JPS6215580U

JPS6215580U -

Info

Publication number: JPS6215580U
Application number: JP10650985U
Authority: JP
Priority date: 1985-07-12
Filing date: 1985-07-12
Publication date: 1987-01-30
Also published as: JPH0141722Y2

Description

[Brief explanation of the drawing]

第１図ａ，ｂは本考案による圧空供給機構の一
実施例が装備された作業ロボツト移送装置の全体
と作業ロボツトの斜視図、第２図および第３図は
共に搬送機構の斜視図、第４図及び第６図ａ，ｂ
は作業ロボツト旋回機構の斜視図と平面図および
この平面図の要部の平断面図と側面図、第７図ａ
，ｂ，ｃはＹ軸方向の位置決め機構の正面図と側
面図、一部平面図、第８図ａ，ｂ，ｃはＸ軸方向
の位置決め機構の正面図と側面図と位置決め態様
図、第９図ａ，ｂは作業ロボツトにおけるチヤツ
ク機構と圧空供給機構とのそれぞれの圧搾空気連
通用カプラ同士が結合した状態の縦断面図と機構
斜視図、第１０図ａ，ｂはケーブル格納機構の平
面図とＡ―Ａ線による側断面図、第１１図ａ〜ｃ
は同じくケーブル格納機構の作動態様を順に示す
平面図、第１２図は作業ロボツトが複数の主機（
Ｎｏ．１〜Ｎｏ．ｎ）に対して作業を行なうレイ
アウトの一例を示す平面図、第１３図乃至第２１
図は作業ロボツトが搬送機構側から分離して原位
置に復帰するまでのストローク間を自走する態様
を順に示す側面図、第２２図と第２３図ａ〜ｒは
主機Ｎｏ．１周りにおける電源コード２５等の動
作手順の共に説明図である。 ……搬送機構、……作業ロボツト、……
作業ロボツト旋回機構、……位置決め機構、
……圧空供給機構、……ケーブル格納機構、１
……主機、２……Ｙ軸レール、４……移動トロリ
、５……台車、２０……基体、２１……継手ハン
ド、２３，Ｃ……チヤツク機構、２５……電源コ
ード、２７……ハンガ、３０……台板部、３１…
…ベース脚部、３４……昇降動用シリンダ、３５
……昇降動用クランク軸、３６……旋回用シリン
ダ、４０Ｌ，４０Ｒ……Ｙ軸ストツパ、４６……
Ｘ軸ストツパ、Ｌ_１，Ｌ_２……リンク式ストツパ
、５０……カプラ受継手（第２継手部材）、５１
……カプラ受継手（第２継手部材）、５２……圧
空ホース、５９……作動駒、６０……把持爪（把
持部材）、７１，７２……内外筒ドラム、７４…
…板ばね、７５……リテーナ、７６……摩擦部材
、Ｓ_１〜Ｓｎ……旋回ポイント。 1a and 1b are perspective views of the entire work robot transfer device and the work robot equipped with an embodiment of the compressed air supply mechanism according to the present invention; FIGS. 2 and 3 are both perspective views of the transfer mechanism; Figure 4 and Figure 6 a, b
FIG. 7a is a perspective view and a plan view of the work robot rotation mechanism, a plan sectional view and a side view of the main parts of this plan view, and FIG.
, b, and c are a front view, a side view, and a partial plan view of the positioning mechanism in the Y-axis direction. Figures 9a and 9b are longitudinal cross-sectional views and mechanical perspective views of the chuck mechanism and compressed air supply mechanism of the work robot in which the compressed air communication couplers are combined, and Figures 10a and 10b are plan views of the cable storage mechanism. Figures and side sectional views taken along line A-A, Figures 11a-c
12 is a plan view sequentially showing the operation mode of the cable storage mechanism, and FIG.
No. 1~No. Figures 13 to 21 are plan views showing an example of the layout for performing work on
The figures are side views sequentially showing how the work robot moves by itself during the strokes from separation from the transport mechanism side to returning to the original position. 1 is an explanatory diagram of the operation procedure of the power cord 25, etc. around the power cord 25. ...transport mechanism, ...work robot, ...
Work robot rotation mechanism, positioning mechanism,
...Compressed air supply mechanism, ...Cable storage mechanism, 1
...Main machine, 2...Y-axis rail, 4...Moving trolley, 5...Dolly, 20...Base, 21...Joint hand, 23, C...Chuck mechanism, 25...Power cord, 27... Hanger, 30... Base plate part, 31...
... Base leg, 34 ... Cylinder for lifting and lowering, 35
...Crankshaft for lifting and lowering, 36...Cylinder for turning, 40L, 40R...Y-axis stopper, 46...
X-axis stopper, L ₁ , L ₂ ... Link type stopper, 50 ... Coupler joint (second joint member), 51
... Coupler joint (second joint member), 52 ... Compressed air hose, 59 ... Operating piece, 60 ... Gripping claw (gripping member), 71, 72 ... Inner and outer cylinder drum, 74 ...
...Plate spring, 75...Retainer, 76...Friction member, S1- _Sn ...Swivel point.

Claims

[Claims for Utility Model Registration] (1) A support member that is movable in a predetermined direction by a drive cylinder installed in a movable body and has a first tapered hole, and is engaged with the first tapered hole. a housing having a first tapered engagement portion at one end thereof, supported by the support member through the first tapered engagement, and having a compressed air passage therein; and an interposed body between the support member and the housing. a spring member mounted thereon to urge the first tapered engaging portion in a direction to engage the second tapered hole; and a spring member connected to the other end of the housing so as to be movable relatively in the predetermined direction and located inside the housing. a first joint member having a compressed air passage communicating with the compressed air passage of the housing and a second tapered engagement portion at the tip; and a second tapered hole that engages with the second tapered engagement portion; a second joint member that communicates with the source and the first joint member are provided so as to be openable and closable with respect to each other, and grip the first joint member when the second tapered engagement portion engages with the second tapered hole; a pair of gripping members, the pressurized air is actuated when the second joint member is engaged with the first joint member and the second joint member is moved a predetermined distance in the predetermined direction; A compressed air supply mechanism comprising: a switching valve that conducts compressed air from a source from the second joint member to the first joint member. (2) Claims for registration of a utility model characterized in that a sealing member is provided on the engagement surfaces of the second tapered hole and the second tapered engagement portion to make the contact between the engagement surfaces airtight. The compressed air supply mechanism according to item 1.