JP3153922U - Air hose locking structure of parallel robot - Google Patents

Abstract

An air hose locking structure capable of smoothly driving a parallel link pair without damaging the air hose during operation of the parallel robot and without hindering movement of the parallel link pair by the air hose. A flexible first air hose and a second air hose are arranged at intervals, and a link 45A constituting a parallel link pair has a base plate extending to the side of the link 45A. 60 is fixed, a fixed hose portion 61 is fixed to the extended portion of the base plate 60, and a cylindrical rotation support in which the lower end of the first air hose 50 is connected to the upper opening end of the fixed hose portion 61. The part 7 is rotatably provided, and the upper end of the second air hose part 51 is connected to the lower opening end of the fixed hose part 61. [Selection] Figure 3

Description

  The present invention relates to an air hose locking structure for locking a flexible air hose to a parallel robot.

  Recently, parallel robots are used in various industrial fields. The parallel robot includes a plurality of actuators arranged in parallel to each other and a plurality of parallel link mechanisms that are respectively driven by these actuators and whose lower ends are connected to each other via a connecting portion.

  In the parallel robot, each actuator is driven and controlled so that the connecting portion at the lower end of each parallel link mechanism is arranged at an arbitrary position in the three-dimensional space, so that the work object is moved in the three-dimensional space. And suitable for handling (see, for example, JP-T-2008-529816).

  By the way, in such a parallel robot, there is a demand to provide a suction pad at a connecting portion and to suck and hold a work object by the suction pad and move it to a desired location. In that case, it is necessary to connect an air hose for air suction to the suction pad. At this time, a vacuum pump is installed in the upper frame of the parallel robot, the upper end of the air hose is connected to the vacuum pump, and the lower end is the suction pad. It is possible to connect to.

  In general, since the parallel link mechanism of the parallel robot moves in a three-dimensional space at high speed by the drive control of each actuator, the connecting portion to which the lower ends of the parallel link mechanisms are connected also moves at high speed. Therefore, it is necessary to use an air hose having a length in consideration of the movable range of each parallel link mechanism. However, since the movable range of each parallel link mechanism is large, a part of the air hose is related to the constituent link of the parallel link mechanism so that each parallel link mechanism does not interfere with the air hose and disturb its movement during the operation of the parallel robot. It is necessary to stop. On the other hand, if a part of the air hose is completely fixed to the link, an unreasonable force acts on the air hose, which may cause problems such as breakage of the air hose.

Special table 2008-529816

  The present invention has been made in view of such a conventional situation, and the problem to be solved by the present invention is that the air hose is not damaged during the operation of the parallel robot, and the movement of the parallel link pair is the air hose. It is an object of the present invention to provide an air hose locking structure that can smoothly drive a parallel link pair without obstructing by the above.

  The air hose locking structure for a parallel robot according to the first aspect of the present invention is provided with a flexible air hose, a base unit fixed to one of the links constituting the parallel link pair, and a base unit rotatably. And a support portion for supporting the air hose.

  According to the first aspect of the present invention, since the support unit for supporting the air hose is provided rotatably with respect to the base unit fixed to the link of the parallel link pair, the parallel link pair is not operated when the parallel robot is in operation. When moving, the base unit moves together with the link of the parallel link pair, and at this time, the support portion rotates around the base unit. As a result, when the parallel link pair moves at a high speed or changes direction, the support unit can release a sudden force acting on the air hose from the base unit, and as a result, the air hose can be reliably damaged. Can be prevented. Further, the movement of the parallel link pair can be prevented from being hindered by the air hose.

  According to a second aspect of the present invention, in the first aspect, the air hose is an air suction member for driving a suction pad provided at the lower end of the parallel link pair.

  In the parallel robot air hose locking structure according to the invention of claim 3, the flexible first and second air hoses are arranged at intervals, and any of the links constituting the parallel link pair has A base plate extending to the side of the link is fixed, a fixed hose portion is fixed to the extended portion of the base plate, and one end of the first air hose is connected to one end of the fixed hose portion. The part is rotatably provided, and one end of the second air hose is connected to the other end of the fixed hose part.

  According to the invention of claim 3, the fixed hose portion is fixed to the base plate fixed to the link of the parallel link pair, the rotation support portion is provided at one end of the fixed hose portion, and the second air hose is provided at the other end. Is connected, and the first air hose is connected to the rotation support part. Therefore, when the parallel link pair moves during the operation of the parallel robot, the base plate and the fixed hose part move together with the link of the parallel link pair. At this time, the rotation support portion rotates around the fixed hose portion. As a result, when the parallel link pair moves at a high speed or changes direction, a sudden force acting on the air hose from the fixed hose part can be released by the rotation support part, resulting in damage to the air hose. Can be reliably prevented. Further, the movement of the parallel link pair can be prevented from being hindered by the air hose. The connection of one end of the second air hose to the other end of the fixed hose portion may be a fixed or rotatable connection.

  According to a fourth aspect of the present invention, in the third aspect, the fixed hose portion is an L-shaped or T-shaped hard member.

  According to a fifth aspect of the present invention, in the third aspect, a bearing member is interposed between one end of the fixed hose portion and the rotation support portion.

  In the invention of claim 6, in claim 3, the other end of the first air hose is connected to a vacuum pump, and the other end of the second air hose is connected to a suction pad provided at the lower end of the parallel link pair. Yes.

  The air hose locking structure for a parallel robot according to the invention of claim 7 includes a flexible air hose, a base plate fixed to any one of the links constituting the parallel link pair, a support shaft portion provided on the base plate, A holding portion that is rotatably supported by the support shaft portion and holds the air hose is provided.

  According to the seventh aspect of the present invention, since the holding portion of the air hose is rotatably provided via the support shaft portion with respect to the base plate fixed to the link of the parallel link pair, the parallel robot is operated in parallel. When the link pair moves, the base plate moves together with the link of the parallel link pair, and at this time, the holding portion of the air hose rotates around the support shaft portion of the base plate. As a result, when the parallel link pair moves or changes direction at a high speed, a sudden force acting on the air hose from the base plate can be released by the support shaft, and as a result, the air hose can be reliably damaged. Can be prevented. Further, the movement of the parallel link pair can be prevented from being hindered by the air hose.

  In the invention of claim 8, in claim 7, the base plate is composed of first and second base plates spaced apart along the link, and a bracket member installed between the first and second base plates. The support shaft portion passes through the bracket member.

  As described above, according to the first device of the present invention, the base unit is fixed to the link of the parallel link pair, and the support unit for supporting the air hose is provided rotatably on the base unit. When the link pair moves, the base unit moves together with the link of the parallel link pair, and at this time, the support portion rotates around the base unit. As a result, when the parallel link pair moves at a high speed or changes direction, the support unit can release a sudden force acting on the air hose from the base unit, and as a result, the air hose can be reliably damaged. It is possible to prevent the movement of the parallel link pair from being hindered by the air hose.

  Further, according to the second device of the present invention, the fixed hose portion is fixed to the base plate fixed to the link of the parallel link pair, the rotation support portion is provided at one end of the fixed hose portion, and the second is provided at the other end. Since the air hose is connected and the first air hose is connected to the rotation support part, when the parallel link pair moves, the base plate and the fixed hose part move together with the link of the parallel link pair. The rotation support part rotates around the fixed hose part. As a result, when the parallel link pair moves at a high speed or changes direction, a sudden force acting on the air hose from the fixed hose part can be released by the rotation support part, resulting in damage to the air hose. Can be reliably prevented, and the movement of the parallel link pair can be prevented from being hindered by the air hose.

  Further, according to the third aspect of the present invention, the base plate is fixed to the link of the parallel link pair, and the holding portion of the air hose is rotatably provided on the base plate via the support shaft portion. When the base plate moves, the base plate moves together with the link of the parallel link pair, and at this time, the holding portion of the air hose rotates around the support shaft portion of the base plate. As a result, when the parallel link pair moves or changes direction at a high speed, a sudden force acting on the air hose from the base plate can be released by the support shaft, and as a result, the air hose can be reliably damaged. It is possible to prevent the movement of the parallel link pair from being hindered by the air hose.

1 is a schematic front view of a product packaging line including a parallel robot to which an air hose locking structure according to the present invention is applied. It is the plane schematic of the said product packaging line (FIG. 1). 1 is a schematic front view of an air hose locking structure according to a first embodiment of the present invention. FIG. 4 is a sectional view taken along line IV-IV in FIG. 3. FIG. 5 is an enlarged view of a portion V in FIG. 4. FIG. 6 is a sectional view taken along line VI-VI in FIG. 4. It is the front schematic of the air hose latching structure by 2nd Example of this invention. It is the VIII-VIII sectional view taken on the line of FIG.

Embodiments of the present invention will be described below with reference to the accompanying drawings.
1 and 2 show an example in which parallel robots employing an air hose locking structure according to the present invention are arranged in a product packaging line.

  As shown in FIG. 1 and FIG. 2, the product packaging line 1 includes a first transport conveyor 2 that transports the product P in the direction of the arrow a and a container C that is filled with the product P in the direction of the arrow b. And a parallel robot 4 for introducing the product P being conveyed by the first conveyor 2 into the container C being conveyed by the second conveyor 3.

  The parallel robot 4 is supported by an upper frame 40 disposed above the first and second transport conveyors 2 and 3, and includes three servo motors 41, 42, and 43 disposed at equal intervals, Parallel link pairs 44, 45, and 46 are connected to the servo motors 41, 42, and 43 with their upper ends extending obliquely downward and their lower ends are connected to each other, and the lower ends of the parallel link pairs 44, 45, and 46. A suction pad 47 for attaching and holding the product P is provided. The suction pad 47 is connected to the vacuum pump 48 via a flexible air hose (not shown in FIGS. 1 and 2) described later. Therefore, the flexible air hose is an air suction member for driving the suction pad 47.

  During operation of the parallel robot 4, the suction pad 47 is arranged at an arbitrary position in a fixed three-dimensional space by controlling the rotation amount and rotation direction of each output shaft of each servo motor 41, 42, 43. . More specifically, by driving and controlling the servo motors 41, 42, and 43, the product P on the first conveyor 2 is sucked and held by the suction pad 47, and this moves onto the second transport conveyor 3. , Introduced into the container C.

  3 to 6 show an air hose locking structure according to a first embodiment of the present invention. Here, an air hose locking structure provided in the parallel link pair 45 will be described as an example. The same applies to the case where the air hose locking structure is provided in the other parallel link pairs 44 and 46, and the description thereof is omitted here.

  As shown in FIG. 3, the air hose locking structure 5 includes flexible first and second air hoses 50 and 51 that are spaced apart vertically. The first and second air hoses 50 and 51 are configured in a bellows shape, for example. The upper end of the first air hose 50 is connected to the vacuum pump 48 (FIG. 1) via the air hose 52. The lower end of the first air hose 50 is connected to the upper end of the second air hose 51 via the base unit 6.

  The base unit 6 has a base plate 60 fixed to one link 45 </ b> A of the parallel link pair 45. The upper end of the link 45A is connected to the output shaft of the servo motor 42. As shown in FIG. 6, the base plate 60 extends to the side of the link 45A.

  As shown in FIGS. 4 and 6, a fixed hose portion 61 is fixed to the extending portion of the base plate 60. The fixed hose portion 61 is a member made of hard resin, for example, and is arranged in an inverted L shape or T shape.

  At the upper opening end of the fixed hose portion 61, as shown in FIG. 5, a bottomed cylindrical rotation support portion 7 supported rotatably at the upper opening end is provided. A bearing member 70 is provided between the inner peripheral surface 7 a of the rotation support portion 7 and the outer peripheral surface 61 a of the fixed hose portion 61. The lower end of the first air hose 50 is connected to the opening 7 b formed in a part of the outer peripheral surface of the rotation support portion 7. Thereby, the rotation support part 7 fulfill | performs the function of the rotary joint with respect to the fixed hose part 61. FIG.

  The upper end of the second air hose 51 is connected to the lower opening end of the fixed hose portion 61 via, for example, a hard resin joint hose 64. The upper end of the second air hose 51 is fixed to the link 45 </ b> A via a base plate 53 similar to the base plate 60. The lower end of the second air hose 51 extends to the lower end of the link 45A and is connected to the suction pad 47 (FIG. 1). The upper end of the second air hose 51 is not fixed to the link 45 </ b> A via the base plate 53, but is rotatable to the joint hose 64 via a bearing member provided between the lower end of the joint hose 64. It may be supported. At this time, the bearing member may be provided between the upper end of the joint hose 64 and the lower opening end of the fixed hose portion 61. Alternatively, the joint hose 64 may be omitted and the lower portion of the fixed hose portion 61 may be omitted. You may make it provide between an open end and the upper end of the 2nd air hose 51. FIG.

  The base unit 6 is configured by the base plate 60, the fixed hose portion 61, and the joint hose 64 described above.

  With such a configuration, when the link 45A rotates and moves around the center of the output shaft of the servo motor 42, the fixed hose portion 61 of the base unit 6 moves together with the link 45A. The lower end of the air hose 50 rotates around the fixed hose portion 61 of the base unit 6 together with the rotation support portion 7. At this time, if the upper end of the second air hose 51 is also provided so as to be rotatable, the second air hose 51 rotates around the joint hose 64 or the fixed hose portion 61.

  Thus, even when the parallel link pair 45 moves at a high speed or changes direction while the parallel robot 4 is in operation, a sudden force acting on the first air hose 50 from the fixed hose portion 61 is applied to the rotation support portion. 7, so that the parallel link pair 45 does not interfere with the first air hose 50 and damage the first air hose 50, and the movement of the parallel link pair 45 is prevented by the first air hose 50. The parallel link pair 45 can be driven smoothly without being obstructed. At this time, if the upper end of the second air hose 51 is provided to be rotatable, the second air hose 51 can be more reliably prevented from being damaged, and the parallel link pair 45 can be driven more smoothly. become.

  7 and 8 show an air hose locking structure according to a second embodiment of the present invention. Here, an air hose locking structure provided in the parallel link pair 45 will be described as an example. The same applies to the case where the air hose locking structure is provided in the other parallel link pairs 44 and 46, and the description thereof is omitted here.

  As shown in FIG. 7, the air hose locking structure 5 ′ has a flexible air hose 55 extending substantially in the vertical direction. The air hose 55 is configured in a bellows shape, for example. The upper end of the air hose 55 is connected to the vacuum pump 48 (FIG. 1), and the lower end is connected to the suction pad 47 (FIG. 1). A holding portion 58 is fixed to the outer periphery of the air hose 55, and the air hose 55 is held by the holding portion 58.

  To one link 45A of the parallel link pair 45, first and second base plates 65, 66 arranged at intervals along the link 45A are fixed. A pair of spaced bracket members 67 are installed between the base plates 65 and 66. Support shafts 68 are inserted through these bracket members 67. The tip of the support shaft portion 68 is inserted through one end of the holding portion 58, and a roller 69 is attached to the tip. The roller 69 is in sliding contact with a recess 58 a formed inside the holding portion 58, and the holding portion 58 is rotatable around the roller 69. The first and second base plates 65 and 66, the bracket member 67, and the support shaft portion 68 constitute a base unit 6 '.

  With such a configuration, when the link 45A rotates and moves around the center of the output shaft of the servo motor, the base unit 6 ′ moves together with the link 45A. At this time, the air hose 55 moves together with the holding portion 58. It rotates around the support shaft portion 67.

  Thereby, even when the parallel link pair 45 moves at a high speed or changes direction while the parallel robot 4 is in operation, a sudden force acting on the air hose 55 from the parallel link pair 45 is released by the support shaft portion 68. As a result, the parallel link pair 45 does not interfere with the air hose 55 and damage the air hose 55, and the movement of the parallel link pair 45 is not hindered by the air hose 55, so that the parallel link pair 45 is smooth. Can be driven.

  The present invention is useful for an air hose locking structure, and is particularly suitable for an air hose locking structure of a parallel robot having a large movable range.

4: Parallel robot 44, 45, 46: Parallel link pair 45A: Link 47: Suction pad 48: Vacuum pump

5, 5 ': Air hose locking structure

50: First air hose 51: Second air hose

55: Air hose 58: Holding part (supporting part)

6: Base unit 60: Base plate 61: Fixed hose part

6 ': Base unit 65: First base plate 66: Second base plate 67: Bracket member 68: Support shaft

7: Rotation support part (support part)
70: Bearing member

Claims (8)

An air hose locking structure for a parallel robot having a plurality of parallel link pairs,
A flexible air hose;
A base unit fixed to any link constituting the parallel link pair;
A support portion rotatably provided on the base unit and supporting the air hose;
Air hose locking structure. In claim 1,
The air hose is a member for air suction for driving a suction pad provided at the lower end of the parallel link pair.
An air hose locking structure characterized by that. An air hose locking structure for a parallel robot having a plurality of parallel link pairs,
Flexible first and second air hoses are spaced apart;
A base plate extending to the side of the link is fixed to any link constituting the parallel link pair,
A fixed hose portion is fixed to the extending portion of the base plate,
At one end of the fixed hose portion, a cylindrical rotation support portion to which one end of the first air hose is connected is rotatably provided,
One end of the second air hose is connected to the other end of the fixed hose portion,
An air hose locking structure characterized by that. In claim 3,
The fixed hose portion is an L-shaped or T-shaped hard member.
An air hose locking structure characterized by that. In claim 3,
Between one end of the fixed hose part and the rotation support part, a bearing member is interposed,
An air hose locking structure characterized by that. In claim 3,
The other end of the first air hose is connected to a vacuum pump, and the other end of the second air hose is connected to a suction pad provided at the lower end of the parallel link pair.
An air hose locking structure characterized by that. An air hose locking structure for a parallel robot having a plurality of parallel link pairs,
A flexible air hose;
A base plate fixed to any link constituting the parallel link pair;
A support shaft provided on the base plate;
A holding part that is rotatably supported by the support shaft part and holds the air hose;
Air hose locking structure provided. In claim 7,
The base plate is composed of first and second base plates spaced apart from each other along the link, and a bracket member installed between the first and second base plates,
The support shaft portion is inserted through the bracket member.
An air hose locking structure characterized by that.

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