JP2019173787A - Rail supporting device, and robot operating system - Google Patents

Abstract

To provide a rail supporting device that can sufficiently endure an external force.SOLUTION: A rail supporting device comprises: a first cylinder 5A and a second cylinder 5B arranged on both sides of a rail 1; a cylinder supporting part 6 supporting a cylinder tube 51; a first pipeline L1 and a second pipeline L2 connecting both cylinder main chambers R1; a first relief valve Vr1 arranged on the first pipeline L1; a first check valve Vs1 restraining a flow direction of working fluid only to a direction from the first cylinder 5A toward the second cylinder 5B; a second relief valve Vr2 arranged on the second pipeline L2; and a second check valve Vs2 restraining the flow direction of the working fluid only to a direction from the second cylinder 5B toward the first cylinder 5A.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a rail support device and a robot working system.

  In order to perform various operations in a confined place where workers are difficult to reach or a place where danger is assumed, a technique for performing remote work using a robot has been put into practical use (for example, see Patent Document 1 below). Patent Document 1 describes a robot working system including a rail and a robot that can move on the rail. The robot has a main body that can move on a rail via a drive wheel and a driven wheel, an arm attached to the main body, and a hand. After the robot reaches the destination, it can be operated by moving the arm and hand.

JP-A-2-241302

  Here, when laying the above-mentioned rail, it is general to fix the rail firmly (rigidly) to the support surface. However, when the support surface is displaced by an earthquake or the like, the rail is displaced together with the support surface in this structure. When the rail is displaced, an inertial force acting in the direction opposite to the displacement direction acts on the robot traveling on the rail. As a result, the robot may be overturned, and it may not be possible to continue the work.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a rail support device capable of sufficiently resisting an external force and a robot working system including the rail support device.

  According to a first aspect of the present invention, a rail support device is a rail support device that supports a rail on a support surface, and is a cylinder tube in which a cylinder chamber through which a working fluid flows is formed, and is advanced and retracted in the cylinder chamber. A first cylinder having a moving piston and a connecting rod for connecting the piston and the rail, and arranged on both sides of the rail in a direction extending in a plane perpendicular to the extending direction of the rail , And a second cylinder, a cylinder support part for supporting the cylinder tube on the support surface, a first pipe for connecting the cylinder chambers to each other, a second pipe, and the first pipe, A first relief valve that opens when the pressure on the first cylinder side exceeds a predetermined threshold; and the second cylinder than the first relief valve on the first pipe A first check valve that restricts the flow direction of the working fluid on the first pipe to only the direction from the first cylinder side to the second cylinder side, and is arranged on the second pipe. A second relief valve that opens when the pressure on the second cylinder side exceeds a predetermined threshold, and is disposed closer to the first cylinder than the second relief valve on the second pipe, A second check valve that restricts a flow direction of the working fluid on the second pipe only in a direction from the second cylinder side toward the first cylinder side.

