ROBOT SYSTEM

A robot system includes a first robot having a robot arm including a first arm rotatable about a first rotation axis at the most proximal end, and a movable first cell. The first cell includes a bench portion, a pillar provided on the base portion, and an attachment portion provided on the pillar, on which the first robot is provided. The first rotation axis can be placed in a position shifted in a first direction from an intermediate position of a length of the bench portion in the first direction, and at least a part of the robot arm is movable to an outside of the bench portion in a plan view by moving in the first direction.

BACKGROUND

1. Technical Field

The present invention relates to a robot system.

2. Related Art

In related art, robots with robot arms are known. In the robot arm, a plurality of arms (arm members) are coupled via joint parts and, as an end effector, e.g. a hand is attached to the arm on the most distal end side (on the most downstream side). The joint parts are driven by motors and the arms rotate by the driving of the joint parts. Then, for example, the robot grasps an object with the hand, moves the object to a predetermined location, and performs predetermined work such as assembly.

As an example of the robot, Patent Document 1 (JP-A-2010-137321) discloses a robot (machine tool) having a base (base part) and an arm part attached to the base. Further, Patent Document 1 discloses a cell (frame) provided to surround the robot. Furthermore, Patent Document 1 discloses that the base of the robot is attached to the ceiling of the cell. The robot described in Patent Document 1 can process work mounted on a pedestal located below.

However, the base of the robot is attached to the center part of the ceiling in Patent Document 1, and it is hard to extend the arm part to the outside of the cell. On this account, in the configuration described in Patent Document 1, operability when the robot operates outside of the cell is poor.

SUMMARY

An advantage of some aspects of the invention is to provide a robot system that may improve operability of a first robot.

Application Example 1

A robot system according to this application example of the invention includes a first robot having a robot arm including a first arm rotatable about a first rotation axis at the most proximal end, and a movable first cell, wherein the first cell includes a bench portion, a pillar provided on the base portion, and an attachment portion provided on the pillar, on which the first robot is provided, the first rotation axis can be placed in a position shifted in a first direction from an intermediate position of a length of the bench portion in the first direction, and at least a part of the robot arm is movable to an outside of the bench portion in a plan view by moving in the first direction.

With this configuration, the first rotation axis is placed in the position shifted in the first direction from the intermediate position, and the operability of the first robot outside of the first cell may be improved.

Application Example 2

In the robot system according to the application example of the invention, it is preferable that the first robot includes a second arm provided on the first arm rotatably about a second rotation axis in an axis direction different from an axis direction of the first rotation axis, a length of the first arm is longer than a length of the second arm, and the first arm and the second arm can overlap as seen from the second rotation axis.

With this configuration, the space for preventing interference of the robot1when a distal end of the second arm is moved to a position different by 180° about the first rotation axis may be made smaller. Accordingly, the first cell may be downsized and the installation space (installation location) in which the robot system is installed may be further reduced.

Application Example 3

In the robot system according to the application example of the invention, it is preferable that the first cell includes a foot portion provided on the bench portion for installation of the first cell in a predetermined installation location, and the foot portion includes a projecting portion projecting from the bench portion in the first direction.

With this configuration, even when the first rotation axis is placed in the position shifted in the first direction and the center of gravity of the first robot is located in the first direction, the first cell may be supported more stably by the foot portion.

Application Example 4

In the robot system according to the application example of the invention, it is preferable that a length of the projecting portion in the first direction is from 10 mm to 600 mm.

With this configuration, even when the first rotation axis is placed in the position shifted in the first direction and the center of gravity of the first robot is located in the first direction, the first cell may be supported more stably by the foot portion.

Application Example 5

In the robot system according to the application example of the invention, it is preferable that the projecting portion is detachably attached to the bench portion.

With this configuration, for example, the foot portion having the length according to the amount of shift of the first rotation axis from the intermediate location is attached, and accordingly, even when the position of the first rotation axis is changed, the first cell may be supported more stably by the foot portion.

Application Example 6

In the robot system according to the application example of the invention, it is preferable that at least a part of a carrying unit that carries parts is placed inside the first cell.

With this configuration, the total width of the first cell and the carrying unit may be made more compact. Accordingly, the space in which the first cell and the carrying unit are installed may be made smaller.

Application Example 7

In the robot system according to the application example of the invention, it is preferable that the first cell includes a reinforcing portion provided on the pillar and the attachment portion.

With this configuration, for example, bending of the attachment portion downward may be suppressed. Accordingly, even when the first rotation axis is placed in the position shifted in the first direction and the center of gravity of the first robot is located in the first direction, the first robot may be stably supported by the attachment portion.

Application Example 8

In the robot system according to the application example of the invention, it is preferable that the first rotation axis is located outside of the bench portion in the plan view.

With this configuration, the operability of the first robot outside of the first cell may be further improved.

Application Example 9

In the robot system according to the application example of the invention, it is preferable that a connecting position of the pillar to the bench portion is provided in a position different from an end of the bench portion.

With this configuration, for example, the first rotation axis is placed in the position further shifted in the first direction from the intermediate position. Accordingly, the operability of the first robot outside of the first cell may be further improved.

Application Example 10

In the robot system according to the application example of the invention, it is preferable that a position of the pillar with respect to the bench portion is changeable.

With this configuration, for example, the position of the pillar is changed according to work of the first robot, and thereby, the operability of the first robot may be further improved.

Application Example 11

In the robot system according to the application example of the invention, a second cell is provided and it is preferable that the first cell and the second cell are coupled.

With this configuration, for example, a second robot is provided within the second cell, and accordingly, the first robot and the second robot may cooperatively perform work. Therefore, for example, the productivity of finally obtained products may be improved. Or, for example, the robot is not provided within the second cell and the second cell may be used for improvement of rigidity of the first cell.

Application Example 12

In the robot system according to the application example of the invention, it is preferable that a second robot having a robot arm is provided in the second cell.

With this configuration, for example, the first robot and the second robot may cooperatively perform work. Accordingly, for example, the productivity of finally obtained products may be improved.

Application Example 13

In the robot system according to the application example of the invention, it is preferable that at least a part of a carrying unit that carries parts is placed between the first cell and the second cell.

With this configuration, the total width of the first cell, the second cell, and the carrying unit may be made more compact. Accordingly, the space in which the first cell, the second cell, and the carrying unit are installed may be made smaller.

Application Example 14

In the robot system according to the application example of the invention, a supporting portion provided movably with respect to the attachment portion and supporting the first robot is provided and it is preferable that the supporting portion is provided movably from the first cell to the second cell.

With this configuration, the first robot may move between the first cell and the second cell, and the first robot may perform work in a wider range.

Application Example 15

A robot system according to this application example of the invention includes a first robot having a robot arm including a first arm rotatable about a first rotation axis at the most proximal end, and a movable first cell, wherein the first cell includes a bench portion, a pillar provided on the base portion, and an attachment portion provided on the pillar, on which the first robot is provided, an attachment position of the first robot with respect to the attachment portion can be placed in a position shifted in a first direction from an intermediate position of a length of the bench portion in the first direction, and at least a part of the robot arm is movable to an outside of the bench portion in a plan view by moving in the first direction.

With this configuration, the attachment position of the first robot is placed in the position shifted in the first direction from the intermediate position, and the operability of the first robot outside of the first cell may be improved.

DESCRIPTION OF EXEMPLARY EMBODIMENTS

Hereinafter, a robot system according to the invention will be explained in detail based on preferred embodiments shown in the accompanying drawings.

