JPH0890482A - Vibration control device for robot - Google Patents
Vibration control device for robotInfo
- Publication number
- JPH0890482A JPH0890482A JP25932994A JP25932994A JPH0890482A JP H0890482 A JPH0890482 A JP H0890482A JP 25932994 A JP25932994 A JP 25932994A JP 25932994 A JP25932994 A JP 25932994A JP H0890482 A JPH0890482 A JP H0890482A
- Authority
- JP
- Japan
- Prior art keywords
- vibration
- flange
- holding plate
- collar
- rubber
- 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.)
- Granted
Links
Landscapes
- Auxiliary Devices For Machine Tools (AREA)
- Manipulator (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、産業用ロボットの手首
部に取りつける工具等の振動を吸収するロボット用防振
装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vibration isolator for a robot which absorbs vibrations of tools attached to the wrist of an industrial robot.
【０００２】[0002]
【従来の技術】従来、例えばロボットアームの先端にグ
ラインダなどの工具を取り付け、鋳物のバリをとるよう
な作業をする場合、工具の振動が激しいので、工具の振
動をロボットアームに伝達しないように工具とロボット
アームの間に振動吸収体を挿入してある。図６はその構
造を示す断面図で、１はロボットアーム、１１はロボッ
トアーム１の先端に設けたフランジ、２は振動発生体と
なる工具、２１は工具を保持する保持プレート、３はゴ
ムなどからなる振動吸収体で、両端に取りつけたねじ３
１によってフランジ１１と保持プレート２１の間に固定
してある。2. Description of the Related Art Conventionally, for example, when a tool such as a grinder is attached to the tip of a robot arm and a work such as deburring of a casting is performed, the vibration of the tool is severe, so that the vibration of the tool should not be transmitted to the robot arm. A vibration absorber is inserted between the tool and the robot arm. FIG. 6 is a cross-sectional view showing the structure, 1 is a robot arm, 11 is a flange provided at the tip of the robot arm 1, 2 is a tool serving as a vibration generator, 21 is a holding plate for holding the tool, 3 is rubber, etc. Vibration absorber consisting of 3 screws attached to both ends
It is fixed between the flange 11 and the holding plate 21 by 1.
【０００３】[0003]
【発明が解決しようとする課題】ところが、従来技術で
は、工具と保持プレートの自重によって振動吸収体が引
き伸ばされた状態で平衡を維持しているため、工具の位
置がロボットアームの姿勢が変わる度に、振動吸収体は
異なった方向の引張り荷重と剪断荷重を受けて変形す
る。また、振動吸収体が引張り荷重を受けた状態で長期
間使用すると、荷重を受けた方向に変位する経時的変化
を生じる。その結果、ロボットアームと工具との相対的
位置が変動し、工具の制御点である先端部の位置がずれ
て、ロボットを動作させる軌跡が変動するという問題が
あった。本発明は、振動吸収体の変位量を復元範囲内に
抑えて、工具の制御点のずれを防止するロボット用防振
装置を提供することを目的とするものである。However, in the prior art, since the balance is maintained in the state where the vibration absorber is stretched by the self-weight of the tool and the holding plate, the position of the tool changes when the posture of the robot arm changes. In addition, the vibration absorber is deformed under tensile load and shear load in different directions. Further, when the vibration absorber is used for a long period of time under a tensile load, it changes with time in the direction in which the load is applied. As a result, there is a problem that the relative position between the robot arm and the tool fluctuates, the position of the tip portion that is the control point of the tool shifts, and the locus for operating the robot fluctuates. It is an object of the present invention to provide a vibration damping device for a robot that suppresses displacement of a control point of a tool by suppressing a displacement amount of a vibration absorber within a restoration range.
