robot systems

Abstract

To provide a robot system effective for transporting a workpiece with high efficiency.SOLUTION: A robot system 1 includes: a first transportation device 10 that transports a workpiece to a first position P1 along a transportation line 11; a second transportation device 20 that transports the workpiece from a second position P2 adjacent to the first position P1 along a first line 14 perpendicular to the transportation line 11; and a robot 30. The robot 30 includes: a base part 31 that lifts up and down an arm base 32 at a fixation position P4 away from the first line 14 in a transportation direction of the workpiece W by the first transportation device 10; a first arm 33 that rotates around a vertical first axial line 41; a second arm 34 that rotates around a vertical second axial line 42; an arm distal end part 35 that rotates around a vertical third axial line 43; and a workpiece holding part 36 that holds the workpiece from above in a lower part of the arm distal end part 35.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a robot system.

Background Art

[0002] Patent Document 1 discloses a system including a work conveyor that conveys a work and a robot that grips the work conveyed by the work conveyor and palletizes it on a pallet.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The present disclosure provides a robot system effective for conveying a work with high efficiency.

Means for Solving the Problems

[0005] A robot system relating to one aspect of this disclosure includes: a first transport device that transports a workpiece to a first position along a horizontal transport line; a second transport device that transports a workpiece from a second position adjacent to the first position along a first line perpendicular to the transport line; and a robot that is fixed at a fixed position away from the first line in the direction of workpiece transport by the first transport device and transports the workpiece from the first position to the second position. The robot has a base fixed at a fixed position that raises and lowers an arm base; a first arm connected to the arm base so as to rotate around a vertical first axis and extending away from the first axis; a second arm connected to the first arm so as to rotate around a vertical second axis and extending away from the second axis; an arm tip connected to the second arm so as to rotate around a vertical third axis; and a workpiece holding part provided below the arm tip for holding the workpiece from above. [Effects of the Invention]

[0006] According to this disclosure, it is possible to provide a robotic system that is effective in transporting workpieces with high efficiency. [Brief explanation of the drawing]

[0007] [Figure 1] This is a plan view illustrating the configuration of a robot system. [Figure 2] Figure 1 is a side view of the robot system. [Figure 3] This is a plan view showing a modified example of a robot system. [Figure 4] This is a schematic diagram illustrating the configuration of the posture adjustment unit. [Figure 5] This is a schematic diagram showing a modified example of the posture adjustment unit. [Figure 6] This is a plan view showing another variation of the robot system. [Figure 7] This is a plan view showing yet another variation of the robot system. [Modes for carrying out the invention]

[0008] The embodiments will be described in detail below with reference to the drawings. In the description, the same elements or elements having the same function will be denoted by the same reference numeral, and redundant descriptions will be omitted.

[0009] The robot system according to this embodiment is a system for transporting a workpiece W. There are no particular restrictions on the workpiece W. The workpiece W may include a battery module for driving an electric vehicle. For example, the workpiece W may be a single battery module, or it may be a group of battery modules transported together. Alternatively, the workpiece W may be a battery unit that integrates a group of battery modules. The weight of the workpiece W may be 300 kg or more.

[0010] Figure 1 is a plan view illustrating the configuration of the robot system. Figure 2 is a side view of the robot system in Figure 1. As shown in Figures 1 and 2, the robot system 1 comprises a first conveying device 10, a second conveying device 20, and a robot 30.

[0011] The first conveying device 10 supports the workpiece W and conveys the supported workpiece W along a horizontal conveying line 11 to a first position P1. The first conveying device 10 may be a device that conveys the workpiece W without moving itself, or it may be a device that conveys the workpiece W by moving together with the workpiece W. An example of a device that conveys the workpiece W without moving itself is a conveyor (belt conveyor or roller conveyor, etc.). An example of a device that moves together with the workpiece W is an automated guided vehicle (AGV), etc.

[0012] To transport the workpiece W to the first position P1 means to transport the workpiece W, which is located away from the first position P1 when viewed from above, until it is on the first position P1 when viewed from above. The first transport device 10 may transport the workpiece W until its center coincides with the first position P1 when viewed from above. Hereinafter, the direction in which the first transport device 10 transports the workpiece W toward the first position P1 will be referred to as the forward direction in the transport line 11.

[0013] The second conveying device 20 supports the workpiece W at a second position P2 adjacent to the first position P1 along the first line 14 perpendicular to the conveying line 11, and conveys the supported workpiece W from the second position P2. For example, the second position P2 is adjacent to the first position P1 when viewed from above. The second conveying device 20 may be a device that conveys the workpiece W without moving itself, or it may be a device that conveys the workpiece W by moving together with the workpiece W. An example of a device that conveys the workpiece W without moving itself is a conveyor (belt conveyor or roller conveyor, etc.). An example of a device that moves together with the workpiece W is an automated guided vehicle (AGV), etc.

[0014] Supporting the workpiece W at the second position P2 means supporting the workpiece W in a state where, as viewed from above, at least a portion of the workpiece W is over the second position P2. Conveying the workpiece W from the second position P2 means conveying the workpiece W from a state where, as viewed from above, at least a portion of the workpiece W is over the second position P2 to a position away from the second position P2. The second conveying device 20 may support the workpiece W with its center coincidentally located at the second position P2, or it may convey the workpiece W from a state where its center coincidentally located at the second position P2.

[0015] The robot 30 is fixed at a fixed position P4 away from the first line 14 in the direction of transport of the workpiece W by the first transport device 10, and transports the workpiece W from the first position P1 to the second position P2. The fixed position P4 may be adjacent to the first position P1 along the transport line 11, but may be at a different position from the first position P1 in the direction along the first line 14. In the direction along the transport line 11, the fixed position P4 is located outside the first transport device 10. For example, when viewed from above, the fixed position P4 is located in front of the first transport device 10 on the transport line 11.

[0016] The robot 30 receives the workpiece W conveyed by the first transfer device 10 until it reaches the first position P1, conveys the workpiece W until it reaches the second position P2, and transfers it to the second transfer device 20. For example, the robot 30 holds the workpiece W supported by the first transfer device 10 in a state where it has reached the first position P1, raises it, conveys it until it reaches the second position P2, and then lowers it to support it on the second transfer device 20. After the robot 30 causes the second transfer device 20 to support the workpiece W, the robot 30 releases the workpiece W. As described above, since the weight of the workpiece W may be 300 kg or more, the load-carrying capacity of the robot 30 may also be 300 kg or more.

[0017] The robot 30 includes a base 31, a first arm 33, a second arm ⅳ, an arm tip 35, and a workpiece holding portion 36. The base 31 is fixed to the floor surface or the wall surface at a fixed position P4 and raises and lowers an arm base 32. The arm base 32 protrudes from the base 31 toward the rear in the transfer line 11. The first arm 33 is connected to the arm base 32 so as to rotate about a vertical (perpendicular to the horizontal plane) first axis 41 and extends in a direction away from the first axis 41. For example, the first arm 33 extends along a horizontal line in a direction away from the first axis 41.

[0018] The second arm 34 is connected to the end of the first arm 33 so as to rotate about a vertical second axis 42 and extends in a direction away from the second axis 42. For example, the second arm 34 extends along a horizontal line in a direction away from the second axis 42.

[0019] The arm tip 35 is connected to the second arm 34 so as to rotate around a vertical third axis 43. The workpiece holding section 36 is located below the arm tip 35 and holds the workpiece W from above. The workpiece holding section 36 may be configured to hold the workpiece W by vacuum suction, or it may be configured to grip the workpiece W with a mechanical hand. If the workpiece W is a group of battery modules that are transported together, the workpiece holding section 36 may have a group of suction nozzles corresponding to each of the battery modules. The workpiece holding section 36 may also be configured to grip a group of battery modules together with a mechanical hand.

[0020] Thus, in the robot 30 that transfers the workpiece W from the first transfer device 10 to the second transfer device 20, the portion from the arm base 32 to the arm tip 35 is of the SCARA (Selective Compliance Assembly Robot Arm) type. Therefore, the moment due to gravity can be suppressed, and the first arm 33, the second arm 34, and the arm tip 35 can be driven with high efficiency. Hereinafter, the portion from the arm base 32 to the arm tip 35 is referred to as the "SCARA portion". According to the configuration that raises and lowers the arm base 32, there is no need to arrange an actuator for raising and lowering on the first arm 33, the second arm 34, and the arm tip 35, so the weight of the SCARA portion can be reduced. Furthermore, according to the configuration that raises and lowers the arm base 32 without rotating it, the area occupied by the SCARA portion due to the turning operation can be made smaller compared to the configuration that turns the entire SCARA portion. Thereby, the first arm 33, the second arm 34, and the arm tip 35 can be driven with higher efficiency. Although the load for raising and lowering increases in order to raise and lower the SCARA portion together with the workpiece W, the load for raising and lowering can be appropriately reduced by using gravity or gas pressure or the like. According to the configuration in which the robot 30 fixed at the fixed position P4 away from the first line 14 in the conveyance direction of the workpiece W by the first transfer device 10 conveys the workpiece W from the first position P1 to the second position P2, the conveyance stroke from the first position P1 to the second position P2 can be ensured while keeping the lengths of the first arm 33 and the second arm 34 short. Therefore, the first arm 33, the second arm 34, and the arm tip 35 can be driven with even higher efficiency. Thus, the robot system 1 is effective for conveying the workpiece W with high efficiency.

