JPS5843239B2 - Jointed arm type manipulator - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides a manipulator for gripping material and transporting it to a desired position, in particular a manipulator having a second arm articulated at the end of a first arm pivoted on a body. in collaboration with
The present invention also relates to an articulated arm type manipulator in which a suitable material gripping device is provided at the free end of the second arm, and material is transferred by joint movement of both arms.

This type of manipulator is used to feed and remove material from a press, or to remove material that is continuously fed by a conveyor belt one by one to a working position. There are many cases where

In such cases, the material gripping device of the manipulator
After gripping the material, it rises once, then moves horizontally to reach the material supply position, descends there and unloads the material gently, then follows the above movement trajectory in reverse and re-grips the material with the string. It is desirable to move in a downward U-shaped movement trajectory so as to return to the original position.

The present applicant previously filed a patent application for an articulated arm manipulator in which the material gripping device draws a desired movement trajectory as described above (Japanese Patent Application No. 53-681).
No. 16, JP-A-54-159963).

In the manipulator of this prior application, when the first arm and the second arm are fully extended to a certain extent, the second arm contacts the stopper of the first arm, and after that, both arms are integrated, and the first arm By rotating around the pivot axis, the material gripping device provided at the free end of the second arm can move up and down at both ends of the horizontal movement trajectory.

However, while the manipulator of this prior application has many advantages such as being able to perform all the operations described above with only a single driving source, after the second arm contacts the stopper, When rotating both arms as one unit, there was a problem in that a large load was placed on the drive source.

An object of the present invention is to provide an articulated arm type manipulator that eliminates such difficulties, and will be described below based on embodiments shown in the accompanying drawings.

As shown in FIGS. 1 and 2, the manipulator 1 of the present invention generally includes a fixed main body 2, a first arm 3 whose proximal end is pivotally connected to the lower part of the main body 2, and a first arm 3. 3, and a material gripping device 5 attached to the free end of the second arm 4 so as to be almost horizontal at all times.

As clearly shown in FIGS. 2 and 3, the main body 2 is provided with appropriate poles 1-7, 7, 7, 7, also shown in phantom lines, on the end face of the support block 6 shown in phantom lines, so that the main body 2 is approximately vertical. The lower frame body 8 is fixed to form a shape.

This lower frame 8 includes a rear plate 9 fixed to the support block 6 with bolts 7.7, 7.7, a front plate 10 parallel to the rear plate 9 with an appropriate interval, and the rear plate 9 and the front plate. 10
, a bottom plate 11 having a U-shaped front face that connects the lower ends of the front plate, and a substantially horizontal top plate 12 fixed to the upper ends of the rear plate 9 and the front plate 10. covered by.

On the upper plate 12 of the lower frame 8, a pair of left and right cylinders 14, 14 facing in the vertical direction are arranged in parallel.

A piston 15 is provided in each cylinder 14 so as to be slidable in the vertical direction, and in the center of each piston 15, a portion near the upper end of a rod 16 penetrating through the upper plate 12 and hanging down.
It is fixed through the oak N6a.

Rod 1 on the outer peripheral surface of the piston 15 and on the upper plate 12
The inner surface of the penetration part 6 is provided with a suitable airtight sealing material 17.18.19 such as a backing.

These cylinder devices 14, 15 open the upper surface of the piston 15 to the atmosphere, and connect only the lower surface of the piston 15 with a conduit 20 connected to the upper plate 12 and appropriate communication holes 21 bored in the upper plate 12. (See Figure 2), it is a type that applies gas pressure from a compressed air source (not shown), etc., and the two units are combined as a set and essentially take over a single power source. There is.

22 is an upper frame of the main body 2, and both cylinders 14.
A lower plate 23 provided on the lower plate 14, a front plate 24 and a rear plate 25 erected on the lower plate 23 at appropriate intervals, and an upper plate fixed to the front plate 24 and the rear plate 25. 26
and the front plate 2 so as to leave an appropriate gap above the top plate 26.
4. It consists of an appropriate cover 27 that covers the rear plate 25 and the upper plate 26.

