JP3376275B2 - Industrial robot 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 plurality of storage shelves that are open to the front and are vertically and horizontally adjacent to each other by members arranged in a grid pattern. The present invention relates to an industrial robot device that grips and transfers.

[0002]

5 to 7 are views showing a conventional industrial robot apparatus. FIG. 5 is a perspective view, FIG. 6 is a plan view showing an operating condition of the industrial robot apparatus of FIG. 5, and FIG. FIG. 7 is an elevational view of FIG. 6. In the figure, reference numeral 1 denotes a base installed on the floor, which is provided so as to be movable along a frontage direction of an opening of a storage shelf to be described later. Reference numeral 2 denotes a swivel base, which is pivotally attached to the base 1 via a vertical axis and driven by a drive mechanism to perform a swiveling operation. Reference numeral 3 denotes a columnar body that is erected on the swivel base 2, and 4 is an elevating platform that is driven by an elevating mechanism 5 provided on the columnar body 3 to ascend and descend.

Reference numeral 6 denotes a base arm, which is horizontally provided so as to project from the elevating table 4 and is rotated by the turning motion of the pillar 3. Reference numeral 7 denotes a tip arm, which is pivotally attached to the upper side of the rotating end of the base arm 6 via a vertical axis and a reduction gear 8 with a bearing. 9 is a tip electric motor mounted on the upper side of the speed reducer 8 to drive the tip arm 7 via the speed reducer 8. Reference numeral 10 is a handle electric motor having an output shaft arranged in the vertical direction and attached to a rotating end of the tip arm 7. Is.

Reference numeral 11 denotes a speed reducer with a bearing which is provided below the handle motor 10 and is installed via a vertical axis and is input by the handle motor 10. Reference numeral 12 denotes a suction handle mounted below the speed reducer 11. The planar shape is rectangular, and the handle electric motor 10
Driven to rotate in a horizontal plane. 13 is a suction pipe arranged in the middle of the length of the tip arm 7 from the suction grip 12 and curved upward, and 14 is a connecting pipe, which is arranged in the middle of the length of the tip arm 7 and connected to the suction pipe 13. It is curved upward and is connected to an inhalation pump 15 which is arranged in the middle of the longitudinal direction of the base arm 6 and which is provided in the columnar body 3.

Reference numeral 16 is a vertical member which is erected upright and arranged horizontally away from each other. Reference numeral 17 is a shelf member which is vertically separated from each other. The storage pallet is supported by the vertical member 16 and the like. ing. Reference numeral 18 denotes a plurality of storage shelves in which the vertical members 16 and the shelves 17 are arranged in a lattice and are vertically and horizontally adjacent to each other and opened to the front. 19 is an article stored in a stacked state in each of the storage shelves 18. Then, shelves 18
A predetermined type is stored for each. Note that, in general, one storage shelf 18 stores articles 19 different from those of the other storage shelves 18. In addition, the article 1 of the storage shelf 18
A space A shown in FIG. 7 is formed between the upper surface 9 and the lower surface of the shelf 17.

The conventional industrial robot apparatus is constructed as described above, and carries out a loading operation of gripping the articles 19 of the storage shelves 18 and stacking them on a shipping pallet (not shown). That is, in this loading operation, the following operation is performed to transfer the required number of each type 19 based on the shipping instruction from the articles 19 stored in each of the plurality of storage shelves 18 to the shipping pallet.

That is, the elevating table 4 is raised to raise the suction grip 1
2, the gripping transfer mechanism consisting of the tip arm 7, the connecting pipe 14, etc.
Gap A between the article 19 of the storage shelf 18 and the lower surface of the upper shelf 17
Is placed at a position corresponding to. Next, the base arm 6 and the tip arm 7 are pivotally operated to hold the article 19 held by the suction grip 12.
6 and FIG. 7 are placed in the state above. Then, the elevating table 4 descends and reaches the upper surface of the article 19 holding the suction grip 12.

Next, the suction pump 15 acts to suck the article 19 with a negative pressure inside the suction handle 12, and the lifting table 4 is raised to raise the grip transfer mechanism including the suction handle 12.
Then, the base arm 6 and the tip arm 7 rotate to transfer the article 19 gripped by the suction grip 12 to the loading position of the article 19 above the shipping pallet.

Then, the elevating table 4 descends to descend the gripping transfer mechanism including the suction grip 12 to place the article 19 on the shipping pallet and release the suction grip of the article 19. After that, the lifting and lowering table 4 is raised to raise the gripping transfer mechanism, and the transfer operation of the next article 19 is started. Then, by repeating such a loading operation, the required number of articles 19 of each type based on the shipping command are loaded on the shipping pallet.

[0010]

In the conventional industrial robot apparatus as described above, when holding the articles 19 stored in the storage shelves 18, the vertical members 16 stand on both sides of the storage shelves 18 in the front direction. Since it is provided, the gripping transfer mechanism does not hit the vertical member 16 when the gripping transfer mechanism such as the suction grip 12, the base arm 6, the tip arm 7, and the connecting pipe 14 is arranged above the article 19 that grips the gripping transfer mechanism. Need to do so. Therefore, it is necessary to provide an unexpectedly large space between the outer edge of the storage pallet, that is, the vertical member 16 and the range of ABCD shown in FIG.

Further, when gripping the article 19 stored in the upper stage of the storage shelf 18, the gripping transfer mechanism such as the suction grip 12, the base arm 6, the tip arm 7, and the connecting pipe 14 is used to grip the article 19. When arranged in the upper position, it is necessary that the gripping transfer mechanism does not hit the articles 19 of the storage shelves 18 and the lower surface of the upper shelves 17. On the other hand, the gripping transfer mechanism such as the suction grip 12, the base arm 6, the tip arm 7, and the connecting pipe 14 is configured to be high in the height direction. Therefore, an unexpectedly large gap A shown in FIG. 7 is provided between the uppermost surface of the article 19 of the storage shelf 18, that is, between the range of EFGH shown in FIG. 7 and the lower surface of the upper shelf material 17.

Therefore, extra spaces are required in the front and vertical directions of the storage shelves 18 arranged adjacent to each other in the vertical and frontal directions. Therefore, there is a problem that the storage efficiency of the articles 19 on the storage shelf 18 is reduced and unnecessary cost is incurred, and that the operating distance of the industrial robot device is unduly long and the operating efficiency is reduced. .

The present invention has been made in order to solve the above problems, and in storage shelves arranged adjacent to each other in the vertical direction and the frontage direction, a margin in the frontal direction and the vertical direction with respect to a placed article is provided. An object of the present invention is to obtain an industrial robot device that can efficiently transfer articles on a storage shelf even if the size is small.

[0014]

In an industrial robot apparatus according to the present invention, a swivel base pivotally mounted on a base via a vertical axis and a columnar body provided on the swivel base lifts and lowers. An elevating table, a base arm that projects from the elevating table and rotates, and an intermediate arm that pivotally operates by having one end pivotally attached to the lower surface of the pivot end of the base arm via a vertical axis, One end of the intermediate arm is pivotally mounted on the upper surface of the pivotal end through a vertical axis to rotate, and the tip arm is attached to the lower side of the pivotal end of the tip arm so that the suction surface is the bottom surface of the intermediate arm. The suction grip arranged below the intermediate arm, an intermediate electric motor provided on the base arm for driving the intermediate arm, a distal electric motor provided at an intermediate part of the intermediate arm for driving the distal arm, the base arm, the intermediate arm. An adsorption pipe line is provided which is piped through the longitudinal hollow portions of the arm and the tip arm to operate the adsorption handle.

Further, in the industrial robot apparatus according to the present invention, an intermediate speed reducer equipped with a bearing having a hollow center portion and pivotally connecting the intermediate arm to the pivot end of the base arm, and the lower side of the base arm. An intermediate electric motor that is provided in the drive unit and drives the intermediate reduction gear via a winding transmission mechanism; and a tip reduction gear that is equipped with a bearing having a hollow center portion and pivotally attaches the tip arm to the rotation end of the intermediate arm, A tip electric motor provided on the upper side of the middle of the middle arm in the longitudinal direction to drive the tip reducer via a winding transmission mechanism, and a bearing having a hollow center portion are equipped, and the suction grip is pivoted to the rotation end of the tip arm. The handle reducer to be worn, the handle electric motor provided below the longitudinal middle of the tip arm and driving the handle reducer via the winding transmission mechanism, the base arm, the mid-arm and the longitudinal hollow portions of the tip arm, and Via the center of the bearing of the intermediate reducer, tip reducer and handle reducer. A suction pipe for operating the suction grip is provided plumbed Te.

[0016]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiment 1. 1 to 4 are views showing an example of an embodiment of the present invention, FIG. 1 is a front view,
2 is an enlarged view showing a part of the gripping transfer mechanism such as the suction grip, the base arm, the intermediate arm, the tip arm, and the connecting pipe of FIG. 1, and FIG. 3 shows the operating condition of the industrial robot apparatus of FIG. FIG. 4 is a plan view and FIG. 4 is an elevation view of FIG. In the figure, reference numeral 1 denotes a base installed on the floor, which is provided so as to be movable along a frontage direction of an opening of a storage shelf to be described later. Reference numeral 2 denotes a swivel base, which is pivotally attached to the base 1 via a vertical axis and driven by a drive mechanism to perform a swiveling operation. Reference numeral 3 denotes a columnar body that is erected on the swivel base 2, and 4 is an elevating platform that is driven by an elevating mechanism 5 provided on the columnar body 3 to ascend and descend.

Reference numeral 6 denotes a base arm, which is horizontally provided so as to project from the elevating table 4 and is pivoted by the pivotal movement of the pillar 3. Reference numeral 20 denotes an intermediate arm, which is pivotally mounted via a vertical shaft by an intermediate speed reducer 21 with a bearing having one end having a hollow center portion on the lower surface of the pivot end of the base arm 6 for pivoting operation. Reference numeral 22 denotes an intermediate electric motor, which is provided below the base arm 6 near the base and is provided with a winding transmission mechanism 23.
The intermediate speed reducer 21 is driven via the to rotate the intermediate arm 20.

Reference numeral 7 denotes a tip arm, which is pivotally mounted via a vertical shaft by a tip reducer 24 with a bearing, one end of which is located above the pivotal end of the intermediate arm 20 and which has a hollow central portion, for pivoting operation. Two
Reference numeral 5 denotes a tip electric motor, which is provided on the upper side in the longitudinal middle of the intermediate arm 20 and drives the tip reducer 24 via the winding transmission mechanism 26 to rotate the tip arm 7.

Reference numeral 12 denotes a suction grip which is formed in a rectangular shape in a plan view or two pieces which are circular and are arranged in parallel with each other apart from each other. The suction grip 12 has a hollow central portion below the rotating end of the tip arm 7. It is pivotally attached and pivotally operated via a vertical shaft by a handle reducer 27 having a bearing. Reference numeral 28 denotes a grip electric motor, which is provided below the longitudinal middle of the tip arm 7 and drives the grip reduction gear 27 via the winding transmission mechanism 29 to rotate the pre-adsorption grip 12 and arrange it in a desired posture. To do.

Reference numeral 30 denotes an adsorption pipe line composed of a flexible suction pipe, one end of which is connected to the adsorption handle 12 so that a hollow portion of the handle reduction gear 27, a longitudinal portion of the tip arm 7, a hollow portion of the tip reduction gear 24,
It is inserted in the longitudinal direction of the intermediate arm 20 and the hollow part of the intermediate reduction gear 21, and the other end is connected to the suction pump 15 provided in the columnar body 3.

Reference numeral 16 is a vertical member which is erected upright and is arranged horizontally away from each other, and 17 is a shelf member which is vertically separated from each other, and the storage pallet is supported by the vertical member 16 and the like. ing. Reference numeral 18 denotes a plurality of storage shelves in which the vertical members 16 and the shelves 17 are arranged in a lattice and are vertically and horizontally adjacent to each other and opened to the front. 19 is an article stored in a stacked state in each of the storage shelves 18. Then, shelves 18
A predetermined type is stored for each. Note that, in general, one storage shelf 18 stores articles 19 different from those of the other storage shelves 18. In addition, the article 1 of the storage shelf 18
A space B shown in FIG. 4 is formed between the upper surface 9 and the lower surface of the shelf 17.

