JP7449742B2 - Industrial robot transport trolley - Google Patents

Description

One embodiment of the present invention relates to a trolley for transporting an industrial robot. One embodiment of the invention disclosed in this specification relates to a trolley for transporting a welding robot as one aspect of an industrial robot.

Industrial robots are used to automate work in various industries, such as the manufacturing industry that manufactures automobiles, electronic parts, food products, etc., and the construction industry that constructs buildings. An industrial robot includes a manipulator having a plurality of arms and wrists connected to each other, and a control device that controls the operation of the manipulator. Industrial robots are usually used for specific purposes using equipment (also called "effectors") attached to the end of the manipulator's wrist. For example, a welding robot has been disclosed as one aspect of an industrial robot (see Patent Document 1).

Japanese Patent Application Publication No. 2015-006683

Some industrial robots are installed and operated at a predetermined location in a factory, while others are used while moving around a work site, such as at a construction site. It is conceivable to use a transport trolley to move industrial robots, but it may be difficult to balance transport and on-site work. For example, if an industrial robot is placed at a high position on a transport vehicle, it will protrude upward and may collide with a beam, ceiling, etc. during transport. On the other hand, if the industrial robot is placed at a low position on the carrier, the operating position of the industrial robot will be too low, resulting in a decrease in work efficiency.

An object of an embodiment of the present invention is to provide a transportation trolley that does not impair the safety of transportation of an industrial robot and the workability at a destination.

The transport cart for an industrial robot according to an embodiment of the present invention has a first top plate installed on the upper part of the cart body, the first top plate is connected to the first top plate by a hinge, and the bottom surface of the first top plate is connected to the first top plate by a hinge. It has a foldable second top plate and a manipulator installed on the second top plate. The manipulator is disposed above the truck body when the second top plate is opened, and is housed between the first top plate and the truck body when the second top plate is folded.

The transport cart for an industrial robot according to an embodiment of the present invention has a first top plate installed on the upper part of the cart main body, and is connected to the first top plate by a hinge, and the upper surface side of the first top plate is connected to the first top plate by a hinge. and a second top plate rotatably provided so as to be located on the lower surface side of the first top plate, and a manipulator installed on the second top plate. When the second top plate is placed above the first top plate, the manipulator is placed above the first top plate, and the second top plate is placed below the first top plate. At this time, the manipulator is housed between the first top plate and the trolley body.

An industrial robot transport cart according to an embodiment of the present invention includes: a first top plate installed on the top of the cart body; a pedestal installed on the cart body and having an upper end lower than the first top plate; An arm member whose one end is rotatably fixed to the frame, a stopper that fixes the rotational position of the arm member, a second top plate attached to the other end of the arm member, and a second top plate installed on the second top plate. and a manipulator. The heights of the second top plate and the manipulator are adjusted on the trolley body by rotation of the arm members.

According to the transport vehicle for an industrial robot according to an embodiment of the present invention, the industrial robot can be mounted at a high position and can be stored at a safe height during transport.

1 shows cross-sectional views of a transport vehicle for an industrial robot according to an embodiment of the present invention, in which (A) is a state in which the industrial robot is stored, and (B) is a state in which the industrial robot is installed at the height of the first top plate. Indicates the state in which 1 shows a plan view of a transport vehicle for an industrial robot according to an embodiment of the present invention, in which (A) shows a state in which a manipulator is stored, and (B) shows a state in which the manipulator is installed at the height of a first top plate. . 1 shows cross-sectional views of a transport vehicle for an industrial robot according to an embodiment of the present invention, in which (A) shows a state in which a manipulator is stored, and (B) shows a state in which the manipulator is installed on the upper surface side of a first top plate. . 1 shows a plan view of a transport vehicle for an industrial robot according to an embodiment of the present invention, in which (A) shows a state in which a manipulator is stored, and (B) shows a state in which the manipulator is installed on the upper surface side of a first top plate. . 1 shows the configuration of a transport vehicle for an industrial robot according to an embodiment of the present invention, in which (A) shows a cross-sectional view of a state in which a manipulator is accommodated, and (B) shows a plan view thereof. 1 shows the configuration of a transport vehicle for an industrial robot according to an embodiment of the present invention, and (A) and (B) show cross-sectional views of a state in which a manipulator is installed at a predetermined height.

