JPH03279520A - Manipulator for assembling work - Google Patents

Abstract

PURPOSE:To safely and easily conduct accurate positioning and setting by little man power by mounting a finely operable manipulator on the tip of the operating machine of a power shovel to make accurate positioning with the manipulator. CONSTITUTION:A base 10 is fitted to the tip of an arm 6 to fix a manipulator 20. Then a frame 22 is rotatably mounted on the bed 21 of the manipulator 20 to rotate the manipulator 20 by a rotary motor 24. Operating a first arm cylinder 32 causes the oscillation of a first arm 30 with a pin 31 as the center. Also actuating a second arm cylinder 37 results in the transfer of force to a rod 36 to oscillate a second arm 83 with a pin 34 as the center. The position of a hook 38 is finely adjusted by the operations. On the other hand to carrying a member, a hydraulic power shovel is traveled and rotated, and a boom 4 and the arm 6 are actuated after the member is hung with the hook 38.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a manipulator for assembly work, and more particularly to a manipulator for assembly work used in construction and civil engineering work.

[Conventional technology]

Conventionally, when assembling and installing various parts such as humid pipes and stones for retaining walls in fixed positions at construction and civil engineering sites, the parts were lifted using simple chain blocks or human power. The work of installing such heavy components was dangerous and harsh work for the workers, and the work required a long time. In order to improve this, gripping devices and the like are added to machines such as hydraulic power shovels, and the work of installing and installing components is being carried out.

[Problem to be solved by the invention]

However, with the above devices, the weight of the parts can be supported by the machine, but in large machines such as hydraulic power shovels, there is play in various parts and dead zones in the hydraulic control valves, so it is difficult for workers to control the work equipment. It is extremely difficult to fine-tune the tip of the tool and precisely position and install the component. For this reason, installation work that requires the utmost precision often involves lifting and installing components manually, which causes back pain for workers and a shortage of workers.

The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a manipulator for assembly work that allows precise positioning and installation.

[Means to solve the problem]

In order to achieve the above object, the manipulator for assembly work according to the present invention is characterized in that a manipulator capable of precise positioning of assembly members is attached to a part of a power shovel from which a bucket attached to the tip of a working machine is removed. It is said that

[Effect]

According to the above structure, a manipulator that can be finely operated is attached to the tip of the power shovel's work equipment, so when positioning the parts to be assembled, rough positioning is performed by the work equipment of the power shovel, and precise positioning is performed by the manipulator. I can do it.

〔Example〕

Embodiments of the manipulator for assembly work according to the present invention will be described below with reference to the drawings.

FIG. 1 is an overall view of a hydraulic power excavator, in which an upper rotating body 2 is attached to a lower traveling body 1 via a swing bearing 3. As shown in FIG. A boom 4 is pivotally attached to the upper revolving structure 2 so as to swing as a boom cylinder 5 expands and contracts.

An arm 6 is pivotally attached to the tip of the boom 4 so as to swing as an arm cylinder 7 expands and contracts. A bucket 10 is attached to the tip of the arm 6.

FIG. 2 is a detailed view of the tip of the work machine, in which one point of the bucket IO is pivotally attached to the tip of the arm 6 by a pin 14, and the other point of the bucket IO is attached to the link 12 by a pin 15, and the loft It is connected to the bucket cylinder 11 via 13.

FIG. 3 shows a first embodiment of the manipulator for assembly work according to the present invention, in which the aforementioned pins 14 and 15 are removed and the bucket I
O is removed, and then the pedestal 16 is attached using pins 14 and 15. Manipulator 20 fixed to frame 16
A frame 22 is rotatably attached to the bed 21 via a swing bearing 23 and is driven by a swing motor 24.

A first arm 30 is pivotally attached to the frame 22 by a pin 31, and the frame 22 and the first arm 30 are connected to each other by a pin via a first arm cylinder 32. A second arm 33 is attached to a pin 3 at the tip of the first arm 30.
A bell crank 35 is pivotally attached to the frame 22 by a pin 31, and a rod 36 constitutes a four-bar link. The bell crank 35 and the frame 22 are connected by a pin via a second arm cylinder 37, and the second arm 33 has seven hooks 38 at its tip.
is installed. The above-mentioned connecting pin is inserted without any play, and the rotation motor 24 and the first arm cylinder 3
2. The second arm cylinder 37 is operated by a control device that allows fine operation.

