JP2006068886A - Rotating device and transfer device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a rotating device capable of properly controlling a rotation of a rotating body. <P>SOLUTION: A rotating device 2 comprises a rotating body 3 that rotates around a rotation axis line X as a center, with respect to a base body 7. Provided in the base body 7 are a plurality of engagement projections 11 which are arranged and positioned mutually at a certain interval on a circumference enriching the rotation axis line X as a center. A base side stopper 22 having engagement projections 21 for selectively engaging with the engagement projections 11 is attached to the base body 7. A rotation side stopper 27 for controlling the rotation of the rotating body 3 by abutting on the base side stopper 22 is provided in the rotating body 3. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a rotation device that can appropriately regulate the rotation of a rotation body and a transfer device including the rotation device.

Conventionally, as a rotation device used for transfer devices such as industrial robots and cargo handling machines, for example, a rotation body that rotates about a rotation center axis with respect to a base body, and a base body that is fixed with bolts A rotating device is known that includes a base-side stopper body and a rotating-side stopper body that is provided on the rotating body and restricts the rotation of the rotating body by contacting the base-side stopper body (for example, Patent Document 1). reference).
JP-A-10-156786 (4th page, FIG. 3 etc.)

  However, in the above-described conventional rotating device, for example, when the rotating side stopper body comes into contact with the base side stopper body, there is a possibility that the bolt is broken by the impact and the base side stopper body is detached from the base body. In some cases, the rotation of the rotating body cannot be properly regulated.

  This invention is made in view of such a point, and it aims at providing the rotation apparatus which can restrict | limit rotation of a rotation body appropriately, and a transfer apparatus provided with the same.

  The rotation device according to claim 1 is provided in the base body, the rotation body that rotates about the rotation center axis with respect to the base body, and the base body, and the rotation body is centered on the rotation center axis. A plurality of engaging bodies that are arranged on the circumference and spaced from each other, and at least one engaging portion that is attached to the base body and engages with at least one engaging body selected from the engaging bodies A base-side stopper body that is provided on the rotating body, and a rotating-side stopper body that contacts the base-side stopper body and restricts the rotation of the rotating body.

  And, since the engaging part of the base side stopper body and the engaging body on the base body side are engaged, the base side stopper body is detached from the base body when the rotating side stopper body and the base side stopper body are in contact with each other. Therefore, the rotation of the rotating body can be appropriately regulated.

  The rotating device according to a second aspect is the rotating device according to the first aspect, wherein the plurality of engaging bodies are arranged side by side at intervals from each other over a circumference around the rotation center axis. Is.

  Further, since the plurality of engaging bodies are positioned side by side over the entire circumference around the rotation center axis, it is possible to arbitrarily set the rotation range of the rotation body.

  The rotating device according to claim 3 is the rotating device according to claim 1 or 2, wherein the base side stopper body is deformed when contacting the rotating side stopper body.

  And it is possible to absorb the impact of a rotation side stopper body and a base side stopper body appropriately by deformation | transformation of a base side stopper body.

  The rotating device according to claim 4 is the rotating device according to claim 3, wherein the base-side stopper body is formed with a space so that the base-side stopper body is easily deformed.

  Since the base-side stopper body is easily deformed by the space formed in the base-side stopper body, it is possible to more appropriately absorb the impact between the rotation-side stopper body and the base-side stopper body.

  According to a fifth aspect of the present invention, there is provided a transfer device according to any one of the first to fourth aspects, wherein the robot arm is provided on the rotary body of the rotary device, and a robot that is provided at the tip of the robot arm and holds an article. A hand.

  And it can prevent appropriately that the robot hand provided in the front-end | tip part of a robot arm moves out of an operation | movement area | region, and the improvement of safety | security is achieved.

  According to the first aspect of the present invention, since the engaging portion of the base side stopper body and the engaging body on the base body side are engaged, the base side stopper body is brought into contact with the rotating side stopper body and the base side stopper body. Does not come off the base body, and the rotation of the rotating body can be appropriately regulated.

