JP2884179B2 - Work support device for work transfer machine - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for supporting a work in a work transfer machine that transfers a work while holding the work at a tip end of a parallel link.

[Conventional technology]

The base end of the parallel link is supported on the carrier body so that it can swing up and down.A work support member is provided at the tip of the parallel link, and the parallel link is swung up and down by an actuator provided on the carrier body. 2. Description of the Related Art There is known a work transfer device that transfers a work supported by a support member up and down.

For example, as shown in Japanese Utility Model Application Laid-Open No. 62-89283, the base end of a first parallel link is supported on a carrier body, and the base end of a second parallel link is connected to the tip of the first parallel link. And
A work support member is provided at the tip of the second parallel link,
2. Description of the Related Art There is known a work carrier of a balance type in which the first and second parallel links are vertically swung by an actuator.

[Problems to be solved by the invention]

Since the work supporting member of such a work transfer device is a suspending tool and suspends and supports the work, the work supporting member is suitable for a concrete block installation work or the like, but a wall material such as a lightweight cellular concrete panel is used for a building wall. Not suitable for installation work.

This is not only dangerous because the wall material swings and is unstable when transporting it to the building wall while suspending and supporting the wall material. Is installed while pressing it by hand, which makes the work troublesome, and since the wall material is located below the tip of the parallel link, the tip of the parallel link may interfere with the ceiling when installing it on the top of the building wall. Sometimes, wall materials cannot be installed near the ceiling of the building wall.

Then, an object of the present invention is to provide a work support device of a work transfer machine which can solve the above-mentioned problems.

[Means for solving the problem]

In the first invention, the base end of the parallel link is supported on the carrier body 7 so as to be able to swing up and down, and a work support member 10 is provided at the distal end of the parallel link. In a work transfer device provided with an actuator that swings up and down, a base 60 in which the work support member 10 is rotatably provided around a vertical axis at a tip end of the parallel link, and a predetermined or more rotational force acts on the base 60. A horizontal shaft 74 provided so as not to rotate unless it is rotated, a horizontal rod 80 extending in the horizontal direction and a longitudinal middle portion connected to the horizontal shaft 74 at a substantially right angle, and fixed to both ends of the horizontal rod 80 in the longitudinal direction. A pair of vertical frames
85, a main body 61 supported on the base 60 so as to be rotatable left and right about a horizontal axis, a pair of vertical members 88 rotatably provided near both ends in the longitudinal direction of the horizontal rod 80, and a pair of vertical members 88. A support member 62 provided with a horizontal member 89 interposed therebetween and supported on the main body 61 so as to be rotatable back and forth around a horizontal axis, a suction plate 63 provided on the pair of vertical members 88, a pair of vertical frames of the main body 61 A horizontal rod 87 for locking extending horizontally between 85; a vertical rod 88 provided on the support member 62;
A work support device for a work transfer machine, comprising a plate 91 which can be freely attached to and detached from 87, and wherein the suction plate 63 projects forward from a front end of a parallel link.

According to a second aspect, in the first aspect, the cross member of the support 62 is provided.
An L-shaped work receiver 64 is attached to 89, and a work support device of a work transporter in which the bottom of the work receiver 64 projects forward from the tip of the suction plate 63.

According to the first aspect, since the work B is supported by the suction plate 63 protruding forward from the front end of the parallel link, the work B can be supported in a state protruding forward from the front end of the parallel link. When attaching the timber to the building wall, the tip of the parallel link can keep the wall material pressed against the building wall without disturbing it, and the wall material is pressed against the building wall near the ceiling. Since the wall material can be held in a stable state, the wall material can be transported in a stable state, which is safe, and the work of mounting the wall material can be simplified.

In addition, the support body 62 having the suction disk 63 can rotate around the vertical axis with respect to the tip of the parallel link, and can be rotated left and right and back and forth, so that the work can be rotated in any direction without moving the parallel link. Since the work can be displaced, the work can be easily attached to a predetermined position.

Further, since the horizontal axis 74 forming the main body 61 does not rotate unless a predetermined rotational force acts, the suction disk 63 does not turn left and right around the horizontal axis unless a predetermined rotational force acts. This makes it possible to prevent the work from turning left and right around the horizontal axis when the work is moved by operating the parallel link while the work is supported by the suction plate 63.

