JPH0985652A - Work execution robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a work execution robot which can carry out work execution in a small job site with excellent working ability, and can be manually moved and easily operated. SOLUTION: A multijoint type horizontal movement device 5 is attached near the upper end part of a vertical movement device 8 having a wheel 4 in its lower part, and a grasping device 60 is attached to the tip part of the above device 5. The vertical movement device 8 is composed of a telescopic cylinder 2 which can vertically freely expand and contract, and the multijoint type horizontal movement device 5 is composed of the first and the second arm 20, 40. The grasping device 60 is attached to the tip part of the second arm 40 through a vertical oscillation device, and can be applied to both the executions of a vertical wall and a ceiling. The arms 20, 40 of the device 5 are severally provided with a parallel link mechanism, and at least either of parallel link mechanisms has a telescopic elastic member in mutually opposite parallel link parts.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a construction robot in the field of construction, and more particularly to a handling machine for interior finishing materials.

[0002]

2. Description of the Related Art In recent years, construction robots have come to be used in construction work and the like. For example, in the work of attaching interior materials such as gypsum board, the robot supports the materials without supporting them manually. , The workers are freed from troublesome work, and safety and work efficiency are improved. 12 and 13 show one example of such a conventional construction robot. Less than,
Description will be made with reference to FIGS. 12 and 13.

FIG. 12 is a schematic view showing the structure of an example of a conventional construction robot. A vertical main column 92 is rotatably mounted in a horizontal plane on a dolly 90 that can move forward and backward and left and right on the floor by wheels 91. The main support column 92 is provided with parallel links 93, 93 swingable in the vertical direction, and both ends of the parallel links 93, 93 are connected to each other.
A column 94 parallel to the main column 92 is attached. Prop 9
A gripping device 95 is rotatably mounted in a horizontal plane on the lower part of 4, so that the gripping device 95 can grip the interior member 96 at its tip. The gripping device 95 grips the interior member 96 by, for example, vacuum.

When the parallel links 93, 93 are swung in the direction of the arrow a, the support column 94 moves up and down while maintaining the state of being parallel to the main support column 92, and accordingly, the gripping device 95 moves up and down in parallel. To do. Further, by rotating the main support column 92 and the support column 94 in the horizontal plane, the gripping device 95 moves horizontally. Therefore, the interior member 96 gripped by the gripping device 95 can be moved to an arbitrary position.

FIG. 13 is an external perspective view of the construction robot described above, in which the carriage 90 is provided with a main support column 92.
A column 94 having a gripping device 95 rotatably attached thereto is attached to the unit 2 via parallel links 93, 93. An oil pressure source and an air pressure source necessary for swinging driving of the parallel links 93, 93, rotation driving of the main support column 92, rotation driving of the gripping device 95, generation of vacuum, and the like, a vacuum generating device, each driving device, and the like. Is provided in a drive box 97 mounted on the carriage 90. Therefore, the construction robot itself is heavy, and it is very difficult to move it by human power. Therefore, the carriage 90 is of a self-propelled type, and a power source and the like for self-propelling are also provided in the drive box 97. The worker operates each part while gripping the handle 98 of the gripping device 95, transports the interior material to a desired place, aligns the interior material, and then fixes the interior material with a screw or the like.

[0006]

However, in the above structure, since the power generation source, the driving device and the like are mounted on the carriage 90, the structure is complicated and large, and the weight of the whole is heavy. Therefore, when moving such a construction robot to another floor, handling is limited, such as requiring an elevator for transportation. For this reason, it is suitable for construction at a site with a large floor area, but is not suitable for construction work at a site in a small room such as a small building or condominium because the workability is not very good.

Further, when the parallel links 93, 93 are largely rotated upward, even if the main support column 92 and the support column 94 are horizontally rotated, the movable range of the gripping device 95 in the horizontal direction is narrow, so that the construction is performed. Possible area is narrow. Therefore, the dolly 90 is frequently moved during work,
Further, there is a problem that the work cannot be performed efficiently, such as the necessity of increasing the moving distance.

The present invention has been made by paying attention to the above problems, and provides a construction robot which can be constructed on a narrow site with good workability, can be moved manually and is easy to operate. The purpose is to do.

[0009]

In order to achieve the above object, a construction robot according to the present invention comprises a gripping device 60 for gripping a material and a moving device for moving the gripping device 60 to a predetermined position. In the provided construction robot, the moving device includes a vertical moving device 8 that expands and contracts in the vertical direction, and an articulated horizontal moving device 5 that has arms 20 and 40 that bend in a horizontal plane.

The articulated horizontal movement device 5 is preferably provided near the upper end of the vertical movement device 8.

Further, the articulated horizontal movement device 5 has a structure in which the first arm 20 of the articulated horizontal movement device 5 is rotated around the pin 21 at the base end by a predetermined angle in a top view. When the direction of the first arm 20 is the reference direction AA,
A gripping device 6 attached to the tip of the articulated horizontal movement device 5
0, for example, when the gripping device 60 is a pad, the pad 6
It is preferable to provide parallel link mechanisms 29 and 49 in a horizontal plane for holding the direction of the pad 61 when the surface 1 is perpendicular to the floor surface in parallel to the reference direction AA.

The parallel link mechanisms 29 and 49 are
The base end side of the first arm 20 of the articulated horizontal movement device 5 is fixedly mounted on the bracket 11 which is rotatably attached in a horizontal plane, and the sheave 18 has the same axis as the pin 21 of the rotation center. And a pin 41 that rotatably connects the distal end side of the first arm 20 and the proximal end side of the second arm 40 in a horizontal plane.
A pivot pin 46 rotatably supported by the second arm 40, a sheave 45 and a sheave 44 connected by the pivot pin 46, a sheave 18 and a sheave 4
The first fixed wire 19 in which the five are tightly connected to each other, and the pivot pin 71, which is rotatably provided on the distal end side of the second arm 40 in a horizontal plane and to which the gripping device 60 is attached, and the pivot pin 71. It may be composed of a sheave 73 that is connected and has the same axis as the pivot pin 71, and a second fixed wire 50 that tension-connects between the sheave 44 and the sheave 73.

Further, when the gripping device 60 is rotated by an external force, the parallel parts 50a and 50b of the parallel link mechanisms 29 and 49 facing each other expand and contract, and when the external force is removed, the gripping device 60 returns to its original posture. It is preferable to include elastic members 51a and 51b capable of expanding and contracting, respectively, which exert a restoring force.

It is preferable that the gripping device 60 is provided with a vertical swinging device 68 capable of changing the direction of the gripping device 60 from at least a vertical position to the floor surface to an upward horizontal position parallel to the floor surface.

Further, it is preferable to provide an operating device 80 for operating the vertical moving device 8 and the articulated horizontal moving device 5 near the gripping device 60.

It is preferable to provide wheels 4 which can move the construction robot under the construction robot.

[0017]

As described above, since the articulated horizontal movement device is arranged near the upper part of the vertical movement device, the structure is compact, lightweight and downsized, and therefore it is easy to move to another floor. Also, since the horizontal movable range can be widened,
Work efficiently in a narrow space.

Further, since the articulated horizontal movement device is provided with the parallel link mechanism in the horizontal plane, the grasped material can be always directed in a predetermined direction, and the workability is improved. Further, since the elastic members are provided in the parallel portions facing each other of the parallel link mechanism, fine adjustment of the lateral direction of the gripping device can be easily performed with a light force.

Further, the vertical swinging device provided on the gripping device enables the gripping device to be oriented horizontally and upward. Therefore, it is possible to work on both the vertical wall and the ceiling, and the workability is improved. Further, since the operating device provided in the vicinity of the gripping device can easily perform the up / down, left / right, and front / rear direction moving operation of the gripping device, operability is improved. Further, since the wheels are provided so that the floor surface can be manually moved, the construction robot can be easily moved.

[0020]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of a construction robot according to the present invention will be described below in detail with reference to the drawings. FIG. 1 is a side view of the construction robot, and FIG. 2 is a plan view. As the vertical moving device 8, a multi-stage telescopic cylinder 2
Are arranged in the vertical direction. At least three or more elongated members 3 are arranged at the lower end of the multistage telescopic cylinder 2 so as to project laterally, and caster-type wheels, which are rolling elements, are provided at the respective distal ends of the elongated members 3. 4 is grounded and attached to the floor. Each wheel 4 is movable on the floor surface in any direction. In addition, each wheel 4 has a brake mechanism (not shown), and the construction robot can be fixed after being moved to an arbitrary position. Long member 3
The main body moving unit 1 is configured by the wheels 4 and the wheels 4.

