JPH04115885A - Traveling robot and device therewith - Google Patents
Traveling robot and device therewithInfo
- Publication number
- JPH04115885A JPH04115885A JP23631090A JP23631090A JPH04115885A JP H04115885 A JPH04115885 A JP H04115885A JP 23631090 A JP23631090 A JP 23631090A JP 23631090 A JP23631090 A JP 23631090A JP H04115885 A JPH04115885 A JP H04115885A
- Authority
- JP
- Japan
- Prior art keywords
- axis
- traveling
- robot
- articulated robot
- horizontally articulated
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 210000000707 wrist Anatomy 0.000 claims abstract description 15
- 210000000245 forearm Anatomy 0.000 claims description 13
- 238000007689 inspection Methods 0.000 abstract description 5
- 238000012423 maintenance Methods 0.000 abstract description 2
- 238000003754 machining Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 150000001875 compounds Chemical class 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
Landscapes
- Feeding Of Workpieces (AREA)
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
これらの発明は、ワークを移載する走行ロボット、及び
上記走行ロボットを備え、上記ワークの加工、組立もし
くは検査等を行なう走行ロボット付装置に関するもので
ある。[Detailed Description of the Invention] [Field of Industrial Application] These inventions relate to a traveling robot that transfers a workpiece, and an apparatus equipped with the traveling robot that processes, assembles, or inspects the workpiece. It is something.
ワークの加工、組立もしくは検査等を行なう装置におい
て、上記ワークの搬入、取付け、搬出等の移載作業を行
なう走行ロボットを付属することがある。2. Description of the Related Art Apparatuses that process, assemble, or inspect workpieces are sometimes equipped with a traveling robot that performs transfer operations such as loading, attaching, and unloading the workpieces.
第６図〜第８図はそれぞれ従来の走行ロボットの正面図
、側面図及び平面図である。6 to 8 are a front view, a side view, and a plan view, respectively, of a conventional traveling robot.
図において、（１）は水平関節形ロボットであり、後腕
（ｌａ）、前腕（ｌｂ）、上下動軸（ｌｃ）、手首回転
軸（ｌｄｌの４軸構成からなる。（ｌｅ）はロボットコ
ントローラ、（２）は水平関節形ロボット（１）を前進
あるいは、後退させる走行軸、（２ａ）は走行軸コント
ローラである。In the figure, (1) is a horizontally articulated robot, which consists of four axes: the rear arm (la), forearm (lb), vertical axis (lc), and wrist rotation axis (ldl). (le) is the robot controller. , (2) is a running axis for moving the horizontally articulated robot (1) forward or backward, and (2a) is a running axis controller.
第９図において、（３）はマシニングセンタ、（３ａ）
はマシニングセンタ（３）の加工作業を行なう主軸、（
３ｂ）は加工工具、（３Ｃ）は交換用工具、（３ｄ）は
自動工具交換装置の加工工具保管装置、（３ｅ）は自動
工具交換装置の交換装置部、（３ｆ）はＸ方向、Ｙ方向
あるいはＸ−Ｙ複合方向に動作するテーブル装置、（３
ｇ）は機械加工の部材となる部品を位置決め固定する部
品取付装置、（３ｈ）及び（３１）は自動扉、（４）は
機械加工の部材となる部品、（４ａ）はワークとしての
加工前部品、（５）は部品（４）及び加工前部品（４ａ
）を置く部品置台である。矢印Ｊ１、Ｊ２、Ｊｓ、 Ｊ
４は水平関節形ロボット（１）の動作方向を示し、矢印
Ｓは、走行軸（２）の動作方向を示す。さらに、矢印Ｘ
、Ｙはテーブル装置（３ｆ）の動作方向を示し、矢印Ｚ
は、主軸（３ａ）及び加工工具（３ｂ）の動作方向を示
す。In Fig. 9, (3) is a machining center, (3a)
is the main spindle of the machining center (3) that performs machining work, (
3b) is the processing tool, (3C) is the replacement tool, (3d) is the processing tool storage device of the automatic tool changer, (3e) is the changer part of the automatic tool changer, (3f) is the X direction, the Y direction Or a table device that operates in the X-Y compound direction (3
g) is a parts mounting device that positions and fixes parts that will be parts for machining, (3h) and (31) are automatic doors, (4) is a part that will be parts for machining, and (4a) is before processing as a workpiece. Part, (5) is part (4) and part before processing (4a
) is a parts stand. Arrows J1, J2, Js, J
4 indicates the direction of movement of the horizontally articulated robot (1), and arrow S indicates the direction of movement of the running axis (2). Furthermore, arrow
, Y indicates the operating direction of the table device (3f), and arrow Z
indicates the operating direction of the main shaft (3a) and the processing tool (3b).