Also, a horizontal locking rod suspended horizontally on the vertical frame 85 of the main body 61
When the plate 87 provided on the vertical member 88 of the support 62 is engaged with the support 87, the support 62 does not rotate back and forth about the horizontal axis with respect to the main body 61.
This makes it possible to prevent the work from turning left and right around the horizontal axis when the work is moved by operating the parallel link while the work is supported by the suction plate 63.

According to the second invention, the lower part of the work is connected to the work receiver 64.
The suction plate 63 only holds the lock so that it does not fall over, and a large suction force is not required.
Can hold even heavy workpieces reliably.

Further, the suction plates 63 are provided on the left and right vertical members 88 of the support 62, and the work receiving bodies 64 are mounted on the horizontal members 89 laid horizontally between the vertical members 88, so that the left and right ends of the work are shifted toward the left and right ends. 63
With a work receiver 64
Can be supported. Thereby, the work can be supported more stably.

〔Example〕

As shown in FIG. 1, an upper vehicle body 3 is provided on a lower vehicle body 2 provided with a crawler-type traveling body 1 so as to be rotatable by a revolving mechanism 4, and a work carrier is mounted on a bracket 5 of the upper vehicle body 3 by a vertical axis 6. A transporter main body 7 is provided so as to be pivotable.

The work carrier A is provided on a carrier body 7 via a first parallel link 8 and a second parallel link 9 so that a work support member 10 can be swung up and down and back and forth while maintaining a fixed posture. The first parallel link 8 has a first link 11 and a second link 12, and the base end of the first link 11 is supported by the carrier main body 7 with a pin 13. The base end of the second link 12 is supported by a pin 15, and the first and second links
The tips of 11, 11 are supported by pins 17 and 18 on the intermediate link 16 and the third link constituting the second parallel link 9 is connected to the intermediate link 16.
The base end of the fourth link 19, 20 is supported by the pin 17 and the pin 21, and the mounting bracket 22 serving as the tip link is mounted on the tip of the third, fourth link 19, 20 by the pin 23, 24. The work support member 10 is mounted on the mounting bracket 22, and a balance spring 25 is connected across the carrier body 7 and the third link 19.

The work support member 10 includes a base body 60, a main body 61, a support body 62, a suction plate 63, and a work receiving body 64. The base body 60 is rotatably connected to the mounting bracket 22 around the longitudinal axis, and the base body 60 is attached to the base body 61. Are connected to be rotatable left and right about a horizontal axis, a support body 62 is connected to the main body 61 so as to be rotatable back and forth about the horizontal axis, and a plurality of suction disks 63 are attached to the support body 62,
A work receiving body 64 is provided on the support body 62 so as to be vertically movable, and the suction board 63 protrudes from the mounting bracket 22 on the side opposite to the side of the transfer machine main body 7, and the work B, for example, a wall material protrudes from the mounting bracket 22. It is made to be able to support.

As described above, the first parallel link 8 and the second parallel link 9 are swung up and down in a state where the wall material is suction-supported by the suction board 63, so that the work supporting member 10 can be moved in parallel. Since the material protrudes forward from the mounting bracket 22 (the side opposite to the main body 7 of the transporter), the wall material can be held in a state pressed against the building wall, and the mounting bracket 22 can hold the wall material without interfering with the ceiling. It can be transported and installed near the ceiling of the building wall.

Further, since the lower portion of the work B is supported by the work receiver 64, the suction plate 63 only holds the work B so as not to fall down, and a large suction force is not required. Can be held.

Next, details of the work supporting member 10 will be described with reference to FIGS.

The base 60 is provided with an attachment plate 7
1.The lower part of the cylinder 72 is fixedly attached to the lower part.
1 is a mounting bracket 22 to be described later via a mounting block 73.
And is rotatable around the vertical axis with respect to the mounting bracket 22.