DESCRIPTION OF THE PREFERRED EMBODIMENTS The details of embodiments of the present invention will be described below with reference to the drawings and the like. However, the present invention includes many different aspects and should not be interpreted as being limited to the contents of the embodiments illustrated below. In order to make the explanation clearer, the drawings may schematically represent the width, thickness, shape, etc. of each part compared to the actual aspect, but this is only an example and does not limit the content of the present invention. It's not something you do. In addition, in this specification, when an element depicted in a drawing and an element depicted in another drawing are the same or have a corresponding relationship, the same reference numerals (or numbers written as codes) are used. A reference numeral (with a, b, etc.) added thereto may be used to omit repeated explanations as appropriate. Furthermore, the characters ``first'' and ``second'' for each element are convenient signs used to distinguish each element, and have no further meaning unless otherwise specified.

In some embodiments shown below, a welding robot is used as an example of an industrial robot. However, one embodiment of the present invention is not limited to welding robots, but can be applied to various industrial robots. An embodiment of the present invention can be applied to various industrial robots including a manipulator having a plurality of arms, joints (also referred to as "joints"), and wrists connected to each other.

[First embodiment]
A transport vehicle according to an embodiment of the present invention will be described in detail. The carrier according to this embodiment has a foldable top plate on the main body of the carrier, and has the function of storing an industrial robot and being able to install the industrial robot in a state where it can be operated. Industrial robots that can be transported by the transport vehicle according to this embodiment include arc welding robots, spot welding robots, screwing robots, laser cutting robots, plasma cutting robots, and the like.

FIGS. 1(A) and 1(B) show side views of a transport vehicle 100 for an industrial robot according to this embodiment. Moreover, FIGS. 2(A) and 2(B) show plan views of the transport vehicle 100 of the industrial robot according to the present embodiment. 1(A) and FIG. 2(A) show a first state in which a manipulator 200 included in an industrial robot is housed in a transport vehicle 100, and FIG. 1(B) and FIG. A second state is shown in which the manipulator 200 included in the robot is placed on the transport vehicle 100. In the following description, reference will be made to these drawings as appropriate.

As shown in FIGS. 1(A) and 1(B), and FIGS. 2(A) and 2(B), the carrier 100 includes a carrier body 102, a support 108, a first top plate 110, a second The top plate 112 and the support member 120 are included. The trolley body 102 includes a base 104 and casters 106 attached to the base 104. The transport cart 100 has casters 106 whose mounting shafts are rotatable, and the transport cart 100 can be moved freely forward and backward, diagonally, and left and right by human power or by power if powered by a motor or the like. Can move. Further, the caster 106 may be provided with a stopper (not shown).

The first top plate 110 is supported by a support 108 erected on the top of the base 104. The first top plate 110 is arranged above the base 104 and so as to overlap with the base 104. The base 104 and the first top plate 110 are spaced apart from each other so that the manipulator 200 can be accommodated therebetween. It is preferable that the pillars 108 are arranged corresponding to the four corners of the base 104, but the number of pillars 108 may be increased and erected in the center of the base 104 or in the area between the pillars at both ends. By arranging the four pillars 108 on the base 104, the first top plate 110 can be stably supported, and the space between the base 104 and the first top plate 110 can be effectively utilized. be able to. Furthermore, by increasing the number of columns 108, the load capacity of the first top plate 110 can be increased.

Note that in the transport vehicle 100, the first top plate 110 may be supported by a side plate erected on the base 104 instead of the pillar 108. Furthermore, the transport vehicle 100 may have a structure in which the first top plate 110 is supported by combining the pillars 108 and side plates.

A second top plate 112 is attached to the first top plate 110. The second top plate 112 is movable, and as shown in FIGS. 1(A) and 2(A), ), and a second state in which the first top plate 110 is placed outside, as shown in FIGS. 1(B) and 2(B). It is set up so that it can be taken. For example, the second top plate 112 is attached to the first top plate 110 by a hinge 114. The hinge 114 has an end along one side of the back side of the first top plate 110 (the second side or the side of the truck body side) and an end along the back side of the second top plate 112 (the second side). , or the end along one side of the bogie body side). With such an attachment structure, the transport vehicle 100 can be placed in the first state in which the second top plate 112 is folded onto the back side (second surface side, the surface side facing the truck body) of the first top plate 110. It can take two states: and a second state where it is installed outside the first top plate 110.

As shown in FIGS. 1(B) and 2(B), when the second top plate 112 is installed outside the first top plate 110, it may be supported by a support member 120. The support member 120 may be provided on the truck body 102 or may be attached to the column 108 as shown. For example, the support member 120 is a rod-shaped or plate-shaped member, and the other end is attached to the support column 108 with a pin or the like so that the tip can move up and down. The other end of the support member 120, which is pinned to the support column 108, is attached at a lower position than the second top plate 112 (preferably near the center of the support column 108), so that when the second top plate 112 is installed, , the second top plate 112 can be supported from the back surface side (the second surface side or the surface side on the trolley body side). By providing the support member 120, the transport vehicle 100 can maintain a horizontal state when the second top plate 112 is installed.

When the second top plate 112 is stored as shown in FIGS. 1(A) and 2(A), the support member 120 may be stored with the tip thereof lowered to the side of the truck body 102. Further, the support member 120 may be configured as a telescoping or foldable member. For example, the support member 120 may be a multi-stage telescopic arm member or a foldable arm member whose arm is folded by a joint. By using such a member, the support member 120 can be stored compactly in the transport vehicle 100.

The first top plate 110 is provided with a first fixing member 116 on the back side (second side or truck body side). A second fixing member 118 is provided on the second top plate 112 on one side opposite to the side on which the hinge 114 is provided. The first fixing member 116 is provided at a position aligned with the second fixing member 118 when the second top plate 112 is folded. As shown in FIGS. 1(A) and 2(A), when the second top plate 112 is folded to the back side (second side or cart side) of the first top plate 110, The first folded state is maintained by the first fixing member 116 and the second fixing member 118. The first fixing member 116 and the second fixing member 118 may be fixed through pins or may be screwed. By having the first fixing member 116 and the second fixing member 118, the transport vehicle 100 can store the second top plate 112 in a stable state.

A manipulator 200 is installed on the first surface side of the second top plate 112. The manipulator 200 may be fixed to the second top plate 112 or may be installed in a detachable manner. Since the second top plate 112 is movable, by folding the second top plate 112, the manipulator 200 can be attached to the first top plate 110 as shown in FIGS. 1(A) and 2(A). By opening the second top plate 112, the manipulator 200 can be installed on the outside of the first top plate 110 as shown in FIG. 1(B) and FIG. 2(B). can do.

Industrial robots are precision machines and must be handled with care. For example, the motion of a robot arm is generally controlled with an accuracy of 1 mm or less. Therefore, when moving an industrial robot, it is necessary to prevent impact from being applied to the robot arm. In the case of transporting the industrial robot in this embodiment, the industrial robot is placed in the first state stored in the transport vehicle 100, as shown in FIGS. 1(A) and 2(A). Even when transporting an industrial robot at a construction site, factory, or other work site, the manipulator tot 200 is housed in the space inside the transport vehicle 100, so there is no possibility of it colliding with obstacles such as beams, columns, walls, etc. It can be transported safely without any problems. In this case, since the second top plate 112 is fixed by the first fixing member 116 and the second fixing member 118, it is possible to prevent the manipulator 200 from shaking during transportation. Further, since the center of gravity of the transport vehicle 100 is lowered, the transport vehicle 100 can stably turn when traveling on the casters 106.

When driving the industrial robot, the second top plate 112 is opened in the second state as shown in FIGS. 1(B) and 2(B). The manipulator 200 is placed outside the first top plate 110 to ensure a work area. Since the manipulator 200 is installed at a high position, workability can be improved. Further, since the second top plate 112 is supported by the support member 120, the manipulator 200 can be maintained horizontally and can be prevented from flapping due to vibration. Note that the base 104, the pillar 108, the first top plate 110, and the second top plate 112 need to have rigidity in order to support the manipulator 200, and are preferably made of a metal material.