[0021] The robot 30 may be configured to be able to convey the workpiece W to the third position P3 adjacent to the first position P1 in the direction opposite to the direction in which the second position P2 is arranged with respect to the first position P1. The second position P2, the first position P1, and the third position P3 are arranged in order along the first line 14. In this case, the robot 30 can also be effectively utilized for the conveyance from the first position P1 to the third position P3.

[0022] Viewed from above, the first conveying device 10 has a first side edge 12 and a second side edge 13 along the conveying line 11, and at least a portion of the base 31 may be located between the first side edge 12 and the second side edge 13. In this case, for example, if the second conveying device 20 is an automated guided vehicle, the range in which the second conveying device 20 can move without interfering with the robot 30 can be widened. In Figure 1, the entire base 31 is located between the first side edge 12 and the second side edge 13, but a portion of the base 31 may be located outside the space between the first side edge 12 and the second side edge 13.

[0023] Viewed from above, at least a portion of the base 31 may be located between the first position P1 and the second position P2 in the direction along the first line 14. The lengths of the first arm 33 and the second arm 34 can be further reduced.

[0024] Viewed from above, the second conveying device 20 has a first side edge 21 and a second side edge 22 along the conveying line 11, and at least a portion of the base 31 may be located between the first side edge 21 and the second side edge 22. In this case, for example, if the first conveying device 10 is an automated guided vehicle, the range in which the first conveying device 10 can move without interfering with the robot 30 can be widened.

[0025] The first side edge 12 of the first conveying device 10 is located between the second side edge 13 and the second conveying device 20, and the second side edge 22 of the second conveying device 20 is located between the first side edge 21 and the first conveying device 10. When viewed from above, at least a portion of the base 31 may be located between the first side edge 21 and the second side edge 13, at least a portion of the base 31 may be located between the second side edge 22 and the second side edge 13, and at least a portion of the base 31 may be located between the second side edge 22 and the first side edge 12.

[0026] At least a portion of the arm base 32 may be located between the first side edge 12 and the second side edge 13. In this case, the range in which the second transport device 20 can move without interfering with the robot 30 can be further widened. In Figure 1, the entire arm base 32 is located between the first side edge 12 and the second side edge 13, but a portion of the arm base 32 may be located outside the space between the first side edge 12 and the second side edge 13.

[0027] As shown in Figure 2, the robot 30 further comprises a lifting actuator 50, a first actuator 61, a second actuator 62, a third actuator 63, and a robot controller 100. The lifting actuator 50 is provided on the base 31 and raises and lowers the arm base 32. For example, the lifting actuator 50 includes a linear actuator 51 such as a ball screw type or a wire type. The linear actuator 51 raises and lowers the arm base 32 in response to the power supply. The lifting actuator 50 may further include a gravity compensation unit 52. The gravity compensation unit 52 applies a force to the arm base 32 that opposes the gravity of the SCARA section by means of a counterweight, hydraulics, or gas pressure. The gravity compensation unit 52 can reduce the energy consumption of the linear actuator 51.

[0028] The first actuator 61 is provided, for example, on the arm base 32 and rotates the first arm 33 around the first axis 41. The first actuator 61 has a motor 61m and a reduction gear 61g. The motor 61m generates rotational torque in response to the power supply. The reduction gear 61g amplifies the rotational torque generated by the motor 61m according to a predetermined reduction ratio and transmits it to the first arm 33. The placement of the first actuator 61 is not limited to the arm base 32, but may be provided on any part of the robot 30 as long as it can rotate the first arm 33 around the first axis 41. For example, the first actuator 61 may be provided on the first arm 33. Furthermore, the first actuator 61 may be configured to transmit power from the motor 61m to the reduction gear 61g via transmission elements such as gears and timing belts. At least a part of the first actuator 61 (for example, the motor 61m) may be provided at a position away from the first axis 41.

[0029] The second actuator 62 is provided, for example, on the first arm 33 and rotates the second arm 34 around the second axis 42. The second actuator 62 has a motor 62m and a reduction gear 62g. The motor 62m generates rotational torque in response to the power supply. The reduction gear 62g amplifies the rotational torque generated by the motor 62m according to a predetermined reduction ratio and transmits it to the second arm 34. Note that the position of the second actuator 62 is not limited to the first arm 33, but may be provided on any part of the robot 30 as long as it can rotate the second arm 34 around the second axis 42. For example, the second actuator 62 may be provided on the second arm 34. Furthermore, the second actuator 62 may be configured to transmit power from the motor 62m to the reduction gear 62g via transmission elements such as gears and timing belts. At least a part of the second actuator 62 (for example, the motor 62m) may be provided at a position away from the second axis 42.

[0030] The third actuator 63 is provided, for example, on the second arm 34 and rotates the arm tip 35 around the third axis 43. The third actuator 63 has a motor 63m and a reduction gear 63g. The motor 63m generates rotational torque in response to the power supply. The reduction gear 63g amplifies the rotational torque generated by the motor 63m according to a predetermined reduction ratio and transmits it to the arm tip 35. The position of the third actuator 63 is not limited to the second arm 34, but may be provided on any part of the robot 30 as long as it can rotate the arm tip 35 around the third axis 43. For example, the third actuator 63 may be provided on the arm tip 35. Furthermore, the third actuator 63 may be configured to transmit power from the motor 63m to the reduction gear 63g via a transmission element such as a gear or timing belt. Also, at least a part of the third actuator 63 (for example, the motor 63m) may be provided at a position away from the third axis 43 (for example, 33).

[0031] The robot controller 100 controls the lifting actuator 50, the first actuator 61, the second actuator 62, and the third actuator 63. For example, the robot controller 100 calculates target operating values ​​for the lifting actuator 50, the first actuator 61, the second actuator 62, and the third actuator 63 by performing inverse kinematics calculations based on a predetermined movement trajectory of the workpiece holding unit 36 ​​and model information of the robot 30, in order to hold the workpiece W supported by the first transport device 10, lift it, transport it to a second position P2, and lower it to be supported by the second transport device 20, and then makes the operation of the lifting actuator 50, the first actuator 61, the second actuator 62, and the third actuator 63 follow the target operating values.

[0032] The arm base 32 may extend towards the rear of the conveyor line 11 from the fixed position P4 to above the first conveying device 10. This allows for further shortening of the first arm 33 and the second arm 34. The arm base 32 may extend so as to overlap the workpiece W that has been conveyed to the first position P1 by the first conveying device 10. As shown in Figure 2, in the direction along the conveyor line 11, the end of the arm base 32 may be located between the fixed position P4 and the first position P1. The arm base 32 may extend above the first position P1. For example, the end of the arm base 32 may be located further rearward in the conveyor line 11 than the first position P1.

[0033] The first arm 33 is mounted on the arm base 32, the second arm 34 is mounted below the first arm 33 so as to be at least partially at the same height as the arm base 32, and the arm tip 35 may be mounted below the second arm 34. This makes it possible to reduce the height of the SCARA section.

[0034] Note that the relative positions of the arm base 32, the first arm 33, and the second arm 34 are not necessarily limited to the relationship illustrated in Figure 2. For example, the arm base 32 may be mounted below the first arm 33, and the second arm 34 may be mounted below the first arm 33. In this case, interference between the arm base 32 and the second arm 34 is less likely to occur, and the range of motion of the second arm 34 can be increased.

[0035] Figure 3 is a plan view showing a modified example of the robot system 1. As shown in Figure 3, the robot 30 may further include a link 70 that links the rotation of the arm tip 35 around the third axis 43 with the rotation of the first arm 33 around the first axis 41 and the rotation of the second arm 34 around the second axis 42. In this case, the third actuator 63 can be eliminated, and the weight of the SCARA section can be further reduced.

[0036] For example, link 70 includes a relay rotating body 72, a first link 71, and a second link 73. The relay rotating body 72 is provided at the connection point between the first arm 33 and the second arm 34 so as to rotate around the second axis 42 with respect to both the first arm 33 and the second arm 34.

[0037] The first link 71 links the rotation of the intermediate rotating body 72 around the second axis 42 to the rotation of the first arm 33 around the first axis 41. For example, the first link 71 extends parallel to the first arm 33. One end of the first link 71 is connected to the arm base 32 so as to rotate around a vertical axis, and the other end of the first link 71 is connected to the intermediate rotating body 72 so as to rotate around a vertical axis. In this way, the first link 71 transmits the rotation of the first arm 33 around the first axis 41 to the intermediate rotating body 72.

[0038] The second link 73 links the rotation of the arm tip 35 around the third axis 43 with the rotation of the intermediate rotating body 72 around the second axis 42 and the rotation of the second arm 34 around the second axis 42. For example, the second link 73 extends parallel to the second arm 34. One end of the second link 73 is connected to the intermediate rotating body 72 so as to rotate around a vertical axis, and the other end of the second link 73 is connected to the arm tip 35 so as to rotate around a vertical axis. In this way, the second link 73 transmits the rotation transmitted from the first link 71 to the intermediate rotating body 72 and the rotation of the second arm 34 around the second axis 42 to the arm tip 35.

[0039] In Figure 3, the first arm 33 and the second arm 34 are folded in a direction approaching the fixed position P4. For example, the connection between the first arm 33 and the second arm 34 is located in front of both the connection between the arm base 32 and the first arm 33, and the connection between the second arm 34 and the arm tip 35, in the transport line 11. The robot 30 may transport the workpiece W from the first position P1 to the second position P2 with the first arm 33 and the second arm 34 folded as described above. For example, the robot controller 100 may operate the first actuator 61 and the second actuator 62 to transport the workpiece W from the first position P1 to the second position P2 with the first arm 33 and the second arm 34 folded as described above.

