JPH01228786A - Track running robot - Google Patents
Track running robotInfo
- Publication number
- JPH01228786A JPH01228786A JP5671288A JP5671288A JPH01228786A JP H01228786 A JPH01228786 A JP H01228786A JP 5671288 A JP5671288 A JP 5671288A JP 5671288 A JP5671288 A JP 5671288A JP H01228786 A JPH01228786 A JP H01228786A
- Authority
- JP
- Japan
- Prior art keywords
- hand
- tracked
- robot
- pneumatic
- electric
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000009434 installation Methods 0.000 claims description 12
- 230000008054 signal transmission Effects 0.000 claims description 9
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
- B25J15/0491—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof comprising end-effector racks
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】 〔産業上の利用分野〕 本発明は有軌道走行ロボットに関する。[Detailed description of the invention] [Industrial application field] The present invention relates to a tracked robot.
従来、この種の有軌道走行ロボットは、第２図に示す如
く、電気・空圧制御装置１の電気・空圧信号は電気・空
圧制御装置１より有軌道部４に接続された電気接続ケー
ブル２ａ、２ｂ及び空圧接続チューブ３により有軌道部
４を介して有軌道走行ロボット５に伝達される。有軌道
走行ロボット５は有軌道部４上取り付けられ有軌道４上
を走行可能で、電気・空圧制御装置１の電気信号に伴い
有極動部４上を走行しながら動作する。有軌道走行ロボ
ット５の先端にはハンド部８Ｃが取り付けられており電
気・空圧制御装置１の電気・空圧信号に従い、動作・作
業を行う。Conventionally, in this type of tracked traveling robot, as shown in FIG. It is transmitted to the tracked robot 5 via the tracked section 4 by the cables 2a, 2b and the pneumatic connection tube 3. The tracked traveling robot 5 is mounted on the tracked part 4 and can travel on the tracked track 4, and operates while traveling on the polarized moving part 4 in response to electric signals from the electric/pneumatic control device 1. A hand portion 8C is attached to the tip of the tracked traveling robot 5, and operates and works according to electrical and pneumatic signals from the electrical and pneumatic control device 1.
上述した従来の有軌道走行ロボットは、走行ロボット５
とハンド部８がロボット自身により着脱可能な構造にな
っていないため、有軌道走行ロボット５の先端には常時
ハンド部を固定していなければならず、多機能のハンド
部を持つ場合にはハンド部の構造が複雑になり重量も増
大し、有軌道走行ロボットの各軸を駆動するモータに常
時負荷がかかるため、多目的に対応可能なハンド部を取
り付けることが困難であるという欠点がある。The conventional tracked traveling robot described above is the traveling robot 5.
Since the hand part 8 is not designed to be detachable by the robot itself, the hand part must be fixed at the tip of the tracked robot 5 at all times, and if the robot has a multi-functional hand part, the hand part 8 cannot be attached or removed by the robot itself. The disadvantage is that it is difficult to attach a hand part that can be used for multiple purposes because the structure of the part becomes complicated and the weight increases, and the motors that drive each axis of the tracked robot are constantly loaded.