In this embodiment, an arc welding robot is shown as an example of an industrial robot. The arc welding robot includes a manipulator 200, a controller 214 that controls the operation of the manipulator 200, a welding power source 212, a welding torch 211 provided at the tip of the manipulator, a wire supply device 216 that supplies wire to the welding torch 211, and a welding torch 211. It has a gas supply device (not shown) that supplies shielding gas to. The manipulator is provided at the base 202, a first arm part 204a and a second arm part 204b attached to the base 202, a joint part 206 connecting the first arm part 204a and the second arm part 204b, and a tip of the second arm part 204b. The wrist portion 208 includes a wrist portion 208 , and an effector 210 attached to the wrist portion 208 . A welding torch 211 is attached as an effector 210 to the arc welding robot. In the arc welding robot, power is supplied to the welding torch 211 from a welding power source 212, shielding gas is supplied to the welding torch 211 from a gas supply device, and the manipulator 200 is operated by a controller 214 to control the position of the welding torch 211. Welding is performed by

Note that the manipulator 200 may be configured to be removably installed on the second top plate 112, removed at the destination, and installed on another workbench, slider, or the like. Since the transport vehicle 100 allows the manipulator 200 to be installed at a high position (for example, at a position higher than the worker's waist), even when the manipulator 200 is moved from the second top plate 112 to another location, the work can be performed easily. Can be done.

In the transport vehicle 100, a welding power source 212 and a controller 214 may be mounted in a space between the base 104 and the first top plate 110. Further, when the industrial robot is a welding robot, a welding wire supply device 216 may be installed. The center of gravity of the transport vehicle 100 can be balanced by mounting the power source 212, the controller 214, etc. at a position opposite to the attachment position of the second top plate 112.

According to this embodiment, the foldable second top plate 112 is provided on the first top plate 110, and the manipulator 200 is installed on the second top plate 112, so that the manipulator 200 is operated when the transport vehicle 100 is moved. The manipulator 200 can be moved in the first state stored at a safe height, and the manipulator 200 can be installed at a high position during work. This prevents the manipulator 200 from colliding with beams, columns, walls, etc. during transportation, allows the manipulator 200 to be installed at a high position on the transportation vehicle 100, and improves work efficiency.

[Second embodiment]
This embodiment shows an example in which the configuration of the top plate is different from the transport vehicle shown in the first embodiment. In the following description, parts that are different from the first embodiment will be mainly explained.

3(A) and 3(B) show side views of the industrial robot carrier 100 according to the present embodiment. Moreover, FIGS. 4(A) and 4(B) show plan views of the transport vehicle 100 of the industrial robot according to the present embodiment. 3(A) and FIG. 4(A) show the first state in which the manipulator 200 included in the industrial robot is stored in the transport vehicle 100, and FIG. 3(B) and FIG. 4(B) show the first state in which the manipulator 200 included in the industrial robot is A second state is shown in which the manipulator 200 included in the robot is installed on the transport vehicle 100. In the following description, reference will be made to these drawings as appropriate.

As shown in FIGS. 3A and 4A, a hinge 114 is attached to the end E1 of the first top plate 110. A hinge 114 is also attached to the center of the second top plate 112. This mounting structure of the hinge 114 allows the second top plate 112 to rotate in a semicircular arc at the end E1 of the first top plate 110.

A first fixing member 116 is provided on the front surface side (first surface side) of the first top plate 110, and a second fixing member 118 is provided on the back surface side (second surface side). The first fixing member 116 and the second fixing member 118 are each provided at a position adjacent to (or in contact with) an end of the second top plate 112. When the second top plate 112 is in the first state (the state shown in FIG. 3(A)), the front side (first side) faces the ground and the back side (second side) faces the top. , is fixed by the second fixing member 118, and a second state (the state shown in FIG. 3(B)) in which the front side (first side) faces the top and the back side (second side) faces the ground. ), it is fixed by the first fixing member 116. In other words, when the second top plate 112 is in the first state, one end is fixed by the second fixing member 118, and when it is in the second state, the other end is fixed by the first fixing member 116. be done.

The second top plate 112 may be provided with pillars 113 on the back side (second side). As shown in FIG. 3A, in the first state, the pillars 113 keep the second top plate 112 horizontal by contacting the back side (second side) of the first top plate 110. be able to. Further, as shown in FIG. 3(B), in the second state where the manipulator 200 is installed, the pillars 113 are in contact with the front surface side (first surface side) of the first top plate 110, so that the The second top plate 112 can be kept horizontal.

The second top plate 112 is placed at a lower position than the first top plate 110 in the first state, and is placed at a higher position than the first top plate 110 in the second state. Since the manipulator 200 is installed on the surface (first surface) of the second top plate 112, its height changes depending on the state of the second top plate 112. As shown in FIG. 3(A), when the second top plate 112 is in the first state, the manipulator 200 moves between the base 104 and the second top plate 112 (or the first top plate 110). stored in between. As shown in FIG. 3B, when the second top plate 112 is in the second state where it is rotated and located on the upper surface side of the first top plate 110, the manipulator 200 is moved above the first top plate 110. will be placed in A power source 212 and a controller 214 are arranged between the first top plate 110 and the base 104.