According to this configuration, the rail is supported by the first cylinder and the second cylinder. The cylinder chamber of the first cylinder and the cylinder chamber of the second cylinder are connected to each other by a first pipe and a second pipe. Further, a first relief valve and a first check valve are provided on the first pipe. The first relief valve is opened when the pressure in the cylinder chamber of the first cylinder exceeds a threshold value. The first check valve regulates the flow direction of the working fluid on the first pipe only in the direction from the first cylinder side to the second cylinder side. Similarly, a second relief valve and a second check valve are provided on the second pipe. The second relief valve is opened when the pressure in the cylinder chamber of the second cylinder exceeds a threshold value. The second check valve regulates the flow direction of the working fluid on the second pipe only in the direction from the second cylinder side to the first cylinder side. Therefore, in a state where no earthquake or the like has occurred (that is, a state in which no external force is applied to the rail), the working fluid does not flow between the first cylinder and the second cylinder. Thereby, a rail can be supported stably.
On the other hand, when an external force is applied, for example, in a direction in which the rail approaches the first cylinder due to an earthquake or the like, the pressure of the working fluid in the cylinder chamber of the first cylinder rises due to the piston being pushed by the connecting rod. When the pressure of the working fluid exceeds the threshold value, the first relief valve is opened, and the working fluid flows through the first check valve to the second cylinder side. Thereby, the volume of the cylinder chamber of the first cylinder is reduced. That is, the support rigidity of the first cylinder is reduced. As a result, the rail is displaced so as to follow the direction of the external force (vibration direction of the earthquake). On the other hand, when an external force is applied in the direction in which the rail approaches the second cylinder, the pressure of the working fluid in the cylinder chamber of the second cylinder is increased by pushing the piston by the connecting rod. When the pressure of the working fluid exceeds the threshold value, the second relief valve is opened, and the working fluid flows through the second check valve to the first cylinder side. Thereby, the volume of the cylinder chamber of the second cylinder is reduced. That is, the support rigidity of the second cylinder is reduced. As a result, the rail is displaced so as to follow the direction of the external force (vibration direction of the earthquake). Thereby, possibility that a rail will drop and deviate from a support surface can be reduced.

  According to the second aspect of the present invention, the connecting rod of the first cylinder is connected to one side in the width direction of the rail, and the connecting rod of the second cylinder is the other in the width direction of the rail. It may be connected to the side.

  According to this configuration, the connecting rod of the first cylinder and the connecting rod of the second cylinder are respectively connected to both sides in the rail width direction. Therefore, when vibration is applied in the width direction of the rail, the rail can be displaced so as to follow this vibration direction. As a result, it is possible to reduce the possibility that the rail falls off and deviates from the support surface.

  According to the third aspect of the present invention, the rail support device includes a pair of the first cylinders and a pair of the second cylinders, and the connecting rods of the first cylinders are arranged in the vertical direction of the rails. Connected to the upper side, the connecting rod of each of the second cylinders may be connected to the lower side of the rail in the vertical direction.

  According to this configuration, the connecting rod of each first cylinder is connected to the upper side of the rail, and the connecting rod of each second cylinder is connected to the lower side of the rail. Therefore, when vibration is applied to the rail in the vertical direction, the rail can be displaced so as to follow this vibration direction. As a result, it is possible to reduce the possibility that the rail falls off and deviates from the support surface.

  According to a fourth aspect of the present invention, the connecting rod includes a first rod having one end fixed to the piston, a second rod having one end fixed to the rail, and the other end of the first rod. You may have the joint part which connects the other end of said 2nd rod so that rotation is mutually possible within the surface orthogonal to the extension direction of the said rail.

  According to this structure, the 1st rod and the 2nd rod are mutually connected by the joint part so that rotation is possible. Therefore, even when the first rod and the second rod extend in different directions, the force can be transmitted between them without loss. As a result, it is possible to ensure the degree of freedom of the arrangement and posture of the first cylinder and the second cylinder with respect to the rail.

  According to the fifth aspect of the present invention, the rail support device may further include a seismic isolation support portion that is disposed on the support surface and supports the rail from below.

  According to this configuration, since the seismic isolation support part supports the rail on the support surface, the displacement of the rail relative to the support surface can be gradually attenuated. Thereby, a rail can be supported more stably.

  According to a sixth aspect of the present invention, in the robot working system, the rail and the rail around the rotation axis extending in the direction orthogonal to the support surface at the end on one side in the extending direction of the rail. Any one of the first to fifth aspects as an intermediate support device that supports the rail at a position on the other side of the base end support device in the extending direction and a base end support device that supports the pivoting in the extending direction. And a work robot that can move on the rail.

  According to this structure, the edge part of the one side of a rail is supported by the base end support apparatus. The proximal support device supports the rail so as to be rotatable around a rotation axis extending in a direction orthogonal to the support surface. Therefore, since the direction of the rail can be appropriately changed to a desired direction, the work range by the work robot can be expanded. Furthermore, since this rail is supported by the rail support device on the other side of the base end support device, even if an earthquake or the like occurs, there is a possibility that the rail will fall off the support surface. Can be reduced.

