JPH0673888A - Plate material sticking device - Google Patents

Abstract

PURPOSE:To improve workability and safety of a plate material sticking device. CONSTITUTION:An arm pressingly moving member is provided so as to bear an elevatable arm 19 from the underside but not perfectly connect to it. Slip rings 22 and rotatable air joints 23 are provided at the rotatable connecting parts of arms 19, 20, 25, 29. Outriggers 6 are fitted to a traveling carriage 2 so as to project sideways and retreat upward by a toggle mechanism. Although external force is applied on a material holder 35, the sticking device 1 is not inclined. It is unnecessary to loosen cables 37b, hoses 37c, and the like at the rotatable connecting parts of the arms 19, 20, 25, 29, and hence they do not interfere with materials on the circumference. Overturn of the sticking device 1 at operation can be prevented by projecting the outriggers 6 sideways, and interference between the traveling carriage 2 and an obstacle on the floor can be avoided during traveling by retreating the outriggers 6 upward.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention lifts a plate-like material such as gypsum board to move it to a predetermined attaching position in a construction work for attaching the inner and outer wall surfaces of a construction site. The present invention relates to a plate-shaped material sticking device that reduces the labor of the user.

[0002]

2. Description of the Related Art As disclosed in Japanese Patent Laid-Open No. 1-94163, a plate-shaped material having a self-propelled traveling vehicle, an arm that is driven up and down by an air cylinder, and a material suction device attached to the arm. A sticking device has been proposed. When carrying out the work of sticking the inner and outer wall surfaces using the plate-shaped material sticking device, after moving the plate-shaped material sticking device to a predetermined work place, the work is carried out as follows. First, a plate-shaped material such as gypsum board is adsorbed and held by the material adsorption device. Then, the air cylinder is driven to raise the arm and lift the material suction device and the plate-shaped material in the vertical direction. Also,
Change the direction of the material adsorber and the plate-shaped material and move them horizontally. Then, the arm is operated to adjust the position in the vertical direction and the horizontal direction so that the plate-shaped material held by the material suction device is aligned with a predetermined attaching position, and nailing the plate-shaped material is performed. .

[0003]

Since such a plate-shaped material sticking device is used in a cluttered place such as a construction site, when moving the plate-shaped material sticking device, an obstacle on the floor may be removed. There is a high possibility that they will interfere with each other, and when the arm and material suction device are moved during the sticking work, the electrical cables, air hoses, etc. will interfere with the materials placed in the vicinity. Further, it is difficult to accurately position the material suction device and the plate-shaped material at a predetermined sticking position by operating the arm by driving an air cylinder or the like. Therefore, the plate-like material held and fixed to the material adsorber is brought into contact with the floor or the like to guide the plate-shaped material that is held and fixed to the material adsorber by the external force of the plate-shaped material sticking device. If it is attempted to accurately align the material with a predetermined sticking position, the entire plate-shaped material sticking apparatus is tilted, and there is a risk that the board-shaped material sticking apparatus may fall over.

In view of the above circumstances, it is an object of the present invention to provide a plate-shaped material sticking device with improved workability and safety.

[0005]

The present invention provides a support base (2).
And has arms (19, 20, 2) on the support base (2).
5, 29) are provided so as to be able to move up and down, and the arm (29) is
A plate-like material holding means (35) is provided, and the support base (2) is provided.
In a form that allows the arm pushing member (17) to push the arm (19) to the side that abuts on the arm (19) and raises the arm (19), and to separate from the arm (19). , The arm pushing member (17) provided reciprocally
(17a, 19a) where the arm and the arm (19) abut
Gap detection means (1) for detecting the presence or absence of a gap in the
7b, 17c) and reciprocating drive means (15, 15a)
In the form of moving the arm pushing member (17),
When the gap detecting means (17b, 17c) detects the generation of a gap at the contact point (17a, 19a) between the arm pushing member (17) and the arm (19), the arm (19). The arm pushing member (17) is connected to the arm pushing member (17) so as to stop the driving of moving the arm pushing member (17) to the side away from the arm pushing member (17).

The present invention also has a traveling carriage (2),
Arms (19, 20, 25, 2) are attached to the traveling carriage (2).
9) is provided so as to be vertically movable, the plate-like material holding means (35) is provided on the arm (29), and the traveling carriage (2) is provided.
In addition, the fall prevention foot (6) is turned so as to project downward to the side of the traveling carriage (2) while moving downward, and to retract upward from the side of the traveling carriage (2) while moving upward. The turning drive means (10c, 11c) is freely provided and is connected to the fall prevention foot (6) through a toggle mechanism (9a, 9c).

The present invention also has a support base (2) on which a plurality of arms (19, 20, 25, 29) rotatably connected to each other can be lifted and lowered. Provided on the arm (29) is a plate-like material holding means (35)
Is provided, the arm (29) is provided with terminal drive means (31a, 35b) for driving the operation panel (36a) and the plate-like material holding means (35), and the support base (2) is provided with
A control device (36b) and a power supply device (36c) are provided, and a slip ring (22) and a rotary air joint (23) are provided in a rotary connection portion between the arms (19, 20, 25, 29), and An operation panel (36a) or end drive means (31a, 35b), and the control device (36
b) or the power supply device (36c) is connected by the linear connecting members (37b, 37c) via the slip ring (22) or the rotary air joint (23).

The numbers in parentheses () indicate the corresponding elements in the drawings for the sake of convenience, and therefore the present description is not limited to the description in the drawings. The same applies to the column of "action" below.

[0009]

With the above structure, the plate-like material holding means (3
5) When an external force acts in a direction that hinders the descent of 5), the arm (1
9) and the arm pushing member (17) are separated from each other, so that the movement of the arm pushing member (17) by the reciprocating driving means (15, 15a) is stopped.

When the fall prevention foot (6) is projected laterally,
The traveling carriage (2) is supported from the lateral side via the toggle mechanism (9a, 9c), and when the fall prevention foot (6) is retracted to the upper side, the gap of the bottom portion of the traveling carriage (2) is enlarged. Act on.

Further, the arms (19, 20, 25, 2)
In the rotary connection part between 9), the linear connection member (37
b, 37c) so that it is not necessary to keep it loose.

[0012]

Embodiments of the present invention will be described below with reference to the drawings. 1 is a front view showing an embodiment of the plate-shaped material sticking apparatus according to the present invention, FIG. 2 is a side view of the plate-shaped material sticking apparatus shown in FIG. 1, and FIG. 3 is a plate-shaped material sticking apparatus shown in FIG. FIG. 4 is a diagram showing an opening / closing drive mechanism of an outrigger (fall prevention foot) in the apparatus, FIG. 4 is a diagram showing an elevation drive mechanism of an elevation arm in the plate-shaped material sticking apparatus shown in FIG. 1, and FIG. 5 is an elevation arm shown in FIG. 6 is a sectional view of the lifting drive mechanism of FIG.
FIG. 7 is a view showing a rotary connection part between the lifting arm and the swing arm and a rotary connection part between the swing arm and the rotary arm in the plate-like material sticking device shown in FIG. 1, and FIG. 7 is a plate in the plate-like material sticking device shown in FIG. It is a figure which shows the rotation drive mechanism of the material holding means.

The plate-shaped material sticking apparatus 1 according to the present invention is shown in FIG.
As shown in FIG. 2, the vehicle has a traveling vehicle 2, and a drive wheel 3 is attached to the right side in the figure on the bottom portion (the lower portion in the figure) of the box-shaped main body 2a of the traveling vehicle 2 and the vehicle is on the left side in the figure. The casters 3b are attached. A motor 3a is fixed to the bottom of the main body 2a, as shown in FIG.
Are connected to the drive wheels 3. A steering wheel 5 is provided on the left side of the main body 2a in FIG. 2, and a steering wheel 5a is connected to an upper portion of the steering wheel 5 in the figure so as to steer the steering wheel 5.

Further, four outriggers (overturn preventing legs) 6 are provided on the right and left sides of the main body 2a of the traveling carriage 2 in FIG. The outrigger 6 has a projecting member 7, and the projecting member 7 moves downward in FIG. 1 from the side surface 2a ′ of the main body 2a to the outside (see FIG.
In the form of projecting in the left-right direction or retreating inward from the side surface 2a 'of the main body 2a while moving upward in FIG. 1, the main body 2a can be swung in the directions of arrows A and B about the swivel axis 7a. It is installed. A roller 7c is attached to the tip of the protruding member 7. As shown in FIG. 3, a link 9a is pivotally attached to the projecting member 7 via a pin 7b, and a link 9c is pivotally attached to the link 9a via a pin 9b. The link 9c is connected to the opening / closing drive shaft 10
Alternatively, the opening / closing drive shaft 11 is fixed to the right end or the left end in FIG. 2, and the links 9a, 9c, etc. form a toggle mechanism. That is, the opening / closing drive shafts 10 and 11 are connected to the main body 2
a is pierced in the left-right direction in FIG. 2 and is rotatably provided in the directions of arrows A ′ and B ′.
Fig. 2 The links 9c of each outrigger 6 on both left and right ends
Is stuck. As shown in FIG. 3, a crank 10a is fixed to the open / close drive shaft 10, and the drive cylinder 1 is attached to the crank 10a via a pin 10b.
A piston rod 10c 'of 0c is pivotally attached, and the drive cylinder 10c is pivotally attached to the main body 2a via a pin 2b. Similarly, the open / close drive shaft 11 has a crank 1
1a is fixed, and the pin 11 is attached to the crank 11a.
via the piston rod 11 of the drive cylinder 11c
c'is pivotally mounted, and the drive cylinder 11c has a pin 2
It is pivotally attached to the main body 2a via c. That is, the drive cylinders 10c and 11c that drive the outriggers 6 are connected to the projecting members 7 of the respective outriggers 6 via the links 9a and 9c that form the toggle mechanism.

