JPH0423281U

JPH0423281U -

Info

Publication number: JPH0423281U
Application number: JP6458290U
Authority: JP
Priority date: 1990-06-19
Filing date: 1990-06-19
Publication date: 1992-02-26

Description

[Brief explanation of drawings]

第１図〜第５図はこの考案の壁面作業用ロボツ
トのアーム先端構造の一実施例にかかり、第１図
は全体の斜視図、第２図は右側面図、第３図はア
ームモジユール先端の部分平面図、第４図及び第
５図は駆動機構部分の斜視図である。第６図はこ
の考案の壁面作業用ロボツトの制御装置の全体構
成図である。１０……壁面作業用ロボツト、１１……上部移
動機構、１３……仮設横行レール、１４……横行
トロリー、１５……ワイヤ、１６……巻取機、２
０……Ｘ軸モジユール、３０……Ｙ軸モジユール
、４０……Ｚ軸モジユール、５０……アームモジ
ユール（アーム）、６０……β軸モジユール（切
換機構）、６２……ＡＣサーボモータ、６３……
ツールブラケツト、６４……真空吸着パツド、６
５……自動工具交換装置、６６……超音波センサ
、６８……スプロケツト、６９……チエーン、７
０……固着装置、７６……真空吸着パツド、７７
……ＡＣサーボモータ、８０……制御装置、８１
……コントローラ、８８……パソコン、９１……
工具。 Figures 1 to 5 show one embodiment of the arm tip structure of the wall work robot of this invention, with Figure 1 being an overall perspective view, Figure 2 being a right side view, and Figure 3 being an arm module. The partial plan view of the tip and FIGS. 4 and 5 are perspective views of the drive mechanism. FIG. 6 is an overall configuration diagram of the control device for the wall work robot of this invention. DESCRIPTION OF SYMBOLS 10... Robot for wall work, 11... Upper moving mechanism, 13... Temporary traversing rail, 14... Traversing trolley, 15... Wire, 16... Winding machine, 2
0...X-axis module, 30...Y-axis module, 40...Z-axis module, 50...Arm module (arm), 60...β-axis module (switching mechanism), 62...AC servo motor, 63 ……
Tool bracket, 64...Vacuum suction pad, 6
5... Automatic tool changer, 66... Ultrasonic sensor, 68... Sprocket, 69... Chain, 7
0...Fixing device, 76...Vacuum suction pad, 77
... AC servo motor, 80 ... Control device, 81
... Controller, 88 ... Computer, 91 ...
tool.

Claims

[Scope of Claim for Utility Model Registration] (1) A tool changer for a work tool and a vacuum suction pad for fixing the arm are attached to the tip of the arm of a robot for wall work that is movable along the work surface with a movable arm and a movable leg. An arm tip structure of a robot for wall surface work, characterized in that the arm tip structure is provided via a switching mechanism that can be switched to. (2) Two vacuum suction pads for arm fixation are installed at the end of the arm of the fixing device for a robot for wall work that can move along the work surface via a rotation axis perpendicular to the work wall surface so that the suction position can be changed. The arm tip structure of a robot for wall work is characterized by: