JP2011067920A - Rotation limiting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To obtain a rotation limiting device capable of limiting rotation amount at not less than 360 degrees, while suppressing thickness and weight. <P>SOLUTION: The rotation limiting device 1 has a first rotor 3 and a second rotor 5 superimposed each other to rotate about a rotation shaft 2. A guide passage 18 of a circular shape around the rotation shaft is formed by inner wall surfaces 10, 14 formed on at least either one of the first rotor or the second rotor, and outer wall surfaces 11, 15 formed on at least either one of the first rotor or the second rotor. A first projecting portion projecting to the guide passage is formed on the first rotor, and a second projecting portion projecting to the guide passage is formed on the second rotor. The first projecting portion and the second projecting portion are formed to have a height with which the sum of mutual projecting heights is smaller than the dimension of the guide passage in a direction parallel with the rotation shaft. A rotation controlling body 7 is further provided, which is movably stored in the guide passage, and abuts on the first projecting portion and the second projecting portion to control the rotation amount of the rotors. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a rotation limit device capable of setting a rotation amount of a rotary joint to 360 degrees or more.

  A robot such as an industrial robot is provided with a rotatable part such as a rotary joint, so that various operations can be performed according to the purpose and environment of use of the robot. Such a rotary joint may include a rotation limit device that limits the rotation amount to a predetermined angle so that the rotary joint does not rotate too much. In recent years, a rotation limit device that can limit the rotation amount of the rotary joint at 360 degrees or more has been proposed. For example, Patent Document 1 discloses a technique that allows a rotation amount of a rotating portion to be limited to 360 degrees or more by sandwiching a free rotating portion including a protrusion between two rotating plates (a fixed portion and a rotating portion). Is disclosed.

JP 2006-181675 A

  However, according to the above-described conventional technique, since the free rotating portion is sandwiched between the two rotating plates, there is a problem that the thickness and weight of the rotation limit device are likely to increase.

  This invention is made | formed in view of the above, Comprising: It aims at obtaining the rotation limit apparatus which can restrict | limit rotation amount by 360 degree | times or more, suppressing thickness and weight.

  In order to solve the above-described problems and achieve the object, the present invention includes a first rotating body and a second rotating body that are rotatably stacked on each other about a rotation axis, and the first rotating body and the second rotating body are provided. A circular guide passage centering on the rotation axis is formed by an inner wall surface formed on at least one of the rotating bodies and an outer wall surface formed on at least one of the first rotating body and the second rotating body, The rotating body is formed with a first projecting portion projecting into the guide passage, the second rotating body is formed with a second projecting portion projecting into the guide passage, and the first projecting portion and the second projecting portion are mutually connected. The first projecting portion and the second projecting portion are formed at such a height that the sum of the projecting heights is smaller than the dimension of the guide passage in the direction parallel to the rotation axis, and is movably accommodated in the guide passage. A rotation restricting body that limits the amount of rotation between the rotating bodies. Characterized in that it has a.

  According to the present invention, since the rotation amount can be limited by the rotation restricting body accommodated in the guide passage, it is possible to obtain a rotation limit device capable of limiting the rotation amount at 360 degrees or more while suppressing the thickness and weight. Play.

FIG. 1 is an external perspective view showing a schematic configuration of a rotation limit device according to Embodiment 1 of the present invention. 2 is an exploded perspective view of the rotation limit device shown in FIG. FIG. 3 is a perspective view showing a state in which the second rotating body is viewed from the first rotating body side. FIG. 4 is a cross-sectional view of the rotation limit device shown in FIG. 1 cut along a plane including the rotation axis. FIG. 5 is a plan view of the first rotating body, for explaining a state in which the amount of rotation of the rotating body is limited to 360 degrees or more. 6 is a cross-sectional view taken along the line AA shown in FIG. 7 is a cross-sectional view taken along the line BB shown in FIG. 8 is a cross-sectional view taken along line CC shown in FIG. FIG. 9 is an external perspective view showing a schematic configuration of the rotation limit device according to Embodiment 2 of the present invention. 10 is an exploded perspective view of the rotation limit device shown in FIG. FIG. 11 is a perspective view showing a state in which the second rotating body is viewed from the first rotating body side. FIG. 12 is a cross-sectional view of the rotation limit device shown in FIG. 9 cut along a plane including the rotation axis. FIG. 13 is an external perspective view showing a schematic configuration of a rotation limit device according to Embodiment 3 of the present invention. 14 is an exploded perspective view of the rotation limit device shown in FIG. FIG. 15 is a perspective view showing a state in which the second rotating body is viewed from the first rotating body side. 16 is a cross-sectional view of the rotation limit device shown in FIG. 13 cut along a plane including the rotation axis.

  Hereinafter, a rotation limit device according to an embodiment of the present invention will be described in detail with reference to the drawings. Note that the present invention is not limited to the embodiments.

Embodiment 1 FIG.
FIG. 1 is an external perspective view showing a schematic configuration of a rotation limit device according to Embodiment 1 of the present invention. 2 is an exploded perspective view of the rotation limit device shown in FIG. The rotation limit device 1 includes a first rotating body 3, a second rotating body 5, and a restricting block (rotation restricting body) 7. The first rotating body 3 and the second rotating body 5 are overlapped and connected to each other so as to be rotatable about the rotation shaft 2. The 1st rotary body 3 and the 2nd rotary body 5 are made to rotate smoothly by being connected using the bearing which is not shown in figure. The 1st rotary body 3 and the 2nd rotary body 5 are exhibiting the disk shape of a thin plate, and are connected so that circular surfaces may mutually oppose. In addition, the shape of the 1st rotary body 3 and the 2nd rotary body 5 is not restricted to this, For example, the shape of the housing | casing itself which comprises the joint part of an industrial robot may be sufficient.

  A first inner wall surface 10 erected toward the second rotating body 5 is formed on the surface of the first rotating body 3 that faces the second rotating body 5. Moreover, the 1st outer wall surface 11 standingly provided toward the 2nd rotary body 5 side is formed in the surface facing the 2nd rotary body 5 among the 1st rotary bodies 3. The first inner wall surface 10 and the first outer wall surface 11 are opposed to each other to form a groove.

  FIG. 3 is a perspective view showing a state in which the second rotating body 5 is viewed from the first rotating body 3 side. A second inner wall surface 14 erected toward the first rotating body 3 is also formed on the surface of the second rotating body 5 facing the first rotating body 3. Moreover, the 2nd outer wall surface 15 standingly provided toward the 1st rotary body 3 side is also formed in the surface facing the 1st rotary body 3 among the 2nd rotary bodies 5. FIG.

  FIG. 4 is a cross-sectional view showing a state in which the rotation limit device 1 shown in FIG. 1 is cut along a plane including the rotation shaft 2. As shown in FIG. 4, the regulation block 7 is accommodated by the first rotating body 3, the first inner wall surface 10, the first outer wall surface 11, the second rotating body 5, the second inner wall surface 14, and the second outer wall surface 15. A guide passage 18 is formed. The guide passage 18 has a circular shape centered on the rotation axis 2 in plan view.

  Returning to FIG. 2, a first projecting portion 12 projecting into the guide passage 18 is formed on the surface of the first rotating body 3 facing the second rotating body 5. In the first embodiment, the first projecting portion 12 is formed integrally with a portion projecting from the first rotating body 3 in order to form the first inner wall surface 10 and the first outer wall surface 11.

  Returning to FIG. 3, a second protruding portion 16 that protrudes into the guide passage 18 is formed on the surface of the second rotating body 5 that faces the first rotating body 3. In the first embodiment, the second protruding portion 16 is formed integrally with a portion protruding from the second rotating body 5 in order to form the second inner wall surface 14 and the second outer wall surface 15. Moreover, the 1st protrusion part 12 and the 2nd protrusion part 16 are formed in the height which does not collide even if the 1st rotary body 3 and the 2nd rotary body 5 are rotated. More specifically, the first projecting portion 12 and the second projecting portion 16 have such a height that the sum of the projecting heights of the first projecting portion 12 and the second projecting portion 16 is smaller than the dimension of the guide passage 18 in the direction parallel to the rotating shaft 2. It is formed with. Therefore, the amount of rotation of the rotating plates 3 and 5 is not limited by the collision between the protrusions 12 and 16.

