KR102631302B1 - Industrial tool handling device with multi-joint arm - Google Patents

Abstract

The present invention relates to an industrial tool handling device having an articulated arm. This includes a carrier having a lifting table installed on a support frame, a fixed body fixed to the upper part of the lifting table, and a support bar fixed to the upper surface of the fixed body; A first arm supported on a support rod; a first joint having a vertical shaft fitted to the extended end of the first arm, a shaft holder integral with the vertical shaft, and a connection bracket fixed to a side of the shaft holder; a second arm including an upward extension beam that can rotate up and down while connected to a connection bracket; a second joint connected to the extension end of the upward extension beam; a third arm connected to the second joint and having a pair of downward extension beams capable of rotating up and down; a distal joint connected to the downward extension beam; It is provided at the distal joint and includes a tool holder that detachably supports industrial tools.
The industrial tool handling device having the multi-joint arm of the present invention configured as described above reduces the burden of manpower by holding the tool on behalf of the worker, improves work efficiency by accurately maintaining the position of the tool with respect to the object, and reduces the risk of errors or accidents. Reduce risk.

Description

Industrial tool handling device with multi-joint arm}

The present invention relates to a device for handling various tools used in industrial sites. More specifically, the present invention relates to a device for handling various tools used in industrial sites. More specifically, it reduces the burden of manpower by holding tools on behalf of the worker and improves work precision by accurately maintaining the position of the tool with respect to the object. Shiki relates to an industrial tool handling device having a multi-joint arm.

Among the various equipment used in the manufacturing industry, tools that workers hold and use by hand are also included. For example, hand drills, pneumatic tapping machines, grinders, welders, etc. (hereinafter referred to as industrial tools) are equipment that workers hold and handle with their hands.

However, although the above-described industrial tools are held by hand, they have a certain weight, so continuous use is a great physical burden. For example, performing the same drilling task using a hand drill for several hours is not only physically very difficult, but the quality of work cannot be expected due to the inaccurate positioning of the hand drill.

Industrial robots are sometimes used to solve these problems, but industrial robots themselves are expensive and often have structures that are too elaborate compared to the difficulty of the work, so they are not realistically used in small businesses. For example, an expensive robot is not used to repeat the simple task of drilling a hole. There is a need for a device that can hold industrial tools on behalf of the operator and assist in tool positioning accuracy.

As a background technology for this related invention, Domestic Registered Utility Model Publication No. 20-0445027 (Vertical Incline Welding Welding Device Using Multifunctional Arm) has been disclosed.

The disclosed welding device is a welding device that has a forward and backward moving slide installed on a bogie, an upper and lower slide installed on the forward and backward moving slide, and is configured to perform weaving welding on a vertically inclined surface by mounting a weaving mechanism on the upper and lower slides, A fixing plate installed on the up and down slide; a roll direction mechanism installed at an end of the fixing plate to rotate in a vertical direction and to be able to slide perpendicular to the rotation direction; a pitch direction mechanism installed at an end of the roll direction mechanism to rotate in the vertical direction in a pivoting pin structure and to be able to slide perpendicular to the direction of rotation; a yaw direction rotation unit installed at an end of the pitch direction mechanism to enable yaw direction rotation; A weaving motor installed in the yaw direction rotation unit; A torch coupling adapter coupled to and installed on the weaving shaft of the weaving motor; It consists of a welding torch that is coupled and installed on a torch coupling adapter.

The present invention was created to solve the above problems, and its purpose is to provide an industrial tool handling device with a multi-joint arm that improves work efficiency and reduces the risk of errors or accidents by accurately maintaining the position of the tool with respect to the object.

The industrial tool handling device having a multi-joint arm of the present invention as a means of solving the problem for achieving the above object positions the industrial tool on the processing surface of the object to be processed, and includes a support frame supported by a plurality of wheels, a support frame A carrier including a horizontally installed lifting table that can be lifted up and down, a height adjuster that adjusts the height of the lifting table, a fixed body that is fixed to the upper part of the lifting table and provides support, and a support bar fixed vertically to the upper surface of the fixed body. ; a first arm supported at one end by the support ring bar and rotatable using the support ring bar as a central axis; a first joint having a vertical shaft rotatably fitted to the extended end of the first arm and extending vertically, a shaft holder integral with the vertical shaft, and a connection bracket fixed to a side of the shaft holder; a second arm extending parallel to each other with one end connected to a connection bracket with a pin, and including an upwardly extending beam that can rotate up and down about the pin; a second joint having a support plate connected with a pin to the extended end of the upward extension beam; a third arm having a pair of downward extension beams connected to the support plate of the second joint with a pin and capable of rotating up and down about the pin; An end joint including a support bracket connected to the end of the downward extension beam with a pin; A tool holder provided at the distal joint and detachably supports an industrial tool; a first gas spring that connects the first joint and the upward extension beam and allows the second joint to maintain a higher altitude than the first joint; It includes a second gas spring that connects the second joint and the downward extension beam and allows the distal joint to maintain a lower altitude than the second joint.

In addition, another industrial tool handling device having an articulated arm of the present invention as a means of solving the problem for achieving the above object positions the industrial tool on the processing surface of the workpiece, and has a horizontal fixing table at the top. A carrier including a car body, a drive wheel provided at the bottom of the car body to support the car body, a wheel drive unit that operates the drive wheel, a controller that controls the wheel drive unit, and a battery that supplies power to the wheel drive unit; A plurality of laminated slabs stacked and fixed on the fixed table; A support rod fixed vertically to the top layer laminated slab; a first arm supported at one end by the support ring bar and rotatable using the support ring bar as a central axis; a first joint having a vertical shaft rotatably fitted to the extended end of the first arm and extending vertically, a shaft holder integral with the vertical shaft, and a connection bracket fixed to a side of the shaft holder; a second arm extending parallel to each other with one end connected to a connection bracket with a pin, and including an upwardly extending beam that can rotate up and down about the pin; a second joint having a support plate connected with a pin to the extended end of the upward extension beam; a third arm having a pair of downward extension beams connected to the support plate of the second joint with a pin and capable of rotating up and down about the pin; a distal joint portion that takes the form of a plate and has an index panel that is pin-connected to the end of the downward extension beam; a tool holder connected to the distal joint and detachably supporting industrial tools; a first gas spring that connects the first joint and the upward extension beam and allows the second joint to maintain a higher altitude than the first joint; The tool holder includes a second gas spring that connects the second joint and the downward extension beam and allows the distal joint to maintain a lower altitude than the second joint. An extension bar, one end of which is rotatably installed on the index panel through a holder pin, and a tool gripper provided on the other end of the extension bar to hold an industrial tool, the index panel comprising: It is provided with a scale marked along the arc of an imaginary circle centered on the holder pin and a plurality of hanging holes arranged at regular intervals along the arc of an imaginary circle centered on the holder pin, and the extension bar includes, An angle maintenance pin is installed that is inserted into one of the plurality of hanging holes to maintain the angle of the extension bar, and the holder pin is equipped with a laser pointer that displays the tilt angle of the extension bar by irradiating laser light toward the scale. It is installed.

In addition, the laminated slab is a square weight plate that is fitted upwards and downwards, and on the side of the laminated slab; A tilting table providing support, a support ring fixed to the upper surface of the tilting table and extending vertically, and a tilt adjusting means provided at the lower part of the tilting table to adjust the tilt angle of the tilting table are further installed, and the carrier includes; A levitation actuator that outputs a vertical lifting and lowering motion force, an orientation control motor that is lifted and lowered by the levitation actuator and whose drive shaft points toward the ground, and is fixed to the drive shaft of the orientation control motor, and pressurizes the ground when the levitation actuator lowers the orientation control motor. A disk-shaped ground plate is further provided to levitate the carrier by receiving a reaction force from the ground. A side slit extending in the circumferential direction is formed on the periphery of the ground plate, and is detachably mounted on the side slit to levitate the carrier. Includes an extension plate to prevent the carrier from tipping over.

In addition, a sensing tab is further mounted on the distal joint portion, and on the carrier; A tracking sensor unit is installed that detects the position of the detected tab, transmits the detection information to the controller, and causes the controller to drive the wheel drive unit to move the carrier toward the detected tab, and is installed between the second arm and the third arm. ; Included angle detection means is further installed to detect a change in the included angle of the third arm with respect to the second arm and transmit the detected information to the controller.

