JPH0666979U - Hand part shock absorption mechanism for industrial manipulators - Google Patents

Abstract

(57) [Summary] (Modified) [Purpose] To provide a shock absorbing mechanism for a hand part of an industrial manipulator or the like, which can absorb a shock applied to the hand part in almost all directions. [Structure] The hand portion 19 includes a base end portion 19b and a grip portion 19a.
And divided into two parts, and these parts are brought into contact with the spherical seat receiver 37 and the spherical seat 40 at a plurality of positions, and a plurality of disc springs 51 for holding this contact state are interposed between the both parts. The grip portion 19a was elastically supported by the base end portion 19b.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a hand shock absorbing mechanism for an industrial manipulator or the like.

[0002]

[Prior art]

 As a hand part structure in a conventional industrial manipulator (a type of robot in which an operator directly operates an arm using a master arm or the like), there is a structure as shown in FIG. 10, for example.

First, a casing 01 is rotatably attached to a wrist portion of an arm end (not shown) in a vertical plane, and a motor 02 and a speed reducer 03 are sequentially attached to the casing 01 from top to bottom in the drawing. It can be assembled. Then, the torque limiter 04 connected to the output side of the reduction gear 03 is rotatably supported by the casing 01 via the bearing 05, and the hand portion 07 is hung from the torque limiter 04 via the cylinder 06.

Therefore, the rotation of the motor 02 causes the hand portion 07 to rotate in a horizontal plane at a predetermined reduction ratio, and the expansion and contraction of the cylinder 06 causes the grip portion of the hand portion 07 to open and close to handle a conveyed object. .

[0005]

[Problems to be solved by the device]

 However, in the conventional hand structure as described above, since the hand part is directly and rigidly attached to the wrist part, in the case of an industrial robot, collision with the work due to variations in the work positioning during handling and When a collision occurs with the work and positioning device during abnormal robot operation, this impact force may be applied directly to the wrist and damage the wrist. Further, in the case of an industrial manipulator, since the operator operates it directly, there is a problem that the operator is always exposed to the risk of collision with the work, etc., and the wrist is immediately damaged when the collision occurs. .

Therefore, an object of the present invention is to provide a hand part impact absorbing mechanism for an industrial manipulator or the like that can absorb the impact applied to the hand part in almost all directions.

[0007]

[Means for Solving the Problems]

 In order to achieve the above-mentioned object, the structure of the present invention is such that a hand provided on the wrist at the tip of the arm is divided into a base end and a grip, and these parts are spherically contacted at a plurality of points. At the same time, a plurality of elastic members for holding the spherical contact are interposed between the both parts.

[0008]

[Action]

 According to the above configuration, the grip portion of the hand portion is elastically supported by the base end portion, and the shock is absorbed in almost all directions.

[0009]

【Example】

 Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

FIG. 1 is an explanatory diagram showing a basic configuration of a slave arm extracted from a vertical articulated industrial manipulator according to this embodiment. As shown in the figure, the swivel base 1 is configured to be rotatable in a horizontal plane by a uniaxial motor (not shown) with respect to a base 3 installed on a floor surface 2.

The vertical arm 4 has its base end supported by the swivel base 1 and fixed to a rotary shaft 5 which is rotated by a two-axis motor (not shown), and its tip end fixed to the upper unit 7. It is supported by and is fixed to a rotating shaft 6 which is rotated by a three-axis motor (not shown). The vertical lever 8 has its base end rotatably attached to the swivel base 1 via a shaft 9 and its tip end rotatably attached to the upper unit 7 via a shaft 10. That is, the swivel base 1, the upper unit 7, the vertical arm 4, the vertical lever 8, the rotary shafts 5 and 6, and the shafts 9 and 10 form a parallel link mechanism having four joints.

The horizontal arm 11 is structured such that the middle thereof is fixed to the rotary shaft 6 and is rotatable with respect to the upper unit 7. The counterweight 12 is fixed to the base end of the horizontal arm 11. An L-shaped wrist 13 is rotatably attached to the tip of the horizontal arm 11 via a shaft 14. Both ends of the horizontal lever 15 are rotatably attached to shafts 16 and 17, respectively. At this time, the shaft 16 is rotatably attached to the tip of the bracket 18 whose base end is vertically fixed to the upper unit 7, and the shaft 17 is attached to the tip of the bracket 13a of the wrist 13. There is. That is, the rotary shaft 6, the shafts 14, 16 and 17, the brackets 13a and 18, the horizontal arm 11 and the horizontal lever 15 form a 4-link parallel link mechanism.

The hand portion 19 is attached to the wrist portion 13 such that its upper end portion is rotatably attached to the wrist portion 13 by a four-axis motor (not shown) via a rotation shaft 20, and the grip portion 1 which is the tip end portion. 9a and a base end portion 19b, and a grip portion 19a is configured to be rotatable in a horizontal plane in the illustrated state by a 5-axis motor (not shown).

The slave arm operates in response to an operation of a master arm (not shown) by an operator to grasp a conveyed object by the grasping portion 19a and convey it to a predetermined position. The operation is as follows.