A multi-joint type horizontal moving device 5 is mounted near the upper end of the telescopic cylinder 2. The articulated horizontal movement device 5 includes a drive device 10 and a first arm 20.
And a second arm 40, and a gripping device 60 and an operating device 80 are provided at the tip of the second arm 40.
The gripping device 60 has a pad 61 at the tip, and the pad 61 sucks and grips the material by vacuum. A stay 62 may be provided near the pad 61 to reduce the occurrence of bending of the interior material 6 when the interior material 6 such as a board is gripped. Note that, as shown in FIG. 2, in the normal state, the surface of the pad 61 is the reference line AA of the construction robot.
At right angles to

The telescopic cylinder 2 expands and contracts by air pressure. By expanding and contracting the telescopic cylinder 2, the articulated horizontal movement device 5 and the gripping device 6
0 moves up and down as shown by the thin two-dot chain line in FIG.

The air generation source of the telescopic cylinder 2, the vacuum generation source of the gripping device 60, the power source of the articulated horizontal movement device 5, etc. are provided in a separate device (not shown), and the main body moving part 1 is shown in the drawing. Not connected by piping, wiring, etc. Therefore, the weight of the main body moving unit 1 is light, and the entire construction robot can be moved manually.

3 and 4 are a side view and a plan view of the drive unit 10 and the first arm 20, respectively, which will be described below with reference to FIGS. 3 and 4. A bracket 11 is attached to the upper end of the telescopic cylinder 2 with a bolt 7. A first actuator 13 having a pulley 12 for driving the first arm 20 and a second actuator 15 having a pulley 14 for driving the second arm 40 are attached to the bracket 11. The first actuator 13 and the second actuator 15 are driven by electricity, hydraulic pressure, or the like.

On the base end side of the first arm 20 (toward the telescopic cylinder 2), a pin 21 is fixed to the lower portion and a pin 22 is fixed to the upper portion with their axes oriented vertically. The pin 21 and the pin 22 are rotatably attached to the bracket 11 via a bearing 23 and a bearing 24, respectively. A pulley 25 is fixed to the base end of the pin 21, and is connected to the pulley 12 by the first belt 16.

The pin 22 is hollow, and the pin 2
In the inner diameter portion of 2, the bearings 33 on the base end side and the tip end side of the pin 22,
The pivot pin 32 is rotatably mounted via 33. The upper end of the pivot pin 32 projects upward from the tip of the pin 22, and the pulley 30 is fixed to this projecting part.
Further, the lower end of the pivot pin 32 is located at the first position from the base end of the pin 22.
It projects inside the arm 20, and a pulley 31 is fixed to this projection. The pulley 30 and the pulley 14 are connected by the second belt 17. A sheave 18 is fixed to the bracket 11 between the bracket 11 and the pulley 25.

5 and 6 are a side view and a plan view of the second arm 40 and the gripping device 60, respectively, and refer to FIGS. 5 and 6 below. On the tip end side of the first arm 20 (toward the second arm 40), a pin 41 having a vertical axis line fixed to the lower portion of the base end side of the second arm 40 is provided with bearings 42, 4.
It is rotatably mounted via 2. The tip of the pin 41 projects into the inside of the first arm 20, and a pulley 43 is fixed to this projection. As shown in FIG. 3, the pulley 43 and the pulley 31 are connected by a third belt 34.

The pin 41 is hollow and the pin 4
In the inner diameter portion of 1, there are bearings 47 on the base end side and the tip end side of the pin 41,
A pivot pin 46 having the same axis as the pin 41 is rotatably mounted via 47. The upper end of the pivot pin 46 protrudes from the base end of the pin 41 into the second arm 40, and the sheave 44 is fixed to this protrusion, and the lower end of the pivot pin 46 protrudes from the tip of the pin 41. Further, the sheave 45 is projected to the lower portion of the first arm 20, and the sheave 45 is fixed to this projected portion. As shown in FIG. 3, the sheave 18 and the sheave 45 are tightly connected by the first wire 19 without slipping, and constitute a parallel link mechanism 29.

On the tip side of the second arm 40, the gripping device 6
A pivot pin 71 protruding downward from a block 70 on the base end side of 0 is rotatably mounted via bearings 72, 72. A sheave 73 is fixed to the pivot pin 71, and the sheave 73 and the sheave 44 are tightly connected to each other by the second wire 50 without slipping, and constitute a parallel link mechanism 49 as shown in FIG. .

