JP2758117B2 - Work equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work apparatus for performing operations such as painting and welding in the process of manufacturing large structures such as bridges and ships.

[0002]

2. Description of the Related Art As shown in FIG.
A traveling platform 102 is provided on a rail 101 so as to be freely movable, a column 103 having a predetermined height is erected on the traveling platform 102, and an arm 104 is disposed on the column 103 in a horizontal direction perpendicular to the rail 101. The arm 104 is provided so as to be movable in its length direction, and a work tool 105 is attached to the tip of the arm 104 to perform operations such as painting and welding.

[0003]

According to the above-mentioned conventional construction, since the support pillar 103 has a predetermined height, it cannot enter into a work place for welding or painting from a low entrance, When the tool 105 is rocked, the work tool 105 itself may hit the column 103 and become an obstacle.

For this reason, as shown in FIG. 4, there is a structure in which a plurality of links 106a are connected to each other to raise and lower a work tool 105 by using a pantograph type lifting device 106. Is insufficient, the work implement 105 shakes.

[0005] As shown in FIG. 5, a column 103 is provided on a rail 101 so as to be able to move up and down, and an upper end 1 of the column 103 is provided.
According to this, there is a case where the lower part of the column 103 needs to be lowered to the lower side of the rail 101 in order to perform the work. There is a problem that it must be installed or a separate pit must be provided.

Therefore, an object of the present invention is to provide a working device that can solve the above-mentioned problems.

[0007]

The object of the present invention is to provide a first rail arranged in one direction and a first rail arranged in a direction substantially perpendicular to the first rail and driven by a driving device. A second rail that moves on one rail is provided, and an elevating device for elevating and lowering the work implement is arranged on the second rail, and the elevating device is free to travel in the length direction of the second rail. A pair of traveling devices, a work tool mounting table disposed above the traveling device, and a link mechanism for connecting the traveling device and the work tool mounting table. A parallel link body connected via a hinge mechanism between the device and the work implement mounting table, and a link body connected via a hinge mechanism between the other traveling device and the middle of the parallel link body. It is composed.

[0008]

In the above construction, by driving the driving device, the second rail moves in the front-rear direction on the first rail, and the working tool moves in the front-rear direction, so that one traveling device and the other traveling device are moved at the same speed. And moving in the same direction, the working tool moves in the left-right direction, and the running tool travels on the second rail and moves closer to and away from each other, so that the working tool moves up and down. To lower the work implement to enter, when only one traveling device is driven and the other traveling device is stopped, the parallel link body gradually tilts while being supported by the link body via the hinge mechanism, The work implement mounting table descends while maintaining a horizontal posture.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the working apparatus according to the present invention will be described below with reference to an overall side view of FIG. 1 and an enlarged view of a drive unit of FIG.

In the working device of the present embodiment, three bases 2 are arranged on a base surface 1 in parallel to each other in the front-rear direction, and a first rail 3 made of I-shaped steel is mounted on the base 2. A second rail 5 is provided, which is fixed and arranged in the left-right direction substantially perpendicular to the first rail 3, and is driven on the first rail 3 by driving of the driving device 4. 5 is provided with an elevating device 7 for elevating and lowering a work implement (such as a painting gun or a welding machine) 6 for performing painting or welding work.

The elevating device 7 is provided on the second rail 5 so as to be able to travel, and is provided with independent traveling motors 8.
A and 8B, a pair of traveling devices 9, a work implement mounting table 10 arranged above the traveling devices 9, and a link mechanism 11 connecting the two traveling devices 9 and the work implement mounting table 10
It is composed of

The driving devices 4 are arranged at the ends of the second rails 5, and each driving device 4 is fixed on the base 2 via a box-shaped support member 12, as shown in FIG. And a motor 15 disposed downward at an end of the second rail 5 through an open-U-shaped bracket 14, and a rack 13 fixed to the motor shaft 16 of the motor 15. A pinion 17 meshing with
Cable bear 18 for supplying power to the motor 15
It is composed of

A guide device 19 for guiding the second rail 5 on the first rail 3 is provided. The guide device 19 is provided on a lower surface 20 at a side portion and a substantially central portion of the second rail 5. An upper roller 23 that is arranged via a roller mounting member 21 and rolls on the upper surface of the first rail 3, and a lower surface 2 of the second rail 5 via an L-shaped roller mounting member 24
The lower roller 25 is attached to the lower rail 0 and rolls by contacting the lower surface of the first rail 3.

Each of the traveling devices 9A and 9B includes a truck 26A and 26B disposed on the second rail 5 and a truck 2
The traveling motor 8 arranged on the upper surface of the 6A, 26B
A, 8B and wheels 27A, 2 of the carts 26A, 26B.
And a transmission mechanism (not shown) for transmitting the drive of the traveling motors 8A and 8B to the driving motor 7B.