By driving the uniaxial motor, the swivel base 1 rotates in a horizontal plane with respect to the base 3.

The rotation shaft 5 is rotated by the driving of the two-axis motor, the parallel link mechanism including the vertical arm 4 is operated, and the vertical arm 4 and the vertical lever 8 are rotated in the vertical plane. The knit 7 moves in the vertical plane.

The rotary shaft 6 is rotated by driving the three-axis motor, and the parallel link mechanism including the horizontal arm 11 is operated to rotate the horizontal arm 11 and the horizontal lever 15 in a vertical plane. As a result, the wrist portion 13 is rotated. And the hand part 19 moves in the vertical plane. At this time, since the brackets 13a and 18 are parallel and the bracket 18 is vertical, the bracket 13a is always vertical as well. That is, the posture of the wrist portion 13 is always held constant (see FIG. 2, which is a state in which the rotary shafts 5 and 6 are rotated from the state of FIG. 1).

The rotating shaft 20 is rotated by driving the four-axis motor, and the hand portion 19 is rotated in a vertical plane. Further, the grip portion 19a is rotated in the horizontal plane by driving the 5-axis motor.

The gripping portion 19a is moved from a predetermined position to a predetermined position by the movement of each part by driving the 1-axis to 5-axis motor.

FIG. 3 is a right side view of the industrial manipulator according to this embodiment having the slave arm shown in FIG. 1, FIG. 4 is its rear view, and FIG. 5 is its plan view. 3 to 5, those parts which are the same as those corresponding parts in FIGS. 1 and 2 are designated by the same reference numerals, and a duplicate description will be omitted.

As shown in FIGS. 3 to 5, a driver's seat 21, a master arm 22, and a joystick lever 23 are arranged on the swivel base 1. A uniaxial motor for rotating the swivel base 1 is housed in the base 3. A biaxial motor 24 that rotates the vertical arm 4 is disposed on the swivel base 1 via a support portion 25. A triaxial motor 26 for rotating the horizontal arm 11 is provided in the upper unit 7. A four-axis motor 27 for rotating the hand portion 19 in a vertical plane is arranged on the wrist portion 13 so as to project horizontally. A 5-axis motor 28 for rotating the grip portion 19a in a horizontal plane is disposed so as to vertically project from the wrist portion 13.

The rotation centers of the swivel base 1, the vertical arm 4, the horizontal arm 11, the hand portion 19 and the grip portion 19a, which are rotated by the above-described 1-axis to 5-axis motors, are indicated by O in FIGS.₁, O ₂ , O₃, O_Four, O_FiveIndicate.

The master arm 22 is formed in a similar shape to the slave arm, and the master arm 22 is controlled by an operator so that the slave arm is controlled in a similar shape to the master arm. The joystick lever 23 is for rotating the pedestal 1 in a horizontal direction at a high speed by tilting the joystick lever 23 back and forth by the operator. The master arm 22 is arranged on the right side of the driver's seat 21 so that the operator of the driver's seat 21 can operate it with the right hand, and the joystick lever 23 is arranged on the left side of the driver's seat 21 so that the operator can operate it with his left hand.

Further, in the present embodiment, as shown in FIGS. 6 to 8, in the hand portion 19, the output shaft line of the 5-axis motor 28 for rotating the grip portion 19a in the horizontal plane and the grip portion 19a. The piston rod axis of the drive cylinder 29 that opens and closes is offset in a horizontal plane to shorten the vertical dimension of the hand portion 19, and the grip portion 19a is elastically supported with respect to the base end portion. As a result, the impact applied to the grip portion 19a is absorbed.

That is, the casing 30 constituting the base end portion 19b of the hand portion 19 is rotatably connected to the wrist portion 13 by the four-axis motor 27 in a vertical plane, and the left half portion of the casing 30 is connected. The 5-axis motor 28 is attached downward. A torque limiter 32 is connected to the output shaft of the 5-axis motor 28 via a speed reducer 31, and a first spur gear 33 is fixed to the outer circumference of the torque limiter 32.

On the other hand, a supporting member 35 is rotatably supported on a right half portion of the casing 30 via a bearing 34 in a horizontal plane, and the first flat plate is provided on an outer periphery of an upper end cylindrical portion 35 a of the supporting member 35. A second spur gear 36 that meshes with the gear 33 is fixed.

The support member 35 includes a pair of front and rear mounting feet 35 b hung from the upper end tubular portion 35 a and a lower end plate portion 35 c attached to each of the lower end plate portions 35. Two spherical seat supports 37 and one downward spring support 38 are provided. Therefore, the support member 35 as a whole has eight spherical seat receivers 37 and four spring receivers 38.

On the other hand, the spherical seats 40 fitted to the spherical seat receivers 37 are provided in the same number to the pair of left and right suspension plates 41 forming the grip portion 19a, and stand upright from the inner edges of these suspension plates 41. The drive cylinder 29 is inserted downward into the upper end of a support cylinder (bush case) 42 that penetrates the upper end cylinder 35a of the support member 35, that is, the piston rod 29a is slidably inserted into the support cylinder 42. Can be installed.

A pair of front and rear support plates 43 are installed between the suspension plates 41, and a pair of left and right bell crank-shaped gripping levers 44 are pivotally supported together with the auxiliary levers 45 on the support plates 43. The base ends of the two gripping levers 44 are coaxially connected to the tip of the piston rod 29a of the drive cylinder 29 by a pin 46, and the tip ends of the auxiliary levers 45 are attached to a pawl holder 48 with a pawl 47. Pin-coupled.

A pair of left and right spring receivers 50 are provided on the outer surfaces of both the support plates 43 so as to correspond to the spring receivers 38. A disc spring 51 is carried between the corresponding spring receivers 38 and 50.

As described above, in the present embodiment, the output axis of the 5-axis motor 28 and the piston rod axis of the drive cylinder 29 are offset from each other so that the piston rod 29a of the drive cylinder 29 is placed inside the upper end tubular portion 35a of the support member 35. Since it is made to penetrate, the hand portion 19 can be formed compactly by shortening the vertical dimension from the claw 47 portion to the 5-axis motor 28.

Further, the hand portion 19 is divided into a base end portion 19b and a grip portion 19a, and the grip portion 19a is formed on the base end portion 19b via a plurality of spherical seats 37 and spherical seats 40 and disc springs 51. Since it is elastically supported, it is possible to effectively absorb the impact force in almost all directions other than the downward pulling direction of the grip portion 19a, as shown in FIG.

That is, FIG. 9A shows a state where no impact is applied to the grip portion 19a, and the spherical seat 40 is firmly held in the spherical seat receiver 37 by the urging force of the disc spring 51 under pressure. Therefore, stable handling can be performed.

FIG. 9B shows a state in which an impact force is applied to the grip portion 19a from below, and when the grip portion 19a is pushed upward, the disc spring 51 bends and the spherical seat 40 separates. Shock is absorbed.

FIG. 9C shows a state in which an impact force is applied to the grip portion 19 a from the lateral direction. The spherical surface of the spherical seat 40 slides the conical surface of the spherical seat receiver 37 while bending the disc spring 51. , Shock is absorbed.

FIG. 9D shows a state in which an impact force in the moment direction is applied to the grip portion 19a. The disc spring 51 is bent around the spherical seat 40 on one side while the spherical seat 40 on the other side is bent. The impact is absorbed when the and are separated.

In the above embodiment, by appropriately changing the angle of the conical surface of the spherical seat receiver 37, the pitch of the spherical seat 40, etc., it is possible to adjust the force at which escape in each direction begins. In addition, the direction in which the grip portion 19a is rotated can be absorbed by the spherical surface sliding on the conical surface.

[0038]

[Effect of device]

 As described above, according to the present invention, the hand portion is divided into the base end portion and the grip portion, and the grip portion is elastically supported by the base end portion, so that the shock in the predetermined direction is effectively absorbed. It is possible to obtain the effect that the durability can be improved.

[Brief description of drawings]

FIG. 1 is an explanatory view showing a basic structure of a slave arm of a vertical articulated industrial manipulator according to an embodiment of the present invention, which is extracted.

FIG. 2 is a diagram showing a case where the slave arm shown in FIG. 1 is driven.
It is an explanatory view showing two postures.

FIG. 3 is a right side view of the industrial manipulator according to the present embodiment having the slave arm shown in FIG.

FIG. 4 is a rear view of FIG.

FIG. 5 is a plan view of FIG.

FIG. 6 is a half cross-sectional view showing an extracted and enlarged hand portion of the industrial manipulator shown in FIG.

FIG. 7 is a side view of the main part of FIG.

FIG. 8 is a plan view of an essential part of FIG.

FIG. 9 is an explanatory diagram showing an operating state of a hand portion of the industrial manipulator shown in FIG.

FIG. 10 is a cross-sectional view of an essential part showing a conventional technique.

[Explanation of symbols]

 1 swivel 2 floor 3 base 4 vertical arm 5 turning axis 6 turning axis 7 upper unit 8 vertical lever 9 axis 10 axis 11 horizontal arm 12 counterweight 13 wrist 13a bracket 14 axis 15 horizontal lever 16 axis 17 axis 18 bracket 19 hand portion 19a gripping portion 19b base end portion 20 rotating shaft 21 driver's seat 22 master arm 23 joystick lever 28 5-axis motor 29 drive cylinder 30 casing 31 reducer 32 torque limiter 33 first spur gear 34 bearing 35 support Member 36 Second spur gear 37 Spherical seat receiver 38 Spring receiver 40 Spherical seat 41 Suspension plate 42 Bush case 43 Support plate 44 Grip lever 45 Auxiliary lever 46 pin 47 Claw 48 Claw holder 50 Spring receiver 51 Disc spring

Claims (1)

[Scope of utility model registration request] 1. A hand portion provided on a wrist portion at the tip of an arm is divided into a base end portion and a grip portion, and both of these portions are brought into spherical contact with each other at a plurality of positions, and a plurality of members for holding the spherical contact are held. A shock absorbing mechanism for a hand part of an industrial manipulator or the like, characterized in that the elastic member is interposed between the both parts.