  According to the second aspect of the present invention, since the plurality of engaging bodies are located on the circumference centered on the rotation center axis lined at intervals from each other, the rotation range of the rotation body can be arbitrarily set. Can be set.

  According to the invention which concerns on Claim 3, the impact of a rotation side stopper body and a base side stopper body can be absorbed appropriately by the deformation | transformation of a base side stopper body.

  According to the invention of claim 4, since the base side stopper body is easily deformed by the space portion formed in the base side stopper body, the impact between the rotating side stopper body and the base side stopper body is more appropriately applied. Can absorb.

  According to the fifth aspect of the present invention, it is possible to appropriately prevent the robot hand provided at the tip of the robot arm from moving outside the operation region, and to improve safety.

  An embodiment of a transfer apparatus of the present invention will be described with reference to the drawings.

  1 and 2, reference numeral 1 denotes a transfer device. The transfer device 1 is a robot palletizer or the like that holds an article (not shown) such as a packaged product or a cardboard case and transfers it to a desired position. A cargo handling robot.

  The transfer device 1 includes a rotation device 2, a robot arm 4 such as a multi-joint arm provided on a rotation body 3 of the rotation device 2, and a robot that is provided at the tip of the robot arm 4 and holds an article. And a hand 5. The operation area of the robot hand 5 corresponds to the rotation angle of the rotating body 3 of the rotating device 2.

  As shown in FIGS. 3 to 5, the rotating device 2 includes a base body 7 that is a rotating body support fixed at a predetermined position, and a shaft of the base body 7 that is rotatably provided on the base body 7. A rotating body (for example, a robot first axis (turning) that rotates (for example, a rotation angle = 320 °) with respect to the base body 7 about the rotation center axis X in the vertical direction while being pivotally supported by the support portion 7a. Axis)) 3.

  The base body 7 is formed in a substantially circular dish shape centered on the rotation center axis X, and the inner peripheral surface portion of the base body 7 is entirely on the circumference centered on the rotation center axis X. Engaging convex bodies 11, which are a plurality of engaging bodies having a substantially trapezoidal section in cross section, arranged side by side at equal intervals over the circumference, project toward the rotation center axis X side of the center of the base body 7. . Further, on the outer peripheral side of the bottom surface portion of the base body 7, a plurality of pin hole portions 12 are formed on the circumference centered on the rotation center axis X and are arranged at equal intervals along the entire circumference. ing.

  Then, the same engaging with a plurality of, for example, four engaging convex bodies 11 selected from a plurality of engaging convex bodies 11 having the same shape arranged at intervals over the entire circumference at the same time in surface contact. Two base-side stopper bodies 22 having a plurality of shapes, for example, four engaging convex portions 21 that are substantially trapezoidal cross-section engaging portions, are detachably attached to desired positions of the base body 7, respectively.

  Each base-side stopper body 22 is integrally formed of a metal such as iron or aluminum, and has a stopper main body portion 23, and one curved side surface portion of the stopper main body portion 23 forms a ridge. A plurality of engaging protrusions 21 are provided integrally, and the other planar side surface portion of the stopper main body portion 23 is a contact receiving surface portion 24. A rubber rubber 25 for cushioning that can be elastically deformed is attached to the contact receiving surface portion 24. The rubber rubber 25 is not always necessary.

  Each base-side stopper body 22 absorbs an impact with the rotation-side stopper body 27 by plastically deforming at the time of contact with a convex rotation-side stopper body 27 provided on the rotation body 3. A plurality of (for example, eight) stopper body portions 23 of each base-side stopper body 22 are formed so that the stopper body portion 23 of the base-side stopper body 22 is easily plastically deformed by the force received from the rotation-side stopper body 27. A substantially circular hole 28 that is a space portion of the stopper main body 23 is formed through the upper and lower surfaces thereof.

  For any base-side stopper body 22, positioning pins 30 inserted into the selected pin holes 12 are removably inserted into the selected two holes 28, and these two The base-side stopper body 22 is detachably attached in a state positioned at a desired position with respect to the bottom surface portion of the base body 7 by the pins 30 of the pin 30, and the four engaging convex portions 21 of the base-side stopper body 22 correspond to each other. The four engaging convex bodies 11 are engaged by surface contact.

  On the other hand, the rotating body 3 comes into contact with the contact receiving surface portion 24 of the corresponding base-side stopper body 22 at the outer peripheral surface portion of the rotating body 3 (that is, the outer peripheral surface portion positioned away from the inner peripheral surface portion of the base body 7). A rotation-side stopper body 27 having a substantially mountain shape in plan view that restricts rotation about the rotation center axis X with respect to the base body 7 is fixed so as to rotate integrally with the rotation body 3. Yes.

  The rotation-side stopper body 27 is a flat first contact surface portion 31 that contacts the contact receiving surface portion 24 of one base-side stopper body 22 via a rubber rubber 25 when the rotation body 3 rotates in one direction. And a second abutment surface portion 32 that abuts via a rubber rubber 25 and a contact receiving surface portion 24 of the other base side stopper body 22 when the rotation body 3 rotates in the other direction. An arm attached portion 33 is formed on the upper portion of the rotating body 3, and the base end portion of the robot arm 4 is attached to the arm attached portion 33.

  In addition, in the transfer device 1, in addition to the rotation restriction (rotation restriction by the mechanical stopper) of the rotation body 3 by the contact between the rotation-side stopper body 27 and the base-side stopper body 22, the rotation by the software soft switch is used. The movement restriction and the turning restriction by the limit switch (hard cut off) are executed. That is, the transfer device 1 has a three-stage safety device, and the rotation restriction by the mechanical stopper is for the case where the remaining two rotation restrictions are not properly executed.

  Next, the operation and the like of the one embodiment will be described.

  The case where the rotation of the rotating body 3, that is, the rotation of the robot hand 5 is restricted by the mechanical stopper of the rotating device 2 will be described. The rotating body 3 rotates about the rotation center axis X with respect to the base body 7. When the rotation-side stopper body 27 comes into contact (collision) with the base-side stopper body 22, the base-side stopper body 22 has four engaging convex portions 21 in surface contact with the four engaging convex bodies 11. In the engaged state and attached to the base body 7 via the two pins 30, the force from the rotation side stopper body 27 is received.

  When receiving the force from the rotation-side stopper body 27, the base-side stopper body 22 is plastically deformed to absorb the impact with the rotation-side stopper body 27 as shown in FIG. At this time, since the four engaging convex bodies 11 engaged with the four engaging convex portions 21 support the base side stopper body 22, an excessive force does not act on the pin 30, and the rotation side stopper body The base-side stopper body 22 does not come off the base body 7 when the 27 and the base-side stopper body 22 come into contact with each other. That is, the base side stopper body 22 does not fly away.

  As described above, according to the above-described embodiment, the plurality of engaging convex portions 21 of the base side stopper body 22 and the selected plurality of engaging convex bodies 11 are engaged. At the time of contact between the moving side stopper body 27 and the base side stopper body 22 on the base body 7 side, the base side stopper body 22 is not detached from the base body 7, and the rotation of the rotating body 3, that is, the robot hand 5. The rotation can be appropriately restricted, and therefore, for example, the robot hand 5 can be prevented from moving out of the operation region, and safety can be improved.

  In addition, since the plurality of engaging convex bodies 11 are positioned on the circumference centered on the rotation center axis X so as to be arranged at intervals from each other, the rotation range of the rotation body 3 can be arbitrarily set. .

  In addition, since the base side stopper body 22 itself is easily plastically deformed by the plurality of holes 28 formed in the base side stopper body 22, the impact between the rotation side stopper body 27 and the base side stopper body 22 is more appropriate. Therefore, it is possible to prevent damage to drive system components such as a reduction gear.

  In the above-described embodiment, a plurality of (for example, four) engaging protrusions 21 and a plurality of (for example, four) engaging protrusions of the base-side stopper body 22 are selected. 11 has been described. However, the number of engaging convex portions (engaging portions) 21 of the base-side stopper body 22 is arbitrary, and may be two, three, five or more, and FIG. As shown in FIG. 1, the configuration may be such that one engagement convex portion 21 formed on the base-side stopper body 22 and one selected engagement convex body 11 are engaged.