As shown in FIG. 6, expandable elastic members 51a and 51b are interposed in parallel portions 50a and 50b corresponding to the parallel links of the second wire 50. The elastic member 51a and the elastic member 51b have the same structure, and FIG. 7 is a configuration diagram showing an embodiment of the elastic members 51a and 51b. An outer cylinder 52 and a shaft 53 are engaged with the second wire 50 and interposed, and a spring 54 is interposed between the outer cylinder 52 and the shaft 53.
Are arranged. Due to the extension force of the spring 54, the outer cylinder 5
The second wire 50 and the shaft 53 are always urged in the pulling direction to pull the second wire 50 with a predetermined pulling force. The elastic members 51a and 51b interposed between the parallel portions 50a and 50b of the second wire 50 are set to have the same tensile force.

FIG. 8 is a constitutional view showing another embodiment using springs of the elastic members 51a and 51b. In the embodiment in this case, the outer cylinder 52 and the shaft 53 are always urged in the pulling direction by the contracting force of the spring 57, and the second wire 50 is pulled by a predetermined pulling force in the same manner as described above.

At the tip of the block 70 of the gripping device 60, a vertical swinging device 68 for the pad shaft 63 having the pad 61 attached to the tip is provided. The vertical swing device 68 is mounted by a pivot pin 64 so as to be rotatable in the vertical direction, and includes a guide plate 66 and a lock lever 74. The guide plate 66 is the pad shaft 6
3 is fixed to the rear end portion of the shaft 3 and rotates around the pivot pin 64 together with the pad shaft 63. Further, the guide plate 66 has an arc-shaped guide groove 65, and this arc is the pivot pin 6
Centered around 4. The guide groove 65 is aligned with the screw shaft 75 of the lock lever 74 fastened to the block 70. By tightening the screw shaft 75 with the lock lever 74, the guide plate 66 is rotated, that is, the pad shaft 63 is moved in the vertical direction. Fix the rotation position of.

The pad shaft 63 is at least 90 upwards about the pivot pin 64, as shown by the thin double-dashed line in FIG.
° Can be rotated. In this way, the vertical wall construction position shown by the solid line can be easily displaced from the upward horizontal ceiling construction position shown by the chain double-dashed line, and further, it can be fixed at an arbitrary position on the way by the operation of the lock lever 74.

An operating device 80 is attached to the upper surface of the block 70. The operating device 80 includes a joystick lever 81 for operating the first arm 20 and the second arm 40.
A joystick lever 82 for expanding and contracting the telescopic cylinder 2 and a vacuum generator 83. Each operation signal of the joystick lever 81 and the joystick lever 82 is input to a control device (not shown) arranged outside the construction robot via a harness (not shown). This control device may be configured mainly by a microcomputer, for example, and may have a built-in servo amplifier or the like for driving each actuator.

When the joystick lever 81 is operated in the front-rear direction, this control device controls the first arm 20 and the second arm so that the gripping device 60 linearly moves forward or backward in response to the operation direction of the joystick lever 81. The first actuator 1 outputs a control signal that causes 40 to perform a composite operation.
3 and the second actuator 15. At this time,
The control device calculates such that the speed of the linear movement becomes a speed corresponding to the operation amount of the joystick lever 81. Similarly, when the control device operates the joystick lever 81 in the left-right direction, the gripping device 60 linearly moves leftward or rightward in accordance with the operation direction and at a speed corresponding to the operation amount. , And outputs a control signal that causes the first arm 20 and the second arm 40 to perform a combined operation to the first actuator 13 and the second actuator 15.

When the joystick lever 82 is operated in the vertical direction, the control device similarly moves the telescopic cylinder 2 so that the gripping device 60 moves upward or downward at a predetermined speed in accordance with the operation direction and the operation amount. A control signal for expanding and contracting is output to a valve (not shown) that controls the telescopic cylinder 2.

Now, the operation of each axis will be described in order. Now, let us consider the direction of the first arm 20 when the first arm 20 rotates about the proximal end pin 21 by a predetermined angle in a top view as the reference direction AA. Then, the second arm 40
And the orientation of the surface of the pad 61 of the gripping device 60 are parallel to the reference direction AA. At this time,
When the first actuator 13 is driven, the pulley 12 rotates, and the pulley 25 rotates via the first belt 16.
This causes the first arm 20 to move around the pin 21 as shown in FIG.
As shown in FIG.