The lower plate 23 is fitted with suitable bolts and cylinders 14, 14 between it and the upper plate 12 of the lower frame 8.
It is fastened to the upper plate 12 of the lower frame 8 with nuts 28.

Further, a hole 29 of an appropriate diameter is bored in the lower plate 23 directly above each cylinder 14 .

Inside the upper frame 22, a bearing fitting 32 having a downward U-shaped side surface is attached to the lower end of the bolt 31 which is fixed to the center of the upper plate 26 with a double nut 30. By adjusting the screw position of 30,
It is suspended so that its vertical position can be adjusted.

At the lower end of the bearing fitting 32, there is a shaft 33 extending in the front-rear direction.
A sprocket 35 is rotatably fitted into the intermediate portion of the shaft 33 via a suitable bearing 34 such as a needle bearing.

The protruding end portion of the shaft 33 that protrudes back and forth from the bearing fitting 32 slides vertically into long holes 36, 36 in the vertical direction cut in the center of each of the front plate 24 and the rear plate 25. The shaft 3 is inserted as possible, and as the shaft bearing fitting 32 is adjusted in the vertical position.
3 can move vertically, but is not allowed to swing horizontally.

A middle part of a chain 37 is wound around the sprocket 35, and each end of the chain 37 is fixed to the upper end of the left and right rods 16, and extends upward through the holes 29, 29 in the lower plate 23 of the upper frame 22. There is.

At the center of the lower part of the front plate 10 and the rear plate 9 of the lower frame 8, a first shaft tube 39 extending in the front-rear direction is provided with an appropriate bearing 38° 38 such as a needle bearing. It is pivotally fitted so that it protrudes slightly and is rotatable.

The first portion between the front plate 10 and the rear plate 9 in the lower frame 8
A sprocket 41 is fitted into the middle of the shaft tube 39 and is prevented from relative rotation by a key 40.

A chain 42 is wound around the sprocket 41, and each end of the chain 42 is fixed to the lower ends of the left and right rods 16 and 16, respectively.

When compressed air is applied to either of the two cylinders 14.14 mentioned above, the rods 16.16 move upside down relative to each other, causing the chain 37.42 to move towards the sprocket 35.4.
1 to apply rotational force in both forward and reverse directions to the first shaft tube 39.

The tension of the chains 37, 42 can be adjusted by adjusting the screwing position of the double nut 30 with respect to the bolt 31 and adjusting the vertical position of the upper sprocket 35.

A limit switch LS is provided on the front surface of the rear plate 9 of the main body 2 so that the sprocket 41 comes into contact with the left and right rods 16, respectively, when the sprocket 41 rotates about 100 degrees left and right from the state shown in FIG.

LS2 is provided at corresponding positions on the left and right.

The left limit switch LS supplies compressed air (not shown) to the left cylinder 16 and releases the right cylinder 16 to the atmosphere when the left rod 16 comes into contact with the left limit switch LS. Switch the solenoid valve in the supply pipe.

The right limit switch LS2 has a solenoid valve (not shown) so as to supply compressed air to the right cylinder 16 and open the left cylinder 16 to the atmosphere when the right rod 16 comes into contact with it. It's like switching.

As shown in FIG. 2 and FIGS. 4 to 6, a key 43 and a nut 44 are provided at the rear end of the first shaft tube 39.
The center of a cam plate 45 in the form of a circular disc is fitted.

A cam groove 46 is cut in the rear surface of the cam plate 45 so that the central portion thereof bulges 46 a toward the outside in the radial direction, and the other portion thereof is concentric with the first shaft tube 39 .

A suitable bearing 47 is provided in the first shaft tube 39, and the main shaft 4
8 is pivotally fitted so as to be relatively rotatable so as to protrude from the front and rear of the first shaft tube 39.

A base 50a of an arm 50 facing in the radial direction of the main shaft 48 is fitted and fixed to the prismatic rear end of the main shaft 48 protruding from the rear end of the first shaft tube 39 with a set screw 49.

Reference numeral 51 denotes a rocking plate, and a vertically elongated elliptical opening 52 is cut in the center thereof, through which the rear end of the main shaft 48 and the base 50a of the arm 50 are inserted.

One end of the swing plate 51 is pivotally connected to a longitudinal shaft 53 protruding from the rear surface of the rear plate 9 of the lower frame 8 with bearings 54 and a nut 55 .

A roller 56a that can roll along the inside of the cam groove 46 of the cam plate 45 is provided on the front surface of the intermediate upper and lower portions of the swing plate 51.

56b is pivotally mounted with axes 57a and 57b in the front-rear direction.

Further, on the rear surface of the free end of the swing plate 51, a pair of upper and lower rollers 58a and 58b are attached to a shaft 59a extending in the front-rear direction.

59b, and this pair of upper and lower rollers 58a
, 58b sandwich the free end of the arm 50 from above and below.

Thus, the cam plate 45, the arm 50, the swing plate 51, the rollers 56a, 56b, 58a, sab, etc. form a cam mechanism 60 that causes the main shaft 48 to follow the first shaft tube 39.

The cam mechanism 60 causes the main shaft 48 to rotate relative to the main body 2 in synchronization with the rotation period of the first shaft tube 39 relative to the main body 2 in a relationship predetermined by the shape of the cam groove 46 .

That is, the case where the cam plate 45 is in the position shown by the solid line in FIG. 6 is set as 00, and the case where the cam plate 45 rotates from this state together with the first shaft tube 39 in the counterclockwise direction in FIG. 6, for example. , First, by the first 100 to 200 rotations,
The upper roller 56a is removed from the cam groove 46.

While the cam plate 45 rotates from 0° to about 90°, the lower roller 56b rolls along the arc-shaped cam groove 46 that has the same radius from the center of the first shaft tube 39, so it does not oscillate. The moving plate 51 remains stationary, and the main shaft 48 remains stationary relative to the main body 2.

While the cam plate 45 rotates from about 90° to 100°,
The bulging portion 46a of the cam groove 46 engages with the roller 56b (this state is shown in phantom lines in FIG. 6), and the swing plate 51 is rotated downward via the roller 56b. With the downward rotation, the upper and lower rollers 58 at the free end of the swing plate 51
The free end of the arm 50 sandwiched between a and 58b rotates downward, and the main shaft 48 rotates in the same direction as the first shaft tube 39.

When the cam plate 45 rotates clockwise in FIG. 6 together with the first shaft tube 39, the lower roller 56b disengages from the cam groove 46, and the cam plate 45 rotates clockwise, contrary to the above case. Only while rotating from about 90° to 100°, the main shaft 48 slightly rotates clockwise as the rocking plate 51 rotates upward.

That is, in this embodiment, due to the shape of the cam groove 46, the main shaft 48 is rotated only when the cam plate 45 rotates approximately 900 to 1000 times in the clockwise and counterclockwise directions from the state shown by the solid line in FIG. It is designed to rotate in the same direction as the first shaft tube 39.

61 is a cover that covers the cam mechanism 60.

As clearly shown in FIG. 2, on the front surface of the front plate 10 of the lower frame 8 of the main body 2, there is a
A fixed sprocket 62 is fixed so as not to engage with the shaft tube 39 in any way.

As clearly shown in FIG. 2, the first arm 3 is connected to the first shaft tube 3
The frame body 63 is fixed to the frame body 9.

The frame body 63 includes a rear plate 64 whose lower center is fixed to an enlarged diameter flange 39a formed at the front end of the first shaft tube 39, and a front plate provided in front of and parallel to the rear plate 64. 6
5, and an arc-shaped bottom plate 66 and an upper end plate 67 that connect the lower and upper ends of the rear plate 64 and the front plate 65, respectively, and are integrated with the first shaft tube 39,
Can pivot around.

Main shaft 4 protruding forward from the front end of the first shaft tube 39
8 is a main shaft 48 that passes through the rear plate 64 and the front plate 65 and projects from the front plate 65 via appropriate bearings 6B, 6B provided on the rear plate 64 and the front plate 65 in the first arm 3.
A nut 69 for preventing removal is screwed onto the front end.