First Embodiment

FIG. 1is a perspective view showing the first embodiment of a robot system according to the invention.FIG. 2is a front view of a robot shown inFIG. 1.FIG. 3is a schematic diagram of the robot shown inFIG. 1.FIGS. 4 and 5are respectively side views of the robot shown inFIG. 1.FIGS. 6A to 6Eare diagrams for explanation of actions of the robot shown inFIG. 1.FIG. 7is a side view of the robot system shown inFIG. 1.FIGS. 8A to 9Bare respectively diagrams for explanation of actions of the robot shown inFIG. 1at work.FIG. 10shows movement paths of a distal end of a robot arm of the robot shown inFIG. 1.

Hereinafter, for convenience of explanation, the upside inFIGS. 1 to 9Bis referred to as “up” or “upper” and the downside is referred to as “low” or “lower” (the same applies toFIGS. 11 to 18, which will be described later). Further, the base side inFIGS. 1 to 9Bis referred to as “proximal end” or “upstream” and the opposite side (the hand side) is referred to as “distal end” or “downstream” (the same applies toFIGS. 11 to 18to be described later). Furthermore, the upward and downward directions inFIGS. 1 to 9Bare referred to as “vertical directions” and the leftward and rightward directions are referred to as “horizontal directions” (the same applies toFIGS. 11 to 18to be described later). InFIGS. 1, 7 and 10, for convenience of explanation, an X-axis, a Y-axis, a Z-axis are shown as three axes orthogonal to one another (the same applies toFIGS. 11 to 17to be described later). Further, hereinafter, directions in parallel to the X-axis are also referred to as “X-axis directions”, directions in parallel to the Y-axis are also referred to as “Y-axis directions”, and directions in parallel to the Z-axis are also referred to as “Z-axis directions”. Furthermore, hereinafter, the tip end side of each arrow in the drawings is referred to as “+ (plus)” and the base end side is referred to as “− (minus)”. The direction in parallel to the +X-axis direction is also referred to as “+X-axis direction (first direction)”, the direction in parallel to the −X-axis direction is also referred to as “−X-axis direction”, the direction in parallel to the +Y-axis direction is also referred to as “+Y-axis direction”, the direction in parallel to the −Y-axis direction is also referred to as “−Y-axis direction”, the direction in parallel to the +Z-axis direction is also referred to as “+Z-axis direction”, and the direction in parallel to the −Z-axis direction is also referred to as “−Z-axis direction”.

For example, the robot system100may be used in a manufacturing process of manufacturing precision apparatuses such as wristwatches or the like. Further, the robot1may perform respective work of feeding, removing, carrying, and assembly of the precision apparatuses and parts forming the apparatuses.

Further, the robot system100includes a robot control apparatus (control unit) for controlling operation of the robot1(not shown). The robot control apparatus may be provided within the cell5or provided inside of the robot1, or separated from the robot cell50. The robot control apparatus may be formed using e.g. a personal computer (PC) containing a CPU (Central Processing Unit) or the like.

As shown inFIG. 1, the cell5is a frame body surrounding the robot1and easily relocated. The cell5can be carried by a carrier apparatus such as a forklift (not shown). Further, the cell5may include wheels (not shown) to be movable by the wheels. Furthermore, the cell5may include a moving mechanism for moving the cell5(not shown) and a movement control unit for controlling driving of the moving mechanism (not shown) and may be formed to be self-propellant.

The cell5includes a foot portion54having four feet541for installation of the entire cell5in an installation space (installation location) of e.g. the ground (floor) or the like, a workbench (bench portion)52supported by the foot portion54, four pillars51provided on the workbench52, and a ceiling portion53provided on the upper ends of the four pillars51.

The workbench52includes a bottom plate522, four supporting legs523provided on the bottom plate522, and a work plate524provided on the upper ends of the respective supporting legs523. The upper surface of the work plate524is opposed to the ceiling portion53, and serves as a work surface521on which the robot1may perform work of feeding, removing, or the like of the parts.

The four pillars51supporting the ceiling portion53are provided on the work surface521. The four pillars51are respectively provided in the corners of the work surface521.

The ceiling portion53is a member that supports the robot1and includes a top plate (attachment portion)532and an upper frame533provided above the top plate532. The top plate532has four corners supported by the pillars51. Further, the lower surface of the top plate532is a ceiling surface (attachment surface)531, and a base11of the robot1, which will be described later, is supported by the ceiling surface531. Furthermore, the base11is attached at the X-axis side with respect to a center O53of the ceiling surface531in a plan view (as seen from the vertical direction).

In the above description, the robot1is attached to the top plate532, however, the robot1may be attached to e.g. the upper frame533. In this case, the upper frame533may be regarded as the attachment portion and the lower surface or upper surface of the upper frame533may be regarded as the ceiling surface (attachment surface). Further, in the above description, the pillars51and the supporting legs523are separated, however, they may be integrated.

Robot

As shown inFIG. 2, the robot1includes the base11and a robot arm10. The robot arm10includes a first arm12, a second arm13, a third arm14, a fourth arm15, a fifth arm16, and a sixth arm17(six arms), and a first drive source401, a second drive source402, a third drive source403, a fourth drive source404, a fifth drive source405, and a sixth drive source406(six drive sources). For example, an end effector such as a hand91that grasps a precision apparatus such as a wristwatch, a part, or the like may be detachably attached to the distal end of the sixth arm17.

The robot1is a vertical articulated (six-axis) robot in which the base11, the first arm12, the second arm13, the third arm14, the fourth arm15, the fifth arm16, and the sixth arm17are coupled in this order from the proximal end side toward the distal end side. As below, the first arm12, the second arm13, the third arm14, the fourth arm15, the fifth arm16, and the sixth arm17will be respectively also referred to as “arm”. The first drive source401, the second drive source402, the third drive source403, the fourth drive source404, the fifth drive source405, and the sixth drive source406will be respectively also referred to as “drive source (drive unit)”.

As shown inFIG. 2, the base11is a part fixed (member attached) to the ceiling surface531. The fixing method is not particularly limited, but e.g. a fixing method using a plurality of bolts or the like may be employed. Note that, in the embodiment, a plate-like flange111provided in the lower part of the base11is attached to the ceiling surface531, however, the attachment location of the base11to the ceiling surface531is not limited to that. For example, the location may be the upper surface of the base11.

The base11may include a joint171, which will be described later, or not (seeFIG. 3).

As shown inFIG. 2, the robot arm10is rotatably supported with respect to the base11and the arms12to17are respectively supported to be independently displaceable with respect to the base11.

The first arm12has a bending shape. The first arm12includes a first portion121connected to the base11and extending downward in the vertical direction from the base11, a second portion122extending in the horizontal direction from the lower end of the first portion121, a third portion123provided on an opposite end of the second portion122to the first portion121and extending in the vertical direction, and a fourth portion124extending in the horizontal direction from the distal end of the third portion123. These first portion121, second portion122, third portion123, and fourth portion124are integrally formed. Further, the second portion122and the third portion123are nearly orthogonal (cross) as seen from the near side of the paper surface ofFIG. 2(in a front view orthogonal to both a first rotation axis O1and a second rotation axis O2, which will be described later).

The second arm13has a longitudinal shape and is connected to the distal end of the first arm12(the opposite end of the fourth portion124to the third portion123).

The third arm14has a longitudinal shape and is connected to the opposite end of the second arm13to the end to which the first arm12is connected.

The fourth arm15is connected to the opposite end of the third arm14to the end to which the second arm13is connected. The fourth arm15includes a pair of supporting parts151,152opposed to each other. The supporting parts151,152are used for connection to the fifth arm16.

The fifth arm16is located between the supporting parts151,152and connected to the supporting parts151,152, and thereby, coupled to the fourth arm15. Note that the structure of the fourth arm15is not limited to that. For example, only one supporting part may be provided (cantilever).

The sixth arm17has a flat plate shape and is connected to the distal end of the fifth arm16. Further, the hand91is detachably attached to the distal end of the sixth arm17(the opposite end to the fifth arm16). The hand91includes, but not particularly limited to, e.g. a configuration having a plurality of finger portions (fingers).

Each of the exteriors of the above described respective arms12to17may be formed by a single member or a plurality of members.

Next, referring toFIGS. 2 and 3, the drive sources401to406with driving of these arms12to17will be explained.FIG. 3shows the schematic view of the robot1as seen from the right side inFIG. 2. Further,FIG. 3shows a state in which the arms13to17have been rotated from the state shown inFIG. 2.

As shown inFIG. 3, the base11and the first arm12are coupled via the joint171. The joint171includes a mechanism that rotatably supports the first arm12coupled to the base11with respect to the base11. Thereby, the first arm12is rotatable around the first rotation axis O1in parallel to the vertical direction (about the first rotation axis O1) with respect to the base11. The first rotation axis O1is aligned with a normal of the ceiling surface531to which the base11is attached. Further, the first rotation axis O1is a rotation axis on the most upstream side of the robot1. The rotation about the first rotation axis O1is performed by driving of the first drive source401having a motor401M. Further, the first drive source401is driven by the motor401M and a cable (not shown), and the motor401M is controlled by a robot control apparatus via a motor driver301electrically connected thereto. Note that the first drive source401may be adapted to transmit the drive power from the motor401M by a reducer (not shown) provided with the motor401M, or the reducer may be omitted.

The first arm12and the second arm13are coupled via a joint172. The joint172includes a mechanism that rotatably supports one of the first arm12and the second arm13coupled to each other with respect to the other. Thereby, the second arm13is rotatable around the second rotation axis O2in parallel to the horizontal direction (about the second rotation axis O2) with respect to the first arm12. The second rotation axis O2is orthogonal to the first rotation axis O1. The rotation about the second rotation axis O2is performed by driving of the second drive source402having a motor402M. Further, the second drive source402is driven by the motor402M and a cable (not shown), and the motor402M is controlled by the robot control apparatus via a motor driver302electrically connected thereto. Note that the second drive source402may be adapted to transmit the drive power from the motor402M by a reducer (not shown) provided with the motor402M, or the reducer may be omitted. The second rotation axis O2may be parallel to the axis orthogonal to the first rotation axis O1, or the second rotation axis O2may be different in axis direction from the first rotation axis O1, not orthogonal thereto.

The second arm13and the third arm14are coupled via a joint173. The joint173includes a mechanism that rotatably supports one of the second arm13and the third arm14coupled to each other with respect to the other. Thereby, the third arm14is rotatable around a third rotation axis O3in parallel to the horizontal direction (about the third rotation axis O3) with respect to the second arm13. The third rotation axis O3is parallel to the second rotation axis O2. The rotation about the third rotation axis O3is performed by driving of the third drive source403. Further, the third drive source403is driven by a motor403M and a cable (not shown), and the motor403M is controlled by the robot control apparatus via a motor driver303electrically connected thereto. Note that the third drive source403may be adapted to transmit the drive power from the motor403M by a reducer (not shown) provided with the motor403M, or the reducer may be omitted.

The third arm14and the fourth arm15are coupled via a joint174. The joint174includes a mechanism that rotatably supports one of the third arm14and the fourth arm15coupled to each other with respect to the other. Thereby, the fourth arm15is rotatable around a fourth rotation axis O4in parallel to the center axis direction of the third arm14(about the fourth rotation axis O4) with respect to the third arm14. The fourth rotation axis O4is orthogonal to the third rotation axis O3. The rotation about the fourth rotation axis O4is performed by driving of the fourth drive source404. Further, the fourth drive source404is driven by a motor404M and a cable (not shown), and the motor404M is controlled by the robot control apparatus via a motor driver304electrically connected thereto. Note that the fourth drive source404may be adapted to transmit the drive power from the motor404M by a reducer (not shown) provided with the motor404M, or the reducer may be omitted. The fourth rotation axis O4may be parallel to the axis orthogonal to the third rotation axis O3, or the fourth rotation axis O4may be different in axis direction from the third rotation axis O3, not orthogonal thereto.

The fourth arm15and the fifth arm16are coupled via a joint175. The joint175includes a mechanism that rotatably supports one of the fourth arm15and the fifth arm16coupled to each other with respect to the other. Thereby, the fifth arm16is rotatable around a fifth rotation axis O5orthogonal to the center axis direction of the fourth arm15(about the fifth rotation axis O5) with respect to the fourth arm15. The fifth rotation axis O5is orthogonal to the fourth rotation axis O4. The rotation about the fifth rotation axis O5is performed by driving of the fifth drive source405. Further, the fifth drive source405is driven by a motor405M and a cable (not shown), and the motor405M is controlled by the robot control apparatus via a motor driver305electrically connected thereto. Note that the fifth drive source405may be adapted to transmit the drive power from the motor405M by a reducer (not shown) provided with the motor405M, or the reducer may be omitted. The fifth rotation axis O5may be parallel to the axis orthogonal to the fourth rotation axis O4, or the fifth rotation axis O5may be different in axis direction from the fourth rotation axis O4, not orthogonal thereto.

The fifth arm16and the sixth arm17are coupled via a joint176. The joint176includes a mechanism that rotatably supports one of the fifth arm16and the sixth arm17coupled to each other with respect to the other. Thereby, the sixth arm17is rotatable around the sixth rotation axis O6(about the sixth rotation axis O6) with respect to the fifth arm16. The sixth rotation axis O6is orthogonal to the fifth rotation axis O5. The rotation about the sixth rotation axis O6is performed by driving of the sixth drive source406. Further, the sixth drive source406is driven by a motor406M and a cable (not shown), and the motor406M is controlled by the robot control apparatus via a motor driver306electrically connected thereto. Note that the sixth drive source406may be adapted to transmit the drive power from the motor406M by a reducer (not shown) provided with the motor406M, or the reducer may be omitted. The fifth rotation axis O5may be parallel to the axis orthogonal to the fourth rotation axis O4, the sixth rotation axis O6may be parallel to the axis orthogonal to the fifth rotation axis O5, or the sixth rotation axis O6may be different in axis direction from the fifth rotation axis O5, not orthogonal thereto.

The robot1driving in the above described manner controls the actions of the arms12to17etc. while grasping a precision apparatus, a part, or the like with the hand91connected to the distal end of the sixth arm17, and thereby, may perform respective work of carrying the precision apparatus, the part, or the like. The driving of the hand91is controlled by the robot control apparatus.

In the illustrated configuration, the motor drivers301to306are provided in the base11, however, not limited to that. For example, the motor drivers may be provided in the robot control apparatus.

As above, the configuration of the robot1is briefly explained.

Next, referring toFIGS. 4, 5, and 6A to 6E, the relationships among the arms12to17will be explained, and the explanation will be made from various viewpoints while the expressions etc. are changed. Further, the third arm14, the fourth arm15, the fifth arm16, and the sixth arm17are considered in a condition that they are stretched straight, in other words, in a condition that the fourth rotation axis O4and the sixth rotation axis O6are aligned or in parallel as shown inFIGS. 4 and 5.

First, as shown inFIG. 4, a length L1of the first arm12is set to be longer than a length L2of the second arm13.

