JPS6213970U - - Google Patents
Info
- Publication number
- JPS6213970U JPS6213970U JP10650785U JP10650785U JPS6213970U JP S6213970 U JPS6213970 U JP S6213970U JP 10650785 U JP10650785 U JP 10650785U JP 10650785 U JP10650785 U JP 10650785U JP S6213970 U JPS6213970 U JP S6213970U
- Authority
- JP
- Japan
- Prior art keywords
- work robot
- base plate
- view
- guide member
- base
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 claims description 18
- 230000005484 gravity Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 2
- 230000007723 transport mechanism Effects 0.000 description 2
- 210000000078 claw Anatomy 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Landscapes
- Replacing, Conveying, And Pick-Finding For Filamentary Materials (AREA)
Description
第１図ａ，ｂは本考案による作業ロボツトの旋
回機構の一実施例が装備された作業ロボツト移送
装置の全体と作業ロボツトの斜視図、第２図およ
び第３図は共に搬送機構の斜視図、第４図乃至第
６図ａ，ｂは作業ロボツト旋回機構の斜視図と平
面図およびこの平面図の要部の平断面図と側面図
、第７図ａ，ｂ，ｃはＹ軸方向の位置決め機構の
正面図と側面図、一部平面図、第８図ａ，ｂ，ｃ
はＸ軸方向の位置決め機構の正面図と側面図と位
置決め態様図、第９図ａ，ｂは作業ロボツトにお
けるチヤツク機構と圧空供給機構とのそれぞれの
圧搾空気連通用カプラ同士が結合した状態の縦断
面図と機構斜視図、第１０図ａ，ｂはケーブル格
納機構の平面図とＡ―Ａ線による側断面図、第１
１図ａ〜ｃは同じくケーブル格納機構の作動態様
を順に示す平面図、第１２図は作業ロボツトが複
数の主機（Ｎｏ．１〜Ｎｏ．ｎ）に対して作業を
行なうレイアウトの一例を示す平面図、第１３図
乃至第２１図は作業ロボツトが搬送機構側から分
離して原位置に復帰するまでのストローク間を自
走する態様を順に示す側面図、第２２図と第２３
図ａ〜ｒは主機Ｎｏ．１周りにおける電源コード
２５等の動作手順の共に説明図である。
……搬送機構、……作業ロボツト、……
作業ロボツト旋回機構、……位置決め機構、
……圧空供給機構、……ケーブル格納機構、１
……主機、２……Ｙ軸レール、４……移動トロリ
、５……台車、２０……基体、２１……継手ハン
ド、２３，Ｃ……チヤツク機構、２５……電源コ
ード、２７……ハンガ、３０……台板部、３１…
…ベース脚部、３４……昇降動用シリンダ、３５
……昇降動用クランク軸、３６……旋回用シリン
ダ、４０Ｌ，４０Ｒ……Ｙ軸ストツパ、４６……
Ｘ軸ストツパ、Ｌ１，Ｌ２……リンク式ストツパ
、５０……カプラ継手、５１……カプラ継手、５
２……圧空ホース、５９……作動駒、６０……把
持爪、７１，７２……内外筒ドラム、７４……板
ばね、７５……リテーナ、７６……摩擦部材、Ｓ
１〜Ｓｎ……旋回ポイント。
1A and 1B are perspective views of the entire work robot transfer device and the work robot equipped with an embodiment of the work robot rotation mechanism according to the present invention, and FIGS. 2 and 3 are both perspective views of the transfer mechanism. , FIGS. 4 to 6 a, b are a perspective view and a plan view of the work robot rotation mechanism, and a plan sectional view and a side view of the main parts of this plan view, and FIGS. 7 a, b, and c are views in the Y-axis direction. Front view, side view, and partial plan view of the positioning mechanism, Figures 8a, b, and c
9A and 9B are a front view, a side view, and a positioning state diagram of the positioning mechanism in the X-axis direction, and FIGS. 9a and 9b are longitudinal sections of the work robot in which the compressed air communication couplers of the chuck mechanism and the compressed air supply mechanism are connected to each other. A top view and a perspective view of the mechanism; Figures 10a and 10b are a plan view and a side sectional view taken along line A-A of the cable storage mechanism;
1A to 1C are plan views sequentially showing the operating modes of the cable storage mechanism, and FIG. 12 is a plan view showing an example of a layout in which a work robot performs work on a plurality of main machines (No. 1 to No. n). 13 to 21 are side views sequentially showing how the work robot moves by itself between strokes from separation from the transport mechanism side to returning to the original position, and FIGS. 22 and 23.
Figures a to r are main engine No. 1 is an explanatory diagram of the operation procedure of the power cord 25 and the like around the power cord 25. ...transport mechanism, ...work robot, ...
Work robot rotation mechanism, positioning mechanism,
...Compressed air supply mechanism, ...Cable storage mechanism, 1
...Main machine, 2...Y-axis rail, 4...Moving trolley, 5...Dolly, 20...Base body, 21...Joint hand, 23, C...Chuck mechanism, 25...Power cord, 27... Hanger, 30... Base plate part, 31...
...Base leg portion, 34...Elevating cylinder, 35
...Crankshaft for lifting and lowering, 36...Cylinder for turning, 40L, 40R...Y-axis stopper, 46...
X-axis stopper, L 1 , L 2 ... link type stopper, 50 ... coupler joint, 51 ... coupler joint, 5
2... Compressed air hose, 59... Operating piece, 60... Gripping claw, 71, 72... Inner and outer cylinder drum, 74... Leaf spring, 75... Retainer, 76... Friction member, S
1 to S n ... Turning point.
Claims (1)
交座標系で移動自在な作業ロボツトと、前記作業
ロボツトを旋回位置において直交座標軸に垂直な
軸線を中心に所要の角度だけ自転旋回させる作業
ロボツト旋回機構とを含み、前記作業ロボツト旋
回機構が、前記作業ロボツトを下方から支持する
台板部と、前記台板部の重心位置において垂直な
方向に摺動自在かつ回転自在な案内部材と、前記
案内部材の下端に結合されたベース脚部と、一方
端が前記台板部に連結されかつ他方端が前記案内
部材に連結された少なくとも１つの昇降動用シリ
ンダと、前記案内部材の垂直軸線周りで偶力によ
る回転モーメントを前記台板部に対して付与でき
るように少なくとも一対が設けられて各々の一方
端が前記台板部に連結されかつ他方端が前記ベー
す脚部に連結された旋回用シリンダと、を備えた
ことを特徴とする作業ロボツト移送装置の旋回機
構。 A work robot that is suspended and supported by a movable cart and is automatically controlled to be movable in an orthogonal coordinate system, and a work robot rotation mechanism that rotates the work robot at a rotation position by a predetermined angle about an axis perpendicular to the orthogonal coordinate axis. The work robot rotating mechanism includes: a base plate portion that supports the work robot from below; a guide member that is slidable and rotatable in a direction perpendicular to the center of gravity of the base plate portion; and the guide member. a base leg connected to a lower end of the base plate; at least one lifting cylinder connected at one end to the base plate and at the other end to the guide member; at least one pair of rotating cylinders are provided, each having one end connected to the base plate part and the other end connected to the base leg part so as to be able to apply a rotational moment to the base plate part; A rotating mechanism for a work robot transfer device, characterized by comprising:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10650785U JPH0213420Y2 (en) | 1985-07-12 | 1985-07-12 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10650785U JPH0213420Y2 (en) | 1985-07-12 | 1985-07-12 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6213970U true JPS6213970U (en) | 1987-01-28 |
| JPH0213420Y2 JPH0213420Y2 (en) | 1990-04-13 |
Family
ID=30981932
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP10650785U Expired JPH0213420Y2 (en) | 1985-07-12 | 1985-07-12 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0213420Y2 (en) |
-
1985
- 1985-07-12 JP JP10650785U patent/JPH0213420Y2/ja not_active Expired
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0213420Y2 (en) | 1990-04-13 |
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