Next, the operation will be described. The manipulator 20 rotates by driving the rotation motor 24. When the first arm cylinder 32 is actuated, the first arm 30 swings about the pin 31. When the second arm cylinder 37 is actuated, force is transmitted to the rod 36 via the bell crank 35, and the second arm 33 swings about the pin 34. By performing the above operations, the position of the seven hooks 38 can be finely adjusted.

To transport the component, hang the component with the hook 38 and then
Hydraulic power excavator running, turning, boom 4, arm 6
, and transport it to near the fixed position. Next 6: Operate the manipulator 20 as described above to finely adjust the position of the member and install it in the fixed position.

FIG. 4 shows a second embodiment of the present invention, in which a bracket 41 of a manipulator 40 is attached to the tip of an arm 6 of a power shovel using pins 14 and 15.

A first arm 42 is rotatably attached to the bracket 41, and a swing motor 43 that can be finely operated is attached to the first arm 42. A second arm 44 is rotatably attached to the tip of the first arm 42, and a swing motor 45 that can be finely operated is attached to the second arm 44.

A winch 46 is attached to the tip of the second arm 44 so that the hook 47 can be finely manipulated up and down. Fine adjustment of component position is the first step.
The position on the plane is adjusted by rotating the arm and the second arm, and the position in the height direction is adjusted by operating the winch 46.

FIG. 5 shows a third embodiment, in which a bracket 51 of a manipulator 50 is attached to a pin 14 at the tip of an arm 6 of a power shovel.
．． Attach using 15. The rail 5 is attached to the bracket 51.
The arm 53 having a
is equipped with a swing motor 54 that can be operated finely. rail 5
2 is equipped with a traveling winch 55 which is movable laterally on the rail and which can finely operate seven claws 56 up and down. Fine adjustment of the position of the member on the plane is made by rotating the arm 53 and using the traveling winch 5.
The horizontal movement of the winch 55 is performed, and the height direction position is performed by the vertical movement of the winch 55.

FIG. 6 shows a fourth embodiment, in which the arm 6 of a power shovel
A bracket 61 is attached to the tip of the bracket 61 using pins 14 and 15, and a manipulator 60 having a gripping mechanism is pivoted to the tip of the bracket 61 so as to be swingable. The manipulator 60 has a main body 62 built-in a rotation motor that can be operated finely, and a clamp 63 at the lower end. The upper end of the main body 62 and the bracket 61 are connected via a swing cylinder 65. Fine adjustment of the member position is performed by gripping the member with the clamp 63 and then operating the swing motor and swing cylinder 65 to swing and swing the member.

〔Effect of the invention〕

As detailed above, the present invention has a manipulator that can be operated finely at the tip of the working machine of a hydraulic power excavator.
When precisely positioning and installing heavy components during construction and civil engineering work, workers can operate a hydraulic power shovel to transport the heavy components to a predetermined location, and then operate a manipulator to make fine adjustments. Precise positioning and installation can be performed safely and easily by hand.

[Brief explanation of drawings]

Fig. 1 is an overall view of a hydraulic power shovel Fig. 2 is an external view of the working machine portion of a hydraulic power shovel Fig. 3 is an external view of a first embodiment of the manipulator of the present invention Fig. 4 is a second embodiment of the present invention External view of the example Fig. 5 is an external view of the third embodiment of the present invention Fig. 6 is an external view of the fourth embodiment of the present invention 6...Arm 10...Bucket 14 .15... Pin 16... Frame 21... Bed 22... 1/7 frame 23... Swivel bearing 24... Swivel motor 30. ...First arm 32...TA1 arm cylinder 33...
・Second arm 35... Bell crank 36... Rod 37... Second arm cylinder 41... Bracket 42... First arm 44...Second arm 43.45...Swivel motor '46...Winch 52...Rail 53...Bracket 54... Swing motor 55... Traveling winch 61... Bracket 62... Main body, clamp, swing cylinder

Claims (1)

[Claims] A manipulator for assembly work, characterized in that a manipulator capable of precise positioning of assembly members is attached to a part of a power shovel from which a bucket attached to the tip of a working machine is removed.