  Further, the rotating body that rotates about the rotation center axis X is not limited to the first robot axis in the vertical direction, and may be, for example, a robot arm axis in the horizontal direction. 7 is configured. That is, the base body 7 is not limited to what constitutes the base portion of the cargo handling robot.

  Further, the pin 30 for positioning the base side stopper body 22 with respect to the base body 7 is not necessarily required, and the pin hole portion 12 may be omitted correspondingly. Note that the base side stopper body 22 may be supported by the pin 30 together with the engaging convex body 11 at the time of collision.

  Further, the base-side stopper body 22 is not limited to one integrally formed of metal such as iron or aluminum. For example, the base-side stopper body 22 is elastically deformed when coming into contact with the rotation-side stopper body 27, and the rotation-side stopper body. It may be formed integrally with an elastic member such as rubber that absorbs the impact between the base 27 and the base side stopper body 22. Further, other materials (other than metal) having a property of absorbing impact by plastic deformation may be used.

  Further, in the above-described embodiment, the description has been given of the case where the plurality of engaging convex bodies 11 are arranged on the circumference around the rotation center axis X at intervals over the entire circumference. Further, a plurality of engaging convex bodies 11 may be arranged side by side at intervals in a half or a third of the circumference.

  Further, the engagement body that is detachably engaged with the engagement convex portion 21 of the base side stopper body 22 is not limited to the engagement convex body 11, but is an engagement formed on the inner peripheral surface portion of the base body 7. A recessed part etc. may be sufficient and it is not ask | required whether an engaging body is integral or separate with respect to the base body 7. FIG.

  Furthermore, the base side stopper body 22 may be attached to the base body 7 with a bolt or the like.

  Further, the rotation-side stopper body 27 may be detachably attached to the outer peripheral surface portion of the rotation body 3, or may be integrally protruded from the outer peripheral surface portion of the rotation body 3.

  Furthermore, the space portion formed in the base-side stopper body 22 is not limited to the plurality of hole portions 28, and may be configured by one long hole portion, one or a plurality of cutout portions, and the like.

  Moreover, although the structure which provided the two base side stopper bodies 22 in the base body 7 corresponding to the left-right rotation of the rotation body 3 was demonstrated, the structure which provided only one base side stopper body 22 may be sufficient, for example.

It is a side view which shows one Embodiment of the transfer apparatus of this invention. It is a top view of a transfer apparatus same as the above. It is a top view of the rotation apparatus of a transfer apparatus same as the above. It is a fragmentary perspective view of a rotation apparatus same as the above. It is a fragmentary sectional view of a rotation apparatus same as the above. It is a figure which shows the base side stopper body which carried out the plastic deformation of the rotation apparatus same as the above. It is a fragmentary top view which shows the modification of the base side stopper body of a rotation apparatus same as the above.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Transfer apparatus 2 Rotating apparatus 3 Rotating body 7 Base body
11 Engaging convex body that is an engaging body
21 Engagement convex part that is the engagement part
22 Base side stopper
27 Rotating side stopper

Claims (5)

A base body,
A rotating body that rotates about the rotation center axis with respect to the base body;
A plurality of engagement bodies provided on the base body and positioned side by side on a circumference around the rotation center axis;
A base side stopper body having at least one engaging portion that engages with at least one engaging body selected from the plurality of engaging bodies;
A rotation device, comprising: a rotation-side stopper body that is provided on the rotation body and contacts the base-side stopper body to restrict the rotation of the rotation body. The rotating device according to claim 1, wherein the plurality of engaging bodies are arranged side by side at intervals on the entire circumference around the rotation center axis. The rotating device according to claim 1 or 2, wherein the base-side stopper body is deformed when contacting the rotating-side stopper body. The rotation device according to claim 3, wherein the base-side stopper body is formed with a space so that the base-side stopper body is easily deformed. A robot arm provided on a rotating body of the rotating device according to any one of claims 1 to 4,
A transfer device comprising: a robot hand provided at a tip of the robot arm and holding an article.

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