At this time, the third belt 34 inside the first arm 20 acts as a parallel link. That is,
The third belt 34 tension-connects the pulley 31 and the pulley 43, and the pulley 31 is connected to the second actuator 15 having the pulley 14 via the second belt 17 connected to the pulley 30. Since the rotation of the second actuator 15 is fixed, the tension for rotating the pulley 43 in the direction opposite to the above rotation around the pin 21 of the first arm 20 acts on the third belt 34. Since the outer diameters of the pulley 31 and the pulley 43 that are in contact with the third belt 34 are the same, the pulley 43 rotates to an angle whose direction is opposite to the angle α and whose size is the same. .
Therefore, the second arm 40 is rotated by the angle α in the opposite direction with respect to the first arm 20 via the pin 41. As a result, the second arm 40 maintains a posture parallel to the reference direction AA.

Since the diameters of the outer peripheral portions of the sheave 44 and the sheave 73 which are in contact with the second wire 50 are the same, the sheave 73 is also opposite in direction to the angle α,
And, the size rotates about the pivot pin 71 to the same angle. Therefore, the orientation of the surface of the pad 61 of the grip device 60 is parallel to the reference direction AA.

Next, when the second actuator 15 is driven, the pulley 14 is rotated, and the pulley 30 is rotated via the second belt 17. The rotation of the pulley 30 is performed by rotating the pulley 4 through the pivot pin 32, the pulley 31 and the third belt 34.
Rotate 3. As a result, the pulley 43 rotates the second arm 40 around the pin 41, and as shown in FIG. 10, rotates the second arm 40 by the angle β with respect to the reference direction AA.

At this time, the second wire 50 acts as a parallel link as described above. That is, the second wire 50
Has a tight connection between the sheave 44 and the sheave 73. Since the sheave 44 is connected to the sheave 45 on the first arm side and does not rotate, a direction opposite to the above-described rotation around the pin 41 of the second arm 40. The tension for rotating the sheave 73 acts on the second wire 50. Since the diameters of the outer peripheral portions of the sheave 44 and the sheave 73 which are in contact with the second wire 50 are both equal, the sheave 73 is opposite in direction to the angle β and has the same size until the pivot pin 71 is reached. Rotate around. Therefore, the center line B-B of the block 63 of the grip device 60 maintains a position parallel to the reference direction A-A. Therefore, the orientation of the surface of the pad 61 of the grip device 60 is parallel to the reference direction AA.

Thus, the first arm 20 or the second arm 20
Even if the angle of the arm 40 is changed, the parallel link mechanism 29,
By the action of 49, the orientation of the surface of the pad 61 of the grip device 60 always maintains a predetermined orientation. Therefore, the alignment work after moving the interior materials is easy.

When actually attaching the material to the wall surface or the ceiling, it is necessary to make a fine correction of the direction of the material according to the direction of the attaching surface. When this happens,
The worker applies an external force to the gripping device 60 to rotate the gripping device 60 around the pivot pin 71 of the block 70, and changes the orientation of the gripping device 60 by a minute angle γ as shown in FIG. To match the direction of.

At this time, the sheave 44 is fixed, and the sheave 73 rotates with the rotation of the gripping device 60, so that the parallel portion 50 of the second wire 50 as shown in FIG.
The elastic member 51a interposed in a is stretched by being pulled,
The elastic member 51b interposed in the parallel portion 50b contracts. Therefore, the tensile force of the elastic member 51a becomes large, and the tensile force of the elastic member 51b becomes small. When the external force applied by the operator is removed, the elastic members 51a, 5a,
1b returns to the original length, and the orientation of the gripping device 60 returns to the initial position.

As described above, since the swinging of the gripping device 60 can be performed with a small force, the surface of the pad 61 and the surface to be attached can be easily aligned. The elastic members 51a and 51b are not limited to springs, and may be elastic rubber or the like. In addition, such an elastic member 51a,
51b may be provided in the parallel link mechanism 29 of the first arm 20. At this time, the action and effect are similar.

Next, the operation of the construction robot will be described according to the work procedure. 1) The operator manually moves the main body moving unit 1 to move the pad 61
The main body moving unit 1 is fixed at a position where the interior material can be gripped. 2) The joystick levers 81 and 82 are operated to drive the first arm 20, the second arm 40 and the telescopic cylinder 2, respectively, and the gripping device 60 is moved to the vicinity of the center of the interior material. 3) The lock lever 74 is operated to operate the pad 6 of the gripping device 60.
The surface 1 is made substantially parallel to the surface of the interior material, and the joystick levers 81 and 82 are operated to press the pad 61 against the surface of the interior material. At this time, the pad 61 is naturally held in close contact with the interior material by vacuum.

4) The operator manually moves the main body moving unit 1 to move the construction robot to the vicinity of the interior material pasting position. Then, the surface of the interior material is made substantially parallel to the pasting surface by the lock lever 74. That is, the pad 61 is in a vertical position during construction of a vertical wall, and the pad 61 is in an upward horizontal position during construction of a ceiling. 5) The joystick lever 82 is operated to expand and contract the telescopic cylinder 2 to adjust the height of the interior material gripped by the pad 61. 6) Operate the joystick lever 81 to move the first arm 2
The 0 and the second arm 40 are combined to adjust the positions in the front-rear direction and the left-right direction to align the interior materials. 7) At this point, if the surface of the interior material and the pasting surface are not parallel, make a minor correction to the surface of the interior material. That is, the worker applies an external force to the gripping device 60 to align the surface of the interior material and the sticking surface so that they are parallel to each other.

8) When constructing a vertical wall, the joystick lever 81 is operated to move the gripping device 60 forward, and when constructing a ceiling, the joystick lever 82 is manipulated to grip the gripping device 6.
Raise 0 and press the interior materials against the attachment surface. In that state, according to each construction, the joystick levers 81 and 82 are operated to move the gripping device 60 back and forth, left and right, and up and down, so that the edge of the interior material is moved to the edge of the constructed interior material and the wall and ceiling. To match. When pushing a board etc. to the ceiling by vertically moving the telescopic 2 by air pressure,
It can be pressed with a soft touch by the operation of air pressure, so it is hard to damage the board. 9) A worker drives a screw into a required position, and when all the screws have been driven, the vacuum of the pad 61 is released by an operation switch (not shown), and the gripping device 60 is detached from the interior material.

By repeating the above procedure, it is possible to easily grip, move and position the interior material without requiring a large force. Further, since the horizontal movement is a horizontal articulated type and the vertical movement is a telescopic cylinder, the weight and size are reduced and the horizontal movement range is widened.

[0050]

EFFECTS OF THE INVENTION Since the present invention has the structure described in detail above, the interior material can be easily gripped without requiring a large force,
It can be moved and positioned. Therefore, the worker is relieved from the troublesome work, and the workability at the time of construction is improved. Further, since it is lighter and smaller than the conventional one, it can be easily transported by human power and can be moved to another floor without using an elevator or the like. Furthermore, the horizontal movement range can be widened. As a result, it can be efficiently used for small buildings such as condominiums having a small construction area. Further, since the fine adjustment of the direction of the gripping device can be easily performed, the work efficiency is improved.

[Brief description of drawings]

FIG. 1 is a side view of a construction robot according to the present invention.

FIG. 2 is a plan view of a construction robot according to the present invention.

FIG. 3 is a side view showing a configuration of a drive device and a first arm.

FIG. 4 is a plan view showing a configuration of a drive device and a first arm.

FIG. 5 is a side view showing a configuration of a second arm and a grip device.

FIG. 6 is a plan view showing a configuration of a second arm and a grip device.

FIG. 7 is a configuration diagram showing an embodiment of an elastic member.

FIG. 8 is a configuration diagram showing another embodiment of the elastic member.

FIG. 9 is an operation explanatory view of the first arm.

FIG. 10 is an operation explanatory view of the second arm.

FIG. 11 is an operation explanatory diagram when the gripping device is finely adjusted.

FIG. 12 is a schematic diagram showing a configuration of a conventional construction robot.

