JPH04289093A - Adjustable rising structure on cylindrical surface - Google Patents

Abstract

PURPOSE:To provide a rising structure where a rising part can be formed easily at any desired position on a cylindrical surface without processing the cylindrical surface in the rising structure of a cylindrical surface which is formed on the cylindrical surface of an operating shaft and drives an outside switch for control with the rotation of the operating shaft. CONSTITUTION:A small piece 16 is held between the cylindrical surface 20 of an operating shaft 18 and a belt 22 which is detachably tightened to the cylindrical surface 20. The belt 22 is tightened with a clamp 28 to form a rising part 30 of the small piece 16. A limit switch 34 is disposed at a prescribed position on a base 13 which holds the operating shaft 18, and the rising part 30 which is formed by the small piece 16 and the belt 22 drives a limit switch 34 with the rotation of the operating shaft 18, by which the motion position of the operating shaft 18 at this time is detected. The position of the small piece 16 can be changed easily by loosening the belt 22, so it is possible to dispose the desired number of small pieces 16 at any position on the cylindrical surface 20.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a structure for detecting the operating position of a rotating body, and more particularly, a structure is formed on the circumferential surface of a cylindrical body that rotates about an axis so that the position can be adjusted freely, and the structure detects the operating position of a rotating body at a predetermined operating position of the cylindrical body. This invention relates to a raised structure for driving a control switch provided in a.

0002

BACKGROUND OF THE INVENTION This type of raised structure is used, for example, in the rotating or turning mechanisms of industrial robots to define the operating range of the operating axis and to detect a predetermined operating position to control the operation of the robot. It is used in combination with control switches such as limit switches and proximity switches. In such a mechanism, the above-mentioned raised structure is generally formed at one or more predetermined positions on the cylindrical surface of the rotational movement shaft, and the raised structure is activated by proximity to one or more predetermined positions on the pedestal side that supports the rotational movement shaft. A control switch will be installed so that the For example, as shown in FIG. 8(a), when defining the operating range of the operating axis 1, raised structures 3 are formed at two predetermined locations on the same circumferential surface of the cylindrical surface 2 of the operating axis 1. One control switch 5 is disposed on the pedestal 4 supporting the operating shaft 1 so as to face the circumferential surface. The operating axis 1 rotates and the raised structure 3
By controlling the operating axis 1 to stop when the control switch 5 is driven, the position of each raised structure 3 becomes the operating limit of the operating axis 1, and the operating range is defined within the range of the central angle α in the figure. Ru.

Generally, the raised structure 3 is constructed by attaching a small chevron-shaped metal piece 6 having an inclined surface to the cylindrical surface 2 of the operating shaft 1 with a screw 7, as shown in FIG. 8(b). For this purpose, a plurality of screw holes 8 are provided in advance in the cylindrical surface 2 of the operating shaft 1. Although the screw hole 8 is provided at a predetermined position on the cylindrical surface 2, the chevron-shaped piece 6 is generally provided with a fixing hole provided in itself so that the raised portion can be formed at a desired circumferential position. The desired operating position to be detected can be set and changed by preparing a wide variety of types, including those in which the fixed position can be adjusted by using an oblong hole 9, and those in which the length of the raised portion is different in the circumferential direction.

0004

[Problems to be Solved by the Invention] Conventional raised structures were constructed by attaching a small chevron-shaped piece to the cylindrical surface of the operating shaft with a screw as described above. It was necessary to form it on the surface. In order to drill a screw hole, the cylindrical surface had to be cut in advance to make the casting surface smooth, which required a special machine tool and a large number of machining steps. Furthermore, the number of man-hours required for drilling the screw holes was large, and a lot of time and labor were consumed. In addition, in order to detect the desired operating position, it is necessary to prepare a small chevron with an oblong hole as described above or a large number of small chevrons with different shapes, which increases the cost and limits the adjustment range. There was a limit. Furthermore, since the fixing holes are attached to the chevron-shaped pieces, each chevron-shaped piece occupies a large area on the cylindrical surface, making it unsuitable when the installation space is narrow.

[0005] In view of the above, an object of the present invention is to easily form and change the position at any desired position on the cylindrical surface without requiring cutting or drilling of the cylindrical surface, and which does not require installation space. The object of the present invention is to provide a raised structure that can be kept to a minimum, thereby making it possible to reduce the number of processing steps for a mechanical part and to detect a desired operating position.

[0006]

[Means for Solving the Problems] In order to achieve the above object, the present invention provides an adjustable raised structure on a cylindrical surface, which is arranged on a cylindrical surface centered on the axis of an operating shaft rotatably supported on a base. In the raised structure that is formed protrudingly and drives a control switch attached to the pedestal as the operating axis rotates, a three-dimensional small piece is placed at a predetermined position on the cylindrical surface, and this small piece is connected to the cylindrical surface. a belt that is sandwiched between the belts and is wound around and removably fastened to the cylindrical surface, forming a chevron-shaped raised part having an inclined surface at the position of the small piece;
The raised portion can be formed at a desired position on the cylindrical surface.

Furthermore, according to the present invention, the cylindrical surface of the operating shaft rotatably supported by the pedestal is formed protrudingly from the cylindrical surface centered on the axis, and as the operating shaft rotates, the control switch attached to the pedestal is driven. In the raised structure of the cylindrical surface, it has a three-dimensional shape with an upward slope toward the center formed on the upper surface, and a chevron-shaped piece with a through hole below the slope, and a small piece passes through the through hole of this small piece. a belt that is slidably supported, wound around and detachably fastened to the cylindrical surface, and capable of forming a chevron-shaped protuberance at a desired position on the cylindrical surface; A surface adjustable raised structure is provided.

Furthermore, according to the present invention, the control switch provided on the pedestal is formed protrudingly formed on the cylindrical surface centered on the axis of the operating shaft rotatably supported on the pedestal, and is attached to the pedestal as the operating shaft rotates. In the raised structure of the cylindrical surface to be driven, a chevron-shaped small piece having an upward slope toward the center on the upper surface, and this small piece are arranged on one side with the slope facing outward, and the above-mentioned An adjustable raised structure for a cylindrical surface is provided, comprising a belt wound around a cylindrical surface and detachably fastened, and capable of forming a chevron-shaped raised portion at a desired position on the cylindrical surface. be done.

[0009]

[Operation] When a three-dimensional piece is sandwiched between the cylindrical surface and the belt and the belt is tightened, a chevron-shaped protuberance with an inclined surface of the belt is formed at the position of the small piece. The ridges can be formed at desired locations on the cylindrical surface by loosening the belt, placing the desired number of small pieces in the desired locations, and then tightening the belt again. Also, by passing a belt through a desired number of chevron-shaped pieces having through holes, and tightening this belt to a cylindrical surface while aligning each piece,
A desired number of ridges are formed at desired locations on the cylindrical surface. By loosening the belt, you can easily move the small pieces. Furthermore, by tightening a belt with chevron-shaped small pieces arranged at predetermined positions to a cylindrical surface while aligning the small pieces,
A ridge is formed at a desired location on the cylindrical surface.

0010

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be explained in more detail below with reference to embodiments shown in the accompanying drawings. First, a first embodiment of the present invention will be described based on FIGS. 1 and 2. Example 1 was used for the shoulder 11 and elbow 12 joints of the industrial robot 10 shown in FIG. 2, and the same applies to the following examples. Of course, it can be used in locations other than those mentioned above, as long as the rotation range of the operating axis is within 360 degrees.

As shown in FIG. 1, the raised structure of the first embodiment includes a substantially rectangular parallelepiped-shaped small piece 16 and a belt 22 for detachably mounting the small piece 16 on the cylindrical surface 20 of the operating shaft 18. Consisting of The operating axis 18 is rotatably carried on a pedestal 13 which itself rotates, for example on the shoulder 11 of the robot 10 in FIG. 2, and forms the pivot axis of the arm 14. The small piece 16 is preferably made of metal such as iron or aluminum, but may also be made of other materials such as plastic or rubber, as long as it is resistant to deterioration and has enough hardness to push the plunger of a limit switch to be described later. Bye. The small piece 16 connects the flat bottom surface 24 to the cylindrical surface 2 of the operating shaft 18.
0 and the belt 2 is placed on the top surface 26 parallel to the bottom surface 24.
2 is mounted on the operating shaft 18 by tightening the belt 22. A desired number of small pieces 16 can be attached to the operating shaft 18, but in FIG. 1, two pieces 16 are attached at substantially opposite positions on the cylindrical surface 20 of the operating shaft 18.

The belt 22 surrounds the cylindrical surface 20 of the operating shaft 18 with the small piece 16 sandwiched between it and the operating shaft 18 as described above, and is tightened and fixed by a clamp 28. As a result, as shown in FIG. 1, a chevron-shaped raised portion 30 is formed on the cylindrical surface 20 at the position of the small piece 16. The length of the belt 22 can be adjusted at the clamp 28 in response to variations in the number of pieces 16 to be clamped and the diameter of the operating shaft 18. Further, the width of the belt 22 is slightly smaller than the width of the small piece 16,
Any material that can reliably support the small piece 16 on the cylindrical surface 20 may be used. The belt 22 is preferably made of a steel belt that has little risk of stretching or breaking, but has enough tension to reliably tighten and fix the small piece 16 and to push in the plunger of a mitt switch, which will be described later, on the inclined surface 32 of the raised portion 30. It may be made of other materials such as rubber if it can be obtained.

A control limit switch 34 corresponding to the above-mentioned raised structure is installed on the pedestal 13 supporting the operating shaft 18 in close proximity to the operating shaft 18. limit switch 3
Reference numeral 4 has a known structure, and the contacts are opened and closed by the operation of the plunger 36. The tip of the plunger 36 of the limit switch 34 is oriented toward the axial direction of the operating shaft 18, and is spaced apart from the cylindrical surface 20 of the operating shaft 18 during normal protrusion and comes into contact with the protrusion 30 of the cylindrical surface 20. The raised portion 30 gradually pushes the plunger 36 from the inclined surface 32 as the operating shaft 18 rotates. The raised portion 30 is the plunger 36
When the limit switch 34 is driven, a signal is sent from the limit switch 34 to a control device (not shown), and the operating position of the operating shaft 18 is detected. In Example 1 of FIG. 1, two small pieces 16
The raised portions 30 are formed at two locations on the operating shaft 18 using
Thereby, the operating range of the operating axis 18 is defined within the range of the central angle β in the figure.

Note that the width of the small piece 16 and the belt 22 need only be the minimum size that allows the plunger 36 of the limit switch 34 to be pushed at the raised portion 30. The above-mentioned raised structure can be installed even in a small gap between the pedestal 13 and the arm 14. In addition, the attachment/detachment of the small piece 16 to the operating shaft 18 and the change of the attachment position are performed using the belt 2.
This can be carried out easily and quickly by simply loosening the second clamp 28.

FIG. 3 shows a second embodiment of the present invention. Example 2
This is a structure in which a groove 38 for fitting the belt 22 is provided on the top surface 26 of the small piece 16 of the first embodiment, and other than this, the structure is the same as that of the embodiment. By providing the insertion groove 38 in the small piece 16,
When the small piece 16 and the belt 22 are attached, the belt 22 is attached to the small piece 1.
It is prevented from falling off the top surface 26 of 6. FIG. 4 shows a third embodiment of the present invention. Example 3 is small piece 1 of Example 1.
A rubber sheet material 40 is fixed to the bottom surface 24 of the second embodiment 6, and other than this, the structure is the same as that of the first embodiment. The sheet material 40 prevents slippage between the bottom surface 24 of the piece 16 and the cylindrical surface 20. Embodiment 3 is effective when the small piece 16 is made of metal.

FIG. 5 shows a fourth embodiment of the present invention. Example 4
The bottom surface 24 of the small piece 16 of the first embodiment is formed as an inwardly curved concave surface of the small piece 16, and other than this, the structure is the same as that of the first embodiment. By making the bottom surface 24 a concave curved surface, the adhesion of the bottom surface 24 to the cylindrical surface 20 is increased, and rattling of the small piece 16 is prevented. The attachment property is also improved. As mentioned above, in all of the embodiments shown in FIGS. 1 to 5, the raised portion 30 is formed by sandwiching the small piece 16 of a predetermined shape between the operating shaft 18 and the belt 22, but this structure As is clear from the figure, when the mutual spacing between adjacent pieces 16 becomes narrower than a certain limit, the belt 22 moves between these pieces 16 onto the cylindrical surface 20 of the operating shaft 18.
It may float up from the surface, causing inconvenience. The two embodiments described below can eliminate this disadvantage.

FIG. 6 shows a fifth embodiment of the present invention. Example 5
includes a chevron-shaped piece 46 having a through hole 44 at its lower part, and a belt 48 that is inserted into the through hole 44 and slidably supports the piece 46. The chevron-shaped piece 46 is provided with upwardly inclined surfaces 50 directed toward the center at one upper opposite edge of the substantially rectangular parallelepiped, and below these inclined surfaces 50 a bottom surface 52 is provided.
A through hole 44 is provided adjacent to the inclined surface 50 so as to pass through each inclined surface 50 in the mutual direction. The small piece 46 is made of the same material as the small piece 16 of Examples 1 to 4. The belt 48 is the same as the belt 22 of Embodiments 1 to 4, and as described above, supports the small piece 46 in a slidable manner, surrounds the cylindrical surface 20 of the operating shaft 18, and is extended by a clamp (not shown). Adjustable tightening and fixation. Thereby, a desired number of small pieces 46 can be fixedly arranged at any desired position on the cylindrical surface 20, and the fixed position can be changed easily and quickly. At this time, even if the mutual spacing between two adjacent small pieces 46 is narrow, unevenness is reliably formed between them, so that the plunger 36 of the limit switch 34 can be driven accurately. Furthermore, the rubber sheet 40 of the third embodiment may be fixed to the bottom surface 52 of the small piece 46 of the sixth embodiment, or the bottom surface 52 may be curved as in the fourth embodiment.

FIG. 7 shows a sixth embodiment of the present invention. Example 6
comprises a belt 54 and a chevron-shaped piece 56 fixed on the belt 54. The belt 54, like the belts 22 and 48 in each of the embodiments described above, surrounds the cylindrical surface 20 of the operating shaft 18 and is tightened and fixed by a clamp (not shown) so that its length can be adjusted. The small chevron-shaped piece 56 is the small piece 4 of Example 5.
6, with a bottom surface 58 instead of the through hole 44.
A screw hole (not shown) is drilled into the center of the body. The belt 54 is provided with a mounting hole 60 for the small piece 56, and the small piece 56 is screwed from the back side of the belt 54 with a screw (not shown). The belt 54 to which the small piece 56 is fixed in this manner can be tightened and fixed by arranging the small piece 56 at any position on the cylindrical surface 20 of the operating shaft 18. Furthermore, by providing a plurality of attachment holes 60 in the belt 54, a desired number of small pieces 56 can be fixed, and by making the attachment holes 60 into oblong holes as shown in FIG. Positioning of the small piece 56 becomes easy. Furthermore, it goes without saying that the same effect as in the fifth embodiment can be obtained even when the mutual spacing between two adjacent pieces 56 is narrow.

In each of the embodiments described above, the control switch driven by the raised structure on the operating shaft 18 is the limit switch 34, and the raised structure is the limit switch 34.
Although the plunger 36 is directly pressed, it will be obvious to those skilled in the art that the same effect can be obtained even if a non-contact sensor such as a proximity switch is used instead of the limit switch 34.