The link mechanism 11 is connected to the one carriage 2
A parallel link body 30 composed of links 29 connected between the 6A and the work implement mounting table 10 via pins 28 (hinge mechanism) and arranged in parallel with each other, and the other carriage 26B and the parallel link body Pin 28 in the middle of 30
, And the link body 32 is connected to the parallel link body 32. The parallel link body 30 and the link body 32 are arranged in a λ shape as a whole. The link mechanism 11 is provided as a pair in the front-rear direction (the moving direction of the second rail 5).

In the above configuration, when it is desired to move the work implement 6 in the front-rear direction, the motor 15 is supplied with power from the cable carrier 18 and is driven. Then, the pinion 17 rotates while meshing with the rack 13 and the second rail 5 is rotated.
Moves in the front-rear direction on the first rail 3 while being guided by the guide device 19.

When it is desired to move the work implement 6 in the left-right direction, the carts 26A and 26B are run in the same direction and at the same speed. That is, both the driving motor 8A provided on one truck 26A and the driving motor 8B provided on the other truck 26B are driven. Then, the driving of the traveling motors 8A, 8B is transmitted to the wheels 27A, 27B via the transmission mechanism, and the two carts 26A, 26B are driven.
Move in the left-right direction, and the work implement 6 moves in the left-right direction on the second rail 5 together with the trolleys 26A, 26B while maintaining the position.

By the way, in order to raise and lower the work implement 6, the two traveling motors 8A and 8B are driven to drive the carts 26A and 26A.
B in the opposite direction or the driving motor 8
A and 8B are driven to drive one of the carts 26A and 26A.
6B.

That is, in order to lower the work implement 6 from the position shown by the solid line in FIG. 1 to, for example, the position shown by the phantom line when entering a work place having a low entrance, the carriage 26A is provided on one carriage 26A. Only the driving motor 8A is driven,
The driving of the other traveling motor 8B is stopped, and the one truck 26A is moved rightward. Then, while the parallel link body 30 is supported by the link body 32, the base of the parallel link body 30 moves rightward and gradually tilts down, and the work implement mounting table 10 descends while maintaining a horizontal posture. Then, after lowering the work implement 6 to an appropriate position, the drive of the traveling motor 8A is stopped and the work implement 6 enters the work place.

As described above, in order to raise and lower the work implement 6, the two traveling motors 8A and 8B are driven to
A, 26B in the opposite direction, or by driving one of the traveling motors 8A, 8B to
6A and 26B, the working device can be easily put into a work place with a low entrance, for example.
Are arranged on the lower side, so that the link mechanism 11 does not hinder the movement of the work implement 6 (for example, rotation in a horizontal plane).

[0021]

As is apparent from the above description, according to the present invention, a work implement elevating device is provided on the second rail moving on the first rail, and the elevating device is disposed on the second rail. A parallel link body connected via a hinge mechanism between the device and the work implement mounting table arranged above the traveling device, and a hinge mechanism between the other traveling device and the middle of the parallel link body via the hinge mechanism. Since it is composed of a linked link body, it has high rigidity, there is almost no shaking of the work tool during work, and the height of the work tool is raised and lowered by running at least one of the traveling devices. Since the adjustment can be made, for example, the work equipment can be easily put in by lowering the work implement even in a work place with a low entrance, and the first rail and the second rail can be installed at the floor height as in the related art, Separate pits The work implement can be lowered without any trouble, and the work implement mounting table and the traveling device are connected by a link mechanism arranged below the work implement mount. Is not in the way.

[Brief description of the drawings]

FIG. 1 is an overall side view of a working device according to a first embodiment of the present invention.

FIG. 2 is an enlarged view of the same drive unit.

FIG. 3 is a perspective view of a main part showing a conventional working device.

FIG. 4 is a side view of a main part of a working device showing another conventional example.

FIG. 5 is a perspective view of a main part of a working device showing another conventional example.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Base surface 2 Base 3 First rail 4 Drive device 5 Second rail 6 Work implement 7 Elevating device 8A Running motor 8B Running motor 9 Running device 30 Parallel link body 32 Link body

──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Tatsuo Miyazaki 5-3-28 Nishikujo, Konohana-ku, Osaka-shi, Osaka Inside Hitachi Zosen Corporation (72) Inventor Yoshio Nakajima 5-cho, Nishikujo, Konohana-ku, Osaka-shi, Osaka No. 28 No. 28 Hitachi Zosen Corporation (56) References JP-A-58-160071 (JP, A) JP-A-61-167272 (JP, U) (58) Fields investigated (Int. Cl. ⁶ , DB Name) B25J 5/02 B25J 19/00 B66F 11/00 B05B 12/00 B23K 37/02

Claims (1)

(57) [Claims] A first rail is provided in one direction, and a second rail is provided in a direction substantially perpendicular to the first rail and moves on the first rail by driving of a driving device. An elevating device for elevating and lowering the work implement is disposed on the second rail. The elevating device includes a pair of traveling devices that can travel in the length direction of the second rail, and a pair of traveling devices above the traveling device. And a link mechanism for connecting the traveling device and the work implement mounting table. The link mechanism includes a hinge mechanism between the one traveling apparatus and the work implement placement table. And a link body connected via a hinge mechanism between the other traveling device and the middle of the parallel link body.