200936335 九、發明說明 【發明所屬之技術領域】 本發明，是有關使用平面關節型機械手臂（scalar arm)的移載裝置。 【先前技術】 塔式起重機或是無人搬運車、有軌道台車的移載裝置 Ο 是使用平面關節型機械手臂（例如專利文獻1:日本特開 2000-308984)。且在地上的固定的平台，設置平面關節型 機械手臂作爲移載裝置。在平面關節型機械手臂中一般減 速機使用諧波驅動裝置（日本註冊商標：學術名稱是波動 齒輪裝置），驅動馬達的軸是鉛直方向。大輸出的諧波驅 動裝置的話尺寸也會變大，且驅動馬達因爲是鉛直方向所 以鉛直方向的尺寸也變大。 [專利文獻1]日本特開2000-308984 ❹ 【發明內容】 (本發明所欲解決的課題） 本發明的課題，是將平面關節型機械手臂的驅動部輕 小化。 (解決上述課題的手段） 本發明，是一種移載裝置，是使用具備第1及第2機械 手臂的平面關節型機械手臂，前述平面關節型機械手臂’ -4- 200936335 是設有：具備水平輸出軸的驅動馬達、及連接 軸的水平的螺桿、及藉由與前述螺桿嚙合而朝 退且具備齒條的齒條構件、及藉由與前述齒條 的小齒輪、及將該小齒輪的旋轉變換成前述第 手臂的運動用的變換機構。 前述第1及第2機械手臂、及前述小齒輪、 換機構是左右各設一對，前述齒條構件是具備 © —對的小齒輪嚙合用的左右一對的齒條，在左 臂之間共用前述驅動馬達及前述螺桿及前述齒 。前述齒條構件是在螺桿的左右對稱，且前述 小齒輪、前述左右一對的變換機構及前述左右 機械手臂，是對稱配置在前述螺桿的左右更佳 且在前述螺桿的對於前述驅動馬達的另一 電源斷電而作動的制動器較佳。 [發明的效果] 在本發明中，不需使用諧波驅動裝置，只 齒條構件及小齒輪，就可以驅動平面關節型機 且螺桿及齒條構件的組合是作爲減速機動作， 以配置成水平。這些平面關節型機械手臂的驅 小化。 在此在齒條構件的左右兩側設置齒條’將 小齒輪驅動的話，就可以將左右的機械手臂在 小地驅動。且一對的平面關節型機械手臂可由 於前述輸出 水平方向進 嚙合而旋轉 1及第2機械 及將前述變 與ΘΙΙ述左右 右的機械手 條構件較佳 左右一對的 的第1及第2 〇 端，設有由 使用螺桿及 械手臂。而 驅動馬達可 動部可以輕 左右一對的 厚度方向輕 相同驅動馬 -5- 200936335 '達驅動，讓這些的同步機械地保證，成爲不需要 機械手臂同步用的同步控制。進一步左右的機械 於螺桿左右的話，因爲在左右的機械手臂之間可 動馬達及螺桿、齒條構件，所以在水平面內也可 置。在此，左右的機械手臂是對稱配置於螺桿的 ，就可以確實地對稱地動作左右的機械手臂。 平面關節型機械手臂的緊急停止用的制動器 © 的另一端的話，就可在螺桿的一端配置驅動馬達 端配置制動器，這些的配置就成爲輕小。 【實施方式】 以下顯示實施本發明用的最適實施例。 [實施例] 第1圖〜第4圖顯示實施例的移載裝置。在名 是無人搬運車，4是旋轉載置台。6是馬達，其輸 平，輸出軸是透過聯接器8等連接於螺桿10。齒 是沿著螺桿1〇呈水平進退，藉由例如左右一對的 14、14被導引。在螺桿10的一端設置馬達6，在 置斷電制動器15，移載裝置的電源若是斷電的情 是平面關節型機械手臂20a、20b緊急停止的情 電制動器15停止螺桿10的旋轉。 在此雖在無人搬運車2搭載移載裝置，但是 式起重機或是有軌道台車等也佳，或者是設在地 將左右的 手臂配置 以配置驅 輕小地配 左右的話 設在螺桿 ,在另— ί·圖中，2 出軸是水 條托板1 2 線性導引 另一端設 況，或者 況，由斷 搭載於塔 上的固定 -6- 200936335 平台等也可以。移載裝置是具備左右一對的平面關節型機 械手臂20a、20b，分別具備第1機械手臂16a、b及第2機 械手臂18a、b。藉由第2機械手臂18a、b的先端透過遊動 軸等支撐托板21，在托板21設置例如載物感測器22。在實 施例中螺桿10的長度方向爲進退方向，在此水平面內的垂 直方向爲左右方向。 移載裝置的驅動系如第2圖、第3圖所示’ 24是軸承’ © 支撐螺桿1〇的一端，在齒條托板12中設置母螺紋部26’在 螺桿10之間無圖示的球等。藉由此結構，藉由螺桿1〇及母 螺紋部26構成滾珠螺桿。齒條托板12是在其左右具備一對 的齒條28a、b，與齒條28a嚙合地設置小齒輪30a，與齒 條28b嚙合地設置小齒輪30b。小齒輪30a、b各具備中空 軸31，在其內部收容纜線32。 小齒輪30a透過中空軸31連接於帶輪34a ’小齒輪30b 透過中空軸31連接於帶輪34b。且小齒輪30a、b透過中空 ® 軸31連接於第2機械手臂18a、b。帶輪34a、b藉由皮帶35 、35連接於帶輪36、36，轉動左右的第2機械手臂18a、b 。37是中空軸，將帶輪36連接於第2機械手臂18a、b的構 件。藉由小齒輪30a、b〜第2機械手臂18a、b’構成2個平 面關節型機械手臂20a、b。 因爲驅動用的馬達6的輸出軸是朝向進退方向’在螺 桿10的另一方設置斷電制動器15，所以馬達6及斷電制動 器15的配置可以輕小化。且馬達6的輸出軸因爲是水平方 向，所以移載裝置的高度方向的尺寸可以縮小。齒條托板 200936335 12、線性導引14、14、齒條28a、b、小齒輪30a、b以及 帶輪34a、b、及機械手臂16a、b、18a、b的配置，是以 螺桿10爲中心左右對稱。因此機械手臂18a、b可以螺桿 1 〇爲中心確實地左右對稱地動作。在此與由個別的驅動源 使一對的平面關節型機械手臂20a、b動作的情況相異， 成爲不需要讓這些的動作同步用的機構。 第4圖顯示實施例的斷電制動器15的構造。40是軸承 Q ，將螺桿ίο支撐於其端部附近，在螺桿ίο的端部安裝有托 板41。與托板41相面對地設置托板42，藉由將電磁鐵44吸 著托板42，同時藉由捲簧等的彈性構件45朝托板41側推迫 。且托板41、42相互接觸的話，只會有讓螺桿10的旋轉停 止的摩擦作動。 接著說明實施例的動作。旋轉驅動用的馬達6的話螺 桿10旋轉，齒條托板12隨此進退。將螺桿10的旋轉變換成 齒條托板12的進退時，可進行減速。齒條托板12的進退是 Ο 透過左右的齒條2 8a、b變換成小齒輪3 0a、b的旋轉，藉 由中空軸31轉動第1機械手臂16a' b。且小齒輪30a、b的 旋轉是藉由帶輪34a、b及皮帶35以及帶輪36，變換成第2 機械手臂18a、b的轉動。這些的構件因爲是對稱配置於 螺桿10的左右，所以第1機械手臂16a、b及第2機械手臂 18a、b的動作一定保持左右對稱。因此供載置物品用的 托板21，是保持其姿勢朝第1圖的左右方向運動。 來自載物感測器22的纜線32，是通過機械手臂16a、b 、機械手臂18a、b，並可通過中空軸31朝外部導引。又在 -8 - 200936335 第1機械手臂16a、b的基部設置諧波驅動裝置的情況，纜 線32的取出成爲困難。 在螺桿10的另一端因爲有斷電制動器15，所以在電源 斷電的情況或是緊急停止的情況，電磁鐵44斷電的話，就 可以停止平面關節型機械手臂20a、b的動作。 在實施例中可獲得以下的效果。馬達6因爲可以水平 配置，所以可以縮小的移載裝置的厚度。且因爲在螺桿1〇 © 的前後 配置馬達6及斷電制動器15，將平面關節型機械手 臂20a、b左右對稱配置，平面關節型機械手臂20a、b的 驅動系也可以在螺桿10的左右對稱配置，所以整體成爲輕 小的結構。進一步平面關節型機械手臂20a、b可左右對 稱地動作，不需要爲了使平面關節型機械手臂20a、b同 步用的特別的控制部。且藉由螺桿10及齒條托板12的組合 等，馬達6的旋轉數可以減速。 在實施例中雖設有旋轉載置台4，但是不設置也可以 〇 。且在實施例中雖動作左右一對的平面關節型機械手臂 2 0a、b，但是單一的平面關節型機械手臂組成的移載裝置 也可以適用實施例。 【圖式簡單說明】 [第1圖]實施例的平面關節型機械手臂的平面圖 [第2圖]顯示實施例的平面關節型機械手臂的驅動系 的平面圖 [第3圖]實施例的平面關節型機械手臂中的朝驅動系 -9- 200936335 的機械手臂的連接的平面圖 [第4圖]實施例所使用的斷電制動器的水平方向剖面 圖 【主要元件符號說明】 2 :無人搬運車 4 ·旋轉載置台 © 6 :馬達 8 :聯接器 1 0 :螺桿 1 2 :齒條托板 14 :線性導引 1 5 :斷電制動器 16a、b :第1機械手臂 18a、b :第2機械手臂 ® 20a:平面關節型機械手臂 20b :平面關節型機械手臂 21 :托板 22 :載物感測器 24 :軸承 2 6 :母螺紋部 2 8 a :齒條 2 8 b :齒條 3 0 a :小齒輪 -10- 200936335 Ο :小齒輪 中空軸 纜線 :帶輪 :帶輪 皮帶 帶輪 軸承 托板 托板 電磁鐵 彈性構件 -11200936335 IX. Description of the Invention [Technical Field of the Invention] The present invention relates to a transfer device using a planar articulated robot arm (scalar arm). [Prior Art] A tower crane or an unmanned vehicle, a transfer device with a railcar Ο is a planar joint type robot arm (for example, Patent Document 1: JP-A-2000-308984). And on the fixed platform on the ground, a plane articulated robot arm is set as the transfer device. In the planar articulated robot, the general speed reducer uses a harmonic drive (Japanese registered trademark: the academic name is a wave gear device), and the shaft of the drive motor is in the vertical direction. The size of the large-output harmonic drive device also becomes large, and the size of the drive motor in the vertical direction is also increased because it is in the vertical direction. [Patent Document 1] JP-A-2000-308984 ❹ [Disclosed] The problem to be solved by the present invention is to reduce the driving portion of the planar articulated robot arm. (Means for Solving the Problems) The present invention relates to a transfer device that uses a planar articulated robot having first and second robot arms, and the planar articulated robot arm -4-200936335 is provided with a level a drive motor for the output shaft, a horizontal screw for connecting the shaft, and a rack member that is retracted by the screw and having a rack, and a pinion gear that is coupled to the rack and the pinion The rotation is converted into a transformation mechanism for the movement of the aforementioned first arm. The first and second robot arms and the pinion gear changing mechanism are provided in a pair on the right and left sides, and the rack member is a pair of left and right racks for engaging the pinion gears of the pair, between the left arms The drive motor and the screw and the teeth are shared. The rack member is symmetrical with respect to the left and right sides of the screw, and the pinion gear, the pair of left and right conversion mechanisms, and the left and right robot arms are symmetrically disposed on the left and right sides of the screw, and the screw is further attached to the drive motor. A brake that is actuated by a power failure is preferred. [Effects of the Invention] In the present invention, it is possible to drive a planar articulated machine without using a harmonic drive device, only a rack member and a pinion gear, and the combination of the screw and the rack member is operated as a speed reducer to be configured Level. The drive of these planar articulated robot arms. Here, a rack is provided on the left and right sides of the rack member. When the pinion is driven, the left and right robot arms can be driven in a small ground. The pair of planar articulated robot arms can be rotated by 1 and the second machine due to the horizontal direction of the output, and the first and second of the right and left robotic bar members are preferably paired. The end is provided by the use of a screw and an arm. The movable part of the drive motor can be lightly moved to the left and right in the same direction. The same drive horse -5-200936335 'Driver drive, so that these synchronous mechanical guarantees, it is a synchronous control that does not require the synchronization of the robot arm. Further, if the left and right machines are on the left and right sides of the screw, the motor, the screw, and the rack member can be moved between the left and right mechanical arms, so that they can be placed in the horizontal plane. Here, the left and right robot arms are symmetrically arranged on the screw, and the left and right robot arms can be surely operated symmetrically. For the emergency stop of the plane articulated arm, the brake is placed at the other end of the screw. The brake is placed at one end of the screw. [Embodiment] The most preferred embodiment for carrying out the invention is shown below. [Embodiment] Figs. 1 to 4 show a transfer device of an embodiment. The name is an unmanned van and the 4 is a rotating mount. 6 is a motor whose output is connected to the screw 10 through a coupling 8 or the like. The teeth are advanced and retracted horizontally along the screw 1〇, and are guided by, for example, a pair of left and right 14 and 14. The motor 6 is provided at one end of the screw 10, and when the electric brake 15 is turned off, if the power supply of the transfer device is turned off, the situational brakes in which the planar articulated robot arms 20a and 20b are stopped urgently stop the rotation of the screw 10. In the case of the unmanned vehicle 2, the transfer device is mounted on the unmanned vehicle 2, but the crane is either a railcar or the like, or the left and right arms are arranged to be placed on the screw. — ί· In the figure, the 2 output shaft is the water strip pallet 1 2 linear guide at the other end, or the fixed -6-200936335 platform mounted on the tower can be used. The transfer device includes a pair of right and left planar joint type mechanical arms 20a and 20b, and includes first robot arms 16a and b and second mechanical arms 18a and b, respectively. The tray 21 is supported by the distal end of the second robot arms 18a and b through the swimming shaft or the like, and the carrier sensor 22 is provided, for example, on the pallet 21. In the embodiment, the longitudinal direction of the screw 10 is the advancing and retracting direction, and the vertical direction in this horizontal plane is the left-right direction. As shown in Fig. 2 and Fig. 3, the drive system of the transfer device is one end of the bearing '© support screw 1', and the female screw portion 