本発明の有軌道走行ロボットは、電気・空圧制御装置と
、有軌道部と、前記電気・空圧制御装置と前記有軌道部
に両端を固定された電気接続ケーブルと、前記電気・空
圧制御装置と前記有軌道部に両端を固定された空圧接続
チューブと、前記有軌道部上に取り付けられ有軌道部を
走行する有軌道走行ロボットと、この有軌道走行ロボッ
トの先端に固定された自動ハンド交換装置と、前記有軌
道部の周辺に設けられたハンド部設置スタンドと、この
ハンド部設置スタンドに載置され前記自動ハンド交換装
置に把持された時に前記電気・空圧制御装置からの空気
・空圧系と接続される電気・空圧信号伝達部を有するハ
ンド部とを含み、前記電気・空圧制御装置の制御により
前記自動交換装置が前記ハンド部設置スタンド上のハン
ド部を把持しさらに把持した前記ハンド部を前記ハンド
部設置スタンド上に戻すことを特徴とする。The tracked traveling robot of the present invention includes an electrical/pneumatic control device, a tracked section, an electrical connection cable having both ends fixed to the electrical/pneumatic control device and the tracked section, and the electrical/pneumatic control device and the tracked section. A control device, a pneumatic connecting tube fixed at both ends to the tracked section, a tracked traveling robot mounted on the tracked section and traveling on the tracked section, and a pneumatic connecting tube fixed to the tip of the tracked traveling robot. an automatic hand exchange device, a hand installation stand provided around the tracked section, and an electric/pneumatic control device that when placed on the hand installation stand and gripped by the automatic hand exchange device; a hand section having an electrical/pneumatic signal transmission section connected to an air/pneumatic system, and the automatic exchange device grips the hand section on the hand section installation stand under the control of the electrical/pneumatic control device. Further, the gripped hand section is returned onto the hand section installation stand.
次に、本発明について図面を参照して説明する。 Next, the present invention will be explained with reference to the drawings.
第１図は本発明の一実施例の斜視図である。電気・空圧
制御装置１は電気接続ケーブル２ａ。FIG. 1 is a perspective view of an embodiment of the present invention. The electrical/pneumatic control device 1 has an electrical connection cable 2a.
２ｂ及び、空圧接続チューブ３を介して有軌道部４に接
続されている。有軌道部４上には有軌道走行ロボット５
が取り付けられており有軌道部４上を走行可能となって
いる。2b and is connected to the tracked portion 4 via the pneumatic connecting tube 3. A tracked traveling robot 5 is placed on the tracked section 4.
is attached so that it can run on the tracked section 4.
有軌道走行ロボット５の先端には自動ハンド交換装置６
が取り付けられており電気・空圧制御装置１の信号は自
動ハンド交換装置６の先端まで伝達される。一方、有軌
道走行ロボット５の外部に置かれた複・数個のハンド部
設置スタンド９ａ。An automatic hand exchange device 6 is installed at the tip of the tracked robot 5.
is attached, and the signal from the electric/pneumatic control device 1 is transmitted to the tip of the automatic hand exchange device 6. On the other hand, a plurality of hand unit installation stands 9a are placed outside the tracked robot 5.
９ｂには上部に電気・空圧信号伝達部７ａ、７ｂが固定
されたハンド部８ａ、８ｂが載置されている。Hand portions 8a and 8b having electric/pneumatic signal transmitting portions 7a and 7b fixed thereon are mounted on the upper portion of the hand portion 9b.
次に、動作について説明する９
電気・空圧制御装置１より電気接続ケーブル２ａ、２ｂ
を介して有軌道部４に伝達される電気信号により有軌道
走行ロボット５は有軌道部４上を走行しながら動作する
。さらに、有軌道走行ロボット５に取り付けられた自動
ハンド交換装置６により有軌道走行ロボット５がハンド
部設置スタンド９ａ、９ｂ上に置かれたハンド部８ａ、
８ｂをつかむことにより電気・空圧信号伝達部７ａ。Next, the operation will be explained 9. Electrical connection cables 2a, 2b from electrical/pneumatic control device 1
The tracked traveling robot 5 operates while traveling on the tracked section 4 by electrical signals transmitted to the tracked section 4 via the track section 4 . Further, the hand part 8a, in which the tracked robot 5 is placed on the hand part installation stands 9a, 9b by the automatic hand exchange device 6 attached to the tracked robot 5,
By grasping 8b, the electric/pneumatic signal transmission section 7a.
７ｂを介し電気・空圧制御装置１の電気及び空圧信号が
ハンド部８ａ、８ｂに伝達され、有軌道走行ロボット５
はハンド部８ａ、８ｂのいずれかを選択することにより
必要な作業を行うことが可能である。The electric and pneumatic signals from the electric and pneumatic control device 1 are transmitted to the hand parts 8a and 8b via 7b, and the tracked robot 5
It is possible to perform necessary work by selecting either hand portion 8a or 8b.
