JPH0214947Y2 - - Google Patents

Description

[Detailed description of the invention] <Field of industrial application> The present invention relates to a transporter for a manipulator that has a wider working area in the vertical direction, and is particularly intended to simplify the mechanism and increase the load capacity of the manipulator. be.

<Prior Art> A known transporter in which a manipulator is mounted on a cart that runs on rails is shown in FIG. 2. In other words,
A fixed cylinder 3 is provided on a bogie 2 that runs along a horizontal rail 1 and projects downward, and a plurality of (two in the illustrated example) telescopic cylinders 4a and 4b are slidably attached to the fixed cylinder 3. It is fitted. A power manipulator 5 is attached to the extensible cylinder 4a at the tip, and a two-arm type manipulator 6 for performing various operations is attached to the tip of the power manipulator 5.

The telescopic cylinders 4a and 4b are fitted into the fixed cylinder 3 by a drive source (not shown), and the power manipulator 5 functions to enable the manipulator 6 to operate above the truck 2.

<Problems to be Solved by the Invention> In order to enable the manipulator 6 to work above the trolley 2, it is necessary to interpose the power manipulator 5 between the telescopic tube 4a and the manipulator 6. As a result, the increase in the number of control cables and power lines causes difficulties in handling the cables, etc., and the two manipulators 5 and 6 must be operated, resulting in a disadvantage that workability deteriorates. Moreover, since a large moment acts on the connecting portion between the telescopic tube 4a and the power manipulator 5, there are problems such as restrictions on the weight handled by the manipulator 6 and an increase in the cost of the entire device.

In view of the above-mentioned problems with such conventional transporters, it is an object of the present invention to provide a low-cost transporter for a manipulator that has a simple mechanism, good workability, and is not subject to restrictions on load capacity.

<Means for Solving the Problems> The transporter for a manipulator according to the present invention has a fixed tube protruding perpendicularly to the cart, and at least one telescopic tube is slidably fitted into the fixed tube. An elevating boom whose tip side protrudes beyond the cart is fixed to the distal end of this extensible cylinder that extends and contracts with respect to the fixed cylinder by means of an extensible cylinder driving means, and a manipulator is engaged with a guide portion formed on the elevating boom. The manipulator is moved in the direction of expansion and contraction of the telescoping tube relative to the lifting boom by the lifting drive means, and the lifting boom and the manipulator are passed through a notch formed in the truck. It is.

<Operation> When operating the manipulator on the side opposite to the fixed cylinder of the trolley, the telescoping cylinder drive means inserts the telescoping cylinder into the fixed cylinder, and the elevating drive means moves the manipulator to the tip side of the elevating boom.

<Embodiment> As shown in FIG. 1a showing the appearance of an embodiment of the present invention and FIG. 1b showing its planar shape, on a pair of mutually parallel rails 11, there are A trolley 12 that is moved by a traveling device (not shown) is placed thereon, and in this embodiment, a fixed cylinder 13 is vertically protruded downward from the trolley 12. In this embodiment, two telescopic cylinders 14a and 14b are slidably fitted into the fixed cylinder 13.
These telescoping cylinders 14a and 14b are configured to extend and contract up and down relative to the fixed cylinder 13 by a telescoping cylinder drive motor 15 installed on the trolley 12. Specifically, for example, the telescoping cylinder drive motor 15 and the telescoping cylinder 14a at the tip are connected with a wire or a chain, and the telescoping cylinders 14a and 14b are expanded and contracted by winding the wire or chain. An elevating boom 17 that slidably engages with a guide 16 provided on the outer periphery of the fixed tube 13 is integrally fixed to the tip of the inner telescopic tube 14a, and the telescopic tubes 14a, 14b
This lifting boom 17 has a guide surface 17' parallel to the direction of expansion and contraction of the boom 17, and is equipped with a double-armed manipulator 18 in this embodiment that can be raised and lowered along the guide surface 17'.
is installed. Between this manipulator 18 and the lifting boom 17, the manipulator 1
An elevating device 19 for elevating and lowering the elevating boom 8 along the guide surface 17' of the elevating boom 17 is interposed. As a specific structure of this lifting device 19, conventionally known means such as a combination of a feed screw shaft and a feed nut may be appropriately employed. In addition, a notch 20 is formed in the portion of the truck 12 directly above the lifting boom 17 and the manipulator 18 so that these can pass through, and the upper end of the lifting boom 17 is thereby cut out as shown in FIG. As shown by the two-dot chain line in a, it can protrude above the trolley 12,
It becomes possible to operate the manipulator 18 above the trolley 12.

Although the telescopic cylinders 14a and 14b are used in this embodiment, at least one of them is sufficient, and it is of course possible to use three or more. Furthermore, the type of manipulator 18 may be other than the one in this embodiment, and in some cases it is also possible to fix the fixed tube 13 upward with respect to the cart 12. In this case, the telescopic tubes 14a and 14b can be It will protrude upward.

<Effects of the invention> According to the invention, an elevating boom is attached to the tip of the telescoping tube, and the manipulator is moved along the elevating boom in the direction of expansion and contraction of the telescoping tube. The manipulator can move from a position beyond the point to the position of the tip of the telescopic tube, and from a point located in the opposite direction to the protruding direction of the fixed tube with respect to the trolley to the range where the tip of the telescopic tube extends to the maximum extent. Naturally, the working range of the manipulator is expanded. Furthermore, the manipulator is stably supported and its load capacity can be prevented from decreasing. Moreover, since the mechanism is extremely simple, workability is good and it is possible to suppress an increase in cost.

[Brief explanation of the drawing]

FIG. 1a is a front view showing a schematic shape of an embodiment of a transporter for a manipulator according to the present invention;
FIG. 1b is a plan view thereof, and FIG. 2 is a front view showing the general shape of a conventional transporter. Also, in the figures, 12 is a trolley, 13 is a fixed cylinder,
14a and 14b are telescopic tubes, 15 is a telescopic tube drive motor, 17 is a lifting boom, 17' is a guide surface, and 18
1 is a manipulator, and 19 is a lifting device.

Claims (1)

[Scope of utility model registration request] a fixed cylinder projecting perpendicularly to the truck; at least one telescoping cylinder slidably fitted to the fixed cylinder; and a telescoping cylinder provided on the telescoping cylinder and the truck to be connected to the fixed cylinder. an elevating boom that is fixed to the distal end of the telescopic cylinder so that the distal end thereof can protrude beyond the trolley and has a guide section parallel to the direction of expansion and contraction of the telescoping cylinder; , a manipulator supported by the lifting boom so as to be able to rise and fall along the guide portion of the lifting boom; and a lifting drive means provided on the lifting boom for raising and lowering the manipulator with respect to the lifting boom; A transporter for a manipulator, which is formed on the truck and includes the lifting boom and a notch through which the manipulator passes.