JPS5918192B2 - Load handling robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention is used for various tasks such as moving goods for loading/unloading and organizing them in warehouses, etc., and supporting and moving various heavy objects and tools. This relates to load handling robots.

5 Various types of 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 expensive, as well as problems with the load-supporting part. The movable range is relatively narrow, so it lacks versatility, and most of the conventional models are so-called special-purpose machines with specific structures for specific work purposes. Even so, there are drawbacks such as low productivity and low economic efficiency, and it has not yet been widely used in various industrial fields.

5 In view of the above-mentioned drawbacks of conventional robots, the present invention
The structure is simple and the movement range of the load support part is large, so
The aim was to provide a highly versatile load-handling robot that could perform various load-handling tasks simply by providing a load-supporting part with a different structure.
), the configuration is such that the top end of the second arm is vertical to the top end of the horizontal first arm, and the top end of the third arm parallel to the first arm is the top end of the second arm. the upper and lower ends of a 354th arm parallel to the second arm are pivoted near the rear end of the first arm and the rear end of the third arm, respectively;
An arm mechanism is formed such that the rear end of the first arm, the lower end of the second arm, and the pivot points of the third and fourth arms are on a straight line or an approximate straight line, and the arm mechanism is rotated on a support or the like. The third arm and the fourth arm are fixedly pivotally connected to a placket-like machine casing that is supported by the machine casing, and a horizontal guide such as a rod-shaped body or a groove-shaped body is formed in the machine casing. At the same time, a drive source such as an electric motor or a fluid pressure cylinder having a chain is provided at the output end, and the horizontal guide is provided with a sliding rolling member such as a roll movable along the guide and an intermediate chain ring for guiding the chain. A sliding and rolling mechanism with a vertical guide, which is provided with a vertical guide portion such as a rod-shaped body or a groove-shaped body, is mounted by bringing the roll or the like of the sliding and rolling member into contact with a horizontal guide surface, The chain of the drive source is hung so that the tip of the chain passes through the intermediate chain ring of the sliding and rolling mechanism and is attached to a chain ring provided at the rear end of the first arm, and the tip of the chain is placed on the outer end side of the horizontal guide. At the same time, the output end of a drive source such as a tortoise motor or a fluid pressure cylinder that exerts a driving force to move the sliding and rolling mechanism with a vertical guide attached to the horizontal guide so that the mechanism moves along the horizontal guide. The present invention is characterized in that a rotatable load support portion is provided at the lower end of the second arm.

Next, an example of implementation of the present invention will be described with reference to the drawings. 1 is
In normal conditions, the first arm is horizontally oriented, and the second arm 2 is vertically oriented with its upper end pivoted to the front end of the first arm 1. 3 is parallel to the first arm 1 and has its front end pivoted to the This is a horizontally oriented third arm pivoted P2 below the pivot point P1 of the second arm 2, and is formed shorter than the first arm 1.

Reference numeral 4 denotes a fourth arm parallel to the second arm 2, whose lower end is pivoted P3 to the rear end of the third arm 3, and whose upper end is pivoted P4 near the rear end side of the first arm 1; The length of the arm of the book is determined by the following three points: the rear end 1a of the first arm 1, the lower end 2b of the second arm 2, and the pivot point P3 of the third arm 3 and fourth arm 4. It is formed so as to lie on a straight line, and forms the frame of the arm mechanism 1 in the present invention.

Since the above-mentioned arm mechanism is formed by a pantograph mechanism of parallelogram links, the lower end 2a of the second arm 2 is connected to the rear end 1a of the first arm 1, or the third arm 3 and the lower end 2a of the second arm 2. 4 If the pivot point P3 with arm 4 is moved,
It operates by magnifying their movement trajectory. In addition, the above arm mechanism may have a double-row configuration of the valley arms or arbitrary arms as shown in FIG. 2, or a required arm, for example, the first arm, as shown in FIGS. 1 and the second arm or the third arm 3 and the second arm 2, sub-arms 1', 2', or 3', 2' parallel to them, respectively.
and a connecting link J, respectively, may be arranged.

In this way, the strength of the arm mechanism can be increased, and the orientation of the lower end 2a of the second arm 2 can be maintained in a constant orientation regardless of the orientation of the arm mechanism. Reference numeral 5 designates a bracket serving as a machine casing for supporting the arm mechanism, in which the pivot joint part P3 of the third arm 3 and fourth arm 4 of the arm mechanism is fixedly pivoted 51, and the bracket near the pivot joint part 51 is fixedly pivoted. A horizontal guide 6 is formed on the side wall 52 by a protruding strip extending in the left-right direction in the figure, and is rotatably mounted on a column 7.