[0020]

[Effects of the Invention] As described above, the present invention has a structure in which a small piece of a predetermined shape is supported by a belt that is detachably fastened to the cylindrical surface of the operating shaft, and a raised portion is formed on the cylindrical surface. , the ridge can be formed at any desired position on the cylindrical surface without cutting or drilling the cylindrical surface, and the position of the ridge can be easily changed because the small piece can be moved by simply loosening the belt. Can be implemented quickly. The mounting space only needs to be the width of the belt and the small piece, making it easy to attach and detach even in narrow spaces. By using this raised structure,
The number of man-hours required for machining the mechanical part can be reduced.

[Brief explanation of the drawing]

FIG. 1 is a diagram showing Embodiment 1 of the present invention, (a) a front view shown together with an operating axis, (b) a side view shown together with an operating axis, (c
) is a partially enlarged perspective view of the raised structure;

FIG. 2 is a schematic perspective view of an industrial robot to which the present invention is applied.

FIG. 3 is a partially enlarged perspective view of a raised structure according to a second embodiment of the present invention.

FIG. 4 is a partially enlarged perspective view of a raised structure according to a third embodiment of the present invention.

FIG. 5 is a partially enlarged sectional view of a raised structure according to Example 4 of the present invention.

FIG. 6 is a partially enlarged perspective view of a raised structure according to Example 5 of the present invention.

FIG. 7 is (a) a partially enlarged perspective view of a raised structure according to a sixth embodiment of the present invention, and (b) a diagram of a modification thereof.

FIG. 8 is an explanatory diagram of a conventional raised structure.

[Explanation of symbols]

13...Pedestal 16, 46, 56...Small piece 18...Operating axis 20...Cylindrical surface 22, 48, 54...belt 28...Clamp 30...Protuberance 34...Limit switch 38...Insertion groove 40...Sheet material 44...Through hole 60…Mounting hole

Claims (6)

[Claims] Claim 1: A protrusion of the cylindrical surface formed protruding from the cylindrical surface centered on the axis of the operating shaft rotatably supported on the pedestal, which drives a control switch attached to the pedestal as the operating shaft rotates. In the structure, a three-dimensional small piece is arranged at a predetermined position on the cylindrical surface, and the small piece is sandwiched between the cylindrical surface and wound around the cylindrical surface and detachably fastened. an adjustable raised structure for a cylindrical surface, comprising: a belt forming a chevron-shaped raised portion having an inclined surface at a certain position, the raised portion being able to be formed at a desired position on the cylindrical surface; 2. The raised structure according to claim 1, wherein a fitting groove into which the belt fits is provided on a surface of the small piece that comes into contact with the belt. 3. A cylindrical surface protruding from a cylindrical surface centered on the axis of the operating shaft rotatably supported on the pedestal, which drives a control switch attached to the pedestal as the operating shaft rotates. The structure has a three-dimensional shape with an upward slope toward the center formed on the upper surface, and a chevron-shaped small piece with a through hole below the slope, and the small piece can freely slide through the through hole of the small piece. a belt that is supported by the cylindrical surface and is wound around and removably fastened to the cylindrical surface; Adjustable raised structure. 4. The raised structure according to claim 1, wherein a rubber sheet material is inserted into a surface of the small piece that comes into contact with the cylindrical surface. 5. The raised structure according to claim 1, wherein the surface of the small piece that comes into contact with the cylindrical surface is an inwardly curved curved surface of the small piece. 6. A cylindrical surface protruding from a cylindrical surface centered on the axis of the operating shaft that is rotatably supported on the pedestal, and which drives a control switch attached to the pedestal as the operating shaft rotates. In the structure, a chevron-shaped small piece having an upward slope toward the center on the upper surface, the small piece is arranged on one surface with the slope facing outward, and is wound around the cylindrical surface with the surface facing outside. An adjustable raised structure for a cylindrical surface, comprising: a belt that is detachably fastened; and a chevron-shaped raised portion can be formed at a desired position on the cylindrical surface.