The industrial tool handling device having the multi-joint arm of the present invention configured as described above reduces the burden of manpower by holding the tool on behalf of the worker, improves work efficiency by accurately maintaining the position of the tool with respect to the object, and reduces the risk of errors or accidents. Reduce risk.

Figure 1 is a perspective view showing the overall industrial tool handling device having a multi-joint arm according to the first embodiment of the present invention.
Figure 2 is an enlarged view of the first joint shown in Figure 1.
FIG. 3 is a diagram illustrating the second joint of FIG. 1.
Figure 4 is an overall view of an industrial tool handling device having a multi-joint arm according to a second embodiment of the present invention.
Figure 5 is a perspective view separately illustrating the laminated slab of Figure 4.
FIG. 6 is a plan view for explaining the expansion method of the ground plate shown in FIG. 5.
Figure 7 is a perspective view of an expanded version of Figure 6.
Figure 8 is a diagram for explaining the operating principle of the angle sensor shown in Figure 4.
Figure 9 is a side view showing the detailed configuration of the distal joint part of Figure 4.
Figure 10 is a cross-sectional view taken along line AA of Figure 9.

Hereinafter, one embodiment according to the present invention will be described in more detail with reference to the attached drawings.

Figure 1 is a perspective view showing the overall industrial tool handling device 10 having a multi-joint arm according to the first embodiment of the present invention, and Figure 2 is an enlarged view of the first joint portion 32 shown in Figure 1. It is a drawing. Additionally, FIG. 3 is a diagram illustrating the second joint portion 35 of FIG. 1.

The industrial tool handling device 10 of this embodiment positions tools used in industry on the processing surface of the processing object 101. 'Industrial tools' in this description include all power tools that are held and used by workers by hand. For example, hand drills, pneumatic tapping machines, grinders, welding torches, etc. are industrial tools. Additionally, positioning refers to the correct position of the industrial tool with respect to the processing surface. For precise machining, the relative position of the industrial tool with respect to the machining surface is important to perform the positioning task of the industrial tool.

As shown, the industrial tool handling device 10 according to this embodiment includes a carrier 20 and an articulated arm 30. In addition, the multi-joint arm 30 includes a first arm 31, a first joint portion 32, a second arm 34, a second joint portion 35, a third arm 36, a distal joint portion 37, It has a tool holder (38).

The carrier 20 allows the handling device 10 to be used movably and includes a support frame 21, an elevating table 23, a height adjuster, a fixed body 25, and a support bar 25a. .

The support frame 21 is a horizontal square structure and has wheels 21a at the lower four corners. Additionally, a handle 21c is provided on one side of the support frame 21. The carrier 20 can be moved using the handle 21c.

The lifting table 23 is a plate-shaped member installed horizontally on the support frame 21 so as to be able to be lifted up and down, and supports the fixed body 25. The lifting table 23 is raised and lowered by the height adjustment unit. The height adjustment unit has a plurality of legs 22a and an actuator 22b. The lower part of the leg 22a is supported on the support frame 21 and is an This height adjustment method is general and its description will be omitted.

The fixed body 25 is a heavy steel object in the shape of a hexahedron, and has a support ring 25a and a plurality of lifting rings 25c at the top. The support ring bar 25a is a vertically extending round bar member and is coupled to the link portion 31b of the first arm 31. The fixed body 25 and the support bar 25a bear the moment load due to the weight from the first arm 31 to the tool holder 38. The lifting hook (25c) is a part that is hung on the hook of the crane to transport the fixed body (25).

The first arm 31 is a member whose one end is supported by the support ring 25a and is rotatable with the support ring as a central axis, and has an extension portion 31a and a link portion 31b. The extension portion 31a is a rod-shaped member extending linearly in the longitudinal direction. Additionally, the link portion 31b is a hollow pipe vertically fixed to both ends of the extension portion 31a.

A support ring 25a is inserted into one link part 31b, and a vertical shaft 32a is inserted into the other link part 31b. The first arm 31 is rotatable using the support bar 25a as a rotation axis.