Here, the length L1of the first arm12is a distance between the second rotation axis O2and a center line611extending in the leftward and rightward directions inFIG. 4of a bearing part61(a member of the joint171) that rotatably supports the first arm12as seen from the axis direction of the second rotation axis O2. Further, the length L2of the second arm13is a distance between the second rotation axis O2and the third rotation axis O3as seen from the axis direction of the second rotation axis O2.

Further, as shown inFIG. 5, the robot1is adapted so that an angle θ formed between the first arm12and the second arm13may be 0° as seen from the axis direction of the second rotation axis O2. That is, the robot1is adapted so that the first arm12and the second arm13may overlap as seen from the axis direction of the second rotation axis O2. The second arm13is adapted so that, when the angle θ is 0°, i.e., the first arm12and the second arm13overlap as seen from the axis direction of the second rotation axis O2, the second arm13may not interfere with the second portion122of the first arm12and the ceiling surface531.

Here, the angle θ formed by the first arm12and the second arm13is an angle formed by a straight line passing through the second rotation axis O2and the third rotation axis O3(a center axis of the second arm13as seen from the axis direction of the second rotation axis O2)621and the first rotation axis O1as seen from the axis direction of the second rotation axis O2(seeFIG. 4).

Furthermore, as shown inFIG. 5, the robot1is adapted so that the second arm13and the third arm14may overlap as seen from the axis direction of the second rotation axis O2. That is, the robot1is adapted so that the first arm12, the second arm13, and the third arm14may overlap at the same time as seen from the axis direction of the second rotation axis O2.

A total length L3of the third arm14, the fourth arm15, the fifth arm16, and the sixth arm17is set to be longer than the length L2of the second arm13. Thereby, as seen from the axis direction of the second rotation axis O2, when the second arm13and the third arm14are overlapped, the distal end of the robot arm10, i.e., the distal end of the sixth arm17may be protruded from the second arm13. Therefore, the hand91may be prevented from interfering with the first arm12and the second arm13.

Here, the total length L3of the third arm14, the fourth arm15, the fifth arm16, and the sixth arm17is a distance between the third rotation axis O3and the distal end of the sixth arm17as seen from the axis direction of the second rotation axis O2(seeFIG. 5). In this case, regarding the third arm.14, the fourth arm15, the fifth arm16, and the sixth arm17, the fourth rotation axis O4and the sixth rotation axis O6are aligned or in parallel as shown inFIG. 5.

In the robot1, as shown inFIGS. 6A, 6B, 6C, 6D, 6E, by rotation of the second arm13without rotation of the first arm12, the distal end of the second arm13may be moved to a position different by 180° about the first rotation axis O1through the state in which the angle θ is 0° as seen from the axis direction of the second rotation axis O2. Accordingly, the distal end of the robot arm10may be moved from a position (first position) shown inFIG. 6Ato a position (second position) shown inFIG. 6Edifferent by 180° about the first rotation axis O1from the position shown inFIG. 6Athrough the state in which the first arm12and the second arm13overlap as shown inFIG. 6C. Thereby, the distal end of the robot arm10and the hand91may be linearly moved in the plan view (as seen from the axis direction of the first rotation axis O1). Note that, in the movement, the third arm14, the fourth arm15, the fifth arm16, and the sixth arm17are respectively rotated as appropriate.

As shown inFIGS. 6A to 6E, the robot1can perform the action of moving the distal end of the second arm13to the position different by 180° about the first rotation axis O1without rotating the first arm12, and the robot1may move the hand91with little change of the height (the position in the vertical direction) of the distal end of the robot arm10(at the nearly constant height).

Further, in the robot1having the above described configuration, a region (part)105of the third arm14and the fourth arm15surrounded by a dashed-two dotted line on the right inFIG. 2is a region (part) in which the robot1does not interfere or hardly interferes with the robot1itself or another member. Accordingly, in the case where a predetermined member is mounted on the region105, the member hardly interferes with the robot1or a peripheral apparatus or the like. Therefore, in the robot1, the predetermined member can be mounted on the region105. Particularly, in the case where the predetermined member is mounted on the region of the third arm14on the right inFIG. 2of the region105, the probability that the member interferes with a peripheral apparatus provided on the workbench52(not shown) is lower and the configuration is more effective.

Objects that can be mounted on the region105include e.g. a control apparatus for controlling driving of a sensor of a hand or a hand camera, a solenoid valve for a suction mechanism, etc.

As a specific example, for example, when a suction mechanism is provided in the hand, if a solenoid valve or the like is provided in the region105, the solenoid valve does not cause an obstruction when the robot1is driven. Thus, the region105is highly convenient.

Next, referring toFIGS. 7, 8A to 8C, 9A and 9B, and 10, examples of work performed by the robot1and actions of the robot1at the work will be explained. Here, the work of the robot1of placing apart42carried by a conveyer (carrying unit)70on a part processing portion72, incorporating a part41placed on a part supply portion71in the part42on the part processing portion72, and then, placing the part42on the conveyer70again is explained. Note that, though not shown inFIG. 1, the part supply portion71and the part processing portion72are provided on the work surface521as shown inFIG. 7. Further, inFIGS. 7, 8A to 8C, 9A and 9B, and 10, the part supply portion71, the part processing portion72, and the conveyer70are schematically shown (the same applies toFIGS. 11 to 18to be described later).

First, as shown inFIG. 8A, the robot1drives the robot arm10to move the hand91onto the conveyer70. Then, the robot1grasps the part42placed on the conveyer70with the hand91.

Then, as shown inFIG. 8B, the robot1moves the hand91to a position different by 180° about the first rotation axis O1through the state in which the angle θ formed by the first arm12and the second arm13is 0° as seen from the axis direction of the second rotation axis O2by rotating the second arm13and the third arm14without rotating the first arm12. Then, the part42is placed on the part processing portion72by the hand91. In this regard, as fine adjustment, an arbitrary arm of the first arm12, the fourth arm15, the fifth arm16, and the sixth arm17may be rotated.

Then, as shown inFIG. 8C, the robot1rotates the second arm13and the third arm14to move the hand91onto the part supply portion71. Then, the robot1grasps the part41placed on the part supply portion71by the hand91. In this regard, as fine adjustment, an arbitrary arm of the first arm12, the fourth arm15, the fifth arm16, and the sixth arm17may be rotated.

Then, as shown inFIG. 9A, the robot1rotates the second arm13and the third arm14to move the hand91onto the part processing portion72. Then, the robot1incorporates the part41in the part42placed on the part processing portion72by the hand91. In this regard, as fine adjustment, an arbitrary arm of the first arm12, the fourth arm15, the fifth arm16, and the sixth arm17may be rotated.

Then, as shown inFIG. 9B, the hand91is moved to a position different by 180° about the first rotation axis O1through the state in which the angle θ formed by the first arm12and the second arm13is 0° as seen from the axis direction of the second rotation axis O2by rotation of the second arm13and the third arm14without rotation of the first arm12. Thereby, the hand91is moved onto the conveyer70. Then, the robot1places the part42on the conveyer70by the hand91. In this regard, as fine adjustment, an arbitrary arm of the first arm.12, the fourth arm15, the fifth arm16, and the sixth arm17may be rotated.

In this manner, the work of carrying the parts41,42and incorporating (processing) the part41in the part42may be performed by the robot1. Further, the robot1may repeat the work.

Here, as shown inFIG. 7, the attachment position of the robot1to the ceiling surface531is located at the +X-axis side with respect to a center O of the work surface521in the plan view (as seen from the vertical direction). That is, as shown inFIG. 10, the first rotation axis O1of the robot1is located at the +X-axis side with respect to the center O in the plan view. Note that the center O is an intersection between a line segment passing through an intermediate position of a width (length) D2of the work surface521in the X-axis direction and a line segment passing through an intermediate position of a width (length) D1of the work surface521in the Y-axis direction. Further, the conveyer70is provided at the +X-axis side with respect to the cell5in the plan view.

The robot1is provided as described above, and thereby, in addition to the work in the part supply portion71and the part processing portion72within the cell5, the work on the conveyer70outside of the cell5may be easily performed. Therefore, the operability of the robot1may be improved.

Further, a separation distance D between the first rotation axis O1and the center O in the plan view and the width D2preferably satisfy a relationship of 0.1≦D/D2<0.5, more preferably satisfy a relationship of 0.15≦D/D2≦0.45, and even preferably satisfy a relationship of 0.2≦D/D2≦0.4. Thereby, the robot1may be supported more stably by the ceiling portion53and the operability of the robot1outside of the cell5may be further improved.

Note that, in the embodiment, the first rotation axis O1of the robot1is provided on the line segment passing through the intermediate position of the width D1of the work surface521in the Y-axis direction in the plan view, however, the first rotation axis O1may be shifted toward the +Y-axis side or the −Y-axis side from the line segment.

Further, by the driving of the robot arm10, as shown inFIG. 10, the robot1may perform the actions of moving the hand91as shown by an arrow56without actions of moving the hand91as shown by arrows57,58in the plan view. That is, the robot1may perform actions of moving the hand91(the distal end of the robot arm10) on a straight line in the plan view (as seen from the axis direction of the first rotation axis O1). Thereby, the space for preventing interference of the robot1may be made smaller, and the cell5may be downsized. Accordingly, the area of the installation space for installation of the robot cell50(installation area), i.e., the area S of the cell5in the plan view may be made smaller than that of related art.

Specifically, the area S is preferably less than 637,500 mm2, more preferably 500,000 mm2or less, even more preferably 400,000 mm2or less, and particularly preferably 360,000 mm2or less. As described above, the robot1may perform those actions, and thus, even in the area S, the robot arm10may be driven not to interfere with the cell5.

The area S equal to or less than 400,000 mm2is nearly equal to or less than the size of the work area in which a human (worker) works. Accordingly, when the area S is less than the upper limit, for example, replacement of a human by the robot cell50may be easily performed. Note that the reverse change to the above described change, i.e., replacement of the robot cell50by a human may be easily made. Therefore, for example, in the case where the manufacturing line is changed by exchange of the human for the robot50, the change may be easily performed. Further, the area S is preferably 10,000 mm2or more. Thereby, the maintenance inside of the robot cell50may be easily performed.

Since the area S may be made smaller, as shown inFIG. 10, a width W1of the cell5in the Y-axis direction may be made smaller than a width WX of related art, specifically, e.g. 80% of the width WX of related art or less.

Specifically, the width W1is preferably less than 850 mm, more preferably less than 750 mm, and even more preferably 650 mm or less (seeFIG. 10). Thereby, the same advantages as the above described advantages may be sufficiently exerted. Note that the width W1is an average width of the cells5. The width W1is preferably 100 mm or more. Thereby, the maintenance inside of the robot cell50may be easily performed.

Note that, in the embodiment, the cell5includes a square shape in the plan view. Accordingly, in the embodiment, the width (depth) W1of the cell5in the Y-axis directions (upward and downward directions inFIG. 10) and a width (lateral width) W2of the cell5in the X-axis directions (leftward and rightward directions inFIG. 10) are the same. Or, these width W1and W2may be different.

Further, as described above, the robot1may move the hand91with little change of the height of the distal end of the robot arm10(at the nearly constant height). Accordingly, the height of the cell5(the length in the vertical direction) L may be made lower than the height in related art (seeFIG. 7). Specifically, the height L of the cell5may be reduced to e.g. 80% of the height in related art or less. Thereby, the ceiling surface531may be made lower and the position of the center of gravity of the robot1may be made lower. Accordingly, the vibration generated by the actions of the robot1may be reduced.

Specifically, the height L is preferably 1,700 mm or less, and more preferably from 1,000 mm to 1,650 mm. When the height is equal to or less than the upper limit, the influence of the vibration when the robot1acts within the cell5may be further suppressed. Or, when the height is equal to or more than the lower limit, the interference of the robot1with e.g. the work surface521may be avoided. Note that the height L is an average height of the cell5(including the foot portion54).

If the above described action of moving the hand91(the distal end of the robot arm10) of the robot1to the position different by 180° about the first rotation axis O1is executed by simple rotation of the first arm12about the first rotation axis O1like the robot of related art, the robot1may interfere with the cell5and the peripheral apparatus, and it is necessary to teach the robot1an evacuation point for avoiding the interference. For example, if the robot1interferes with the pillar51of the cell5or the like when only the first arm.12is rotated to 90° about the first rotation axis O1, it is necessary to teach the robot1an evacuation point for avoiding the interference with the pillar51or the like by rotation of another arm. Similarly, if the robot1also interferes with the peripheral apparatus, it is necessary to teach the robot1another evacuation point for avoiding the interference with the peripheral apparatus. As described above, in the robot of related art, it is necessary to teach many evacuation points and, in the case of a small cell, particularly, a huge number of evacuation points are necessary and a lot of efforts and a long time are required for teaching.

On the other hand, in the robot1, when the actions of moving the hand91to the position different by 180° about the first rotation axis O1is executed, there are very few regions and portions with which the robot may interfere, and the number of evacuation points to be taught may be reduced and the efforts and the time required for teaching may be reduced. That is, in the robot1, the number of evacuation points to be taught becomes e.g. about one third of that of the robot of related art, and the teaching dramatically becomes easier.

Second Embodiment

FIG. 11shows the second embodiment of the robot system according to the invention.FIG. 12is a side view of the robot system shown inFIG. 11.

As below, the second embodiment will be explained with reference to the drawings and the explanation will be made with focus on differences from the above described embodiment and the explanation of the same items will be omitted.

The robot system of the embodiment is the same as the above described first embodiment except that the configuration of the cell is different.

A cell5of a robot system100shown inFIG. 11includes a foot portion54having four feet541and two projecting portions545, a workbench52, two pillars51, a ceiling portion53, and two reinforcing plates (reinforcing portions)81. That is, the cell5in the embodiment is different from that of the first embodiment in that the foot portion54includes the two projecting portions545, the two pillars51are omitted, and the two reinforcing plates81are provided. As below, the foot portion54, the pillars51, and the reinforcing plates81will be sequentially explained.

Foot Portion

The foot portion54shown inFIGS. 11 and 12includes the four feet541provided below a bottom plate522and the two projecting portions545projecting from the workbench52in the +X-axis direction. Note that, in the embodiment, the number of projecting portions545is two, however, any number of projecting portions may be used, not limited that.

The projecting portion545includes a projecting piece543projecting from the workbench52in the +X-axis direction, and a foot544projecting downward from an end of the projecting piece543at the +X-axis side.

Further, in the embodiment, the projecting portions545project in the +X-axis direction by amounts of shift from the center O of the first rotation axis O1. That is, as shown inFIG. 12, a length D4of the projecting portion545in the +X-axis direction is nearly equal to a separation distance D. Thereby, even when the center of gravity of the robot1is located at the +X-axis side with respect to the center O, the cell5may be supported more stably by the foot portion54.

Note that, in the embodiment, the length D4is nearly equal to the separation distance D, or may not necessarily be nearly equal to the separation distance D. The length D4and the separation distance D preferably satisfy a relationship of 0.5≦D/D4≦2.0, more preferably satisfy a relationship of 0.6≦D/D4≦1.7, and even preferably satisfy a relationship of 0.8≦D/D4≦1.3. Thereby, excessive lengths of the projecting portions545may be suppressed and the robot1may be supported more stably by the ceiling portion53.

