JPH0217312B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to an industrial robot fixing device that reliably fixes an industrial robot movably arranged relative to an industrial machine in a predetermined position.

[Prior art]

For example, Japanese Patent Application Laid-Open No. 58-28494 discloses a device that places an industrial robot at a predetermined close position to an industrial machine, causes it to work, and moves the industrial robot to a distant non-working position during maintenance, etc. As shown in
There was a problem in that it took a lot of time and effort to securely fix a movable industrial robot in a predetermined position.

[Summary of the invention]

This invention solves the above-mentioned problems, and fixes the robot stopped by the blocking body at a predetermined position away from the blocking body by press-fitting a tapered conical engager into the engagement hole. However, it is an object of the present invention to provide a fixing device for an industrial robot that can be easily operated.

[Embodiments of the invention]

An embodiment of the present invention will be described below with reference to FIGS. 1 to 6.

In the figure, 1 is a factory floor, 2 is an industrial machine consisting of a machine tool fixed to the floor 1, and 3 is a fixed body consisting of a movable platform fixed to the floor 1 and placed near the industrial machine 2. , 4 is a robot configured to be movable on the fixed body 3, and 5 is a robot protruding from the fixed body 3 and connected to the industrial machine 2.
A first blocking body 6 is disposed closer to the stationary body 3, a second blocking body 6 is protruded from the fixed body 3 and disposed on the side opposite to the industrial machine 2, 7 is an engagement device provided on the stationary body 3, and 7a
7b is a base of the engagement device 7; 7b is loosely inserted into the base 7a; a large diameter portion 7c comes into contact with the base 7a; and the insertion end is provided with a conical engagement portion 7d that tapers toward the tip. 7e is a pin driven into the engaging part 7d of the engaging element 7b; 7f is the engaging element 7;
A biasing body 8 is a compression coil spring that is fitted into the body of the robot 4 and is disposed between the base body 7a and the pin 7e. This is an engagement hole consisting of a hole. Note that when the engaging element 7b is press-fitted into the engaging hole 8 with its centers aligned, the first blocking body 5 or the second blocking body 6 is placed at a position separated from the robot 4 by a dimension A shown in FIG. . The A dimension is smaller than the radius corresponding to the edge of the engaging hole 8 of the engaging portion 7d when the engaging element 7b is press-fitted into the engaging hole 8 with its center aligned, that is, the B dimension shown in FIG. Set.

That is, the robot 4 is fixed at a predetermined position on the fixed body 3 near the industrial machine 2, that is, at the working position shown by the solid line in FIG. It is moved to a predetermined position, that is, a non-working position shown by a chain line in FIG. 2, and is fixed therein. When the robot 4 is moved, the engaging member 7b is manually pulled back against the urging force of the urging member 7f, and the engagement with the engaging hole 8 is released. As a result, the robot 4 is not fixed to the fixed body 3 and is artificially pushed to a desired position. Then, it is moved toward the working position or the non-working position and stops when it hits the first blocking body 5 or the second blocking body 6, resulting in the state shown in FIG. 6. In the state shown in FIG. 6, the tip of the engaging portion 7d of the engaging element 7b is disposed within the engaging hole 8, so that
By pressing the engaging element 7b, the robot 4 is moved between the engaging part 7d and the engaging hole 8 by the conical surface of the engaging part 7b.
move in the direction in which the centers of the robots 4 and 5 and 6 coincide with each other, and a gap is created between the robot 4 and the blocking bodies 5 and 6. Then, the engaging member 7b engages with the engaging hole 8 in the state shown in FIGS. 3 to 5, and the robot 4 is fixed in a predetermined position. In this way, the robot 4 can be moved and stopped against the blocking bodies 5 and 6, and the robot 4 can be fixed in a predetermined position by pressing the engaging element 7b.
The robot 4 can be reliably fixed in a predetermined position by a simple operation. Therefore, the accuracy of the robot work can be easily obtained, and the robot 4 is securely fixed during maintenance and inspection by workers, so that high safety can be achieved.

By applying this embodiment, it is easy to configure the engagement device 7 in the robot 4 and the engagement hole 8 in the fixed body 3, and even with such a configuration, the first to
It is clear that the same effect as the embodiment of FIG. 6 can be obtained. Furthermore, it is clear that even if the engaging hole 8 is not circular but is formed of a parallel conical hole, the same effect as in the embodiment shown in FIGS. 1 to 6 can be obtained.

〔Effect of the invention〕

As explained above, the present invention has a fixed body and a robot movably provided on the fixed body, each of which has an engaging portion having a conical shape at the tip, which is movable forward and backward. An engaging element whose engaging part is press-fitted into an engaging hole provided on the other side of the two to fix the robot to the fixed body, and an engaging element which is provided on the fixed body to prevent movement of the robot at a predetermined position and are engaged by the engaging element. When engaged with the center aligned with the hole, a gap is formed between the robot and the engaging portion, and the engaging portion press-fitted into the engaging hole is positioned closer than the radius corresponding to the edge of the engaging hole. It is equipped with a blocking body. With this, the robot can be moved and stopped against the blocking body, and by pressing the engager 7b, the robot can be reliably fixed in a predetermined position, and the accuracy of the robot work can be easily obtained. Furthermore, the present invention provides an industrial robot fixing device that securely fixes the robot and provides high safety during maintenance and inspection by workers.

[Brief explanation of drawings]

FIG. 1 is a conceptual front view of an industrial robot device showing an embodiment of the fixing device for an industrial robot according to the present invention, FIG. 2 is a plan view of FIG. 1, and FIG.
Figure 4 is a sectional view taken along the - line in Figure 1, Figure 5 is a sectional view taken along line V-V in Figure 3, and Figure 6 is a sectional view taken along the line V-V in Figure 3.
The figure is a diagram corresponding to FIG. 5, which explains the action of the engaging element. 3... Fixed body, 4... Robot, 5... First blocking body,
6... second blocking body, 7b... engaging element, 7d... engaging portion,
8...Engagement hole. Note that the same parts in the figures are indicated by the same reference numerals.

Claims (1)

[Claims] 1. A robot movably provided on a fixed body, which is provided on one of the fixed body and the robot so as to be movable back and forth, is biased in the engagement direction and held at a predetermined forward position, and has a conical shape at the tip. The conical slope is pressed by the moving robot and the conical slope retires, and as the robot moves, the engaging part is press-fitted into the circular engaging hole provided on the other of the two. an engaging element for fixing the robot to the fixed body; and an engaging element provided on the fixed body to prevent movement of the robot at a predetermined position, the engaging element being engaged with the engaging hole with its center aligned with the engaging element. In this state, a blocking body is provided which forms a gap between the robot and the robot and is disposed at a position closer than a radial dimension corresponding to the edge of the engagement hole of the engagement portion press-fitted into the engagement hole. A fixing device for industrial robots.