In the upper left portion of FIG. 2 of the main body 2a of the traveling carriage 2,
An arm attachment portion 12 is provided. Arm mounting part 12
4 has a turning shaft 13 as shown in FIG. 4, and the turning shaft 13 travels in a form protruding outside (upper in the drawing) and inside (lower in the drawing) of the main body 2a of the traveling carriage 2. It is provided rotatably in the directions C and D with respect to the main body 2a of the carriage 2. The main body 12a of the arm mounting portion 12 is provided at the upper end of the turning shaft 13 in the drawing (upward in the drawing of the main body 2a of the traveling carriage 2).
Is stuck. The ends of the elevating arms 19 and 20 are pivotally attached to the main body 12a via pins 12b and 12c. The lifting arm 19 has a structure in which the roller 1 is arranged above the arm supporting member 17 to be described later.
9a is rotatably mounted. A fixed rod 13a is fixed to the lower end of the turning shaft 13 in the drawing (inside the main body 2a of the traveling carriage 2) so as to extend downward in the drawing.
The motor fixing portion 13b is provided at the lower end of the fixing rod 13a in the figure.
Is fixed, and a motor 15a is fixed to the motor fixing portion 13b as shown in FIG. A ball screw 15 is provided between the swivel shaft 13 and the motor fixing portion 13b.
Are arranged in parallel with the directions of the arrows E ′ and F ′, and the arrows E ″ and F ″ are attached to the swivel shaft 13 and the motor fixing portion 13b.
The ball screw 15 is connected to the motor 15a via a gear 15d, a chain 15c, and a gear 15b. A nut 16a is screwed onto the ball screw 15 so as to be movable up and down in the directions of arrows E'and F ', and a lifting rod 16 is fixed to the nut 16a so as to extend upward in the drawing. The elevating rod 16 extends inside the main body 12a of the arm mounting portion 12 through a through hole 13c formed in the swivel shaft 13, and an arm carrying member is provided at the upper end of the elevating rod 16 in the figure. 17 is fixed. A contact surface 17a is formed on the upper portion of the arm supporting member 17 in FIG. 4, and the arm supporting member 17 contacts the roller 19a of the lifting arm 19 via the contact surface 17a. . Further, the arm supporting member 17 has a contact surface 17a and a roller 1
Photocells 17b, 17 for detecting the presence / absence of the gap 9a
c is fixed in a form arranged on the left and right of the contact surface 17a in FIG.

Lifting arms 19 and 20 mounted on the main body 12a of the arm mounting portion 12 via pins 12b and 12c.
4 extend parallel to each other in the right direction in FIG. 4, and the connecting members 21 are pivotally connected to the tips of the elevating arms 19 and 20 (right side in FIG. 4) via pins 21b and 21c, as shown in FIG. It is worn. Then, as shown in FIG. 1, the main body 12 a of the arm mounting portion 12, the elevating arms 19 and 20, the connecting member 2
1 constitutes a known parallel movement mechanism that moves up and down in the directions of arrows E and F.

A swivel arm 25 is connected to the connecting member 21 so as to extend rightward in FIG. 6 so as to be swivelable in the directions of arrows G and H, and is connected to the rotary connecting portion of the connecting member 21 and the swivel arm 25. Is a slip ring 22, a rotary air joint 23
Is provided. That is, the rotary air joint 23 includes a hollow shaft 23a and a sleeve 23b, the hollow shaft 23a is fixed to the connecting member 21, and the sleeve 23b is fixed to the swivel arm 25. The connecting member 21 and the turning arm 25 are connected in such a manner that the hollow shaft 23a and the sleeve 23b relatively rotate in the directions of arrows G and H.
The hollow shaft 23a has holes 23a ', 23'
a ″ is formed so as to penetrate the inside and outside of the hollow shaft 23a, and the hole-shaped port 23 is formed on the inner peripheral surface of the sleeve 23b.
groove-shaped ports 23b ', corresponding to a', 23a "
The rotor 22a is fixed to the hollow shaft 23a fixed to the connecting member 21. The slip ring 22 slidably contacts the rotor 22a. Shape, hollow shaft 23a and rotor 22a
Is rotatably provided in the directions of arrows G and H,
The slip ring 22 is fixed to the revolving arm 25. At the right end of the swivel arm 25 in the figure, a rotary arm 29 is connected rotatably in the directions of arrows I and J in the form of extending downward in the figure. The slip ring 22 and the rotary air joint 23 are provided in the same manner as the rotary connecting portion of the connecting member 21 and the revolving arm 25. That is, the hollow shaft 23a of the rotary air joint 23 is fixed to the rotary arm 29, and the sleeve 23b is fixed to the turning arm 25. The rotor 22a is fixed to the rotary arm 29, and the slip ring 22 is fixed to the turning arm 25.

As shown in FIG. 2, a large electric device such as a control device 36b is provided inside the main body 2a of the traveling carriage 2, and the operation panel 3 is provided in a holder rotation drive unit 30 described later.
A small electric device such as 6a is mounted. The control device 36b and the operation panel 36a and the like are the electric cables 37b shown in FIG. 1 (note that in the present specification, only the reference numeral 37b is used when a plurality of electric cables are comprehensively shown, In the case of indicating a specific electric cable among a plurality of electric cables, the reference numeral 37b such as the reference numerals 37b1, 37b2, 37b3 and the like with a predetermined numeral added to the end is used.Air hoses 37c, 37c1, The same applies to 37c2 and the like.)
Connected through. That is, the control device 36b and the like and the rotor 22a fixed to the connecting member 21 shown in FIG. 6 are connected by the electric cable 37b1, and the electric cable 37b1 is attached along the elevating arm 19. The two slip rings 22 fixed on both sides of the swivel arm 25 are connected to the electric cable 37b2.
Connected by the electric cable 37b2
Is attached along the turning arm 25. In addition, FIG.
The right slip ring 22 is in contact with the rotor 22a fixed to the rotary arm 29, and the rotor 22a and the operation panel 36a of the holder rotation drive unit 30 are connected to the electric cable 3a.
7b3, the electric cable 37b3
Is attached inside the rotating arm 29. Therefore, when attaching the electric cable 37b for connecting the control device 36b and the like to the operation panel 36a and the like, the slip ring 22
By using the connecting member 21 (the lifting arm 1
9, 20) and the rotary connection part of the swing arm 25 or the rotary connection part of the swing arm 25 and the rotary arm 29,
It is not necessary to suspend the arms 25 and 29 in a loose state like the cable 37b 'shown by the two-dot chain line in FIG. An air supply / discharge device 36c such as a compressor is provided inside the main body 2a of the traveling vehicle 2 as shown in FIG. The air supply / discharge device 36c, the air cylinder 31a of the holder rotation drive unit 30 described later, and the vacuum suction pad 35b of the material holder 35.
Are connected to each other via the rotary air joint 23 by the air hose 37c shown in FIG. That is, the hole-shaped port 23a 'of the hollow shaft 23a fixed to the air supply / discharge device 36c and the connecting member 21 shown in FIG.
c1 is connected, and the air hose 37c is connected.
1 is connected to the hole-shaped port 23a 'from the inside of the hollow shaft 23a, and is attached along the elevating arm 19. The groove ports 23b ', 23b' of the two sleeves 23b fixed to both sides of the swivel arm 25 are connected by an air hose 37c2, and the air hose 37c2 is connected to the outside of each sleeve 23b by a groove. -Shaped port 23b'23b 'and is attached along the swivel arm 25. The hole-shaped port 23a 'of the hollow shaft 23a fixed to the rotary arm 29 and the air cylinder 31a of the holder rotation drive unit 30 are connected by an air hose 37c3. From the inside of the hollow shaft 23a to the hole-shaped port 2
It is connected to 3a 'and is attached inside the rotary arm 29. Further, the air supply / discharge device 36c and the connecting member 21
The hole-shaped port 23a ″ of the hollow shaft 23a fixed to the hollow shaft 23a is connected by an air hose 37c4. The air hose 37c4 is connected from the inside of the hollow shaft 23a to the hole-shaped port 23a ″, and is moved up and down. It is attached along the arm 19. Then, the grooved ports 23 of the two sleeves 23b, 23b fixed to both sides of the swivel arm 25.
b ″ and 23b ″ are connected by an air hose 37c5, and the air hose 37c5 is connected to the sleeve 2
It is connected to the grooved ports 23b ″, 23b ″ from the outside of 3b and is attached along the revolving arm 25. Further, the hole-shaped port 23a ″ of the hollow shaft 23a on the side fixed to the rotating arm 29 and the vacuum suction pad 3 of the material holder 35.
5b and the like are connected by an air hose 37c6. The air hose 37c6 is connected from the inside of the hollow shaft 23a to the hole-shaped port 23a "and is attached inside the rotary arm 29. , Air supply and discharge device 3
When attaching the air hose 37c for connecting the 6c to the air cylinder 31a, the vacuum suction pad 35b, etc., the rotary air joint 23 is used to connect the connecting member 2
1 (rotating arms 19 and 20) and the rotary connecting portion of the swing arm 25, or the rotary connecting portion of the rotary arm 25 and the rotary arm 29, so as not to hinder the swing or rotation of the arms 25 and 29. Hose 37 shown by the dashed line
It is not necessary to suspend in a loose state like c '.

The main body 30a of the holder rotation drive unit 30 is fixed to the lower end of the rotary arm 29 in FIG. Body 30
An air cylinder 31a is fixedly installed at a, and a rack 31 is connected to the air cylinder 31a so as to project and retreat in the directions of arrows K'and L '. Also, the main body 30a
The rotary member 32 is attached to the arrow K, L via the pin 30b.
It is provided so that it can rotate in any direction. In the rotating member 32,
The gear 32a is fixed, and the gear 32a meshes with the rack 31. Then, at the lower end of the rotating member 32 in the figure, the holder mounting member 33 is provided with a pin 32b,
The rotary member 32 is provided so as to be slightly swingable. A material holder 35 is detachably fixed and attached to the holder attachment member 33. As shown in FIG. 1, the material holder 35 has a frame 35a, and the frame 35a has a vacuum suction pad 35b for vacuum-sucking the plate material 40 and a hook for mechanically gripping the plate material 40. A holding member 35c formed in a shape is provided.

Since the plate-shaped material sticking apparatus 1 according to the present invention has the above-mentioned structure, when the plate-shaped material sticking apparatus 1 is used for sticking work on inner and outer wall surfaces, as shown in FIG. First, the holder rotation drive unit 30 is stored and mounted on the traveling carriage 2 with the material holder 35 removed. Further, from the state in which the projecting member 7 of each outrigger 6 of the traveling vehicle 2 is opened and projected to the outside (lateral side) of the main body 2a shown by the solid line in FIG. The main body 2a is swung back to the inside of the main body 2a while being raised and closed. That is, the drive cylinders 10c and 11c are driven to retract the piston rod 10c 'and project the piston rod 11c' to rotate the opening / closing drive shafts 10 and 11 in the arrow B'direction via the cranks 10a and 11a. Let Then, the links 9c and 9a bend around the pin 9b, and the projecting member 7 revolves in the direction of the arrow B in the form of retracting inside the main body 2a. Next, the motor 3a is driven to move the plate-shaped material sticking apparatus 1 to a predetermined work place. In order to retract the outriggers 6, it may be possible to retract the outriggers 6 in the horizontal direction. However, by retracting each outrigger 6 in the vertical direction as described above, the clearance of the bottom portion of the main body 2a of the traveling carriage is reduced. Since it is possible to prevent the bottom portion of the traveling carriage 2 from interfering with an obstacle (such as a door portion) on the floor, the plate-shaped material sticking apparatus 1 can be easily moved and work efficiently. Can be done.