  ADVANTAGE OF THE INVENTION According to this invention, the rail support apparatus which can fully resist external force, and a robot working system provided with the same can be provided.

It is a figure which shows the structure of the robot working system which concerns on 1st embodiment of this invention. It is sectional drawing in the extension direction of the rail which concerns on 1st embodiment of this invention. It is a top view of the rail which concerns on 1st embodiment of this invention. It is sectional drawing which shows the structure which concerns on the rail which concerns on 1st embodiment of this invention, and a rail support apparatus. It is sectional drawing which shows the structure which concerns on the rail which concerns on 2nd embodiment of this invention, and a rail support apparatus.

[First embodiment]
A first embodiment of the present invention will be described with reference to FIGS. The robot work system 100 includes a rail 1, a work robot 2 that can move on the rail 1, a proximal support device 3 that supports the rail 1, and an intermediate support device 4 (rail support device).

  The work robot 2 performs various work in a remote place by moving on the rail 1 laid in a predetermined direction. Specifically, the work robot 2 is attached to a robot body 11 that accommodates a control device and a drive device (not shown), wheels 12 that support the robot body 11 so as to be movable on the rail 1, and the robot body 11. An arm 13 and a hand 14. The operator performs various operations by operating the arm 13 and the hand 14.

  The rail 1 according to the present embodiment is supported above the floor surface F by a base end support device 3 and an intermediate support device 4 (rail support device). The base end support device 3 supports an end portion on one side in the extending direction of the rail 1 from below. The intermediate support device 4 supports the rail 1 at a position on the other side of the proximal end support device 3 in the extending direction. More specifically, the intermediate support device 4 supports the rail 1 from below at the center in the extending direction of the rail 1. One end of the rail 1 is opposed to the other end of the other rail 1. The robot working system 100 according to the present embodiment adopts a so-called monorail system in which the working robot 2 is supported and guided by only one rail 1.

  As shown in FIG. 2, the base end support device 3 includes a first gantry 31 disposed on the floor surface F and a rotation support portion 32 disposed on the upper portion of the first gantry 31. The first pedestal 31 is a truss-like member extending upward from the floor surface F. The dimension in the height direction of the first gantry 31 is appropriately set according to the design and requirements. The rotation support portion 32 supports an end portion on one side of the rail 1 so as to be rotatable around the rotation axis A1. The rotation axis A1 extends in a direction orthogonal to the floor surface F. Therefore, as shown in FIG. 3, the rail 1 can be rotated around the rotation axis A1. By changing the rotation angle of the rail 1, the point where the work robot 2 reaches can be changed. In addition, illustration of the 1st mount 31 is abbreviate | omitted in FIG.

  The intermediate support device 4 includes a second frame 41 disposed on the floor surface F, and a support device body 5 disposed on the second frame 41. Although not shown in detail, the second gantry 41 has the same configuration and shape as the first gantry 31 described above. As shown in FIG. 4, the support device body 5 supports the rail 1 on the upper surface (support surface 41 </ b> A) of the second frame 41. The support device body 5 according to the present embodiment includes a cylinder 50 (first cylinder 5A and second cylinder 5B), a pair of cylinder support portions 6, a first pipe L1, a first relief valve Vr1, and a first A check valve Vs1, a second pipe L2, a second relief valve Vr2, a second check valve Vs2, a seismic isolation support portion 7, and a positioning device 9 are provided.

  The first cylinder 5 </ b> A and the second cylinder 5 </ b> B are respectively disposed on both sides with respect to the rail 1 in a direction extending in a plane perpendicular to the extending direction of the rail 1. Specifically, in the present embodiment, the first cylinder 5 </ b> A and the second cylinder 5 </ b> B are respectively disposed on both sides in the width direction of the rail 1. The first cylinder 5A and the second cylinder 5B include a bottomed cylindrical cylinder tube 51, a piston 52 inserted into the cylinder tube 51, and a connecting rod 53 that connects the piston 52 and the rail 1, respectively. Have.

