JPH0366585A - Articulated robot - Google Patents

Abstract

PURPOSE:To make the rotatable range of a rotating shaft >= 360 deg. by providing a stopper provided at the rotation part which regulates the rotation range to the rotation shaft of a rotor and a stopper abutting on the projection part of the rotor and stopping the rotation of the rotor. CONSTITUTION:When a rotation shaft 1 starts to rotate in the counter-clockwise direction from the adhering state of a stopper B, stopper C and projecting part 3a. The rotation shaft 1 is rotated until the stopper A is abutted on the projecting part 3a of a rotor 3, first, continuously rotated in the state of the stopper A being abutted on the projecting part 3a thereafter and the rotation in counter-clockwise direction is finished in the state of the stopper A, projecting part 3a and stopper C being sticked. As is appears clear from this state and the position of the stopper A or stopper B, the rotation shaft 1 and a rotation part 2 are rotated >= 360 deg. and the zone where the rotation shaft 1 is unable to be rotated can be eliminated.

Description

[Detailed Description of the Invention] [Summary] Regarding the improvement of the rotation mechanism of the joint part of an articulated robot, the present invention relates to an articulated robot having a joint part that can rotate the rotation axis by one complete rotation, that is, 360' or more. In order to provide a joint part of an articulated robot, a rotating part that fits with a rotating shaft through a hole and rotates as a unit, and a rotating part that is rotatable by slidingly fitting with the rotating shaft and includes a protrusion. A joint comprising a rotor, a stopper provided on the rotating part that regulates a rotation range of the rotor with respect to the rotation axis, and a stopper that comes into contact with a protrusion of the rotor and stops the rotation of the rotor. The system is configured to have a section.

[Industrial application field]

The present invention relates to an improvement in a rotation mechanism of a joint of an articulated robot.

In recent years, robots have been required to have improved performance, and to this end, various functional improvements have been made.

As one of the improvements to this function, it is necessary to provide a stop mechanism at the end position of the rotational movement in the joints of the robot from a safety perspective. A decline is occurring.

Under the above circumstances, there is a need for a mechanism for expanding the rotation angle that can prevent the rotation angle from decreasing.

[Conventional technology]

The joints of a conventional articulated robot will be explained with reference to FIG.

In the joints of conventional articulated robots, as shown in FIG.
2 is provided with a protrusion 12a.

When this rotating shaft 11 rotates, the rotating part 12 also rotates, and the protruding part 12a also rotates.

In order to restrict this rotation, a stopper 14 as shown in the figure is provided at a position where the protrusion 12a abuts.

By providing such a stopper 14, the rotating shaft 11
Although it is possible to regulate the rotation of
As shown in , it is impossible to rotate the rotating shaft 11 within the range of the angle A between the end point of the clockwise rotation of the rotating shaft 11 and the end point of the counterclockwise rotation of the rotating shaft 11. It becomes possible.

[Problem to be solved by the invention]

In the joint portion of the conventional articulated robot described above, as shown in FIG.
There is a problem in that it is impossible to rotate the rotating shaft 11 in the range of the rotation angle corresponding to the width of the stopper 14 and the shape of the stopper 14, which is the angle indicated by A in the figure.

In view of the above-mentioned circumstances, the present invention aims to provide an articulated robot having a joint portion capable of rotating a rotation axis by one complete rotation, that is, by 3606 rotations or more.

[Means to solve the problem]

The articulated robot of the present invention has a rotating part that is fitted in a hole with a rotating shaft and rotates as a unit, and a protruding part that is rotatable by slidingly engaged with the rotating shaft, in the joint part of the articulated robot. A rotor provided with the rotor, a stopper provided on the rotating part that regulates the rotation range of the rotor with respect to the rotation axis, and a stopper that comes into contact with a protrusion of the rotor and stops the rotation of the rotor. It is configured to include a joint part.

[Effect]

That is, in the present invention, in the joint part of the articulated robot, the rotating shaft is fitted into the hole of the rotating part to make it integral, and the rotating part is provided with a stopper A and a stopper B, and the protruding part is connected to the stopper A and the stopper B. A rotor having the protrusion is slidably fitted onto the rotating shaft so as to be rotatable, and a stopper is provided to restrict the rotation range of the rotor.

Therefore, when the rotation shaft l starts to rotate counterclockwise from the state where the stopper B, the protrusion 3a, and the stopper C are in close contact with each other as shown in FIG. 2 fat, first, as shown in FIG. 2 (1)), The rotating shaft l rotates until the stopper A contacts the protrusion 3a of the rotor 3, and then continues to rotate while the stopper A contacts the protrusion 3a, and when the protrusion 3a comes directly above, the rotation axis l rotates as shown in Fig. 2. The result is as shown in (C).

When the rotation continues thereafter, the counterclockwise rotation ends with the stopper A, the protrusion 3a, and the stopper C in close contact with each other, as shown in FIG. 2 (d+).

Comparing this state with the state shown in Figure 2 fat,
As is clear from the position of the stopper A or the stopper B, the rotating shaft 1 and the rotating part 2 have rotated by 360' or more, and it is possible to eliminate an area in which the rotating shaft 1 cannot rotate.

〔Example〕

An embodiment of the present invention will be described below with reference to FIGS. 1 and 2.

The joint of the articulated robot having the shape of the present embodiment shown in FIG. It is necessary to determine the distance between stopper A and stopper B.

FIG. 1 is a diagram showing an embodiment according to the present invention, in which the diameter of the rotating shaft 1 is 54 mm, the outer diameter of the rotating part 2 is 8511°, the width of the protrusion 3a is 3 mm, and the diameter of stopper A and stopper B is 7 m. , the diameter of stopper C is 71 mm, and the diameter of stopper A is
The stopper B and the stopper B are provided at positions having an interval of 90° between the center angles of the peripheral edge of the rotating portion 2.

In a joint with such a shape, the axis of rotation 1 is set at an angle of 410° (36
0°+50°).

〔Effect of the invention〕

As is clear from the above description, according to the present invention, the rotatable range of the rotary shaft can be increased to 3 by extremely simple structural changes.
60 degrees or more, which has the advantage of preventing a decrease in the angle of the rotational range of the joints of the jointed robot, making it possible to provide a jointed robot that can be expected to significantly improve performance. becomes.

[Brief explanation of drawings]

FIG. 1 is a diagram showing an embodiment according to the present invention, FIG. 2 is a diagram showing the operation of the present invention, and FIG. 3 is a diagram showing a joint part of a conventional jointed robot. In the figure, 1 is a rotating shaft, 2 is a rotating part, A, B, and C are stoppers, 3 is a rotor, and 3a is a protrusion. (AlFront view fll Diagram showing stopped state with clockwise rotation fbl
Side view A diagram showing one embodiment of the present invention. Figure 1. o1 A diagram showing a state in which the stopper A hits the protrusion when rotated counterclockwise. A diagram explaining the details of the present invention. Figure 2 (Part 1) 1. 0) Su(C) Diagram d1 showing the state in which the protrusion is directly above when rotated counterclockwise Diagram d1 showing the state where the protrusion hits the stopper C when rotated counterclockwise Detailed explanation of the present invention Diagram d1 (Part 2) (a) Front view (bl Side view) Diagram showing a conventional articulated robot

Claims (1)

[Scope of Claims] In the joint part of the articulated robot, a rotating part (2) that fits with the rotating shaft (1) through a hole and rotates as one unit, and a rotating part (2) that is slidably engaged with the rotating shaft (1). It is rotatable and has a protrusion (3a
), and stoppers (A, B) provided on the rotating part (2) that regulate the rotation range of the rotor (3) with respect to the rotating shaft (1).
and a stopper (C) that comes into contact with the protrusion (3a) of the rotor (3) and stops the rotation of the rotor (3). robot.