Reference numeral 8 denotes a sliding and rolling mechanism with a vertical guide, which is slidably mounted on the horizontal guide 6 and forms a vertical guide 81. On the vertical guide 81, there is provided an arm mechanism fixedly and pivotally mounted on the bracket 5. The rear end portion 1a of the first arm 1 is supported and guided by the guide 81 and mounted so as to be vertically movable.

In this embodiment, the horizontal guide 6 is formed of a rod-shaped body having a rectangular cross section on both side walls 52 of the bracket, and a plurality of rollers are provided on the outer surface of the sliding and rolling mechanism 8 having a guide 81 extending vertically up and down. 82 sandwich the horizontal guide 6 from above and below, and the sliding and rolling mechanism 8 is supported by the horizontal guide 6 so as to be horizontally movable.
is integrally provided with a vertical guide 81 made of a groove-shaped body having a U-shaped planar cross section, and a roller 81a housed in the guide 81.
It is constructed by attaching the rear end 1a of the VC first arm 1.

However, the structure of the guide portion in the present invention is not limited to this embodiment. For example, when the horizontal guide 6 is formed of a rod-shaped body such as a sliding rod or a screw rod, the sliding and rolling mechanism 8 can be mounted on the rod-shaped horizontal guide 6 by using a known sliding base. It consists of a screw head, etc.

The i-mechanism supported by the side wall 51 of the bracket 5 and the vertical guide 81 provided on the bracket 5 via the horizontal guide 6 as described above uses the lower end 2a of the second arm 2 as a load point for supporting the load. , a fixed pivot point 51 to the bracket 5
is used as a fulcrum, and the rear end 1a of the first arm 1 is used as a point of force, and as the force point 1a is moved up and down along a vertical guide 81, the load point 2a is moved up and down, and the vertical guide 81 is also used as a horizontal guide. 6, the load point 2a is moved in the horizontal direction, and the bracket 5
By rotating on the support column, it operates as an arm mechanism that makes the operating range of the load point 2a three-dimensional.
If these operations are performed by the output of one drive source, it can be operated as a load handling robot, and the configuration 1 for this purpose is, for example, as follows.

Reference numeral 9 denotes an electric motor installed in front of the bracket 5 at the lower part of the vertical guide 81, and its rotational output is applied to the vertical guide 8.
The chain 921 IC is transmitted through intermediate chain wheels 91, 91 provided at the lower end of the chain 921, 91 provided at the lower end of the bracket 5, through the chain wheel 93 of the force point 1a, and the chain 921IC is hung around the chain 921 with its tip fixed 94 to the rear part of the bracket 5. By expanding and contracting the vertical guide 81, the position of the force point 1a is changed within the vertical guide 81.

Reference numeral 10 denotes an electric motor provided near the horizontal guide 6 of the sliding and rolling mechanism 8, and intermediate chain wheels 11 provided at both outer ends of the horizontal guide 6.
, 11', the output shaft of the chain 12 is connected to the intermediate part of the chain 12 which is wound between the front and rear of the sliding and rolling mechanism 8, and the reciprocating movement of the chain 12, that is, the horizontal direction of the sliding and rolling mechanism 8 It is designed to act as a driving force for movement.

As shown in FIG. 3, the output of the electric motor 10 may be transmitted to a pinion 82a3 so that the pinion 82a rolls on a rack 6a formed on the horizontal guide 6. Reference numeral 13 denotes a box electric motor whose output shaft is mounted on the lower surface of the bracket 5 in parallel to the support column 7, and a pinion 13a provided on the output shaft connects to an externally toothed rack 13 provided around the upper end of the support column 7.
b, thereby allowing the bracket 5 to pivot around the axis of the support column 7.

It is assumed that the outputs of the electric motors 9, 10, and 13 of the above embodiments are transmitted to the respective mating members via a reduction mechanism or a necessary hoisting mechanism.

Furthermore, a fluid pressure cylinder may be used as the drive source instead of the electric motor. The robot of the present invention configured as described above has an appropriate grip (not shown) attached to the load portion 2a of the arm mechanism, and the load to be handled or a tool such as a welding torch is attached to the grip. When a predetermined electric motor of the drive source is operated, the load section 2a shown by the chain line in the figure
Since the load section 2a can be positioned at any position within the three-dimensional movable range and moved to another location, it can be operated as a load handling robot.