自動ハンド交換装置６と電気・空圧信号伝達部７ａ、７
ｂの接続回路はハンド部８ａ、８ｂの違いによらず共通
であるためハンド部の数にかかわらず有軌道走行ロボッ
ト５内部の自動ハンド交換装置への配線・配管の本数が
最少ですみ、また、有軌道走行ロボット５に固定された
自動ハンド交換装置６により電気・空圧信号伝達部７ａ
、７ｂを介し、電気及び空圧信号がハンド部８ａ、８ｂ
に伝達されるため、有軌道走行ロボット５の動作距離に
かかわらずハンド部８ａ、８ｂの有軌道走行ロボット５
への配線・配管が不要であり有軌道走行ロボット５への
配線・配管のからみつきが無い。Automatic hand exchange device 6 and electric/pneumatic signal transmission parts 7a, 7
Since the connection circuit b is common regardless of the difference between the hand parts 8a and 8b, the number of wiring and piping to the automatic hand exchange device inside the tracked robot 5 is minimized regardless of the number of hand parts. , an electric/pneumatic signal transmission section 7a is transmitted by an automatic hand exchange device 6 fixed to the tracked robot 5.
, 7b, electrical and pneumatic signals are sent to the hand parts 8a, 8b.
Therefore, regardless of the operating distance of the tracked robot 5, the tracked robot 5 of the hand parts 8a and 8b
There is no need for wiring and piping to the tracked robot 5, and there is no tangle of wiring and piping to the tracked robot 5.
以上説明したように本発明は、有軌道走行ロボット先端
に自動ハンド交換装置を取り付け、ハンド部に固定され
た電気・空圧信号伝達部より電気及び空圧信号が伝達さ
れるため、有軌道走行ロボット外部に設置された複数の
ハンド部を作業にあわせて選択することが可能であるた
め、多目的な作業に対応可能である。As explained above, in the present invention, an automatic hand exchange device is attached to the tip of a tracked traveling robot, and electric and pneumatic signals are transmitted from an electrical and pneumatic signal transmission unit fixed to the hand part, so that the robot can travel on a tracked robot. Since it is possible to select a plurality of hand sections installed outside the robot according to the task, it is possible to handle multi-purpose tasks.
また、自動ハンド交換装置及び電気・空圧信号伝達部は
ハンド部が交換されても共通の電気・空圧回路が使用さ
れるので、有軌道走行ロボット内部のハンド部用の配線
・配管が最少ですみ、電気・空圧信号伝達部よりハンド
部に電気・空圧信号が伝達されるのでハンド部の有軌道
走行ロボットへの余分な配線・配管のひき回しが不要で
ロボットへの配線・配管のからみつきが無いといったす
ぐれた効果がある。In addition, the automatic hand exchange device and electric/pneumatic signal transmission unit use a common electric/pneumatic circuit even if the hand unit is replaced, so wiring and piping for the hand unit inside the tracked robot is minimized. Since electrical and pneumatic signals are transmitted from the electrical and pneumatic signal transmission section to the hand section, there is no need to run extra wiring or piping from the hand section to the tracked robot. It has an excellent effect of not getting entangled.
第１図は本発明の一実施例の斜視図、第２図は従来の有
軌道走行ロボットの斜視図である。
１・・・電気・空圧制御装置、２ａ、２ｂ・・・電気接
続ケーブル、３・・・空圧接続チューブ、４・・・有軌
道部、５・・・有軌道走行ロボット、６・・・自動ハン
ド交換装置、７ａ、７ｂ・・・電気・空圧信号伝達部、
８ａ、８ｂ・・・ハンド部、９ａ、９ｂ・・・ハンド部
設置スタンド。FIG. 1 is a perspective view of an embodiment of the present invention, and FIG. 2 is a perspective view of a conventional tracked robot. DESCRIPTION OF SYMBOLS 1... Electric/pneumatic control device, 2a, 2b... Electrical connection cable, 3... Pneumatic connection tube, 4... Tracked part, 5... Tracked traveling robot, 6...・Automatic hand exchange device, 7a, 7b...electric/pneumatic signal transmission section,
8a, 8b...Hand part, 9a, 9b...Hand part installation stand.