  The lower end portion of the cylinder tube 51 is fixed to the support surface 41 </ b> A by the cylinder support portion 6. The cylinder support 6 supports the cylinder tube 51 so as to be rotatable in a plane orthogonal to the extending direction of the rail 1. More specifically, the cylinder support portion 6 includes a support piece 61 provided on the bottom surface of the cylinder tube 51, and a bracket 62 that supports the support piece 61 so as to be rotatable around a support axis A2 extending in the horizontal direction. Have. The space inside the cylinder tube 51 is divided into two sections by the piston 52. Specifically, the section surrounded by the piston 52 and the bottom surface of the cylinder tube 51 (that is, the surface located on the opposite side to the direction in which the connecting rod 53 extends) is the cylinder main chamber R1. A section located opposite to the cylinder main chamber R1 across the piston 52 is a cylinder sub chamber R2. A working fluid is sealed in the cylinder main chamber R1. As the piston 52 moves back and forth in the cylinder main chamber R1, changes occur in the volumes of the cylinder main chamber R1, the cylinder sub chamber R2, and the pressure of the working fluid.

  The connecting rod 53 includes a first rod 53A, a second rod 53B, and a joint portion 53C. One end of the first rod 53A is fixed to the above-described piston 52 (the piston 52 of the first cylinder 5A or the piston 52 of the second cylinder 5B). That is, the piston 52 moves back and forth following the displacement of the first rod 53A. One end of the second rod 53B is fixed to the rail 1. More specifically, one end of each second rod 53B is fixed to a surface on one side in the width direction of the rail 1. The other end of the first rod 53A and the other end of the second rod 53B are connected by a joint portion 53C. The joint part 53 </ b> C connects the first rod 53 </ b> A and the second rod 53 </ b> B so as to be rotatable with respect to each other within a plane orthogonal to the extending direction of the rail 1. That is, the connecting rod 53 constitutes a link mechanism.

  The cylinder main chamber R1 of the first cylinder 5A and the cylinder main chamber R1 of the second cylinder 5B are in communication (connected) with each other by the first pipe L1 and the second pipe L2. That is, the working fluid in each cylinder main chamber R1 flows between both through the first pipe L1 and the second pipe L2. In more detail, the working fluid is filled in each cylinder main chamber R1, the first pipe L1, and the second pipe L2 without a gap.

  A first relief valve Vr1 and a first check valve Vs1 are provided on the first pipe L1. The first relief valve Vr1 opens when the pressure in the region on the first cylinder 5A side on the first pipe L1 exceeds a predetermined threshold value. In other words, the first relief valve Vr1 is closed when the pressure on the first cylinder 5A side is smaller than the threshold value. That is, in this state, the working fluid does not flow on the first pipe L1. A first check valve Vs1 is provided closer to the second cylinder 5B than the first relief valve Vr1 on the first pipe L1. The first check valve Vs1 regulates the flow direction of the working fluid on the first pipe L1 only in the direction from the first cylinder 5A side to the second cylinder 5B side. That is, by providing the first check valve Vs1, the working fluid does not flow from the second cylinder 5B side to the first cylinder 5A side on the first pipe L1.

  A second relief valve Vr2 and a second check valve Vs2 are provided on the second pipe L2. The second relief valve Vr2 is opened when the pressure in the region on the second cylinder 5B side on the second pipe L2 exceeds a predetermined threshold value. In other words, the second relief valve Vr2 is closed when the pressure on the second cylinder 5B side is smaller than the threshold value. That is, in this state, the working fluid does not flow on the second pipe L2. A second check valve Vs2 is provided closer to the first cylinder 5A than the second relief valve Vr2 on the second pipe L2. The second check valve Vs2 regulates the flow direction of the working fluid on the second pipe L2 only in the direction from the second cylinder 5B side to the first cylinder 5A side. That is, by providing the second check valve Vs2, the working fluid does not flow from the first cylinder 5A side to the second cylinder 5B side on the second pipe L2.

  Below the rail 1, a pair of seismic isolation support portions 7 are provided at intervals in the width direction of the rail 1. The seismic isolation support 7 is integrally formed of rubber, for example. The upper surface of each seismic isolation support portion 7 is fixed to the rail 1, and the lower surface is fixed to the support surface 41A. When a displacement occurs in the support surface 41 </ b> A due to an earthquake or the like, the external force based on the displacement is attenuated by the seismic isolation support portion 7 and propagates to the rail 1. That is, the seismic isolation support portion 7 suppresses the displacement amount of the rail 1 to be smaller than the displacement amount of the support surface 41A.

  The positioning device 9 is provided to determine the initial position of the piston 52 inside the first cylinder 5A and the second cylinder 5B. The positioning device 9 includes a hydraulic supply source G provided outside, a main pipe 91 communicating the hydraulic supply source G and the cylinder main chamber R1, a main valve Vm provided on the main pipe 91, and a hydraulic supply source. A sub-pipe 92 that communicates G with the cylinder sub-chamber R2 and a sub-valve Vn provided on the sub-pipe are provided. The working fluid is supplied from the hydraulic supply source G to the cylinder main chamber R1 and the cylinder sub chamber R2 through the main pipe 91 and the sub pipe 92, respectively. Specifically, the pressure of the working fluid supplied to the cylinder main chamber R1 and the cylinder subchamber R2 is changed by adjusting the opening degrees of the main valve Vm and the subvalve Vn, respectively.

  For example, when the main valve Vm is opened larger than the sub valve Vn, the pressure in the cylinder main chamber R1 becomes higher than the pressure in the cylinder sub chamber R2. As a result, the piston 52 is displaced in a direction from the cylinder main chamber R1 side toward the cylinder sub chamber R2 side. On the contrary, when the sub valve Vn is opened larger than the main valve Vm, the pressure in the cylinder sub chamber R2 becomes higher than the pressure in the cylinder main chamber R1. As a result, the piston 52 is displaced in a direction from the cylinder sub chamber R2 side toward the cylinder main chamber R1 side. Thus, by adjusting the opening degree of the main valve Vm and the sub valve Vn, the position (initial position) of the piston 52 in the cylinder tube 51 is adjusted, and the width direction is adjusted by the first cylinder 5A and the second cylinder 5B. The rail 1 can be supported equally from both sides.

  Next, operations of the robot working system 100 and the intermediate support device 4 according to the present embodiment will be described. In order to perform work using the robot working system 100, first, the rail 1 is rotated around the rotation axis A1 in the above-described base end support device 3, thereby changing the direction of the rail 1 toward the destination. Next, the work robot 2 is moved on the rail 1 to reach the vicinity of the end of the rail 1 (that is, the vicinity of the destination). Thereafter, the work robot 2 performs various operations by remote operation by the worker.

  When the rail 1 is firmly (rigidly) fixed to the support surface 41A, when the support surface 41A is displaced due to an earthquake or the like, the rail 1 is displaced together with the support surface 41A. When the rail 1 is displaced, an inertial force directed to the opposite side to the displacement direction is applied to the robot traveling on the rail 1. As a result, the robot may be overturned, and it may not be possible to continue the work.

  However, in the above configuration, the rail 1 is supported by the first cylinder 5A and the second cylinder 5B. The cylinder main chamber R1 of the first cylinder 5A and the cylinder main chamber R1 of the second cylinder 5B are connected to each other by a first pipe L1 and a second pipe L2. Furthermore, a first relief valve Vr1 and a first check valve Vs1 are provided on the first pipe L1. The first relief valve Vr1 is opened when the pressure in the cylinder main chamber R1 of the first cylinder 5A exceeds a threshold value. The first check valve Vs1 regulates the flow direction of the working fluid on the first pipe L1 only in the direction from the first cylinder 5A side to the second cylinder 5B side. Similarly, a second relief valve Vr2 and a second check valve Vs2 are provided on the second pipe L2. The second relief valve Vr2 is opened when the pressure in the cylinder main chamber R1 of the second cylinder 5B exceeds a threshold value. The second check valve Vs2 regulates the flow direction of the working fluid on the second pipe L2 only in the direction from the second cylinder 5B side to the first cylinder 5A side. Therefore, in a state where no earthquake or the like has occurred (that is, a state in which no external force is applied to the rail 1), the working fluid does not flow between the first cylinder 5A and the second cylinder 5B. Thereby, the rail 1 can be supported stably.

  On the other hand, for example, when an external force is applied in a direction in which the rail 1 approaches the first cylinder 5A due to an earthquake or the like, the piston 52 is pushed by the connecting rod 53, whereby the working fluid in the cylinder main chamber R1 of the first cylinder 5A is Pressure increases. When the pressure of the working fluid exceeds the threshold value, the first relief valve Vr1 is opened, and the working fluid flows through the first check valve Vs1 to the second cylinder 5B side. As a result, the volume of the cylinder main chamber R1 of the first cylinder 5A decreases. That is, the support rigidity of the first cylinder 5A is reduced. As a result, the rail 1 is displaced so as to follow the direction of the external force (vibration direction of the earthquake). On the other hand, when an external force is applied in the direction in which the rail 1 approaches the second cylinder 5B, the pressure of the working fluid in the cylinder main chamber R1 of the second cylinder 5B increases due to the piston 52 being pushed by the connecting rod 53. . When the pressure of the working fluid exceeds the threshold value, the second relief valve Vr2 is opened, and the working fluid flows through the second check valve Vs2 to the first cylinder 5A side. Thereby, the volume of the cylinder main chamber R1 of the second cylinder 5B decreases. That is, the support rigidity of the second cylinder 5B is reduced. As a result, the rail 1 is displaced so as to follow the direction of the external force (vibration direction of the earthquake). Thereby, the possibility that the rail 1 falls off and deviates from the support surface 41A can be reduced. In addition, it is desirable to return each piston 52 of the 1st cylinder 5A and the 2nd cylinder 5B to an initial position by operating the above-mentioned positioning device 9 after an earthquake converges. In other words, the main valve Vm and the sub-valve Vn of the positioning device 9 are preferably closed except when positioning after laying the rail 1 or positioning after earthquake convergence.

  Further, according to the above configuration, the connecting rod 53 of the first cylinder 5A and the connecting rod 53 of the second cylinder 5B are connected to both sides in the width direction of the rail 1, respectively. Therefore, when vibration is applied in the width direction of the rail 1, the rail 1 can be displaced so as to follow this vibration direction. As a result, it is possible to reduce the possibility that the rail 1 falls off and deviates from the support surface 41A.

  In addition, according to the above configuration, the connecting rod 53 of each first cylinder 5A is connected to the upper side of the rail 1, and the connecting rod 53 of each second cylinder 5B is connected to the lower side of the rail 1. Therefore, when vibration is applied to the rail 1 in the vertical direction, the rail 1 can be displaced so as to follow this vibration direction. As a result, it is possible to reduce the possibility that the rail 1 falls off and deviates from the support surface 41A.

  In addition, according to the above configuration, the first rod 53A and the second rod 53B are connected to each other by the joint portion 53C so as to be rotatable. Therefore, even when the first rod 53A and the second rod 53B extend in different directions, the force can be transmitted between them without loss. As a result, it is possible to ensure the degree of freedom of the arrangement and posture of the first cylinder 5A and the second cylinder 5B with respect to the rail 1.

  The first embodiment of the present invention has been described above. Note that various changes and modifications can be made to the above configuration without departing from the gist of the present invention. For example, in the first embodiment, the monorail system in which the work robot 2 is supported and guided by only one rail 1 has been described as an example. However, the number of rails 1 is not limited to the above, and it is also possible to adopt a configuration using two rails 1 that are laid at regular intervals over the entire extending direction. In this case, it is desirable to attach the support device body 5 to each rail 1.

[Second Embodiment]
Next, a second embodiment of the present invention will be described with reference to FIG. In addition, about the structure similar to said 1st embodiment, the same code | symbol is attached | subjected and detailed description is abbreviate | omitted. As shown in FIG. 5, in this embodiment, the rail 1 further includes protrusions 1 </ b> P provided on each surface (side surface) facing both sides in the width direction of the rail 1. Each protrusion 1P protrudes from the side surface of the rail 1 in the width direction. Furthermore, the support device main body 5 according to the present embodiment includes a pair of the first cylinder 5A and the second cylinder 5B described above. The intermediate support device 4 according to the present embodiment also includes the positioning device 9 described in the first embodiment. However, for the sake of simplicity of illustration, the illustration of the positioning device 9 is omitted in FIG. Yes.

  One end of the connecting rod 53 of the first cylinder 5A is connected to the upper surface (projecting part upper surface PA) of each projecting part 1P. The cylinder tube 51 of the first cylinder 5 </ b> A is supported above the rail 1 by the cylinder support 8. Specifically, the cylinder support base 8 includes a stringer 81 extending upward from the support surface 41 </ b> A, and a crossbeam 82 extending from the upper end of the stringer 81 toward the rail 1 side. Yes. The cylinder tube 51 of the first cylinder 5 </ b> A is fixed to the lower side of the cross beam 82. That is, the cylinder tube 51 of the first cylinder 5 </ b> A is fixed to the support surface 41 </ b> A through the cylinder support 8 so as not to be relatively displaced. One end of the connecting rod 53 of the second cylinder 5B is connected to the lower surface (protruding portion lower surface PB) of each protruding portion 1P. The cylinder tube 51 of the second cylinder 5B is fixed to the support surface 41A.

  In the above configuration, for example, when an external force is applied in a direction in which the rail 1 approaches the first cylinder 5 </ b> A (ie, a direction from the lower side to the upper side) due to an earthquake or the like, the piston 52 is pushed by the connecting rod 53. The pressure of the working fluid in the cylinder main chamber R1 of one cylinder 5A increases. When the pressure of the working fluid exceeds the threshold value, the first relief valve Vr1 is opened, and the working fluid flows through the first check valve Vs1 to the second cylinder 5B side. As a result, the volume of the cylinder main chamber R1 of the first cylinder 5A decreases. That is, the support rigidity of the first cylinder 5A is reduced. As a result, the rail 1 is displaced so as to follow the direction of the external force (vibration direction of the earthquake). On the other hand, when an external force is applied in the direction in which the rail 1 is close to the second cylinder 5B (ie, the direction from the upper side to the lower side), the piston 52 is pushed by the connecting rod 53, whereby the cylinder main body of the second cylinder 5B. The pressure of the working fluid in the chamber R1 increases. When the pressure of the working fluid exceeds the threshold value, the second relief valve Vr2 is opened, and the working fluid flows through the second check valve Vs2 to the first cylinder 5A side. Thereby, the volume of the cylinder main chamber R1 of the second cylinder 5B decreases. That is, the support rigidity of the second cylinder 5B is reduced. As a result, the rail 1 is displaced so as to follow the direction of the external force (vibration direction of the earthquake). Thereby, the possibility that the rail 1 falls off and deviates from the support surface 41A can be reduced.

  The second embodiment of the present invention has been described above. Note that various changes and modifications can be made to the above configuration without departing from the gist of the present invention. For example, in the second embodiment, the monorail system in which the work robot 2 is supported and guided by the single rail 1 has been described as an example. However, the number of rails 1 is not limited to the above, and it is also possible to adopt a configuration using two rails 1 that are laid at regular intervals over the entire extending direction. In this case, it is desirable to attach the support device body 5 to each rail 1.