【０００４】[0004]
【課題を解決するための手段】上記問題を解決するた
め、本発明は、ロボットアームの先端に設けたフランジ
と、前記フランジに対向して設けた保持プレートと、前
記保持プレートに固定した工具と、前記フランジと前記
保持プレートを結合する振動吸収体とを備えたロボット
用防振装置において、前記振動吸収体は、前記フランジ
の円周方向に等間隔に少なくとも２個設け、かつ前記保
持プレートの前記フランジに対向する面に対して水平方
向の振動を吸収する第１の振動吸収体と、前記フランジ
の円周方向に等間隔に少なくとも３個設け、かつ前記保
持プレートの前記フランジに対向する面に対して垂直方
向の振動を吸収する第２の振動吸収体とからなるもので
ある。また、前記第１の振動吸収体は、前記保持プレー
トに固定した金属からなる中空円筒状の内側カラーと、
前記内側カラーの外周に固定した中空円筒状の防振ゴム
と、内周に前記防振ゴムを固定し、かつ外周側を前記フ
ランジに固定した外側カラーと、外周に段付部を有する
リング状のストッパと、前記ストッパとともに前記内側
カラーを前記保持プレートに固定する取付ボルトと、前
記ストッパの段付部の小径部と前記フランジに設けた取
り付け穴との間および前記段付部の下面と前記フランジ
の上面との間に設け、かつ前記防振ゴムの復元可能な変
位量の範囲内の隙間と、前記外側カラーおよび前記防振
ゴムと前記保持プレートとの間に設け、かつ前記防振ゴ
ムの復元可能な変位量の範囲内の隙間とを設け、前記第
２の振動吸収体は、前記保持プレートに固定した中空円
筒状のカラーと、前記カラーの外側に設け、かつ前記フ
ランジと前記保持プレートとの間に挿入された中空状の
下側防振ゴムと、前記カラーの外側に設け、かつ前記フ
ランジと前記カラーの上面を押し付ける押し付け板との
間に配置した上側防振ゴムと、前記下側防振ゴムおよび
上側防振ゴムのそれぞれ前記フランジおよび前記押し付
け板との接触する部分に設けた金属製保護板と、前記押
し付け板とともに前記カラーを前記保持プレートに固定
する取付ボルトとを備えたものである。また、前記第２
の振動吸収体のカラーの長さは、前記上側防振ゴム、前
記フランジ、前記下側防振ゴム、および前記保持プレー
トの各厚みを合わせた長さより短くしたものである。In order to solve the above problems, the present invention provides a flange provided at the tip of a robot arm, a holding plate provided to face the flange, and a tool fixed to the holding plate. A vibration damping device for a robot, comprising: the flange and a vibration absorber that connects the holding plate; at least two vibration absorbers are provided at equal intervals in a circumferential direction of the flange; A first vibration absorber that absorbs vibrations in a horizontal direction with respect to a surface facing the flange, and at least three pieces provided at equal intervals in the circumferential direction of the flange, and a surface of the holding plate facing the flange. And a second vibration absorber that absorbs vibrations in the direction perpendicular to. Further, the first vibration absorber is a hollow cylindrical inner collar made of metal fixed to the holding plate,
A hollow cylindrical vibration damping rubber fixed to the outer periphery of the inner collar, an outer collar fixing the vibration damping rubber to the inner periphery and fixing the outer periphery to the flange, and a ring shape having a stepped portion on the outer periphery. Between the stopper, a mounting bolt for fixing the inner collar together with the stopper to the holding plate, a small diameter portion of the stepped portion of the stopper and a mounting hole formed in the flange, and a lower surface of the stepped portion and the The anti-vibration rubber is provided between the flange and the upper surface of the flange, and is provided between the holding plate and the outer collar and the anti-vibration rubber, and a gap within a range of a restorable displacement amount of the anti-vibration rubber. A clearance within the range of the restorable displacement amount, the second vibration absorber is provided on the outside of the collar and a hollow cylindrical collar fixed to the holding plate, and the flange and the holding A hollow lower vibration isolating rubber inserted between the plate and the upper vibration isolating rubber provided outside the collar and arranged between the flange and a pressing plate for pressing the upper surface of the collar; The lower vibration-isolating rubber and the upper anti-vibration rubber each include a metal protective plate provided in a portion in contact with the flange and the pressing plate, and a mounting bolt that fixes the collar together with the pressing plate to the holding plate. It is a thing. Also, the second
The length of the collar of the vibration absorber is shorter than the combined length of the upper vibration isolating rubber, the flange, the lower vibration isolating rubber, and the holding plate.
