JP2548332Y2 - Robot for handling flat building materials - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an improvement in a handling robot for adsorbing and supporting flat building materials such as doors, wallboards, panels and the like, and transporting and mounting them at predetermined positions.

[0002]

2. Description of the Related Art Conventionally, as this kind of transfer robot, for example, the transfer robot shown in FIGS. 7 and 8 is known. As shown in FIG. 1, the transfer robot has three or four traveling wheels 2 installed on a base 1 thereof, and can be driven by an engine or an electric type. And the machine frame 3 on the base
A gantry 5 is vertically movable by a cylinder 4 or the like, and an arm 6 extending horizontally forward from the gantry is provided. A suction head 7 is installed at the tip of the arm 6, and the suction head 7 is configured to suction-support and transport a building material such as a door. Note that the suction head 7 can rotate, tilt, and move in a lateral direction within a certain range.

[0003]

The arm 6 to which the suction head 7 is attached is often configured to be extendable and contractible. However, even when the arm is reduced, the length of the robot in the longitudinal direction is reduced. That is, since the arm position is usually longer than the base position, the housing
The length L to the back of the car was often about 2 m, so it could not enter the elevator and was difficult to move up or down the floor. Therefore, building materials are often transported and attached manually, and in such cases,
Since the steel door weighs 60 to 80 kg, two workers are required to transport and hang one door, and the door cannot be easily mounted.

An object of the present invention is to solve the above-mentioned problems with the prior art, and therefore to provide a robot for handling a flat building material which can be conveyed by an elevator. is there.

[0005]

The handling robot according to the present invention is characterized in that a suction head is provided at the end of an arm 6 extending horizontally forward, and the arm is joined to two arms. The arm parts are constituted by parts 6a and 6b, which are pivoted to each other by a shaft 10 so that the arm part on the suction head side can be pivoted upward. That is, a member for holding the member in a substantially upright bent state is provided.

[0006]

When the building material is transported or mounted, the arm is kept straight as before. When the handling robot is carried by the elevator, the arm portion on the suction head side is pivoted upward by about 90 degrees about the pivot shaft 10 to be in an upright state, and is held in that state by a holding member. . In this state, the length of the robot in the longitudinal direction is reduced, and the robot can be put in the elevator.

[0007]

1 and 2 show a robot for handling flat building materials according to the present invention. As shown in FIG. 1 and FIG. The machine frame 3 and a housing 8 as a machine room are installed behind the machine frame 3. A gantry 5 is mounted on the machine frame 3 so as to be movable up and down, and an arc extending horizontally from the gantry forward.
A suction head 7 is provided at the end of the head 6. The suction head sucks a flat building material such as a door to transport and mount the same, and a vacuum or a magnet is used for the suction. The suction head 7 is configured to be rotatable, tiltable, laterally movable, and the like, as in the related art.

As shown in the drawing, this robot has two arm portions 6a and 6b in which an arm 6 having a suction head at its tip is joined to each other at an appropriate position in the longitudinal direction. The arm portions are pivoted to each other by a shaft 10 so that the arm portion 6a on the suction head side can be pivoted upward, and the arm portion 6a is bent upright. The holding member 11 is included.

The arm part 6a is connected to the arm part 6b on the gantry side.
Brackets 12 are provided on either side of either arm. In the embodiment shown, the bracket is provided integrally with the arm portion 6b.
FIGS. 3 to 5 show the joints of the arm portions. In this embodiment, the arm portion 6a on the suction head 7 side is made of a square tube having a smaller sectional shape than the arm portion 6b. Therefore, the joint end of the arm portion 6a is fitted into the arm portion 6b, and the upper and lower surfaces of the joint end of the arm portion 6b for receiving it are cut off, and the joint end of the arm portion 6b is cut off. Each side wall forms a bracket 12. The notch in the arm portion 6b is sized so that the arm portion 6a can be bent upright.

A pivot shaft 10 passes through the joint between the bracket 12 and the arm portion 6a on both sides. The arm 6 normally extends straight forward as shown in FIGS. 1 and 2, and is held in this state by appropriate means. Preferably, the joint between the bracket 12 and the arm portion 6a on both sides has a hole through which the shaft 10 passes, and other positions as shown in FIGS. 3 and 5, for example, the shaft 1 as shown.
A through hole is provided at a position below “0”, and the pin 13 is configured to be detachably penetrated therethrough. Further, as shown in FIG. 5, as a reinforcing member for holding the arm portion 6a horizontally, an abutting member 14 which is in contact with the bottom surface of the joint end of the arm portion 6b is fixed to the side of the arm portion 6a. .

When the pins 13 are provided as described above,
As shown by the imaginary line in FIG. 1, the pin 13 is removed, and the arm portion 6a is pivoted upward by 90 degrees around the shaft 10 and held in an upright bent state. As shown in FIG. 3, the through hole 1 is located at a position shifted by 90 degrees with respect to the shaft 10 from the hole 13a through which the pin 13 passes in the arm portion 6a.
6, the pin 13 is penetrated by the hole 15 and the holes of the pins 13 of the brackets on both sides as shown in FIG. Reference numeral 16 denotes a stopper provided on the arm portion 6b, which restricts pivotal movement of the arm portion 6a.

In the above embodiment, the member 11 for holding the arm portion 6a upright is constituted by the pin 13 and the hole of the bracket and the hole 15 of the arm portion 6a.
In some cases, as shown in FIG. 1, a detachable member 11 for connecting the suction head 7 and an appropriate portion of the machine frame 3 may be used, for example, a locking rod.

Therefore, in this robot, the gantry 5 is moved to its lowermost position in order to bring the arm 6 into a folded state shown by the imaginary line in FIG. Then, the pin 13 is removed, and the arm 6 on the suction head side is removed.
a may be pivoted upward by 90 degrees about the shaft 10 so as to be in an upright state, and the upright state may be maintained by inserting the pin 13 into the hole of the bracket 12 and the hole 15 of the arm portion 6a. Can be inserted into the elevator in that state.
Can be transported.

[0014]

Therefore, in the robot according to the present invention, the supporting arm of the suction head is folded to shorten the overall length of the robot, and the robot can be inserted into the elevator and transported.
It can be used by moving up or down the floor.
Therefore, the manual work of transporting and mounting the flat building material can be largely omitted, and the work efficiency is improved.

[Brief description of the drawings]

FIG. 1 is a side view of a robot for handling flat building materials according to an embodiment of the present invention.

FIG. 2 is a plan view of the robot shown in FIG.

FIG. 3 is an enlarged view of a portion A in FIG. 1;

FIG. 4 is a plan view of a portion shown in FIG. 3;

FIG. 5 is a sectional view taken along line BB of FIG. 4;

FIG. 6 is a side view showing a state in which an arm portion on the suction head side is held in an upright state.

FIG. 7 is a side view showing a conventional similar robot.

FIG. 8 is a plan view of the robot shown in FIG. 7;

[Explanation of symbols]

 6 Arm 6a Arm part 6b Arm part 7 Suction head 10 Pivot shaft 11 Holding member

Continuation of the front page (72) Hideo Kawakami 1-14-4 Kameido, Koto-ku, Tokyo Nikken Engineering Services Co., Ltd. (56) References JP-A-4-298498 (JP, A) JP Hei 3-93973 (JP, A) JP-A-63-161261 (JP, A) JP-A-51-26723 (JP, A) Japanese Utility Model Laid-Open No. 52-94033 (JP, U)

Claims (1)

(57) [Scope of request for utility model registration] 1. A vertically movable platform supported by at least three traveling wheels and capable of traveling by power, and an arm installed on the platform and extending horizontally forward.
In a robot for handling a flat building material including a suction head attached to a tip of the arm for sucking and supporting the flat building material, the arm is connected to two arm portions. The arm portions are pivotally connected to each other by a shaft so that the arm portion on the suction head side can pivot upward, and the arm portion on the suction head side is bent substantially upright. A robot for handling a flat building material, characterized by including a member for holding the building material in a flat state.