WO2018123765A1 - Support de dispositif - Google Patents

Support de dispositif Download PDF

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Publication number
WO2018123765A1
WO2018123765A1 PCT/JP2017/045736 JP2017045736W WO2018123765A1 WO 2018123765 A1 WO2018123765 A1 WO 2018123765A1 JP 2017045736 W JP2017045736 W JP 2017045736W WO 2018123765 A1 WO2018123765 A1 WO 2018123765A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
caster
view
universal caster
universal
Prior art date
Application number
PCT/JP2017/045736
Other languages
English (en)
Japanese (ja)
Inventor
敦 高見
大樹 村瀬
山根　秀士
Original Assignee
川崎重工業株式会社
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 川崎重工業株式会社 filed Critical 川崎重工業株式会社
Priority to CN201780080317.2A priority Critical patent/CN110099800A/zh
Publication of WO2018123765A1 publication Critical patent/WO2018123765A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B33/00—Castors in general; Anti-clogging castors

Definitions

  • the present invention relates to a table for a device having a free caster.
  • Patent Document 1 discloses a printing plate positioning apparatus that positions a printing plate at a predetermined position.
  • a printing plate stacking table having a free caster is moved and inserted into the traveling rail of the loading unit, and a concave portion provided on the traveling rail is engaged with a fixed wheel of the printing plate loading table, so The printing plate loading table is positioned at the position.
  • the present invention has been made to solve the above-described problems, and has an object to stably place an apparatus having a free caster and accurately perform positioning.
  • a device table is a device table on which a device having a universal caster is mounted, and is on the base and on the base, and corresponds to the universal caster.
  • An annular groove provided at a position to be provided.
  • the universal caster since the universal caster is accommodated in the annular groove, when a force is applied to the device in an unintended direction, the universal caster is not limited to which direction the universal caster of the device is directed. Move along an annular groove. As a result, the apparatus is stably placed, and displacement is prevented.
  • the apparatus may further include a fixed caster, and the base may include a flat plate member on which the fixed caster is placed.
  • the fixed caster of the apparatus can be placed on the main surface of the flat plate.
  • the stability of the device is improved.
  • the position of the bottom of the annular groove on which the universal caster is placed and the position of the main surface of the flat plate on which the fixed caster is placed may coincide with each other in the thickness direction of the flat plate.
  • the stability of the device mounted on the mounting base is improved.
  • the position of the bottom of the annular groove and the position of the main surface of the flat plate are not limited to perfect matching, but allow a slight inclination.
  • the present invention has the above-described configuration, can stably place an apparatus having a free caster, and can perform positioning accurately.
  • FIG. 1 is a plan view showing an example of a mounting table according to an embodiment of the present invention.
  • 2 is a cross-sectional view taken along the line II-II in FIG.
  • FIG. 3 is a perspective view showing a groove portion of the mounting table of FIG.
  • FIG. 4 is a front view showing an example of the configuration of the robot placed on the table.
  • FIG. 5 is a plan view showing the lower surface of the cart of the robot.
  • FIG. 6 is a side view showing the universal caster and the fixed caster placed on the table.
  • FIG. 7 is a perspective view showing the universal caster of FIG.
  • FIG. 8 is an explanatory view showing a state of the final inspection in the robot assembly line.
  • FIG. 9 is a plan view showing a lower surface of a cart of a robot according to another embodiment.
  • FIG. 10 is a side view showing a universal caster placed on a table according to another embodiment.
  • FIG. 1 is a plan view showing an example of a table 1 according to an embodiment of the present invention.
  • 2 is a cross-sectional view taken along the line II-II in FIG.
  • FIG. 3 is a perspective view showing a groove portion of the mounting table of FIG.
  • the mounting table 1 includes a base plate 2 and an annular groove 3 provided on the base plate 2.
  • the base plate 2 is a rectangular flat plate in plan view, and is installed at a predetermined position.
  • the grooves 3 are provided at two adjacent corners of the base plate 2.
  • Each groove 3 is a recess formed in a substantially annular shape in plan view.
  • the concave portion is formed between a convex portion 3a provided in a substantially annular shape in plan view and a convex portion 3b provided in a substantially circular shape in plan view.
  • the position of the bottom of the groove 3 and the position of the main surface of the base plate 2 coincide with each other in the thickness direction of the base plate 2 (see FIG. 2).
  • the position of the bottom of the groove 3 and the position of the main surface of the base plate 2 are not limited to perfect matching, but allow a slight inclination.
  • the base plate 2 is provided at a position corresponding to a fixed caster of the apparatus described later.
  • the groove 3 is provided at a position corresponding to a universal caster of the apparatus described later.
  • FIG. 4 is a front view showing an example of the configuration of the robot 11.
  • the robot 11 includes a carriage 12 and a pair of robot arms (hereinafter sometimes simply referred to as “arms”) 13 and 13 supported by the carriage 12.
  • the direction in which the pair of arms is spread is referred to as the left-right direction
  • the direction parallel to the axis of the base shaft is referred to as the up-down direction
  • the direction orthogonal to the left-right direction and the up-down direction is referred to as the front-back direction.
  • Each arm 13 is a horizontal articulated robot arm configured to be movable with respect to the carriage 12 and includes an arm portion 15 and a wrist portion 17.
  • the right arm 13 and the left arm 13 may have substantially the same structure.
  • An end effector (not shown) is attached to the tip of each arm 13. Further, the right arm 13 and the left arm 13 can operate independently or operate in association with each other.
  • the carriage 12 is provided with a main body 20 that houses various units of the robot 11 such as a control device (not shown), and a plurality of casters 21 for moving the robot 11 to a predetermined position. And a plurality of adjusters 22 for restricting and installing the robot 11 at predetermined positions.
  • the plurality of casters 21 are placed on the table 1.
  • the plurality of adjusters 22 are not placed on the mounting table 1 but are installed on the floor surface 40.
  • FIG. 5 is a plan view showing the lower surface of the carriage 12.
  • the lower surface of the main body 20 of the carriage 12 has a rectangular shape in plan view.
  • casters 21 are installed approximately symmetrically at four locations, front, rear, left, and right, so that substantially the same load is applied to each caster 21.
  • the two casters 21 are attached to the left and right sides of the carriage 12, respectively.
  • These casters 21 are fixed casters 21b having fixed wheels.
  • the fixed caster 21b is placed on the base plate 2 of the table 1.
  • the two casters 21 are respectively attached to the left and right sides of the front side of the carriage 12, and these casters 21 are free casters 21a having a free wheel.
  • the universal caster 21 a is placed on the groove 3 of the table 1.
  • the adjusters 22 are provided at four locations on the outside of the mounting table 1 in plan view and on both the front edge and the rear edge of the lower surface of the main body 20 in order to ensure stability after the robot 11 is installed. Yes.
  • FIG. 6 is a side view showing an example of the universal caster 21a and the fixed caster 21b mounted on the mounting table 1.
  • the universal caster 21a is accommodated in a groove 3 (concave portion) formed between the convex portion 3a and the convex portion 3b.
  • the universal caster 21a is configured to rotate with respect to the main body 20 of the carriage 12 about a vertical axis. This vertical axis passes through the center of the caster mounting portion 20a of the main body portion 20 of the carriage 12 and coincides with the center (3b) of the annular groove 3.
  • the fixed caster 21 b is placed on the main surface of the base plate 2.
  • the position of the bottom of the groove 3 and the position of the main surface of the base plate 2 coincide with each other in the height direction of the mounting table 1.
  • FIG. 7 is a perspective view showing the universal caster 21a of FIG.
  • the universal caster 21 a is accommodated in the annular groove 3.
  • the universal caster 21a moves along the groove 3 in the groove 3 regardless of the direction of the universal caster 21a.
  • the robot 11 is stably placed, and displacement is prevented.
  • FIG. 8 is an explanatory view showing a state of the final inspection in the robot assembly line.
  • the transfer robot 100 is configured to be able to hold the carriage 12 of the robot 11 by being attached to the robot body 101, the robot arm 102 connected to the robot body 101, and the tip of the robot arm 102.
  • the inspection robot 110 includes a camera 110a at the tip.
  • the transfer robot 100 places the robot 11 that has completed the assembly process at a predetermined position (on the table 1). After the robot 11 is placed on the table 1 by the transfer robot 100, the holding operation of the robot hand 103 is released. Thereafter, the transfer robot 100 controls the robot arm 102 to move the robot hand 103 away from the robot 11 placed on the table 1 (in the direction of the arrow in FIG. 8). When the robot hand 103 is moved away from the robot 11 and a slight control deviation occurs and the robot hand 103 comes into contact with the robot 11, a greater force is applied to the robot arm 102 than a human being. Misalignment is likely to occur. According to this embodiment, since the universal caster 21a of the carriage 12 moves along the annular groove 3, the robot 11 placed on the table 1 is not displaced.
  • the inspection robot 110 takes a picture of the robot 11 placed at a predetermined position by the camera 110a.
  • the operator visually inspects the photograph taken by the inspection robot 110. Test results are stored as evidence.
  • FIG. 9 is a plan view showing a lower surface of a carriage 12A according to another embodiment.
  • the lower surface of the main body 20 of the carriage 12A has a rectangular shape in plan view.
  • casters 21 are installed approximately symmetrically at four locations, front, rear, left, and right, so that substantially the same load is applied to each caster 21.
  • these four casters 21 are all universal casters 21a having universal wheels.
  • the mounting table 1A is provided with four grooves 3 corresponding to the universal casters 21a.
  • FIG. 10 is a side view showing the universal caster 21a mounted on the mounting table 1A. As shown in FIG. 10, the universal caster 21a is also housed in the groove 3 (concave portion) formed between the convex portion 3a and the convex portion 3b.
  • the device placed on the pedestal 1 is the robot 11, but the device is not limited to this as long as the device has a free caster.
  • the universal caster in the groove By placing the universal caster in the groove, the same effect as in the present embodiment can be obtained.
  • the present invention is useful for mounting a device having a free caster.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

Support de dispositif sur lequel un dispositif possédant des roulettes pivotantes est placé. Le support de dispositif comprend une base et une rainure annulaire prévue sur la base à un endroit correspondant aux roulettes pivotantes.
PCT/JP2017/045736 2016-12-26 2017-12-20 Support de dispositif WO2018123765A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201780080317.2A CN110099800A (zh) 2016-12-26 2017-12-20 装置的载台

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2016-251462 2016-12-26
JP2016251462A JP7150412B2 (ja) 2016-12-26 2016-12-26 装置の置台

Publications (1)

Publication Number Publication Date
WO2018123765A1 true WO2018123765A1 (fr) 2018-07-05

Family

ID=62707658

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2017/045736 WO2018123765A1 (fr) 2016-12-26 2017-12-20 Support de dispositif

Country Status (3)

Country Link
JP (1) JP7150412B2 (fr)
CN (1) CN110099800A (fr)
WO (1) WO2018123765A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0425383A (ja) * 1990-05-21 1992-01-29 Sanyo Electric Co Ltd 移動作業車
JPH08503438A (ja) * 1992-12-22 1996-04-16 アール・ディー・インペックス・エイピーエス 旋回可能なホイールを有するローラキャリッジ
JPH09207785A (ja) * 1996-02-08 1997-08-12 Junzaburo Kawasaki ストックカート
JPH11208481A (ja) * 1998-01-27 1999-08-03 Rocky Giken:Kk 上面に円溝を持つキャスター付き台車

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB9715207D0 (en) * 1996-10-08 1997-09-24 Revvo Castor The Company Limit Castor assembly
JP3168947B2 (ja) * 1997-07-15 2001-05-21 ゴールドキャスター株式会社 キャスター
JP2000139597A (ja) 1998-11-16 2000-05-23 Masaaki Fujiwara キャスター支持体
JP2005349906A (ja) * 2004-06-09 2005-12-22 Honko Mfg Co Ltd 運搬用台車
JP3927220B1 (ja) * 2006-03-31 2007-06-06 三栄荷役機械株式会社 台車
TWM418822U (en) * 2011-08-01 2011-12-21 Jian-Hong Chen Structure to fix caster of trolley
JP6102706B2 (ja) * 2013-12-03 2017-03-29 トヨタ車体株式会社 台車
JP5848401B2 (ja) * 2014-06-10 2016-01-27 株式会社日乃本錠前 ストッパー付きキャスター

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0425383A (ja) * 1990-05-21 1992-01-29 Sanyo Electric Co Ltd 移動作業車
JPH08503438A (ja) * 1992-12-22 1996-04-16 アール・ディー・インペックス・エイピーエス 旋回可能なホイールを有するローラキャリッジ
JPH09207785A (ja) * 1996-02-08 1997-08-12 Junzaburo Kawasaki ストックカート
JPH11208481A (ja) * 1998-01-27 1999-08-03 Rocky Giken:Kk 上面に円溝を持つキャスター付き台車

Also Published As

Publication number Publication date
JP7150412B2 (ja) 2022-10-11
CN110099800A (zh) 2019-08-06
JP2018103302A (ja) 2018-07-05

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