JP6182378B2 - Robot system - Google Patents

Description

  The present invention relates to a robot system that performs processing, measurement, and other processing using a tool fixed to a tip of a robot.

  Conventionally, in this type of robot system, the robot is attached to the upper base provided at the upper part of the gantry, and the workpiece placed below the upper base is processed with a tool fixed to the tip of the robot. Things are known. This robot system is provided with a deburring tool for removing deburring of a workpiece as a tool (see, for example, Patent Document 1).

Japanese Patent No. 5076152 (FIG. 1)

  By the way, when the tool in the conventional robot system described above is replaced with, for example, a laser torch for laser processing or a probe for three-dimensional measurement, a cable (optical fiber cable or communication cable) connected to the tool is There was a possibility that the tool would hinder the movement of the tool due to drooping down below the upper base. In addition, the cable may be damaged due to excessive bending or pulling accompanying the movement of the tool.

  The present invention has been made in view of the above circumstances, and an object thereof is to provide a robot system capable of preventing the movement of a tool by a cable or preventing the cable from being damaged.

In order to achieve the above object, a robot system according to the invention of claim 1 is configured such that a robot is attached to an upper base provided at an upper portion of a gantry, and a tip of the robot is placed on a workpiece disposed below the upper base. In a robot system that performs processing, measurement, and other processing with a tool fixed to the section, the cable connected to the tool is passed through the inside of the cable insertion hole provided in the upper base, and then bent into a U-shape downward. Fixed to the cable end support provided on the upper base, and the lifting guide rail that stands up from the upper base, and the cable holding that is guided by the lifting guide rail so that it can move up and down and holds a part of the cable A slider, a cable handling servo motor that controls the position of the cable holding slider, and a robot drive servo that is the drive source of the robot In association with a teaching point over data teaching points and servomotor cable preparative times, characterized in was a capable controller to drive the robot and cable retention slider by teaching playback.

  Here, the “cable” in the present invention is meant to include not only those that transmit electricity and laser light, but also those that have a hollow structure and allow fluid to pass through them (hose and tube).

  According to a second aspect of the present invention, in the robot system according to the first aspect, one end is fixed to the cable holding slider, while the other end is fixed to the cable end supporting portion, and the cable is bent in a U shape. It is characterized by a cable carrier that maintains the shape.

  The invention of claim 3 is characterized in that, in the robot system of claim 1 or 2, the tool is a laser torch, and the cable is an optical fiber for guiding laser light.

  A fourth aspect of the present invention is the robot system according to any one of the first to third aspects, wherein the pair of first rollers extends parallel to the first horizontal direction and faces each other with a cable interposed therebetween. A pair of second rollers extending parallel to a second horizontal direction perpendicular to the first horizontal direction and facing each other with a cable interposed therebetween, and arranged to overlap the pair of first rollers in the vertical direction; The cable insertion hole is characterized in that it is surrounded by a pair of first and second rollers.

  According to a fifth aspect of the present invention, in the robot system according to any one of the first to fourth aspects, the upper base is disposed above the main base and the main base, and has a vertical axis with respect to the main base. It consists of a sub-base supported so as to be able to rotate at an angle within 30 degrees forward and backward with respect to the center. The cable insertion hole is provided in the main base, while the cable end support portion is provided in the sub-base. It has the characteristics.

[Invention of Claim 1]
The robot system according to claim 1, wherein the cable connected to the tool is passed through the inside of the cable insertion hole provided in the upper base and then bent in a U shape and directed downward to support the cable end provided in the upper base. A part of the cable is held by the cable holding slider. The cable holding slider is guided so as to move up and down by an elevating guide rail standing upward from the upper base, and its position is controlled by a cable handling servo motor.

  Then, the teaching point of the servo motor for driving the robot that is the driving source of the robot and the teaching point of the servo motor for cable handling are stored in association with each other, and the robot and the cable holding slider are driven by teaching playback. It is possible to route the cable while maintaining appropriate play (slack) so that the cable does not become excessive or deficient during the movement of the tool or the movement destination. Thereby, the movement of the tool is prevented by the cable, and the cable can be prevented from being damaged.

