JPS606369A - Travelling type work robot - 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 The present invention is a mobile work robot that can travel along a travel rail installed in the upper space of a building and perform work such as assembling machinery and equipment on a required work table. Regarding. The purpose of this is not only to be able to move forward, backward, left, right, and even down the L to greatly expand the work area, but also to be able to operate the arm reliably to perform the required work accurately. The aim is to provide a mobile working robot that can perform the following tasks.

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

(1) is an I-shaped steel beam installed horizontally in a straight line in the upper space of the building, and (2) is a long rail attached to several sections along the bottom surface of the beam (1). The plate ('I) is a two-striped dovetail-shaped first running rail that is attached downwardly to the bottom surface of the plate (2) along the longitudinal direction of the plate (4).
is a rectangular bogie that can run freely along the bottom of the first running rail (3), and the dovetail sliding member (5) fixed upward on the upper surface of the bogie (4) is movable along the first running rail (3). Rail (3)
It is said that it can run freely by being slidably fitted to the wheel. (6) is a D...C servo motor for running the bogie that is attached downward to the bottom surface of the bogie (4), and (7) is a gear type or electromagnetic clutch type that is attached to the side of the same bogie (4). (8) is a two-striped dovetail-shaped second running rail that is installed downwardly perpendicular to the first running rail (3) on the underside of the same truck (4); 2. The arm mounting is a rectangular arm mounting (l-mounted base) that can freely run along the bottom of the running rail (8). It is said that it can run freely by fitting it slidably into the second running rail ([I). D-C servo mork for use, α is a telescopic arm attached downward to the center of the lower surface of the J-holder (9), and the telescopic arm (12) has the required number of long and short links (1 Q4 around the grapes
), it is constructed in the shape of a so-called lazy pin that is rotatably connected, and is said to be able to expand and contract at will. (+6
) is rotatably attached to the tip shaft (+4) of the telescoping arm (1) (=J-shaped air jack or work tool such as a pump chuck, (1φ is the same tip shaft (I4) and its upper part). Timing pulleys (1 to 1) are respectively attached to two shafts (14) located at the timing pulley (16).
The timing belt is wound between the timing belts 1 and θ, and the θ barrel is the motor for operating the timing pulley, which is installed horizontally on the telescopic arm (the θ barrel is attached to the above-mentioned telescopic arm).
(9) is a D-C servomorph for operating the telescopic arm that is installed horizontally on the side of (A), the same arm is attached to the stand (9)
A long plate-shaped guide rail is installed downward in parallel with the telescopic arm (12) on the lower surface of the telescopic arm (12), and (2) is attached to the guide rail (b) in a holding manner, and The guide bar α4 has a guide bar which is slidable downward along the guide groove (l) formed on the surface of the rail (23), and the tip of the guide bar α4 is connected to the telescopic arm (12). It is pivotally mounted on the solid shaft (14) of the telescopic arm A (1
2) It is said to guide the vertical movement. □□□ is a stopper installed at the upper end of the guide rail, and 241 is an air cylinder installed at the bottom of the guide rail. This is to alleviate the shock that occurs when descending.

Next, the operation of the mobile working robot according to the present invention will be explained.

First, required work tables (not shown) are placed directly under the beam (1) at predetermined intervals. However, when the D-C servo moke (6) for bogie running is activated, the bogie (4
) travels under the beam (1) along the first running rail (3) in the direction indicated by the arrow in FIG. 1 and stops on the required working coagule. Then, the D-C servo motor 0!1 for operating the telescopic arm operates, and the telescopic arm f121 moves to 2 in Fig. 1.
As shown by the dotted chain, it extends downward guided by the guide bar (Co.), and in conjunction with this, the arm is attached to the D-C for separate rows.
Servo motor/ (I operates, and the arm is mounted on the stand (9)
When the tool starts traveling in the direction indicated by the arrow in FIG. 2, the work tool side starts the work. When the arm is attached, the work tool O is moved vertically and horizontally by the movement of the stand (9) and the expansion and contraction of the telescopic arm 04 to perform the required work. At this time, if it is necessary to maintain the posture of the workpiece during work, it is preferable to operate the swimming googly actuating motor α. In other words, the motor (flame) rotates the working tool (through the timing pulley θφ and the timing bell (1η) at any angle, and the posture of the work part held in the working tool (1) is always maintained. .In addition, since the impact caused by the expansion and contraction of the telescopic arm (12) is reliably alleviated by the air cylinder, Guide Bar Co., Ltd. accurately guides the vertical movement of the telescopic arm (12) without being affected properly. .