In the industrial robot apparatus configured as described above, a loading operation is performed in which the articles 19 on the storage shelves 18 are gripped and loaded on shipping pallets (not shown). Then, in this loading operation, the following operation is performed to transfer the required number of each type 19 based on the shipping instruction from the articles 19 stored in each of the plurality of storage shelves 18 to the shipping pallet.

That is, the elevating table 4 rises and the suction handle 1
2, the gripping transfer mechanism including the tip arm 7, the intermediate arm 20, the suction conduit 30, and the like is used for the article 19 of the storage shelf 18 and the upper shelf material 17.
It is arranged at a position corresponding to the space B with the lower surface. Then
The base arm 6, the intermediate arm 20, and the distal end arm 7 are rotated to be arranged above the article 19 held by the suction grip 12, and the state shown in FIGS. 3 and 4 is obtained. Then, the elevating table 4 descends and reaches the upper surface of the article 19 holding the suction grip 12.

Next, the suction pump 15 acts to suck the article 19 with a negative pressure inside the suction handle 12, and the lifting table 4 is raised to raise the grip transfer mechanism including the suction handle 12.
Then, the base arm 6, the intermediate arm 20, and the tip arm 7 rotate to transfer the article 19 gripped by the suction grip 12 to the loading position of the article 19 above the shipping pallet.

Then, the elevating table 4 descends to descend the gripping transfer mechanism including the suction grip 12 to place the article 19 on the shipping pallet and release the suction grip of the article 19. After that, the lifting and lowering table 4 is raised to raise the gripping transfer mechanism, and the transfer operation of the next article 19 is started. Then, by repeating such a loading operation, the required number of articles 19 of each type based on the shipping command are loaded on the shipping pallet.

During the gripping and transferring operation of the article 19 of the storage shelf 18 by the gripping and transferring mechanism composed of the suction grip 12, the tip arm 7, the intermediate arm 20, the base arm 6, the suction conduit 30, etc., as described below. The grip transfer mechanism operates. That is, as compared with the case of the gripping transfer mechanism using the tip arm 7 and the base arm 6 in FIGS. Arm 20
Is provided, the base arm 6 is arranged at a position apart from the vertical member 16 of the storage shelf 18.

Therefore, the tip of the base arm 6 does not hit the vertical member 16, and the vertical handle 16 is avoided so that the suction grip 1
2, the tip arm 7 and the intermediate arm 20 can be advanced to a position above the article 19 held by the storage shelf 18. Therefore, it is possible to reduce the outer edge of the storage pallet, that is, the space between the vertical member 16 and the range of ABCD shown in FIG.

Further, when gripping the article 19 stored in the upper stage of the storage shelf 18, the gripping transfer mechanism such as the suction grip 12, the base arm 6, the tip arm 7, and the connecting pipe 14 is used to grip the article 19. When arranged in the upper position, it is necessary that the gripping transfer mechanism does not hit the articles 19 of the storage shelves 18 and the lower surface of the upper shelves 17. On the other hand, the height direction of the gripping transfer mechanism such as the suction grip 12, the base arm 6, the intermediate arm 20, the tip arm 7, and the connecting pipe 14 is low. Therefore, the space B shown in FIG. 4 between the article 19 of the storage shelf 18, that is, the range of EFGH shown in FIG. 4 and the lower surface of the upper shelf 17 can be reduced.

Therefore, it is possible to reduce the space between the storage shelves 18 which are arranged adjacent to each other in the vertical direction and the frontage direction and between the loaded articles 19 in the frontal direction and the vertical direction. For this reason, the storage efficiency of the articles 19 on the storage shelves 18 is improved, wasteful space and cost can be saved, and the operating distance of the industrial robot device is reduced to improve the operation efficiency, and the operation of transferring the articles on the storage shelves The cost can be reduced.

In the embodiment of FIGS. 1 to 4, when the suction grip 12 has a circular plan shape, the grip speed reducer 2 is used.
7, the handle motor 28 and the winding transmission mechanism 29 are omitted,
Even if the suction grip 12 is directly attached to the rotating end of the tip arm 7, the same operation as that of the embodiment of FIGS. 1 to 4 can be obtained.

[0031]

As described above, the present invention provides a swivel pivotally mounted on a base via a vertical axis, an elevating platform which is guided up and down by a pillar provided on the swivel, and A base arm that projects from the lift and rotates, an intermediate arm that has one end pivotally attached to the lower surface of the rotation end of the base arm through a vertical axis, and that rotates, and the intermediate arm that rotates. One end arm is pivotally attached to the upper surface of the end through a vertical axis, and the tip arm is attached to the lower side of the turning end of the tip arm so that the suction surface is located below the lower surface of the intermediate arm. Attached suction handle, an intermediate electric motor provided on the base arm to drive the intermediate arm, a distal electric motor provided on the intermediate part of the intermediate arm to drive the distal arm, and the lengths of the proximal arm, the intermediate arm and the distal arm. The suction pipe line is provided through which the suction grip is operated by being piped through the hollow portion of the hand.

Thus, the intermediate arm is provided during the gripping and transferring operation of the articles on the storage shelf by the gripping and transferring mechanism including the suction grip, the tip arm, the middle arm, the base arm, the suction conduit, etc., so that the base arm is stored. It is placed away from the vertical members of the shelves. For this reason, the tip of the base arm does not hit the vertical member of the storage shelf, and the space between the articles stacked on the shelf surface of the storage shelf and the outer edge of the shelf surface can be reduced. Also, since the height direction of the gripping transfer mechanism is configured to be low, a gap between the article on the storage shelf and the lower surface of the shelf material on the upper storage shelf when gripping the article stored on the upper stage of the storage shelf again. Can be reduced. Therefore, it is possible to reduce the vacant space between the frontage and the vertically stacked articles in the storage shelves arranged adjacent to each other in the vertical and frontal directions. Therefore, the storage efficiency of the articles on the storage shelves can be improved and wasteful space and cost can be saved, and the operating distance of the industrial robot device can be reduced to improve the operation efficiency, and the cost of the work of transferring the articles on the storage shelves Has the effect of reducing

Further, as described above, the present invention is provided with a bearing having a hollow center portion, and an intermediate speed reducer for pivotally attaching the intermediate arm to the pivot end of the base arm, and the intermediate reducer provided on the lower side of the base arm. An intermediate electric motor that drives an intermediate reduction gear through a winding transmission mechanism, a tip reduction gear that is equipped with a bearing having a hollow center portion, and pivotally attaches the distal arm to the rotation end of the intermediate arm, and the intermediate arm. A tip electric motor provided on the upper side in the middle of the longitudinal direction to drive the tip speed reducer via a winding transmission mechanism, and a bearing having a hollow center portion are equipped, and the suction handle is pivotally attached to the rotating end of the tip arm. A handle reducer, a handle electric motor that is provided below the longitudinal middle of the tip arm and drives the handle reducer via a winding transmission mechanism, a longitudinal hollow portion of the base arm, the intermediate arm and the tip arm, and an intermediate reduction gear. Machine, tip reducer, and handle reducer It is provided with a a suction conduit to operate the wear handle.

Thus, the intermediate arm is provided during the gripping and transferring operation of the articles on the storage shelf by the gripping and transferring mechanism including the suction grip, the tip arm, the middle arm, the base arm, and the suction pipe line. It is placed away from the vertical members of the shelves. For this reason, the tip of the base arm does not hit the vertical member of the storage shelf, and the space between the articles stacked on the shelf surface of the storage shelf and the outer edge of the shelf surface can be reduced. In addition, the suction pipe is piped through the longitudinal hollow portions of the base arm, the middle arm and the tip arm and the bearing central portions of the intermediate reducer, the tip reducer and the handle reducer, and the height direction of the grip transfer mechanism is Composed low. Therefore, it is possible to reduce the gap between the article in the storage shelf and the lower surface of the shelf material of the storage shelf above when holding the article stored in the upper stage of the storage shelf again. Therefore, the space between the front and the vertically loaded articles in the storage shelves arranged adjacent to each other in the vertical and frontal directions is reduced, and the storage efficiency of the articles in the storage shelves is improved, resulting in wasted space and cost. In addition, the operating distance of the industrial robot apparatus can be reduced, the operating efficiency can be improved, and the cost of transferring the articles on the storage shelves can be reduced.

[Brief description of drawings]

FIG. 1 is a front view showing a first embodiment of the present invention.

FIG. 2 is a diagram showing the suction grip, the base arm, the middle arm, and the distal arm of FIG.
FIG. 3 is an enlarged view showing a part of a gripping transfer mechanism including a connecting pipe and the like in a longitudinal section.

FIG. 3 is a plan view showing an operating condition of the industrial robot apparatus of FIG.

FIG. 4 is an elevation view of FIG.

FIG. 5 is a perspective view showing a conventional industrial robot apparatus.

FIG. 6 is a plan view showing an operating condition of the industrial robot apparatus of FIG.

FIG. 7 is an elevation view of FIG.

[Explanation of symbols]

1 base, 2 swivel base, 3 columnar body, 4 lift base, 6 base arm, 7 tip arm, 12 suction grip, 20 middle arm, 2
1 Intermediate Reduction Gear, 22 Intermediate Electric Motor, 23 Winding Transmission Mechanism, 24 Tip Reduction Gear, 25 Tip Electric Motor, 26 Winding Transmission Mechanism, 27 Handle Reduction Gear, 28 Handle Electric Motor, 29
Winding transmission mechanism, 30 adsorption line.

─────────────────────────────────────────────────── ─── Continuation of the front page (56) Reference JP-A-8-118269 (JP, A) JP-A-9-118405 (JP, A) JP-A-7-290381 (JP, A) JP-A-9- 12108 (JP, A) JP-A-6-40505 (JP, A) JP-A-8-295403 (JP, A) JP-A-9-168985 (JP, A) Actual Kaihei 6-66978 (JP, U) (58) Fields investigated (Int.Cl. ⁷ , DB name) B65G 1/04 B25J 9/00

Claims (2)

(57) [Claims] 1. A revolving base pivotally mounted on a base via a vertical shaft, a lifting base that is lifted and lowered by being guided by a pillar body provided on the revolving base, and a protrusion provided from the lifting base for rotation. A moving base arm, an intermediate arm that pivotally operates by having one end pivotally attached to the lower surface of the pivot end of the base arm via a vertical axis, and one end that has a vertical axis on the upper surface of the pivot end of the intermediate arm. A tip arm pivotally attached via the pivot arm, a suction grip attached to a lower side of a rotation end of the tip arm, and a suction surface disposed below a lower surface of the intermediate arm; An intermediate electric motor that is provided on the arm and drives the intermediate arm, a distal electric motor that is provided at an intermediate portion of the intermediate arm and drives the distal arm, and the base arm, the intermediate arm, and the longitudinal hollow portion of the distal arm. Industrial robot apparatus having a suction pipe line that is connected to the suction pipe to operate the suction grip. 2. An intermediate speed reducer equipped with a bearing having a hollow center portion and pivotally connecting the intermediate arm to a pivot end of the base arm, and a winding transmission mechanism provided below the base arm. An intermediate electric motor that drives the intermediate reduction gear, a tip reduction gear that is equipped with a bearing having a hollow center, and pivotally attaches the distal arm to the pivotal end of the intermediate arm, and the upper middle portion of the intermediate arm in the longitudinal direction. And a handle reducer that is equipped with a tip electric motor that drives the tip reducer via a winding transmission mechanism and a bearing having a hollow center portion, and that has a suction handle pivotally attached to the rotating end of the tip arm. And a handle electric motor which is provided on the lower side of the longitudinal middle of the distal arm and drives the grasp speed reducer via a winding transmission mechanism, and a longitudinal hollow portion of the base arm, the intermediate arm and the distal arm, and the intermediate. Piping through the bearing center of the reducer, tip reducer and handle reducer. 2. The industrial robot apparatus according to claim 1, further comprising a suction pipe line for operating the suction grip.