JP6077504B2 - Robot arm device with adjustment structure - Google Patents

Description

  The present invention relates to a robot, and more particularly to a robot arm apparatus having an adjustment structure that can adjust the length of an arm.

  Since the robot arm device is excellent in controllability, it is widely used in various industrial fields. For example, in the field of machining, a robot arm device is mounted on a processing machine, and the robot arm device automatically attaches or removes the processed article to cause the processing machine to process the processed article. Also, in the field of medical machines, a doctor performs medical surgery on a patient by controlling the robot arm device. Further, in the field of game entertainment, by moving and controlling the robot arm device, it is possible to sandwich and move the game object.

  FIG. 9 shows a conventional robot arm device, which includes at least a base 11, a first arm element 12, and a second arm element 13. The base 11 is rotatably provided, and a first arm element 12 is pivoted on the base 11, and a second arm element 13 is pivoted on the first arm element 12. The second arm element 13 has a pivot part 131 that pivots the first arm element 12, one end of the support part 132 is fixed to one end of the pivot part 131, and the attachment part 14 is fixed to the other end of the support part 132. The engaging part 133 provided with is provided. By controlling the first arm element 12 and the second arm element 13, the attachment portion 14 is moved and controlled.

  By the way, in the 2nd arm element 13, the length of the support part 132 is constant and cannot be adjusted. For this reason, this robot arm device can only be controlled for a single distance. When controlling for different distances, robot arm devices with longer arms must be purchased again. For example, as shown in FIG. 10, the support portion 152 of the second arm element is longer than the support portion 132 of the second arm element 13 of FIG. Thereby, a longer distance can be controlled. Therefore, since the robot arm device of the same standard can only be controlled at a predetermined longest distance, there is a demerit of application limit.

None

  The present invention has been made in view of the above-mentioned problems, and the object of the present invention is to provide a robot arm having an adjustment structure that can adjust the length of the arm, is suitable for a wider range of operation trajectory, and increases versatility. To provide an apparatus.

  In order to solve the above problems, the present invention is a robot arm device having an adjustment structure, including a moving base and an adjusting module, wherein the moving base has a plurality of degrees of freedom of operation. The adjustment module includes one end connected to the movable base, a main body, a sleeve, a fixing portion, and a coupling means, and the main body has a long strip structure extending in one direction. The extending direction is defined as an axial direction, and an outer screw and a concave groove installed in the axial direction are provided on the surface thereof, and the sleeve has a communication hole, and the communication hole has the outer screw. A convex block corresponding to the concave groove is provided on the inner edge surface of the communication hole, and the convex block is accommodated in the concave groove. The fixing portion has a through hole, and an inner screw is provided on the inner edge surface of the through hole. The robot arm device having an adjustment structure, wherein the inner screw is screwed with the outer screw of the main body, and the fixing portion fixes one end surface of the sleeve through the coupling means. It is.

  Here, it is preferable that the coupling means fixes the fixing portion to one end surface of the sleeve through a plurality of screws.

  Here, the fixing portion is provided with a plurality of fish-eye holes provided in the axial direction, and a plurality of screw holes corresponding to the fish-eye holes are provided on an end surface of the sleeve. It is preferable that the fixing portion is fixed to one end surface of the sleeve so that the screw penetrates the fisheye hole and is screwed into the screw hole.

  Here, it is preferable that the coupling means has a lock structure, and the fixing portion is fixed to one end surface of the sleeve through the lock structure.

  Here, the moving base includes a base and a first arm part, and the base is provided with a first pivot part rotatably, and the first arm part is a connecting arm. A second pivot part and a third pivot part, wherein the second pivot part and the third pivot part are located at both ends of the connecting arm, and the second pivot part. It is preferable that the first arm portion is fixed to the base by being connected to the first pivot portion.

  Here, it is preferable that the third pivot portion is provided with a first coupling surface, and the sleeve is fixed to the first coupling surface.

  Here, it is preferable that the main body is fixed to the first coupling surface of the third pivot portion.

  Here, the robot arm device provided with the adjustment structure further includes a second arm portion, the second arm portion has a second coupling surface and a clamping portion, and the second coupling surface is the adjustment module. It is suitable to connect with the other end of.