The main body 61 is provided with a horizontal shaft 7 rotatably supported on a cylindrical body 72 of a base body 60. A sliding ring 75 and a spring receiver 76 are provided at one end of the horizontal shaft 74, and a spring 77 is provided between the two. The sliding ring 75 is crimped to one end surface of the cylinder 72 via a friction plate 78, and the flange 74a of the horizontal shaft 74 is crimped to the other end surface of the cylinder 72 via the friction plate 78 to form the horizontal shaft 74. The spring holder 76 is held so as not to rotate unless a certain amount of rotational force acts, and the spring receiver 76 is held by a nut 79 fastened to one end screw portion 74b of the horizontal shaft 74.
The other end of the horizontal rod 80 is connected so that the middle part in the longitudinal direction of the horizontal rod 80 is at a right angle, a pair of left and right collars 81 is rotatably supported at both longitudinal ends of the horizontal rod 80, and a pair of left and right cylindrical shafts. The key 82 is keyed, and the collar 81 and the cylinder shaft 82 are prevented from coming off by a nut 83 and a plate 84 fastened to the end screw portion 80a of the horizontal rod 80, and a pair of left and right vertical The lower part of the frame 85 is fixed, and a horizontal locking rod 87 is laid horizontally between upper and lower long holes 86, 86 formed at the upper part of the pair of left and right vertical frames 85, 85, thereby constituting the main body 61. I have.

The support 62 is provided between the lower portions of the pair of left and right vertical members 88
9, a connecting plate 90 fixed to a longitudinal middle portion of the vertical member 88 is fixed to the collar 81, and the support body 62 is rotatable back and forth with respect to the main body 61. A pair of left and right plates 91 fixed to the upper part of a pair of vertical members 88, 88
The locking horizontal rod 87 fits into the upward concave 92, and the upward concave 92 and the locking horizontal rod 87 allow the support body 62 to rotate back and forth by the amount of play, and the locking horizontal rod 87 Vertical long hole 86
Moving upward along the distance away from the upward recess 92
62 is configured to be able to freely rotate back and forth, and suction plates 63 are attached to the upper and lower sides of a pair of left and right vertical members 88, respectively.

The work receiver 64 has an upward U-shape in which a horizontal rod 94 is fixed between the lower parts of a pair of left and right vertical rods 93, 93, and the horizontal rod 94 is provided with a receiving plate 95. A vertical rod 93 is slidably supported vertically along a guide rail 96 fixed to a member 89, and a bolt 98 and a knuck 99 through which an elongated hole 97 of the vertical rod 93 is inserted.
Can be held at any position.

Next, details of the work transfer machine will be described with reference to FIG.

The transfer machine body 7 is provided with an actuator, for example, a servo motor 30, and the servo motor 30 is provided with a controller.
It is driven by the command from 31 and its servo motor 30
The pinion 32 driven by the above meshes with a rack 33 movably supported on the conveyor body 7 in a vertical direction, and a slider 36 faces a guide groove 35 of a guide 34 provided on the rack 33, and the slider 36 is Servo motors 30 are provided on pivot pins 39 of first and second auxiliary links 37 and 38 connected to the first link 11 and the third link 19, respectively.
Is driven to move the rack 33 up and down, the slider 36 relatively slides along the guide groove 35, and the first parallel link 8 and the second parallel link 9 swing up and down to move the work piece. Support member 22
Moves in the vertical and horizontal directions while maintaining the parallel posture.

As shown in FIGS. 6 to 9, the mounting bracket 22 is formed by connecting a vertical plate 40 on one side and a vertical plate 41 on the other side at an interval with a bolt 43 via a block 42. The third link 19 and the fourth link 20 that constitute the second parallel link 9 between the plate 40 and the other vertical plate 41 are connected by pins 23 and 24, and the one vertical plate 40 and the other vertical plate 41 A rotating shaft 44 is horizontally supported between the upper portions, and a pair of operating levers 45, 45 are connected to both ends of the rotating shaft 44 projecting laterally from the vertical plate toward the apparatus main body 7. , A sector gear at the longitudinal middle of the rotating shaft 44
The sector gear 46 meshes with a gear 48 provided on a rotating shaft 47a of a potentiometer 47, and when the operating lever 45 swings up and down from a horizontal posture, the rotating shaft 44 rotates forward and reverse to rotate the potentiometer 47. The signal is output by rotating forward and backward.

