JPH0666978U - Arm rotation type work device - Google Patents

Abstract

(57) [Summary] [Purpose] The purpose is to rotate the arm so that the contact between the working part provided on the distal arm and the proximal arm can be avoided without reducing the strength of each arm. To provide a device. [Structure] A bifurcated arm support portion is provided at a tip end portion of the base end side arm to rotatably support the base end portion of the tip end side arm around a rotation axis orthogonal to the arm longitudinal direction in a fitted state. And a working portion is provided at a tip end portion of the tip end side arm in a state of protruding in the rotation axis direction, and the tip end side arm has a tip end portion in a projecting direction of the work portion rather than a base end portion. An arm rotation type working device which is formed in a curved shape so as to be positioned.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 According to the present invention, a bifurcated arm support portion is provided at the distal end portion of the proximal end side arm for supporting the proximal end portion of the distal end side arm in a fitted state so as to be rotatable around a rotation axis that is orthogonal to the arm longitudinal direction. The present invention relates to an arm rotation type working device, wherein a working portion is provided at a tip end portion of the tip end side arm in a state of protruding in the rotation axis direction.

[0002]

[Prior art]

 In the arm rotation type working device, the working unit is attached to the distal end portion of the distal end side arm via the shaft body, and when the distal end side arm is rotated, the working unit is attached to the proximal end side arm. Need to avoid contact with. Therefore, conventionally, as shown in FIG. 5, the length of the shaft body 31 fixed to the working portion 4 is increased, or, as shown in FIG. 6, the base end portion 3b of the distal end side arm 3 is provided. In the bifurcated arm supporting portion 2a that supports the arm 2, the thickness of the arm supporting portion 2a on the working portion 4 side is reduced so that a gap α is provided between the working portion 4 and the base end side arm 2. It

[0003]

[Problems to be solved by the device]

 However, when the arm is rotated, the centrifugal force or the inertial force of the working unit 4 acts in the horizontal direction with respect to the shaft body 31. Therefore, these forces are transmitted via the shaft body 31 to the tip side arm 3. This acts on a bearing (not shown) that supports the shaft body 31 of the tip portion 3a, so that the force acting on the bearing increases as the shaft body 31 becomes longer. Therefore, in the conventional arm rotation type working device as shown in FIG. 5, since the length of the shaft supporting the working part is long, the shaft is supported by the working part when the arm is rotated. There is a problem that the force acting on the bearing is increased and, as a result, the strength of the bearing is reduced. Further, in the conventional arm rotation type working device as shown in FIG. 6 described above, since the thickness of the arm supporting portion 2a is thin, there is a problem that the strength of the arm supporting portion 2a is reduced. The present invention has been made in view of the above circumstances, and an object thereof is to avoid contact between the working unit provided on the distal arm and the proximal arm without reducing the strength of each arm. An object of the present invention is to provide an arm rotation type working device capable of doing the above.

[0004]

[Means for Solving the Problems]

 The arm rotation type working device of the present invention supports the base end part of the distal end side arm in a fitted state so that the base end part of the tip end side arm is rotatable around a rotation axis perpendicular to the arm longitudinal direction. A bifurcated arm supporting part is provided, and the working part is provided at the tip of the tip side arm in a state of protruding in the direction of the pivot axis, One characteristic configuration is that the distal end side arm is formed in a curved shape so that the distal end portion is located in the projecting direction of the working portion rather than the base end portion. A second characteristic configuration is that the distal-side arm is formed in a curved shape in which a longitudinal-direction distal-side portion is bent in a projecting direction of the working portion with respect to a proximal-side portion.

[0005]

[Action]

 According to the first characteristic configuration of the present invention, the distal arm is formed in a curved shape so that the distal end portion is located in the projecting direction of the working portion rather than the proximal end portion. It is possible to avoid contact between the working section and the proximal arm without increasing the length of the shaft body that supports the working section provided in the working section. According to the second characteristic configuration, since the distal-side arm is formed in a curved shape in which the longitudinal distal-side portion is bent in the projecting direction of the working portion with respect to the proximal-side portion, the distal-side arm is formed. It is possible to form a portion where the base end side arm and the base end side contact with each other so as not to bend as much as possible. This will be described with reference to FIG. 1. In the figure, f is the distal end side portion in the longitudinal direction, g is the proximal end side portion of the distal end arm 2, h is the distal end arm 3 and the proximal end side arm 2. Shows the contact area. The portion h where the tip side arm 3 and the base end side arm 2 come into contact with each other is formed in a groove shape deeper toward the tip end side arm 3 side in order to reinforce the support strength of the bifurcated arm support portion 2a. There is. Therefore, if the base end side portion g is formed in a curved shape bent in the projecting direction of the working portion 4, the portion h at which the distal end side arm 3 and the base end side arm 2 contact each other projects from the working portion 4. Since it is formed by bending in the direction, the supporting strength of the arm supporting portion 2a is reduced. Therefore, it is possible to form the portion where the distal side arm and the proximal side arm come into contact with each other without bending as much as possible, so that the bifurcated arm support part should not be made as thin as possible, and Contact can be avoided.

[0006]

[Effect of device]

 Therefore, according to the first characteristic configuration, it is possible to avoid contact between the working unit and the base end side arm without increasing the length of the shaft body that supports the working unit, so that the working unit is supported. The present invention provides an arm rotation type working device capable of avoiding contact between the working part and the base end side arm without reducing the strength of the bearing that supports the shaft body. According to the second characteristic configuration, it is possible to avoid contact between the working portion and the base end side arm without thinning the bifurcated arm support portion as much as possible, so that the strength of the bifurcated arm support portion is reduced. It was possible to avoid contact between the working part and the base end side arm.

[0007]

【Example】

 An embodiment in which the arm rotation type working device of the present invention is applied to an article transfer device will be described below with reference to the drawings. As shown in FIG. 1, a transfer device for transferring the articles D stacked on the pallet 5 at a predetermined position onto the conveyor 6 is provided. This transfer device comprises a main body 1, two arms 2 and 3 (base end side arm 2 and tip end side arm 3), and an article support tool 4 as a working unit.

As shown in FIGS. 1 to 3, at the distal end portion of the proximal end side arm 2, the proximal end portion 3 b of the distal end side arm 3 is rotatable around a rotation axis P 2 orthogonal to the arm longitudinal direction. A bifurcated arm support portion 2a is provided for supporting the work portion 4 in a fitted state, and the working portion 4 is provided on the tip portion 3a of the tip side arm 3 in a state of protruding in the direction of the rotation axis P2. The distal arm 3 is formed in a curved shape in which the longitudinal distal portion f is bent in the projecting direction of the working portion 4 with respect to the proximal portion g.

The main body 1 is provided with a bifurcated arm support portion 1a for supporting the base end portion 2b of the base end side arm 2 in a fitted state so as to be rotatable around a rotation axis P1 orthogonal to the arm longitudinal direction. The arm support portion 1a is provided so as to be movable up and down in the guide path 11.

An electric motor M 1 for rotating the base end side arm 2 around the vertical axis P 1 with respect to the arm support part 1 a is regulated in the arm support part 1 a, and a rotation limit of the base end side arm 2 is restricted. An arm receiving portion (not shown) and a micro switch (not shown) for detecting that the base end side arm 2 has rotated just before the rotation limit is provided. The arm support portion 2a includes an electric motor M2 for rotating the distal end side arm 3 around the vertical axis P 2 with respect to the arm support portion 2a, and an arm receiving portion for restricting a rotation limit of the distal end side arm 3. 2c and a micro switch (not shown) for detecting that the tip side arm 3 has rotated just before the rotation limit. An electric motor M3 for operating the working unit 4 is provided at the tip 3a of the tip side arm 3.

The main body 1 is provided with a control device S as a control means for controlling the operation of the electric motors M1, M2, M3 and the elevation of the arm support 1a. Then, the control device S performs a turning operation of the base end side arm 2 and the tip end side arm 3 to the turning limit side based on the detection results of the micro switches provided on the arm support part 1a and the arm support part 2a. The operation of the electric motors M1 and M2 is controlled so as to stop.

As shown in FIG. 4, the article support tool 4 includes a plurality of suction pads 42 that adsorb and support the upper surface of the article D, and a sandwiching portion 41 that sandwiches the article D that is adsorbed and supported by the suction pad 42. A light projecting section 43 that projects light from above the article D and a light receiving section 44 that receives reflected light from the article D are provided. The image signal of the light receiving unit 44 is input to the control device S, and the control device S is configured to determine each position of the article D based on the information from the light receiving unit 44.

The arrangement pattern of the articles D placed on the pallet 5 changes depending on the size of the articles D and the like, but a pattern code is defined for each pattern. When this pattern code is input to the control device S, the control device S raises and lowers the arm support portion 1a and moves the electric motors M1 and M2 so as to transfer the goods D onto the conveyor 6 in a predetermined order. The base end side arm 2 and the tip end side arm 3 are each driven to rotate, and further, the electric motor M3 is driven based on the information from the light receiving section 44 to operate the article support tool 4.

A shaft body 31 is fixed to the article support tool 4, and the distal end portion 3 a of the distal end side arm 3 is configured to support the shaft body 31. By rotating the shaft body 31 by the electric motor M3, the article support tool 4 is rotated, and the article support tool 4 is moved so that the inclination of the article D in the horizontal direction and the inclination of the article support tool 4 are the same. You are operating.

[Other Embodiments] In the above embodiment, the electric motors M1, M2 and M3 are provided to drive the base end side arm 2, the tip end side arm 3 and the article support tool 4. The actuator is not limited to this, and may be performed by another actuator. In the above-described embodiment, the article support tool 4 for supporting the article is provided, but the configuration of the article support tool 4 is not limited to the above-described embodiment, and the article support tool 4 may be configured to support the article by other configurations. May be. In the above embodiment, an example in which the arm rotation type working device of the present invention is applied to the article transfer device is shown, but the invention is not limited to the article transfer device and may be applied to other work devices. You can

It should be noted that reference numerals are added to the claims of the utility model for convenience of comparison with the drawings, but the present invention is not limited to the configurations of the accompanying drawings by the entry.

[Brief description of drawings]

FIG. 1 is a right side view of a working device.

FIG. 2 is a plan view of the working device.

FIG. 3 is a front view of the working device.

FIG. 4 is a side view of the article support tool.

FIG. 5 is a side view of a working device according to a conventional example.

FIG. 6 is a side view of a working device according to a conventional example.

[Explanation of symbols]

 2 base end side arm 2a arm support 3 tip end side arm

Claims (2)

[Scope of utility model registration request] 1. A base end portion of a front end side arm (3) is supported by a front end portion of a base end side arm (2) in a fitted state so as to be rotatable around a rotation axis that is orthogonal to the arm longitudinal direction. A bifurcated arm support portion (2a) is provided, and a working portion (4) is provided at the tip end portion of the tip end side arm (3) in a state of protruding in the rotation axis direction, A working device, wherein the distal arm (3) is formed in a curved shape so that the distal end arm (3) is located in the protruding direction of the working part (4) rather than the proximal end part. . 2. The working portion (4) of the distal arm (3) is such that the distal end portion in the longitudinal direction of the arm (3) with respect to the proximal end portion.
The arm-rotating work device according to claim 1, wherein the arm-rotating work device is formed in a curved shape that is bent in the protruding direction.