters 110... Upper frame 200... Tabletop 203...First divided top panel 204...Second divided tabletop 205...Third section top 206...T groove 207...T-slot nut 208… Grommet 209... Fourth section top W1…Wire harness for robots X…Width direction Y...front-back direction

Claims

1. The robot's body is shaped like an arm, The robot body is mounted on a stand with the top surface facing upwards, The frame is equipped with a plurality of travel parts attached to the lower part of the frame, which make the frame movable. The aforementioned frame is The upper frame that constitutes the upper framework of the aforementioned support structure, It is provided with a top plate that is attached to the upper frame and covers the upper frame, forming the top surface, The aforementioned top plate is A first divided top plate is provided, which is arranged to span from one end to the other in a predetermined direction of the upper frame, A detachable second partitioned top plate is positioned alongside the first partitioned top plate along a direction approximately perpendicular to the predetermined direction in a plan view, and the length in the predetermined direction is shorter than that of the first partitioned top plate. The structure includes a removable third section that covers the opening formed by the first section and the second section, Of the first, second, and third divided top plates, the first and second divided top plates are provided with a plurality of fixing parts for fixing the robot body. Collaborative robots.

2. The aforementioned three-part tabletop is The robot is equipped with a holding part for holding the wire harness extending from the robot body. The collaborative robot according to claim 1.

3. A control unit is provided, which is connected to the robot body via the aforementioned wire harness. The aforementioned retaining part is The wire harness is formed by a grommet that introduces it into the inside of the mounting frame. The collaborative robot according to claim 2.

4. The fixed portion is, It consists of a T-groove extending in the predetermined direction and a T-slot nut that fits into the T-groove. The collaborative robot according to claim 1.

5. A detachable fourth section top plate is provided, which covers the opening formed by the first and second section top plates in place of the third section top plate, and which has a plurality of fixed parts. The collaborative robot according to claim 1.

6. The upper frame is formed in a substantially rectangular shape in plan view, elongated in the predetermined direction. The first divided tabletop and the second divided tabletop are The lengths in the orthogonal directions are approximately the same, and the structure is formed in a roughly rectangular shape in plan view, with a length in the predetermined direction, and multiple units are provided for each. The collaborative robot according to claim 1.

7. A frame on which the arm-shaped robot body is positioned on top, The frame is equipped with a plurality of travel parts attached to the lower part of the frame, which make the frame movable. The aforementioned frame is The upper frame that constitutes the upper framework of the aforementioned support structure, It is provided with a top plate that is attached to the upper frame and covers the upper frame, forming the top surface, The aforementioned top plate is A first divided top plate is provided, which is arranged to span from one end to the other in a predetermined direction of the upper frame, A detachable second partitioned top plate is positioned alongside the first partitioned top plate along a direction approximately perpendicular to the predetermined direction in a plan view, and the length in the predetermined direction is shorter than that of the first partitioned top plate. The structure includes a removable third section that covers the opening formed by the first section and the second section, Of the first, second, and third divided top plates, the first and second divided top plates are provided with a plurality of fixing parts for fixing the robot body. A trolley for robots.

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