JP2548333Y2 - 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 handling robot, for example, the one shown in FIGS. 7 and 8 is known. As shown in the figures, the robot is provided with three or four traveling wheels 2 on a base 1 thereof, which can be driven by an engine or electrically. A machine frame 3 and a housing 4 are provided on the base, and a frame 5 is mounted on the machine frame so as to be movable up and down by a cylinder or the like, and an arm 6 extending horizontally forward from the frame is provided. A suction head 7 is provided at the tip of the arm 6, and the suction head suction-holds and transports building materials such as doors. The suction head 7 can rotate, tilt, move in the lateral direction, and the like in a certain range. In addition, the suction head may be provided with a plurality of suction cups, for example, constituted by suction cups provided at four corners of a rectangular support plate.

[0003]

In a conventional robot of this type, a building material placed in front of the robot is moved forward, the building material is sucked by a suction head, transported to a predetermined position, and a predetermined position in front of the robot. It is possible to carry out work such as mounting on a corridor with a limited width, for example, to transfer building materials leaning on one side to another position on that side. It is necessary to change the direction so as to be at right angles to the longitudinal direction of the vehicle, but there is a problem that a normal corridor does not have such a space and therefore cannot be used in a narrow passage such as a corridor. Therefore,
Conventionally, work in narrow passages is performed manually. For example, since a steel door weighs 60 to 80 kg, two workers are required to handle each door.

SUMMARY OF THE INVENTION An object of the present invention is to solve the above-mentioned problems of the prior art. Therefore, a flat building material placed in a narrow passage that cannot be turned, such as a corridor, is properly transported and handled. The object of the present invention is to provide a flat building material handling robot capable of performing the above.

[0005]

In the construction material handling robot according to the present invention, a suction head 7 is provided at the tip of an arm 6 extending horizontally forward, and the arm is composed of two arm portions 6a, 6b and their arm portions are pivoted together by a shaft 10 so that the arm portion on the suction head side can pivot at least to one side in a horizontal plane, and furthermore, the arm portion on the suction head side. A member for holding the arm portion in a state of being bent at a substantially right angle to the side;
And running wheels 8 protruding from both sides of the wheel.

[0006]

The arm 6 of the suction head is used in a state where it is extended straight, as in the prior art, for transporting and mounting building materials on a wide floor. When handling a building material placed on one side of a passage such as a corridor having a limited width, the arm portion 6 on the suction head side is used.
a is pivoted 90 degrees to the side and used while being held in that state, so that the work of transporting and mounting building materials can be performed without changing the direction of the robot. In that case,
The running wheels 8 projecting from both sides of the wheel maintain stability.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. As shown in FIGS. 1 to 3, the robot for handling building materials according to the present invention can be moved by at least three traveling wheels 2 provided on the base 1. A machine frame 3 and a housing 4 as a machine room are installed behind the machine frame 3. A frame 5 is mounted on the machine frame 3 so as to be movable up and down. An arm 6 extending horizontally forward from the frame is provided, and a suction head 7 is provided at the tip of the arm 6. The suction head serves to suck and transport flat building materials such as doors for mounting, and a vacuum or a magnet is used for suction. The suction head 7 rotates, tilts,
It is configured to be able to move laterally.

[0008] The features of the robot of the present invention are as shown in the figure.
An arm 6 having a suction head 7 at its tip is joined to an arm 6 at an appropriate position in the longitudinal direction thereof.
b and their arm portions are
Arm portions 6 on the suction head side
a is configured to be able to pivot laterally in a horizontal plane, and furthermore, it is possible to hold the arm portion 6a in a state of being bent laterally at right angles. There is a traveling wheel 8 installed at a position protruding from both sides of the base 1, preferably at a right angle from substantially the center. These traveling wheels 8 are preferably installed symmetrically as shown.

The arm portion 6a and the arm portion 6b are connected to the shaft 10
In this embodiment, brackets 11 and 12 are fixed to the upper and lower surfaces of the arm portion 6b on the gantry side as shown in FIGS. 4 and 5, and the shaft 10 is armed with each bracket. It passes through a hole provided in alignment with the portion 6a. Therefore, the suction head 7 and the arm portion 6a are connected to and supported by the arm portion 6b by the brackets 11, 12 and the shaft 10. Appropriate means are used to keep the arm 6 straight, for example, in addition to the hole through which the shaft 10 passes, the hole 1 is aligned with each bracket and arm portion 6a.
4 is provided, into which the pin 13 is removably inserted.

Thus, in this embodiment, the pin 13 can be removed and pivoted laterally about the axis 10, as shown in phantom in FIG. 4, and held there. Therefore, further holes 15 are formed in each bracket so as to be aligned with each other. When the arm portion 6a is rotated by 90 degrees about the shaft 10, the pins 13 pass through the arm 6 in a straight state. The arm portion 6a can be held in a position pivoted at a right angle by being in a position aligned with the hole in the arm portion 6a that was previously inserted, and thus by inserting the pin 13 through the hole 15. In this embodiment, the pins 13
A member for holding the arm 6 in a state of being bent straight and at a right angle by the brackets and the holes 14 and 15 is formed, but it is apparent that such a member may be held by another member. It is.

As described above, the arm portion 6a on the suction head side is used.
Is pivoted 90 degrees laterally about the axis 10 so that the suction head 7 is positioned laterally, and thus placed laterally, as shown in phantom in FIG. Building materials can be suitably handled. FIG. 6 shows an example of working in a corridor of limited width, in which building material 16 such as a door placed on one side of the corridor as illustrated is suctioned, supported, transported to another location in the corridor and mounted. Etc. can be performed. In this case, the traveling of the robot is stabilized by the traveling wheel 8. In addition, even if the suction head 7 is turned sideways,
Robot functions such as tilting and lateral movement can be performed as they are.

It will be appreciated that the arm portion 6a may be pivotally configured on both sides and held 90 ° pivoted if desired. Further, the arm part 6b on the gantry side is divided into two parts, and the parts on the suction head side are pivotally moved upward by a shaft 20 (FIG. 2). As shown in the figure, the arm 6 can be bent upward to reduce the overall length. With such a configuration, the robot can be transported by the elevator.

[0013]

As described above, according to the present invention, the arm portion on the suction head side of the robot can be used in a state where the arm portion is bent to the side. This enables work such as transport and installation of building materials even in narrow passages where the width of the building cannot be changed, and significantly improves the work of handling flat building materials such as doors.

[Brief description of the drawings]

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

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

FIG. 3 is a rear view of the robot shown in FIG. 1;

FIG. 4 is an enlarged view of a portion A in FIG. 1;

FIG. 5 is a side view of the portion shown in FIG.

FIG. 6 is a plan view showing one usage example of the robot according to the present invention.

FIG. 7 is a side view showing a conventional construction material handling robot.

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

[Explanation of symbols]

 6a Arm part 6b Arm part 7 Suction head 8 Traveling wheel 10 Shaft

 ──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Hideo Kawakami 1-14-4 Kameido, Koto-ku, Tokyo Nikken Engineering Service Co., Ltd. (56) References JP-A-4-298498 (JP, A JP-A-3-93973 (JP, A) JP-A-63-161261 (JP, A) JP-A-52-94033 (JP, A) JP-A-51-26723 (JP, A)

Claims (1)

(57) [Scope of request for utility model registration] 1. A trolley supported by at least three traveling wheels provided on a base and capable of traveling by power, a vertically movable platform, and a horizontally mounted front mounted on the platform. And a robot for handling a flat building material including a suction head attached to a tip of the arm for suction-supporting the flat building material.
The arm is composed of two arm parts joined to each other, and these arm parts are mutually connected by a shaft so that the arm part on the suction head side can pivot at least to one side in a horizontal plane. A member which is pivoted and further holds the arm portion on the suction head side in a state of being bent at a substantially right angle to the side;
A robot for handling a flat building material, comprising a traveling wheel protruding from both sides of the building.