An upper portion of a vertical axis 49 is supported by the block 42, and a mounting body 50 is rotatably supported by a bearing 51 below the vertical axis 49, and a plurality of bolt holes 52 are formed on the lower surface of the mounting body 50. The base of the work supporting member 10 is attached to the mounting body 50.
The mounting block 73 at 60 is bolted.

The signal of the potentiometer 47 is input to the controller 31 of the servo motor 30, as shown in FIG.
The controller 31 normally enters the balance mode, and enters a hoist mode when a signal is input from the potentiometer 47.

When the controller 31 is in the balance mode, the output torque of the servomotor 30 is controlled to match the weight of the work as in the case of the conventional balance-type portable device, and the work can be moved with a small force by hand. Is in the hoist mode, the drive current is output to the servo motor 30 based on the input signal, the pinion 32 is forcibly rotated by the force of the servo motor 30, the rack 35 is moved up and down, and the first parallel link is moved. 8 and the second parallel link 9 swing up and down against the weight of the work.

As described above, when the operating lever 45 provided on the mounting bracket 22 which is the distal end of the parallel link, that is, the distal end of the second parallel link 9 is swung upward, the potentiometer 47 rotates forward and rotates forward. The signal is output in proportion to the operation angle, the forward rotation signal is input to the controller 30 to enter the hoist mode, and the forward rotation drive signal is sent to the servo motor 31 in proportion to the operation angle of the operation lever 45, and the servo motor 31 is driven to rotate forward, the first parallel link 8 and the second parallel link 9 swing upward, and the mounting bracket 22 moves upward while maintaining the parallel posture, and is supported by the work supporting member 10. Work B can be translated upward.

When the operation lever 45 is swung downward, the potentiometer 47 rotates in the reverse direction to output a reverse rotation signal. Therefore, the servo motor 31 is driven to rotate in the reverse direction to move the mounting bracket 22 downward, as described above. Can be moved down.

Therefore, the work can be transported up and down by driving the servo motor at the tip of the parallel link, so that the work engaging / disengaging operation and the work up / down transport operation can be performed efficiently and the work efficiency can be improved.

Further, since the operation levers 45 are provided on both sides of the mounting bracket 22, respectively, the servo motor can be driven from both sides of the parallel link, and the operation lever 45 projects toward the apparatus main body 7 side. Since the operation can be performed from the apparatus body 7 side, the work of mounting the work B to the wall by operating the work B from the side opposite to the wall can be easily performed in the case of the work of mounting the work B to the wall.

In the above embodiments, the actuator is a servomotor, but may be a hydraulic motor, a pneumatic motor, a cylinder, or the like.

Further, the balance-type work transfer device is switched between the balance mode and the hoist mode. However, a hoist-type work transfer device in which the parallel link is vertically swung by an actuator may be used.

〔The invention's effect〕

According to the first aspect of the present invention, since the work B is supported by the suction plate 63 protruding forward from the front end of the parallel link, the work B can be supported in a state protruding forward from the front end of the parallel link. When attaching the wall material to the building wall, the tip of the parallel link can be kept in a state where the wall material is pressed against the building wall without disturbing the wall material, and the wall material is also mounted on the building wall near the ceiling. Since the wall material can be held in a pressed state, the wall material can be transported in a stable state, which is safe, and the work of mounting the wall material can be simplified.

In addition, the support body 62 having the suction disk 63 can rotate around the vertical axis with respect to the tip of the parallel link, and can be rotated left and right and back and forth, so that the work can be rotated in any direction without moving the parallel link. Since the work can be displaced, the work can be easily attached to a predetermined position.

Further, since the horizontal axis 74 forming the main body 61 does not rotate unless a predetermined rotational force acts, the suction disk 63 does not turn left and right around the horizontal axis unless a predetermined rotational force acts. This makes it possible to prevent the work from turning left and right around the horizontal axis when the work is moved by operating the parallel link while the work is supported by the suction plate 63.

Also, a horizontal locking rod suspended horizontally on the vertical frame 85 of the main body 61
When the plate 87 provided on the vertical member 88 of the support 62 is engaged with the support 87, the support 62 does not rotate back and forth about the horizontal axis with respect to the main body 61.
This makes it possible to prevent the work from turning left and right around the horizontal axis when the work is moved by operating the parallel link while the work is supported by the suction plate 63.

