JPH0448950Y2 - - Google Patents
Info
- Publication number
- JPH0448950Y2 JPH0448950Y2 JP1986060010U JP6001086U JPH0448950Y2 JP H0448950 Y2 JPH0448950 Y2 JP H0448950Y2 JP 1986060010 U JP1986060010 U JP 1986060010U JP 6001086 U JP6001086 U JP 6001086U JP H0448950 Y2 JPH0448950 Y2 JP H0448950Y2
- Authority
- JP
- Japan
- Prior art keywords
- pivot shaft
- shaft
- rotation
- stopper
- gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
Landscapes
- Control Of Position Or Direction (AREA)
Description
【考案の詳細な説明】
〔産業上の利用分野〕
本考案は産業用ロボツトの手首旋回軸に関する
ものである。[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a wrist rotation axis for an industrial robot.
本考案は産業用ロボツトの多回転型旋回軸にお
いて、前期旋回軸に対し間歇運動する軸をとりつ
け、この軸上に原点用センサや、機械的ストツパ
をつけることにより、限定した回転を検出できる
ようにした。
The present invention is a multi-rotation type rotating shaft for an industrial robot, in which a shaft that moves intermittently is attached to the previous rotating shaft, and an origin sensor and a mechanical stopper are attached to this shaft, so that limited rotation can be detected. I made it.
従来の産業用ロボツトの多回転型手首旋回軸
は、機械的ストツパや電気的ストツパがなかつ
た。
The multi-rotation type wrist pivot shaft of conventional industrial robots does not have mechanical or electrical stoppers.
従つて、従来の産業用ロボツトの多回転型手首
旋回軸では、初期設定のために原点復帰するとき
一方向に何度でも回転するため、手首旋回軸に取
りつけた配線や配管が巻きついて切断するという
欠点を有していた。
Therefore, the multi-rotation type wrist rotation axis of conventional industrial robots rotates in one direction many times when returning to the origin for initial settings, which can cause wires and piping attached to the wrist rotation axis to get wrapped around and cut. It had the following drawback.
上記問題点を解決するために、本考案において
は、旋回軸に対して間歇運動する軸をとりつけ、
この軸上に原点センサ、機械的ストツパと電気的
ストツパをとりつけることにより、回転数を制限
できるようにした。
In order to solve the above problems, in the present invention, a shaft that moves intermittently is attached to the rotation shaft,
By installing an origin sensor, a mechanical stopper, and an electric stopper on this shaft, the number of rotations can be limited.
上記の様な構成によれば、多回転型手首旋回軸
であつても、機械的、電気的ストツパをとりつけ
ることができ、原点復帰時に配線、配管を巻き込
んで切断することがなくなる。
According to the above-mentioned configuration, even if it is a multi-rotation type wrist rotation shaft, a mechanical and electrical stopper can be attached, and wiring and piping will not be caught and cut when returning to the origin.
以下に本考案の実施例を図面に基づいて説明す
る。
Embodiments of the present invention will be described below based on the drawings.
第１図は本考案の実施例であり、本考案を適用
した産業用ロボツトの手首旋回軸の断面図であ
る。 FIG. 1 shows an embodiment of the present invention, and is a sectional view of the wrist rotation axis of an industrial robot to which the present invention is applied.
第１図において、手首旋回軸５は、軸受４に支
持され、モータ１により減速機２を介して回転す
る。 In FIG. 1, a wrist rotation shaft 5 is supported by a bearing 4 and rotated by a motor 1 via a speed reducer 2. As shown in FIG.
間歇運動する軸７は軸受８，１１で回転自在に
支持されており、軸７の下部は歯車６が形成さ
れ、上部には、センサー用マグネツト９，９ａが
取りついている。１０，１０ａはマグネツト検出
用の磁気センサーである。（他のセンサでも同じ
である。）
第３図は、間歇運動機構部を上から見た図であ
る。手首旋回軸５に固定されたリング３にはピン
３ａ，３ｂが２本立つておりその中間は、歯車６
がかみあうよう切欠いてある。第５図は歯車６の
斜視図で、歯２，８は歯の下半分が切り欠いてあ
る。 A shaft 7 that moves intermittently is rotatably supported by bearings 8 and 11. A gear 6 is formed at the lower part of the shaft 7, and sensor magnets 9 and 9a are attached to the upper part. 10 and 10a are magnetic sensors for magnet detection. (The same applies to other sensors.) FIG. 3 is a top view of the intermittent movement mechanism. Two pins 3a and 3b stand on the ring 3 fixed to the wrist rotation axis 5, and a gear 6 is located between them.
There are notches so that they fit together. FIG. 5 is a perspective view of the gear 6, with the lower half of the teeth 2 and 8 cut away.
第６図は、歯車６とリング３との間歇運動のし
かたを示した図である。ピン３ａ，３ｂと歯車６
がかみ合わないとき、歯車６はリング３の外周と
歯３、歯１で接し回転しないようになつており、
歯２はリング３の上面にのつている。ピン３ａが
歯２に当たり始めるとピン３ａと３ｂの間は切り
欠いてあるので、歯１の回り止めはなくなり歯車
６は回り、かみ合い始める。歯８も歯２と同様に
下側半分が切り欠いてあるため、リング３と干渉
することなく回転し、ピン３ｂとのかみ合いが終
わると、歯１、歯７によつてリング３の外周と接
し回転しなくなる。さらにリング３が回転した場
合には歯８とかみ合い始めて回ると、歯６は切り
欠かれていないためリング３の外周とあたり、ス
トツパとなる。上記のように２ケ所歯車が切り欠
いてある場合、旋回軸は２回転限定となる。又８
枚歯の歯車の場合、旋回軸１回転に対して軸７は
90°回転する。 FIG. 6 is a diagram showing how the gear 6 and ring 3 move intermittently. Pins 3a, 3b and gear 6
When the gears 6 and 6 do not mesh, the gear 6 contacts the outer periphery of the ring 3 with teeth 3 and 1 and does not rotate.
Teeth 2 rest on the upper surface of ring 3. When the pin 3a starts to hit the tooth 2, since there is a notch between the pins 3a and 3b, the tooth 1 no longer stops rotating, and the gear 6 starts to rotate and mesh. Like tooth 2, tooth 8 also has a cutout in its lower half, so it rotates without interfering with ring 3, and when the engagement with pin 3b is completed, tooth 1 and tooth 7 engage the outer periphery of ring 3. It will touch and stop rotating. Further, when the ring 3 rotates, it starts to mesh with the teeth 8 and rotates. Since the teeth 6 are not cut out, they come into contact with the outer periphery of the ring 3 and become a stopper. When the gear is cut out at two places as described above, the rotation axis is limited to two rotations. Also 8
In the case of a toothed gear, the shaft 7 is
Rotate 90°.
第７図は、手首旋回軸の回転角度と間歇運動軸
の回転角度と、原点用センサ、機械的ストツパ、
電気的ストツパのタイミング図である。原点セン
サは原点に対し手首旋回軸が上から見て時計方向
（＋方向）に回転したときHighとなり反時計方向
（−方向）に回転したときLowになる。原点セン
サのHighならば、反時計方向に回転し原点復帰
し、Lowならば、時計方向に回転し原点復帰を
する。電気的ストツパは、間歇運動軸上のマグネ
ツト９，９ａをオーバラン用センサ１０ａで検出
して、機械的ストツパにあたる前に働くようにな
つている。 Figure 7 shows the rotation angle of the wrist rotation axis, the rotation angle of the intermittent movement axis, the origin sensor, the mechanical stopper,
FIG. 3 is a timing diagram of an electrical stopper. The origin sensor becomes High when the wrist rotation axis rotates clockwise (+ direction) when viewed from above with respect to the origin, and becomes Low when it rotates counterclockwise (- direction). If the origin sensor is High, it rotates counterclockwise and returns to the origin; if it is Low, it rotates clockwise and returns to the origin. The electric stopper is designed to operate before it hits the mechanical stopper by detecting the magnets 9, 9a on the intermittent movement axis with an overrun sensor 10a.