FIG. 13 is an external perspective view of a conventional construction robot.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Main body moving part, 2 ... Telescopic cylinder, 3 ... Long member, 4 ... Wheel, 5 ... Multi-joint horizontal moving device, 6 ... Interior material, 7 ... Bolt, 8 ... Vertical moving device, 10 ... Driving device, 11 ... Bracket, 12 ... Pulley, 13 ... 1st actuator, 14 ... Pulley, 15 ... 2nd actuator, 16 ... 1st belt, 17 ... 2nd belt, 18 ... Sheave, 19 ... 1st wire, 20 ... 1st Arm, 21 ... Pin, 22 ... Pin, 23 ... Bearing, 24 ... Bearing, 25 ... Pulley, 29 ... Parallel link mechanism, 30 ... Pulley, 31 ... Pulley, 32 ... Axis pin, 33 ... Bearing, 34 ... Third belt ,
40 ... 2nd arm, 41 ... Pin, 42 ... Bearing, 43 ... Pulley, 44 ... Sheave, 45 ... Sheave, 46 ... Axis pin,
47 ... Bearing, 49 ... Parallel link mechanism, 50 ... Second wire, 51 ... Elastic member, 51a ... Elastic member, 51b ... Elastic member, 52 ... Outer cylinder, 53 ... Shaft, 54 ... Spring, 57 ... Spring, 60 ... Gripping device, 61 ... Pad, 62 ... Stay, 6
3 ... Pad shaft, 64 ... Axis pin, 65 ... Guide groove, 66
... guide plate, 68 ... rocking device, 70 ... block,
71 ... Axis pin, 72 ... Bearing, 73 ... Sheave, 74 ... Lock lever, 75 ... Screw shaft, 80 ... Operating device, 81 ... Joystick lever, 82 ... Joystick lever, 83 ... Vacuum generator, 90 ... Cart, 91 ... Wheels, 9
2 ... Main column, 93 ... Parallel link, 94 ... Column, 95 ... Grasping device, 96 ... Interior member, 97 ... Drive box, 98 ...
handle.

Claims (8)

[Claims] 1. A construction robot comprising a gripping device (60) for gripping a material, and a moving device for moving the gripping device (60) to a predetermined position, wherein the moving device is a vertically expanding and contracting device. Mobile equipment (8)
And an articulated horizontal movement device (5) having arms (20, 40) that bend in a horizontal plane. 2. The construction robot according to claim 1, wherein the articulated horizontal movement device (5) is provided in the vicinity of an upper end portion of the vertical movement device (8). 3. The multi-joint type horizontal moving device (5) has a first arm (20) of the multi-joint type horizontal moving device (5) in a predetermined manner around a pin (21) at a base end portion in a top view. When the direction of the first arm (20) when rotated by the angle of is the reference direction (AA),
Gripping device attached to the tip of articulated horizontal movement device (5)
The construction robot according to claim 1 or 2, further comprising a parallel link mechanism (29, 49) in a horizontal plane for holding the direction of (60) in parallel with the reference direction (AA). 4. The parallel link mechanism (29, 49) has a bracket (1) on which a base end side of a first arm (20) of the articulated horizontal movement device (5) is rotatably attached in a horizontal plane. 11) a sheave (18) that is fixedly mounted on the top and has the same axis as the pin (21) at the center of rotation, and the tip end side of the first arm (20) and the base end side of the second arm (40). The pivot pin (4 having the same axis as the pin (41) rotatably connected in the horizontal plane and rotatably supported by the second arm (40).
6) and the sheave (45) and sheave connected by the pivot pin (46)
(44), the first fixed wire (19) that tightly connects the sheave (18) and the sheave (45), and the distal end side of the second arm (40) is rotatably provided in a horizontal plane, and Axis pin (71) to which the gripping device (60) is attached
And a sheave (73) connected to the pivot pin (71) and having the same axis as the pivot pin (71), and a second fixed wire (50) having a tension connection between the sheave (44) and the sheave (73). The construction robot according to claim 3, wherein the construction robot comprises: 5. When the gripping device (60) is expanded and contracted to the parallel portions (50a, 50b) of the parallel link mechanisms (29), (49) facing each other when the gripping device (60) is rotated by an external force, and the external force is removed. The construction robot according to claim 3, wherein each of the construction robots is provided with an elastic member (51a, 51b) capable of expanding and contracting and exerting a force for returning the gripping device (60) to the original posture. 6. A vertical swinging device (68) capable of changing the orientation of the gripping device (60) from at least a position vertical to the floor surface to an upward horizontal position parallel to the floor surface. The construction robot according to claim 1, wherein the construction robot is provided. 7. The operating device (80) for operating the vertical moving device (8) and the articulated horizontal moving device (5) is provided near the gripping device (60). The construction robot according to any one of 1 to 6. 8. The construction robot according to claim 1, further comprising a wheel (4) provided below the construction robot to allow the construction robot to move.