[0040] This reduces the area occupied by the SCARA section during the process of transporting the workpiece W from the first position P1 to the second position P2. Furthermore, by shifting the center of gravity of the SCARA section towards the fixed position P4, the load required to support the SCARA section can be reduced.

[0041] As shown in Figure 3, the arm tip 35 may extend away from the third axis 43, and the workpiece holding portion 36 may be located below the arm tip 35 at a position away from the third axis 43. The arm tip 35 can compensate for the limitations on the movement of the first arm 33 and the second arm 34, which arise from the second arm 34 and the arm base 32 being located at the same height.

[0042] The link 70 may be configured such that the direction in which the arm tip 35 extends from the third axis 43 is aligned with the direction from the second position P2 toward the first position P1. For example, when the first arm 33 and the second arm 34 are folded as described above, interference between the arm base 32 and the second arm 34 may prevent the joint between the second arm 34 and the arm tip 35 from being brought close enough to the first position P1. Even in this state, since the arm tip 35 extends toward the first position P1, the workpiece holding portion 36 can be easily positioned toward the first position P1.

[0043] The robot 30 may further have a posture adjustment unit 80 for adjusting the posture of the workpiece holding unit 36. For example, the posture adjustment unit 80 has a first posture adjustment unit 80A. The first posture adjustment unit 80A adjusts the posture of the arm tip 35 around the third axis 43 by changing the length of the link 70. With the first posture adjustment unit 80A, a small and lightweight actuator can be used to adjust the posture of the arm tip 35 around the third axis 43. The first posture adjustment unit 80A may also be configured to adjust the posture of the arm tip 35 around the third axis 43 by changing the length of the first link 71. With the configuration that changes the length of the first link 71, the weight of the first posture adjustment unit 80A can reduce the moment load acting on the first axis 41.

[0044] The posture adjustment unit 80 may further include a second posture adjustment unit 80B as shown in Figure 4. The second posture adjustment unit 80B is provided between the arm tip 35 and the workpiece holding unit 36 ​​and adjusts the posture of the workpiece holding unit 36 ​​around an adjustment axis 91 that intersects vertically. The second posture adjustment unit 80B allows the posture of the workpiece holding unit 36 ​​to be appropriately adjusted in accordance with the deflection of the SCARA unit, etc. This reduces the requirement for rigidity of the SCARA unit and allows for further weight reduction of the SCARA unit.

[0045] The second posture adjustment unit 80B may be configured to further adjust the posture of the workpiece holding unit 36 ​​around a second adjustment axis 92 that intersects the vertical direction and the adjustment axis 91. This allows for more appropriate adjustment of the posture of the workpiece holding unit 36. Note that the intersection includes cases where there is a torsional relationship between them, such as a so-called overpass. The same applies hereafter.

[0046] As an example, the posture adjustment unit 80 includes an adjustment actuator 82 and an adjustment actuator 83 arranged vertically between the arm tip 35 and the workpiece holding unit 36. The adjustment actuator 82 rotates the workpiece holding unit 36 ​​around a horizontal adjustment axis 91 that is aligned with the direction in which the arm tip 35 extends from the third axis 43, when power is supplied. The adjustment actuator 83 rotates the workpiece holding unit 36 ​​around a horizontal second adjustment axis 92 that intersects (for example, perpendicular to) the adjustment axis 91, when power is supplied. There are no restrictions on the arrangement of the adjustment actuators 82 and 83. The adjustment actuators 82 and 83 may be installed at the same height, or the adjustment actuator 83 may be installed above the adjustment actuator 82.

[0047] As shown in Figure 5, the second posture adjustment unit 80B may be configured to further adjust the posture of the workpiece holding unit 36 ​​around a third adjustment axis 93 that intersects the adjustment axis 91 and the second adjustment axis 92. This allows for more appropriate adjustment of the posture of the workpiece holding unit 36. For example, the second posture adjustment unit 80B may further include an adjustment actuator 84. The adjustment actuator 84 rotates the workpiece holding unit 36 ​​around the vertical third adjustment axis 93. The adjustment actuator 84 may be provided at the same height as the adjustment actuators 82 and 83, above the adjustment actuators 82 and 83, or between the adjustment actuators 82 and 83.

[0048] When the second posture adjustment unit 80B adjusts the posture of the workpiece holding unit 36 ​​around the third adjustment axis 93, the posture adjustment unit 80 can adjust the posture of the workpiece holding unit 36 ​​around the third adjustment axis 93 even if the posture adjustment unit 80 does not have the first posture adjustment unit 80A.