Further, a dustproof cap 70 is appropriately fixed to the center of the lower part of the front plate 65 so as to cover the front end of the main shaft 48.

A relatively large-diameter sprocket 72, which is integrated with two sprockets, is fitted onto the main shaft 48 between the front plate 65 and the rear plate 64 of the frame 63 of the first arm 3 so as to prevent relative rotation with a key 71. has been done.

At the center of the upper end of the front plate 65 and rear plate 54 of the first arm 3, there is an integral body in which a second shaft tube 73 and two integral sprockets 74 are connected with an appropriate connecting pin 75, and an appropriate bearing 76.76, and is pivotally fitted so as to face the front-rear direction and to be rotatable.

The diameter of the sprocket 74 that forms the two-piece unit is approximately 1/2 that of the large-diameter sprocket 72.

A shaft 77 is further inserted into the second shaft tube 73 and the sprocket 74 so as to protrude slightly from the front and rear thereof, and with appropriate bearings 78, 78 so as to be relatively rotatable.

At the rear end of the shaft 77 that protrudes behind the sprocket 74,
A sprocket 79 having the same diameter as the fixed sprocket 62 fixed to the main body 2 is fitted with a key 80 so that it cannot rotate relative to the sprocket 79, and a nut 81 is screwed from behind to fix the sprocket 79 to the shaft 77. be.

Endless chains 82, 83 .
83 is wound.

Reference numeral 84 denotes a cover for the first arm 3, which is secured to the frame 63 in a manner that can be divided into two vertically, for example, so as to appropriately cover the outer circumference of the frame 63 except for the front surface thereof.

As shown in FIGS. 1 and 2, the second arm 4 has its upper end fixed to the front end of the second shaft tube 73, and rotates around the shaft 77 integrally with the second shaft tube 73. A frame body 85 is provided.

The front end of the shaft 77 further projects forward of this frame 85,
A sprocket 87 is fitted into the protruding end so that it cannot rotate relative to the sprocket 87 with a key 86 .

The sprocket 87 is fixed with a nut 88.

The frame 85 of the second arm 4 has approximately the same length as the frame 63 of the first arm 3, and has a longitudinal shaft 89 at the center of its lower end, which has the same diameter as the sprocket 87. A sprocket 90 and a horizontal arm 91 having a substantially L-shaped front view in the material gripping device 5 are pivotally connected.

The sprocket 90 and the horizontal arm 91 are fixed to each other with a setscrew 92 extending in the front-rear direction, and
A nut 93 is screwed onto the front end of the shaft 89 via a suitable washer.

An endless chain 94 is wound around the sprocket 87 and the sprocket 90.

An appropriate cover 95 is fixed to the front surface of the frame 85 so as to cover the sprockets 1-87, 90, etc.

An arc-shaped notch 96 is cut in the lower end of the cover 95 so that the horizontal arm 91 can freely rotate relative to the second arm 4.

As shown in FIGS. 1 and 7, the center portion of a frame 97 having a substantially H-shaped plan view is fixed to the lower end of the horizontal arm 91 of the material gripping device 5, and each of the four corners of this frame 97 is fixed to the lower end of the horizontal arm 91 of the material gripping device 5. Suction cups 98, which form the gripping portion of the material gripping device, are fixedly attached to the ends of the materials so as to face downward.

Each suction cup 98 is connected to one of a plurality of branch pipes 100a branched from a single conduit 100 using an appropriate branching device 99.

These suction cups 98 are attached to the conduit 100 and the branch pipe 100a.
A model that uses the jet force of compressed air supplied by the suction cup to vacuum the inner space of the suction cup, or
Any type of device in which the conduit 100 is connected to a vacuum suction device and the inner space of the suction cup is directly vacuumed through the conduit 100 and the branch pipe 100a can be used.

Therefore, the horizontal arm 91. The material gripping device 5 is formed by the frame 97, the suction cup 98, and the like.

Next, the operation of the above-mentioned manipulator and its handling will be explained based on FIG. 8.

