JPS5847317B2 - Inertia prevention device for arm mechanism - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an inertia prevention device for an arm mechanism that is most suitable for industrial robots and cargo handling equipment that handle heavy objects.

2. Description of the Related Art Conventionally, industrial robots and cargo handling devices equipped with arm mechanisms that are driven back and forth and up and down are known.

In this type of industrial robot or cargo handling device, during a turning operation, a large force is applied to the base end of the arm mechanism due to the inertia of the arm mechanism, causing the arm mechanism to sway significantly.

Therefore, it takes time for the shaking to subside and positioning to be performed, which is inconvenient and can be dangerous.

From this point of view, it is an object of the present invention to provide an inertia prevention device for an arm mechanism with high stopping accuracy and less lateral vibration even when the arm mechanism rotates.

An embodiment of the present invention will be described below with reference to the drawings. In this embodiment, an inertia prevention device for an arm mechanism provided in an industrial robot will be described.

In Figures 1 and 2, 1 is an arm mechanism, and side plates 2, 3
The side plates 2 and 3 are configured to be able to rotate approximately 360 degrees, and a rotating shaft (not shown) of a rotary actuator 5 is connected to the side plates 2 and 3 via a support 4. be.

6 is a pedestal on which the rotary actuator 5 is placed.

The arm mechanism 1 has a parallelogram configuration, with an auxiliary arm 9 interposed between the upper and lower arms 7.8, and the base ends of the upper arm 7 and the auxiliary arm 9 are located between the side plates 2 and 3. , are pivotally supported via support shafts 11.12 on vertically connected links 10.10, respectively, and the tips of the upper and lower arms 7.8 are connected vertically to vertical arms 13 that hang downward, respectively, with support shafts 14.
It is pivoted through 15.

Reference numeral 16 denotes a second vertical arm along the vertical arm 13, and the tip of the auxiliary arm 9 is pivotally supported on this by a protruding piece 17 via a support shaft 18. A hanging piece 20 is provided between the support shafts 15 and 19.

Reference numeral 21 denotes a hand portion provided at the lower end portions of the vertical arm 13 and the second vertical arm 16.

Reference numeral 22 denotes a guide hole provided in the vertical direction on the tip side of the side plates 2, 3, and a guide rail 23, 23 is attached to this along the longitudinal edge.

Furthermore, supports 24 are provided inside and outside of this guide hole 22.
, 25 are arranged, and these supports 24, 25 are pivotally supported on the auxiliary arm 9 and the lower arm 8 by support shafts 26, 27, respectively. Rollers 28, 28, 29, 29 are slidably fitted in guide rails 23, 23.

Reference numeral 30 denotes a horizontal guide hole provided on the upper end side of the side plates 2, 3, and supports 31,
32 is the arrangement.

One end of these supports 31 and 32 is pivoted to the support shaft 11, and the base end thereof is pivoted to a piston rod 34 of a drive actuator 33, which serves as a drive source for forward and backward movement, by support shafts 5 and 8, respectively.

35 is a vertical movement drive actuator connected to the piston rod 36 by the support shaft 27.

37 is a window hole provided below the guide hole 30, and a plate-like body 39 is provided on the side of the side plate 2.3 via supports 38, 38, . . . .

Then, a connector 41 such as a ball bearing of a mounting shaft 40 that is integral with the support shaft 12 or extends from the window hole 37 is attached to this.
is a presser member, specifically a plate-like member 39 as shown in FIG.
It is configured so that it is always in contact with the

Reference numeral 42 denotes a cylinder disposed on the outer surface of the side plates 2 and 3, and the piston rod 43 of this cylinder 42 is pivotally supported on the support shaft 12 via a knuckle joint 44.

Furthermore, this cylinder 42 has metal fittings 45 and 46 on the upper and lower sides.
Rollers 49, 50 are provided on the shaft 47° 48, which is attached via the side plate 2, respectively.
It is slidably fitted into upper and lower guide holes 51 and 52 provided in 3.

Further, the roller 54 of the shaft rod 53 hanging down from the lower end is similarly slidably fitted into the guide hole 56 of the support 55.

The balance device 57 is configured in this manner.

In the above configuration, when the arm mechanism 1 is rotated and stopped, the inertia of the arm mechanism 1 acts on the base end of the arm mechanism 1 to force it to move laterally, causing the arm mechanism 1 to move laterally. Shaking occurs.

However, in the present invention, the zygote 41 attached to the base end of the arm mechanism 1 is prevented from moving in the lateral direction by the plate-like body 39.

Therefore, the arm mechanism 1 is less likely to sway horizontally, its stopping speed is increased, and the positioning accuracy is improved.

Moreover, this danger can be prevented.

Note that the present invention is not limited to the above embodiments.

For example, instead of the above-mentioned inertia prevention device, the side plates 2, 3
It is possible to omit the balance device 57 provided on the support shaft and attach the connector 4 directly to the support shaft 12 as shown in FIG. It is also possible to configure a mounting shaft having a joint 41 to be attached to the shaft 12.

Although not shown in the drawings, it is also possible to configure the space between the side plates 2 and 3 to be wide, and to house the balance device and the inertia device of the present invention inside the side plates 2 and 3.

As explained above, according to the present invention, since the connector is always in contact with the holding member, it is possible to prevent inertia caused by the rotation of the arm mechanism, improve the stopping accuracy, and achieve highly accurate positioning. Therefore, it is possible to provide an inertia prevention device for an arm mechanism that is highly stable and reliable.

[Brief explanation of drawings]

Fig. 1 is a side view showing the installed state of the industrial robot of the present invention, Fig. 2 is a partially cutaway side view of the same, Fig. 3 is a sectional view of the main part, and Fig. 4 is a cargo handling device equipped with the present invention. FIG. 5 is a sectional view of the main part. 1... Arm mechanism, 2, 3... Side plate,
12...link, 39...plate-like body, 4
0... Mounting shaft, 41... Junction.

Claims (1)

[Scope of Claims] 1. A base end of an arm mechanism that is driven back and forth and up and down is provided with outwardly rotatable joints during the rainy season, and a presser member that abuts these joints is provided. Inertia prevention device for arm mechanism. 2. The inertia prevention device for an arm mechanism according to claim 1, wherein the holding member is a side plate that supports the arm mechanism. 3. The inertia prevention device for an arm mechanism as set forth in claim 1, wherein the holding member is a plate-like member attached to a side plate that supports the arm mechanism.