  Here, a laser torch may be provided as a “tool” in the present invention, and an optical fiber that guides laser light may be provided as a “cable” (invention of claim 3). Further, the tool and the cable are not limited to this, and for example, a gas torch may be provided as the “tool” and a gas hose may be provided as the “cable”. Further, for example, a three-dimensional measuring probe may be provided as a “tool”, and an optical fiber for guiding laser light may be provided as a “cable”. Furthermore, a paint gun may be provided as the “tool”, and a paint hose may be provided as the “cable”.

[Invention of claim 2]
According to the invention of claim 2, since the cable is maintained in a U-shaped curved shape by the cable carrier between the cable holding slider and the cable end support portion, excessive bending of the cable is prevented. At the same time, the cable holding slider can be smoothly moved up and down.

[Invention of claim 4]
According to the invention of claim 4, the cable insertion hole is surrounded by the pair of first rollers and the pair of second rollers, and comes into contact with the cable when the cable moves in the cable insertion hole. Since the roller is driven to rotate, it is possible to suppress cable wear due to friction with the cable insertion hole.

[Invention of claim 5]
According to the invention of claim 5, since the rotation of the sub base relative to the main base is limited to within 30 degrees both forward and reverse, the sub base rotates with respect to the main base, and the main base and the sub base Even if the cable is twisted in between, an excessive load can be prevented.

The side view of the robot system which concerns on one Embodiment of this invention Front view of robot system Side view of main parts of robot system Top view of robot system Sectional drawing in the AA cut surface of FIG. Sectional drawing in the BB cut surface of FIG. Side sectional view of fixed base and linear motion base Partial sectional view of base / nut coupling mechanism (A) Side view of cross guide roller, (B) Bottom view of cross guide roller A plan view of the robot system in which the linear motion base is advanced and the turning base is turned. Side view showing how cables are routed in the workpiece machining area Controller block diagram

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, an embodiment according to the invention will be described with reference to FIGS. A robot system 100 of the present embodiment shown in FIG. 1 is a laser processing machine for laser processing (for example, welding, fusing or drilling) a workpiece, and includes a robot 10 having a laser torch 90 at the tip. And a laser oscillator 101 that oscillates laser light. The robot 10 has five drive shafts, and two of the five drive shafts are constituted by a twist slide mechanism. The twist slide mechanism includes a fixed base 11 fixed to a gantry 102 of a factory, a linear motion base 20 slidably connected to the fixed base 11, and a swing base 30 slidably connected to the linear motion base 20. (See FIG. 6). Then, machining by the laser torch 90 is performed in a workpiece machining area below the fixed base 11. The “upper base” according to the present invention includes a linear motion base 20 corresponding to the “main base” of the present invention and a turning base 30 corresponding to the “sub-base” of the present invention.

  As shown in FIG. 4, the fixed base 11 has a substantially box shape in which the planar shape is rectangular and the entire upper surface is open. The bottom wall 12 of the fixed base 11 is provided with a rectangular opening 12A and a pair of guide rails 13 and 13 extending parallel to each other along the opening edge of the rectangular opening 12A. The rectangular opening 12A is provided at the center of the bottom wall 12 in the short direction and extends over the entire length. Further, as shown in FIG. 5, the pair of guide rails 13 and 13 are fixed to the upper surface of the bottom wall 12 and extend parallel to the long side of the rectangular opening 12A.

  As shown in FIG. 4, the linear motion base 20 has a flat plate shape that is rectangular in plan view, and is spanned between a pair of guide rails 13, 13 as shown in FIG. 5. A circular center hole 21 penetrating the linear motion base 20 in the vertical direction is formed at the center of the linear motion base 20. A pair of sliders 14 and 14 are fixed to both sides of the lower surface of the linear motion base 20, and these sliders 14 and 14 are engaged with the guide rails 13 and 13. Thereby, the linear motion base 20 is slidably connected to the fixed base 11. Hereinafter, the sliding direction of the linear motion base 20 with respect to the fixed base 11 (the direction indicated by the arrow H1 in the drawing) is appropriately referred to as “first horizontal direction H1”.

  As shown in FIG. 5, the turning base 30 includes a twist cylinder portion 31 that extends through the fixed base 11 in the vertical direction. The twist cylinder portion 31 is inserted into the center hole 21 of the linear motion base 20 and the rectangular opening portion 12A of the fixed base 11, and the linear motion base 20 is interposed via a cross roller bearing 22 fixed inside the center hole 21. It is connected to be rotatable.

  A pair of base driving ball screws 41, 41 are provided above the pair of guide rails 13, 13. These base drive ball screws 41, 41 extend in parallel with the guide rails 13, 13, respectively, and both end portions of the fixed base 11 face the proximal end wall 15 and the distal end wall 16 in the first horizontal direction H 1. (See FIG. 4). Specifically, a pair of speed reducer units (not shown) are mounted side by side on the base end wall 15, and one end of each base driving ball screw 41 is connected to the base end wall via the speed reducer unit. 15 is rotatably supported. Further, a pair of bearings (not shown) are attached to the tip wall 16 side by side, and the other end portions of the base drive ball screws 41 are rotatably supported by the tip wall 16 via these bearings. ing.

  A pair of base drive servomotors 81, 81 are mounted side by side on brackets 81K, 81K on the outer surface of the base end wall 15 to which the reduction gear unit is mounted. Each bracket 81K has a cylindrical shape surrounding the end of the speed reducer unit, and the output rotation shaft of each base drive servo motor 81 is connected to each speed reducer unit within the bracket 81K. As shown in FIG. 5, base drive ball nuts 42 and 42 are screwed into the pair of base drive ball screws 41 and 41, respectively. As a result, the pair of base drive ball nuts 42 and 42 can be individually moved to arbitrary rotational positions.

  The base drive ball nuts 42 are connected to the turning base 30 via a “base / nut connection mechanism” described below. That is, as shown in FIG. 5, the turning base 30 is integrally provided with a connecting plate 32 that protrudes laterally from the outer surface of the twisted cylindrical portion 31 and faces the linear motion base 20 from above. The connecting plate 32 has a plate shape extending in a second horizontal direction H2 orthogonal to the first horizontal direction H1, and a relay guide is provided on both sides of the lower surface of the connecting plate 32 with the twist cylinder portion 31 interposed therebetween. Rails 33 are fixed. These relay guide rails 33, 33 extend in the second horizontal direction H2 and make a pair in the first horizontal direction H1.

  As shown in FIG. 5, the relay sliders 34 are engaged with the relay guide rails 33 so as to be linearly movable. As shown in FIG. 7, the relay sliders 34, 34 paired in the first horizontal direction H <b> 1 are fixed to a common relay base 35.

  As shown in FIG. 8, each relay base 35 is formed with a bearing accommodation hole 36 </ b> A penetrating in the vertical direction, and a nut coupling bearing 36 is fitted inside the relay base 35 in a retaining state. On the other hand, the base drive ball nut 42 includes a relay pin 37 protruding upward, and the relay pin 37 is fitted inside the nut coupling bearing 36. The relay guide rail 33, the relay slider 34, the relay base 35, the nut connection bearing 36 and the relay pin 37 constitute a “base / nut connection mechanism”. With this “base / nut coupling mechanism”, the linear drive positions of the base drive ball nuts 42, 42 are controlled by the base drive servomotors 81, 81, for example, as shown in the change from FIG. 4 to FIG. 10. The revolving base 30 is slid in the longitudinal direction of the robot system 100 together with the linear motion base 20, and the revolving base 30 is moved around the base twist axis J1 perpendicular to the first horizontal direction H1 with respect to the linear motion base 20. For example, it can be twisted at an arbitrary angle within 30 degrees in the forward and reverse directions.

  As shown in FIGS. 5 and 6, the lower end portion of the twist cylinder portion 31 is closed by a lower end closing plate 31C, and a guide block 31G is fixed to the lower surface of the lower end closing plate 31C. Further, as shown in FIG. 6, a pair of shaft support holes 31D and 31D are formed through the lower end closing plate 31C and the guide block 31G in the vertical direction. Then, linear shafts 51 and 51 are inserted through the shaft support holes 31D and 31D, respectively, so as to be movable up and down.

  The upper ends of the pair of linear motion shafts 51, 51 are connected by a shaft connecting member 52 disposed inside the twist tube portion 31. The shaft connecting member 52 is integrally provided with a ball nut 54 for arm linear motion. An arm linear motion ball nut 54 is screwed into an arm linear motion ball screw 53 extending through the shaft connecting member 52 in the vertical direction.

  As shown in FIG. 5, the turning base 30 includes a motor bracket 32A. The motor bracket 32A has a gate-like structure that stands up from the upper surface of the connection plate 32 and opens in the first horizontal direction H1, and covers a portion of the twist cylinder portion 31 that protrudes above the connection plate 32. Yes. A reduction gear unit 82M is fixed to the upper surface of the ceiling wall 32B of the motor bracket 32A, and the arm linear motion ball screw 53 and the arm linear motion servo motor 82 are connected via the reduction gear unit 82M. .

  Specifically, the upper end portion of the arm direct-acting ball screw 53 is rotatably supported by a top end closing plate 31B that closes the upper end portion of the twist cylinder portion 31 via a bearing. Further, the ceiling wall 32B of the motor bracket 32A projects in the second horizontal direction H2, and the arm direct acting servomotor 82 is fixed to the lower surface of the projecting portion. The input portion of the reduction gear unit 82M is connected to the output rotation shaft of the servomotor 82 for arm linear motion, and the output portion of the reduction gear unit 82M is connected to the upper end portion of the ball screw 53 for arm linear motion. As a result, the arm linear motion ball screw 53 is rotationally driven by the arm linear motion servo motor 82, and the linear motion shafts 51, 51 are moved up and down by a ball screw mechanism comprising the arm linear motion ball screw 53 and the arm linear motion ball nut 54. Move.

  A first arm 60 is fixed to the lower ends of the linear motion shafts 51, 51. As shown in FIG. 3, the first arm 60 has a cantilever shape extending in the horizontal direction from the connecting portion with the linear motion shafts 51, 51, and the second arm is formed at the tip of the first arm 60. A drive servo motor 83 is attached.

  The rotation center of the second arm drive servomotor 83 is parallel to the base twist axis J1 which is the rotation center of the turning base 30. The second arm 61 is attached to the output rotation shaft of the second arm driving servomotor 83 via a reduction gear unit 83M.

  As for the 2nd arm 61, the base end part connected with the reduction gear unit 83M is horizontal, is bent 45 degree | times in the intermediate part, and the front-end | tip part inclines diagonally downward. A third arm driving servo motor 84 is attached to the tip of the second arm 61. The rotation center of the third arm driving servomotor 84 is disposed so as to be orthogonal to the tip of the second arm 61 and intersect the rotation center of the second arm driving servomotor 83. Further, the base end portion of the third arm 62 is attached to the output rotation shaft of the third arm driving servo motor 84 via the reduction gear unit 84M. Further, a laser torch 90 is attached to the tip of the third arm 62. The position of the laser torch 90 is controlled by the above-described base drive servomotor 81, arm direct acting servomotor 82, second arm drive servomotor 83, and third arm drive servomotor 84, as shown in FIGS. As indicated by the two-dot chain line in FIG. 2, it is possible to irradiate the workpiece placed in the workpiece machining area with laser light from a desired direction at a desired position. The servo motors 81, 82, 83, and 84 correspond to the “robot driving servo motor” of the present invention.

  An optical fiber cable 93 (hereinafter simply referred to as “cable 93”) is connected to the base end of the laser torch 90. The cable 93 passes through the fixed base 11 and the linear motion base 20, then curves in a U shape and faces downward, and is fixed to the cable end support portion 38 provided in the turning base 30. Although not shown, the cable 93 extends from the cable end support 38 to the laser oscillator 101 (see FIG. 1), and the laser light oscillated by the laser oscillator 101 is transmitted to the laser torch 90 by the cable 93. It is supposed to be transmitted. The cable 93 and the laser torch 90 may be connected by a rotary joint.

  As shown in FIG. 3, the cable end support portion 38 stands vertically upward from the upper surface of the motor bracket 32A. A cable carrier 79 (for example, a cable bear (registered trademark)) is connected between an upper end portion of the cable end support portion 38 and a cable holding slider 75 described later. The cable carrier 79 is curved in a U shape at an intermediate portion, and a cable 93 is passed inside the cable carrier 79. The cable 93 is fixed to both ends of the cable carrier 79, that is, the upper end of the cable end support 38 and the cable holding slider 75. And the cable carrier 79 keeps the middle portion of the cable 93 in a curved state in a U shape. Although not shown, a portion of the cable 93 that communicates between the lower end portion of the cable end support portion 38 and the laser oscillator 101 is passed through another cable carrier.

  As shown in FIG. 7, a side hole 25 is formed through the linear motion base 20 separately from the center hole 21. The center hole 21 and the side hole 25 are arranged side by side in the first horizontal direction H1, and a cable 93 is passed through the side hole 25.

  In the linear motion base 20, a cross guide roller 43 is disposed directly below the side hole 25. The cross guide roller 43 has a structure in which a plurality of rollers 45 and 46 are arranged in a cross-beam shape, and a portion surrounded by the plurality of rollers 45 and 46 is a “cable insertion hole 49” according to the present invention. ing. As shown in FIG. 9B, the cross guide roller 43 includes a rectangular base plate 44 that is fixed to the lower surface of the linear motion base 20 so as to overlap with the side hole 25 at the center of the base plate 44. A communicating circular hole 44A is formed through. The base plate 44 also has a pair of first opposing walls 47, 47 that are suspended from the lateral position of the circular hole 44A and opposed in the first horizontal direction H1, and 1 opposed to the second horizontal direction H2. A pair of second opposing walls 48 are provided (see FIG. 9A).

  A pair of first rollers 45, 45 extending in the first horizontal direction H <b> 1 is spanned between the pair of first opposing walls 47, 47, and the pair of first rollers 45, 45. However, they face each other across the cable 93 passed through the circular hole 44A (see FIG. 9B). The first roller 45 is rotatably supported with respect to the support shaft 45A penetrating the center thereof, and both end portions of the support shaft 45A are non-rotatably supported by the pair of first opposing walls 47, 47. Yes.

  Between the second opposing walls 48, 48, a pair of second rollers 46, 46 extending in the second horizontal direction H2 is bridged, and these second rollers 46, 46 extend into the circular hole 44A. The cable 93 is passed through (see FIGS. 9A and 9B). Similar to the first roller 45, the second roller 46 is also rotatably supported with respect to the support shaft 46A penetrating through the center thereof, and both ends of the support shaft 46A are a pair of second opposing walls 48, 48 is supported so as not to rotate.

  As shown in FIG. 9A, the first rollers 45, 45 are arranged below the second rollers 46, 46 with a gap between them, both ends of the first rollers 45, 45, and the second rollers. It arrange | positions so that the both ends of 46 and 46 may mutually overlap in the up-down direction (refer the figure (B)). And the cable 93 is inserted in the cable insertion hole 49 enclosed by these 1st rollers 45 and 45 and the 2nd rollers 46 and 46 in the loose fitting state.

  As shown in FIG. 7, a cable elevating guide 70 is integrally provided on the linear motion base 20. The cable raising / lowering guide 70 is arranged side by side with the twist cylinder portion 31 in the first horizontal direction H1, and is arranged on the opposite side to the cross guide roller 43 with the linear motion base 20 interposed therebetween. Of the cable lifting guide 70, the base plate 71 facing the upper surface of the linear motion base 20 is disposed above the base drive ball screws 41, 41, and the base plate 71 and the linear motion base 20 form a pair. Are connected by a connecting portion 72 disposed between the base drive ball screws 41, 41. The connecting portion 72 hangs from the position near the twist cylinder portion 31 in the base plate 71 toward the upper surface of the linear motion base 20. The cable 93 is inserted in a loosely fitted state into a through hole 72A that penetrates the connecting portion 72 in the vertical direction.

  The cable elevating guide 70 includes a rail support wall 73 erected vertically upward from the base plate 71. The rail support wall 73 is disposed at a position away from the twist cylinder 31 in the base plate 71 and has a cross section of “E” shape as shown in FIG. 4. In addition, a pair of triangular ribs 73R and 73R facing each other with the rail support wall 73 sandwiched in the width direction (second horizontal direction H2) are integrally provided at the lower end portion of the rail support wall 73. Triangular ribs 73 </ b> R and 73 </ b> R are fixed to the base plate 71.

  A pair of elevating guide rails 74 and 74 for guiding the cable holding slider 75 so as to be movable up and down are fixed to a side surface of the rail support wall 73 facing the twist cylinder portion 31 side. The pair of elevating guide rails 74 and 74 extend in the vertical direction, and a cable holding slider 75 is disposed between the elevating guide rails 74 and 74. The cable holding slider 75 is integrally provided with a ball nut (not shown), and this ball nut is connected to a cable lifting ball screw 76 extending in the vertical direction between the pair of lifting guide rails 74, 74. It is screwed.

  As shown in FIG. 3, a bracket 77 is fixed to the upper end of the elevating guide rail 74, and a cable handling servo motor 78 is attached to the upper surface of the bracket 77. A reduction gear unit (not shown) is provided inside the bracket 77, an input portion of the reduction gear unit is connected to an output rotation shaft of a cable handling servo motor 78, and an output portion of the reduction gear unit is a cable lifting ball. The upper end of the screw 76 is connected. As a result, the cable raising / lowering ball screw 76 is rotationally driven by the cable handling servo motor 78, and the cable holding slider 75 moves up and down by the guide of the raising / lowering guide rail 74. As described above, an intermediate portion of the cable 93 is fixed to the cable holding slider 75 together with one end portion of the cable carrier 79, and the cable 93 and the cable carrier 79 follow the vertical movement of the cable holding slider 75. Move.

  FIG. 12 shows a controller 80 provided in the robot system 100. The controller 80 includes servo amplifiers 78A for the cable handling servo motor 78, the base drive servo motor 81, the arm direct acting servo motor 82, the second arm drive servo motor 83, and the third arm drive servo motor 84. , 81A, 82A, 83A, 84A are respectively connected to the main control circuit 85. Further, the controller 80 is provided with a data input operation section 87. When the teaching mode is set by a mode change switch (not shown) of the data input operation section 87, the output rotations of the servo motors 78, 81, 82, 83, 84 are provided. The shaft can be moved to any rotational position separately.

  Then, by turning on a point storage button (not shown) of the data input operation unit 87, teaching data including a set of position data groups of the servo motors 78, 81 to 84 can be stored in the memory 86, An operation program for the robot system 100 is created by combining such teaching data and a predetermined command.

  When the mode switch of the data input operation unit 87 is switched to the execution mode (playback mode) and the operation program is executed by the main control circuit 85, the main control circuit 85 servos at predetermined intervals based on the teaching mode. The position command values of the motors 78 and 81 to 84 are calculated and given to the servo motors 78 and 81 to 84. That is, the main control circuit 85 controls the positions of the servo motors 78 and 81 to 84 at positions corresponding to each other. Accordingly, the laser torch 90 is positioned and controlled at an arbitrary position in the workpiece machining area, and the cable holding slider 75 is positioned and controlled at a position corresponding to the position of the laser torch 90.

  This completes the description of the configuration of the robot system 100 of the present embodiment. Next, the operational effects of the robot system 100 will be described. A workpiece (not shown) is set in a workpiece machining area below the fixed base 11. Then, the robot system 100 operates by the teaching playback method, and laser processing (welding, fusing or drilling) is performed with the tip of the laser torch 90 facing the workpiece.

  At this time, the robot system 100 linearly moves the pair of base drive ball nuts 42 and 42 by the rotational drive of the base drive ball screws 41 and 41 by the pair of base drive servomotors 81 and 81, and thereby the laser torch. Move 90. Specifically, the pair of base drive ball nuts 42 and 42 are moved in the same direction and at the same speed, and the linear motion base 20 and the turning base 30 are slid in the first horizontal direction H1, whereby the laser torch. 90 moves in the first horizontal direction H1. Further, the pair of base drive ball nuts 42, 42 are linearly moved in different directions at the same speed, and the turning base 30 is twisted with respect to the linear motion base 20, so that the laser torch 90 rotates around the base twist axis J1. Move to. As a result, the tip of the laser torch 90 can be moved in a two-dimensional horizontal plane. If the pair of base drive ball nuts 42 and 42 are linearly moved in different directions or at different speeds in the same direction, the laser torch 90 is swung around the base twist axis J1 while sliding in the first horizontal direction H1. Can be made.

  In addition, the robot system 100 can move the laser torch 90 in the vertical direction by rotationally driving the arm linear motion ball screw 53 by the arm linear motion servo motor 82. The laser torch 90 can be changed to an arbitrary posture by the rotation drive of the second arm 61 by the second arm drive servomotor 83 and the rotation drive of the third arm 62 by the third arm drive servomotor 84. it can. As a result, laser processing can be performed by abutting the tip of the laser torch 90 from a desired direction at a desired position with respect to a workpiece (not shown).

  As described above, in the robot system 100 of the present embodiment, the teaching points of the various servo motors 81 to 84 that are the drive source of the robot 10 and the teaching points of the cable handling servo motor 78 are stored in association with each other. The robot 10 and the cable holding slider 75 are driven by teaching playback. That is, the position of the cable holding slider 75 moves up and down according to the position of the laser torch 90. Specifically, for example, when the laser torch 90 moves away from the origin position shown in FIG. 3, the cable holding slider 75 descends along with the movement, and the cable 93 is moved to the workpiece machining area. Send it out. On the other hand, when the laser torch 90 moves so as to approach the origin position, the cable holding slider 75 is raised along with the movement, and the cable 93 is pulled up from the workpiece machining area. As a result, the cable 93 can be routed while maintaining appropriate play (slack) so that the cable 93 does not become excessive or deficient during the movement of the laser torch 90 or the movement destination. Thereby, it is possible to prevent the movement of the laser torch 90 from being hindered by the cable 93 that hangs down in the workpiece machining area. Further, it is possible to prevent the cable 93 from being damaged by excessive bending or pulling accompanying the movement of the laser torch 90.

  The cable insertion hole 49 provided in the linear motion base 20 is surrounded by a pair of first rollers 45, 45 and a pair of second rollers 46, 46, and the cable 93 is inside the cable insertion hole 49. When the roller is moved, the roller in contact with the cable 93 is driven to rotate, so that wear of the cable 93 due to rubbing with the cable insertion hole 49 can be suppressed.

  Further, since the cable 93 is maintained in a U-shaped curved shape by the cable carrier 79 between the cable holding slider 75 and the cable end support portion 38, excessive bending of the cable 93 can be prevented. At the same time, the cable holding slider 75 can be smoothly moved up and down.

  Furthermore, since the rotation of the turning base 30 with respect to the linear motion base 20 is limited to within 30 degrees both forward and reverse, the turning base 30 turns relative to the linear motion base 20, and the linear motion base 20 and the rotational base 20 Even if the cable 93 is twisted with respect to 30, it can be prevented from becoming an excessive load.

