JP4534222B2 - Compliance unit - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a compliance unit that is used when absorbing a positional deviation, a dimensional tolerance, or the like between workpieces to be coupled in an automatic assembly by an industrial robot arm.
[0002]
[Prior art]
What is generally known as this type of compliance unit includes a body attached to one of the robot arm or the work chuck means and a base attached to the other, and is disposed between the body and the base. In addition, the compliance mechanism shifts the mutual positions of the body and the base so that the compliance function is exhibited.
[0003]
Such a compliance unit is usually provided with an origin return mechanism for returning the mutual position of the body and the base to the origin. As this origin return mechanism, for example, as shown in FIG. A steel ball 63 is movably disposed in the body 61 between the bases 62, and the steel ball 63 is pushed into a conical recess 65 provided in the base 62 by a pressing means 64 such as a spring or a cylinder mechanism. It is widely known that the mutual displacement between the body 61 and the base 62 is returned to the origin.
[0004]
However, in this type of origin return mechanism, the steel ball 63 may cause a sliding motion in a state where a load is applied at any of the contact points Q, R, and P with the body 61, the base 62, or the pressing means 64. In addition, the smoothness of the origin 62 of the base 62 or the body 61 is hindered due to the degree of surface roughness of these surfaces, and there is a possibility that problems such as failure or breakage of the workpiece may occur depending on the work contents.
Further, when trying to avoid such a problem, the number of parts increases, and the overall configuration tends to be complicated.
[0005]
[Problems to be solved by the invention]
The technical problem of the present invention is to provide a compliance unit having an origin return mechanism with a simple configuration that smoothly and surely restores the origin position of the mutual displacement between the body and the base caused by the compliance function. There is.
[0006]
[Means for Solving the Problems]
  In order to solve the above problems, the compliance unit of the present invention is provided between the body and the base.An intervening compliance mechanism;The compliance mechanismA more displaced baseHome position return mechanism to return to the home positionAnd a lock mechanism for fixing the base displaced by the compliance mechanism to a displacement position, and the origin return mechanism is provided so as to be displaced together with the magnet provided on the body and the base. And a member to be attracted that is pulled back to the original position by being attracted magnetically.
The locking mechanism may be configured such that the pressed member that moves in the body together with the attracted member is pressed against the support member by the piston member of the cylinder mechanism and fixed in position, or the base is fixed by the piston member of the cylinder mechanism. The piston member is arranged between the magnet and the attracted member, and the attracted member is disposed on a surface facing the attracted member. A recess is provided for accommodating and shortening the distance from the magnet.
[0007]
In a state where the movement of the attracted member is not restrained, the compliance unit having the above configuration is pulled back to the position near the body by the magnet so that the attracted member is pulled back to the origin position with respect to the body.
Therefore, unlike the origin return mechanism using a steel ball, a slip movement of the steel ball does not occur and a smooth and reliable origin return operation can be performed. In addition, since the return-to-origin operation is performed only by the magnetic attraction force between the magnet and the attracted member, the number of parts is small and the overall configuration can be simplified.
[0009]
  Furthermore,In the compliance unit of the present invention, a plurality of pairs of the magnet and the member to be attracted can be provided.
[0010]
DETAILED DESCRIPTION OF THE INVENTION
1 to 3 show a first embodiment of a compliance unit according to the present invention. A compliance unit 1A of this embodiment includes a body 2A attached to either one of a robot arm or a work chuck means, and the other. A base 3A to be attached, a compliance mechanism 4A interposed between the body 2A and the base 3A, a lock mechanism for temporarily holding the position of the base 3A, and the body 2A and the base 3A generated by the compliance mechanism 4A And an origin return mechanism for returning a mutual positional shift to the origin position.
[0011]
FIG. 3 shows the overall configuration of the compliance unit and, at the same time, explains 6 degrees of freedom for determining the position and orientation of a base in a general compliance unit. Usually, Z is taken along the central axis of the body 2A. Direction, X and Y directions orthogonal to the Z direction and orthogonal to each other, α and β directions rotating around the X and Y axes, and θ direction rotating around the Z axis, depending on the application. Designed to have the necessary degrees of freedom. The first embodiment has two degrees of freedom in the XY directions.
[0012]
The compliance mechanism 4A includes an inner guide 5A that holds the base 3A slidably in the X direction, and an outer guide 6A that holds the inner guide 5A slidably in the Y direction. It is attached to one end side of 2A. Therefore, via the inner guide 5A and the outer guide 6A, the base 3A can be given freedom in X, Y and their synthesis direction, and the base 3A can be moved in those directions by external force.
[0013]
More specifically, the inner guide 5A holds the base 3A via a first slide mechanism 7A that guides both side surfaces of the base 3A in the X direction, and the outer guide 6A includes the inner guide 5A. Are held via a second slide mechanism 8A for guiding in the Y direction perpendicular to the guide direction by the first slide mechanism 7A. The first slide mechanism 7A includes a pair of guide walls 5Aa and 5Aa projecting from both side ends of the inner guide 5A toward the base 3A and the outer surface of the base 3A, and the second slide mechanism 8A includes an outer A pair of guide walls 6Aa, 6Aa projecting from the guide 6A toward the inner guide 5A and an outer end surface of the inner guide 5A are disposed between the opposing surfaces, and the slide mechanisms 7A, 8A are respectively provided with the opposing surfaces. The steel balls 7b and 8b are rotatably fitted in the grooves 7a and 8a provided in the inner wall.
[0014]
  The inner guide 5A and the outer guide 6A are rods that open in the axial direction of the compliance unit and are connected to the base 3A.20The hollow portions 9A and 10A are respectively inserted therethrough. Further, between the contact surfaces of the outer guide 6A and the body 2A, a support member 11A that closes the periphery of the hollow portion 10A of the outer guide 6A is attached. The support member 11A has the rod in the center.20It is a flat thing provided with the conducting hole 12 which penetrates.
[0015]
  The body 2A includes a body main body 13A formed of a nonmagnetic material, a cylinder mechanism 14A provided in the body main body 13A, and a magnet 15A constituting a part of the origin return mechanism.
  The cylinder mechanism 14AmechanismIt forms part of a lock mechanism that temporarily fixes the position of the base 3A displaced by 4A. Specifically, the cylinder mechanism 14A includes a cylinder hole 16A formed in the body main body 13A and a piston member 17A accommodated in the cylinder hole 16A. A port 19A for supplying and discharging the compressed fluid is opened to the pressure chamber 18A in 16A.
  The magnet 15A is disposed at the base end side of the body main body 13A, that is, at the center of the portion forming the end cover of the cylinder mechanism 14A so that the magnetic poles are directed in the axial direction of the compliance unit.
[0016]
  A rod erected at the center of the base 3A on the body 2A side20A member to be attracted 21A that is magnetically attracted to the magnet 15A is attached to the tip. Rod above20And the attracted member 21A are made of a magnetic material, and the rod20Is guided through the hollow portions 9 and 10 of the inner guide 5A and the outer guide 6A and the guide hole 12 of the support member 11A to a position close to the piston member 17A in the body main body 13A.
[0017]
  The adsorbed member 21A is formed in a substantially spherical shape, and when the base 3A is displaced by the compliance mechanism 4, the cylinder hole16AThe inside is displaced together with the base 3A. The attracted member 21A has an insertion hole at the center of a flat plate-shaped pressed member 22A slidably disposed on the body 2A side plate surface of the support member 11A attached to the outer guide 6A in the cylinder hole 16A. 23 and is movable together with the pressed member and 22A.
[0018]
The pressed member 22A forms a part of the lock mechanism together with the cylinder mechanism 14A. When the pressed member 22A is pressed against the support member 11A by the piston member 17A of the cylinder mechanism 14A, the position of the pressed member 22A is not fixed on the support member 11A. It can be fixed to. Therefore, when the pressed member 22A is pressed by the piston member 17A, the attracted member 21A is fixed at the displacement position, and as a result, the base 3A is fixed in a fixed state while maintaining the displacement with respect to the body 2A. .
The pressed member 22A is formed in a flat plate shape smaller than the hole diameter of the cylinder hole 16A, and restricts the displacement range in the cylinder hole 16A of the attracted member 21A, thereby restricting the displacement range of the base 3A. Is.
[0019]
A recess 24A is provided in the center of the piston member 17A of the cylinder mechanism 14A on the side facing the attracted member 21A, and only the pressed member 22A is avoided by the piston member 17A while avoiding the pressed member 21A. In addition, the distance between the magnet 15A and the attracted member 21A is shortened so that the magnetic force of the magnet 15A reaches the attracted member 21A at the highest possible level.
[0020]
  The compliance unit 1A having the above-described configuration does not press the support member 11A by the piston member 17A, so that the attracted member approaches the attracted member by the magnet 15A when the movement of the attracted member 21A is not restrained. By being pulled to the position, the base 3A is pulled back to the origin position with respect to the body 2A. For that, the rod20The base 3A, the inner guide 5A, the outer guide 6A, and the body main body 13A are formed of a magnetic material, and as shown in FIG.20It is necessary to form a magnetic path passing through the same.
[0021]
In this state, when the body 2A is attached to the robot arm or the like, and the work chuck means fixed to the base 3A is brought into contact with the work, the base 3A causes the first slide mechanism 7A against the inner guide 5A by the external force acting on the base 3A. The inner guide 5A is guided in the Y direction with respect to the outer guide 6A via the second slide mechanism 8A. That is, the position of the base 3A follows the workpiece by the compliance mechanism 4A. Displace.
[0022]
In order to lock the base 3A in its displaced state, a compressed fluid is supplied to the pressure chamber 18A, and the pressed member 22A is pressed against the supporting member 11A by the piston member 17A, whereby the pressed member 22A is supported by the supporting member. 11A is fixed at a fixed position, and accordingly, the attracted member 21A is fixed at the displacement position, and as a result, the base 3A is locked in a fixed state while maintaining a displacement with respect to the body 2A.
Further, when the lock is released by discharging the compressed fluid in the pressure chamber 18A, the attracted member 21A is attracted to a position near it by the magnet 15A, so that the base 3A is pulled back to the origin position with respect to the body 2A.
Therefore, the origin return operation can be performed more smoothly and reliably than the origin return mechanism using a steel ball. In addition, since the return-to-origin operation is performed only by the magnetic attraction force between the magnet 15A and the attracted member 21A, the number of parts is small and the overall configuration can be simplified.
[0023]
4 and 5 show a compliance unit according to the second embodiment of the present invention. The compliance unit 1B according to the second embodiment is mainly different from the first embodiment in the configuration of the compliance mechanism. The overall configuration is compact.
That is, the compliance unit 1B also basically includes a body 2B, a base 3B, a compliance mechanism 4B interposed therebetween, a lock mechanism that temporarily holds the position of the base 3B, and a compliance mechanism 4B. And an origin return mechanism for returning the displacement of the position of the base 3B caused by the above to the origin.
[0024]
The compliance mechanism 4B having a structure different from that of the first embodiment includes an inner guide 5B that holds the base 3B slidably in the X direction and an outer guide 6B that slidably holds the inner guide 5B in the Y direction. The outer guide 6B is attached to one end side of the body 2B, but between the groove 7a in the first slide mechanism 7B provided between the base 3B and the inner guide 5B, and between the inner guide 5B and the outer guide 6B. The groove 8a of the second slide mechanism 8B provided on the same is disposed on the same plane. In the first embodiment, the first slide mechanism 7A is disposed between the opposing surfaces of the pair of guide walls 5Aa and 5Aa protruding from the inner guide 5A toward the base 3A and the outer surface of the base 3A. However, in the second embodiment, the first slide mechanism 7B is provided between the opposing surfaces of the pair of guide walls 3Ba protruding from the both side ends of the base 3B toward the inner guide 5B and the both side ends of the inner guide 5B. Yes.
[0025]
Since other configurations and operations are not substantially different from those of the first embodiment, reference numerals using auxiliary symbols B instead of A in the reference numerals attached to the drawings of the first embodiment are used as main parts. The description is omitted.
[0026]
FIGS. 6 and 7 show a compliance unit according to a third embodiment of the present invention. The compliance unit 1C according to the third embodiment is the same as that of the first and second embodiments, and the configuration of the compliance mechanism and the lock mechanism. And a more compact configuration as a whole.
That is, the compliance unit 1C basically includes a body 2C, a base 3C, a compliance mechanism 4C interposed therebetween, a lock mechanism that temporarily holds the position of the base 3C, and the compliance mechanism. An origin return mechanism for returning the displacement of the position of the base 3C caused by 4C to the origin.
[0027]
The difference between the compliance mechanism 4C in the third embodiment and the compliance mechanism 4B in the second embodiment is that the inner guide 5C is formed in a hollow ring shape and the base 3C is accommodated in the hollow. A first slide mechanism 7C is disposed between a pair of opposed outer surfaces of 3C and an inner wall surface of the inner guide 5C, whereby the base 3C and the inner guide 5C are accommodated in a recess 6Ca provided in the outer guide 6C. In addition, the thickness in the direction of the central axis of the compliance unit is reduced to achieve compactness.
The mechanism for holding the inner guide 5C by the second slide mechanism 8C with respect to the outer guide 6C is the same as in the second embodiment.
[0028]
Further, a attracted member 21C made of a magnetic material attracted by a magnet 15C provided on the body main body 13C of the body 2C is directly attached to the surface of the base 3C on the body 2C side. The adsorbed member 21C is substantially hemispherical.
Configurations and mounting positions of the cylinder mechanism 14C, the magnet 15C, and the like provided in the body main body 13C are substantially the same as those in the first embodiment.
However, the piston member 17C in the cylinder mechanism 14C directly presses the base 3C to lock the displacement of the base 3C.
[0029]
Therefore, as in the first and second embodiments, the base 3C is provided with degrees of freedom in the X, Y and their synthesis directions via the inner guide 5C and the outer guide 6C, and the base 3C is moved by their external force. Can be moved in the direction.
Since the other configuration and operation of the third embodiment are not substantially different from those of the first or second embodiment, the main part is replaced with A in the reference numerals attached to the drawings of the first embodiment. The reference numerals using C auxiliary symbols are attached, and the description thereof is omitted.
[0030]
8 and 9 show a compliance unit according to a fourth embodiment of the present invention. In the compliance unit 1D according to the fourth embodiment, the α and β directions rotating around the X and Y axes in FIG. It is configured to have a degree of freedom. The difference between the compliance unit 1D and the compliance unit 1A of the first embodiment is mainly the configuration of the compliance mechanism 4D. The overall configuration, that is, the positions of the body 2D, the base 3D, and the base 3D are temporarily changed. There is no particular difference between the first holding mechanism and the lock mechanism that holds the target and the origin return mechanism that returns the displacement of the position of the base 3D caused by the compliance mechanism 4D to the origin.
[0031]
The compliance mechanism 4D having a structure different from that of the first embodiment is different from the first embodiment in that the grooves 7Aa and 8Aa of the first and second slide mechanisms 7A and 8A are linear. The groove 7Da of the first slide mechanism 7D disposed between the guide 5D and the base 3D and the groove 8Da of the second slide mechanism 8D disposed between the outer guide 6D and the inner guide 5D are the center of the body 2D. It is in the point formed in the circular arc centering on the rotation center O (refer FIG. 3) on an axis line, or its vicinity.
Therefore, in this compliance unit 1D, the base 3D rotates around the center O by an external force, and has degrees of freedom in the α and β directions that rotate around the X and Y axes in FIG.
[0032]
Since other configurations and operations are not substantially different from those of the first embodiment, reference numerals using auxiliary symbols D instead of A in the reference numerals attached to the drawings of the first embodiment are used as main parts. The description is omitted.
[0033]
In the fourth embodiment, as described above, the grooves 7Aa and 8Aa of the first and second slide mechanisms 7A and 8A in the first embodiment are formed in an arc shape so that α and The fifth embodiment shown in FIG. 10 and the sixth embodiment shown in FIG. 11 are similarly the first and second embodiments in the second and third embodiments, respectively. And the groove | channel of a 2nd slide mechanism is made into circular arc shape, respectively.
[0034]
Accordingly, the grooves 7Ea and 7Fa of the first slide mechanisms 7E and 7F and the grooves 8Ea and 8Fa of the second slide mechanisms 8E and 8F disposed between the outer guides 6E and 6F and the inner guides 5E and 5F Since there is no substantial difference from the fourth embodiment, and other configurations and operations are not substantially different from those of the second and third embodiments, reference numerals using auxiliary symbols E and F are used for main parts. A description thereof will be omitted.
[0035]
The compliance unit 1G of the seventh embodiment shown in FIG. 12 has degrees of freedom in the α and β directions rotating around the X and Y axes and the θ direction rotating around the Z axis shown in FIG. As in the above embodiment, the body 2G, the base 3G, the compliance mechanism 4G interposed between the body 2G and the base 3G, the lock mechanism for temporarily holding the position of the base 3G, and the compliance An origin return mechanism is provided that returns a mutual positional shift between the body 2G and the base 3G generated by the mechanism 4G to the origin position.
[0036]
The base 3G is formed with a support surface 3Ga composed of a partial spherical surface centered on the point O (FIG. 3) on the opposite side of the work chuck means and the like, and on the other hand, a bearing holder fixed to the body main body 13G. A bearing 7G having a concave spherical bearing surface 7Ga having the same radius of curvature as that of the support surface 3Ga is disposed in 6G to support the support surface 3Ga of the base 3G, and the support surface 3Ga side of the base 3G The guide 22G fixed to the guide 22G is also formed with a lock surface 22Ga composed of a partially convex spherical surface centered on the point O and a support surface 22Gb in contact with the receiving surface 7Gb of the bearing 7G, and the body main body 13G is formed around the guide 22G. A lock mechanism is formed so that the peripheral portion of the piston member 17G in the inner cylinder mechanism 14G can be pressed. Of course, the bearing surface 7Gb of the bearing 7G and the support surface 22Gb of the guide 22G in contact therewith are also partial spherical surfaces centered on the point O.
[0037]
The bearing 7G is made of a porous material, and compressed air is supplied to the inside from an air supply port 26G provided in the bearing holder 6G, and the compressed air is supplied from the inside of the bearing 7G to the bearing surface of the bearing 7G and the base 3G. By flowing out between 3Ga and the support surface 22Gb of the guide 22G and forming a thin air film at the boundary between the surfaces in contact with each other, the sliding resistance of the base 3G is reduced, and the α, β and θ directions are reduced. A compliance mechanism 4G having a light degree of freedom is formed.
[0038]
The body main body 13G formed of a non-magnetic material is provided with a magnet 15G that constitutes a part of the origin return mechanism, as in the above-described embodiment. On the other hand, on the surface of the guide 22G on the piston member 17G side, A substantially hemispherical attracting member 21G made of a magnetic material attracted by the magnet 15G is directly attached so as to be positioned in the central recess 24G of the piston member 17G.
The magnet 15G and the attracted member 21G are provided in two pairs so as to be opposed to each other at the origin position, and the magnets 15G are fixed with the polarities of the magnets 15G reversed to generate a magnetic flux as shown in the figure. The origin return by the magnetic force from the displacement in the α, β and θ directions by the mechanism 4G can be realized. For this purpose, the body main body 13G and the piston member 17G are formed of a non-magnetic material, and the member to be attracted 21G, the guide 22G, the plate 25G that covers the upper portion of the magnet 15G, and the like are formed of a magnetic material.
[0039]
The cylinder mechanism 14G supplies and discharges the compressed fluid from the supply / discharge port 19G into the pressure chamber 18G on the back side of the piston member 17G, and when the base 3G is displaced by the compliance function 4G, This is a part of a lock mechanism for temporarily fixing the position or fixing the body 2G and the base 3G to the origin position.
[0040]
The compliance unit 1H of the eighth embodiment shown in FIG. 13 has a degree of freedom in the X and Y axis directions shown in FIG. 3 and in the θ direction rotating around the Z axis. , Body 2H, base 3H, compliance mechanism 4H interposed between these bodies 2H and base 3H, a lock mechanism for temporarily holding the position of base 3H, and body 2H generated by compliance mechanism 4H And an origin return mechanism for returning a mutual positional shift between the base 3H and the base 3H to the origin position.
[0041]
In the eighth embodiment, the compliance mechanism 4G in the seventh embodiment allows the base 3G to have degrees of freedom in rotation in the α and β directions around the point O in FIG. In contrast to this, the same configuration is basically used, and the degree of freedom in the X and Y directions and the degree of freedom in rotation in the θ direction are basically the same.
[0042]
Therefore, the difference from the seventh embodiment is that the support surface 3Ga of the base 3G, the bearing surface 7Ga and the receiving surface 7Gb of the bearing 7G, the lock surface 22Ga and the support surface 22Gb of the guide 22G, and the piston member in the seventh embodiment. While the peripheral portion of 17G is all spherical, in the eighth embodiment, they are all flat. Other than these points, the other configurations of the eighth embodiment are the same. And the operation is not substantially different from that of the seventh embodiment. Therefore, the reference numerals using the auxiliary symbols of H are attached to the main parts instead of G in the reference numerals attached to the drawings of the seventh embodiment. Description is omitted.
[0043]
As in the eighth embodiment, the compliance unit 1J of the ninth embodiment shown in FIG. 14 has degrees of freedom in the X and Y axis directions shown in FIG. 3 and the θ direction rotating around the Z axis. However, instead of the compliance mechanism 4H interposed between the body 2H and the base 3H in the eighth embodiment, a compliance mechanism 4J having the following configuration is provided.
That is, the compliance mechanism 4J according to the ninth embodiment includes a base 7J and 8Ja holding steel balls 7Jb and 8Jb on the front and back sides of the support plate 6J fixed to the base 3J side of the body main body 13J. 3J and a guide 22J coupled thereto and a spacer 20J are brought into contact with each other so that the base 3J and the guide 22J integrated with the support plate 6J can move in the X and Y directions and their combined directions. It is held. The guide 22J is provided with the attracted member 21J facing the magnet 15J having two opposite polarities, as in the eighth embodiment.
[0044]
Except for the structure of the compliance mechanism 4J, the other configurations and operations of the ninth embodiment are not substantially different from those of the eighth embodiment. Therefore, the main part is attached to the drawing of the eighth embodiment. A reference numeral using an auxiliary symbol of J is attached instead of H in the reference numeral, and the description thereof is omitted.
[0045]
The compliance unit 1K of the tenth embodiment shown in FIGS. 15 and 16 combines the third embodiment shown in FIGS. 6 and 7 and that of the sixth embodiment shown in FIG. And the Y-axis direction and the degrees of freedom in the α and β directions rotating around those axes. Specifically, the body bodies 13C and 13F in the third and sixth embodiments are described. Are integrated into the body body 13K, and the magnets 15C and 15F are integrated into a single magnet 15K. In the case of the tenth embodiment, either one of the bases 3CK and 3FK is caused to function as the body in each of the above embodiments. Specifically, one of the bases 3CK and 3FK is attached to a robot arm or the like, and the other The work chuck means and the like are attached to.
[0046]
Other configurations and operations are substantially the same as those of the third and sixth embodiments.
For this reason, in FIGS. 15 and 16 showing the tenth embodiment, a supplementary symbol of K is further added to the reference numerals attached to the respective parts of the third and sixth embodiments, and the description thereof is omitted. To do.
Moreover, in each Example mentioned above, although the magnet was provided in the body main body and the to-be-adsorbed member was provided in the compliance mechanism side, even if it is reverse, it does not interfere.
[0047]
【The invention's effect】
As described in detail above, according to the compliance unit of the present invention, it is possible to smoothly and surely return the origin to each other due to the use of a magnet for the positional deviation between the body and the base caused by the compliance function. In addition, it is possible to provide an origin return mechanism with a simple configuration.
[Brief description of the drawings]
FIG. 1 is a longitudinal front view showing a first embodiment of a compliance unit according to the present invention.
FIG. 2 is a cross-sectional side view of the same.
FIG. 3 is an external perspective view of the compliance unit that also serves as an explanatory diagram for six degrees of freedom.
FIG. 4 is a longitudinal front view of a second embodiment of a compliance unit according to the present invention.
FIG. 5 is a cross-sectional side view of the same.
FIG. 6 is a longitudinal front view of a third embodiment of a compliance unit according to the present invention.
FIG. 7 is a sectional side view of the same.
FIG. 8 is a longitudinal front view of a fourth embodiment of a compliance unit according to the present invention.
FIG. 9 is a cross-sectional side view of the same.
FIG. 10 is a longitudinal front view of a fifth embodiment of a compliance unit according to the present invention.
FIG. 11 is a longitudinal front view of a sixth embodiment of a compliance unit according to the present invention.
FIG. 12 is a longitudinal front view of a seventh embodiment of a compliance unit according to the present invention.
FIG. 13 is a longitudinal front view of an eighth embodiment of a compliance unit according to the present invention.
FIG. 14 is a longitudinal front view of a ninth embodiment of a compliance unit according to the present invention.
FIG. 15 is a longitudinal front view of a tenth embodiment of a compliance unit according to the present invention.
FIG. 16 is a cross-sectional side view of the same.
FIG. 17 is a partial cross-sectional view showing an example of an origin return mechanism in a conventional compliance unit.
[Explanation of symbols]
1A-1K Compliance Unit
2A ~ 2K body
3A-3J, 3CK, 3FK base
4A-4J, 4CK, 4FK Compliance Mechanism
14A-14J, 14CK, 14FK Cylinder mechanism
15A-15K magnet
17A-17J, 17CK, 17FK Piston member
21A-21J, 21CK, 21FK Adsorbed member

Claims (3)

Comprising a compliance mechanism interposed between the body and the base, and the origin returning mechanism for returning the base a more displaced to the compliance mechanism in the home position, and a locking mechanism for securing the base which is displaced by the compliance mechanism according to the position Compliance units
Composed by the homing mechanism, a magnet kicked set in the body, is provided so as to be displaced together with the base, and the adsorption member is pulled back to the origin position from being magnetically attracted to the magnet It is,
The lock mechanism is pressed by the piston member, a pressed member that moves in the body together with the attracted member, a cylinder mechanism that is provided inside the body and has a piston member that presses the pressed member, and the piston member A support member that supports the pressed member and fixes the pressed member together with the piston member in a position-immovable state,
The piston member is disposed between the magnet and the member to be attracted, and includes a concave portion that accommodates the member to be attracted and shortens the distance from the magnet on a surface facing the member to be attracted. ing,
A compliance unit characterized by this. A compliance mechanism interposed between the body and the base, an origin return mechanism for returning the base displaced by the compliance mechanism to the origin position, and a lock mechanism for fixing the base displaced by the compliance mechanism to the displacement position In the compliance unit,
Composed by the homing mechanism, a magnet kicked set in the body, is provided so as to be displaced together with the base, and the adsorption member is pulled back to the origin position from being magnetically attracted to the magnet It is,
The lock mechanism includes a cylinder mechanism provided inside the body, and the cylinder mechanism includes a piston member that directly presses the base to fix the position immovable.
The piston member is disposed between the magnet and the member to be attracted, and includes a concave portion that accommodates the member to be attracted and shortens the distance from the magnet on a surface facing the member to be attracted. ing,
A compliance unit characterized by this . The compliance unit according to claim 1, wherein a plurality of pairs of the magnet and the attracted member are provided .

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