JP6309224B2 - Suspension structure and method of using the suspension structure - Google Patents

Description

The present invention relates to a suspension structure for changing the posture of an industrial robot and mounting the suspension, and a method of using the suspension structure .

There are many cases in which the object is mounted by changing its posture, such as a floor-mounted posture, a ceiling-mounted surface, or a wall-mounted surface. Below, the case of an industrial robot will be described as a typical example.
Industrial robots are installed on floors, ceilings, and walls. When installing the robot on a ceiling or hanging on a wall, it is necessary to change the posture so that a robot weighing several hundred kilometers can be installed. For example, in the case of ceiling suspension, it is necessary to reverse 180 degrees from the posture in which the robot body is installed on the floor.

  Conventionally, in the case of installation on a ceiling or wall hanging like this, the work was performed while changing them using ropes or wires, but there was no fixed procedure, safety was poor, and in some cases There was also the possibility of damage to the robot body due to falling.

  For example, Patent Document 1 is known for a conventionally proposed robot mounting apparatus. In this robot mounting apparatus, support plates having a rotation shaft are mounted on both side surfaces of the base portion of the robot, and the rotation shaft is disposed in front of the robot. In addition, a mounting hook on which the robot is suspended from a ceiling is provided with a support hook for hanging the rotating shaft from above.

  In Patent Document 1, the entire robot having the same posture as that of the floor is lifted with a crane, the rotation shaft is hung on the support hook from above, and then the crane is lowered to bring the robot around the rotation axis. Rotate downward using gravity. If the robot is rotated to a position where the center of gravity of the robot comes directly below the rotation axis, the robot does not rotate any more.

  Further, in order to rotate the robot, the linkage between the crane and the robot is released, and the robot is lifted using another rope (or wire) or pulley and rotated 180 degrees from the initial state. .

  By the way, in Patent Document 1, the robot can be suspended by a crane until the posture changes 90 degrees from the initial state, but the subsequent rotation operation is performed by suspending the crane with the crane almost directly above the robot. I can't do it.

Japanese Patent Laid-Open No. 2-3390

  Conventionally, the handling of the rope or wire that suspends the robot becomes complicated, and there is a possibility that the tensioned rope or wire contacts the robot body. As a result, the robot may be damaged. Further, in order to completely rotate the robot to a predetermined angle, it is necessary to pull up the robot using an auxiliary rope or wire, and the wire is continuously pulled until the robot is completely fixed to the installation base. There is a need.

  Japanese Patent Application Laid-Open No. 2003-228561 describes the case where the robot is suspended from the ceiling, but there is a similar problem when an object other than the robot is mounted by being reversed or rotated at a predetermined angle. Also, when an object is attached to the side wall, there is a similar problem depending on the rotation angle at which the posture changes.

An object of the present invention is to facilitate mounting of the post position change and orientation change of an industrial robot.

In order to solve the above problems, a hanging structure of the present invention includes an industrial robot, a pair of brackets attached to both side surfaces of the industrial robot , a pair of rotating ends and a free end. A rotary bar, wherein the rotary ends are provided so as to be rotatable with respect to the pair of brackets, and the first end is provided with a first hook portion that can hook the first cord-like member on the free ends. A bar, a second hooking portion which is provided separately from the rotation center of the rotating bar with respect to each of the pair of brackets, and on which the second cord-like member can be detachably hooked, and each of the pair of brackets And a second hooking portion to which the second cord-like member can be detachably attached, wherein the bracket rotates in one direction about the rotation center of the rotating bar and the second hooking portion of but the rotation center When located below, than the rotational position of the second hook portion, a third engaging portion located above, the rotation of the rotating bar rotatably mounted respectively to the pair of brackets The center is coaxial, and the center of gravity of the industrial robot is located between the rotation center of the rotating bar and the second hooking portion, and the first hooking portion of the rotating bar is rotated. When positioned in the vertically upward direction of the center, the position is lower than the first hooking portion .

Further, the pair of brackets, forklift fork possess each possible insertion portion pledged, the insertion portion, the industrial said third engaging portion when the is positioned vertically above the center of rotation It is preferable to be located above the center of gravity of the robot .

Further, the method of using the suspension structure according to the present invention includes a step of attaching the pair of brackets to both side surfaces of the industrial robot , and a first rope-like shape on a first hooking portion of a rotating bar of the pair of brackets. The bracket is formed by the first cable-shaped member and the second cable-shaped member in a state where the member is hooked and in a state where the second hook-shaped member is hooked on at least one of the second hook portions. The industrial robot is lifted by the weight of the rotary robot around the rotation center of the rotating bar until the posture is stabilized by lifting the industrial robot through Rotating the second hook-like member from the second hooking portion to the third hooking portion, and lifting the second hook-like member hooked to the third hooking portion. by the In which the work robot is rotated about a rotational center of the rotating bar comprising the step of changing the posture until the industrial robot to a predetermined position.

