JPS6114876A - Robot for construction - Google Patents
Robot for constructionInfo
- Publication number
- JPS6114876A JPS6114876A JP13103584A JP13103584A JPS6114876A JP S6114876 A JPS6114876 A JP S6114876A JP 13103584 A JP13103584 A JP 13103584A JP 13103584 A JP13103584 A JP 13103584A JP S6114876 A JPS6114876 A JP S6114876A
- Authority
- JP
- Japan
- Prior art keywords
- arm
- robot
- tip
- fine adjustment
- construction
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
Landscapes
- Manipulator (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
〔発明の利用分野〕
本発明は建設用ロボットに係り、特にブーム先端部（ハ
ンドリング装置のある位置）の微少位置決めに好適な機
構・構造に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to a construction robot, and particularly to a mechanism and structure suitable for minute positioning of a boom tip (position where a handling device is located).
従来産業用として使用されているロボットは、可搬重量
の大きなものでも作業半径が小さい。例えば第１図に示
す重量物運搬用ロボットでも先端端部の最大作業半径は
４．５ｍと小さい。そのため。Robots conventionally used for industrial purposes have a small working radius even if they have a large payload capacity. For example, even in the robot for transporting heavy objects shown in FIG. 1, the maximum working radius at the tip end is as small as 4.5 m. Therefore.
先端部の位置決めはアーム１根元のアクチュエータ１２
や丸胴部１３の旋回用アクチュエータを使用しても簡単
に実施できる。したがって、アーム１先端の位置決めを
行うために微調用の装置は持っていない。The tip is positioned using the actuator 12 at the base of arm 1.
This can also be easily carried out by using an actuator for turning the circular body portion 13. Therefore, there is no fine adjustment device for positioning the tip of the arm 1.
第１図に示した産業用ロボットと同様な思想の建設用ロ
ボットを第２図に示す。図に示したロボットは３本のア
ーム１を持ち、それぞれのアーム１はリンク機構３を介
して取り付けられた油圧シリンダ２により駆動される。FIG. 2 shows a construction robot with a similar concept to the industrial robot shown in FIG. The robot shown in the figure has three arms 1, each of which is driven by a hydraulic cylinder 2 attached via a link mechanism 3.
又、旋回運動はターンテーブル４に付けられた油圧モー
タにより行われる。建設用ロボットでは一本のアーム１
の長さは長いもので十数ｍになり、全長も数十ｍになる
。Further, the turning movement is performed by a hydraulic motor attached to the turntable 4. One arm 1 for construction robots
The long ones are over ten meters in length, and the total length is also several tens of meters.
このように腕の長いロボットの先端部位置決めは、面内
方向については少なくとも数ｍ手前に設置された油圧シ
リンダ２で調整しなければならない。In this way, the positioning of the tip of a robot with long arms must be adjusted using the hydraulic cylinder 2 installed at least several meters in front of the robot in the in-plane direction.
又、旋回方向の位置決めはターンテーブル４の回転によ
り行う。このため、先端部の位置決めを正確に行うため
には微少量のコントロールを行わなければならず、分解
能の高いセンサ、アクチュエ−タや高度な制御技術が必
要となり、コストを大幅に増加するという欠点があった
。Further, positioning in the turning direction is performed by rotating the turntable 4. Therefore, in order to accurately position the tip, it is necessary to perform minute control, which requires high-resolution sensors, actuators, and advanced control technology, which has the disadvantage of significantly increasing costs. was there.
又、従来のロボットでは垂直方向と旋回方向の２方向の
調節を行うため、それぞれの方向毎に関節を設置し２つ
の関節で両方向の位置決めを行う方式を採用している。Furthermore, in order to perform adjustment in two directions, the vertical direction and the rotational direction, conventional robots adopt a system in which joints are installed in each direction and positioning is performed in both directions using the two joints.
この方式では、関節部が大きくなり、しかも先端部の動
きが複雑になるなどの欠点があった。This method had drawbacks such as the joints becoming larger and the movement of the tip becoming more complicated.
本発明の目的は、作業半径の大きな建設用ロボットの位
置決めを比較的簡単に行えるコンパクトな装置を提供す
ることにある。An object of the present invention is to provide a compact device that can relatively easily position a construction robot with a large working radius.
現在、作業半径が数１０ｍで可搬重量が数ｔになるよう
なロボットは見られない。そのため、作業半径が数ｍの
産業用ロボットを参考にした設計が行われる。ところが
、アームの寸法が長くなると、アクチュエータの動きを
微少にしないとアームの位置決めを精度良く行うことが
できない。そこで、アクチュエータの動きを微少にしな
くてもアーム先端の位置決めができると同時に補助装置
をコンパクトにできるものである。Currently, there are no robots that have a working radius of several tens of meters and a payload of several tons. Therefore, the design is based on industrial robots with a working radius of several meters. However, when the size of the arm becomes long, the arm cannot be positioned accurately unless the movement of the actuator is made minute. Therefore, the tip of the arm can be positioned without slight movement of the actuator, and at the same time, the auxiliary device can be made more compact.
以下、本発明の実施例を第３図がら第６図により説明す
る。本発明の色ホ゛ットは第３図に示すようにメインア
ーム１（本実施例では３本あるが）と微調用アーム７と
がら成っている。メインアーム１はそれぞれに対しリン
ク３を介して取り付けられた１個又は複数個の油圧シリ
ンダ２により動かされる。リンク３の構造と油圧シリン
ダ２のストロークによりロボットの作業範囲が決まる。Embodiments of the present invention will be described below with reference to FIGS. 3 and 6. As shown in FIG. 3, the color hot of the present invention consists of a main arm 1 (there are three in this embodiment) and a fine adjustment arm 7. The main arms 1 are moved by one or more hydraulic cylinders 2 attached via links 3 to each one. The working range of the robot is determined by the structure of the link 3 and the stroke of the hydraulic cylinder 2.
又、ターンテーブル４の根元にある油圧モータを動かす
ことでロボットに旋回運動をさせる。Furthermore, by moving the hydraulic motor at the base of the turntable 4, the robot is caused to make a turning motion.
メインアーム１の先端に取り付けられた微調用アーム７
は第４図に示すように、メインアーム１に対して一つの
点で上下方向・左右方向とも移動可能なようにボールジ
ヨイント１０等により取り付けられている。又、微調用
アームを上下・左右方向に動かすために、それぞれの方
向に対し下側（上側あるいは上下両側）及び右側（左側
あるいは左右両側）にリンク９を介して油圧シリンダ８
が取り付けられている（第５図参照）。Fine adjustment arm 7 attached to the tip of main arm 1
As shown in FIG. 4, it is attached to the main arm 1 at one point by a ball joint 10 or the like so that it can move vertically and horizontally. In addition, in order to move the fine adjustment arm in the vertical and horizontal directions, hydraulic cylinders 8 are connected to the lower side (upper side or both upper and lower sides) and the right side (left side or both left and right sides) via links 9.
is attached (see Figure 5).
始めにメインアーム１に取り付けられた油圧シリンダ２
及び、ターンテーブル４に取り付けられた油圧モータに
よりアーム１先端の位置決めを行う。Hydraulic cylinder 2 attached to main arm 1 at the beginning
Then, the tip of the arm 1 is positioned by a hydraulic motor attached to the turntable 4.
その後微調用の２組の油圧シリンダ８を動かして先端位
置の調整を行う。微調用アーム７は長さが短かいので、
油圧シリンダ８の移動量が大きくても微調用アーム７先
端の位動量が少ないため、アーム先端位置の微少な調整
を容易にできる。又、ボールジヨイント１０の使用によ
り一点で上下・左右方向の動きが可能であるため、微調
用ブームをコンパクトにできる。Thereafter, two sets of hydraulic cylinders 8 for fine adjustment are moved to adjust the tip position. Since the fine adjustment arm 7 is short,
Even if the amount of movement of the hydraulic cylinder 8 is large, the amount of positional movement of the tip of the fine adjustment arm 7 is small, making it easy to make minute adjustments to the position of the tip of the arm. Further, since the use of the ball joint 10 allows vertical and horizontal movement at a single point, the fine adjustment boom can be made compact.
第６図に示すように、微調用ブームにテレスコ１４の機
能を持たせることにより、さらに位置決めが容易になる
。As shown in FIG. 6, by providing the fine adjustment boom with the function of a telescope 14, positioning becomes easier.
本発明によれば、
（１）作業半径の大きなロボットのアーム先端の位置決
めを容易に実施できる。According to the present invention, (1) The tip of the arm of a robot with a large working radius can be easily positioned.
（２）ボールジヨイントの使用により一点で、上下・左
右方向に微調用アームを動かすことができるので、微調
用アームをコンパクトにできる。(2) By using a ball joint, the fine adjustment arm can be moved vertically and horizontally from one point, so the fine adjustment arm can be made more compact.
のでロボットの製作費を安価にすることができる。Therefore, the manufacturing cost of the robot can be reduced.
第１図は従来型産業用ロボットの見取図、第２図は従来
型建設用ロボットの側面図、第３図は本発明の一実施例
の建設用ロボットの側面図、第４図は微調用アーム取付
は方法を示す上面および側面図、第５図は微調用アーム
先取り図、第６図はテレスコ付微調用アーム先取り図で
ある。Fig. 1 is a sketch of a conventional industrial robot, Fig. 2 is a side view of a conventional construction robot, Fig. 3 is a side view of a construction robot according to an embodiment of the present invention, and Fig. 4 is a fine adjustment arm. A top and side view showing the installation method, FIG. 5 is a preliminary view of the fine adjustment arm, and FIG. 6 is a preliminary view of the fine adjustment arm with telescopic adjustment.
Claims (1)
で上下、左右方向移動可能なように取り付けられた長さ
が短かい微調用ブームを有し、この微調用ブームを上下
、左右に移動させるためリンクを介して下又は上、ある
いは上下面及び右又は左、あるいは左右両側面にアクチ
ュエータを設けたことを特徴とする建設用ロボット。1. A short fine-adjustment boom is attached to the tip of the main boom using a ball joint or the like so that it can be moved vertically and horizontally, and links are used to move the fine-adjustment boom vertically and horizontally. A construction robot characterized in that actuators are provided below or above, or on the top and bottom surfaces and on the right or left side, or on both left and right sides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13103584A JPS6114876A (en) | 1984-06-27 | 1984-06-27 | Robot for construction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13103584A JPS6114876A (en) | 1984-06-27 | 1984-06-27 | Robot for construction |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6114876A true JPS6114876A (en) | 1986-01-23 |
Family
ID=15048497
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP13103584A Pending JPS6114876A (en) | 1984-06-27 | 1984-06-27 | Robot for construction |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6114876A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62290697A (en) * | 1986-06-09 | 1987-12-17 | 工業技術院長 | Marine cargo gear |
| JPH03178785A (en) * | 1989-10-27 | 1991-08-02 | Potain Sa | Large-size, high-capacity robot manupilator for use at spacious place |
-
1984
- 1984-06-27 JP JP13103584A patent/JPS6114876A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62290697A (en) * | 1986-06-09 | 1987-12-17 | 工業技術院長 | Marine cargo gear |
| JPH0442146B2 (en) * | 1986-06-09 | 1992-07-10 | Kogyo Gijutsuin | |
| JPH03178785A (en) * | 1989-10-27 | 1991-08-02 | Potain Sa | Large-size, high-capacity robot manupilator for use at spacious place |
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