The first joint portion 32 is a portion that connects the first arm 31 and the second arm 34. The first joint portion 32 includes a vertical shaft 32a, a shaft holder 32c, and a connection bracket 32e.

The vertical shaft 32a is a vertical axis inserted into the link portion 32b. The shaft can be rotated while being inserted into the vertical shaft (32a) and the link portion (32b). The shaft holder 32c is a hollow pipe-shaped member and is coupled to accommodate the vertical shaft 32a. The vertical shaft (32a) and the shaft holder (32c) are integrated.

Additionally, the connection bracket 32e is a member that takes approximately a U-shape and is coupled to the outer peripheral surface of the shaft holder 32c. The second arm 34 is linked to the connection bracket 32e.

Reference numeral 40 is a repeater. The repeater 40 is connected to the industrial tool 103 through an air hose 41b, and delivers air supplied from the outside to the industrial tool 103 through the air hose 41a. If the industrial tool 103 is not a pneumatic tool, the repeater 40 is omitted.

The second arm 34 has a pair of upwardly extending beams 34a. The upward extension beam 34a is a member extending parallel to each other with one end connected to the connection bracket 32e with a connection pin 34d. A pair of upwardly extending beams 34a are always parallel. Additionally, the upward extension beam 34a can be rotated in the vertical direction by the operator (using the connecting pin 34d as a rotation axis). The extended end of the upward extension beam 34a is linked to the support plate 35a of the second joint portion 35. That is, it is connected to the support plate (35a) through the connection pin (34d).

In addition, as shown in FIG. 2, a first gas spring (33a) is mounted between one side of the upward extension beam (34a) and the connection bracket (32e). One end of the first gas spring (33a) is linked to the upward extension beam (34a) through a fixing pin (33d), and the other end is linked to the connection bracket (32e) through a fixing pin (33d).

The first gas spring 33a elastically supports the upward extension beam 34a in the direction of arrow a. If the first gas spring 33a is not present, the second arm 34 will sag due to its own weight. The maximum upward support force provided by the first gas spring (33a) is greater than the load moment applied to the connection bracket (32e). The first gas spring 33a serves to maintain a higher altitude of the second joint portion 35 than the first joint portion 32 in a standby state (state in which no external force is applied).

The second joint portion 35 serves to connect the second arm 34 and the third arm 36. The second joint portion 35 includes a two-layer support plate 35a. The support plate 35a is linked to the upward extension beam 34a and the downward extension beam 36a through connection pins 34d and 36d.

The third arm 36 has a pair of downwardly extending beams 36a. The downward extension beams 36a are parallel to each other and their extended ends are linked to the distal joint portion 37 through a connection pin 36d. The downward extension beam (36a) can rotate up and down around the connection pin (36d). And, the spacing between the downward extending beams 36a is the same as the spacing between the upward extending beams 34a.

And, as shown in FIG. 3, a second gas spring (33b) is installed between one side of the downward extension beam (36a) and the second joint portion (35). The second gas spring (33b) is connected to the downward extension beam (36a) and the support plate (35a) through a fixing pin (33d), respectively. The second gas spring 33b allows the distal joint portion 37 to maintain a lower altitude than the second joint portion 35 in the standby state.

The distal joint portion 37 has a support bracket 37a connected to the end of the downward extension beam 36a with a connecting pin 36d. The support bracket (37a) is combined with the tool holder (38). The tool holder 38 detachably supports the industrial tool 103 while being supported on the support bralette 37a. The structure of the tool holder 38 naturally varies depending on the shape of the industrial tool 103.

The method of using the industrial tool handling device 10 having the above configuration is as follows.

The operator moves the carrier 20 near the object 101 to be processed. If the carrier 20 is placed near the workpiece 101, the industrial tool is mounted on the tool holder 38. If the industrial tool 103 is installed, the industrial tool 103 is brought close to the surface to be processed and then processing begins. If machining for that point is complete, the industrial tool is moved to the next machining point. While moving the industrial tool, the angles of the upward extension beam (34a) and the downward extension beam (36a) change from time to time, and the first and second gas springs (33a, 33b) also repeat expansion and contraction.