According to the present invention, there is an effect that the industrial robot can be easily changed in posture and attached after the posture is changed.

The front view of the state before attaching an attitude | position change apparatus of 1st Embodiment to an attitude | position change target object, and an attitude | position change. The left view of the attitude | position change apparatus of 1st Embodiment. The right view of the attitude | position change apparatus of 1st Embodiment. The top view of the attitude | position change apparatus of 1st Embodiment. (A) is the sectional view on the AA line of FIG. 1, (b) is the sectional view on the BB line of FIG. (A) is a front view of a state in which the posture change object is placed on the floor in the first embodiment, and (b) is a left side view of the state in which the posture change object is placed on the floor. (A) is a left side view of a state in which a posture change target is lifted in the first embodiment, and (b) is a left side view of a state in which the posture change target is being rotated. (A) is a left side view of a state in which the posture change target object is rotated in the first embodiment, and (b) is a left side view of a stable state after the posture change target object is rotated by its own weight. (A), (b) is a left view of the state which has suspended the 2nd cable-shaped member on the 3rd latching | hanging part. (A) is a side view when the posture-change target object whose posture has been changed is attached to the support base by a ceiling suspension, and (b) is a case of attaching the posture-change target object whose posture has been changed to the support base by a ceiling suspension. FIG. In 1st Embodiment, the side view at the time of attaching the attitude | position change target object in which attitude | position change was carried out to the support stand using a forklift. The left view of the attitude | position change apparatus of 2nd Embodiment. The right view of the attitude | position change apparatus of 2nd Embodiment. Explanatory drawing in the case of hanging with the attitude | position change apparatus of 2nd Embodiment.

(First embodiment)
Hereinafter, a posture changing apparatus embodying the present invention and a method of using the apparatus will be described with reference to FIGS.

  As shown in FIGS. 1 to 5, the posture changing device 10 includes a pair of brackets 20 and 30. In addition, as shown in the top view of FIG. 4, the right, left, front, and back are defined on the basis of the front-back relationship of the attitude | position change target object 100. FIG. The posture change target object 100 of the present embodiment is an industrial robot, but the posture change target object is not limited.

  As shown in FIGS. 1 and 5A, the bracket 20 includes an iron bracket body 22 and an iron cylinder portion 24 that is integrally fixed to the lower portion of the bracket body 22 and forms a square cylinder. Yes.

  As shown in FIG. 1, the bracket body 22 includes side plates 25 and 26 fixed to the cylindrical portion 24, a connection plate 27 fixed by connecting an intermediate portion of the side plate 25 and the upper portion of the side plate 26, and an upper surface of the connection plate 27. It is comprised from the support part 28 which is fixed and supports the intermediate part of the side plate 25 from a back surface.

  The side plates 25 and 26 are formed so as to be flat and parallel to each other. The side plate 26 is disposed along one side surface of the posture change object 100. As shown in FIG. 5A, the side plate 26 is provided with a pair of long holes 26a. The bracket 20 can be attached by the attachment bolt 80 penetrating the elongated hole 26a and being detachably fastened to the posture change object 100. Further, as shown in FIGS. 1 and 5A, a working space S is provided between the side plates 25 and 26 for fastening and removing the mounting bolt 80.

  As shown in FIG. 2, at the lower part of the front portion of the side plate 25, the rotating end of the rotating bar 40 is rotatably supported by a shaft 44. At the free end of the rotating bar 40, an engagement hole 42 as a first hooking portion is provided. As shown in FIG. 2, the upper portion of the rear portion of the side plate 25 protrudes upward at a portion offset rearward from the shaft 44, and an engagement hole 46 as a second latching portion is formed through the upper end. ing.

  Here, the relative relationship between the engagement hole 46, the engagement hole 42, and the center of gravity G of the posture change object 100 will be described. When the bracket 20 is attached to one side of the posture change object 100 and the engagement hole 42 of the rotation bar 40 is arranged vertically upward as shown in FIG. It is located between the joint hole 46 and the engagement hole 42, and is positioned lower than the engagement hole 42. Further, as shown in FIGS. 2 and 6A, the center of gravity G is located proximal to or on a line L1 passing through the axis of the shaft 44 and the center of the engagement hole 46, and the axis of the shaft 44. It is preferable to be distal to the line L2 passing through the center of the engagement hole 48.

  When the center of gravity G is proximal or on a line L1 passing through the axis of the shaft 44 and the center of the engagement hole 46, when the posture change object 100 is rotated by its own weight around the shaft 44, Since the center of gravity G is located immediately below the shaft 44, the engagement hole 46 is also located immediately below or near the shaft 44.

  As shown in FIG. 2, a projecting piece 47 is fixed to the lower end of the rear end of the cylindrical portion 24 so as to be positioned below the engaging hole 46 and the shaft 44 and to protrude downward. An engaging hole 48 as a third hooking portion is formed through the tip of the projecting piece 47. The engagement hole 48 is set so that the engagement hole 46 is positioned above the rotation position of the engagement hole 46 when the engagement hole 46 is positioned at a rotation position immediately below the shaft 44 that is the rotation center of the rotation bar 40. Has been.

  As shown in FIGS. 1 and 2, the protruding piece 47 is preferably arranged so as not to protrude from the lower part of the posture change object 100. This is to prevent the projecting piece 47 from interfering with the floor surface when the bracket 20 is attached to the posture change object 100 placed on the floor.

As shown in FIGS. 1 and 5A, the cylindrical portion 24 has an insertion hole 24a as an insertion portion extending in the front-rear direction so that a fork of a forklift can be inserted.
As shown in FIGS. 1 and 5B, the bracket 30 is provided with an iron bracket body 32 and an iron cylinder portion 34 that is integrally fixed to the lower portion of the bracket body 32 and forms a square cylinder. Yes.

  As shown in FIG. 5B, the bracket main body 32 is configured by fixing a stepped box-like member to the upper surface of the cylindrical portion 34. In the bracket main body 32, a flat side plate 35 is fixed to a side portion opposite to the posture change object 100. A lower portion of the side plate 35 is fixed to the cylindrical portion 34.

  As shown in FIG. 5B, an attachment piece 33 having an attachment surface facing the posture change object 100 is provided on the upper portion of the bracket body 32. As shown in FIG. 5B, the attachment piece 33 is provided with a pair of long holes 33a. The bracket 30 can be attached by the attachment bolt 90 penetrating the elongated hole 33a and being detachably fastened to the posture change object 100.

  As shown in FIG. 3, the rotating end of the rotating bar 50 is rotatably supported by a shaft 54 at the lower portion of the front portion of the side plate 35. When the brackets 20 and 30 are attached to the opposite sides of the posture change object 100, the shaft 54 is set so as to be coaxial with the shaft 44. At the free end of the rotary bar 50, an engagement hole 52 as a first hooking portion is provided. Further, as shown in FIG. 3, the upper portion of the rear portion of the side plate 35 protrudes upward at a portion offset rearward from the shaft 54, and an engagement hole 56 as a second hooking portion is formed through the upper end. ing.

  Here, the relative relationship between the engagement hole 56, the engagement hole 52, and the center of gravity G of the posture change object 100 will be described. When the bracket 30 is attached to the side portion of the posture change object 100 and the engagement hole 52 of the rotation bar 50 is arranged vertically upward as shown in FIG. 3, the center of gravity G of the posture change object 100 is engaged. It is located between the hole 56 and the engagement hole 52, and is positioned lower than the engagement hole 52.

  Further, as shown in FIG. 3, the center of gravity G is the center of the axis 54 of the shaft 54 and the center of the engagement hole 58 proximally or on the line L3 passing through the axis of the shaft 54 and the center of the engagement hole 56. It is preferable that it is distal to the line L4 passing through.

  When the center of gravity G is proximal or on a line L3 passing through the axis of the shaft 54 and the center of the engagement hole 56, the center of gravity G (posture change object 100) is rotated by its own weight around the shaft 54. In this case, since the center of gravity G is located immediately below the shaft 54, the engagement hole 56 is also located immediately below or near the bottom of the shaft 54.

  As shown in FIG. 3, a protruding piece 57 is fixed to the lower portion of the cylindrical portion 34 so as to be positioned below the engaging hole 56 and to protrude downward. An engaging hole 58 as a third hooking portion is formed through the tip of the projecting piece 57. The engagement hole 58 is set to be positioned above the rotation position of the engagement hole 56 when the engagement hole 56 is positioned at a rotation position immediately below the shaft 54 that is the rotation center of the rotation bar 50. Has been.

  In addition, as shown in FIGS. 1 and 3, it is preferable that the projecting pieces 57 are arranged so as not to protrude from the lower part of the posture change object 100. This is to prevent the projecting piece 57 from interfering with the floor surface when the bracket 20 is attached to the posture change object 100 placed on the floor.

As shown in FIGS. 1 and 5B, the cylindrical portion 34 has an insertion hole 34a as an insertion portion extending in the front-rear direction so that a fork of a forklift can be inserted.
(Operation of the first embodiment)
The usage method in the case of reversing the posture changing object 100 configured as described above will be described with reference to FIGS. 1, 5 (a), 5 (b), and FIGS. 6 to 11.

  As shown in FIG. 1, FIG. 5 (a), FIG. 5 (b), FIG. 6 (a), and FIG. 6 (b), the posture change object 100 placed on the floor F is placed on the opposite sides. On the other hand, the worker attaches and fixes the brackets 20 and 30 of the posture changing device 10 with the mounting bolts 80 and 90. By attaching the brackets 20 and 30, the cylindrical portions 24 and 34 are arranged in parallel and face in the front-rear direction. Further, the shafts 44 and 54 of the rotary bars 40 and 50 are arranged coaxially.

In this state, preparation for lifting the posture change object 100 via the posture change device 10 is performed by a crane (not shown).
Specifically, as shown in FIGS. 6 (a) and 6 (b), a ring 93 suspended from a rope 91 lowered from a crane (not shown) via a hook has a pair of first cord-like members. 110 and 120 are hung. The first cord-like members 110 and 120 are set to the same length. Further, a second cord-like member 130 is hung on the ring 93 via a cord-like member lifting device 134 that raises and lowers the second cord-like member 130. The cord-like member lifting device 134 is, for example, a manual or electric chain block. The first cord-like members 110 and 120 and the second cord-like member 130 are ropes in this embodiment, but may be wires or chains. As shown in FIGS. 6A and 6B, the lower ends of the first cord-like members 110 and 120 are hooked into the engaging holes 42 and 52 of the rotating bars 40 and 50 via hooks 112 and 122. Further, the lower end of the second cord-like member 130 is latched to the engagement hole 46 of the bracket 20 via the hook 132.

  The operator works the second cord-shaped member 130 in cooperation with the first cord-shaped members 110, 120 so that the posture change object 100 is in a horizontal state, that is, the base surface and the floor that are the lowermost surfaces of the posture change object 100. The length of the cord-like member elevating device 134 is adjusted so that the surface of F is horizontal. This horizontal state is based on the premise that the engaging holes 42 and 52 of the rotary bars 40 and 50 are lifted in a state vertically above the shafts 44 and 54. FIG. 6B shows a state in which the engagement hole 42 of the rotation bar 40 is arranged vertically above the shaft 44.

  And as shown to Fig.7 (a), it is horizontal state to the height which does not interfere with the floor F even if the attitude | position change object 100 rotates 180 degree | times with the crane via the attitude | position change apparatus 10 with a crane. Lift it up with.

  At this time, the rotation bars 40 and 50 rotate around the rotation center (the shafts 44 and 54), and the engagement holes 42 and 52 (first latching portions) are positioned vertically upward. At this time, at the moment when the posture change object 100 is lifted, the center of gravity G is positioned below the engagement holes 42 and 52 and the rotation direction is determined. Therefore, the posture change object 100 tries to rotate in the determined rotation direction. That is, the rotation direction when lifting the posture change object 100 is stabilized. Further, since the rotation direction of the posture change object 100 is determined, the rotation of the rotation direction is determined by the second cord-like member 130 that is hooked on the engagement hole 56 (second hooking portion). Rotation is prevented.

  In this state, as shown in FIG. 7B, when the operator adjusts the length of the second cord-like member 130 to be long by the cord-like member lifting device 134, the rotating bar 40 of the posture changing device 10. , 50 around the shafts 44 and 54, the posture change object 100 rotates by its own weight. In the present embodiment, the posture change object 100 rotates downward from the rear side.

  When the operator further increases the length of the second cord-like member 130 by the cord-like member lifting device 134 and adjusts until the tension due to the suspension of the second cord-like member 130 disappears, the figure from FIG. As shown in FIG. 8B, the posture change object 100 rotates.

  In the stage of FIG. 8B, the center of gravity G of the posture change object 100 is positioned directly below the axes 44 and 54 of the rotary bars 40 and 50. That is, the posture change object 100 is suspended and supported by only the pair of first cord-like members 110, and the center of gravity G is positioned directly below the first cord-like member 110.

  In this state, the engagement hole 48 of the projecting piece 47 is positioned above the rotation position of the engagement hole 46 as shown in FIG. Although not shown, the engaging hole 58 of the projecting piece 57 is also positioned above the rotational position of the engaging hole 56.

  Next, as shown in FIG. 9A, the worker changes the hook 132 of the second cord-like member 130 from the engagement hole 46 to the engagement hole 48 of the projecting piece 47. The hook 132 of the second cord-like member 130 may be replaced with the engagement hole 58 of the projecting piece 57.

  Thereafter, the operator operates the cord-like member lifting device 134 to shorten the length of the second cord-like member 130 and rotate it in the arrow direction shown in FIG. And as shown in FIG.9 (b), an operator adjusts the length of the 2nd cord-like member 130 short, and inverts the attitude | position change target object 180 degree | times from the state of Fig.7 (a). Rotate to position. In the present embodiment, the predetermined posture is a posture reversed by 180 degrees.

  Next, the crane 102 is moved laterally to the ceiling mount 200 by a crane, and the base 102 of the posture change object 100 is attached to the ceiling surface 210 of the mount 200 as shown in FIGS. Install and fix to the ceiling. Thereafter, the operator lowers the crane downward to loosen the tension of the first rope-like members 110, 120 and the second rope-like member 130, thereby causing the hooks 112, 122, 132 to engage with the respective engagement holes 42, 48. (58) Remove from 52. Thereafter, the worker removes the mounting bolts 80 and 90 from the posture change object 100 to remove the brackets 20 and 30 of the posture change device 10 from the posture change object 100, respectively.

  In addition, in a crane, the attitude | position change target object 100 cannot be moved below the ceiling surface 210 of the mounting base 200. In this case, as shown in FIG. 9B, the pair of forks 310 of the forklift 300 is inserted into the cylindrical portions 24 and 34 of the posture change device 10 in the inverted state as shown in FIG. Then, as shown in FIG. 11, the forklift 300 transports the inverted posture change object 100 to the lower side of the ceiling surface 210 of the mounting base 200, and in this state, the base 102 of the posture changing target 100 is attached to the mounting base. It is attached to and fixed to the ceiling surface 210 of 200 to be suspended from the ceiling. After this state, the operator removes the mounting bolts 80 and 90 from the posture change object 100, thereby removing the brackets 20 and 30 of the posture change device 10 from the posture change object 100.

According to the posture change device 10 and the usage method of the present embodiment, there are the following features.
(1) The posture changing device 10 of the present embodiment includes a pair of brackets 20 and 30 that are detachably attached to both side surfaces of the posture changing object 100. In addition, the brackets 20 and 30 are provided with rotating ends of the rotating bars 40 and 50, respectively, so that the first cord-like members 110 and 120 can be hooked on the free ends of the rotating bars 40 and 50, respectively. Engaging holes 42 and 52 (first hooking portions). The pair of brackets 20 and 30 are provided apart from the shafts 44 and 54 (rotation center) of the rotary bars 40 and 50, and the engagement holes 46 in which the second cord-like member 130 can be detachably latched. , 56 (second latching portion). The pair of brackets 20 and 30 include engagement holes 48 and 58 (third latching portions) to which the second cord-like member 130 can be detachably attached. In the engagement holes 48 and 58, the brackets 20 and 30 rotate in one direction around the shafts 44 and 54 (rotation center) of the rotation bars 40 and 50, and the engagement holes 46 and 56 (second latching portions) become the shaft 44. , 54 (center of rotation) is positioned above the rotational position of the engagement holes 46, 56.

As a result, according to the posture change device 10 of the present embodiment, the posture change of the posture change object and the attachment after the posture change can be facilitated.
In Patent Document 1, unless the positional relationship between the position of the support hook that must be attached to the installation base and the installation surface of the robot is accurately maintained, the back surface of the base of the robot and the installation surface of the installation base do not adhere to each other. . On the other hand, in this embodiment, since the support hook does not exist, such a problem does not occur.

Further, in the case of an industrial robot in which the posture change target object 100 is, for example, a heavy object, it is possible to safely assume a desired posture without damaging the robot body.
(2) In the posture changing device 10, the axes 44 and 54 (rotation centers) of the rotary bars 40 and 50 are coaxial. As a result, the rotating bars 40 and 50 suspended by the first cord-like members 110 and 120 stabilize the brackets 20 and 30 around the shafts 44 and 54 when the length of the second cord-like member 130 is adjusted. And can be rotated.

  (3) The brackets 20 and 30 of the posture changing device 10 have the center of gravity of the posture changing object between the shafts 44 and 54 of the rotating bars 40 and 50 and the engagement holes 46 and 56 (second latching portions). It attaches with respect to the attitude | position change target object 100 so that it may be located.

  Before the second cord-like member 130 is re-applied from the engagement hole 46 to the engagement hole 48, the center of gravity G of the posture change object 100 is more proximal than the engagement hole 46. For this reason, when the length of the second cord-like member 130 is adjusted to be increased, the load applied to the second cord-like member 130 can be reduced from the lever principle, and the adjustment can be easily performed. Can do.

  (4) The brackets 20 and 30 of the posture changing device 10 have the engagement holes 42 and 52 (first latching portions) of the rotary bars 40 and 50 positioned vertically upward from the shafts 44 and 54 (rotation center). At that time, the center of gravity G is attached to the posture change object 100 so as to be lower than the engagement holes 42 and 52 (first latching portions).

