JPS63191592A - Robot type working device - 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] (Purpose of the invention) (Industrial application field) The present invention relates to a robot type working device.

(Prior art) VJ is a vertically articulated robot-type working device that performs cargo handling operations such as digging and unloading.
There is one shown in Publication No. 3.

In this device, a screw mechanism and a fluid pressure mechanism are used together as a drive source for vertical movement of an arm to which a working means is attached, and the vertical load is balanced by the fluid pressure mechanism.

(Problems to be Solved by the Invention) In the case of the above-mentioned device, since the vertical load is balanced by a fluid pressure mechanism, a large amount of pressure fluid such as high pressure air is consumed, control is troublesome, and the drive source is It was complicated and expensive.

The present invention has been made in view of these points, and is intended to balance the vertical load using a balance weight.

[Structure of the invention]

(Means for solving problems) The present invention relates to first to fourth arms A and B.

Connect C1D to Np1. p2. p3. A parallelogram link L1 is formed by pivoting connection at p4, and connection @p1. p
2 at both ends is used as a front arm, and its intermediate portion is supported via a support shaft pO to a main body, such as a swivel base 2, so as to be freely rotatable in the vertical direction, and a connecting shaft p1. The first arm A having p4 at both ends is the upper arm, and the connecting shaft p1
At the same time, a working means, such as the article holding means 11, etc., is attached to the attachment point, for example, the attachment shaft ph, of the extension part AX of the tenth arm A, and the third arm, which becomes the lower arm,
7-The working means H is moved in the vertical and horizontal directions by driving the connecting shaft p3 shared by the arm C and the fourth arm D serving as the rear arm in the vertical and horizontal directions. Bot-type work VI Concerning the stomach, the third arm C, which is the lower arm, is extended to the rear of the connection @p3, and the fourth arm D, which is the rear arm.
is extended below the connecting shaft p3, and the connecting shaft p5. pe
, are pivoted and connected at p7 to form a parallelogram link [2, and the fifth and sixth arms E and F share a connecting shaft p6, the connecting shaft p3, the supporting shaft po, and the attachment point ph. They are arranged in a straight line, and a balance weight W is attached to the connection shaft p6.

(Function) The robot type working device of the present invention has a triangle formed by the attachment point surface, the support @pO, and the connection shaft p1, a triangle formed by the connection shaft p3, the support shaft po, and the connection shaft p2, and a triangle formed by the connection shaft p3 and the connection shaft. The triangle formed by p6 and the connecting axis p7 always maintains a similar relationship,
The distance between the support shaft pO supported on the main body 2 and the attachment point ph to which the working means 1 is attached, and the distance between the support shaft OO and the balance weight W.
The distance between the connecting shafts D6 to which the connecting shafts D6 are attached is always at a constant ratio.

(Embodiment) An embodiment of the robot-type working device of the present invention will be described with reference to the drawings.

Reference numeral 1 denotes a base, and a swivel base 2 as a main body is provided on the base 1 and is rotated in the horizontal direction by a drive mechanism (not shown).
A link mechanism is provided at the upper part of the swivel base 2 via a support shaft pO.

This link mechanism has two parallelogram links L1 and L2 that interlock with each other in a master-slave relationship.

The main parallelogram link 1 connects the first to fourth arms A, B, C, D with a connecting axis p1. p2. p3゜p
4, and the connecting shaft p1. The second arm B having p2 at both ends is used as a front arm, and the middle part of the lower end near the connecting shaft p2 is supported by the swivel base 2 via the support shaft po indicated by F so as to be freely rotatable in the vertical direction. , a connecting shaft D3 shared by the third arm C, which is the lower arm, and the fourth arm D, which is the rear arm, is connected to a driving machine 1lII3 for vertical movement and horizontal movement, which is pivotally attached to the swivel base 2. 4 are connected to each other 7, and each drive mechanism 3, 4 drives the connecting shaft p.
3 in the vertical and horizontal directions, the front end side of the connecting shaft p1 to the first arm, which has connecting shafts p1 and p4 at both ends as the upper arm, moves in the vertical and horizontal directions.

Note that a coil spring S is stretched between the intermediate portion of the upper end of the second arm B of the parallelogram link L1 near the connecting shaft p1 and the upper portion of the support shaft pO of the swivel base 2.

The subordinate parallelogram link L2 extends the third arm C, which is the opposite arm of the parallelogram link L1, to the rear of the connection axis p3, and The fourth arm D, which becomes the side arm, is connected to the connecting shaft p3.
The extensions cx, oy of the third and fourth arms C9O and the fifth and sixth arms E, F are connected to the connecting shafts p5, p6, along with the connecting shaft p3. The rear end of the fifth arm E, which is the lower arm of this parallelogram link L2, is connected by a shaft at p7, that is, the fifth arm E and the sixth arm F, which is the rear arm. A balance weight W is provided in a portion shared by the connecting shaft p6.

The upper first arm Δ of the main parallelogram link L1 is extended forward of the connecting shaft p1, and the tip of the extension AX to this first arm is provided with a mounting point. A mounting shaft ph is provided, a mounting frame 5 is mounted on this mounting shaft ph, a mounting plate 7 that rotates in the horizontal direction by a drive [6] is provided at the bottom of this mounting frame 5; An article holder tier is attached as a working means for holding an article (not shown).

Note that 8 is an arm that constitutes a part of the posture maintaining link L3 for always maintaining the posture of the article holding means H constant.

In this link mechanism, the connecting shaft p6 shared by the fifth and sixth arms E and F, the connecting shaft p3 shared by the third and fourth arms C10, the supporting shaft pO, and the first arm The extension part ^X is placed on a straight line with the axis ph.

Therefore, in this robot type working device, when the connecting shaft p3 is moved vertically and horizontally by each of the drive mechanisms 3 and 4, the article holding device attached to the lower part of the mounting shaft ph of the extension part ^X of the first arm A is moved. The child stage moves vertically and horizontally within a predetermined range 9 on the vertical plane while maintaining its posture constant through an attitude maintaining link [3] consisting of an arm 8, etc., and is rotated by a drive mechanism (not shown). 2, the article holding means H rotates revolutionally, and the article holding means [
(When the article holder 1 moves three-dimensionally and the mounting plate 7 is rotated by the drive mechanism 6, the article holding means 1) rotates on its own axis, so that various cargo handling operations can be performed.

At this time, the connecting shaft p6, the connecting shaft p3, and the supporting shaft pO
and the mounting axis ph are arranged in a straight line, so the mounting axis p
The triangle formed by h, the supporting axis pO, the connecting axis p1, and the connecting axis p3
The triangle formed by the supporting shaft pO and the connecting shaft 02, and the triangle formed by the connecting shaft p3, the connecting shaft p6, and the connecting shaft p7 always maintain a similar relationship, and the supporting shaft pO supported on the main body 2 and the article holding means The distance between the mounting shaft ph to which H is attached and the distance between the support @pO and the connecting shaft p6 to which balance weight W is attached are:
It is always a constant ratio.

Therefore, if a balance weight W suitable for the Ill balance of the article held by the link mechanism L1 article holding means H1 is installed, even if the state of the link 1lIIL changes,
The longitudinal moment of the support shaft pO is always constant, and the load applied mainly to the drive mechanism 3 for vertical movement due to the vertical load on the extension part AX side of the first arm A can be eliminated.
Thereby, there is no need to use a special mechanism for this drive mechanism 3, and it is sufficient to use a well-known screw mechanism or the like.

Incidentally, since the load applied to the drive mechanism 4 for horizontal movement is reduced by the coil spring S, there is no need to use a special mechanism for this drive mechanism 84, and a well-known screw mechanism or the like may be used.

(Effects of the Invention) As described above, the robot-type working device of the present invention has a triangle formed by the attachment point ph, the support shaft po, and the connection shaft p1, and a triangle formed by the connection shaft p3, the support shaft pO, and the connection shaft p2. , connection axis p
3 and the triangle formed by the connecting shaft p6 and the connecting shaft p7 always maintain a similar relationship, and the distance between the supporting shaft pO of the link mechanism and the attachment point ph to which the working means is attached, and the supporting shaft of the link mechanism. Since the distance between pO and the connecting shaft p6 to which the balance weight W is attached is always a constant ratio, if a balance weight W that matches the weight balance before and after the support shaft pO is installed, the state of the link mechanism will change. However, the moment before and after the support shaft pO is always constant, and the load applied to the drive mechanism by the vertical load on the extension part AX side of the first arm A can be eliminated. There is no need to use a conventional mechanism; a general mechanism can be used, and running costs are low and control is simple.

[Brief explanation of the drawing]

The figure is a side view showing an embodiment of the robot-type working device of the present invention.

Claims (1)

[Claims] (1) The first to fourth arms A, B, C, and D are pivotally connected by connecting shafts p1, p2, p3, and p4 to form a parallelogram link L1, with connecting shafts p1 and p2 at both ends. having second
The arm B is used as a front arm, and its middle part is supported on the main body 2 via a support shaft p0 so as to be rotatable in the vertical direction, and a connecting shaft p1
, p4 at both ends is extended forward of the connecting shaft p1 as an upper arm, and a working means H is attached to the attachment point ph of the extension part AX of this first arm A, and the lower arm and The working means H is moved in the vertical and horizontal directions by driving the connecting shaft p3 shared by the third arm C and the fourth arm D, which is the rear arm, in the vertical and horizontal directions. The robot-type working device is such that a third arm C serving as a lower arm is extended to the rear of the connecting shaft p3, and a fourth arm D serving as the rear arm is extended below the connecting shaft p3. extensions CX, DY of third and fourth arms C, D and fifth and sixth arms E;
F along with the connecting shaft p3, connecting shafts p5, p6, p7.
to form a parallelogram link L2, and the connecting shaft p6 shared by the fifth and sixth arms E and F, the connecting shaft p3, the supporting shaft p0, and the attachment point ph are aligned in a straight line. A robot-type working device characterized in that a balance weight W is attached to the connecting shaft p6.