According to the second aspect of the present invention, since the lower part of the work can be supported by the work receiving body 64, the suction disc 63 only holds the lock so as not to fall down, and a large suction force is not required. It can be reliably held even for workpieces.

Further, suction plates 63 are provided on the left and right vertical members 88 of the support 62, and the work receiving bodies 64 are mounted on the horizontal members 89 laid between the vertical members 88. 63
With a work receiver 64
Can be supported. Thereby, the work can be supported more stably.

[Brief description of the drawings]

The drawings show an embodiment of the present invention. FIG. 1 is a front view of a work carrier, FIGS. 2, 3, and 4 are front views, side views, plan views, and FIG. 6, FIG. 6, and FIG. 7 are front views, plan views, FIG. 8, and FIG. 9 are transverse cross-sectional views, longitudinal cross-sectional views, and FIG.
FIG. 10 is a control circuit diagram of the actuator. 7 is a main body of the transfer machine, 10 is a work supporting member, 60 is a base, 61 is a main body, 62 is a support, and 63 is a suction disk.

──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Ichizo Yoshikawa 8-21-1 Ginza, Chuo-ku, Tokyo Inside Takenaka Corporation Tokyo Main Store (72) Inventor Haruo Hoshino 2-5-14 Minamisuna, Koto-ku, Tokyo Takenaka Corporation Technical Research Institute Co., Ltd. (72) Inventor Kiyoto Masumura 8-21-1 Ginza, Chuo-ku, Tokyo Inside Tokyo Headquarters Takenaka Corporation (72) Inventor Kazuo Uehara 2-3-3 Akasaka, Minato-ku, Tokyo No. 6 Komatsu Manufacturing Co., Ltd. (72) Inventor Hidetaka Suzuki 2-3-6 Akasaka, Minato-ku, Tokyo (72) Incorporation Komatsu Manufacturing Co., Ltd. (72) Inventor Masayuki 2-3-1 Akasaka, Minato-ku, Tokyo No. 6 Komatsu Manufacturing Co., Ltd. (56) References JP-A-50-117162 (JP, A) JP-A-2-4898 (JP, U) (58) Fields investigated (Int. Cl. ⁶ , DB name) B66C 1 / 00-1/68 B66C 23/14 B66F 19/00 B25J 15/06

Claims (2)

(57) [Claims] 1. A base end of a parallel link is supported on a carrier body 7 so as to be vertically swingable, and a work supporting member 10 is provided at a tip end of the parallel link. In a work transfer device provided with an oscillating actuator, a base 60 in which the work support member 10 is rotatably provided around the longitudinal axis at a tip end of the parallel link, and a rotation force of a predetermined or more does not act on the base 60. A horizontal shaft 74 provided so as not to rotate, a horizontal rod 80 extending in the horizontal direction and a middle portion in the longitudinal direction connected to the horizontal shaft 74 at a substantially right angle, and a pair fixed to both ends in the longitudinal direction of the horizontal rod 80 Vertical frame 85
A main body 61 supported on the base 60 so as to be rotatable left and right about a horizontal axis; a pair of vertical members 88 rotatably provided near both ends in the longitudinal direction of the horizontal rod 80; A support member that has a horizontal member 89 that is horizontally mounted on the body and that is supported on the main body 61 so that it can rotate back and forth around the horizontal axis.
62, a suction plate 63 provided on the pair of vertical members 88, a locking horizontal rod 87 extending across a pair of vertical frames 85 of the main body 61, and provided on the vertical member 88 of the support body 62; Lock horizontal rod 87
A work supporting device for a work transfer machine, comprising a plate 91 which can be freely attached to and detached from the main body, and wherein the suction plate 63 projects forward from a front end of the parallel link. 2. An L-shaped work receiver 64 is mounted on a horizontal member 89 of the support 62, and the bottom of the work receiver 64 is attached to a suction disk 63.
2. The work support device of a work transfer device according to claim 1, wherein the work support device protrudes forward from a front end portion.