[Other Embodiments]
The present invention is not limited to the above-described embodiment. For example, the embodiments described below are also included in the technical scope of the present invention, and various other than the following can be made without departing from the scope of the invention. It can be changed and implemented.

  (1) The robot system 100 according to the embodiment is a “laser processing machine” that processes a workpiece with laser light. However, the robot system 100 includes a probe that emits laser light at the tip of the robot 10, and works with laser light. It may be a “three-dimensional measuring device” that measures the shape. Further, a “gas welding / melting machine” may be used in which a gas torch is provided at the tip of the robot 10 and a gas hose extending from the gas torch is provided as a cable. Alternatively, a “painting machine” in which a coating gun is provided at the tip of the robot 10 and a paint hose extending from the coating gun as a cable may be used.

  (2) Although the robot system 100 of the embodiment includes the linear motion base 20 and the turning base 30, and has the twist mechanism that allows the turning base 30 to rotate with respect to the linear motion base 20, the twist mechanism. It is good also as a structure which excluded.

  (3) In the above embodiment, the U-shaped curved shape is maintained by passing the intermediate portion of the cable 93 through the cable carrier 79. However, in the case of a cable that can maintain the U-shaped curved shape by itself. In this case, the cable carrier 79 may not be used.

  (4) In the above-described embodiment, two drive shafts are provided between the tip of the first arm 60 and the tool (laser torch 90). A tool (laser torch 90) may be fixed to the tip of the arm 60.

10 Robot 11 Fixed base 20 Linear motion base (Main base)
30 Turning base (sub base)
38 Cable end support portion 45 First roller 46 Second roller 49 Cable insertion hole 70 Cable lift guide 74 Lift guide rail 75 Cable holding slider 78 Cable handling servo motor 79 Cable carrier 80 Controller 81 Base drive servo motor (robot Servo motor for driving)
82 Servo motor for arm linear movement (servo motor for robot drive)
83 Servo motor for second arm drive (servo motor for robot drive)
84 Third arm drive servomotor (robot drive servomotor)
90 Laser torch (tool)
93 Optical fiber cable (cable)
100 Robot system 102 Mounting base H1 First horizontal direction H2 Second horizontal direction

Claims (5)

A robot that is attached to an upper base provided on an upper part of a gantry and performs processing, measurement, and other processing on a workpiece disposed below the upper base with a tool fixed to the tip of the robot In the system,
The cable connected to the tool is passed through the inside of the cable insertion hole provided in the upper base, then bent in a U shape and fixed downward to the cable end support provided in the upper base,
A lifting guide rail standing upward from the upper base;
A cable holding slider which is guided by the elevating guide rail so as to be movable up and down and holds a part of the cable;
A cable handling servo motor for controlling the position of the cable holding slider;
In association with a teaching point of the servo motor cable preparative times the teaching point of the servo motor robot drive is a drive source of the robot, the teaching playback is possible to drive the robot and the cable holding slider Robot system characterized by having a controller capable of.   One end portion is fixed to the cable holding slider, and the other end portion is fixed to the cable end support portion, and a cable carrier is provided to maintain the cable in a U-shaped curved shape. The robot system according to claim 1. The tool is a laser torch;
The robot system according to claim 1, wherein the cable is an optical fiber that guides laser light. A pair of first rollers that extend in parallel to the first horizontal direction and face each other with the cable interposed therebetween, and a pair of first rollers that face in parallel with a second horizontal direction perpendicular to the first horizontal direction and face each other across the cable And a pair of second rollers arranged to overlap with the pair of first rollers in the vertical direction, and rotatably supported on the upper base,
4. The robot system according to claim 1, wherein the cable insertion hole is surrounded by a pair of the first and second rollers. 5. The upper base is a main base,
The sub-base is disposed above the main base, and is supported so as to be rotatable at an angle within 30 degrees forward and backward with respect to the main base around the vertical axis.
5. The robot system according to claim 1, wherein the cable insertion hole is provided in the main base, and the cable end support portion is provided in the sub-base. 6. .

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