Claims (1)
御装置と前記有軌道部に両端を固定された電気接続ケー
ブルと、前記電気・空圧制御装置と前記有軌道部に両端
を固定された空圧接続チューブと、前記有軌道部上に取
り付けられ有軌道部を走行する有軌道走行ロボットと、
この有軌道走行ロボットの先端に固定された自動ハンド
交換装置と、前記有軌道部の周辺に設けられたハンド部
設置スタンドと、このハンド部設置スタンドに載置され
前記自動ハンド交換装置に把持された時に前記電気・空
圧制御装置からの空気・空圧系と接続される電気・空圧
信号伝達部を有するハンド部とを含み、前記電気・空圧
制御装置の制御により前記自動交換装置が前記ハンド部
設置スタンド上のハンド部を把持しさらに把持した前記
ハンド部を前記ハンド部設置スタンド上に戻すことを特
徴とする有軌道走行ロボット。an electrical/pneumatic control device, a track section, an electrical connection cable having both ends fixed to the electrical/pneumatic control device and the track section, and an electrical connection cable having both ends fixed to the electrical/pneumatic control device and the track section; a pneumatic connection tube to which is fixed; a tracked traveling robot that is mounted on the tracked section and runs on the tracked section;
An automatic hand exchange device fixed to the tip of the tracked robot, a hand installation stand provided around the track section, and a hand installation stand placed on the hand installation stand and held by the automatic hand exchange device. and a hand section having an electric/pneumatic signal transmission section connected to the air/pneumatic system from the electric/pneumatic control device when the electric/pneumatic control device controls the automatic exchange device. A tracked traveling robot characterized by gripping a hand portion on the hand portion installation stand and returning the gripped hand portion onto the hand portion installation stand.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5671288A JPH01228786A (en) | 1988-03-09 | 1988-03-09 | Track running robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5671288A JPH01228786A (en) | 1988-03-09 | 1988-03-09 | Track running robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH01228786A true JPH01228786A (en) | 1989-09-12 |
Family
ID=13035093
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5671288A Pending JPH01228786A (en) | 1988-03-09 | 1988-03-09 | Track running robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH01228786A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0556374U (en) * | 1991-12-28 | 1993-07-27 | 株式会社河原 | Robot traveling device with traveling platform of upward traveling structure |
| US5311659A (en) * | 1993-08-09 | 1994-05-17 | Chrysler Corporation | Apparatus for installing instrument panel assemblies in automotive vehicle bodies |
| CN108453718A (en) * | 2018-04-26 | 2018-08-28 | 德州职业技术学院（德州市技师学院） | A kind of mechanical arm and manufacturing method for automobile assembling workshop gripper accessory |
| CN111571288A (en) * | 2020-05-26 | 2020-08-25 | 湖南广播电视大学（湖南网络工程职业学院） | Industrial robot with replaceable fixture |
-
1988
- 1988-03-09 JP JP5671288A patent/JPH01228786A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0556374U (en) * | 1991-12-28 | 1993-07-27 | 株式会社河原 | Robot traveling device with traveling platform of upward traveling structure |
| US5311659A (en) * | 1993-08-09 | 1994-05-17 | Chrysler Corporation | Apparatus for installing instrument panel assemblies in automotive vehicle bodies |
| CN108453718A (en) * | 2018-04-26 | 2018-08-28 | 德州职业技术学院（德州市技师学院） | A kind of mechanical arm and manufacturing method for automobile assembling workshop gripper accessory |
| CN111571288A (en) * | 2020-05-26 | 2020-08-25 | 湖南广播电视大学（湖南网络工程职业学院） | Industrial robot with replaceable fixture |
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