In FIG. 8, the state of the manipulator 1 when the material gripping device 5 is at position A indicated by the imaginary line is the same as the state of the manipulator 1 shown in FIGS. 1 to 7, and the various parts at that time are The relationships are as shown in FIGS. 1 to 7.

From this state, when compressed air is supplied to the cylinder 14 on the right in FIG. 3 and the conduit 20 connected to the cylinder 14 on the left is opened to the atmosphere, the chain 42, sprocket 41. The first arm 3 rotates counterclockwise in FIGS. 1, 3, and 8 via the first shaft tube 39.

At this time, as the first shaft tube 39 rotates, the cam plate 45 also rotates at the same time, but as described above, the cam plate 45 rotates in both the clockwise and counterclockwise directions in FIG. Unless the main shaft 48 rotates by more than 900 degrees, the main shaft 48 remains substantially fixed relative to the main body 2.

Therefore, the second arm 4 is connected to the first arm 3 relative to the main body 2.
It rotates clockwise relative to the first arm 3 by 2θ, which is twice the rotation angle θ.

That is, if the first arm 3 rotates counterclockwise by θ with respect to the main body 2 and reaches the position B shown by the solid line in FIG. Since the sprocket 72 is held in the same manner as if it were fixed to the main body 2 in , it means that the sprocket 72 has rotated by -θ with respect to the first arm 3.

On the other hand, since the ratio of the diameters of the sprocket 72 and the sprocket 74 is 2:1, if the sprocket 72 rotates by -θ with respect to the first arm 3, the sprocket 74
rotates by -2θ with respect to the first arm 3.

As a result, the second arm 4 fixed to the sprocket 74 also rotates by -2θ, that is, 2θ clockwise, relative to the first arm 3.

Further, since the lengths of the first arm 3 and the second arm 4 are approximately the same, the material gripping device 5 supported by the free end of the second arm 4 moves linearly in the horizontal direction.

Further, the material gripping device 5 is controlled by the first arm 3 and the second No matter what position arm 4 is in,
Always maintained horizontally.

The first axis tube 39 and the first arm 3 are A in FIG.
The position of the material gripping device 5 when the second arm 4 has rotated approximately 90 degrees counterclockwise from the position and the second arm 4 has rotated approximately 1800 degrees clockwise relative to the first arm 3 is as follows. It is shown by imaginary line C in Fig. 8.

From this state, when the first shaft tube 39 further rotates by about 90 degrees to 100 degrees counterclockwise in FIG. 8, the first arm 3 rotates downward by about 10 degrees from the C position, and The main shaft 48 is connected to the first shaft tube 3 by the cam mechanism 60.
9, and the differential movement between the first shaft tube 39 and the main shaft 48 is almost eliminated.

Therefore, during this period, the second arm 4
The material gripping device 5 rotates about the main shaft 48 almost integrally with the first arm without rotating with respect to the arm 3, and the material gripping device 5 descends almost directly below from the C position to reach the D position.

Note that if the shape of the cam groove 46 is determined in advance so that the main shaft 48 rotates in the same direction and at the same angular velocity as the first axial tube 39 during the period when the first axial tube 39 rotates from 90 degrees to 1000 degrees. , when moving from the C position to the D position, the second arm 4 can rotate completely integrally with the first arm 3 without rotating relative to the first arm 8.

However, in reality, shortly before the first axial tube 39 reaches 900, the main shaft 48 starts rotating in the same direction as the first axial tube 39 at a speed slightly slower than the angular velocity of the first axial tube 39. When the shaft tube 39 reaches about 1000, the first arm 3 and the second
It is preferable that the shape of the cam groove 46 is determined so that the arm 4 is in a straight line.

When the first shaft tube 39 rotates approximately 1000 degrees from the A position and the material gripping device 5 reaches the D position, the lower end of the left rod 16 in FIG. 3 contacts the left limit switch LS. , the limit switch LS1 is activated and a solenoid valve (not shown) is switched to supply compressed air to the left cylinder 16 side.