In this way, also in this embodiment, the first top plate 110 is fixed and the second top plate 112 is provided so as to be rotatable with respect to the first top plate 110, so that the manipulator 200 can be stored. A first state and a second state in which the manipulator 200 is installed above the first top plate 110 and can be operated can be formed. The production manipulator 200 is placed at a height between the base 104 and the first top plate 110 in the first state, and is placed at a higher position than the first top plate 110 in the second state.

When transporting an industrial robot, by setting it to the first state shown in Figures 3(A) and 4(A), the industrial robot can be transported safely without colliding with obstacles such as beams, columns, walls, etc. be able to. When driving an industrial robot, the second state where the second top plate 112 is above the first top plate 110 is set as shown in FIGS. 3(B) and 3(B). This allows you to secure a work area and improve work efficiency.

In this case, the end E1 of the first top plate 110 to which the hinge 114 is attached is located inside the end E2 of the base 104 on the same side, so that the first state (FIG. A) and FIG. 4(A)), and the second state (FIGS. 3(B) and 4(B)), the second top plate 112 is attached to the base 104 in plan view. It can be prevented from protruding outward. With such a configuration, the transport cart 100 can apply the load on the main body 102 to the inner region of the casters 106, and can stably support the manipulator 200 not only during transport but also during operation. Can be done.

In this embodiment as well, the manipulator 200 may be configured to be removably installed on the second top plate 112, removed at the destination, and installed on another workbench, slider, or the like.

According to the attachment structure of the second top plate 112 in this embodiment, the axis of the hinge 114 and the center of gravity of the manipulator 200 can be aligned, as shown in FIG. 3(B). Thereby, the transport vehicle 100 can maintain stability even when the manipulator 200 is rotated in the horizontal direction.

According to this embodiment, the second top plate 112 that rotates in a semicircular arc is provided at the end of the first top plate 110, and the manipulator 200 is installed on the second top plate 112. When the transport vehicle 100 is moved, the manipulator 200 can be moved in the first state with the manipulator 200 stored at a safe height, and the manipulator 200 can be installed above the first top plate 110 during work. This prevents the manipulator 200 from colliding with beams, columns, walls, etc. during transportation, allows the manipulator 200 to be installed at a high position on the transportation vehicle 100, and improves work efficiency. Furthermore, as described above, since the center of gravity of the manipulator 200 and the rotation axis of the second top plate 112 can be aligned, stability can be maintained even when the manipulator 200 is driven.

[Third embodiment]
This embodiment shows an aspect in which the mounting structure and operation of the second top plate are different from the transport vehicle shown in the first embodiment. In the following description, parts that are different from the first embodiment will be mainly explained.

FIG. 5(A) shows a side view of the industrial robot carrier 100 according to the present embodiment, and FIG. 5(B) shows a plan view thereof. Moreover, FIG. 6(A) and FIG. 6(B) show a state in which the manipulator 200 included in the industrial robot is pulled upward. In the following description, reference will be made to these drawings as appropriate.

The transport vehicle 100 is supported by a first top plate 110 supported by pillars 108, a pedestal 122 provided on a base 104, and an arm member 124 provided on the pedestal 122, on a vehicle body 102. and a second top plate 112. Manipulator 200 is installed on second top plate 112. The pedestal 122 has a height lower than the height of the first top plate 110 and has a width that can accommodate the second top plate 112 and the manipulator 200. Although the structure of the pedestal 122 is arbitrary, it is composed of columns and beams. A portion of the pillars that constitute the pedestal 122 may also serve as the pillars 108 that support the first top plate 110. The frame 122 is fixed to the base 104 to support the manipulator 200. Since the manipulator 200 is lifted onto the pedestal 122 and its height is adjusted, the first top plate 110 is provided so as not to protrude above the pedestal 122.

The frame 122 is provided with arm members 124 on beams provided at the upper portions of the columns. The arm members 124 are provided, for example, at four locations on the upper part of the pedestal 122, and the second top plate 112 is attached to the tip portion. The arm member 124 is provided with rotation axes at the attachment portion to the pedestal 122 and the attachment portion to the second top plate 112, and is rotatably provided around the attachment portion to the pedestal 122.