【０００５】[0005]
【作用】上記手段により、第１の振動吸収体によって、
保持プレートのフランジに対向する面に対して水平方向
の振動を吸収し、第２の振動吸収体で、保持プレートの
フランジに対向する面に対して垂直方向の振動を吸収す
る。また前記水平方向の振動による保持プレートの変位
量は、ストッパの段付部の小径部と取付穴との間の隙間
量に制限され、上記垂直方向の振動による保持プレート
の上方向の変位量は保持プレートと外側カラーの下面と
の間の隙間量の範囲に制限され、保持プレートの下方向
の変位量はストッパの段付部の下面とフランジの上面と
の間の隙間量の範囲に制限されるので、工具の制御点で
ある先端部の位置がずれて、ロボットを動作させる軌跡
が変動するという問題を防ぐことができる。なお、カラ
ーの長さは、上側防振ゴム、フランジ、下側防振ゴム、
保持プレートの各厚みを合わせた長さより短くしてある
ので、上側防振ゴム、下側防振ゴムに予圧を加えること
ができ、上側防振ゴムおよび下側防振ゴムとフランジ、
保持プレート、押し付け板のそれぞれとの間に隙間が開
くことはない。また、予圧の大きさはカラーの長さを調
節することによって、適当な値にすることができる。With the above means, the first vibration absorber allows
The horizontal vibration is absorbed by the surface of the holding plate facing the flange, and the second vibration absorber absorbs the vertical vibration of the surface of the holding plate facing the flange. Further, the displacement amount of the holding plate due to the horizontal vibration is limited to the gap amount between the small diameter portion of the stepped portion of the stopper and the mounting hole, and the upward displacement amount of the holding plate due to the vertical vibration is It is limited to the range of the gap between the holding plate and the lower surface of the outer collar, and the downward displacement of the holding plate is limited to the range of the gap between the lower surface of the stepped portion of the stopper and the upper surface of the flange. Therefore, it is possible to prevent the problem that the position of the tip portion, which is the control point of the tool, is displaced and the trajectory for operating the robot is changed. In addition, the length of the collar is the upper anti-vibration rubber, the flange, the lower anti-vibration rubber,
Since the thickness of each holding plate is shorter than the combined length, preload can be applied to the upper and lower anti-vibration rubbers, and the upper and lower anti-vibration rubbers and flanges,
There is no gap between the holding plate and the pressing plate. Further, the magnitude of the preload can be set to an appropriate value by adjusting the length of the collar.
【０００６】[0006]
【実施例】以下、本発明を図に示す実施例について説明
する。図１は本発明の実施例を示す側断面図、図２は図
１のＡ−Ａ断面に沿う平断面図である。図において、１
はロボットアーム、１１はロボットアーム１の先端に固
定した円板状のフランジで、円周方向に等間隔に４個の
取付穴１２を備えている。２は振動発生体となる工具、
２１は工具を保持する保持プレートで、フランジ１１の
取付穴１２と同じピッチで取付穴２２を備え、フランジ
１１に対向するように配置してある。４はフランジ１１
の円周方向に等間隔に４個配置した第１の振動吸収体
で、保持プレート２１のフランジ１１に対向する面に対
して水平方向の振動を吸収するようにしてある。５は各
第１の振動吸収体４の間に配置した第２の振動吸収体
で、保持プレート２１のフランジ１１に対向する面に対
して垂直方向の振動を吸収するようにしてある。第１の
振動吸収体４および第２の振動吸収体５のそれぞれ両端
は、フランジ１１の取付穴１２および保持プレート２１
の取付穴２２に固定してある。Embodiments of the present invention will be described below with reference to the drawings. 1 is a side sectional view showing an embodiment of the present invention, and FIG. 2 is a plane sectional view taken along the line AA of FIG. In the figure, 1
Is a robot arm, 11 is a disc-shaped flange fixed to the tip of the robot arm 1, and has four mounting holes 12 at equal intervals in the circumferential direction. 2 is a tool that becomes a vibration generator,
Reference numeral 21 denotes a holding plate for holding a tool, which has mounting holes 22 at the same pitch as the mounting holes 12 of the flange 11 and is arranged so as to face the flange 11. 4 is a flange 11
The four first vibration absorbers are arranged at equal intervals in the circumferential direction of the holding plate 21 to absorb the vibration in the horizontal direction with respect to the surface of the holding plate 21 facing the flange 11. Reference numeral 5 denotes a second vibration absorber arranged between the first vibration absorbers 4 so as to absorb vibration in a direction perpendicular to the surface of the holding plate 21 facing the flange 11. Both ends of the first vibration absorber 4 and the second vibration absorber 5 are respectively attached to the mounting hole 12 of the flange 11 and the holding plate 21.
It is fixed to the mounting hole 22 of.
【０００７】図３は第１の振動吸収体４の構造を示す側
断面図である。図において、４１は金属からなる中空円
筒状の内側カラー、４２は内側カラー４１の外周に固定
した防振ゴム、４３は防振ゴム４２の外周に固定した外
側カラー、４４は内側カラー４１の内径と同じ内径を備
え、外周に段付部４４ａを有するリング状のストッパ、
４５はストッパ４４と内側カラー４１の中に通した取付
ボルト、４６は取付ボルト４５に噛み合うナットで、内
側カラー４１およびストッパ４４を保持プレート２１に
固定する。内側カラー４１の一方端は保持プレート２１
に固定し、他方端にはストッパ４４を密着させてあり、
ストッパ４４の段付部４４ａの小径部と取付穴１２との
間および段付部４４ａの下面とフランジ１１の上面との
間には、防振ゴム４２の復元可能な変位量の範囲内の隙
間量Ｇを設けてある。外側カラー４３の一方端はフラン
ジ１１に固定してあり、他方端と保持プレート２１の上
面との間には、防振ゴム４２の経時的な変位を含めた復
元可能な変位量の範囲内の隙間量Ｇを設けてある。図４
は第２の振動吸収体５の構造を示す側断面図である。図
において、５１は保持プレート２１の取付穴２２に挿入
してある中空円筒状のカラー、５２はカラー５１の外側
に設けた中空状の下側防振ゴムで、フランジ１１と保持
プレート２１との間に挿入されており、フランジ１１と
保持プレート２１に接触する部分には金属製の保護板５
２１、５２２を備えてある。５３は上側防振ゴムで、フ
ランジ１１とカラー５１の上面を押し付ける押し付け板
５４との間に配置してあり、フランジ１１と押し付け板
５４との接触する部分には金属製の保護板５３１、５３
２を備えてある。５５はカラー５１の中を通した取付ボ
ルト、５６は取付ボルト５５に噛み合うナットで、上側
防振ゴム５３をフランジ１１に押し付け、さらにフラン
ジ１１を介して下側防振ゴム５２を保持プレート２１に
押し付けている。なお、カラー５１の長さは、上側防振
ゴム５３、フランジ１１、下側防振ゴム５２、保持プレ
ート２１の各厚みを合わせた長さより短くすることによ
って、上側防振ゴム５３、下側防振ゴム５２に予圧を加
えている。また、予圧の大きさはカラー５１の長さを調
節することによって、適当な値にすることができる。FIG. 3 is a side sectional view showing the structure of the first vibration absorber 4. In the figure, 41 is a hollow cylindrical inner collar made of metal, 42 is a vibration-proof rubber fixed to the outer circumference of the inner collar 41, 43 is an outer collar fixed to the outer circumference of the vibration-proof rubber 42, and 44 is an inner diameter of the inner collar 41. A ring-shaped stopper having the same inner diameter as that of the stepped portion 44a on the outer circumference,
Reference numeral 45 is a mounting bolt that passes through the stopper 44 and the inner collar 41, and 46 is a nut that meshes with the mounting bolt 45, and fixes the inner collar 41 and the stopper 44 to the holding plate 21. One end of the inner collar 41 is the holding plate 21.
, And a stopper 44 is attached to the other end.
Between the small diameter portion of the stepped portion 44a of the stopper 44 and the mounting hole 12 and between the lower surface of the stepped portion 44a and the upper surface of the flange 11, a gap within the range of the amount of displacement of the antivibration rubber 42 that can be restored. A quantity G is provided. One end of the outer collar 43 is fixed to the flange 11, and between the other end and the upper surface of the holding plate 21 is within a range of a restorable displacement amount including displacement of the vibration isolating rubber 42 over time. A gap amount G is provided. Figure 4
FIG. 4 is a side sectional view showing a structure of a second vibration absorber 5. In the figure, 51 is a hollow cylindrical collar inserted into the mounting hole 22 of the holding plate 21, 52 is a hollow lower vibration-proof rubber provided on the outside of the collar 51. A metal protective plate 5 is inserted between the flange 11 and the holding plate 21 and is in contact with the holding plate 21.
21 and 522 are provided. Reference numeral 53 denotes an upper anti-vibration rubber, which is arranged between the flange 11 and a pressing plate 54 that presses the upper surface of the collar 51, and metal protection plates 531 and 53 are provided in a contact portion between the flange 11 and the pressing plate 54.