  The restriction block 7 is movably accommodated in the guide passage 18. The restriction block 7 is formed with a height that is substantially the same as the dimension of the guide passage 18 in the direction parallel to the rotation shaft 2, and can be brought into contact with both the first protrusion 12 and the second protrusion 16. Yes. The amount of rotation of the first rotating body 3 and the second rotating body 5 is limited by the restriction block 7 coming into contact with the first projecting portion 12 and the second projecting portion 16, details of which will be described later. The restriction block 7 is configured by covering a metal material such as iron with a synthetic resin.

  FIG. 5 is a plan view of the first rotating body 3 for explaining the principle that the amount of rotation of the rotating bodies 3 and 5 is limited to 360 degrees or more. 6 is a cross-sectional view taken along the line AA shown in FIG. 7 is a cross-sectional view taken along the line BB shown in FIG. 8 is a cross-sectional view taken along line CC shown in FIG. In FIG. 5, the second protrusion 16 of the second rotating body 5 is indicated by a two-dot chain line. The “rotation amount” shown in the description with reference to FIGS. 5 to 8 means the rotation amount of the second rotator 5 with respect to the first rotator 3.

  The rotation amount in the state shown in FIG. The positional relationship among the restricting block 7, the first projecting portion 12, and the second projecting portion 16 in this state is as shown in FIG. Even if the second rotating body 5 is to be rotated in the direction indicated by the arrow Y in this state, the restriction block 7 is in contact with the first projecting portion 12 on the opposite side of the second projecting portion 16, and the second rotating body 5. Cannot be rotated any further. On the other hand, when rotating in the direction indicated by the arrow X, the second rotating body 5 can be freely rotated without restriction by the restriction block 7.

  When the second rotating body 5 is rotated nearly 360 degrees in the direction indicated by the arrow X from the state shown in FIGS. 5A and 6, the state shown in FIGS. 5B and 7 is obtained. Here, the first projecting portion 12 and the second projecting portion 16 are formed such that the sum of the projecting heights of the first projecting portion 12 and the second projecting portion 16 is smaller than the dimension of the guide passage 18 in the direction parallel to the rotation shaft 2. Therefore, the second protrusion 16 passes over the first protrusion 12 without colliding with the first protrusion 12. When the second protrusion 16 passes over the first protrusion 12, the second protrusion 16 comes into contact with the restriction block 7. The second protrusion 16 can further move while moving the restriction block 7 along the guide passage 18. Therefore, the 2nd rotary body 5 can be further rotated in the direction shown by arrow X rather than the state shown in FIG.5 (b). That is, the 2nd rotary body 5 can be rotated 360 degree | times or more from the state shown to Fig.5 (a).

  When the second rotating body 5 is further rotated nearly 360 degrees from the state shown in FIGS. 5B and 7, the state shown in FIGS. 5C and 8 is obtained. Here, the restricting block 7 that has been pushed into the second projecting portion 16 and moved through the guide passage 18 collides with the first projecting portion 12, and further movement is restricted. By restricting the movement of the restriction block 7, the second rotating body 5 can no longer be rotated. Therefore, the amount of rotation of the second rotating body 5 can be limited.

  If the second rotating body 5 is rotated in the direction indicated by the arrow Y from the state shown in FIG. 5C and FIG. 8, the state shown in FIG. 5A and FIG. Rotation is limited.

  As described above, by accommodating the restriction block 7 in the guide passage 18, the rotation amount can be limited to a constant while allowing the rotation bodies 3 and 5 to rotate 360 ° or more. Moreover, since the rotation amount of the rotary bodies 3 and 5 can be limited without interposing another rotary body between the rotary bodies 3 and 5, the thickness and weight of the rotation limit device 1 can be suppressed. Further, since the guide passage 18 is formed by the first inner wall surface 10, the second inner wall surface 14, the first outer wall surface 11, and the second outer wall surface 15, the falling of the restriction block 7 is prevented, and the rotation of the rotating bodies 3 and 5 is performed. The amount can be reliably limited.

  Further, as shown in FIGS. 6 and 8, the restricting block 7 collides with the first projecting portion 12 and the second projecting portion 16 when the amount of rotation of the first rotating body 3 and the second rotating body 5 is limited. To do. Since the restriction block 7 is made of a metal material, the restriction block 7 is prevented from being deformed or damaged when it collides with the first protrusion 12 or the second protrusion 16 and contributes to the maintenance of a stable rotational operation. be able to. Further, the regulation block 7 moves in the guide passage 18 with the rotation of the first rotating body 3 and the second rotating body 5 and rubs against the first rotating body 3 and the second rotating body 5. Since the restriction block 7 is covered with synthetic resin on the peripheral surface, it is possible to suppress the frictional resistance between the rotating bodies 3 and 5 and the restriction block 7, and to suppress wear and smooth rotation of the rotating bodies 3 and 5. Realization is possible.

  Further, as shown in FIGS. 5 to 8, the restriction block 7 is formed such that the dimension (width dimension) along the moving direction in the guide passage 18 is larger than the dimension of the guide passage 18 in the direction parallel to the rotating shaft 2. Has been. Thereby, it can prevent that the control block 7 rolls when moving the guide channel | path 18, and the restriction | limiting of the stable rotation amount can be implement | achieved.

  Moreover, the rotation amount of the rotary bodies 3 and 5 which the rotation limit apparatus 1 restrict | limits can be easily changed by using the control block 7 from which a width dimension differs. For example, if the width dimension of the restriction block 7 is increased, the restricted rotation amount can be reduced, and if the width dimension of the restriction block 7 is reduced, the restricted rotation amount can be increased. Since the restriction block 7 is smaller than the rotating bodies 3 and 5, the cost for manufacturing the restriction block 7 having a different width dimension can be suppressed. Moreover, even when a plurality of restriction blocks having different width dimensions are prepared, it is possible to make it difficult to cause a storage space problem.

Embodiment 2. FIG.
FIG. 9 is an external perspective view showing a schematic configuration of the rotation limit device according to Embodiment 2 of the present invention. FIG. 10 is an exploded perspective view of the rotation limit device 1 shown in FIG. FIG. 11 is a perspective view showing a state in which the second rotating body 5 is viewed from the first rotating body 3 side. FIG. 12 is a cross-sectional view illustrating a state where the rotation limit device 1 illustrated in FIG. 9 is cut along a plane including the rotation shaft 2. In addition, about the structure similar to Embodiment 1, the same code | symbol is attached | subjected and detailed description is abbreviate | omitted.

  In the second embodiment, the second inner wall surface and the second outer wall surface are not formed on the second rotating body 5. As shown in FIG. 9, the first rotating body 3, the first inner wall surface 10, the first outer wall surface 11, and the second rotating body 5 constitute a guide passage 18 having a circular shape in plan view.

  Even in the case of such a configuration, as in the first embodiment, by accommodating the restriction block 7 in the guide passage 18, the rotating bodies 3 and 5 can be rotated while allowing rotation of 360 degrees or more. The amount can be limited to a certain amount. Further, since the amount of rotation of the rotating bodies 3 and 5 can be limited without interposing another rotating body between the rotating bodies 3 and 5, the thickness and weight of the rotation limit device 1 can be suppressed. Further, since the guide passage 18 is formed by the first inner wall surface 10 and the first outer wall surface 11, it is possible to prevent the restriction block 7 from falling off and to reliably limit the rotation amount of the rotating bodies 3 and 5.

Embodiment 3 FIG.
FIG. 13 is an external perspective view showing a schematic configuration of the rotation limit device according to Embodiment 3 of the present invention. FIG. 14 is an exploded perspective view of the rotation limit device 1 shown in FIG. FIG. 15 is a perspective view showing a state in which the second rotating body 5 is viewed from the first rotating body 3 side. FIG. 16 is a cross-sectional view illustrating a state where the rotation limit device 1 illustrated in FIG. 13 is cut along a plane including the rotation shaft 2. In addition, about the structure similar to Embodiment 1, the same code | symbol is attached | subjected and detailed description is abbreviate | omitted.

  In the third embodiment, the first inner wall surface is not formed on the first rotating body 3, and the first outer wall surface 11 and the first projecting portion 12 are formed. The second outer wall surface is not formed on the second rotating body 5, and the second inner wall surface 14 and the second protrusion 16 are formed. As shown in FIG. 16, the first rotating body 3, the first outer wall surface 11, the second inner wall surface 14, and the second rotating body 5 constitute a guide passage 18 that has a circular shape in plan view.

  Even in the case of such a configuration, as in the first embodiment, by accommodating the restriction block 7 in the guide passage 18, the rotating bodies 3 and 5 can be rotated while allowing rotation of 360 degrees or more. The amount can be limited to a certain amount. Further, since the amount of rotation of the rotating bodies 3 and 5 can be limited without interposing another rotating body between the rotating bodies 3 and 5, the thickness and weight of the rotation limit device 1 can be suppressed. In addition, since the guide passage 18 is formed by the first outer wall surface 11 and the second inner wall surface 14, it is possible to prevent the restriction block 7 from falling off and to reliably limit the rotation amount of the rotating bodies 3 and 5.

  As described above, the rotation limit device according to the present invention is useful for a rotary joint that limits the amount of rotation at 360 degrees or more, and is particularly suitable for a rotary joint such as an industrial robot.

DESCRIPTION OF SYMBOLS 1 Rotation limit device 2 Rotating shaft 3 1st rotary body 5 2nd rotary body 7 Control block (rotation control body)
DESCRIPTION OF SYMBOLS 10 1st inner wall surface 11 1st outer wall surface 12 1st protrusion part 14 2nd inner wall surface 15 2nd outer wall surface 16 2nd protrusion part 18 Guide path X, Y arrow

Claims (7)

A first rotator and a second rotator that are rotatably stacked on each other about a rotation axis;
A circular shape centering on the rotation axis by an inner wall surface formed on at least one of the first rotating body and the second rotating body and an outer wall surface formed on at least one of the first rotating body and the second rotating body. A guide passage is formed,
The first rotating body is formed with a first protruding portion that protrudes into the guide passage, and the second rotating body is formed with a second protruding portion that protrudes into the guide passage.
The first projecting portion and the second projecting portion are formed at a height such that the sum of the projecting heights of the first projecting portion and the second projecting portion is smaller than the dimension of the guide passage in the direction parallel to the rotation axis,
It further includes a rotation restricting body that is movably accommodated in the guide passage and that abuts against the first projecting portion and the second projecting portion to limit the amount of rotation between the rotating bodies. Rotation limit device.   The rotation limit device according to claim 1, wherein the rotation restricting body is made of a metal material.   The rotation limit device according to claim 1, wherein a surface of the rotation restricting body is covered with a synthetic resin.   The dimension of the said rotation control body along the moving direction in the said guide channel | path is formed larger than the dimension of the said guide channel | path of the direction parallel to the said rotating shaft. The rotation limit device according to any one of the above.   The rotation limit device according to any one of claims 1 to 4, wherein the inner wall surface and the outer wall surface are formed on both the first rotating body and the second rotating body.   The rotation limit according to any one of claims 1 to 4, wherein the inner wall surface and the outer wall surface are formed only on one of the first rotating body and the second rotating body. apparatus. The inner wall surface is formed on one of the first rotating body and the second rotating body,
The rotation limit device according to any one of claims 1 to 4, wherein the outer wall surface is formed on the other rotating body of the first rotating body and the second rotating body.

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