The pedestal 122 is also provided with a stopper 126 . The stopper 126 includes, for example, a fixing plate 128 attached to the pedestal 122 and a pin (not shown). The arm member 124 and the fixing plate 128 have a through hole 130 on the rotation radius of the arm member 124 through which a pin can be inserted. It is preferable that a plurality of through holes 130 are provided in the fixed plate. Thereby, as will be described later, it becomes possible to fix the rotational position of the arm member 124 and adjust the height of the second top plate 112 (that is, the height of the manipulator 200) in several stages. . Further, in the stopper 126, instead of a through hole, a through groove may be provided in the fixed plate 128 along the rotation radius of the arm member 124. By passing fasteners such as bolts and nuts through the through groove provided in the fixed plate 128 and the through hole provided in the arm member 124 and fastening them, the second top plate 112 is given a height (i.e., the height of the manipulator). ) can be held in any position. As shown in FIG. 5(B), such stoppers 126 are preferably provided on both sides of the pedestal 122, so that the manipulator 200 can be stably held at a predetermined height.

5(A) and 5(B) show a first state in which the second top plate 112 is suspended from the pedestal 122 by the arm members 124 and the manipulator 200 is housed. In this first state, the manipulator 200 is housed so as not to protrude from the trolley body 102 in plan view, and is also housed so as not to protrude from the first top plate 110 in the height direction. The second top plate 112 may be fixed in this state by a locking mechanism (not shown) so that it does not swing.

FIG. 6A shows a state in which the arm member 124 rotates around the mounting position of the pedestal 122, and the rotated position is held at a predetermined angle by a stopper 126. The second top plate 112 is supported while maintaining a horizontal state at a height corresponding to the angle by fixing the arm member 124 at a predetermined angle. The industrial robot 200 is lifted together with the second top plate 112 and placed at a height where the second top plate 112 is held. Since the angle of the arm member 124 can be held at a predetermined angle as described above, the height of the manipulator 200 can be adjusted accordingly. As shown in FIG. 6(B), by vertically erecting the arm member 124, the second top plate 112 and the manipulator 200 can be held at the highest position. In this way, in the transport vehicle 100 according to the present embodiment, the height of the manipulator 200 can be varied by the mechanical operation of the pedestal 122, the arm member 124, and the second top plate 112, and the height of the manipulator 200 can be varied. A mechanism can maintain that height.

Note that FIGS. 6(A) and 6(B) both show a second state in which the manipulator 200 is taken out from the state housed in the pedestal 122 and placed in an operable manner. In the intermediate state shown in FIG. 6(A), the manipulator 200 is slightly protruded from the front of the transport vehicle 100. By utilizing this state, even if there is an obstacle in front of the carrier vehicle 100 and the carrier body 102 cannot be moved, it is possible to bring the manipulator 200 closer to the work target.

Further, the maximum height of the second top plate 112 can be set depending on the length of the arm member 124. For example, as shown in FIG. 6(B), by setting the height of the pedestal 122 to approximately half the length of the support column 108, the second top plate 112 can be made to have approximately the same height as the first top plate 110. You can make it happen. Furthermore, by setting the height of the pedestal 122 to 1/2 or more of the length of the support column 108, the length of the arm member 124 can be increased, and the position of the second top plate 112 can be changed to the position of the first top plate. The height can be higher than 110. Further, by setting the height of the pedestal 122 to 1/2 or less of the length of the support column 108, the length of the arm member 124 can be shortened, and the position of the second top plate 112 can be changed to the position of the first top plate 112. can be lower than the height of As described above, according to the transport vehicle 100 according to the present embodiment, the height of the manipulator 200 can be set structurally by the dimensions of the pedestal 122 and the arm members 124.

In this embodiment as well, the manipulator 200 may be configured to be removably installed on the second top plate 112, removed at the destination, and installed on another workbench, slider, or the like.

In this way, according to the present embodiment, the height of the manipulator 200 can be dynamically varied by the mechanical operations of the pedestal 122, the arm members 124, and the second top plate 112. Furthermore, the height of the manipulator 200 can be structurally controlled by the dimensions of the pedestal 122 and the arm members 124. When the transport vehicle 100 is moved, the manipulator 200 is housed between the frames 122 as shown in FIG. 5, so that the manipulator 200 can be safely transported. In addition, in the transport vehicle 100, the height of the manipulator 200 can be adjusted by the mechanism of the pedestal 122 and the arm member 124, and workability can be improved.

DESCRIPTION OF SYMBOLS 100... Transport truck, 102... Dolly body, 104... Base, 106... Caster, 108... Support column, 110... First top plate, 112... Second Top plate, 113... Pillar, 114... Hinge, 116... First fixing member, 118... Second fixing member, 120... Supporting member, 122... Frame, 124 ...Arm member, 126...Stopper, 128...Fixing plate, 130...Through hole, 200...Manipulator, 202...Base, 204...Arm part, 206...Joint Part, 208... Wrist part, 210... Effector, 211... Welding torch, 212... Power supply, 214... Controller, 216... Wire supply device,

Claims (14)

a first top plate installed on the top of the trolley body;
a second top plate connected to the first top plate by a hinge and foldably provided on the lower surface of the first top plate;
a manipulator installed on the second top plate;
a first fixing member provided on the lower surface of the first top plate;
a second fixing member provided at one end of the second top plate where the hinge is provided and one end of the reflective side;
has
The manipulator is disposed above the truck body when the second top plate is opened, and is arranged between the first top plate and the truck body when the second top plate is folded. stored,
When the second top plate is folded, the first fixing member and the second fixing member maintain the second top plate in a folded state.
A transport vehicle characterized by: The transport vehicle according to claim 1, wherein the hinge is provided at one end of the lower surface of the first top plate and one end of the lower surface of the second top plate. a post that is erected on the truck body and supports the first top plate;
a support member that is provided on the truck body or the support column and supports the second top plate substantially horizontally when the second top plate is opened;
The transport vehicle according to claim 1 or 2, comprising: a first top plate installed on the top of the trolley body;
a second top plate connected to the first top plate by a hinge and rotatably provided so as to be located on the upper side of the first top plate and on the lower side of the first top plate; ,
a manipulator installed on the second top plate;
a first fixing member provided on the lower surface of the first top plate;
a second fixing member provided on the top surface of the first top plate;
has
When the second top plate is placed above the first top plate, the manipulator is placed above the first top plate, and the second top plate is placed above the first top plate. When placed on the lower side, the manipulator is housed between the first top plate and the trolley body,
When the second top plate is placed above the first top plate, the second top plate is fixed by the second fixing member,
When the second top plate is placed below the first top plate, the second top plate is fixed by the first fixing member.
A transport vehicle characterized by: The transport vehicle according to claim 4, wherein the hinge is provided on a side surface of the first top plate and a lower surface of the second top plate. 6. The transport vehicle according to claim 5 , wherein the mounting position of the hinge on the lower surface of the second top plate overlaps with the center of gravity of the manipulator. a first top plate installed on the top of the trolley body;
a pedestal installed on the trolley body and having an upper end lower than the first top plate;
an arm member having one end rotatably fixed to the pedestal;
a stopper that fixes the rotational position of the arm;
a second top plate attached to the other end of the arm;
a manipulator installed on the second top plate;
has
The conveyance trolley is characterized in that the heights of the second top plate and the manipulator are adjusted on the trolley body by rotation of the arm. The second top plate and the manipulator are rotated by the rotation of the arm member,
a first state stored in the pedestal;
a second state in which the second top plate is installed at approximately the same height as the first top plate, and the manipulator is located on the first top plate;
a third state in which the second top plate and the manipulator are located at a height between the trolley body and the first top plate;
8. The transport vehicle according to claim 7 , which can take the following. The stopper includes a fixing plate and a pin,
The fixing plate and the arm member are provided with a through hole through which the pin can be inserted,
9. The transport vehicle according to claim 7 , wherein the arm member is fixed at a rotated position by the pin. The fixing plate has a plurality of through holes along the rotation radius of the arm member,
The carrier according to claim 9 , wherein the rotational position of the arm member is fixed by one of the plurality of through holes. The arm members are provided at at least four locations on the upper part of the pedestal,
The transport vehicle according to any one of claims 9 to 10 , wherein the second top plate is supported by arm members provided at the four locations. 12. The conveying cart according to claim 1, wherein one or both of a power source and a controller for the manipulator are housed between the cart main body and the first top plate. The transport vehicle according to any one of claims 1 to 12 , wherein the manipulator is installed to be detachable from the second top plate. The transport vehicle according to any one of claims 1 to 13 , wherein the manipulator is a welding robot.

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