  When the posture change object 100 is lifted by the first cord-like members 110 and 120 and the second cord-like member 130 via the brackets 20 and 30 with the above configuration, the rotary bar 40 is rotated around the axes 44 and 54 (rotation centers). And the engagement holes 42 and 52 (first latching portions) are positioned vertically upward. At this time, the posture change object 100 is rotated in a predetermined rotation direction because the center of gravity G is positioned below the engagement holes 42 and 52 (first hooking portions) at the moment when the posture change object 100 is lifted. try to. That is, the rotation direction when lifting the posture change object 100 can be set to a fixed direction. Further, the posture change target object 100 is rotated by the second cord-like member 130 that is latched by the engagement holes 46 and 56 (second hooking portions) to rotate the posture change target object 100 in the determined rotation direction. I can stop. Therefore, the posture change object 100 can be lifted by the first cable members 110 and 120 and the second cable members 130 via the brackets 20 and 30 in a stable state.

(5) In the posture changing device 10, the posture changing object 100 is an industrial robot. As a result, the posture of the industrial robot can be easily changed and attached after the posture is changed.
(6) The brackets 20 and 30 of the posture changing device 10 have insertion holes 24a and 34a (insertion portions) into which the forks of the forklift can be inserted, respectively. As a result, when the posture change object 100 is inverted, the fork lift fork is inserted into the insertion holes 24a and 34a (insertion portions) of the brackets 20 and 30, and the posture change object 100 in the inverted state is transported. can do.

  (7) In the usage method of the posture changing device, the brackets 20 and 30 of the posture changing device 10 are attached to both side surfaces of the posture changing object 100, respectively. In addition, in the state where the first cord-like members 110 and 120 are latched in the engagement holes 42 and 52 (first latching portions) of the rotary bars 40 and 50 of the brackets 20 and 30, and one of the engagement holes 46. The second cord-like member 130 is hooked on the (second hooking portion). In this state, the posture changing object 100 is lifted by the first cable members 110 and 120 and the second cable members 130 via the brackets 20 and 30.

  Then, by loosening the support of the second cord-like member 130 with respect to the bracket 20, the posture change object 100 is left to its own weight until the posture is stabilized around the shafts 44 and 54 (rotation centers) of the rotary bars 40 and 50. Rotate. Further, the second cord-like member 130 is re-hanged from the one engagement hole 46 (second latching portion) to the engagement hole 48 (third latching portion). Then, by lifting the second cord-like member 130 hanged around the engagement hole 48 (third latching portion), the posture change object 100 is moved around the shafts 44 and 54 (rotation centers) of the rotation bars 40 and 50. The posture is changed until the posture change object 100 is rotated to a predetermined posture. According to this method, the posture change of the posture change object and the attachment after the posture change can be facilitated.

(Second Embodiment)
Next, a second embodiment will be described with reference to FIGS. In the posture change device 10 of the second embodiment, the same or corresponding configurations as those of the first embodiment are denoted by the same reference numerals, detailed description thereof is omitted, and different configurations are described.

In the first embodiment, as shown in FIG. 7B, the posture is changed by rotating the rear part of the posture change object 100 downward from the state of being lifted by the posture changing device 10.
In the present embodiment, when the posture of the posture change target object 100 is changed, the front portion of the same posture change target object 100 as that of the first embodiment can be rotated downward in a suspended state.

  Specifically, the posture changing device 10 is composed of a pair of brackets 20A and 30A. During the configuration of the bracket 20 of the first embodiment, the bracket 20A is opposite to the first embodiment in the shape of the side plate 25 and the positional relationship between the rotary bar 40, the engagement hole 46, and the engagement hole 48. However, it is different.

  That is, in this embodiment, as shown in FIG. 12, the rotating end of the rotating bar 40 is rotatably supported by the shaft 44 at the lower part of the rear portion of the side plate 25. At the free end of the rotating bar 40, an engagement hole 42 as a first hooking portion is provided. Further, as shown in FIG. 12, the upper portion of the front portion of the side plate 25 protrudes upward at a portion offset forward from the shaft 44, and an engagement hole 46 as a second hooking portion is formed through this upper end. Has been.

  Further, as shown in FIG. 12, a projecting piece 47 is fixed to the lower portion of the front end of the cylindrical portion 24 so as to protrude downward so as to be positioned below the engagement hole 46. An engaging hole 48 as a third hooking portion is formed through the tip of the projecting piece 47. The engagement hole 48 is set so that the engagement hole 46 is positioned above the rotation position of the engagement hole 46 when the engagement hole 46 is positioned at a rotation position immediately below the shaft 44 that is the rotation center of the rotation bar 40. Has been. The positional relationship between the center of gravity G and the engagement holes 42 and 46 is the same as that in the first embodiment. The other configuration of the bracket 20A is the same as that of the first embodiment, and the mounting configuration for the posture change object 100 is also the same as that of the first embodiment.

Next, the configuration of the bracket 30A of the present embodiment will be described with reference to FIG.
In the present embodiment, as shown in FIG. 13, the rotating end of the rotating bar 50 is rotatably supported by a shaft 54 at the lower part of the rear portion of the side plate 35. When the brackets 20 and 30 are attached to the opposite sides of the posture change object 100, the shaft 54 is set so as to be coaxial with the shaft 44. At the free end of the rotary bar 50, an engagement hole 52 as a first hooking portion is provided. Further, as shown in FIG. 13, the upper portion of the front portion of the side plate 35 protrudes upward at a portion offset forward from the shaft 54, and an engagement hole 56 as a second hooking portion is formed through this upper end. Has been.

  Further, as shown in FIG. 13, a projecting piece 57 is fixed to the lower portion of the front end of the cylindrical portion 34 so as to protrude downward so as to be positioned below the engagement hole 56. An engaging hole 58 as a third hooking portion is formed through the tip of the projecting piece 57. The engagement hole 58 is set to be positioned above the rotation position of the engagement hole 56 when the engagement hole 56 is positioned at a rotation position immediately below the shaft 54 that is the rotation center of the rotation bar 50. Has been. The positional relationship between the center of gravity G and the engagement holes 52 and 56 is the same as in the first embodiment. Moreover, the other structure of the bracket 30A is the same as that of 1st Embodiment, and the attachment structure with respect to the attitude | position change target object 100 is also the same as that of 1st Embodiment.

(Operation of Second Embodiment)
The usage method in the case of reversing the posture change object 100 configured as described above is the same as in the first embodiment. That is, the first cord-like members 110 and 120 are latched in the engagement holes 42 and 52 of the rotary bars 40 and 50, and the second cord-like member 130 is latched in at least one of the engagement holes 46 and the engagement holes 56. After that, the same procedure as in the first embodiment may be performed, and the description is omitted.

  Next, in the second embodiment, a case in which the posture of the posture change object 100 is suspended from the ceiling instead of being reversed will be described with reference to FIG. FIG. 14 shows a case where the wall 400 is θ = 90 ° with respect to the floor surface Fa.

  When it is desired to suspend such a wall 400, it is lifted by a crane (not shown) to a height at which the posture change object 100 can rotate from the floor as shown in FIG. From this state, the operator adjusts the length of the second cable-shaped member 130 with the cable-shaped member lifting / lowering device 134 so as to increase the length of the second bar-shaped member 130 around the axes 44 and 54 of the rotary bars 40 and 50. The object 100 is rotated by its own weight. In the present embodiment, the posture change target object 100 rotates downward from the front side. Then, as illustrated in FIG. 14, the worker rotates the posture change target object 100 to a posture in which the base 102 is parallel to the wall surface of the wall 400.

  In this state, the crane is moved to move the base 102 of the posture change target object 100 to the wall 400, and then the base 102 of the posture change target object 100 is fixedly attached to a mounting base (not shown) provided on the wall 400. And put it on the wall.

  Thereafter, the operator lowers the crane downward to loosen the tension of the first rope-like members 110, 120 and the second rope-like member 130, thereby engaging the hooks with the respective engagement holes 42, 48 (58), 52. Remove from. Thereafter, the worker removes the brackets 20 and 30 of the posture changing device 10 from the posture changing target 100.

The said 2nd Embodiment has an effect similar to 1st Embodiment.
In addition, this invention is not limited to the said embodiment, You may comprise as follows.

  -In 1st Embodiment, as shown to Fig.6 (a) and FIG.6 (b), the lower end of the 2nd cord-like member 130 is engaged with the engagement hole 46 (2nd hooking hook) of one bracket 20 via the hook 132. It was latched against (stopping part). Instead of this, the lower end of the second cord-like member 130 may be latched to the engagement hole 56 (second latching portion) of the bracket 30 via the hook 132.

  In the first embodiment, the number of the second cord-like members 130 is one, but two are prepared, and the lower ends of the respective second cord-like members 130 are connected to the engagement holes of the bracket 20 and the bracket 30 via the hooks 132. You may latch with respect to each of 46 and 56 (2nd latching | locking part).

  A hoist may be used instead of the chain block as the cord-like member lifting device 134 of the first embodiment. Further, the chain block and the hoist may be manual or electric.

  -Although the 1st latching part of the said embodiment, the 2nd latching part, and the 3rd latching part were used as the engagement hole, you may change into a hook. In this case, for example, instead of the hook 112 and the hook 132, for example, a ring is used so that they can be hooked together.