Figure 4 is a diagram showing the overall industrial tool handling device 50 having a multi-joint arm according to the second embodiment of the present invention, and Figure 5 is a perspective view separately showing the laminated slab 74 of Figure 4. 6 is a plan view for explaining the expansion method of the ground plate 67 shown in FIG. 5. In addition, Figure 7 is a perspective view of the extension plate 68 of Figure 6, and Figure 8 is a diagram for explaining the operating principle of the angle sensor shown in Figure 4. Figure 9 is a side view showing the detailed configuration of the distal joint of Figure 4, and Figure 10 is a cross-sectional view taken along line A-A of Figure 9.

Hereinafter, the same reference numbers as the above-mentioned reference numbers indicate the same members with the same function, and repeated descriptions thereof will be omitted.

As shown, the industrial tool handling device 50 according to the second embodiment includes a carrier 60, a laminated slab 74, a support ring bar 25a, a tilting table 71, an inclination adjuster 72, It is provided with a joint arm (30). In addition, the multi-joint arm 30 includes a first arm 31, a first joint 32, a second arm 34, a second joint 35, a third arm 36, a distal joint 89, A tool holder 38 and first and second gas springs 33a and 33b are included.

The carrier 60 allows the handling device 50 to be used movably, and includes a fixed table 69, a car body 61, a driving wheel 62b, a wheel drive unit 62a, a controller 63, and a battery ( 61b), a tracking sensor unit 64, a communication module 61c, a levitation actuator 65, an orientation control motor 66, and a ground plate 67.

The car body 61 supports the multi-joint arm 30 and has a fixed table 69 at the top and a drive wheel 62b and a wheel drive unit 62a at the bottom. The fixed table 69 is a steel plate with a certain thickness. In addition, the driving wheel 62b is a wheel that rolls by the wheel driving unit 62a. The wheel drive unit 62a is a motor that rotates the drive wheel 62b and is controlled by the controller 63. The carrier 60 can be moved by the controller 63.

The controller 63 outputs control signals related to the operation of the handling device 50 and is connected to the tracking sensor unit 64 and the communication module 61c. The tracking sensor unit 64 is a sensor that detects the position of the detected tab 88, and the communication module 61c receives the signal output from the signal output unit 83e and transmits it to the controller 63. An explanation regarding this is provided later.

The battery 61b is a power source that supplies power to the wheel drive unit 62a. The battery 61b is a rechargeable battery and can be charged in the same way as the battery of an electric vehicle.

The levitation actuator 65 is built into the central portion of the vehicle body 61 and has a piston rod 65b that vertically moves up and down. The piston rod (65b) moves up and down by the operation of the floating actuator (65). The flotation actuator may be a hydraulic cylinder.

The orientation control motor 66 is fixed to the lower end of the piston rod 65b, and is raised and lowered by the operation of the levitation actuator 65. The direction control motor 66 itself moves up and down. The orientation control motor 66 is exposed to the lower part of the vehicle body 61, and the drive shaft 66a faces the ground.

The ground plate 67 is a disk-shaped member with a certain thickness and is fixed to the drive shaft 66a of the orientation control motor. The ground plate 67 touches the ground as the levitation actuator 65 lowers the direction control motor. If the direction control motor 66 is further lowered while the ground plate 67 is in contact with the ground, the drive wheel 62b is separated from the ground. That is, the carrier 60 is lifted from the ground.

In this state, when the orientation control motor 66 is operated, the orientation (direction) of the carrier 60 is adjusted. Even without applying a separate steering device to the carrier 60, the carrier 60 can be moved in a desired direction. The levitation actuator 65 and the direction control motor 66 are also controlled by the controller 63.

Additionally, side slits 67a are formed on the outer peripheral surface of the ground plate 67. The side slit (67a) is a groove with a certain width and depth, and accommodates the expansion plate (68).

The extension plate 68 is a plate-shaped member having the shape shown in FIG. 7, and has a slit fitting portion 68a at one end. When the slit fitting portion 68a is inserted into the side slit 67a, the ground plane is expanded as shown in FIG. 6. Since the ground plane is expanded in this way, there is no fear of the carrier 60 falling to the side even if the carrier 60 is levitated while the center of gravity of the carrier 60 is tilted to one side.

Meanwhile, the laminated slab 74 serves as the fixed body 25 described with reference to FIG. 1 and has a structure in which a plurality of laminated slabs 74 are stacked. The laminated slab 74 has a rectangular planar shape, and has a groove insertion portion 74b on the upper surface and a dovetail groove 74a on the lower surface.

The groove insertion portion 74b is a portion that is slidably inserted and fixed into the dovetail groove 74a of the upper layer laminated slab 74. Among the plurality of laminated slabs 74, the lowest laminated slab 74 is bolted or welded to the fixed table 69. The height of the support bar 25a can be adjusted by adjusting the number of applied laminated slabs 74.

The uppermost layered slab 74 does not have a groove insertion portion 74b, and the lowermost layered slab does not have a dovetail groove 74a. The support ring bar 25a is vertically fixed to the upper surface of the uppermost layer laminated slab 74. The applied number of support ring bars 25a may vary.

A plurality of tilt adjusters 72 and a tilting table 71 are provided on the side of the laminated slab 74. The tilting table 71 is a square plate with a certain thickness and has a support bar 25a on its upper surface. The link portion 31b of the first arm 31 may be fitted into the support ring bar 25a. In addition, connection sockets 71a are provided at the four corners of the bottom of the tilting table 71. The connection socket (71a) provides a spherical groove (71b) open at the bottom.

The tilt adjuster 72 is a vertically standing hydraulic actuator and is located at the vertical lower part of the connection socket 71a. The piston rod (72a) of the tilt adjuster (72) moves up and down in the vertical direction. In addition, an upper ball 72c is provided at the upper end of the piston rod 72a. The upper ball (72c) is inserted into the spherical groove (71b). The tilt adjuster 72 can be independently controlled by the controller 63. The inclination angle of the tilting table 71 can be adjusted by raising and lowering each piston rod (72a).

Among the plurality of support ring bars 25a, a first arm 31 is linked to one support ring bar 25a, the first arm 31 has a first joint portion 32, and the first joint portion 32 has a second arm. (34), the second arm 34 has a second joint portion 35, the second joint portion 35 has a third arm 36, and the third arm 36 has a distal joint portion 89 and a distal joint portion 89. ), a tool holder (38) is installed. Since the description of the multi-joint arm 30 has already been covered through the first embodiment, repeated description thereof will be omitted.

As shown in FIGS. 9 and 10, the distal joint portion 89 is provided with an index panel 85a and a gap maintenance plate 85k. The index panel 85a and the gap maintenance plate 85k are spaced apart from each other by a connecting pin 36d and a cylindrical pin 36e.

The index panel 85a takes the form of a plate of a certain thickness and supports an extension bar 38a, which will be described later. The index panel 85a is formed with a graduation portion 85b and a hanging hole 85d. The scale portion 85b is a scale formed at regular intervals along the arc direction of an imaginary circle centered on the holder pin 38b. The scale portion 85b serves to inform the angle of the extension bar 38a with respect to the horizontal line.

Additionally, the hanging holes 85d are through-type holes formed at regular intervals along the arc direction of an imaginary circle centered on the holder pin 38b. An angle maintaining pin (38c) is inserted into the hanging hole (85d). The angle maintaining pin (38c) is a pin that passes through the extension bar (38a) and is inserted into one hanging hole (85d) selected from the plurality of hanging holes (85d) to maintain the angle of the extension bar (38a) with respect to the horizontal plane.

The tool holder 38 includes an extension bar 38a and a tool holding portion 38e. The extension bar 38a is a straight member linked to the index panel 85a through a holder pin 38b and has an angle maintaining pin 38c. The angle maintaining pin (38c) is a pin member mounted on the extension bar (38a) and is inserted into one selected hanging hole (85d). With the angle of the extension bar (38a) adjusted to the horizontal plane, the angle of the extension bar (38a) is maintained by inserting the angle maintaining pin (38c) into the hanging hole (85d).

The tool holding portion 38e serves to detachably fix the industrial tool to be used. The structure of the tool gripper varies depending on the shape of the industrial tool.

In addition, the holder pin (38b) is provided with a laser pointer (87). The laser pointer 87 is a light generator that irradiates laser light toward the scale 85b. The optical axis of the laser pointer 87 and the extension direction of the extension bar 38a are perpendicular to each other. Therefore, the angle of the extension bar 38a is obtained by subtracting 90 degrees from the angle value of the scale read by the laser pointer 87.

And the distal joint portion 89 is provided with a sensing tab 88. The detected tab 88 is a detection object detected by the tracking sensor unit 64. The reason for determining the position of the detected tab 88 using the tracking sensor unit 64 is to determine the distance between the industrial tool 103 and the carrier 60, and if the distance becomes too far, the carrier 60 is This is to move it to the industrial tool (103).

The tracking sensor unit 64 detects the position of the detected tab 88 and transmits the detection information to the controller, so that the controller drives the wheel drive unit to move the carrier toward the detected tab. If the distance increases, there is a risk that the center of gravity of the carrier 60 will shift to one side and fall, so the carrier 60 is moved to the industrial tool side.

Meanwhile, between the second arm 34 and the third arm 36, an included angle detection means detects a change in the included angle θ of the third arm with respect to the second arm and transmits the detected contents to the controller. This is further installed. The angle detection means includes a sensing target 83 and an optical output unit 81.

The optical output unit 81 outputs laser light in the direction of arrow r. The arrow r direction is perpendicular to the downward extension beam 36a.

Additionally, the sensing target 83 includes a magnet plate 83c, a rotation detection plate 83a, and a signal output unit 83e. The magnet plate 83c is a plate-shaped member equipped with a magnet and is detachably coupled to the upward extension beam 34a. The rotation detection plate 83a is a detection plate connected to the magnet plate 83c through a support pin 83b and generates a signal when irradiated with laser light. The rotation detection plate (83a) can be rotated in the direction of arrow s to overlap the magnet plate (83c). The signal generated from the rotation detection plate 83a is transmitted to the communication module 61c of the carrier 60.

The light emitted from the optical output unit 81 is detected by the rotation detection plate 83a. However, as the angle θ between the second arm 34 and the third arm 36 increases, the light deviates from the rotation detection plate 83a at some point. The fact that the rotation detection plate 83a does not receive light means that the included angle is larger than the set angle. The 'set angle' is determined in advance by adjusting the position of the sensing target 83 or the width of the rotation sensing plate 83a.

If the communication module 61c does not receive a signal from the optical output unit 81, the controller 63 determines that the angle between the second arm 34 and the third arm 36 is wider than the set angle. , the carrier 60 is moved toward the sensing tab 88. The worker can see the carrier 60 moving, know that the center of gravity of the carrier 60 is eccentric due to the excessively widened angle, and take appropriate action.

Above, the present invention has been described in detail through specific embodiments, but the present invention is not limited to the above embodiments, and various modifications can be made by those skilled in the art within the scope of the technical idea of the present invention.

10: Handling device 20: Carrier 21: Support frame
21a: Wheel 21c: Handle 22a: Leg
22b: Actuator 23: Elevating table 25: Fixed body
25a: Support rod 25c: Lifting ring 30: Multi-joint arm
31: first arm 31a: extension part 31b: link part
32: First joint 32a: Vertical shaft 32c: Shaft holder
32e: Connection bracket 33a: First gas spring 33b: Second gas spring
33d: fixing pin 34: second arm 34a: upward extension beam
34d: Connecting pin 35: Second joint 35a: Support plate
36: Third arm 36a: Downward extension beam 36d: Connecting pin
36e: Sai pin 37: Distal joint 37a: Support bracket
38: Tool holder 38a: Extension bar 38b: Holder pin
38c: Angle maintaining pin 40: Repeater 41a: Air hose
50: Handling device 60: Carrier 61: Car body
61b: Battery 61c: Communication module 62a: Wheel driving unit
62b: Driving wheel 63: Controller 64: Tracking sensor unit
65: Levitation actuator 65b: Piston rod 66: Direction control motor
66a: Drive shaft 67: Ground plate 67a: Side slit
68: Extension plate 68a: Slit fitting portion 69: Fixed table
71: Tilting table 71a: Connection socket 71b: Spherical groove
72: Tilt adjuster 72a: Piston rod 72c: Top ball
74: Laminated slab 74a: Dovetail groove 74b: Groove insertion part
81: Optical output unit 83: Sensing target 83a: Rotation detection plate
83b: Support pin 83c: Magnet plate 83e: Signal output unit
85a: index panel 85b: scale 85d: hanging hole
85k: Gap maintenance plate 87: Laser pointer 88: Sensing tab
89: Distal joint 101: Processing object 103: Industrial tool

Claims (4)

delete By positioning the industrial tool on the processing surface of the processing object,
A car body with a horizontal fixed table at the top, a drive wheel provided at the bottom of the car body to support the car body, a wheel drive unit that operates the drive wheel, a controller that controls the wheel drive unit, and a carrier equipped with a battery that supplies power to the wheel drive unit. ;
A plurality of laminated slabs stacked and fixed on the fixed table;
A support rod fixed vertically to the top layer laminated slab;
a first arm supported at one end by the support ring bar and rotatable using the support ring bar as a central axis;
a first joint having a vertical shaft rotatably fitted to the extended end of the first arm and extending vertically, a shaft holder integral with the vertical shaft, and a connection bracket fixed to a side of the shaft holder;
a second arm extending parallel to each other with one end connected to a connection bracket with a pin, and including an upwardly extending beam that can rotate up and down about the pin;
a second joint having a support plate connected with a pin to the extended end of the upward extension beam;
a third arm having a pair of downward extension beams connected to the support plate of the second joint with a pin and capable of rotating up and down about the pin;
a distal joint portion that takes the form of a plate and has an index panel that is pin-connected to the end of the downward extension beam;
a tool holder connected to the distal joint and detachably supporting industrial tools;
a first gas spring that connects the first joint and the upward extension beam and allows the second joint to maintain a higher altitude than the first joint;
It includes a second gas spring that connects the second joint and the downward extension beam and allows the distal joint to maintain a lower altitude than the second joint,
The tool holder is;
It includes an extension bar, one end of which is rotatably installed on the index panel through a holder pin, and a tool gripper provided on the other end of the extension bar for gripping an industrial tool,
The index panel is;
It is provided with a scale marked along the arc of an imaginary circle centered on the holder pin, and a plurality of hanging holes arranged at regular intervals along the arc of an imaginary circle centered on the holder pin,
An angle maintaining pin is installed on the extension bar, which is inserted into one of the plurality of hanging holes to maintain the angle of the extension bar,
The holder pin is equipped with a laser pointer that displays the tilt angle of the extension bar by irradiating laser light toward the scale.
Industrial tool handling device having an articulated arm. According to paragraph 2,
The laminated slab is a square weight plate that is fitted top and bottom,
On the sides of the laminated slab;
A tilting table that provides support,
A support rod fixed to the upper surface of the tilting table and extending vertically,
A tilt adjustment means is provided at the lower part of the tilting table and is further installed to adjust the tilt angle of the tilting table,
In the carrier;
A levitation actuator that outputs a vertical lifting and lowering force,
An orientation control motor that is raised and lowered by a levitation actuator and whose drive shaft points toward the ground,
It is further provided with a disk-shaped ground plate that is fixed to the drive shaft of the direction control motor and lifts the carrier by pressing the ground when the levitation actuator lowers the direction control motor and receiving a reaction force from the ground,
A side slit extending along the circumferential direction is formed on the periphery of the ground plate,
Comprising an extension plate that is detachably mounted on the side slit and prevents the floating carrier from falling,
Industrial tool handling device having an articulated arm. According to paragraph 2 or 3,
A sensing tab is further mounted on the distal joint,
In the carrier;
A tracking sensor unit is installed that detects the position of the detected tab, transmits the detection information to the controller, and causes the controller to drive the wheel drive unit to move the carrier toward the detected tab,
Between the second arm and the third arm;
Included angle detection means is further installed to detect changes in the included angle of the third arm with respect to the second arm and transmit the detected information to the controller.
Industrial tool handling device having an articulated arm.

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