When the work on the required work table is completed, the telescopic arm x (
12) shrinks and rises, and the arm is attached to the stand (9).
travel along the second travel rail (8) and return to their original states. Then, the telescopic arm (12) and the arm handle
When the platform (9) returns to its original state, the D-C servo motor (19) for operating the telescopic arm and the D-C servo motor (II) for moving the arm mounting platform stop their operations. Then, the truck running DC servo motor (6) is operated again to cause the truck i41 to travel along the first traveling rail (3) and stop at the next work zigzag position. Then, the D-C1' motor for operating the telescoping arm and the D-C nervomotor (11) for mounting the stand are operated respectively, and in the same way as above, the mounting of the arm is carried out by the movement of the stand (9) and the movement of the telescoping arm. The working tool te is expanded and contracted by 0.
Operate a up/down/left/right 1. To do so, perform the necessary work below.
The same operation is repeated to perform the required work on the work table in sequence.

In addition, in the above embodiment, the first running ray, /(3)
and the second traveling rail (8) are each dovetail-shaped, and on the other hand,
The sliding members (5) and (10) fixed to the upper surface of the truck (4) and the arm holder (= J-shaped stand (9)) each have a dovetail groove shape, but are not limited to this shape. A known sliding mechanism may be adopted.In addition, the number of telescopic arms (links constituting one station is 6, but is not limited to this, and the number may be increased or decreased.

In addition, a D-C surf motor tel i is used for running the trolley, for arm mounting (-J platform separation), and for operating the telescopic arm.
o) +19) are used respectively, but the present invention is not limited to this, and any known morph can be adopted as appropriate.3) According to the present invention, as described above, the upper space of a building can be Since the trolley (4) is freely suspended from the downward first running rate tv+31 arranged at , the trolley (4) can freely travel a long distance along the first running rail (3). This allows you to greatly expand your work area. Further, a second running rail (8) is provided on the lower surface of the truck (4) facing downward, and a stand (9) with an arm attached thereto is suspended from the second running rail (8) so as to be freely movable. , the arm is attached such that a telescopic arm (12) with a working tool (15) at its tip is mounted downward on the underside of the stand (9), so that the working tool (15) can be freely operated vertically and horizontally. In other words, the arm mount (9) moves left and right by running along the second running rail (8), and can move up and down by extending and contracting the telescopic arm (12). It is possible to carry out complex work by freely moving left and right.Furthermore, when mounting the arm, there is a guide bar (manufactured by Co., Ltd.) on the underside of the stand (9) that guides the telescopic arm (12) and moves up and down. Since it is attached freely, the telescoping arm (12) is always guided by the guide bar (2) and can reliably move downward, allowing the required work to be performed accurately. In addition,
Since the mobile working robot according to the present invention is installed in the space of a building, the space of the building can be used extremely effectively.

BRIEF DESCRIPTION OF THE DRAWINGS The drawings show one embodiment of the present invention, with FIG. 1 being a front view and FIG. 2 being a side view. +31--1st running rail, (1--1 bogie, (8)
-m-second running rail, +91-1-arm number phrase is stand,
(121--1 telescoping arm, Co., Ltd.-1-guide bar) 2-Special N' Applicant: 1 person other than Nakanishi Kikai Co., Ltd. 37

Claims (1)

[Claims] The first downward running rail (3) installed in the upper space of the building
) is suspended from a trolley (4) so as to be freely movable, and the trolley (4)
A second running rail (8) is provided facing downward on the lower surface of the board, and a stand (9) is used to attach the arm to the second running rail (8).
is suspended so that it can run freely, and the arm is attached to a telescopic arm (1) equipped with a working tool (16) at the tip on the underside of the stand (9).
4 is taken downward (-j is taken, and the same arm is taken)
This is a traveling work robot with a guide bar (manufactured by Guide Bar Co., Ltd.) that guides a telescopic arm (121) attached to the platform (9).