When the plate material sticking apparatus 1 is moved to a predetermined work place, the traveling carriage 2 is stopped and then the traveling carriage 2 is stopped.
The projecting member 7 of each of the outriggers 6 is opened from the state in which the projecting member 7 is closed and retracted to the inside of the main body 2a shown by the dashed line in FIG. Then, the side surface 2a of the main body 2a is projected to the outside (lateral side). That is, by driving the drive cylinders 10c and 11c,
The piston rod 10c 'is projected and the piston rod 11c' is retracted to rotate the opening / closing drive shafts 10, 11 in the arrow A'direction via the cranks 10a, 11a. Then, the bent links 9c and 9a linearly extend, and the projecting member 7 swivels in the direction of arrow A so as to project to the outside (lateral side) of the side surface 2a of the main body 2a. By thus projecting the outriggers 6 from the main body 2a, the plate-shaped material sticking device 1 can be prevented from falling. At this time, since the connection between the projecting member 7 of the outrigger 6 and the opening / closing drive shafts 10 and 11 is configured through the toggle mechanism including the links 9a and 9c, the drive cylinder 1
A small driving force of 0c and 11c is sufficient, and
The plate-shaped material sticking apparatus 1 can be reliably supported from the side by the outriggers 6.

Next, as shown in FIG. 7, the material holder 35 is mounted on the holder rotation drive unit 30 in such a manner that the frame 35a portion is fixed to the holder mounting member 33 of the rotating member 32 with bolts or the like. Then, when the plate-shaped material 40 placed at a predetermined position is lifted, the operator holds the material holder 3
Arm mounting part 1 in the form of grasping part 5 and pushing it manually
2 is appropriately swung in the directions of arrows C and D in FIG.
5 is rotated in the directions of arrows G and H to horizontally move the material holder 35 to a predetermined position where the plate-shaped material 40 is placed. Further, the rotating arm 29 is appropriately rotated in the directions of the arrows I and J by human power so that the (longitudinal and lateral) orientation of the material holder 35 matches the (vertical and lateral) orientation of the plate-like material 40 to be held. Further, the operator operates the operation panel 36a of the holder rotation drive unit 30 to drive the air cylinder 31a, and rotates the material holder 35 in the direction of the arrow L.
As shown by the dotted chain line, the vacuum suction pad 35b and the gripping member 35c of the material holder 35 are directed downward (toward the plate-shaped material 40 to be held), and the motor 15a is driven to raise and lower the arms 19, 20. In the direction of arrow F.
That is, when the rack 31 is moved in the arrow L'direction by the air cylinder 31a shown in FIG. 7, the rotation member 32 and the material holder rotation drive rotation drive unit 3 are moved via the gear 32a.
0 rotates in the direction of arrow L. In addition, the motor 1 shown in FIG.
5a is rotated in the direction of the arrow F ", and the ball screw 15 is rotated in the direction of the arrow F" via the gear 15b, the chain 15c, and the gear 15d. It descends in the direction of arrow F '. Then, the rollers 19a shown in FIG. 4 follow the arm carrying member 17, and the elevating arms 19 and 20 descend in the direction of arrow F due to their own weight and the weight of the arms 25 and 29, the material holder 35, and the like. The lifting arms 19 and 2
Since 0 is moved up and down in the directions of arrows E and F electrically using the ball screw 15, the motor 15a, etc., the positioning can be performed more accurately than when an air cylinder or the like is used. Further, the main body 12a to which the elevating arms 19 and 20 are attached, the motor 15a, the ball screw 15, the elevating rod 16 and the like integrally rotate in the directions of arrows C and D, so that the arm supporting member 17 and the roller 19a are armed. It is possible to prevent the elevating arms 19 and 20 from being inadvertently moved up and down in the directions of arrows E and F by always contacting at the same position regardless of the rotation of the mounting portion 12 and the like in the directions of arrows C and D.
Then, as shown by a two-dot chain line in FIG.
The plate-shaped material 40, and the plate-shaped material 40 is sucked by the vacuum suction pad 35b or mechanically gripped by the gripping member 35c.
To hold.