この考案は上記説明したように、ロボツトの多
回転型旋回軸において、前記旋回軸の回転数を規
制するストツパ手段と、前記旋回軸の回転方向を
検出する検出装置を用いることで、移動した方向
とは反対の方向へ向かつて原点復帰ができるた
め、前記旋回軸への配線配管の巻きつき断線を防
止できる。
As explained above, this invention uses a stopper means for regulating the number of rotations of the rotary shaft in a multi-rotation type rotary shaft of a robot, and a detection device for detecting the direction of rotation of the rotary shaft. Since it is possible to return to the origin by going in the opposite direction, it is possible to prevent the wiring and piping from wrapping around the pivot shaft and breaking the wire.
第１図はこの考案にかかる産業用ロボツトの手
首旋回軸の側断面図、第２図はこの考案にかかる
産業用ロボツトの手首旋回軸の横断面図、第３図
は間歇運動部の平面図、第４図は間歇運動部の側
面図、第５図はストツパー歯車の斜視図、第６図
ａ〜ｅは間歇運動を説明する図、第７図はセンサ
のON，OFF状態を示した図。
１……モータ、２……減速機、３……リング、
３ａ，３ｂ……ピン、４……軸受、５……手首旋
回軸、６……ストツパー歯車、７……軸、８……
軸受、９，９ａ……マグネツト、１０……原点用
磁気スイツチ、１０ａ……オーバーラン用磁気ス
イツチ。
Fig. 1 is a side cross-sectional view of the wrist rotation axis of the industrial robot according to this invention, Fig. 2 is a cross-sectional view of the wrist rotation axis of the industrial robot according to this invention, and Fig. 3 is a plan view of the intermittent motion part. , Fig. 4 is a side view of the intermittent motion section, Fig. 5 is a perspective view of the stopper gear, Fig. 6 a to e are diagrams explaining the intermittent motion, and Fig. 7 is a diagram showing the ON and OFF states of the sensor. . 1...Motor, 2...Reducer, 3...Ring,
3a, 3b...Pin, 4...Bearing, 5...Wrist rotation axis, 6...Stopper gear, 7...Shaft, 8...
Bearing, 9, 9a... Magnet, 10... Magnetic switch for origin, 10a... Magnetic switch for overrun.
Claims (1)
部が形成され、この切欠部の両側にピンが立設さ
れて旋回軸と一体に回転する回転材と、 上記切欠部およびピンに歯が係合するよう配置
するとともに、１歯おきに所定の歯を上記回転材
とは干渉しないよう切欠形成した歯車からなるス
トツパー手段と、 このストツパー手段に検知部材を設け、ストツ
パー手段の回動方向を検知することにより上記旋
回軸の回転方向を検出する検出装置とを有するこ
とを特徴とするロボツトの多回転型旋回軸。[Claims for Utility Model Registration] A rotary member that has a notch formed on its outer periphery in a multi-rotation pivot shaft of a robot, and has pins erected on both sides of the notch and rotates together with the pivot shaft; and a stopper means consisting of a gear disposed so that the teeth engage with the pin, and in which predetermined teeth are cut out every other tooth so as not to interfere with the rotating member; and the stopper means is provided with a detection member; 1. A multi-rotation type pivot shaft for a robot, comprising: a detection device for detecting a rotation direction of the pivot shaft by detecting a rotation direction of the pivot shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1986060010U JPH0448950Y2 (en) | 1986-04-21 | 1986-04-21 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1986060010U JPH0448950Y2 (en) | 1986-04-21 | 1986-04-21 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS62172594U JPS62172594U (en) | 1987-11-02 |
| JPH0448950Y2 true JPH0448950Y2 (en) | 1992-11-18 |
Family
ID=30892041
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1986060010U Expired JPH0448950Y2 (en) | 1986-04-21 | 1986-04-21 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0448950Y2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0663850A (en) * | 1992-08-20 | 1994-03-08 | Fanuc Ltd | Method for controlling non-contact copying |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59171087U (en) * | 1983-05-02 | 1984-11-15 | オムロン株式会社 | Robot origin position detection mechanism |
-
1986
- 1986-04-21 JP JP1986060010U patent/JPH0448950Y2/ja not_active Expired
Also Published As
| Publication number | Publication date |
|---|---|
| JPS62172594U (en) | 1987-11-02 |
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