On the other hand, in the arm mechanism of the above embodiment, a weight or a balance/brake may be attached at an arbitrary location in order to balance the arm mechanism itself during support. Further, if the gripping tool is attached to the load section 2a of the arm mechanism so as to be able to rotate freely, and if necessary, the rotation can be performed using a drive source such as an electric motor, thereby increasing the degree of freedom of the load section 2a. Therefore, the function as a load handling robot can be increased.
The present invention is as described above, and since the arm mechanism of the load-handling robot is constructed by a Patgraph mechanism using parallelogram links, the structure of the arm mechanism itself is simple and easy to manufacture, and the load-handling robot can be easily manufactured. This arm mechanism can have its fulcrum fixedly pivoted to the bracket to increase its strength and stability during operation, and The force point of the mechanism can be moved both horizontally and vertically regardless of the fixed pivot of the fulcrum, and the mechanical strength of the guide mechanism that realizes the bidirectional movement can be increased, and the operation stability can be improved. Since it uses a cross-guide system with high strength, it is extremely useful as a load-bearing robot, as it can stably and finely move and position the load portion of the stably supported, high-strength arm mechanism over a wide range.

Additional related original inventions include (Patent No. 1045746, Japanese Patent Publication No. 1983-
No. 36600) The rear end 1a of the first arm 1 is the intermediate chain wheel 91
, 91, when the rear end 1a of the arm moves up and down, it may swing back and forth, or the rear end 1a of the arm may not be placed in a specific position. When positioning, there is a possibility that an external force acts and swings back and forth, but in the present invention, the sliding and rolling mechanism 8 provided with the intermediate chains 91, 91 is provided with a vertical guide 8.
, it is possible to restrict the back-and-forth swing of the rear end of the first arm in the device according to the original invention.

[Brief explanation of drawings]

Fig. 1 is a side skeleton view of an example of a load handling robot according to the present invention, Fig. 2 is a plan view of an example of an arm mechanism of the robot of the present invention, and Figs. 3 and 4 are side views of other examples of the arm mechanism. It is a skeleton diagram. 1...First arm, 1a...First arm rear end, 2...Second arm, 3...Third arm, 4... ...4th arm, 5...
Bracket, 51...Fixed pivot joint, 6...
・・Horizontal guide, 7・・・・ Support, 8・・・・
Sliding and rolling mechanism, 81... Vertical guide, 82...
...Roller, 9...Electric motor, 91...
・Intermediate chain single, 92... chain.

Claims (1)

[Claims] 1 Under normal conditions, the second arm is perpendicular to the tip of the first horizontal arm.
an upper end of the arm and a tip of a third arm parallel to the first arm are respectively pivotally connected near the upper end of the second arm, and on a fourth arm parallel to the second arm;
a lower end is pivotally connected near the rear end of the first arm and a rear end of the third arm, and the rear end of the first arm and the lower end of the second arm, the third arm and the fourth arm A pivoting portion between the third arm and the fourth arm is attached to a bracket-shaped machine casing in which an arm mechanism is formed such that the pivoting portion and the pivoting portion are on a straight line or an approximate straight line, and is rotatably supported on a support or the like. The machine casing is fixedly pivoted, and the machine casing is provided with a horizontal guide of a rod-shaped body and a groove-shaped body, and a driving source such as an electric motor with a chain at the output end, a hydraulic cylinder, etc. is provided, and the horizontal guide A slide with a vertical guide is provided with a sliding rolling member such as a roll movable along the guide and an intermediate chain ring for guiding the chain, and a vertical guide portion such as a rod-shaped body or a groove-shaped body is formed. The rolling mechanism is mounted with the rolls of the sliding rolling member in contact with the horizontal guide surface, while the chain of the driving source is mounted with its tip end passing through the intermediate chain ring of the sliding rolling mechanism. The chain is hung around a chain ring provided at the rear end of the first arm, and the tip of the chain is fixed to the outer end side of the horizontal guide, and the mechanism is attached to a sliding and rolling mechanism with a vertical guide attached to the horizontal guide. Connect the output end of a drive source such as an electric motor or hydraulic cylinder that exerts a driving force to move along the horizontal guide;
A load handling robot characterized in that a rotatable load support portion is provided at the lower end of the second arm.