When the plate-shaped material 40 is held by the material holder 35, the operator operates the operation panel 36a to drive the motor 15a to raise the elevating arms 19 and 20 in the direction of the arrow E to move the material holder. 35 and the plate-shaped material 40 are lifted, and the material holder 3 is driven by the air cylinder 31a.
1 is turned downward from the state shown in FIG. 1 by 90 ° in the direction of arrow K to raise the material holder 35 and the plate-shaped material 40 upright as shown by the solid line in the figure. That is, by rotating the motor 15a shown in FIG. 5 in the direction of arrow E ″, the gear 15b and the chain 15
When the ball screw 15 is rotated in the arrow E ″ direction via the gear c and the gear 15d, the lifting rod 16 and the arm supporting member 17 are raised in the arrow E ′ direction via the nut 16a,
As the roller 19a shown in FIG. 4 is pushed, the elevating arms 19 and 20 ascend in the arrow E direction against gravity. In addition, the rack 3 is installed by the air cylinder 31a shown in FIG.
When 1 is moved in the arrow K'direction, the rotary member 32, the material holder 35, and the plate-shaped material 40 rotate in the arrow K direction via the gear 32a. Then, the worker uses the material holder 3
Arm mounting part 1 in the form of grasping part 5 and pushing it manually
2 is appropriately swung in the directions of arrows C and D in FIG.
5 is appropriately rotated in the directions of arrows G and H to move the material holder 35
And the plate-shaped material 40 is moved horizontally to a predetermined sticking position. Further, the rotation arm 29 is appropriately rotated manually in the directions of the arrows I and J so that the orientations of the material holder 35 and the plate-shaped material 40 are aligned (in parallel) with the direction of the wall to which the plate-shaped material 40 is attached. Let

As described above, the raising and lowering arms 19 and 20 are raised and lowered, the arm mounting portion 12 or the turning arm 25 is turned,
Alternatively, by rotating the rotating arm 29, the material holder 35
1 is moved or rotated, the cable 37b 'and the hose 37 in a loosened state as shown by the two-dot chain line in FIG.
If c'is present, it may interfere with surrounding materials. However, as described above, in the present invention, the operation panel 36a and the like by the electric cable 37b and the control device 3 are used.
6b or the like, or the air cylinder 31a or the like by the air hose 37c and the air supply / discharge device 36c are connected via the slip ring 22 or the rotary air joint 23, so that the electrical cable 37b or the air There is no slack in the hose 37c, and it is possible to prevent the hose 37c from interfering with surrounding materials and the like, and it is possible to perform work safely and efficiently. The material holder 35 can be moved in the horizontal direction by turning the arm mounting portion 12 or the turning arm 25, so that the traveling carriage 2 can be stopped in one place and moved over a predetermined range. It can be pasted.

Next, in order to accurately align the plate-shaped material 40 with a predetermined sticking position, the arm mounting portion 12, the swivel arm 25, and the rotary arm 29 are pushed in the horizontal direction by a manual force so that the arm mounting portion 12, the swivel arm 25, and the rotary arm 29 are arrowed. C, D direction, arrow G, H direction, arrow I,
The position of the material holder 35 and the plate-shaped material 40 is adjusted by swiveling and rotating in the J direction, and in the vertical direction, the operation panel 3
The positions of the material holder 35 and the plate-shaped material 40 are adjusted by lowering the elevating arms 19 and 20 little by little in the direction of arrow F while operating the motor 6a by operating 6a. Then, when the plate-shaped material 40 is positioned at a predetermined attachment position, the plate-shaped material 40 is nailed or the like to separate the plate-shaped material 40 from the material holder 35.

When lowering the elevating arms 19 and 20 in the direction of arrow F, as already described, the motor 1 shown in FIG.
By rotating 5a in the direction of arrow F ″, the elevating rod 16 and the arm carrying member 17 are lowered in the direction of arrow F ′. At this time, the phototubes 17b and 17c shown in FIG. It is detected whether the surface 17a and the roller 19a of the elevating arm 19 are separated from each other to generate a gap, and when the photoelectric tubes 17b and 17c detect the generation of the gap between the contact surface 17a and the roller 19a. , The rotation drive of the motor 15a in the arrow F ″ direction is automatically stopped (regardless of the operation state of the operation panel 36a), and the lowering of the arm carrying member 17 in the arrow F ′ direction is stopped. In this case, the rotational drive of the motor 15a in the direction of the arrow E ″ is not limited and can be performed by operating the operation panel 36a.
When the generation of the gap is not detected by 17c, the rotational driving of the motor 15a in the arrow E "and F" directions is not limited. That is, the arm 15
Is lowered in the direction of arrow F ', and the raising and lowering arms 19, 20 are being lowered in the direction of arrow F, the plate-like material 40 held and fixed to the material holder 35 hits the guide means such as the floor. When they come into contact with each other, the elevating arms 19 and 20 can no longer descend in the arrow F direction. At this time, if the arm supporting member 17 is completely connected to the elevating arm 19, the movement of the arm supporting member 17 in the arrow F'direction by the motor 15a guides the floor surface or the like acting on the plate-shaped material 40. The external force (reaction force) from the means in the direction of arrow E acts on the traveling carriage 2 via the material holder 35 and the arms 29, 25 and 19, and the whole plate-shaped material sticking apparatus 1 tilts. However, in the present invention, as shown in FIG. 4, since the arm carrying member 17 and the elevating arm 19 are not completely connected but only in contact with each other, the material holder 3
When the plate-like material 40 in the state of being held and fixed to the plate 5 comes into contact with the guide means such as the floor surface so that the elevating arm 19 cannot descend in the direction of arrow F, even if the arm supporting member 17 moves in the direction of arrow F '. By separating the contact surface 17a of the moving arm supporting member 17 from the roller 19a of the elevating arm 19,
It is possible to prevent the entire plate-shaped material sticking apparatus 1 from tilting, and it is possible to perform work safely. Further, when the plate-shaped material 40 is nailed or the like while being held and fixed to the material holder 35, the plate-shaped material 40 and the material holder 35 may move, and in this case, the arm supporting member 17 and the lifting arm. Although the plate-shaped material sticking apparatus 1 as a whole is further inclined when 19 and 19 are completely connected to each other, the plate-shaped material sticking apparatus 1 can be separated from the lifting arm 19 by the arm-carrying member 17 as in the present invention. It is possible to prevent the entire material sticking device 1 from tilting. As described above, when the elevating arm 19 cannot descend in the direction of the arrow F and the contact surface 17a of the arm supporting member 17 and the roller 19a of the elevating arm 19 separate from each other to generate a gap, the arm supporting member by the motor 15a immediately. Since the downward movement of 17 in the direction of arrow F'is automatically stopped, the distance between the contact surface 17a and the roller 19a can be kept to a minimum. Then, when the plate-shaped material 40 that has been nailed and the like is separated from the material holder 35, the material holder 35 and the arms 29, 25, 20, and 19 fall in the direction of arrow F by their own weight, and the roller 19a of the elevating arm 19 is removed. , Abuts on the abutting surface 17a of the arm carrying member 17, which has been separated. That is, the plate material 40 and the material holder 3
When the 5 is separated, the material holder 35 and the arm 29,
25, 20, and 19 drop by a height corresponding to the distance between the roller 19a of the elevating arm 19 and the contact surface 17a of the arm carrying member 17. At this time, as described above, since the distance between the roller 19a and the contact surface 17a is the minimum, the material holder 35 and the arms 29, 25, 2
The height at which 0 and 19 fall is extremely small, and the plate-shaped material 40
When the material holder 35 and the material holder 35 are separated from each other, the material holder 35 and the arms 29, 25, 20, and 19 can be prevented from rapidly descending, and the work can be performed safely.

[0027]

As described above, according to the present invention, a support base for the traveling carriage 2 and the like is provided, and the lift bases 19 and 20, the swing arm 25, and the rotating arm 29 are provided on the support base. And a plate-like material holding means such as a material holder 35 are provided on the arm, and an arm pushing member such as an arm carrying member 17 is brought into contact with the arm on the support base to raise the arm. The arm pushing member such as the contact surface 17a, the roller 19a and the like is provided at a contact position between the arm and the contact surface 17a, the roller 19a, etc. Gap detecting means such as photoelectric tubes 17b and 17c for detecting the presence or absence of a gap is provided, and reciprocating driving means such as a ball screw 15 and a motor 15a are used to move and drive the arm pushing member and the gap detecting means. By When the generation of a gap at the contact portion between the arm pushing member and the arm is detected, the movement of the arm pushing member to the side away from the arm is stopped, Since it is configured to be connected and configured, when an external force acts in a direction that prevents the plate-shaped material holding means from descending, the arm and the arm pushing member are separated from each other,
The movement of the arm pushing member by the reciprocating driving means is stopped.
Accordingly, when the arm and the arm pushing member are separated from each other, when the plate-shaped material 40 held by the plate-shaped material holding means is brought into contact with the guide means such as the floor surface or when nailing or the like is performed. Since the external force does not act on the support base side from the plate-shaped material 40, it is possible to prevent the plate-shaped material sticking device 1 from tilting, and it is possible to perform the work safely. Further, when the arm and the arm pushing member are separated from each other, the movement of the arm pushing member by the reciprocating driving means is stopped, so that the gap between the arm and the arm pushing member can be minimized. When separated from the plate-shaped material holding means, it is possible to prevent the plate-shaped material holding means and the arm from suddenly descending, and the work can be performed safely.

Further, the present invention has a traveling carriage 2, and the traveling carriage 2 is provided with lifting arms 19 and 20, and a swing arm 2.
5, an arm such as a rotating arm 29 is provided so as to be vertically movable,
The arm is provided with a plate-shaped material holding means such as a material holder 35, and the traveling carriage 2 has fall prevention feet such as an outrigger 6 which project downward to the side of the traveling carriage 2 while moving downward. The drive cylinder 10c is provided so as to be rotatable so as to move backward to the side of the traveling carriage 2 while moving to
Since the turning drive means such as 11c is connected to the fall prevention foot via the toggle mechanism such as the links 9a and 9c, the traveling carriage 2 toggles when the fall prevention foot is projected laterally. When the fall-prevention foot is supported upward from the side through a mechanism and retracts to the upper side, the gap in the bottom portion of the traveling carriage 2 increases. Therefore, it is possible to reliably prevent the plate-shaped material sticking device 1 from falling through the toggle mechanism, and it is possible to safely perform the work, and at the same time, the plate-shaped material sticking device 1 without interfering with obstacles or the like on the floor. Can be moved to a predetermined place and work can be performed efficiently.

Further, the present invention has a support base for the traveling carriage 2 and the like, and a plurality of arms rotatably connected to each other such as the lifting arms 19 and 20, the swing arm 25, and the rotating arm 29 are provided on the support base. Is provided so that it can be driven up and down, and the arm is
A plate-shaped material holding means such as a material holder 35 is provided, and an operation panel 36a and an air cylinder 31a for driving the plate-shaped material holding means, a terminal drive means such as a vacuum suction pad 35b are provided on the arm, and the support base is provided. Is provided with a power supply device such as a control device 36b and an air supply / discharge device 36c, and a slip ring 22 and a rotary air joint 23 are provided at a rotary connection portion between the arms, and the operation panel 36a or the end portion drive means is provided. , The control device 36b or the power supply device through the slip ring 22 or the rotary air joint 23, the electric cable 37b, the air hose 3
Since it is configured by connecting with a linear connecting member such as 7c,
It is not necessary to loosen the linear connecting member at the rotary connecting portion between the arms. Therefore, it is possible to prevent the linear connecting member from interfering with surrounding materials when the plate-shaped material holding means is rotated and moved via the arm, and work can be performed safely and efficiently. I can.

[Brief description of drawings]

FIG. 1 is a front view showing an embodiment of a plate-shaped material sticking apparatus according to the present invention.

FIG. 2 is a side view of the plate-shaped material sticking device shown in FIG.

FIG. 3 is a view showing an opening / closing drive mechanism of an outrigger (fall prevention foot) in the plate-shaped material sticking device shown in FIG. 1.

FIG. 4 is a view showing a lifting drive mechanism of a lifting arm in the plate-shaped material sticking device shown in FIG.

5 is a V-V of a lifting drive mechanism for the lifting arm shown in FIG.
It is sectional drawing by a line.

6A and 6B are views showing a rotation connecting portion between the elevating arm and the revolving arm and a rotation connecting portion between the revolving arm and the rotating arm in the plate-shaped material sticking apparatus shown in FIG.

7 is a view showing a rotation drive mechanism of a plate-shaped material holding means in the plate-shaped material sticking device shown in FIG.

[Explanation of symbols]

 1 ... Plate-shaped material pasting device 2 ... Support base, traveling carriage 6 ... Fall prevention feet (outriggers) 9a, 9c ... Toggle mechanism (link) 10c, 11c .... Swiveling drive means (driving cylinder) 15 ... Reciprocating drive means (ball screw) 15a ... Reciprocating drive means (motor) 17 ... Arm pushing member (arm carrying member) 17a. Abutment location (abutment surface) 17b, 17c ... Gap detection means (photocell) 19 …… Arm (elevating arm) 19a …… Abutting point (roller) 20 …… Arm (elevating arm) 22 …… Slip ring 23 …… Rotary air joint 25 …… Arm (swing arm) 29 …… Arm (rotating) Arm) 31a ... End drive means (air cylinder) 35 ... Plate-shaped material holding means (material holder) 35b ... End drive means (vacuum suction pad) 36a ... Operation panel 3 b ...... controller 36c ...... power supply (air supply and discharge device) 37b ...... linear connecting member (electric cable) 37c ...... linear connecting member (air hose)

[Procedure amendment]

[Submission date] August 31, 1993

[Procedure Amendment 1]

[Document name to be amended] Statement

[Name of item to be corrected] Figure 7

[Correction method] Delete

[Procedure Amendment 2]

[Document name to be corrected] Drawing

[Name of item to be corrected] Figure 7

[Correction method] Delete

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Mitsuyoshi Nakajima 2-7-2 Shimomeguro, Meguro-ku, Tokyo Within Can Tho Inc. (72) Inventor Norio Tsukamoto 2-7-2 Shimomeguro, Meguro-ku, Tokyo Within Can Tho Co., Ltd. (72) Inventor Yukio Inou 2-7-2 Shimomeguro, Meguro-ku, Tokyo Within Can Tho Co., Ltd. (72) Inventor Atsushi Okamoto 8-7 Minamimachi, Mishima-shi, Shizuoka Okamoto Giken Co., Ltd.

Claims (3)

[Claims] 1. A support base, wherein an arm is provided to be movable up and down on the support base, plate-like material holding means is provided on the arm, and an arm pushing member is attached to the support base. In a form that can contact and push to the side that raises the arm, and
A reciprocating drive unit is provided so as to be reciprocally movable so as to be separated from the arm, and a gap detecting unit is provided to detect the presence or absence of a gap at a contact portion between the arm pushing member and the arm. In the form of moving and driving the pushing member, and when the gap detecting means detects the occurrence of the gap at the contact portion between the arm pushing member and the arm, the arm pushing member is moved to the side away from the arm. A plate-shaped material sticking device configured to be provided by being connected to the arm pushing member so as to stop the movement driving of the moving member. 2. A travel carriage, wherein an arm is provided to be movable up and down on the travel carriage, plate-like material holding means is provided on the arm, and the fall prevention foot is moved downward on the travel carriage. While protruding upward to the side of the traveling vehicle and retracting from the side of the traveling vehicle while moving upward, a swing drive means is provided on the fall prevention foot via a toggle mechanism. A plate-shaped material pasting device configured by connecting and providing. 3. A support base, wherein a plurality of arms rotatably connected to each other are provided on the support base so as to be capable of moving up and down, plate-like material holding means is provided on the arm, and an operation is performed on the arm. A board and a terminal drive means for driving the plate-like material holding means are provided, a control device and a power supply device are provided on the support base, and a slip ring and a rotary air joint are provided at a rotary connection portion between the arms. A plate-shaped material sticking device configured by connecting the operation panel or the end drive means and the control device or the power supply device with a linear connecting member via the slip ring or the rotary air joint.