It is equipped with 2. 55 is a mounting bolt that passes through the collar 51, and 56 is a nut that meshes with the mounting bolt 55. The upper anti-vibration rubber 53 is pressed against the flange 11, and the lower anti-vibration rubber 52 is attached to the holding plate 21 via the flange 11. It is pressing. In addition, the length of the collar 51 is shorter than the combined length of the upper vibration-damping rubber 53, the flange 11, the lower vibration-proof rubber 52, and the holding plate 21, so that the upper vibration-proof rubber 53 and the lower vibration-proof rubber 53 are combined. The preload is applied to the vibrating rubber 52. Further, the magnitude of the preload can be set to an appropriate value by adjusting the length of the collar 51.
【０００８】いま、工具２によって振動が発生すると、
保持プレート２１は任意の方向に振動して変位を繰り返
す。保持プレート２１が上方向に変位すると、第１の振
動吸収体４の内側カラー４１とストッパ４４、および第
２の振動吸収体５のカラー５１が上方向に変位する。そ
の結果、第２の振動吸収体５の下側防振ゴム５２が圧縮
されて、振動を吸収する。このとき、第１の振動吸収体
４の防振ゴム４２には剪断力が作用するが、剪断方向の
バネ定数の方が圧縮方向のバネ定数より小さいため、ほ
とんどの荷重は下側防振ゴム５２が受ける。また、防振
ゴム４２の外側カラー４３はフランジ１１に固定されて
いて変位しないため、保持プレート２１の上方向の変位
量は保持プレート２１と外側カラー４３の下面との間の
隙間量Ｇの範囲に制限される。保持プレート２１が下方
向に変位すると、第１の振動吸収体４の内側カラー４１
とストッパ４４、および第２の振動吸収体５のカラー５
１が下方向に変位する。その結果、第２の振動吸収体５
の上側防振ゴム５３が圧縮されて、振動を吸収する。こ
のとき、上方向の変位と同じく、第１の振動吸収体４の
防振ゴム４２には剪断力が作用するが、剪断方向のバネ
定数の方が圧縮方向のバネ定数より小さいため、ほとん
どの荷重は上側防振ゴム５３が受ける。また、保持プレ
ート２１の下方向の変位量はストッパ４４の段付部４４
ａの下面とフランジ１１の上面との間の隙間量Ｇの範囲
に制限される。Now, when vibration is generated by the tool 2,
The holding plate 21 vibrates in an arbitrary direction and repeats displacement. When the holding plate 21 is displaced upward, the inner collar 41 and the stopper 44 of the first vibration absorber 4 and the collar 51 of the second vibration absorber 5 are displaced upward. As a result, the lower vibration isolation rubber 52 of the second vibration absorber 5 is compressed and absorbs the vibration. At this time, a shearing force acts on the vibration isolating rubber 42 of the first vibration absorber 4, but since the spring constant in the shearing direction is smaller than the spring constant in the compressing direction, most of the load is on the lower vibration isolating rubber. 52 receives. Further, since the outer collar 43 of the anti-vibration rubber 42 is fixed to the flange 11 and is not displaced, the upward displacement of the holding plate 21 is within the range of the gap amount G between the holding plate 21 and the lower surface of the outer collar 43. Limited to. When the holding plate 21 is displaced downward, the inner collar 41 of the first vibration absorber 4 is moved.
And the stopper 44, and the collar 5 of the second vibration absorber 5
1 is displaced downward. As a result, the second vibration absorber 5
The upper anti-vibration rubber 53 is compressed to absorb the vibration. At this time, like the displacement in the upward direction, a shearing force acts on the vibration isolating rubber 42 of the first vibration absorber 4, but since the spring constant in the shearing direction is smaller than the spring constant in the compressing direction, most of it is The upper vibration isolating rubber 53 receives the load. The downward displacement of the holding plate 21 is determined by the stepped portion 44 of the stopper 44.
It is limited to the range of the gap amount G between the lower surface of a and the upper surface of the flange 11.