  In the present invention, the adjustment module can adjust the length of the arm through the axial relative sliding between the main body and the sleeve, so that it satisfies the needs of various operation trajectories, and further, the inner screw of the fixing portion and the main body By screwing the outer screw, the coupling means further restricts the degree of freedom of axial displacement between the main body and the cannula by fixing the fixing part to one end surface of the cannula, and thus the adjustment module The arbitrary degree of freedom can be completely limited, that is, the arm length adjustment operation can be completed. Therefore, the operation method of adjusting the arm length is fairly simple and quick, satisfying the needs of various industries or different production lines, expanding its application range, and avoiding users purchasing robot arm devices with different standards. The purchase cost can be reduced.

1 is an overall exploded perspective view of a preferred embodiment 1 of a robot arm device provided with an adjustment structure of the present invention. It is an assembly figure of suitable Example 1 of the robot arm apparatus provided with the adjustment structure of this invention. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a side view of a preferred embodiment 1 of a robot arm device provided with an adjustment structure of the present invention, showing an extended state of an arm. It is a side view of suitable Example 1 of the robot arm apparatus provided with the adjustment structure of this invention, Comprising: The contracted state of the arm is shown. It is the whole exploded perspective view of suitable Example 2 of the robot arm device provided with the adjustment structure of the present invention. It is an assembly figure of suitable Example 2 of the robot arm apparatus provided with the adjustment structure of this invention. It is a side view of suitable Example 2 of the robot arm apparatus provided with the adjustment structure of this invention, Comprising: The extended state of the arm is shown. It is a side view of suitable Example 2 of the robot arm apparatus provided with the adjustment structure of this invention, Comprising: The contracted state of the arm is shown. It is a side view of the robot arm apparatus of a prior art. FIG. 10 is a side view of a prior art robot arm device, showing an arm case longer than the arm of FIG. 9.

  For a better understanding of the features and technical contents of the present invention, please refer to the description of the implementation method of the present invention and the drawings. However, this implementation method and drawings are for explanation and reference, and these do not impose any limitation on the present invention.

  Referring to the preferred embodiment 1 of the present invention shown in FIGS. 1 to 4, the present invention is a robot arm device having an adjustment structure, and includes a moving base and an adjustment module 3.

  The moving base has a plurality of operating degrees of freedom. In the first embodiment, the moving base includes the base 1 and the first arm portion 2.

  The base 1 is provided with a first pivot portion 11 so as to be rotatable. The first arm portion 2 includes a connecting arm 21, a second pivot portion 22, and a third pivot portion 23, and the second pivot portion 22 and the third pivot portion 23 are configured as described above. The first arm portion 2 is fixed to the base 1 by being located at both ends of the connecting arm 21 and connecting the second pivot portion 22 to the first pivot portion 11.

  One end of the adjustment module 3 is connected to the first coupling surface 231 of the third pivot portion 23, and includes a main body 32, a sleeve 31, a fixing portion 33, and coupling means.

  The main body 32 is an elongated structure extending in one direction, and this extending direction is defined as an axial direction. An outer screw 321 and a groove formed along the axial direction on the surface of the main body 32 are defined. 322 is provided.

  The sleeve 31 has a communication hole 311, the communication hole 311 is provided with the outer screw 321, and a convex block 312 corresponding to the concave groove 322 is provided on the inner edge surface of the communication hole 311, By accommodating the convex block 312 in the concave groove 322, the degree of freedom of rotation of the sleeve 31 relative to the main body 32 is limited. In the first embodiment, one end of the sleeve 31 is connected to the first coupling surface 231.

  The fixing portion 33 has a through hole, and an inner screw 331 is provided on an inner edge surface of the through hole, and the inner screw 331 is screwed to the outer screw 321 of the main body. The fixing portion 33 fixes the other end of the sleeve 31 via a coupling means. In the first embodiment, a plurality of fish-eye holes 332 are provided in the fixing portion 33 in the axial direction as coupling means, and a plurality of screws 34 for drilling the fish-eye holes 332 are screw holes. The fixing portion 33 is fixed to the end surface of the sleeve 31 by being screwed to 313. This is one fixing method for fixing the fixing portion 33 and the sleeve 31 and may be a method in which both are fixed by a lock structure.

  The second arm portion 4 further includes a second coupling surface 41 and a sandwiching portion 42, and the second coupling surface 41 is connected to the end surface of the main body 32, thereby The second arm portion 4 is indirectly connected to the three pivot portions 23. A predetermined clamping claw or tool is attached to the clamping unit 42 in accordance with a predetermined machining program.

  The above-described contents are to explain each component of the present invention and the combination relationship between each component. Hereinafter, the operation method of the present invention, particularly the length adjustment method will be described.

  When using the robot arm device having the above-described adjustment structure, a different range of operation locus is required. Usually, products with different standards are changed or different production lines are used. Moreover, the occurrence cycle of such a situation is about once every two months, and therefore, it does not have addictiveness. If such a situation occurs, the user loosens and opens the fixing portion 33 and the sleeve 31 in the coupling means to separate them and move the main body 32 again to a predetermined position. For example, when the arm is short and needs to be extended, the distance between the second arm portion 4 and the third pivot portion 23 is increased by pulling out the main body 32 from the communication hole 31 of the sleeve 31. (See FIG. 3). Further, when the arm needs to be shortened long and short, the distance between the second arm portion 4 and the third pivot portion 23 can be shortened by pushing the main body 32 into the communication hole 31 of the sleeve 31. Yes (see FIG. 4). As shown in FIGS. 3 and 4, after the desired length is adjusted, the fixing portion 33 is fixed to the end surface of the sleeve 31 by the coupling means. Completing the work of adjusting the length of the arm in this way can satisfy the working environment needs of various different large and small movement trajectories.

  5 to 8, the second embodiment is different from the first embodiment in that one end surface of the main body 32 is fixed to the first coupling surface 231, and the second embodiment is different from the first embodiment. One end surface of the cylinder 31 is fixed to the second coupling surface 41. Therefore, when adjusting the length of the arm, the sleeve 31 is moved and adjusted. Other configurations and operations / effects are the same as those of the first embodiment, and thus detailed description thereof is omitted.

<Invention>
1: base 11: first pivot part 2: first arm part 21: connecting arm 22: second pivot part 23: third pivot part 231: first coupling surface 3: adjustment module 31: sleeve 311 : Communication hole 312: convex block 313: screw hole 32: main body 321: external screw 322: concave groove 34: screw 4: second arm part 41: second coupling surface 42: pinching part (or pinching end)
<Conventional technology>
11: Base 12: First arm element 13: Second arm element 131: Pivot part 132: Support part 133: Engagement part 14: Attached part 15: Second arm element 152: Support part

Claims (8)

A robot arm device having an adjustment structure,
Including a moving base and an adjustment module;
The moving base has a plurality of degrees of freedom of operation,
The adjustment module includes one end connected to the movable base, a main body, a sleeve, a fixing portion, and a coupling means.
The main body is an elongated structure extending in one direction, this extending direction is defined as an axial direction, and an external screw and a recessed groove installed in the axial direction are provided on the surface,
The sleeve has a communication hole, the communication hole is provided with the outer screw, and a convex block corresponding to the concave groove is provided on an inner edge surface of the communication hole, and the convex block is provided with the concave groove. By being housed in, the degree of freedom of rotation of the sleeve relative to the main body is limited,
The fixing portion has a through-hole, and an inner screw is provided on an inner edge surface of the through-hole, the inner screw is screwed with the outer screw of the main body, and the fixing portion is inserted through the coupling means. A robot arm device having an adjustment structure, wherein one end surface of the sleeve is fixed.   2. The robot arm device having an adjustment structure according to claim 1, wherein the coupling unit fixes the fixing portion to one end surface of the sleeve through a plurality of screws.   The fixing portion is provided with a plurality of fisheye holes installed in the axial direction, and a plurality of screw holes corresponding to the fisheye holes are provided on an end surface of the cannula, and the plurality of screws 2. The adjustment structure according to claim 1, wherein the fixing portion is fixed to one end surface of the sleeve by passing through the fisheye hole and screwing into the screw hole. Robot arm device.   2. The robot arm device having an adjustment structure according to claim 1, wherein the coupling means has a lock structure, and the fixing portion is fixed to one end face of the sleeve through the lock structure. The moving base includes a base and a first arm part,
The base seat is provided with a first pivot portion so as to be rotatable,
The first arm part includes a connection arm, a second pivot part, and a third pivot part, and the second pivot part and the third pivot part are positioned at both ends of the connection arm. 2. The adjustment structure according to claim 1, wherein the first arm portion is fixed to the base by connecting the second pivot portion to the first pivot portion. Robot arm device.   The robot arm device with an adjustment structure according to claim 5, wherein the third pivot portion is provided with a first coupling surface, and the sleeve is fixed to the first coupling surface.   The robot arm device having an adjustment structure according to claim 6, wherein the main body is fixed to the first coupling surface of the third pivot portion.   The robot arm device provided with the adjustment structure further includes a second arm portion, the second arm portion has a second coupling surface and a clamping portion, and the second coupling surface is the other end of the adjustment module. The robot arm device having the adjustment structure according to claim 1, wherein the robot arm device is connected to the robot arm device.