26' is provided in the rack plate 12. The ball and so on. With this configuration, the ball screw 1 and the female screw portion 26 constitute a ball screw. The rack plate 12 is provided with a pair of racks 28a and b on the left and right sides thereof. A pinion gear 30a is provided to mesh with the rack bar 28a, and a pinion gear 30b is provided to mesh with the rack bar 28b. The pinion gears 30a, b are each provided with a hollow shaft 31, and the cable 32 is housed therein. The pinion gear 30a is coupled to the pulley 34a' through the hollow shaft 31. The pinion gear 30b is coupled to the pulley 34b through the hollow shaft 31. The pinions 30a and b are connected to the second robot arms 18a and b through the hollow® shaft 31. The pulleys 34a, b are connected to the pulleys 36, 36 by the belts 35, 35, and the left and right second robot arms 18a, b are rotated. Reference numeral 37 denotes a hollow shaft, and the pulley 36 is coupled to the members of the second robot arms 18a and b. Two flat joint type robot arms 20a and b are formed by the pinion gears 30a and b to the second robot arms 18a and b'. Since the output shaft of the driving motor 6 is provided with the power-off brake 15 on the other side of the screw 10 in the advancing and retracting direction, the arrangement of the motor 6 and the power-off brake 15 can be made light. Since the output shaft of the motor 6 is horizontal, the size of the transfer device in the height direction can be reduced. The rack plate 200936335 12, the linear guides 14, 14 , the racks 28a, b, the pinions 30a, b and the pulleys 34a, b, and the mechanical arms 16a, b, 18a, b are arranged by the screw 10 The center is symmetrical. Therefore, the robot arms 18a and b can be surely operated bilaterally symmetrically about the screw 1 〇. Here, unlike the case where the pair of planar articulated robot arms 20a and b are operated by the individual drive sources, it is a mechanism that does not require synchronization of these operations. Fig. 4 shows the configuration of the power-off brake 15 of the embodiment. 40 is a bearing Q, and the screw ίο is supported near the end thereof, and a bracket 41 is attached to the end of the screw ίο. The pallet 42 is disposed to face the pallet 41, and the electromagnet 44 is sucked by the pallet 42 while being urged toward the pallet 41 by the elastic member 45 such as a coil spring. Further, if the pallets 41, 42 are in contact with each other, there is only a frictional action for stopping the rotation of the screw 10. Next, the operation of the embodiment will be described. When the motor 6 for rotational driving is rotated, the screw 10 is rotated, and the rack plate 12 advances and retreats therewith. When the rotation of the screw 10 is converted into advance and retreat of the rack plate 12, deceleration can be performed. The advancement and retraction of the rack plate 12 is a rotation of the pinion gears 30a and b through the left and right racks 28a and b, and the first robot arm 16a'b is rotated by the hollow shaft 31. Further, the rotation of the pinion gears 30a, b is converted into