【０００９】次に、保持プレート２１が左右方向に変位
すると、第１の振動吸収体４の内側カラー４１とストッ
パ４４および第２の振動吸収体５のカラー５１が左右横
行に変位する。その結果、防振ゴム４２が圧縮されて振
動を吸収する。このとき、防振ゴム４２は円筒形である
ので、保持プレート２１が保持プレート２１と平行な左
右どちらの方向に変位しても常に圧縮される。また、防
振ゴム４２を固定している内側カラー４１は保持プレー
ト２１に固定してあるので、防振ゴム４２が左右の振動
によってずれることはなく、水平方向の振動による変位
量は、ストッパ４４の段付部４４ａの小径部と取付穴１
２との間の隙間量Ｇの範囲内に制限される。また、第２
の振動吸収体５の下側防振ゴム５２および上側防振ゴム
５３は剪断力を受けるが、剪断方向のバネ定数の方が圧
縮方向のバネ定数より小さいため、ほとんどの荷重は第
１の振動吸収体４の防振ゴム４２で受ける。また、図５
に示すように、保持プレート２１の中心軸に対するねじ
り方向の振動については、左右方向と同じ作用で振動を
吸収し、保持プレート２１を折り曲げるような、保持プ
レート２１の平面に平行な軸の回りのモーメントについ
ては、上下方向と同じ作用で振動を吸収する。なお、上
記実施例では振動吸収のために防振ゴムを使用した例に
ついて説明したが、防振ゴムの代わりにバネやエアダン
パー等の振動を吸収できるるものであれば同様の効果が
得られる。また、上記実施例では第１の振動吸収体およ
び第２の振動吸収体をそれぞれ４個備えた場合について
説明したが、第１の振動吸収体は最低２か所、第２の振
動吸収体は最低３か所あればよい。When the holding plate 21 is laterally displaced, the inner collar 41 and the stopper 44 of the first vibration absorber 4 and the collar 51 of the second vibration absorber 5 are laterally displaced laterally. As a result, the anti-vibration rubber 42 is compressed and absorbs the vibration. At this time, since the anti-vibration rubber 42 has a cylindrical shape, it is always compressed even if the holding plate 21 is displaced in either the left or right direction parallel to the holding plate 21. Further, since the inner collar 41 fixing the anti-vibration rubber 42 is fixed to the holding plate 21, the anti-vibration rubber 42 does not shift due to the left and right vibrations, and the amount of displacement due to the horizontal vibration is prevented by the stopper 44. Small diameter part of stepped part 44a and mounting hole 1
It is limited within the range of the gap amount G between the two. Also, the second
Although the lower vibration-damping rubber 52 and the upper vibration-damping rubber 53 of the vibration absorber 5 are subjected to shearing force, since the spring constant in the shearing direction is smaller than the spring constant in the compressing direction, most of the load is the first vibration. The vibration-proof rubber 42 of the absorber 4 receives it. Also, FIG.
As shown in FIG. 6, with respect to vibration in the torsional direction with respect to the central axis of the holding plate 21, the vibration is absorbed by the same action as in the left-right direction, and the vibration is absorbed around the axis parallel to the plane of the holding plate 21 such that the holding plate 21 is bent. About the moment, the vibration is absorbed by the same action as in the vertical direction. In addition, in the above-described embodiment, the example in which the vibration isolating rubber is used for absorbing the vibration is described, but the same effect can be obtained as long as the vibration such as the spring or the air damper can be absorbed instead of the vibration isolating rubber. . Further, in the above-described embodiment, the case where each of the first vibration absorber and the second vibration absorber is provided has been described. However, the first vibration absorber is at least two places, and the second vibration absorber is There should be at least 3 places.
【００１０】[0010]
【発明の効果】以上述べたように、本発明によれば、工
具を保持する保持プレートとロボットアームのフランジ
との間に、保持プレートのフランジに対向する面に対し
て平行な方向の振動と、垂直な方向の振動を吸収する２
種類の振動吸収体を設け、保持プレートの変位量を振動
吸収体の復元性のある範囲内に制限するようにしてある
ので、ロボットアームと工具との相対的位置が大きく変
動することがなく、安定したロボットを動作させる軌跡
が得られるロボット用防振装置を提供できる効果があ
る。As described above, according to the present invention, between the holding plate holding the tool and the flange of the robot arm, vibration in a direction parallel to the surface of the holding plate facing the flange is generated. , Absorbs vibration in the vertical direction 2
Since there are provided various types of vibration absorbers and the amount of displacement of the holding plate is limited within the range in which the vibration absorbers have resilience, the relative position of the robot arm and the tool does not fluctuate significantly, There is an effect that it is possible to provide a vibration damping device for a robot that can obtain a stable trajectory for operating the robot.
【図１】 本発明の実施例を示す側断面図である。FIG. 1 is a side sectional view showing an embodiment of the present invention.
【図２】 本発明の実施例を示すＡ−Ａ断面に沿う平断
面図である。FIG. 2 is a plan sectional view taken along the line AA showing the embodiment of the present invention.
【図３】 本発明の実施例の第１の振動吸収体を示す側
断面図である。FIG. 3 is a side sectional view showing a first vibration absorber according to an embodiment of the present invention.
【図４】 本発明の実施例の第２の振動吸収体を示す側
断面図である。FIG. 4 is a side sectional view showing a second vibration absorber of the embodiment of the present invention.
【図５】 本発明の実施例の吸収する振動の方向を示す
説明図である。FIG. 5 is an explanatory diagram showing directions of vibrations to be absorbed in the embodiment of the present invention.
【図６】 従来例を示す側断面図である。FIG. 6 is a side sectional view showing a conventional example.
１ ロボットアーム、１１ フランジ、１２、２２ 取
付穴、２ 工具、２１保持プレート、４ 第１の振動吸
収体、４１ 内側カラー、４２ 防振ゴム、４３ 外側
カラー、４４ ストッパ、４４ａ段付部、４５、５５
取付ボルト、４６、５６ ナット、５ 第２の振動吸収
体、５１ カラー、５２ 下側防振ゴム、５３ 上側防
振ゴム、５４ 押し付け板DESCRIPTION OF SYMBOLS 1 robot arm, 11 flange, 12, 22 mounting hole, 2 tool, 21 holding plate, 4 first vibration absorber, 41 inner collar, 42 anti-vibration rubber, 43 outer collar, 44 stopper, 44a stepped portion, 45 , 55
Mounting bolts, 46, 56 nuts, 5 second vibration absorber, 51 collar, 52 lower vibration isolating rubber, 53 upper vibration isolating rubber, 54 pressing plate
Claims (3)
と、前記フランジに対向して設けた保持プレートと、前
記保持プレートに固定した工具と、前記フランジと前記
保持プレートを結合する振動吸収体とを備えたロボット
用防振装置において、前記振動吸収体は、前記フランジ
の円周方向に等間隔に少なくとも２個設け、かつ前記保
持プレートの前記フランジに対向する面に対して水平方
向の振動を吸収する第１の振動吸収体と、前記フランジ
の円周方向に等間隔に少なくとも３個設け、かつ前記保
持プレートの前記フランジに対向する面に対して垂直方
向の振動を吸収する第２の振動吸収体とからなることを
特徴とするロボット用防振装置。1. A flange provided at a tip of a robot arm, a holding plate provided so as to face the flange, a tool fixed to the holding plate, and a vibration absorber that joins the flange and the holding plate. In the vibration damping device for a robot, at least two vibration absorbers are provided at equal intervals in a circumferential direction of the flange, and absorb vibrations in a horizontal direction with respect to a surface of the holding plate facing the flange. And a second vibration absorber that is provided at least three at equal intervals in the circumferential direction of the flange, and that absorbs vibration in a direction perpendicular to the surface of the holding plate facing the flange. An anti-vibration device for a robot, which comprises a body.
ートに固定した金属からなる中空円筒状の内側カラー
と、前記内側カラーの外周に固定した中空円筒状の防振
ゴムと、内周に前記防振ゴムを固定し、かつ外周側を前
記フランジに固定した外側カラーと、外周に段付部を有
するリング状のストッパと、前記ストッパとともに前記
内側カラーを前記保持プレートに固定する取付ボルト
と、前記ストッパの段付部の小径部と前記フランジに設
けた取り付け穴との間および前記段付部の下面と前記フ
ランジの上面との間に設け、かつ前記防振ゴムの復元可
能な変位量の範囲内の隙間と、前記外側カラーおよび前
記防振ゴムと前記保持プレートとの間に設け、かつ前記
防振ゴムの復元可能な変位量の範囲内の隙間とを設け、
前記第２の振動吸収体は、前記保持プレートに固定した
中空円筒状のカラーと、前記カラーの外側に設け、かつ
前記フランジと前記保持プレートとの間に挿入された中
空状の下側防振ゴムと、前記カラーの外側に設け、かつ
前記フランジと前記カラーの上面を押し付ける押し付け
板との間に配置した上側防振ゴムと、前記下側防振ゴム
および上側防振ゴムのそれぞれ前記フランジおよび前記
押し付け板との接触する部分に設けた金属製保護板と、
前記押し付け板とともに前記カラーを前記保持プレート
に固定する取付ボルトとを備えた請求項１記載のロボッ
ト用防振装置。2. The first vibration absorber comprises a hollow cylindrical inner collar made of metal fixed to the holding plate, a hollow cylindrical vibration damping rubber fixed to the outer circumference of the inner collar, and an inner circumference. An outer collar fixing the anti-vibration rubber to the flange and the outer peripheral side to the flange, a ring-shaped stopper having a stepped portion on the outer periphery, and a mounting bolt for fixing the inner collar together with the stopper to the holding plate. And between the small diameter portion of the stepped portion of the stopper and the mounting hole provided in the flange, and between the lower surface of the stepped portion and the upper surface of the flange, and the restorable displacement of the anti-vibration rubber. A gap in the range of the amount, and a gap provided in the range between the outer collar and the anti-vibration rubber and the holding plate, and within the range of the reversible displacement amount of the anti-vibration rubber,
The second vibration absorber is a hollow cylindrical collar fixed to the holding plate, and a hollow lower vibration isolator provided outside the collar and inserted between the flange and the holding plate. Rubber, an upper anti-vibration rubber provided outside the collar and arranged between the flange and a pressing plate that presses the upper surface of the collar, and the flange and the lower anti-vibration rubber and the upper anti-vibration rubber, respectively. A metal protective plate provided in a portion in contact with the pressing plate,
The vibration damping device for a robot according to claim 1, further comprising a mounting bolt that fixes the collar to the holding plate together with the pressing plate.
は、前記上側防振ゴム、前記フランジ、前記下側防振ゴ
ム、および前記保持プレートの各厚みを合わせた長さよ
り短くした請求項２記載のロボット用防振装置。3. The length of the collar of the second vibration absorber is shorter than the combined length of the upper vibration isolating rubber, the flange, the lower vibration isolating rubber, and the holding plate. The vibration damping device for a robot according to item 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP25932994A JP3738370B2 (en) | 1994-09-28 | 1994-09-28 | Vibration isolator for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP25932994A JP3738370B2 (en) | 1994-09-28 | 1994-09-28 | Vibration isolator for robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0890482A true JPH0890482A (en) | 1996-04-09 |
| JP3738370B2 JP3738370B2 (en) | 2006-01-25 |
Family
ID=17332587
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP25932994A Expired - Fee Related JP3738370B2 (en) | 1994-09-28 | 1994-09-28 | Vibration isolator for robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3738370B2 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000000673A (en) * | 1998-06-15 | 2000-01-07 | Kawasaki Heavy Ind Ltd | Slug removing device |
| KR101353744B1 (en) * | 2013-09-03 | 2014-01-22 | 김성열 | Auto adjust to external stimuli as burr elimination device |
| JP2015009286A (en) * | 2013-06-26 | 2015-01-19 | 株式会社テクノ・エム | Adapter |
| JP2020509914A (en) * | 2017-03-14 | 2020-04-02 | バーブ サージカル インコーポレイテッドＶｅｒｂ Ｓｕｒｇｉｃａｌ Ｉｎｃ． | Techniques for damping vibrations in robotic surgical systems |
-
1994
- 1994-09-28 JP JP25932994A patent/JP3738370B2/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000000673A (en) * | 1998-06-15 | 2000-01-07 | Kawasaki Heavy Ind Ltd | Slug removing device |
| JP2015009286A (en) * | 2013-06-26 | 2015-01-19 | 株式会社テクノ・エム | Adapter |
| KR101353744B1 (en) * | 2013-09-03 | 2014-01-22 | 김성열 | Auto adjust to external stimuli as burr elimination device |
| JP2020509914A (en) * | 2017-03-14 | 2020-04-02 | バーブ サージカル インコーポレイテッドＶｅｒｂ Ｓｕｒｇｉｃａｌ Ｉｎｃ． | Techniques for damping vibrations in robotic surgical systems |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3738370B2 (en) | 2006-01-25 |
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