[0049] The movable angle of the workpiece holding section 36 by the posture adjustment section 80 may be within ±30°, within ±20°, or within ±10°. For example, the movable angle of the arm tip section 35 by the telescopic actuator 81, the movable angle of the workpiece holding section 36 by the adjustment actuator 82, the movable angle of the workpiece holding section 36 by the adjustment actuator 83, and the movable angle of the workpiece holding section 36 by the adjustment actuator 84 may each be within ±30°, within ±20°, or within ±10°. When the workpiece holding section 36 grips the workpiece W from above, the moment load due to the weight of the workpiece W is less likely to act on the posture adjustment section 80. Therefore, by keeping the movable angle of the posture adjustment section 80 small, the posture adjustment section 80 can be made smaller and lighter.

[0050] 〔summary〕 As described above, the robot system 1 comprises a first transport device 10 that transports a workpiece along a horizontal transport line 11 to a first position P1, a second transport device 20 that transports a workpiece from a second position P2 adjacent to the first position P1 along a first line 14 perpendicular to the transport line 11, and a robot 30 fixed at a fixed position P4 away from the first line 14 in the direction of transport of the workpiece W by the first transport device 10, and transporting the workpiece from the first position P1 to the second position P2. The robot 30 is fixed at the fixed position P4 and has an arm The arm comprises a base 31 for raising and lowering the base 32, a first arm 33 connected to the arm base 32 so as to rotate around a vertical first axis 41 and extending away from the first axis 41, a second arm 34 connected to the first arm 33 so as to rotate around a vertical second axis 42 and extending away from the second axis 42, an arm tip 35 connected to the second arm 34 so as to rotate around a vertical third axis 43, and a workpiece holding part 36 provided below the arm tip 35 for holding the workpiece from above.

[0051] In a robot 30 that transfers workpieces from one transfer device to a second transfer device 20, the arm base 32 to the arm tip 35 is of the SCARA type. This suppresses the moment due to gravity and allows the first arm 33, the second arm 34, and the arm tip 35 to be driven with high efficiency. Hereinafter, the arm base 32 to the arm tip 35 will be referred to as the "SCARA section". With a configuration in which the arm base 32 is raised and lowered, there is no need to place lifting actuators on the first arm 33, the second arm 34, and the arm tip 35, so the weight of the SCARA section can be reduced. Furthermore, with a configuration in which the arm base 32 is raised and lowered without rotating, the area occupied by the SCARA section due to rotational movement can be reduced compared to a configuration in which the entire SCARA section rotates. As a result, the first arm 33, the second arm 34, and the arm tip 35 can be driven with higher efficiency. Although the lifting load is large because the SCARA section is raised and lowered together with the workpiece, this load can be appropriately reduced by using gravity or gas pressure. With a configuration in which a robot 30 fixed at a fixed position P4 away from the first line 14 in the direction of transport of the workpiece W by the first transport device 10 transports the workpiece from the first position P1 to the second position P2, it is possible to secure a transport stroke from the first position P1 to the second position P2 while keeping the lengths of the first arm 33 and the second arm 34 short. As a result, the first arm 33, the second arm 34, and the arm tip 35 can be driven with even higher efficiency. Therefore, it is effective for transporting workpieces with high efficiency.

[0052] The robot 30 may further include a posture adjustment unit 80 provided between the arm tip 35 and the workpiece holding unit 36, which adjusts the posture of the workpiece holding unit 36 ​​around an adjustment axis 91 that intersects vertically. The posture of the workpiece holding unit 36 ​​can be appropriately adjusted in accordance with the deflection of the SCARA section, etc. This reduces the requirements for rigidity of the SCARA section and allows for further weight reduction of the SCARA section.

[0053] The posture adjustment unit 80 may further adjust the posture of the workpiece holding unit 36 ​​around a second adjustment axis 92 that intersects the vertical direction and the adjustment axis 91. This allows for more appropriate adjustment of the posture of the workpiece holding unit 36.

[0054] The posture adjustment unit 80 may further adjust the posture of the workpiece holding unit 36 ​​around a third adjustment axis 93 that intersects the adjustment axis 91 and the second adjustment axis 92. This allows for more appropriate adjustment of the posture of the workpiece holding unit 36.

[0055] The movable angle of the workpiece holding section 36 by the posture adjustment section 80 may be within ±30°. This allows for miniaturization and weight reduction of the posture adjustment section 80.

[0056] The arm base 32 may extend from the fixed position P4 to above the conveying device. Further shortening of the first arm 33 and the second arm 34 is possible.

[0057] The first arm 33 is mounted on the arm base 32, the second arm 34 is mounted below the first arm 33 so as to be at least partially at the same height as the arm base 32, and the arm tip 35 may be mounted below the second arm 34. This allows for a lower profile of the SCARA section.

[0058] The arm base 32 extends from a fixed position P4 toward a first position P1, and the robot 30 may transport the workpiece from the first position P1 to the second position P2 with the first arm 33 and the second arm 34 folded toward the fixed position P4. In the process of transporting the workpiece from the first position P1 to the second position P2, the area occupied by the SCARA section can be reduced. In addition, by shifting the center of gravity of the SCARA section toward the fixed position P4, the load required to support the SCARA section can be reduced.

[0059] The arm tip 35 extends away from the third axis 43, and the workpiece holding portion 36 may be located below the arm tip 35 at a position away from the third axis 43. The arm tip 35 can compensate for the limitations on the movement of the first arm 33 and the second arm 34, which arise from the second arm 34 and the arm base 32 being located at the same height.

[0060] Viewed from above, at least a portion of the base 31 may be located between the first position P1 and the second position P2 in the direction along the first line 14. The lengths of the first arm 33 and the second arm 34 can be further reduced.

[0061] Viewed from above, the first conveying device 10 has a first side edge 12 and a second side edge 13 along the conveying line 11, and at least a portion of the base 31 may be located between the first side edge 12 and the second side edge 13. The range of motion of the second conveying device 20 can be widened.

[0062] The robot 30 may further include a link 70 that links the rotation of the arm tip 35 around the third axis 43 with the rotation of the first arm 33 around the first axis 41 and the rotation of the second arm 34 around the second axis 42. This allows for further weight reduction of the SCARA section.

[0063] The robot 30 may further have a posture adjustment unit 80 that adjusts the posture of the arm tip 35 around the third axis 43 by changing the length of the link 70. The posture of the arm tip 35 around the third axis 43 can be adjusted by a small and lightweight actuator.

[0064] Link 70 includes a first link 71 that transmits the rotation of the first arm 33 around the first axis 41, and a second link 73 that transmits the rotation transmitted from the first link 71 and the rotation of the second arm 34 around the second axis 42 to the arm tip 35. The attitude adjustment unit 80 may adjust the attitude of the arm tip 35 around the third axis 43 by changing the length of the first link 71. The weight of the attitude adjustment unit 80 can reduce the moment load acting on the first axis 41.

[0065] The arm base 32 extends from a fixed position P4 toward a first position P1, and the robot 30 may transport the workpiece from the first position P1 to the second position P2 with the first arm 33 and the second arm 34 folded toward the fixed position P4. In the process of transporting the workpiece from the first position P1 to the second position P2, the area occupied by the SCARA section can be reduced. In addition, by shifting the center of gravity of the SCARA section toward the fixed position P4, the load required to support the SCARA section can be reduced.

[0066] The arm tip 35 extends away from the third axis 43, and the workpiece holding portion 36 is provided below the arm tip 35 at a position away from the third axis 43. The link 70 may be aligned with the direction in which the arm tip 35 extends from the third axis 43, in the direction from the second position P2 toward the first position P1. The workpiece holding portion 36 can be easily positioned at the first position P1 while the first arm 33 and the second arm 34 remain folded.

[0067] As shown in Figure 6, the first axis 41 may be located between the first position P1 and the second position P2 in the direction along the first line 14. The lengths of the first arm 33 and the second arm 34 can be further reduced.

[0068] In the direction along the first line 14, the first axis 41 may be located between the fixed position P4 and the second position P2. In this case, it is easy to achieve both a short length for the first arm 33 and the second arm 34 and a wide range of motion for the second conveying device 20.

[0069] As shown in Figure 7, the arm base 32 may extend from the fixed position P4 towards the area between the first position P1 and the second position P2 along a line inclined with respect to the conveying line 11. This makes it even easier to achieve both a shorter length for the first arm 33 and the second arm 34 and a wider range of motion for the second conveying device 20.

[0070] The payload capacity of robot 30 may be 300 kg or more. High-efficiency transport is more beneficial.

[0071] The workpiece may include a battery module for electric vehicle propulsion. High-efficiency transport is more beneficial.

[0072] Although embodiments have been described above, this disclosure is not necessarily limited to the embodiments described above, and various modifications are possible without departing from its essence. [Explanation of Symbols]

[0073] 1...Robot system, 10...First conveying device, 11...Conveying line, P1...First position, 20...Second conveying device, P2...Second position, 30...Robot, P4...Fixed position, 31...Base, 32...Arm base, 41...First axis, 33...First arm, 42...Second axis, 34...Second arm, 43...Third axis, 35...Arm tip, 36...Workpiece holding part, 12...First side edge, 13...Second side edge, 70...Link, 71...First link, 73...Second link, 80...Attitude adjustment part, 91...Adjustment axis, 92...Second adjustment axis, 93...Third adjustment axis.

Claims

1. A first conveying device that conveys a workpiece to a first position along a horizontal conveying line, A second conveying device that conveys the workpiece from a second position adjacent to the first position along a first line perpendicular to the conveying line, A robot is fixed at a fixed position away from the first line in the direction of workpiece transport by the first transport device, and transports the workpiece from the first position to the second position. Equipped with, The aforementioned robot, A base that is fixed in the aforementioned fixed position and raises and lowers the arm base, A first arm is connected to the arm base so as to rotate around a vertical first axis and extends away from the first axis, A second arm is connected to the first arm so as to rotate around a vertical second axis and extends away from the second axis, The tip of the arm connected to the second arm so as to rotate around a vertical third axis, A workpiece holding section is provided below the tip of the arm and holds the workpiece from above, It has, The robot has a payload capacity of 300 kg or more. Robot system.

2. The robot further includes a posture adjustment unit provided between the tip of the arm and the workpiece holding unit, which adjusts the posture of the workpiece holding unit around an adjustment axis that intersects it vertically. The robot system according to claim 1.

3. The posture adjustment unit further adjusts the posture of the workpiece holding unit around a second adjustment axis that intersects the vertical direction and the adjustment axis. The robot system according to claim 2.

4. The posture adjustment unit further adjusts the posture of the workpiece holding unit around a third adjustment axis that intersects the adjustment axis and the second adjustment axis. The robot system according to claim 3.

5. The movable angle of the workpiece holding portion by the posture adjustment portion is within ±30°. A robot system according to any one of claims 2 to 4.

6. The arm base extends from the fixed position to above the first conveying device. A robot system according to any one of claims 1 to 4.

7. The first arm is mounted on the arm base, The second arm is mounted below the first arm so as to be at least partially at the same height as the arm base. The tip of the arm is attached below the second arm. The robot system according to claim 6.

8. The arm base extends from the fixed position toward the first position, The robot transports the workpiece from the first position to the second position with the first arm and the second arm folded in a direction approaching the fixed position. The robot system according to claim 7.

9. The tip of the arm extends in a direction away from the third axis, The workpiece holding portion is provided below the tip of the arm at a position away from the third axis. The robot system according to claim 7.

10. Viewed from above, at least a portion of the base is located between the first position and the second position in a direction along the first line. A robot system according to any one of claims 1 to 4.

11. Viewed from above, the first conveying device has a first side edge and a second side edge along the conveying line, and at least a portion of the base is located between the first side edge and the second side edge. The robot system according to claim 10.

12. The robot further includes a link that links the rotation of the arm tip around the third axis with the rotation of the first arm around the first axis and the rotation of the second arm around the second axis. A robot system according to any one of claims 1 to 3.

13. The robot further includes a posture adjustment unit that adjusts the posture of the arm tip around the third axis by changing the length of the link. The robot system according to claim 12.

14. The aforementioned link is A first link that transmits the rotation of the first arm around the first axis, A second link transmits the rotation transmitted from the first link and the rotation of the second arm around the second axis to the tip of the arm, Includes, The attitude adjustment unit adjusts the attitude of the arm tip around the third axis by changing the length of the first link. The robot system according to claim 13.

15. The arm base extends from the fixed position toward the first position, The robot transports the workpiece from the first position to the second position with the first arm and the second arm folded in a direction approaching the fixed position. The robot system according to claim 12.

16. The tip of the arm extends in a direction away from the third axis, The workpiece holding portion is provided below the tip of the arm at a position away from the third axis, The link aligns the direction in which the tip of the arm extends from the third axis with the direction from the second position to the first position. The robot system according to claim 15.

17. The robot system according to any one of claims 1 to 4, wherein, in the direction along the first line, the first axis is located between the first position and the second position.

18. The robot system according to claim 17, wherein, in the direction along the first line, the first axis is located between the fixed position and the second position.

19. The robot system according to claim 18, wherein the arm base extends along a second line inclined with respect to the transport line from the fixed position toward the space between the first position and the second position.

20. The aforementioned workpiece includes a battery module for the operation of an electric vehicle. A robot system according to any one of claims 1 to 4.

21. A first conveying device that conveys a workpiece to a first position along a horizontal conveying line, A second conveying device that conveys the workpiece from a second position adjacent to the first position along a first line perpendicular to the conveying line, A robot is fixed at a fixed position away from the first line in the direction of workpiece transport by the first transport device, and transports the workpiece from the first position to the second position. Equipped with, The aforementioned robot, A base that is fixed in the aforementioned fixed position and raises and lowers the arm base, A first arm is connected to the arm base so as to rotate around a vertical first axis and extends away from the first axis, A second arm is connected to the first arm so as to rotate around a vertical second axis and extends away from the second axis, The tip of the arm connected to the second arm so as to rotate around a vertical third axis, A workpiece holding section is provided below the tip of the arm and holds the workpiece from above, It has, Viewed from above, At least a portion of the base is located between the first position and the second position in a direction along the first line, The first conveying device has a first side edge and a second side edge along the conveying line, and at least a portion of the base is located between the first side edge and the second side edge. Robot system.

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