The specific length of the length D4is not particularly limited. For example, the length is preferably from 10 mm to 600 mm, more preferably from 20 mm to 500 mm, and even more preferably from 30 mm to 300 mm. Thereby, excessive lengths of the projecting portions545may be suppressed, and therefore, the cell5may be downsized. Even when the center of gravity of the robot1is located at the +X-axis side with respect to the center O, the robot1may be supported more stably by the ceiling portion53, and thus, the robot1may be driven more stably.

Pillars

The cell5shown inFIGS. 11 and 12supports the ceiling portion53by the two pillars51provided at the −X-axis side on the work surface521. Further, in the embodiment, the conveyer70is provided over the inside and the outside of the cell5. As described above, the pillars51at the +X-axis side on the work surface521are omitted and the +X-axis side of the work surface521may be opened, and the conveyer70may be placed so that a part of the conveyer70may overlap with the work surface521in the plan view. Thereby, as shown inFIG. 12, a total width (a width in the +X-axis direction) W3of the conveyer70and the robot cell50may be made smaller.

Further, the +X-axis side of the work surface521is opened, and the distal end of the robot arm10may be moved to the outside of the workbench52without interference with the pillars51. Accordingly, the operability of the robot1outside of the workbench52(outside of the cell5) may be further improved.

In the embodiment, the part processing portion72in the first embodiment is omitted. In this case, incorporation (processing) of the part41in the part42may be performed on the conveyer70.

Reinforcing Plates

The cell5shown inFIGS. 11 and 12includes the two reinforcing plates81connected to the work plate524, the pillars51, and the top plate532.

The reinforcing plates81are provided at the pillars51side and their plate surfaces are placed on the work surface521along the vertical direction. Further, the reinforcing plates81have widths (widths in the X-axis direction) in the side view gradually increasing toward the ceiling portion53near the ceiling portion53. Furthermore, the reinforcing plates81have widths (widths in the X-axis direction) in the side view gradually increasing toward the work plate524near the work plate524. Thereby, the reinforcing plates81may be placed on the work surface521more stably.

The reinforcing plates81may be formed using any members, e.g. steel plates, acrylic plates, or the like. When e.g. acrylic plates are used as the reinforcing plates81, the acrylic plates are surrounded by a frame body of a metal with relatively high strength, and thereby, the strength of the reinforcing plates81may be improved.

The reinforcing plates81are provided, and thereby, bending of the ceiling portion53downward may be suppressed. Thereby, even when the center of gravity of the robot1is located at the +X-axis side with respect to the center O, the robot1may be supported more stably by the ceiling portion53.

Note that the shapes, the placement, and the number of the respective reinforcing plates81are not limited to those illustrated, but may be arbitrary. Further, the respective reinforcing plates81are not necessarily connected to the work plate524, the pillars51, and the ceiling portion53, and may exert the equal advantages to the above described advantages when provided at least in contact with the pillars51and the ceiling portion53. Furthermore, the reinforcing plates81may be detachable or not.

According to the second embodiment, the same advantages as those of the above described first embodiment may be exerted.

Third Embodiment

FIGS. 13A and 13Bare side views showing the third embodiment of the robot system according to the invention.

As below, the third embodiment will be explained with reference to the drawings and the explanation will be made with focus on differences from the above described embodiments and the explanation of the same items will be omitted.

The robot system of the embodiment is the same as the above described first embodiment except that the configuration of the cell is different.

A cell5of a robot system100shown inFIGS. 13A and 13Bincludes a foot portion54having four feet541and two projecting portions545, a workbench52, two pillars51, a ceiling portion53projecting in the +X-axis direction, and three safety plates83,84,85. That is, the cell5in the embodiment is different from that of the first embodiment in that the foot portion54includes the two projecting portions545, the two pillars51are omitted, the ceiling portion53projects in the +X-axis direction, and the three safety plates83,84,85are provided. Further, the foot portion54has the same configuration as that of the foot portion54in the above described second embodiment and the pillars51are the same as the two pillars51in the above described second embodiment.

As below, the ceiling portion53and the safety plates83,84,85will be sequentially explained.

Ceiling Portion

The cell5shown inFIGS. 13A and 13Bis formed to have a larger area of the ceiling portion53in the plan view than an area of the work surface521in the plan view. Further, as shown inFIG. 13B, a part of the ceiling portion53is provided to project beyond the workbench52in the +X-axis direction. The robot1is provided so that the first rotation axis O1may be located at the +X-axis side with respect to a side surface525of the workbench52at the +X-axis side (an end surface of the workbench52at the conveyer70side) in the plan view. The robot1is provided as described above, and thereby, the operability of the robot1outside of the workbench52(outside of the cell5) may be further improved.

Safety Plates

The cell5shown inFIGS. 13A and 13Bincludes the safety plates83,84,85.

The safety plate83is provided in nearly the entire of a side surface portion515aat the −Y-axis side as a region surrounded by the pillar51located at the −Y-axis side, the ceiling portion53, and the workbench52. The safety plate83is provided with its plate surface along the vertical direction and connected to the pillar51, the work surface521, and the ceiling surface531.

The safety plate84is provided in nearly the entire of a side surface portion515bat the +Y-axis side as a region surrounded by the pillar51located at the +Y-axis side, the ceiling portion53, and the workbench52. The safety plate84is provided with its plate surface along the vertical direction and connected to the pillar51, the work surface521, and the ceiling surface531.

The safety plate85is provided in nearly the entire of a side surface portion515cat the −X-axis side as a region surrounded by the two pillars51, the ceiling portion53, and the workbench52. The safety plate85is provided with its plate surface along the vertical direction and connected to the two pillars51, the work surface521, and the ceiling surface531. Further, an opening851for communication between the inside and the outside of the cell5is provided in the lower part of the safety plate85. The opening851is provided, and thereby, a human (worker)500may supply parts to a part supply portion71within the cell5and easily check the status within the cell5. Note that, in the embodiment, the opening851is provided in the safety plate85, however, an openable door portion (window portion) may be provided in place of the opening851.

The safety plates83,84,85are provided, and thereby, unintended entrance of e.g. the worker500or foreign matter including dust into the space above the work surface521of the cell5may be prevented. Further, the safety plates83,84,85may also exert a function as reinforcing plates supporting the ceiling portion53.

The safety plates83,84,85may be formed using any members, and preferably using e.g. steel plates or the like. Thereby, the rigidity of the safety plates83,84,85may be improved and a function of preventing entrance of e.g. the worker500or foreign matter and a function as reinforcing portions may be improved. Or, the safety plates83,84,85are formed using members having light-transmissivity such as acrylic plates, and thereby, visual recognition of the space above the work surface521may be improved.

Note that the shapes, the placement, and the number of the respective safety plates83,84,85are not limited to those illustrated, but may be arbitrary. Further, the safety plate83is not necessarily provided in nearly the entire of the side surface portion515a, but may be provided in a part of the side surface portion515a. The same applies to the safety plates84,85. The respective safety plates83,84,85may be detachable or not.

According to the third embodiment, the same advantages as those of the above described first embodiment may be exerted.

Fourth Embodiment

FIGS. 14A and 14Bshow the fourth embodiment of the robot system according to the invention.FIG. 14Ais a top view andFIG. 14Bis a side view.

As below, the fourth embodiment will be explained with reference to the drawings and the explanation will be made with focus on differences from the above described embodiments and the explanation of the same items will be omitted.

The robot system of the embodiment is the same as the above described first embodiment except that the configuration of the cell is different.

