JP3120900B2 - Plate material transfer machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a plate material transfer machine for transferring a heavy plate material such as gypsum board, glass, panel, or the like to a mounting portion such as a wall at a building construction site or the like.

[0002]

2. Description of the Related Art To attach a gypsum board to a wall at a building construction site, two or three gypsum boards are stacked and adhered in order to secure a fireproof time. For example, a thickness of 9 mm to 12 mm
A gypsum board of a rectangular thin plate of about mm is stuck alternately vertically and horizontally. However, as a recent trend, there is a shortage of craftsmen and a problem of shortening the plaster board pasting work time and plaster of a long plate material with a total height of 3 m or more and a large thickness of about 42 mm to 63 mm in order to improve the fire resistance time. The board is stuck on the wall.

[0003] As a machine for transporting glass at a building construction site, there is known a machine disclosed in Japanese Utility Model Laid-Open No. 2-4898. That is, as shown in FIG. 1, the main body 1 is attached to the distal end portion of the manipulator mounted on the traveling vehicle.
The first movable body 3 is attached to the first movable body 3 so as to be swingable in the vertical direction, and the second movable body 5 is attached to the first movable body 3 by the second shaft 4 so as to be rotatable left and right. Third on body 3 with third shaft 6
The movable body 7 is mounted so as to be swingable in the horizontal direction, and a plate material holding portion 8 is mounted on the third movable body 7. The plate material holding portion 8 can swing vertically and horizontally, and can swing horizontally. Such machines are known.

[0004]

When the gypsum board is transported to the wall using such a transporting machine, the following problems occur. As described above, thick and large gypsum boards are usually stacked in a horizontal position, carried into a construction site, and placed on the floor, etc., so the machine that transports the gypsum board can hold gypsum boards in a horizontal position. Such a function is required that the gypsum board can be raised upright in a vertical position, and that the gypsum board raised upright in a vertical position can be rotated 90 degrees to a vertical position and a horizontal position so as to be stuck vertically and horizontally. The above-described transport machine has the above-described function, but the first shaft 2 is the center of vertical swing, the second shaft 4 is the center of left-right rotation, and the third shaft 6 is the center of left-right swing. When the plate material holding portion 8 is swung up and down around the first axis 2 to make the plate material holding portion 8 slanted with respect to the vertical position, the third shaft 6 becomes slanted with respect to the vertical direction and the plate material holding portion 8 becomes slanted.
When the gypsum board cannot be swung in the horizontal direction around the vertical axis and the gypsum board is mounted on the wall in an oblique position with respect to the vertical position, the inclination of the gypsum board in the left and right direction with respect to the mounting surface cannot be finely adjusted. It will be bad. To attach the gypsum board to the wall, the gypsum board is sequentially attached from one side to the left and right.After holding the gypsum board, the traveling cart is run and the gypsum board is positioned on the adjacent pasted gypsum board. In the conventional plate material transporting machine, when the gypsum board is held by the plate material holding portion 8, the center of the plate material holding portion 8 and the center of the gypsum board may not coincide with each other. It is very troublesome.

Accordingly, an object of the present invention is to provide a plate material transporting machine capable of solving the above-mentioned problems.

[0006]

According to the present invention, a manipulator 14 is mounted on a machine base 13, a main body 20 is mounted on a distal end of the manipulator 14, and a first movable body 21 is horizontally mounted on the main body 20 by a first shaft 22. The first
A second movable body 26 is attached to the movable body 21 so as to be vertically swingable about a second shaft 27, and the third movable body 3 is attached to the second movable body 26.
6 is attached to the third movable body 36 so as to be rotatable left and right, a vacuum suction pad 43 is attached to the third movable body 36, and a horizontal plate 46 and a restriction piece 47 constitute a position regulation ruler 45. A plate material transporting machine characterized in that the movable member is vertically slidably mounted on the movable body 36 and is replaceable leftward and rightward.

[0007]

According to the present invention, the first movable body 21 swings in the horizontal direction with respect to the manipulator 14, and the first movable body 2
The second movable body 26 swings up and down with respect to 1, and the third movable body 36 rotates left and right with respect to the second movable body 26, so that the plaster board placed in the horizontal posture is attracted and the vertical posture is absorbed. The gypsum board can be raised vertically, and the gypsum board vertically raised in the vertical position can be set in the vertical position and the horizontal position. In any posture of the movable body 26 and the third movable body 36, the gypsum board can be swung in the horizontal direction around the vertical axis, so that the gypsum board can be swung in the horizontal direction with the posture oblique to the vertical. The workability is improved because the inclination in the left-right direction can be finely adjusted when mounted on the wall as an oblique posture, and the second movable body 26 is vertically swung by the swing cylinder 30 so that a heavy gypsum board can be removed. Even if it is adsorbed, it can easily be raised vertically It is possible to reduce the effort of skilled in the art. Moreover
Since the plate material to be attracted by the regulating piece 47 of the position regulation ruler 45 can be positioned in accordance with the center of the third movable body 36, the center of the gypsum board and the center of the third movable body 36 can be matched when the gypsum board is attracted. When the boards are sequentially attached from the left and right directions, the gypsum board adsorbed on the attached gypsum board can be easily aligned. Also, the position regulation ruler 45 is directed rightward,
Since the gypsum board can be replaced and attached to the left, it can be applied to both cases where the gypsum board is attached from the right side and where the gypsum board is attached from the left side.

[0008]

[Embodiment] As shown in FIG. 2, a driving and driving wheel 11 and a caster wheel 12 are attached to a machine body 10 to form a machine body 13 which can travel, and a manipulator 14 is attached to the machine body 10, and the manipulator is mounted on the machine body 13. 14 has a plate holding mechanism 1
5 is attached. The manipulator 14 is mounted on the main body 1.
0, a first parallel link 17 and a second
It becomes an articulated parallel link composed of parallel links 18, and a connecting body 19 that constitutes the second parallel link 18 serves as a tip of the manipulator 14 to maintain a parallel posture,
It moves in the horizontal direction, and the plate holding mechanism 15 is attached to the connecting body 19.

Next, the details of the plate material holding mechanism 15 will be described with reference to FIGS. 3, 4, 5 and 6. FIG. A main body 20 is bolted to a front surface of the connecting body 19, and a first movable body 21 is attached to a lower surface of the main body 20 so as to be swingable in a horizontal direction with respect to the main body 20 by a first shaft 22 which is directed vertically. The first movable body 21 is provided on a lower surface of the horizontal plate 23 with a pair of reinforcing vertical plates 24 and 2.
4 and a pair of mounting vertical plates 25, 25, and a second movable body 26 is mounted on the pair of mounting vertical plates 25, 25 so as to be vertically swingable about a second shaft 27 in the horizontal direction. This second
The movable body 26 includes a front plate 28 and a pair of mounting vertical plates 29, 29.
The piston rods 31 of the pair of swing cylinders 30, 30 are respectively connected by pins 32 to upper portions of the pair of mounting vertical plates 29, 29 near the front plate, and the cylinder tubes 33 of the pair of swing cylinders 30 are provided. Are connected by pins 35 to an upper portion of a mounting vertical member 34 erected on the horizontal plate 23 of the first movable body 21, and when the piston portion 31 of the swing cylinder 30 is operated to expand and contract, the second movable body 26 is 2
It swings up and down by the shaft 27. A third movable body 36 is mounted on a front plate 28 of the second movable body 26 so as to be rotatable left and right about a third shaft 37. The second movable body 36 includes a pair of vertical members 38, 38 having a U-shaped cross-section,
0 and the lower connecting member 41, and the intermediate connecting member 40
Is formed in a plate-like shape, and a cylindrical body 42 is fixed to a central portion in the left-right direction, and a third shaft 37 passing through the cylindrical body 42 is connected to the front plate 2.
8, the third movable body 36 is rotatable left and right with respect to the second movable body 26 on a third shaft 37. Vacuum suction pads 43 are respectively attached to the upper and lower surfaces of the pair of left and right vertical members 38, 38, and between the upper and lower surfaces of the front surface, and U-shaped handles 44 are respectively mounted to the upper and lower intermediate surfaces of the pair of vertical members 38, 38. A position regulating rule 45 is attached to the upper and lower ends of the pair of left and right vertical members 38, 38 so that they can freely enter and exit in the left and right directions and can change the left and right directions. That is, the position regulation ruler 45 is formed by integrally providing a regulation piece 47 at an end of a long horizontal plate 46, and is slidably supported in the left-right direction by a U-shaped piece 48 fixed to the front surface of the vertical member 38. Then, the lock bolt 49 is screwed into the screw hole 50 of the horizontal plate 46 from the rear surface of the vertical member 38 to be positioned right and left and locked.
A plurality of screw holes 50 are formed at intervals in the longitudinal direction of the horizontal plate 46 so that they can be positioned according to the width of the gypsum board. First, second, and third lock holes 51, 52, 53 are provided at arcuate positions of the rotation center in the intermediate connecting member 40.
Are formed at 90-degree intervals, and when the lock pin 54 is fitted into the hole 55 of the front plate 28 from the second lock hole 52, the third movable body 36 is oriented vertically and the first or third lock hole 51 or 5 is formed.
When the lock pin 54 is fitted into the hole 55 from the position 3, the third movable body 36 turns rightward and leftward.

[0010]

According to the first aspect of the present invention, the first movable body 21 swings in the horizontal direction with respect to the manipulator 14,
Since the second movable body 26 swings up and down with respect to the first movable body 21 and the third movable body 36 rotates left and right with respect to the second movable body 26, the gypsum board placed in the horizontal posture is removed. The gypsum board can be vertically moved to the vertical posture by suction, and the gypsum board vertically raised in the vertical posture can be set to the vertical position and the horizontal position. Since the second movable body 26 and the third movable body 36 can be swung in the horizontal direction around the vertical axis in any posture, the gypsum board can be swung in the horizontal direction with the posture oblique to the vertical. When the gypsum board is mounted on the wall in an oblique posture with respect to the vertical, the inclination in the left-right direction can be finely adjusted, so that the workability is improved, and the second movable body 26 is vertically rocked by the rocking cylinder 30, so it is large. Even if a heavy plasterboard is adsorbed, Reduce the labor of the worker can be raised vertically
it can. Moreover, since the plate material to be sucked by the regulating piece 47 of the position regulation ruler 45 can be positioned so as to match the center of the third movable body 36, the center of the gypsum board and the center of the third movable body 36 can be matched when the gypsum board is sucked. When the gypsum boards are sequentially adhered from the left and right directions, the gypsum boards adsorbed on the plaster boards adhered can be easily aligned. In addition, since the position regulation ruler 45 can be exchanged and attached rightward and leftward, it can be applied to a case where the gypsum board is adhered from the right side and a case where the gypsum board is adhered from the left side.

[Brief description of the drawings]

FIG. 1 is a conventional front view.

FIG. 2 is an overall front view showing an embodiment of the present invention.

FIG. 3 is a front view of a plate material holding mechanism.

FIG. 4 is a side view of a plate material holding mechanism.

FIG. 5 is a plan view of a plate material holding mechanism.

FIG. 6 is an exploded perspective view.

[Explanation of symbols]

13 ... machine stand, 14 ... manipulator, 20 ... body, 21 ...
1st movable body, 22 ... 1st axis, 26 ... 2nd movable body, 27 ...
2nd axis,... Oscillating cylinder, 36... 3rd movable body, 37.
3rd axis, 43 ... vacuum suction pad, 45 ... position regulation ruler,
46 ... horizontal plate, 47 regulating pieces.

──────────────────────────────────────────────────続 き Continuing from the front page (72) Inventor Yukio Moriya 3-20-1 Nakase, Kawasaki-ku, Kawasaki-shi, Kanagawa Prefecture Inside the Kawasaki Plant, Komatsu Manufacturing Co., Ltd. (72) Akiho Yamaguchi 3-, Nakase Kawase-ku, Kawasaki-shi, Kanagawa Prefecture 20-1 Komatsu Manufacturing Co., Ltd. Kawasaki Plant (72) Inventor Takato Ishida 1-25-1, Nishishinjuku, Shinjuku-ku, Tokyo Inside Taisei Corporation (72) Inventor Takeo Seguchi Nishishinjuku, Shinjuku-ku, Tokyo No. 25-1, Daisei Construction Co., Ltd. (72) Yoshito Sakai Inventor Yoshito Sakai 1-25-1, Daisei Construction Co., Ltd. (72) Inventor Yoshitaka Inoue Nishishinjuku, Shinjuku-ku, Tokyo 1-25-1, Taisei Corporation (72) Inventor Hideki Nishino 1-25-1, Nishi Shinjuku, Shinjuku-ku, Tokyo Taisei Corporation (56) References JP-A-3-28879 2 (JP, A) Hira 2-23980 (JP, U) (58) Field surveyed (Int. Cl. ⁷ , DB name) B66C 1/02

Claims (1)

(57) [Claims] 1. A manipulator 14 is mounted on a machine base 13,
Attach the main body 20 to the tip of the manipulator 14, and
The first movable body 21 in the main body 20 with the first shaft 22 in the horizontal direction.
The first movable body 21 is attached to the second movable body 2
6 is mounted on the second shaft 27 so as to be swingable in the vertical direction.
The second movable body 26 rotates the third movable body 36 left and right about the third axis 37
The third movable body 36 is attached freely to the vacuum suction pad 4.
3 is attached, and the horizontal plate 46 and the restriction piece 47
And the horizontal plate 46 is vertically moved to the left and right of the third movable body 36.
It is slidably mounted and replaceable to the left and right.
And a plate material transporting machine.