  Furthermore, it is possible to combine the configuration described in the first embodiment and the configuration described in the second embodiment. That is, it is possible to adopt a configuration in which the first cylinder 5A and the second cylinder 5B are disposed on both sides in the width direction and both sides in the vertical direction of the rail 1, respectively. According to this configuration, the rail 1 can be supported more stably while sufficiently resisting external forces from all directions including the width direction and the vertical direction.

DESCRIPTION OF SYMBOLS 1 ... Rail 2 ... Work robot 3 ... Base end support apparatus 4 ... Intermediate support apparatus 5 ... Support apparatus main body 6 ... Cylinder support part 7 ... Seismic isolation support part 8 ... Cylinder support base 11 ... Robot main body 12 ... Wheel 13 ... Arm 14 ... Hand 31 ... First frame 32 ... Rotation support part 41 ... Second frame 50 ... Cylinder 51 ... Cylinder tube 52 ... Piston 53 ... Connecting rod 61 ... Supporting piece 62 ... Bracket 81 ... Vertical beam 82 ... Horizontal beam 91 ... Main piping 92 ... Sub piping 100 ... Robot working system 1P ... Projection 41A ... Support surface 53A ... First rod 53B ... Second rod 53C ... Joint 5A ... First cylinder 5B ... Second cylinder A1 ... Rotating shaft A2 ... Support shaft F ... floor surface G ... hydraulic supply source L1 ... first piping L2 ... second piping PA ... projecting portion upper surface PB ... projecting portion lower surface R1 ... cylinder main chamber R2 ... cylinder sub chamber Vm ... main valve Vn ... sub valve Vr1 ... first relief valve Vr2 ... the second relief valve Vs1 ... first check valve Vs2 ... the second check valve

Claims (6)

A rail support device for supporting a rail on a support surface,
A cylinder tube in which a cylinder chamber through which a working fluid flows is formed, a piston that moves forward and backward in the cylinder chamber, and a connecting rod that connects the piston and the rail, and a surface that is orthogonal to the extending direction of the rail A first cylinder and a second cylinder arranged on both sides with respect to the rail in a direction extending inward,
A cylinder support for supporting the cylinder tube on the support surface;
A first pipe connecting the cylinder chambers, and a second pipe;
A first relief valve disposed on the first pipe and opened when the pressure on the first cylinder side exceeds a predetermined threshold;
It is arranged on the second cylinder side from the first relief valve on the first pipe, and the flow direction of the working fluid on the first pipe is a direction from the first cylinder side to the second cylinder side. A first check valve that regulates only,
A second relief valve disposed on the second pipe and opened when the pressure on the second cylinder side exceeds a predetermined threshold;
It is arranged closer to the first cylinder than the second relief valve on the second pipe, and the flow direction of the working fluid on the second pipe is a direction from the second cylinder side toward the first cylinder side. A second check valve that regulates only,
A rail support device comprising:   2. The connection rod of the first cylinder is connected to one side in the width direction of the rail, and the connection rod of the second cylinder is connected to the other side in the width direction of the rail. Rail support device. A pair of first cylinders and a pair of second cylinders;
The connection rod of each of the first cylinders is connected to an upper side in the vertical direction of the rail, and the connection rod of each of the second cylinders is connected to a lower side of the rail in the vertical direction. The rail support device according to 2. The connecting rod is
A first rod having one end fixed to the piston;
A second rod having one end fixed to the rail;
A joint for connecting the other end of the first rod and the other end of the second rod to each other in a plane perpendicular to the extending direction of the rail;
The rail support device according to claim 1, comprising:   The rail support device according to any one of claims 1 to 4, further comprising a seismic isolation support unit that is disposed on the support surface and supports the rail from below. The rail;
A base end support device that rotatably supports the rail around a rotation axis extending in a direction orthogonal to the support surface at one end in the extending direction of the rail;
The rail support device according to any one of claims 1 to 5 as an intermediate support device that supports the rail at a position on the other side of the base end support device in the extending direction.
A working robot movable on the rail;
Robot working system comprising

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