the rotation of the second robot arms 18a, b by the pulleys 34a, b, the belt 35, and the pulley 36. Since these members are symmetrically disposed on the right and left sides of the screw 10, the operations of the first robot arms 16a and b and the second robot arms 18a and b are always symmetrical. Therefore, the pallet 21 for placing the article is moved in the left-right direction of Fig. 1 while maintaining its posture. The cable 32 from the load sensor 22 is guided by the robot arms 16a, b, the robot arms 18a, b, and can be guided to the outside through the hollow shaft 31. Further, in the case where the harmonic drive unit is provided at the base of the first robot arms 16a and b at -8 - 200936335, the removal of the cable 32 becomes difficult. Since the power-off brake 15 is provided at the other end of the screw 10, the operation of the planar joint type robots 20a, b can be stopped when the electromagnet 44 is de-energized in the case where the power source is turned off or is in an emergency stop. The following effects can be obtained in the examples. Since the motor 6 can be horizontally arranged, the thickness of the transfer device can be reduced. Further, since the motor 6 and the power-off brake 15 are disposed before and after the screw 1〇, the planar joint type robot arms 20a and b are arranged symmetrically to the left and right, and the drive systems of the plane-joint type robot arms 20a and b can be symmetrically arranged on the left and right sides of the screw 10. Configuration, so the whole becomes a light structure. Further, the planar articulated robot arms 20a, b can be operated symmetrically to the right and left, and a special control portion for synchronizing the planar articulated robot arms 20a, b is not required. Further, the number of rotations of the motor 6 can be reduced by the combination of the screw 10 and the rack plate 12 and the like. Although the rotating stage 4 is provided in the embodiment, it may be omitted. Further, in the embodiment, a pair of plane joint type robot arms 20a and b are operated, but a transfer device composed of a single plane joint type robot arm can also be applied to the embodiment. BRIEF DESCRIPTION OF THE DRAWINGS [Fig. 1] A plan view of a plane joint type robot arm of an embodiment [Fig. 2] A plan view showing a drive system of a plane joint type robot arm of an embodiment [Fig. 3] Planar joint of an embodiment Plan view of the connection of the mechanical arm of the drive system-9-200936335 in the type of robot arm [Fig. 4] Horizontal sectional view of the power-off brake used in the embodiment [Description of main components] 2: Unmanned vehicle 4 Rotating table © 6 : Motor 8 : Coupling 1 0 : Screw 1 2 : Rack plate 14 : Linear guide 1 5 : Power-off brake 16a, b : 1st robot arm 18a, b : 2nd robot arm® 20a: Plane joint type robot arm 20b: Plane joint type robot arm 21: Pallet 22: Load sensor 24: Bearing 2 6 : Female thread portion 2 8 a : Rack 2 8 b : Rack 3 0 a : Pinion-10-01036335 Ο : Small gear hollow shaft cable: Pulley: Pulley belt pulley bearing bracket Support plate electromagnet elastic member-11