  In the first embodiment, the posture change target object is such that the center of gravity of the posture change target object is positioned between the shafts 44 and 54 of the rotary bars 40 and 50 and the engagement holes 46 and 56 (second latching portions). Brackets 20 and 30 were attached to 100. Instead of this configuration, the bracket 20 is arranged such that the center of gravity G of the posture change object 100 is further distal than the engagement holes 46 and 56 (second latching portions) from the rotation center of the rotation bars 40 and 50. , 30 may be attached to the posture change object 100.

  In this case, the center of gravity G of the posture change object 100 is more distal than the engagement hole 46 until the second cord-like member 130 is reapplied from the engagement hole 46 to the engagement hole 48. For this reason, when the length of the second cable-shaped member 130 is adjusted to be increased, the load applied to the second cable-shaped member 130 is larger than that of the first embodiment from the lever principle. This is fine.

  -In 1st Embodiment, although the predetermined attitude | position was made into the attitude | position reversed 180 degree | times, since the state which the attitude | position change target object 100 uses is various according to a user's wish, it is limited to the attitude | position reversed 180 degree | times. It is not a thing. For example, the posture in the state of FIG. 7B may be a predetermined posture.

  -In addition, in 1st Embodiment and 2nd Embodiment, the front-back relationship was set with the position of the reference | standard when using the attitude | position change target object 100 on the basis of the top view of FIG. It should be noted that this front-rear relationship may be reversed when the posture change object 100 has different specifications. In this case, “front”, “rear”, “left”, “right” Please change the reading to the opposite word.

  In the first embodiment and the second embodiment, the posture changing object 100 may be inverted 180 degrees by the posture changing device 10 with reference to the posture in a state where the posture changing target 100 is placed on the floor surface. It is something that can be done. Therefore, projecting pieces 47 and 57 and engagement holes 48 and 58 are provided. However, in FIG. 14, when the posture change object 100 is hung on a wall having an obtuse angle such that the angle of the wall 400 is 180 ° <θ <90 °, the projecting pieces 47 and 57 and the engagement hole 48 are provided. , 58 are not used, these may be omitted.

10 ... posture changing device,
20 ... Bracket, 22 ... Bracket body,
24a ... insertion hole (insertion part), 25 ... side plate,
30 ... Bracket, 32 ... Bracket body,
34a ... insertion hole (insertion part), 35 ... side plate,
40 ... Rotating bar, 42 ... Engagement hole (first latching portion), 44 ... Shaft (rotation center),
46 ... engagement hole (second latching part), 48 ... engagement hole (third latching part),
50 ... Rotating bar, 52 ... Engagement hole (first latching portion), 54 ... Shaft (center of rotation),
56 ... engaging hole (second hooking portion), 58 ... engaging hole (third hooking portion),
100 ... posture change object, 110, 120 ... first cord-like member,
130 ... second cord-like member, 300 ... forklift, 400 ... wall,
G: Center of gravity.

Claims (3)

Industrial robots,
A pair of brackets attached to both sides of the industrial robot ;
A pair of rotating bars each having a rotating end and a free end, wherein the rotating end is rotatably provided with respect to the pair of brackets, and the first cord-like member can be hooked on the free end. A rotating bar with a first latching portion;
A second hooking portion that is provided apart from the rotation center of the rotating bar with respect to each of the pair of brackets, and in which the second cord-like member is detachably hooked;
A third hook portion provided to each of the pair of brackets and detachably attachable to the second cord-shaped member, wherein the bracket rotates in one direction at the rotation center of the rotating bar, and When the second latching portion is located immediately below the center of rotation, the third latching portion is located above the rotational position of the second latching portion ,
The rotation center of the rotation bar provided to be rotatable with respect to the pair of brackets is coaxial,
The center of gravity of the industrial robot is located between the rotation center of the rotation bar and the second hooking portion, and the first hooking portion of the rotation bar is positioned vertically above the rotation center. A hanging structure that is lower than the first hook when being made . Each of the pair of brackets has an insertion portion into which a fork of a forklift can be inserted,
The suspension structure according to claim 1 , wherein the insertion portion is positioned above the center of gravity of the industrial robot when the third hooking portion is positioned vertically above the rotation center.
In the usage method of the suspension structure of Claim 1 or Claim 2 ,
Attaching the pair of brackets to both sides of the industrial robot ;
The first cord-like member is latched on the first latching portion of the rotating bar of the pair of brackets, and the second cord-like member is latched on at least one of the second latching portions. Lifting the industrial robot through the bracket by the first and second cable members in a state;
Rotating the industrial robot around its rotation center at its own weight until the posture is stabilized by loosening the support of the second cord-like member with respect to the bracket;
Re-hanging the second cord-like member from the second hook to the third hook;
By lifting the second cord-like member that is re-hanged on the third latching portion, the industrial robot is rotated around the rotation center of the rotating bar to change the posture of the industrial robot until it reaches a predetermined posture. How to use a suspended structure including stages.