JPS60238295A - Expansion arm for robot, etc. - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Industrial Field of Application] This invention mainly relates to a machine that travels along a downward traveling rail laid in the upper space of a building, and performs assembly work of machinery and equipment on a required work table. The present invention relates to telescopic arms used in airborne work robots, lifting and lowering devices in automated warehouses, etc.

[Conventional technology]

The inventor of the present invention previously created a punk graph-shaped rod by cross-connecting two arm members each consisting of three link pieces rotatably connected to each other as a telescoping arm for a mobile working robot. 2 water leg type telescopic arm (patent application 1986-11162)
1) is proposed.

[Problem that the invention seeks to solve]

However, since the above-mentioned telescoping arm is of a two-legged type, it is extremely unstable and always requires a vertical guide bar, which not only makes the structure complicated but also relatively heavy. Moreover, the extension distance of the telescoping arm is likely to be limited, and the strength is not necessarily satisfactory.

[Means for solving problems]

This invention attempts to solve the conventional problems at once, and consists of a required number of link pieces l1l) (three arm members θ4 formed by rotatably connected Illfil), and the arm A telescopic arm of a robot or the like is characterized in that members 041 are rotatably cross-connected at predetermined link portions to form a substantially pantograph shape.

〔Example〕

An embodiment of the present invention shown in the drawings will be described below.

(1) is a two-striped dovetail-shaped first running rail installed downward in the upper space of the building, and (2) is a rectangular trolley that can run freely along the first running rail (υ below). The trolley (2) is made to be able to run freely by fitting a sliding member (3) with a dovetail groove shape in cross section upwardly fixed to the upper surface of the trolley into the first running rail (++). (4) is a two-striped dovetail-shaped second running rail attached to the lower surface of the bogie (2) facing downward perpendicular to the first running rail (1); (6) is the second running rail ( 4) A rectangular movable platform that can freely run along the bottom, and the movable platform fi+ has a dovetail-shaped sliding member (6) fixed upward on its upper surface that slides onto the second traveling rail (4). By fitting them together so that they can move freely, they can be moved freely. (7) is the movable platform (6) above.
The turntable (8) is attached to the bottom of the turntable (7).
The D-C servo motor that rotates the servo motor, (9) is a mounting tool for the telescopic arm that is mounted downward at equal intervals on the bottom surface of the rotary table (7) (+01 is the mounting tool (9) An almost pantograph-shaped telescopic arm pivoted downward.
The telescoping arm (10) has three long and short link pieces Tl1)
It consists of three arm members (14) rotatably connected to the HH, and the center part of the intermediate link piece (1'4) constituting each arm member a is rotatably connected to the first connecting member (151). The tip of the link piece (1"4) is rotatably cross-connected with the second connecting member H. 0η is detachably attached to the tip of the telescopic arm (10). It is a work tool such as an air chuck or vacuum chuck that can be attached downward.

The cart (2), movable base (5), and telescopic arm 00) are each operated by a DC servo motor or the like.

[Effect]

Next, the operation of the telescoping arm (101) according to the present invention will be explained. First, a required number of work tables (not shown) are arranged at predetermined intervals directly below the first traveling rail il+. Then, D. Due to the operation of the C servo motor, the trolley (2) runs along the first traveling rail +1+ in the direction indicated by the arrow in Fig. 1, and stops traveling when located at a desired work point on the work table. The telescoping arm (lO) extends downward as shown by the two-dot chain line in Fig. 1, and in conjunction with this, the movable platform (5) moves left and right along the second traveling rail (4), and , the turntable (7) starts rotating in the forward and reverse directions.

Then, by the movement of the movable base (6), the rotation of the rotary base (7), and the vertical movement of the telescopic arm, the work tool θη is appropriately operated left and right, rotationally, and up and down to perform the required work. At this time, the telescopic arm (+01 is the three arm members θ4)
Since it has a three-legged structure, vertical expansion and contraction can be performed stably, quickly, and reliably. In addition, if it is necessary to maintain the posture of the work part during work, rotate the swimming pulley, rotate the work tool side to an arbitrary angle via the timing belt, and hold it on the work tool (1?). It is a good idea to always maintain the posture of the work parts.When the required work on the table is completed, the telescopic arm (10)
The movable platform (5) moves along the second traveling rail (4) and returns to its original state. Then, the trolley (2) again travels along the first traveling rail 11) and stops at the next work table position. Similarly to the above, the work tool is rotated left and right as appropriate by the back and forth movement of the cart (2), the left and right movement of the movable base (5), the rotation of the rotary base (7), and the vertical movement of the telescopic arm (10). , up and down respectively to perform the required work. - From then on, repeat the same operation to perform the required work on the work table in sequence.

In addition, in the above embodiment, each arm member (14) has 3
It is constructed by rotatably cross-connecting the long and short link pieces (ll) H (II), but it is not limited to this, and the number of link pieces can be reduced to 2, or 4 or more. Of course, the above embodiment shows an example in which the telescoping arm (10) is applied to a mobile working robot, but it can also be used as a lifting device in an automated warehouse or other similar arm. It is something that can be done.

〔Effect of the invention〕

According to the present invention, the required number of link pieces (l
I) Consists of three arm members 04) which are rotatably connected to each other, and each arm member 04) is rotatably cross-connected at a predetermined link point to form a pantograph. Because it is formed into a shape, it is extremely stable and durable, and can be expanded and contracted quickly and reliably without the need for a separate guide bar unlike conventional products. The width can be greatly expanded, and the lifting force is large and it can always move up and down in the vertical direction, making it extremely useful as a telescopic arm for robots or as a lifting device in automated warehouses. suitable. Moreover, since the extendable I-arm is compactly constructed, it is possible to reduce the weight and, in turn, increase the work speed.

[Brief explanation of drawings]

The drawings show one embodiment of the invention, with FIG. 1 being a side view and FIG. 2 being a bottom view. (101--1 telescopic arm, (o) (111--
- Link piece, (+4+--- arm member. Patent applicant: Nakanishiguchi Botix Co., Ltd. Figure 1)

Claims (1)

[Claims] Required number of link pieces + II) (121+11) are made up of three arm members 04 rotatably connected, and the arm members 04 are each rotatably cross-connected at a predetermined link piece position to approximately / (A telescopic arm of a robot, etc., characterized by being formed in a contour shape.