次に動作について説明する。Next, the operation will be explained.
マシニングセンタ（３）はプログラミングされたデータ
に基づき、主軸（３ａ）、テーブル装ｆｉ （３Ｆ）及
び自動工具交換装置（３ｄ）を動作させ、部品（４）を
所定の形状、寸法に加工する。加工完了で、部品取付装
置（３ｇ）がアンクランプし、自動ｍ （３ｈ）、（３
１）が開き、水平関節形ロボット（１）及び走行軸（２
）がプログラミングされたデータに基づき、各軸矢印Ｊ
１〜Ｊ４及び、矢印Ｓに動作し、加工完了した部品（４
）を把持し、部品置台（５）に移載する。次いで、加工
前部品（４ａ）を把持し、部品取付装置（３ｇ）に移載
し、部品取付装置（３ｇ）が加工前部品（４ａ）をクラ
ンプ固定し、自動扉（３ｈ）、（３１）を閉じ、マシニ
ングセンタ〔３）が加工を開始する。The machining center (3) operates the main spindle (3a), table fixture (3F), and automatic tool changer (3d) based on programmed data to machine the part (4) into a predetermined shape and size. When the machining is completed, the parts mounting device (3g) unclamps, and the automatic m (3h), (3
1) opens, horizontally articulated robot (1) and running axis (2) open.
) based on the programmed data, each axis arrow J
1 to J4 and the parts that have been processed in the direction of arrow S (4
) and transfer it to the parts table (5). Next, the unprocessed part (4a) is grasped and transferred to the parts mounting device (3g), the parts mounting device (3g) clamps and fixes the unprocessed part (4a), and the automatic door (3h), (31) is closed, and the machining center [3] starts machining.
［発明が解決しようとする課題〕
従来の走行ロボット及び走行ロボット付装置は以上のよ
うに構成されているので、工作機械の水平関節形ロボッ
ト（１）及び、走行軸（２）は以上の様に構成され、マ
シニングセンタ（３）と組合せて用いられていたので、
マシニングセンタ（３）の主軸（３ａ）の保守点検、加
工刃物（３ｂ）、交換用刃物（３ｃ）の取替、部品取付
袋Ｎ（３ｇ）の段取替の際、作業上障害になり、またマ
シニングセンタ（３）の外部から、部品取付袋Ｈ（３ｇ
）まで腕を伸ばすために、部品（４）は軽量であっても
、腕の長い比較的大型の水平関節形ロボット＋１１が必
要となる。[Problems to be Solved by the Invention] Since conventional traveling robots and devices with traveling robots are configured as described above, the horizontally articulated robot (1) and traveling axis (2) of the machine tool are configured as described above. Since it was configured and used in combination with a machining center (3),
During maintenance and inspection of the main shaft (3a) of the machining center (3), replacing the machining cutter (3b) and replacement cutter (3c), and changing the setup of the parts mounting bag N (3g), it may become an obstacle to the work, or From the outside of the machining center (3), remove the parts mounting bag H (3g
), even if component (4) is lightweight, a relatively large horizontally articulated robot +11 with long arms is required.
さらに、ロボットコントローラ（１ｅ）に加えて、走行
軸コントローラ（２ａ）が必要であり、大型で高価な設
備となり、さらに、設備の据付面積も大きな装置となる
などの問題点があった。Furthermore, in addition to the robot controller (1e), a travel axis controller (2a) is required, resulting in large and expensive equipment, and furthermore, there are problems such as the installation area of the equipment is also large.
