JPS5918191B2 - Load handling robot - Google Patents

Description

[Detailed Description of the Invention] The present invention is suitable for various operations such as moving goods for loading, unloading, and sorting in warehouses, supporting and moving various heavy objects and tools, etc. This relates to the load handling robot used.

Various load-handling robots such as those mentioned above have been proposed and put into practical use from the perspective of labor-saving work, but they generally have complex structures and are expensive5. The range of motion is relatively narrow, so it lacks versatility, and most conventional products are so-called special-purpose machines with a specific structure for specific work purposes. However, it has drawbacks such as low productivity and low economic efficiency, and has not yet been widely used in various industrial fields.

In view of the above-mentioned drawbacks of conventional robots, the present invention has a simple structure and a large movable range of the load support part. Therefore, by changing the structure of the load support part, it is possible to carry out various types of load handling work. The purpose of this robot is to provide a highly versatile load-handling robot that can handle loads, and its configuration is such that the rear end of the horizontal second arm is normally attached to the lower end of the vertical first arm, and the rear end of the horizontal second arm is The lower end of a third arm parallel to the first arm is pivotally connected to the rear end of the second arm, and the tip of a fourth arm parallel to the second arm is attached to the upper end of the third arm. Further, an arm mechanism in which the rear end side of the fourth arm is pivotally connected to the upper end of the first arm is connected to the first arm by a virtual line segment connecting the tip of the second arm and the rear end of the fourth arm. At the fulcrum of the arm, it is fixedly pivoted to a mechanism such as a bracket that is pivotably suspended from a support, while the machine casing is provided with a horizontal guide such as a rod-shaped body or a groove-shaped body, and the output end A driving source including a chain is attached to the horizontal guide, and a sliding rolling member such as a roll that slides along the horizontal guide, a vertical guide such as a rod-shaped body or a groove-shaped body, and an intermediate guide that guides the chain. A sliding and rolling mechanism having a chain ring at the lower end of the vertical guide is attached while the sliding and rolling member is in contact with the horizontal guide surface, so that the rear end of the fourth arm can slide and roll on the vertical guide. On the other hand, the chain of the drive source is hung around a chain ring or the like provided at the rear end of the fourth arm via the intermediate chain ring, and the tip of the chain is placed on the outer end side of the horizontal guide. fixed to the casing, and connected to the sliding and rolling mechanism with an output end of a drive source that exerts a driving force for moving the rock structure along the horizontal guide; It is characterized by being provided with a rotatable load support part.

Next, →IJ of the implementation of the present invention will be explained with reference to the drawings.

1 is a first arm that is normally oriented vertically, 2 is a second arm that is horizontally oriented with its rear end pivoted to the lower end of the first arm P1, and 3 is parallel to and identical to the first arm. A long third arm, the lower end of which is pivotally attached to the rear end side of the second arm 2.
2 has been done.

Reference numeral 4 denotes a fourth arm parallel to the second arm 2, the front end of which is pivotally attached to the upper end of the third arm 3, and is also pivoted to the upper end of the first arm 1 behind the pivot point P3. The pivot point P4 forms a putt graph-like arm mechanism in which each pivot point P, -P4 forms a vertically elongated parallelogram.

5 connects the arm mechanism to the tip 2a of the second arm 2 and the fourth
An imaginary line segment connecting the rear end 4a of the arm 4 and the first arm 1
A bracket-shaped machine casing is supported by a fixed pivot 51 at an intersection point P5 with the ceiling.

Is 6 the same machine? 5 is a horizontal guide with a rack 61 provided in the horizontal direction; 7 is a hoisting mechanism whose drive source is an electric motor provided at the rear of the lower part of the machine casing 5, the driving force of which is transmitted to the chain 8; be.

Reference numeral 9 denotes a sliding and rolling mechanism that is slidably mounted on the horizontal guide, and includes a pinion 91 that meshes with the rack 61 of the guide 6.
and a roller 92 that is in contact with the other guide surface of the guide 6, the guide 6 is held between the guide 6 and a groove-shaped vertical guide 93 formed in the vertical direction.
3, an intermediate chain ring 94 that guides the chain 8 on both sides' of the lower end;
94 is provided.

Therefore, the sliding and rolling mechanism 9 has its vertical guide 931f.
C The chain 8 of the hoisting mechanism 7 guides and supports the roller 41 provided on the rear end 4a of the fourth arm 4 of the arm mechanism, and is attached to a chain ring 95 provided coaxially with the roller 41. 94, 94.

On the other hand, the tip of the chain 8 is fixed 81 to the lower tip of the machine casing 5. As a result, the sliding and rolling mechanism 9 can move along the horizontal guide 6 of the machine casing 5 while supporting and guiding the rear end 4a of the fourth arm 4 by its guide 93.
The rear end 4 of the fourth arm 4 guided by the vertical guide 93
a can be changed in position within the vertical guide 93 by winding and unwinding the chain 8 by the winding mechanism 7. Reference numeral 10 denotes a tortoise mechanism provided near the pinion 91 of the mechanism 9, and in this embodiment, its output shaft is connected to the pinion 91.
1, and when the electric motor 10 is started, the pinion 91 rolls on the rack 61 of the horizontal guide 6, so that the entire sliding and rolling mechanism 9 can run by itself along the horizontal guide 6. There is.

Reference numeral 11 denotes a lightning motor that serves as a turning drive source for the machine casing 5. Here, it is attached to the machine casing side, and its output shaft pinion 11a rolls on a rack 12 formed around the support column to rotate the arm mechanism. The entire machine casing 5 equipped with this can be automatically pivoted to the center of the support P.

1' in Fig. 1 is a first sub-arm parallel to the first arm 1;
2' is a second sub-arm parallel to the second arm 21IC, both sub-arms are connected via a connecting link J at the pivot point P1, and the upper end of the first sub-arm 1' is connected to the machine casing. 5, and the distal end portion 2a' of the second sub arm 2'
is connected to the tip 2a of the second arm 2 via a link 22.

Reference numeral 13 denotes a load support part 13a which is rotatably provided at the tip of the second arm 2, and a grip or the like of any structure can be attached to this support part 13 in a replaceable manner depending on the work to be done. .

The above constitutes an example of a load handling robot according to the present invention, but since the present invention can also be implemented with a structure as described below, this point will be explained below.

First, the arm mechanism of the above embodiment has each pivot point P1 to P4.
form a vertically elongated parallelogram link, the tip 2a of the second arm 2 is the load point, the rear end 4a of the fourth arm 4 is the force point, and the virtual line segment connecting the load point and the force point is connected to the first arm. Since the intersection point P5 with 1 forms a constant ratio virtual ramrod serving as a fulcrum,
This arm mechanism is mechanically equivalent to the arm mechanism shown in FIG.

In FIG. 2, members with the same reference numerals as those in FIG. 1 indicate the same members that operate in the same manner as those in FIG. The intersection point P3 is fixedly pivoted 51 to the machine casing 5, and
A is formed at the force point, and is also the point where the third sub-arm 3' is provided. The reason why the arm mechanism shown in FIG. 2 operates in the same way as that shown in FIG. 1 is because both of them constitute a putt graph made up of parallelogram links.

Further, in order to balance the two arm mechanisms themselves, although not shown, a balance/brake or a weight is provided.

Next, the horizontal guide 6 may be a groove-shaped guide provided in the machine casing 5 or a screw rod.

In these cases, the sliding and rolling mechanism 9 guided by the horizontal guide has the pinion 91 and roller 92 fitted in the grooved guide, and if the horizontal guide is a screw rod, a nut member is used instead of the pinion and roller. In the case of a screw rod, horizontal movement of the sliding and rolling mechanism 9 is performed by rotation applied to the screw rod. Furthermore, the winding and unwinding of the chain 8 may be performed not by the winding mechanism 7, but by, for example, relating to the movement of the piston rod of the fluid pressure cylinder. The robot of the present invention configured as described above allows the support section 12 to appropriately support the load of a moving tool or baggage, etc., and lifts the load to an appropriate height by winding the chain 8 of the hoisting mechanism 7. If the hoisting torque is balanced at that height, the load is maintained in a pseudo or approximate weightless state at that position, so the electric motor 1
0 to horizontally move the sliding and rolling mechanism 9, it will move back and forth with the minute output of the electric motor 10, and if the electric motor 11 is activated, the entire device will rotate around the support P. Therefore, the load can be freely positioned in three-dimensional space.

In the above-mentioned robot of the present invention, the force point at the rear end of the fourth arm 4 (portion 4a or 1a in the figure) to which the output balanced with the load is transmitted is connected to the drive source via the chain 8 that is wound around it. Since it is connected to the output shaft of the lift hoisting mechanism 7 and the point of force is guided by the vertical guide 931fC, any drive source can be used as long as it can change the length of the chain 8 in the guide 93. It is possible to freely select the mounting position of the drive source, which is extremely convenient for designing and manufacturing the device. The output of the drive source is half that of the one directly connected to the force point, and furthermore, the vertical movement of the force point is guided by the vertical guide 93, which prevents the arm from swinging back and forth (in the horizontal direction in the figure). You can get effects such as:

In addition, in the robot of the present invention, the fulcrum part of the arm mechanism is fixedly pivoted to the machine casing, so the arm mechanism itself can be firmly supported by the machine casing, and the arm mechanism can be prevented from shaking or bending during operation. It can also be prevented.

As described above, the present invention is extremely useful as a robot that handles loads in so-called deep areas.

Additional related original invention (Patent No. 1024452, Japanese Patent Publication No. 55-140
No. 39), the rear end 4a of the fourth arm 4 is attached to the intermediate chain ring 94.
, 94, it is ensured that the chain 8 moves up and down by expanding and contracting. )
Runout is likely to occur, especially when the sliding and rolling mechanism 9 is moving or
Shaking occurred when an external force was applied to the arm mechanism in the front-rear direction after positioning, but in the present invention, a vertical guide is formed in the sliding and rolling mechanism to prevent the vibration from occurring. A phenomenon like that in invention does not occur.

[Brief explanation of drawings]

FIG. 1 is a side skeleton view showing an example of the implementation of the present invention, and FIG. 2 is a side view of another example. 1...First arm, 2...Second arm, 3...Third arm, 4...Fourth arm, 5...・Bracket, 51...Fixed pivot joint, P, ~P4...Pivot joint, 6...
・Horizontal guide, 61...Easy, 7...
・Hoisting mechanism, 8...Chain, 81...Fixed portion, 9...Sliding and rolling mechanism, 91...Pinion, 92... ...Roller, 93... Vertical guide, 94... Intermediate chain ring, 95...
Chain ring, 10, 11... Electric motor, 12...
・Rack, 13...Load support part.

Claims (1)

[Claims] 1 Under normal conditions, a horizontal second arm is attached to the lower end of the vertical first arm.
A rear end of the arm and a lower end of a third arm parallel to the first arm are respectively pivotally attached near the rear end of the second arm, and a tip of a fourth arm parallel to the second arm is pivoted to the rear end of the second arm. An imaginary line connecting the tip of the second arm and the rear end of the fourth arm includes an arm mechanism in which the rear end of the fourth arm is pivotally connected to the upper end of the third arm and the rear end of the fourth arm is pivotally connected to the upper end of the first arm. At the intersection with the first arm, the machine is fixedly pivoted to the machine casing by a bracket or the like that is swingably suspended from a support, while the machine casing is equipped with a horizontal guide such as a rod-like body or a groove-like body. and a drive source equipped with a chain at the output end, and a sliding rolling member such as a roll that slides along the horizontal guide, a vertical guide such as a rod-shaped body, a groove-shaped body, and the above-mentioned horizontal guide. A sliding and rolling mechanism having an intermediate chain ring for guiding a chain on the lower end side of the vertical guide is attached to the rear end of the fourth arm while being in contact with the sliding and rolling member and the horizontal guide surface. on the other hand, the chain of the drive source is passed through the intermediate chain ring, and the tip of the chain is placed outside the horizontal guide. an output end of a drive source that applies a moving force to the sliding and rolling mechanism to move the mechanism along the horizontal guide; A load handling robot characterized by having a rotatable load support section at the tip of an arm.