Note that if compressed air is supplied to each suction cup 98 via the conduit 100 and the branch pipe 100a by the operation of this limit switch LS1, at this time, each suction cup 98 will be supplied with compressed air via the conduit 100. The material 101 to be transferred, shown by the imaginary line in FIG. 8, is adsorbed by the negative pressure generated when the compressed air supplied from the branch pipe 100a is ejected.

Furthermore, when the limit switch LS is activated, compressed air is supplied to the left cylinder 14 side in FIG. 3, and the right cylinder 14 is opened to the atmosphere, the sprocket 41 moves to The first arm 3 and the second arm 4 begin to rotate in the above-mentioned A-+B-+ direction.
C-) The material gripping device 5 is returned to the position A again by the operation opposite to the operation D.

Furthermore, the first arm 3 and the second arm 4 are
-+B-+C→D By the same operation as the operation, the material gripping device 5 is moved to A so that it is symmetrical about the main body 2.
- Gradually bring the position from +E to F.

When the material gripping device 5 reaches position F, the limit switch LS2 on the right in FIG. 3 is activated.

At the same time as the limit switch LS2 is activated, the conduit 90
If the supply of compressed air is stopped, the suction cup 88 will release the material 101 when the material gripping device 5 has descended the most, and then move the first arm 3, the second arm 4, and the material gripping device 5. passes through the above-mentioned F-)E)A position and returns to the original A position.

Thus, one transfer cycle of one material is completed.

Note that after the first cycle ends and the material gripping device 5 returns to the A position, the manipulator 1 automatically operates in the same manner as described above unless the main switch (not shown) is turned off. Repeat the third cycle in succession.

In addition, the material gripping device 5 in the manipulator 1 described above
In order to stop at a desired position in the above-mentioned travel trajectory from A to F, when the material gripping device 5 reaches that position, the conduits 20 for supplying compressed air to both cylinders 14, 14 are simultaneously connected. Just block it.

As is clear from the above, in the present invention, the material is Since the gripping device is raised and lowered, there is no need to place a large burden on the drive source when the material gripping device is raised and lowered.Moreover, the rotation timing of the main shaft can be changed by changing the shape of the cam groove, etc. By doing so, the movement locus of the material gripping device can be varied in various ways depending on the usage status of the manipulator, which is extremely meaningful.

Further, the manipulator of the present invention can perform the operation of grasping the material supplied to one side of the main body and transferring it to a desired position on the other side with a single power source, and can Since it is possible to ensure a large material transfer stroke compared to its dimensions, it can be easily made compact and high-performance, and is particularly suitable as an automatic material supply and take-out device in a press machine or the like.

Further, according to the manipulator of the present invention, when supplying materials to, for example, a normal press device, all that is required is to turn on the main switch, and after that, the manipulator automatically and continuously supplies materials one by one.
It can be fed one by one to a press, etc., and even when manually operated, it can be done by opening and closing only one switch, making the operation extremely simple.Moreover, each part can be adjusted and inspected. It also has the advantage of being easy to repair and convenient to handle.

In addition, when using the manipulator of the present invention, the main body is fixed to a press device etc. in a state slightly inclined around the main axis, and the material is conveyed obliquely upward, and the material is conveyed diagonally upward. A part of the endless chain is fixed to the free end of a piston rod in a single fluid pressure cylinder device, and the chain is rotated in forward and reverse directions by a single fluid pressure cylinder device. Many changes and modifications are possible, such as applying rotational force to the sprocket 41 and the first shaft tube.

[Brief explanation of the drawing]