A cell5of a robot system100shown inFIGS. 14A and 14Bincludes a foot portion54having four feet541and two projecting portions545, a workbench52, two pillars51provided in the center part of the work surface521in the X-axis direction, a ceiling portion53, and two reinforcing plates82. That is, the cell5in the embodiment is different from that of the first embodiment in that the foot portion54includes the two projecting portions545, the two pillars51are omitted and the other two pillars51are provided in the center part in the X-axis direction, and the two reinforcing plates82are provided.

As below, the foot portion54, the pillars51, and the reinforcing plates82will be sequentially explained.

Foot Portion

The foot portion54of the cell5shown inFIGS. 14A and 14Bincludes the four feet541provided below a bottom plate522and the two projecting portions545projecting from the workbench52in the +X-axis direction. Note that the two projecting portions545are provided on a side surface (end surface) of the workbench52at the +X-axis side. Further, in the embodiment, the number of projecting portions545is two, however, any number of projecting portions may be used, not limited that.

The projecting portion545includes a bracket (support)546projecting from the workbench52in the +X-axis direction and having a triangular shape as seen from the Y-axis direction, and a foot544projecting downward from an end of the bracket546at the +X-axis side. The projecting portions545are provided, and thereby, even when the center of gravity of the robot1is located at the +X-axis side with respect to the center O, the cell5may be supported more stably by the foot portion54.

Further, the projecting portions545are detachably attached to the workbench52. Thereby, for example, the projecting portions545may be changed according to the amounts of shift from the center O of the first rotation axis O1. Accordingly, even when the position of the first rotation axis O1is changed, the cell5may be supported more stably by the foot portion54.

Pillars

In the cell5shown inFIGS. 14A and 14B, as described above, the two pillars51are provided in the center part of the work surface521in the X-axis direction. Further, the robot1is provided so that the first rotation axis O1may be located at the +X-axis side with respect to the side surface (end surface)525of the workbench52on the +X-axis side. Furthermore, the robot1is provided so that the first rotation axis O1may be located at the +X-axis side with respect to a center O53of a ceiling surface531in the plan view. The robot1is provided as described above, and thereby, the operability of the robot1outside of the cell5may be further improved.

In the embodiment, the positions of the pillars51with respect to the workbench52can be changed in the X-axis direction. Thereby, the positions of the pillars51are changed according to e.g. the work of the robot1or the like, and therefore, the operability of the robot1on the workbench52or outside of the workbench52(the inside and the outside of the cell5) may be further improved.

A configuration for changing the positions of the pillars51includes e.g. a configuration in which a plurality of concave portions (not shown) corresponding to the shapes of the ends of the pillars51are formed in the edge portion of the work plate524for changing the positions of the pillars51by inserting the pillars51into the concave portions in desired locations. Or, for example, a groove (not shown) may be formed in the edge portion of the work plate524and the pillars51may be provided movably along the groove. According to these configurations, the positions of the pillars51may be changed more easily. The configuration for changing the positions of the pillars51may be any configuration as long as the configuration can change the positions of the pillars51with respect to the workbench52.

Further, the movement direction of the pillars51may be arbitrary, not limited to the X-axis direction. For example, the pillars may be movable in the Y-axis direction.

Reinforcing Plates

The cell5shown inFIGS. 14A and 14Bincludes the two reinforcing plates (reinforcing portions)82connected to the work plate524, the pillars51, and the ceiling portion53.

The reinforcing plates82are provided on the −X-axis side of the pillars51, i.e., an opposite side to the side with the conveyer70provided thereon of the pillars51. The reinforcing plates82are provided on the work surface521with their plate surfaces along the vertical direction. Further, the heights of the reinforcing plates82(lengths in the vertical direction) are nearly equal to a separation distance between the work surface521and the upper surface of the cell5(an upper surface of an upper frame533). The widths of the reinforcing plates82(widths in the X direction) in the side view gradually increase toward the work plate524. Thereby, the reinforcing plates82may be placed on the work surface521more stably. Note that, in the embodiment, the heights of the reinforcing plates82are nearly equal to the separation distance between the work surface521and the upper surface of the cell5, however, the heights of the reinforcing plates82are not limited to those. It is preferable that the heights of the reinforcing plates82are equal to or more than the separation distance between the work surface521and the ceiling surface531. Thereby, the robot1may be supported more stably by the ceiling portion53.

The reinforcing plates82may be formed using any members, e.g. steel plates, acrylic plates, or the like.

The reinforcing plates82are provided, and thereby, the rigidity of the pillars51may be improved, and therefore, the ceiling portion53may be supported by the pillars51more strongly. Accordingly, bending of the ceiling portion53downward may be suppressed, and the robot1may be supported more stably by the ceiling portion53.

Note that the shapes, the placement, and the number of the respective reinforcing plates82are not limited to those illustrated, but may be arbitrary. Further, the reinforcing plates82may be detachable or not.

According to the fourth embodiment, the same advantages as those of the above described first embodiment may be exerted.

Fifth Embodiment

FIG. 15is a side view showing the fifth embodiment of the robot system according to the invention. In the above described embodiments, the +X-axis direction is referred to as the first direction, however, in the embodiment, the +X-axis direction in a robot cell on the left inFIG. 15is referred to as “first direction” and the −X-axis direction in a robot cell on the right inFIG. 15is referred to as “first direction”.

As below, the fifth embodiment will be explained with reference to the drawings and the explanation will be made with focus on differences from the above described embodiments and the explanation of the same items will be omitted.

The robot system of the embodiment is mainly the same as the above described first embodiment except that two robot cells are provided.

A robot system100shown inFIG. 15includes a robot cell50a(first robot cell) and a robot cell50b(second robot cell).

The robot cell50aincludes a robot1a(first robot) with a robot arm10and a cell5a(first cell). Further, the robot cell50bincludes a robot1b(second robot) with a robot arm10and a cell5b(second cell). The robot cells50a,50bhave the same configuration as the robot cell50in the above described third embodiment except that the respective robot cells do not include safety plates83,84,85, but include reinforcing plates81instead.

The cell5aand the cell5bare provided so that side surfaces525of workbenches52on which the pillars51are not provided may face each other. That is, the cell5aand the cell5bare provided so that the robot1aand the robot1bmay be close to each other.

Further, the cell5aand the cell5bare coupled by coupling plates (coupling portions)21,22.

The coupling plate21is provided in the upper part of ceiling portions53, and couples an upper frame533of the cell5aand an upper frame533of the cell5b. Further, the coupling plate22is provided in the lower part of the workbenches52, and couples a projecting piece543of a foot portion54of the cell5aand a projecting piece543of a foot portion54of the cell5b. Note that the fixing method of the coupling plates21,22to the cells5a,5bis not particularly limited, but e.g. a fixing method using a plurality of bolts or the like may be employed.

A conveyer70is placed between the cell5aand the cell5b. The conveyer70is provided in a position such that the robot1aand the robot1bmay perform work.

The conveyer70is placed within a space surrounded by the cell5aand the cell5b, and thereby, the robot1aand the robot1bmay cooperatively perform work on e.g. one part on the conveyer70. Further, as described above, the cells5a,5bare provided so that the side surfaces525of the workbenches52may face each other, and thereby, work may be performed on one part from two directions by the robot1aand the robot1b. Accordingly, the work may be performed more efficiently, and the productivity of finally obtained products may be further improved.

Note that the robot1aand the robot1bmay perform work on the same part mounted on the conveyer70or respectively perform work on e.g. different parts mounted on the conveyer70. Further, the robot1aand the robot1bmay simultaneously perform work, or, for example, one of the robot1aand the robot1bmay perform work, and then, the other may perform work.

In the embodiment, the cell5aand the cell5bare in contact with each other, however, they may be not in contact, but separated and coupled by the coupling plates21,22. Further, in the embodiment, the coupling plate21is provided on the respective ceiling portions53of the cell5aand the cell5band the coupling plate22is provided on the respective foot portions54of the cell5aand the cell5b, however, the attachment locations of the coupling plates (coupling portions) to the cell5aand the cell5bare not limited to those. For example, the coupling plates (coupling portions) may be provided on the respective workbenches52of the cell5aand the cell5b. Furthermore, the number of coupling plates (coupling portions) may be arbitrary.

According to the fifth embodiment, the same advantages as those of the above described first embodiment may be exerted.

Sixth Embodiment

FIG. 16shows the sixth embodiment of the robot system according to the invention.FIGS. 17A and 17Bare side views of the robot system shown inFIG. 16.

As below, the sixth embodiment will be explained with reference to the drawings and the explanation will be made with focus on differences from the above described embodiments and the explanation of the same items will be omitted.

The robot system of the embodiment is mainly the same as the above described embodiments except that two cells are provided and one robot is movable between the two cells.

A robot system100shown inFIG. 16includes a cell5c(first cell) and a cell5d(second cell), and a robot (first robot)1. The cells5c,5dhave the same configuration as the cell5in the above described third embodiment except that the respective cells do not include safety plates83,84,85, but include reinforcing plates81instead.

The cell5cand the cell5deach include a foot portion54having four feet541and two projecting portions545, a workbench52, four pillars51, and a ceiling portion53. These cell5cand cell5dare provided so that the pillars51may be located nearly on a straight line in the plan view.

On the respective ceiling portions53of the cells5c,5d, a moving mechanism25is provided to cross the ceiling portions53, and the cells5c,5dare coupled by the moving mechanism25. Further, as shown inFIGS. 17A and 17B, a supporting plate (supporting portion)251is provided in the moving mechanism25, and a base11(flange111) of the robot1is attached to the supporting plate251. The supporting plate251is supported by the moving mechanism25to reciprocate in the direction in which the cells5c,5dare arranged (Y-axis direction). Accordingly, the robot1can reciprocate between the cell5cand the cell5d.

In this manner, the single robot1can reciprocate between the cell5cand the cell5d, and thereby, both work within the cell5aand work within the cell5bmay be performed by the single robot1without preparation of two robots. Therefore, the operability of the robot1may be further improved.

Note that, though not illustrated, the moving mechanism25includes a drive source that generates power for moving the supporting plate251and a power transmission mechanism that transmits the power of the drive source to the supporting plate251. Further, the robot system100includes a movement control unit (not shown) that drives the moving mechanism25.

According to the fifth embodiment, the same advantages as those of the above described first embodiment may be exerted.

Manufacturing Line

Next, an example of a manufacturing line to which the robot system according to the invention is applied will be explained. Hereinafter, the manufacturing line to which the robot system according to the invention is applied is not limited to the following example.

FIG. 18shows the example of the manufacturing line using the robot system according to the invention. As below, the manufacturing line will be explained with reference to the drawing, and the explanation will be made with focus on differences from the above described robot systems and the explanation of the same items will be omitted.

In a manufacturing line1000shown inFIG. 18, workers (humans)500and robot systems100A,100B coexist around a conveyer with support75that carries parts (not shown).

The manufacturing line1000mainly includes a main line101for carrying parts or the like and a sub-line102for incorporation of parts, inspection of parts, etc.

The main line101includes the conveyer with support75that carries parts (not shown) or the like, and two robot systems100A that perform incorporation work of parts on the conveyer with support75. Note that the robot systems100A have the same configuration as that of the robot system100in the first embodiment. In the main line101, the workers500are placed.

The sub-line102is connected to the main line101. The sub-line102includes the robot system100B. The robot system100B has the same configuration as that of the robot system100in the sixth embodiment.

In the manufacturing line1000, in the main line101, the workers500and robots1of the robot systems100A perform work of feeding, removing, assembly, etc. of the parts. In the sub-line102, a robot1of the robot system100B performs work of processing etc. of the parts carried from the conveyer with support75to a conveyer70. After the work of processing etc. by the robot1of the robot system100B ends, the parts are carried from the conveyer70to the conveyer with support75again, and the parts return to the main line101.

In the manufacturing line1000, as described above in the first embodiment, the width W1of the cell5of the robot system100A is nearly equal to or less than the size of the work area in which the worker500works, and the work500may be easily replaced by the robot cell50of the robot system100A. Note that the reverse change to the above described change, i.e., replacement of the robot cell50of the robot system100A by the worker500may be easily made.

As described above, the exchange between the worker500and the robot cell50of the robot system100A may be easily performed, and thereby, the manufacturing line1000may be easily changed without major change of changing the placement of the conveyer with support75or the like. Further, even when the workers500are replaced by the robot cells50of the robot systems100A, increase in the length of the manufacturing line1000may be suppressed.

As above, the robot system according to the invention and the manufacturing line using the system are explained according to the illustrated embodiments, however, the invention is not limited to those and the configurations of the respective parts may be replaced by arbitrary configurations having the same functions. Further, other arbitrary configurations may be added. Furthermore, the invention may include a combination of two or more arbitrary configurations (features) of the above described respective embodiments.

In the above described embodiments, the number of rotation axes of the robot arm of the robot is six, however, the invention is not limited to that. The number of rotation axes of the robot arm may be e.g. two, three, four, five, or seven or more. Further, in the above described embodiments, the number of arms of the robot is six, however, the invention is not limited to that. The number of arms of the robot may be e.g. two, three, four, five, or seven or more.

In the above described embodiments, the number of robot arms of the robot is one, however, the invention is not limited to that. The number of robot arms of the robot may be e.g. two or more. That is, the robot may be e.g. a multi-arm robot including a dual-arm robot.

In the above described fifth embodiment and sixth embodiment, the form in which the two cells are coupled is explained, however, the number of coupled cells is not limited that, but may be two or more.

Further, in the above described embodiments, the attachment surface as the location to which the base of the robot is fixed is the ceiling surface, however, the attachment surface is not limited to that. The attachment surface may be e.g. the upper surface of the ceiling portion, the pillars, the work surface, or the like.

Furthermore, in the above described embodiments, the vertical articulated robot is taken as an example for explanation, however, the robot of the robot system according to the invention is not limited to that. For example, the robot may be a robot having any configuration including a horizontal articulated robot.

In the above described embodiments, the cell includes feet, however, may have no foot. In this case, the bottom plate located on the lower end of the workbench may be directly installed in the installation space. When the bottom plate is directly installed in the installation space, the bottom plate may be regarded as a foot portion by which the entire cell is installed in the installation space. Further, the configuration of the foot portion is not limited to the configurations of the above described embodiments, but may be any configuration as long as the cell may be installed in the installation space.

In the above described first embodiment, the foot portion is attached to the bottom part of the workbench, however, the attachment position of the foot portion is not limited to that. For example, the foot portion may be attached to a side of the workbench.

In the above described embodiments, the conveyer is separated from the robot system, however, the robot system may include a conveyer (carrying unit).

Further, in the above described embodiments, the first robot is attached to the ceiling portion (attachment portion), however, the first robot may be movably provided to the ceiling portion (attachment portion) as long as the first rotation axis can be provided at the +X-axis side with respect to the center of the work surface in the plan view. The same applies to the second robot.

The entire disclosure of Japanese Patent Application No. 2015-091212, filed Apr. 28, 2015 is expressly incorporated by reference herein.