これらの発明は、上記のような問題点を解消するために
なされたもので、加工、組立もしくは検査装置等の天井
面に取付は容５な比較的小型、軽量の走行ロボット、及
び上記走行ロボットを備え、作業性及び保守点検が容易
で省スペース可能な走行ロボット付装置を得ることを目
的とする。These inventions were made to solve the above-mentioned problems, and they provide a relatively small and lightweight traveling robot that can be easily mounted on the ceiling of processing, assembly, or inspection equipment, and the above-mentioned traveling robot. The object of the present invention is to obtain a device with a traveling robot that is easy to work with, easy to maintain and inspect, and can save space.
第１の発明に係わる走行ロボットは、ワークを把持して
回転可能な手首回転軸、上記手首回転軸を上下動可能な
上下動軸、前腕の先端に上記上下動軸を垂直に保持しつ
つ円周上を旋回可能な前腕回転軸からなる３軸構成の水
平関節形ロボット部と、上記水平関節形ロボット部を往
復動可能な走行軸と、上記ワークを把持して回転し、旋
回し、かつ往復動さすべく上記水平関節形ロボット部の
３軸に上記走行軸を含めた４軸を制御する制御部とを備
えたものである。The traveling robot according to the first invention includes a wrist rotation axis that can grip and rotate a workpiece, a vertical movement axis that can move the wrist rotation axis up and down, and a circular movement while holding the vertical movement axis vertically at the tip of a forearm. a horizontally articulated robot part having a three-axis configuration consisting of a forearm rotating shaft that can rotate on the circumference; a traveling axis that can reciprocate the horizontally articulated robot part; and a horizontally articulated robot part that grips and rotates the work, and The robot is equipped with a control section that controls four axes including the traveling axis in addition to the three axes of the horizontally articulated robot section for reciprocating motion.
また、第２の発明に係わる走行ロボット付装置は、ワー
クの加工、組立及び検査の何れかを行なう装置であって
、上記ワークを移載すべ（特許請求の範囲第１項記載の
走行ロボットを備え、上記走行ロボットは上記装置の天
井部に水平関節形ロボット部が往復動可能に取付けられ
たものである。Further, the device with a traveling robot according to the second invention is a device for processing, assembling, and inspecting a workpiece, and the device is a device for processing, assembling, and inspecting a workpiece. The traveling robot has a horizontally articulated robot section mounted on the ceiling of the device so as to be able to reciprocate.
［作用］
第１の発明における制御部は、水平関節形ロボット部を
構成する手首回転軸がワークを把持して回転させ、上下
動軸が上記手首回転軸を上下動させ、前腕回転軸が前腕
の先端に上記上下動軸を垂直に保持しつつ円周上を旋回
させ、かつ走行軸が上記水平関節形ロボット部を往復動
させるように上記水平関節形ロボット部の手首回転軸、
上下動軸及び前腕回転軸、及び上記走行軸を制御し、上
記ワークを把持して回転させ、上下動軸させ、旋回させ
、かつ往復動させる。[Operation] In the control unit in the first invention, the wrist rotation axis constituting the horizontally articulated robot unit grips and rotates the workpiece, the vertical movement axis moves the wrist rotation axis up and down, and the forearm rotation axis rotates the forearm. a wrist rotation axis of the horizontally articulated robot section, which rotates on the circumference while holding the vertically moving axis vertically at the tip of the horizontally articulated robot section;
The vertical movement axis, the forearm rotation axis, and the traveling axis are controlled to grip and rotate the workpiece, cause it to move up and down, rotate, and reciprocate.
また、第２の発明における走行ロボットはワ−りの加工
、組立及び検査の何れかを行なう装置の天井部に組付け
られ、水平関節形ロボット部は上記装置の天井部にて往
復動し上記ワークを移載する。Further, the traveling robot in the second invention is installed on the ceiling of a device for processing, assembling, and inspecting workpieces, and the horizontally articulated robot part moves reciprocatingly on the ceiling of the device. Transfer the work.
［発明の実施例］
第１及び第２の発明の実施例を第１図〜第５図により説
明する。図中、従来例と同じ符号で示されたものは従来
例のそれと同一もしくは同等なものを示す。[Embodiments of the Invention] Examples of the first and second inventions will be described with reference to FIGS. 1 to 5. In the drawings, the same reference numerals as in the conventional example indicate the same or equivalent elements as in the conventional example.
第１図〜第３図はそれぞれ第１の発明の一実施例として
走行ロボットとしての天井面取付形の水平関節形ロボッ
トの正面図、側面図及び平面図である。1 to 3 are a front view, a side view, and a plan view, respectively, of a ceiling-mounted horizontally articulated robot as a traveling robot as an embodiment of the first invention.
図において、（ＩＡ）は従来例における後腕（ｌａ）が
省略され、ワークを把持して回転可能な手首回転軸（ｌ
ｄ）、上記手首回転軸（ｌｄ）を上下動可能な上下動軸
［１ｃｌ 、前腕（１ｂ）の先端に上記上下動軸（ｌｃ
）を垂直に保持しつつ円周上を旋回可能な前腕回転軸（
１ｆ）からなる３軸構成の水平関節形ロボット（ｌｅｌ
は水平関節形ロボット［ｌＡｌを前進あるいは後退させ
る走行軸（２）をコントロールするロボットコントロー
ラであり、従来例における走行軸コントローラ（２ｅ）
は省略されている。In the figure, (IA) is the rear arm (la) of the conventional example, and the wrist rotation axis (l) that can rotate while gripping the workpiece is shown.
d), the wrist rotation axis (ld) is a vertical movement axis [1cl] that can move up and down, the above-mentioned vertical movement axis (lc) is attached to the tip of the forearm (1b)
) can be rotated around the circumference while holding the forearm vertically (
A horizontally articulated robot (LEL) with a 3-axis configuration consisting of
is a robot controller that controls the running axis (2) that moves the horizontally articulated robot [lAl forward or backward, and is the same as the running axis controller (2e) in the conventional example.
is omitted.
第４図、第５図は第２の発明の一実施例としての走行ロ
ボット付装置の烏轍図である。FIGS. 4 and 5 are diagrams of a device with a traveling robot as an embodiment of the second invention.
図において、上述した水平関節形ロボットＣＩＡ］を前
進あるいは、後退させる走行軸（２）は、マシニングセ
ンタ（３）の天井部に設けられており、水平関節形ロボ
ット（ＩＡ）は、この走行軸（２）に往復動可能に組付
けられている。In the figure, a traveling axis (2) for moving the above-mentioned horizontally articulated robot CIA forward or backward is provided on the ceiling of the machining center (3), and the horizontally articulated robot (IA) moves along this traveling axis ( 2) is assembled so that it can reciprocate.
次に動作について説明する。Next, the operation will be explained.
水平関節形ロボット（ＩＡ）はスタート時には、マシニ
ングセンタ（３）より外部にはみ出した走行軸（２）の
端部に吊着され、マシニングセンタ（３）の側面側自動
ｆｆｌ［３ｊｌは開かれている。At the time of starting, the horizontally articulated robot (IA) is suspended from the end of the traveling shaft (2) protruding from the machining center (3), and the side automatic ffl [3jl of the machining center (3) is opened.
次にロボットコントローラ（ｌｅ）に予めプログラミン
グされたデータに基づいて、水平関節形ロボッＩ−（Ｉ
Ａ）が、部品置台（５）上の加工前部品（４ａ）上に移
動し、加工前部品（４ａ）を把持する。Next, based on the data programmed in advance in the robot controller (le), the horizontally articulated robot I-(I
A) moves onto the unprocessed component (4a) on the component placement table (5) and grips the unprocessed component (4a).
水平関節形ロボット（ＩＡ）は、加工前部品（４ａ）を
把持し、マシニングセンタ（３）内の部品取付装置（３
ｇ）位置に移動し、部品取付装置（３ｇ）上に加工前部
品（４ａ）を移載する。The horizontally articulated robot (IA) grasps the part to be processed (4a) and moves it to the part mounting device (3) in the machining center (3).
g) Move to position and transfer the unprocessed part (4a) onto the part mounting device (3g).
加工前部品（４ａ）の移載が完了し、部品取付装置（３
ｇ）が加工前部品（４ａ）をクランプ固定する。すると
水平関節形ロボット（ＩＡ）はマシニングセンタ（３）
の外部のスタート位置に戻り、側面側自動扉（３ｊ）は
閉められる。The transfer of the unprocessed part (4a) is completed, and the part mounting device (3
g) clamps and fixes the part (4a) before processing. Then, the horizontally articulated robot (IA) moves to the machining center (3)
The vehicle returns to the external starting position, and the side automatic door (3j) is closed.
マシニングセンタ（３）は、予めコントローラ（図示せ
ず）にプログラミングされたデータに基づき、主軸（３
ａ）、テーブル装置（３ｆ） 、及び自動工具交換装置
（３ｄ）のマシニングセンタ（３）が加工を開始し、加
工前部品（４ａ）を所定の形状、寸法に加工する（第４
図が加工中の状態を示している）。The machining center (3) operates the main spindle (3) based on data programmed into a controller (not shown) in advance.
a), the table device (3f), and the machining center (3) of the automatic tool changer (3d) start machining, and process the unprocessed part (4a) into a predetermined shape and size (fourth
(The figure shows the state during processing).
加工前部品（４ａ）が加工完了され、部品（４）となり
部品取付装置（３ｇ）がアンクランプし側面側自動扉（
３ｊ）が開かれる。The unprocessed part (4a) is completed, becomes part (4), and the part mounting device (3g) unclamps it, and the side automatic door (
3j) will be opened.
マシニングセンタ（３）の外部で待機していた水平関節
形ロボット（ＩＡ）及び走行軸（２）がロボットコント
ローラ（１ｅ）にプログラミングされたデータに基づき
、各軸が矢印Ｊ２〜Ｊ４および矢印Ｓの方向に動作し、
部品取付装置（３ｇ）上の加工完了した部品（４）を把
持し、マシニングセンタ（３）の側面側外部に移動し部
品置台（５）に移載する（第５図が部品（４）の取り出
し状態を示す図である）。The horizontally articulated robot (IA) and the traveling axis (2), which were waiting outside the machining center (3), move in the directions of arrows J2 to J4 and arrow S based on the data programmed into the robot controller (1e). works,
Grasp the completed part (4) on the part mounting device (3g), move it to the side outside of the machining center (3), and transfer it to the part placement stand (5) (Figure 5 shows the removal of part (4)). (Fig. 3 shows the state).
このように順次一連の工程を繰り返して加工が行なわれ
る。Processing is performed by repeating a series of steps in this manner.
なお、上記実施例では加工装置としてマシニングセンタ
を用いた場合について説明したが、他の加工装置であっ
ても上記実施例と同様な効果が得られる。さらに、加工
装置以外の組立装置（組立自動機）や検査装置であって
もよく上記実施例と同様な効果が得られる。In addition, although the case where a machining center was used as a processing device was explained in the above-mentioned example, the same effect as the above-mentioned example can be obtained even if other processing devices are used. Furthermore, an assembly device (automatic assembly machine) or an inspection device other than the processing device may be used to obtain the same effect as the above embodiment.
［発明の効果］
以上のように、第１の発明によれば水平関節形ロボット
部を手首回転軸、上下軸、前腕回転軸からなる３軸構成
とし、制御部を上記水平関節形ロボット部の３軸に走行
軸を含めた４軸を制御するようにしたので、ワークを把
持して回転させ、旋回させ、かつ往復動させると共に、
加工、組立もしくは検査装置等の天井面に取付は容易な
比較的小型、軽量の走行ロボットが得られる効果がある
。[Effects of the Invention] As described above, according to the first invention, the horizontally articulated robot section has a three-axis configuration consisting of a wrist rotation axis, a vertical axis, and a forearm rotation axis, and the control section of the horizontally articulated robot section. Since it controls four axes including the traveling axis in three axes, the workpiece can be gripped, rotated, turned, and reciprocated, as well as
This has the effect of providing a relatively small and lightweight traveling robot that can be easily installed on the ceiling of processing, assembly, or inspection equipment.
また、第２の発明によれば、第１の発明に係わる走行ロ
ボットをワークの加工、組立及び検査の何れかを行なう
装置の天井部に、水平関節形ロボット部が往復動可能に
組付け、上記ワークを移載するように構成したので、作
業性及び保守点検が容易で省スペース可能な走行ロボッ
ト付装置が得られる効果がある。According to the second invention, the horizontally articulated robot part is reciprocatably assembled to the ceiling of an apparatus for processing, assembling, and inspecting workpieces using the traveling robot according to the first invention, Since the workpiece is configured to be transferred, it is possible to obtain an apparatus with a traveling robot that is easy to work with, easy to maintain and inspect, and can save space.
第１図〜第３図はそれぞれ第１の発明の一実施例として
の走行ロボットの正面図、側面図及び平面図、第４図、
第５図は第２の発明の一実施例としての走行ロボット付
装置の鳥轍図、第６図〜第８図はそれぞれ従来の走行ロ
ボットの正面図、側面図及び平面図、第９図は従来の走
行ロボット付装置の鳥轍図である。
図において、（ｌ＾）は水平関節形ロボット、（ｌｂ）
は前腕、（ｌｃ）は上下動軸、（ｌｄｌは手首回転軸、
（ｌｅ）はロボットコントローラ、（Ｉｆ）は前腕回転
軸、（２）は走行軸、（３）はマシニングセンタ、（３
ａ）は主軸、（３ｂ）は加工工具、（３ｃ）は交換用工
具、（３ｄ）は加工工具保管装置、（３ｅ）は交換装面
部、（３ｆ）はテーブル装置、（３ｇ）は部品取付装置
、（３ｈ）、（３１）（３ｊ）は自動扉である。
なお、図中、同一符合は同一、または相当部分を示す。1 to 3 are a front view, a side view, and a plan view of a traveling robot as an embodiment of the first invention, and FIG. 4,
FIG. 5 is a bird track diagram of a device with a traveling robot as an embodiment of the second invention, FIGS. 6 to 8 are respectively a front view, a side view, and a plan view of a conventional traveling robot. FIG. It is a bird track diagram of a conventional device with a traveling robot. In the figure, (l^) is a horizontally articulated robot, (lb)
is the forearm, (lc) is the vertical movement axis, (ldl is the wrist rotation axis,
(le) is the robot controller, (If) is the forearm rotation axis, (2) is the travel axis, (3) is the machining center, (3
a) is the main shaft, (3b) is the processing tool, (3c) is the replacement tool, (3d) is the processing tool storage device, (3e) is the replacement surface, (3f) is the table device, (3g) is the parts installation The devices (3h), (31) and (3j) are automatic doors. In addition, in the figures, the same reference numerals indicate the same or equivalent parts.
Claims (2)
首回転軸を上下動可能な上下動軸、前腕の先端に上記上
下動軸を垂直に保持しつつ円周上を旋回可能な前腕回転
軸からなる３軸構成の水平関節形ロボット部と、上記水
平関節形ロボット部を往復動可能な走行軸と、上記ワー
クを把持して回転し、旋回し、かつ往復動さすべく上記
水平関節形ロボット部の３軸に上記走行軸を含めた４軸
を制御する制御部とを備えたことを特徴とする走行ロボ
ット。(1) A wrist rotation axis that can grip and rotate a workpiece, a vertical axis that can move the wrist rotation axis up and down, and a forearm that can rotate around the circumference while holding the vertical axis vertically at the tip of the forearm. a horizontally articulated robot section with a three-axis configuration consisting of a rotating shaft; a running shaft that allows the horizontally articulated robot section to reciprocate; and a horizontal joint that grips, rotates, turns, and reciprocates the workpiece. A traveling robot characterized by comprising a controller for controlling four axes including the traveling axis in addition to the three axes of the shaped robot part.
を行なう装置であって、上記ワークを移載すべく特許請
求の範囲第１項記載の走行ロボットを備え、上記走行ロ
ボットは上記装置の天井部に水平関節形ロボット部が往
復動可能に組付けられたことを特徴とする走行ロボット
付装置。(2) A device for processing, assembling, and/or inspecting workpieces, comprising a traveling robot according to claim 1 for transferring the workpieces, the traveling robot being mounted on the ceiling of the device. A device with a traveling robot, characterized in that a horizontally articulated robot part is attached to the part so as to be able to move back and forth.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP23631090A JPH04115885A (en) | 1990-09-06 | 1990-09-06 | Traveling robot and device therewith |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP23631090A JPH04115885A (en) | 1990-09-06 | 1990-09-06 | Traveling robot and device therewith |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH04115885A true JPH04115885A (en) | 1992-04-16 |
Family
ID=16998907
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP23631090A Pending JPH04115885A (en) | 1990-09-06 | 1990-09-06 | Traveling robot and device therewith |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH04115885A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005238358A (en) * | 2004-02-25 | 2005-09-08 | Kitamura Mach Co Ltd | Pallet exchanger |
| JP2006320985A (en) * | 2005-05-17 | 2006-11-30 | Kondo Seisakusho:Kk | Transport device |
| JP2008110442A (en) * | 2006-10-31 | 2008-05-15 | Makino J Kk | Machine tool |
| JP2010089228A (en) * | 2008-10-09 | 2010-04-22 | Fanuc Ltd | Robot system that load and unload workpiece to and from machine tool by robot |
| JP2010099787A (en) * | 2008-10-24 | 2010-05-06 | Denso Wave Inc | Robot |
| DE19912496B4 (en) * | 1998-03-19 | 2010-08-05 | Hitachi Koki Co., Ltd. | Centrifuge operating system with automatic centrifuge and assembly line |
| JP2017019082A (en) * | 2015-07-14 | 2017-01-26 | シチズン時計株式会社 | Work carrying device of machine tool |
| JP2017514714A (en) * | 2014-02-21 | 2017-06-08 | エスカー−テヒノロギーズ ウーゲーＳｋ−Ｔｅｃｈｎｏｌｏｇｉｅｓ Ｕｇ | Robotic cell for loading and unloading single station machining units with simultaneous parallel processing time |
| JP2018089740A (en) * | 2016-12-02 | 2018-06-14 | アイシン・エィ・ダブリュ株式会社 | Processing device |
| JP2018144126A (en) * | 2017-03-01 | 2018-09-20 | 株式会社牧野フライス製作所 | Processing system |
| WO2020216613A1 (en) | 2019-04-25 | 2020-10-29 | Sumitomo (Shi) Demag Plastics Machinery Gmbh | Component handling device for component handling, and injection-moulding machine equipped therewith |
-
1990
- 1990-09-06 JP JP23631090A patent/JPH04115885A/en active Pending
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19912496B4 (en) * | 1998-03-19 | 2010-08-05 | Hitachi Koki Co., Ltd. | Centrifuge operating system with automatic centrifuge and assembly line |
| JP2005238358A (en) * | 2004-02-25 | 2005-09-08 | Kitamura Mach Co Ltd | Pallet exchanger |
| JP2006320985A (en) * | 2005-05-17 | 2006-11-30 | Kondo Seisakusho:Kk | Transport device |
| JP2008110442A (en) * | 2006-10-31 | 2008-05-15 | Makino J Kk | Machine tool |
| JP4612087B2 (en) * | 2008-10-09 | 2011-01-12 | ファナック株式会社 | Robot system that attaches and detaches workpieces to machine tools by robot |
| JP2010089228A (en) * | 2008-10-09 | 2010-04-22 | Fanuc Ltd | Robot system that load and unload workpiece to and from machine tool by robot |
| US8282333B2 (en) | 2008-10-09 | 2012-10-09 | Fanuc Ltd | Workpiece transfer robot system |
| JP2010099787A (en) * | 2008-10-24 | 2010-05-06 | Denso Wave Inc | Robot |
| JP2017514714A (en) * | 2014-02-21 | 2017-06-08 | エスカー−テヒノロギーズ ウーゲーＳｋ−Ｔｅｃｈｎｏｌｏｇｉｅｓ Ｕｇ | Robotic cell for loading and unloading single station machining units with simultaneous parallel processing time |
| JP2017019082A (en) * | 2015-07-14 | 2017-01-26 | シチズン時計株式会社 | Work carrying device of machine tool |
| JP2018089740A (en) * | 2016-12-02 | 2018-06-14 | アイシン・エィ・ダブリュ株式会社 | Processing device |
| JP2018144126A (en) * | 2017-03-01 | 2018-09-20 | 株式会社牧野フライス製作所 | Processing system |
| WO2020216613A1 (en) | 2019-04-25 | 2020-10-29 | Sumitomo (Shi) Demag Plastics Machinery Gmbh | Component handling device for component handling, and injection-moulding machine equipped therewith |
| DE102019205940A1 (en) * | 2019-04-25 | 2020-10-29 | Sumitomo (Shi) Demag Plastics Machinery Gmbh | Component handling device for component handling and injection molding machine equipped with it |
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