FIG. 1 is a partially cutaway front view showing an example of the manipulator of the present invention, FIG. 2 is a vertical sectional side view taken along line ■-■ in FIG. 1, and FIG. 3 is a line III-- in FIG. 2. A longitudinal section along I;
FIG. 4 is a longitudinal sectional view taken along line IV-IV in FIG.
The figure is a cross-sectional view taken along the line v--■ in FIG. 4, FIG. 6 is a longitudinal cross-sectional view taken along the line Vl--Vl in FIG. 5, and FIG. 8 is a schematic front view for explaining the operation of the manipulator of the present invention. 1...Manipulator, 2...Main body,
3...First arm, 4...Second arm, 5...Material gripping device, 6...Support block, 7... Bolt, 8...Lower frame, 9...Rear plate, 10...Front plate, 11
...Bottom plate, 12...Top plate, 13...
...Cover 14...Cylinder, 15...
... Piston, 16 ... Rod, 17.18
．． 19... Airtight sealing material, 20... Conduit, 21... Communication hole, 22... Upper frame, 23... Lower plate , 24...Front plate, 2
5... Rear plate, 26... Upper plate, 27...
...Cover, 28...Bolt/Nut, 2
9...hole, 30...double nut, 31
...Bolt, 32 ...Bearing fitting, 33
...Shaft, 34...Bearing, 35...
... Sprocket, 36 ... Long hole, 37 Chain, 38 ... Bearing, 39 ... First shaft pipe, 39a ... Expanded diameter flange, 40・・・・・・
Key, 41...Sprocket, 42...
・Chain, 43...Ki, 44...Nut, 45...Cam plate, 46...Cam groove, 46a...Bulge , 47...Bearing,
48... Main shaft, 49... Set screw, 5
0...Arm, 50a...Base, 51
..... Rocking plate, 52 ..... Opening 53 ...
... shaft, 54 ... bearing, 55 ... nut, 56a, 56b, 58a, ssb ... roller, 57a, 57b. 59a, 59b... shaft 60... cam mechanism, 61... cover 62... fixed sprocket, 63... frame body, 64...・・・・・・
・Rear plate, 65...Front plate, 66...Bottom plate, 67...Top end plate, 68...Bearing, 6
9...Nut, 70...Dust-proof cap, 71...Key 72...Sprocket, 73...Second shaft tube, 74... ...Sprocket, 75...Connection pin, 76...
Bearing, 77...Shaft, 78...Bearing, 7
9...Sprocket, 80...Key
81... Nut, 82° 83... Endless chain, 84... Cover, 85...
Frame, 86...Key 87...Sprocket, 88...Nut, 89...Shaft, 90...Sprocket, 91... ...Horizontal arm, 92... Set screw, 93...
・Natsuto, 94... Endless chain, 95...
...Cover, 96...Notch, 97...
...Frame body, 98... Suction cup, 99...
Branch device, 100... Conduit, 100a...
... Branch pipe, LS,, LS2... Limit switch.

Claims (1)

[Scope of Claims] 1. The base of the first arm is fixed to a first axial tube supported on the main body, and a second axial tube parallel to the first axial tube is attached to the free end of the first arm. At the same time, the base of a second arm is fixed to the second shaft tube, and a material gripping device is provided at the free end of the second arm, and the main shaft rotatably inserted into the first shaft tube and the second arm are fixed to the second shaft tube. By linking the two-axis tubes with each other and rotating the first-axis tube by an appropriate driving means, the first arm can be rotated around the main axis, and due to the differential movement between the first-axis tube and the main axis. , an articulated arm manipulator in which the second arm is rotated relative to the first arm, wherein the main axis is in synchronization with a rotation period of the first axis tube relative to the main body and in a predetermined relationship. An articulated arm type manipulator comprising: a cam mechanism configured to cause the main shaft to follow a first shaft tube so as to rotate with respect to the main body. 2. A cam mechanism is fixed to the first shaft tube, rotates together with the first shaft tube, and has a cam plate having a cam groove of a desired shape cut in the circumferential direction of the side surface, and fixed to the main shaft; an arm facing in the radial direction of the main shaft; a rocking plate having one end pivoted at a proper position on the main body on the side of the first shaft pipe with an axis parallel to the first shaft pipe; and an intermediate part of the rocking plate. , a 10th shaft fixed with a shaft parallel to the first shaft tube, and fitted in the cam groove so as to be freely movable, and rotates the rocking plate in accordance with the rotation of the cam plate; , a pair of upper and lower 20th feet fixed to the free end of the rocking plate, sandwiching the free end of the arm from above and below, and rotating the arm as the rocking plate rotates; The articulated arm type manipulator according to claim 1, characterized in that it comprises: