JP3188877U - Robot arm clip structure - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot arm clip structure capable of absorbing or mitigating an impact vibration generated by processing and avoiding damage to a clip head and a robot arm. In a robot arm clip structure, a horizontal buffer mechanism 12 and a vertical buffer mechanism 13 are installed between a connector 10 of a robot arm and a clip head 70. The horizontal shock absorber 12 includes a slide base 30 that is combined with the connecting base 20 through a guide rod bolt 23 to perform horizontal elastic operation, and absorbs and mitigates lateral impacts and vibrations. The vertical buffer mechanism 13 includes a movable block 60 that is combined between the upper and lower carrier plates 40 and 50 through a guide rod 62 to perform vertical elastic operation, and the movable block 60 and the clip head 70 are integrally screwed and fixed. It absorbs and mitigates vertical impacts and vibrations. [Selection diagram] Fig. 1

Description

  The present invention relates to a robot arm clip structure, and in particular, to a robot arm clip structure having an elastic buffer mechanism, which absorbs or mitigates shock vibration caused by processing, and prevents damage to the clip head and the robot arm.

In recent years, the Taiwanese industry has developed precision and expensive automated machines, and robot arms used for materials and machine parts processing have become widespread.
In particular, in the machining of many workpieces, the purpose of forming is achieved by utilizing high speed and high pressure.

  For example, in the milling process, the principle is that the pressure is used to cut the metal to form a necessary structure or shape, and the metal workpiece can be punched, formed, extruded, and the like.

In the above-described processing process, a very large impact is generated.
When using a robot arm to hold a workpiece, the output of the machine is usually several tons or more.

The clip head directly receives the reaction force generated by machining the workpiece and transmits it to the robot arm. Therefore, the robot arm and clip head must withstand extremely large shock vibrations. Otherwise, it will affect the service life.
That is, protection against an expensive and precise robot arm is an urgent issue.

  The present invention has been made in view of the above-described drawbacks of the conventional robot arm.

  The problem to be solved by the present invention is to provide a robot arm clip structure having a high protection effect.

  In order to solve the above problems, the present invention provides the following robot arm clip structure.

  In the robot arm clip structure, a horizontal buffer mechanism and a vertical buffer mechanism are installed between the connector of the robot arm and the clip head, and the horizontal buffer mechanism includes a connecting table and a slide table, and the connecting table includes a guide rod bolt. In this way, the slide table exhibits a horizontal linear slide, and an elastic part is installed between the connecting table and the slide table, and an elastic force is provided between the two. An upper carrier plate and a lower carrier plate, which are respectively installed on the upper and lower ends of the slide base, and a movable block is installed between the upper carrier plate and the lower carrier plate, and the movable block and the clip head And a guide rod between the upper carrier plate and the lower carrier plate, and the movable block is combined through the guide rod. The movable block exhibits a vertical linear slide, and two sets of movable support rods and elastic parts are installed on the movable block, and the movable support rods contact the upper carrier plate and move downward. The movable block comes into contact with the lower carrier plate, so that the movable block exhibits an elastic equilibrium detent state between the upper carrier plate and the lower carrier plate. When the clip head receives an impact, the movable block absorbs the shock and vibration and relaxes. And the effect of protecting the clip head and the robot arm is achieved by preventing vibration from being transmitted to the robot arm. The upper carrier plate and the lower carrier plate of the vertical buffer mechanism are respectively provided with upper adjustment bolts, When a lower adjustment bolt is installed and a height error occurs in the processing position of the workpiece clamped by the clip head, the upper adjustment bolt and the lower adjustment bolt are Then, it is possible to finely adjust the elastic balance height of the movable block and the clip head, and to improve the accuracy and precision at the time of machining the workpiece, a sensor is installed between the connecting table and the slide table, It is judged whether the robot arm has collided with a foreign object, and when the clip head of the robot arm collides with an article, it is detected and a warning is issued. The fear of doing can be wiped out.

  The robot arm clip structure of the present invention absorbs and mitigates lateral shocks and vibrations by the horizontal buffer mechanism, absorbs and mitigates vertical shocks and vibrations by the vertical buffer mechanism, and the robot arm clip head holds the workpiece. When processing, the clip head can be avoided so that it does not receive impact force directly, the conduction capacity of impact force can be weakened, and serious loss due to indirect damage to the entire robot arm configuration can be avoided, The practical effect of being able to protect can be achieved.

  In addition, the upper carrier plate and the lower carrier plate are installed on the upper carrier plate and the lower carrier plate of the present invention, corresponding to the movable support rod, and the balance height of the movable block and clip head can be finely adjusted, so that the processing accuracy And precision can be improved.

  Furthermore, a sensor is installed between the connecting base and the slide base of the present invention. When the robot arm collides with an article and is pressed, the sensor is triggered and moved, a warning is issued, and the operation is stopped. Can achieve the practical effect of being able to protect

It is a three-dimensional exploded view of the present invention. It is a three-dimensional view installed in the robot arm of the present invention. It is side view sectional drawing of this invention. It is side view sectional drawing which shows a mode that this invention receives a force horizontally. It is operation | movement sectional drawing which shows a mode that this invention cup head receives a force perpendicularly | vertically. FIG. 6 is a front sectional view of FIG. 5. FIG. 5 is an operation cross-sectional view showing a state in which a force is vertically applied from another direction.

  The best mode for carrying out the present invention will be described below in detail with reference to the drawings.

  As shown in FIGS. 1 to 3, a horizontal buffer mechanism 12 and a vertical buffer mechanism 13 are installed between the connector 10 of the robot arm 1 and the clip head 70.

  A turntable 11 is provided at the front end of the connector 10, and a plurality of screw holes 14 are installed on the table surface of the turntable 11.

The horizontal buffer mechanism 12 is provided with a connecting table 20 and a slide table 30.
The connecting table 20 includes a concave tank 21.
A screwing hole 22 is provided on the tank surface of the concave tank 21 and corresponds to the screw hole 14 of the turntable 11.
The bolt 27 is passed through the screwing hole 22, and the connecting table 20 and the turntable 11 are screwed together.

  Guide holes 24 are installed at the four corners of the connecting table 20, screw holes 32 are installed at the four corners of the slide table 30, guide rod bolts 23 are installed, passed through the guide holes 24, and then combined. Contacts the screwing hole 32 of the slide base 30.

Further, the bolt 31 is passed through the screwing hole 32 and screwed into the end of the guide rod bolt 23.
As a result, the slide table 30 exhibits a horizontal linear slide by the guide rod bolt 23.

Further, tank holes 25 and 35 corresponding to each other are respectively installed in the connecting table 20 and the slide table 30.
An elastic component 26 is accommodated between the two tank holes 25 and 35.
Thereby, an elastic force is provided between the two, and a buffering effect is provided.

  The vertical buffer mechanism 13 includes an upper carrier plate 40 and a lower carrier plate 50, and the bolts 33 are threaded onto the slide table 20 through the screw holes 34 on the slide table 30 and at the lower ends thereof.

A slide block 60 is installed between the upper carrier plate 40 and the lower carrier plate 50, and a screwing hole 68 is provided at the central position of the movable block 60.
The bolt 67 is passed through the screw hole 68 and fixed integrally with the clip head 70.
A guide rod 62 is provided between the upper carrier plate 40 and the lower carrier plate 50.

  Guide holes 61 are provided on both sides of the front end of the movable block 60, and screw holes 42 and 52 corresponding to the guide holes 61 are provided in the upper carrier plate 40 and the lower carrier plate 50, respectively.

The guide holes 62 are combined into the guide holes 61, and the bolts 41 and 51 are passed through the screw holes 42 and 52 of the upper carrier plate 40 and the lower carrier plate 50, respectively, and screwed into both ends of the guide rod 62. .
As a result, the movable block 60 exhibits a vertical linear slide on the guide rod 61.

In addition, accommodation installation holes 63 are separately installed on both sides of the movable block 60.
The two accommodation installation holes 63 are vertically opposite to each other, and the movable support rod 64, the elastic component 65, and the sealing bolt 66 are installed, and are sequentially incorporated into the two accommodation installation holes 63, respectively.

  As a result, one end of the movable support rod 64 protrudes to the movable block 60, contacts the upper carrier plate 40 upward, and contacts the lower carrier plate 50 downward.

  In this manner, the movable block 60 exhibits an elastic equilibrium pinned state between the upper carrier plate 40 and the lower carrier plate 50, and has a buffering effect.

  When the clip head 70 receives an impact, the impact and vibration can be absorbed and reduced, the vibration is not transmitted to the robot arm 1, and the effect of protecting the clip head 70 and the robot arm 1 is achieved.

  The configuration and details of the present invention will be described below.

  As shown in FIGS. 3 and 4, the horizontal shock-absorbing mechanism 12 of the present invention can alleviate shock vibration from the lateral direction.

  When the slide table 30 receives a horizontal shock vibration transmitted by the clip head 70, the slide table 30 exhibits a horizontal linear slide on the guide rod bolt 23.

  As a result, the vibration pressure is converted into kinetic energy, so that the shock vibration energy is weakened, and the slide base 30 receives elastic recovery force in the opposite direction by the elastic component 26 between the two tank holes 25 and 35. .

The elastic component 26 is a spring and can buffer the impact received by the slide table 30.
Therefore, the horizontal impact of workpiece machining can greatly reduce the impact damage through energy conversion and elastic buffering, thereby preventing the robot arm 1 from receiving the impact of machining vibration directly. it can.

Further, a sensor 28 is installed between the connecting table 20 and the slide table 30.
Thereby, it is detected whether or not the robot arm 1 collides with a foreign object.

  When the robot arm 1 collides with an article within the work range of the clip head 70 of the robot arm 1, since the robot arm 1 continues to operate, the horizontal shock absorbing mechanism 12 is compressed, so that the slide base 30 is long on the guide rod bolt 23. Presents a horizontal linear slide of distance.

  Thus, the operation of the sensor 28 is triggered, the sensor 28 issues a warning signal, and the robot arm 1 continuation operation is stopped.

  This stops the continuous forcible operation of the robot arm 1, prevents the internal mechanical parts from being deformed and damaged, and further prevents the electronic parts from being burned and damaged, providing an extremely excellent protective action. .

  As shown in FIGS. 5 to 7, the vertical shock absorbing mechanism 13 of the present invention can alleviate shock vibration from the vertical direction.

When the movable block 60 receives a vertical shock vibration transmitted by the clip head 70, the movable block 60 exhibits a vertical linear slide on the guide rod 62, and the vibration pressure is converted into kinetic energy.
Therefore, the shock vibration energy is weakened.

  Further, the movable block 60 allows the movable support rod 64 and the elastic component 65 in the two accommodation installation holes 63 to contact the upper carrier plate 40 upward and to contact the lower carrier plate 50 downward, respectively. 60 forms an elastic recovery force in the opposite direction.

The elastic component 65 is a spring and can buffer the impact received by the movable block 60.
Therefore, the vertical impact of workpiece processing can greatly reduce the impact damage through energy conversion and elastic buffering, and the clip head 70 can be directly affected by the processing vibration and deformed or damaged. It can be avoided, and the shock vibration can be prevented from being indirectly transmitted to the robot arm 1, and the effect of protecting the clip head 70 and the robot arm 1 can be achieved.

  As shown in FIG. 6, an upper adjustment bolt 43 and a lower adjustment bolt 53 are installed on the upper carrier plate 40 and the lower carrier plate 50, respectively.

  When a height error occurs in the processing position of the workpiece clamped by the clip head 70, the upper adjustment bolt 43 and the lower adjustment bolt 53 are turned to press the movable support rod 64 and the elastic component 65, respectively.

  In this way, it is possible to finely adjust the elastic balance height of the movable block 60 and the clip head 70, and to improve the precision at the time of workpiece processing.

  As described above, the present invention has the following effects and advantages.

    ・ The horizontal shock absorbing mechanism 12 of the present invention absorbs and reduces lateral shock and vibration, and the vertical shock absorbing mechanism 13 absorbs and reduces vertical shock and vibration, and the robot arm 1 clip head 70 holds the workpiece. When machining, the clip head 70 can be avoided from receiving impact force directly, the ability to conduct impact force can be reduced, and serious loss due to indirect damage to the entire robot arm 1 configuration can be avoided. The practical effect of being able to be protected can be achieved.

    ・ The upper carrier plate 40 and the lower carrier plate 50 of the present invention are provided with an upper adjustment bolt 43 and a lower adjustment bolt 53, respectively, corresponding to the movable support rod 64, and the balance altitude of the movable block 60 and the clip head 70 is made fine. It can be adjusted and the accuracy and precision of processing can be improved.

    ・ A sensor 28 is installed between the connecting table 20 and the slide table 30 of the present invention.When the robot arm 1 collides with an object and is pressed, the sensor 28 is triggered to move, issue a warning, and operate. The practical effect of being able to be stopped and protected can be achieved.

  The names and contents of the present invention described above are only used for explaining the technical contents of the present invention, and do not limit the present invention. All equivalent applications based on the spirit of the present invention, parts (structures) conversion, replacement, and quantity increase / decrease shall be included in the protection scope of the present invention.

  The present invention has the novelty that is a requirement for utility model registration, has sufficient progress compared to similar products of the past, has high practicality, meets the needs of society, and has a very high industrial utility value. large.

1 Robot arm
10 Connector
11 Turntable
12 Horizontal shock absorber
13 Vertical shock absorber
14, 44, 54 Screw holes
20 articulated stand
21 concave tank
22, 32, 34, 42, 52, 68 Screw holes
23 Guide rod bolt
24, 61 Lead hole
25, 35 tank holes
26, 65 Elastic parts
27, 31, 33, 41, 51, 67 bolts
28 sensors
30 slide base
40 Upper carrier plate
43 Upper adjustment bolt
50 Lower carrier plate
53 Bottom adjustment bolt
60 movable block
62 Guide rod
63 accommodation hole
64 Movable support rod
66 Sealing bolt
70 Clip head

Claims (3)

The robot arm clip structure has a horizontal buffer mechanism and a vertical buffer mechanism installed between the connector of the robot arm and the clip head.
The front end of the connector includes a turntable, and a plurality of screw holes are installed on the table surface of the turntable.
The horizontal buffer mechanism is provided with a connecting table and a slide table, the connecting table includes a concave tank, and a screw hole is provided on the tank surface of the concave tank, corresponding to the screw hole of the turntable. Then, using bolts, the connecting table and the turntable are screwed together,
At the four corners of the connecting base, guide holes are installed, guide rod bolts are installed, and after passing through the guide holes and combined, one end contacts the slide base, and the guide rod bolts are connected to the slide base by the bolts. In combination with the slide base, the slide base exhibits a horizontal linear slide by the guide rod bolt,
The connecting table and the slide table are each provided with a corresponding tank hole, an elastic part is accommodated between the two tank holes, and an elastic force is provided between the two,
The vertical buffer mechanism includes an upper carrier plate and a lower carrier plate, and is bolted and fixed to both ends of the slide table by bolts, and a movable block is interposed between the upper carrier plate and the lower carrier plate. The movable block is fixed to the clip head integrally with a bolt, and includes a guide rod between the upper carrier plate and the lower carrier plate,
Guide holes are provided on both sides of the front end of the movable block. The guide holes are combined through guide rods, and the guide rods are combined and fixed between the upper carrier plate and the lower carrier plate by bolts. The movable block exhibits a vertical linear slide on the guide rod,
Separate accommodation installation holes are provided on both sides of the movable block. The two accommodation installation holes are opposite in the vertical direction, and a movable support rod, an elastic part, and a sealing bolt are installed. Each one of the movable support rods protrudes into the movable block and contacts the upper carrier plate upward, and contacts the lower carrier plate downward, thereby the movable block. Is a robot arm clip structure characterized by exhibiting an elastic equilibrium detent state between the upper carrier plate and the lower carrier plate. The upper carrier plate further includes a screw hole, and the upper adjustment bolt is screwed into the upper support plate, corresponding to the movable support rod,
The lower carrier plate further includes a screw hole, and the lower adjustment bolt is screwed into the lower support plate, corresponding to the movable support rod,
2. The robot arm clip structure according to claim 1, wherein the adjustment bolt is turned to finely adjust the elastic balance height of the movable block. A sensor is installed between the connecting table and the slide table,
2. The robot arm clip structure according to claim 1, wherein when the robot arm collides and is compressed and the sensor is triggered and moved, a warning is issued and the operation is stopped. 3.

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