JPH10235593A - Pivot stopper - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a pivot stopper capable of stopping a pivot surely at a turning limit and also changing a critical angle easily, thereby making it stoppable at the optional critical angle. SOLUTION: A pivot 1 is provided with a swivel flange 20 in which a claw 21 is installed. A sliding ring 22 made up of being separately turnable from the pivot 1 is installed in a spot adjacent to the swivel flange 20. This sliding ring 22 is provided with a ring claw 25 and a pin 26 jointly. A anchor block 30 is installed at the outside of the pivot 1, and likewise two stopper blocks consisting of a right turning side stopper 31a and a left turning side stopper 31b are installed in this anchor block 30.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a turning shaft stopper for a turning shaft used for an automatic machine such as a robot, and more particularly to a turning shaft stopper for a turning shaft.
The present invention relates to a turning shaft stopper suitable for a turning shaft capable of turning by 60 degrees or more.

[0002]

2. Description of the Related Art For example, in a device for painting, cleaning, or polishing a pipe wall in a pipe, the pipe itself has a cylindrical shape, and therefore, these arms are usually made to rotate 360 degrees or more. In the case of such a pivot, since it is difficult to install a mechanical stopper as a stopper for restricting the operation limit, a so-called software limit for restricting the operation limit by software is conventionally used in many cases. .

[0003] Hereinafter, a software limit which has been conventionally used will be described with reference to FIG.

As shown in FIG. 1, the rotary shaft 1 is provided with two holes 1b and 1c (upper side and lower side), and two holes 1b and 1c are provided so that these holes 1b and 1c can be detected. The proximity sensors 3 and 4 are arranged. The proximity sensors 3 and 4 detect the holes 1b and 1c, and the two signals are processed on software to stop the turning axis at its turning limit.

[0005] However, when the above-mentioned software limit is used, a mistake occurs in processing on software,
If one of the two proximity sensors 3 and 4 malfunctions, there is no mechanical stopper, and there is a problem that a large accident may occur.

Next, the structure of a conventional mechanical stopper is shown in FIG.

As shown in FIG. 1, a spiral groove 1d corresponding to the turning angle is formed in the turning shaft 1.
The tip of the slide pin 6 locked to the guide plate 5 is inserted into d.

The sliding pin 6 is inserted into a slit 7 formed in the guide plate 5 along the axial direction of the turning shaft 1 from the side opposite to the turning shaft 1. 8 is fixed, and the guide plate 5 is pressed by the sliding plate 10 urged by the spring 9, thereby the slit 7
Guide plate 5 so that it can move along
It is locked to.

An upper limit switch 11 and a lower limit switch 12 are provided at the upper end and the lower end of the slit 7 of the guide plate 5 so as to be able to perform a switch operation by being pressed by the sliding pin 6.

[0010] Then, when the turning shaft 1 rotates,
The sliding pin 6 moves up and down along the groove 1d.
By operating the upper limit switch 11 and the lower limit switch 12, the rotation operation of the turning shaft 1 is stopped.

However, in such a stopper, there is a problem that the processing of the spiral groove 1d is complicated and that the sliding pin 6 is caught by the groove 1d and stops at a position other than the turning limit. In addition, spiral groove 1d
Since the turning angle is limited in the machining range, there has been a problem that the turning angle cannot be changed or used for other purposes.

[0012]

As described above, in the conventional turning shaft stopper, the problem that the turning shaft cannot be stopped at the turning limit without fail, and the problem that it is difficult to change the turning angle or the like is difficult. was there.

The present invention has been made in view of such a conventional situation, and enables the turning axis to be reliably stopped at the turning limit, and allows the turning angle to be easily changed. An object of the present invention is to provide a pivot shaft stopper that can be stopped at an angle.

[0014]

That is, according to the first aspect of the present invention, there is provided a first locking member provided so as to protrude from a turning shaft and rotating with the turning shaft, and rotating about the turning shaft. A rotating member provided freely, and a second member that is provided so as to protrude from the rotating member and is locked with the first locking member to rotate the rotating member when the turning shaft rotates. A stop member which is capable of being locked to the first locking member from both directions in a state where each of the rotation shafts rotates approximately 360 degrees when the rotation shaft rotates clockwise and counterclockwise. 2 and a stopper provided at a turning limit position, abutting on the second locking member, and stopping rotation of the turning shaft.

According to a second aspect of the present invention, there is provided the pivot shaft stopper according to the first aspect, further comprising a plurality of the rotating members and the second locking members provided so as to protrude from the rotating members. The second locking member is sequentially locked with the second locking member of the adjacent rotating member, and the adjacent rotating members are sequentially rotated, and the turning shaft is rotated by 720 degrees or more. It can be stopped at a turning angle.

According to a third aspect of the present invention, in the turning shaft stopper according to any one of the first to second aspects, the stopper is brought into contact with the second locking member to mechanically stop the rotation of the turning shaft. A stopper table for detecting the turning limit and stopping the rotation of the turning shaft prior to stopping by the stopper table; and a sensor for urging the second locking member in a direction away from the stopper table. And an elastic member for restoring the pressure.

With the pivot axis stopper of the present invention, even if a processing error on software or a malfunction of the proximity sensor occurs, the pivot axis that rotates 360 ° or more can be stopped reliably.
Further, the turning angle can be easily changed, and the turning can be stopped at an arbitrary turning angle.

[0018]

Embodiments of the present invention will be described below with reference to the drawings.

As shown in FIG. 1 and FIG.
A turning flange 20 integrated with the turning shaft 1 is provided. The turning flange 20 is provided with a claw 21 as a locking member formed to project in the outer peripheral direction.

The pivot shaft 1 is provided with the pivot flange 2.
A sliding ring 22 is provided adjacent to 0 as a rotating member configured to be rotatable independently of the rotating shaft 1.
In this example, as shown in FIG.
A flange 23 is provided at an interval (below in the figure), and a sliding ring 22 is rotatably locked between the turning flange 20 and the flange 23 via a slide washer 24. I have.

The sliding ring 22 has a rotating flange 2
0, a ring claw 25 formed to protrude in the outer circumferential direction, and a pin 26 arranged to penetrate the ring claw 25 are provided. A locking member on the moving ring 22 side is configured.

A fixed base 30 is provided outside the swivel shaft 1 so as to surround the swivel shaft 1. The fixed base 30 has a right turn side stopper base 31a.
, And two stopper stands of a left turning side stopper stand 31b. These right turning side stopper bases 31a,
The left turning side stopper base 31b is provided with stopper bolts 33a, 33b which are urged by springs 32a, 32b, respectively, and are movable in the direction of the arrow in the drawing, and are provided below these stopper bolts 33a, 33b. Are provided with a right turn limit switch 34a and a left turn limit switch 34b, respectively. The right-turn limit switch 34a and the left-turn limit switch 34b are proximity sensors in this example. During right and left turns, the ring claw 25 presses the stopper bolts 33a and 33b to turn right. The switch is operated before hitting the side stopper table 31a and the left turning side stopper table 31b, and the rotation of the turning shaft 1 is stopped.

Next, the operation of the pivot shaft stopper having the above configuration will be described.

When the turning shaft 1 turns rightward to the turning limit, the pawl 21 of the turning flange 20 of the turning shaft 1
6 and the sliding ring 22 is turned, and the lower part of the pin 26 activates the right turning limit switch 34a to stop the turning shaft 1. At this time, right turn limit switch 3
Even if 4a malfunctions, the ring claw 25 of the slide ring 22 pushes the stopper bolt 33a and stops at the stopper base 31a.

On the other hand, when the turning shaft 1 is turned leftward to the turning limit, the pawl 21 of the turning flange 20 turns approximately 360 degrees and then hits the pin 26 to turn the sliding ring 22.
The lower portion of the pin 26 activates the left turning limit switch 34b to stop the turning shaft 1. When the left turning limit switch 34b malfunctions, the ring claw 25 of the sliding ring 22 pushes the stopper bolt 33b and stops at the stopper base 31b as in the case of the right turning described above.

The springs 32a, 32b are mounted on the stopper bolts 33a, 33b, so that the stopper bolts 33a, 33b
Pushes back the sliding ring 22 and pushes pin 2 from the right turning limit switch 34a and the left turning limit switch 34b.
6 is released and each limit switch returns.

According to the pivot shaft stopper described above, regardless of the processing error on software or the malfunction of the proximity sensor,
The turning shaft 1 that turns by 60 degrees or more can be stopped, and the turning shaft 1 has a simple configuration that does not require machining of a complicated shape, and the turning angle can be easily changed.

In the above-described pivot shaft stopper, the pivot angle 7
Although the turning can be stopped up to a range near 20 degrees, the structure of the turning axis stopper that can be stopped at a turning angle of 720 degrees or more will be described below with reference to FIG.

In the turning shaft stopper shown in FIG.
2 (not shown) is provided in a plural number (four), and accordingly, four ring claws 25a to 25d,
Three pins 26a to 26d are provided. And first,
The pawl 21 of the swivel flange 20 swivels approximately 360 degrees and the pin 2
At 6a, the slide ring provided with the pin 26a is turned approximately 360 degrees to hit the next pin 26b, and the slide ring provided with the pin 26b is turned approximately 360 degrees.

Similarly, after each turning approximately 360 degrees,
The pins 26a to 26d rotate sequentially, and the pin 26d of the slide ring at the final stage and the ring claw 25d become stopper bolts 33a, 3d.
3b, and turn the turning shaft 1 by 180 degrees until it stops.
Can turn to near 0 degrees. In this way, by combining a plurality of sliding rings, it becomes possible to stop the turning shaft 1 at an arbitrary angle regardless of the magnitude of the turning angle.

[0031]

As described above, according to the turning shaft stopper of the present invention, the turning shaft can be reliably stopped at the turning limit, and the turning angle can be easily changed. It can be stopped at the turning angle.

[Brief description of the drawings]

FIG. 1 is a diagram showing an embodiment of a turning shaft stopper according to the present invention.

FIG. 2 is a diagram showing a configuration of a main part of a turning shaft stopper of FIG. 1;

FIG. 3 is a diagram showing another embodiment of a pivot shaft stopper;

FIG. 4 shows a configuration of a conventional pivot shaft stopper.

FIG. 5 shows a configuration of a conventional pivot shaft stopper.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Revolving shaft 20 ... Revolving flange 21 ... Claw 22 ... Sliding ring 23 ... Flange 24 ... Sliding washer 25 ... Ring claw 26 ... Pin 30 ... Fixed base 31 ... Stopper base 32 …… Spring 33 …… Stopper bolt 34 …… Limit switch

Claims (3)

[Claims] A first locking member provided so as to protrude from the turning shaft and rotated together with the turning shaft; a rotating member rotatably provided around the turning shaft; A second locking member that is provided so as to protrude, is locked with the first locking member when the turning shaft rotates, and rotates the rotating member, wherein the turning shaft rotates clockwise and When turning counterclockwise, the respective turning axes are approximately 3
A second locking member capable of being locked to the first locking member from both directions in a state of being rotated by 60 degrees, and a second locking member provided at a turning limit position and abutting on the second locking member And a stopper for stopping the rotation of the turning shaft. 2. The pivot shaft stopper according to claim 1, further comprising: a plurality of the rotating members; and a plurality of the second locking members provided to protrude from the rotating members. The second member of the rotating member adjacent to the member
A rotating shaft stopper, wherein the rotating member is sequentially locked with the locking member, and the adjacent rotating member is sequentially rotated, and the rotating shaft can be stopped at a rotating angle of 720 degrees or more. 3. The swivel shaft stopper according to claim 1, wherein the stopper is in contact with the second locking member, and mechanically stops rotation of the swivel shaft; and the stopper. A sensor for detecting a turning limit and stopping the rotation of the turning shaft prior to stopping by the table, and an elastic member for urging the second locking member in a direction away from the stopper table and returning the sensor. A turning shaft stopper, comprising: