JPS5848316B2 - Arm mechanism balance device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a balance device for an arm mechanism. In particular, we aim to provide a balance device that is optimal as an arm mechanism for industrial robots.

Traditionally, arm mechanisms have been used in a wide range of applications, from cargo handling equipment to industrial robots, and various designs have been created. Equipped with

but. This weight is bulky and heavy to transport. The disadvantage is that it takes up a lot of space to store.

In view of this point of view, the present invention aims to make the device more compact,
We aim to provide an optimal balance device for the arm mechanism of industrial robots, especially in order to contribute to the safety of work.

The details of the present invention will be explained below with reference to the drawings. In this actual case, a balance device for an arm mechanism provided in an industrial robot will be explained.

1 is an arm mechanism, which is supported by side plates 2 and 3;
, 3 are configured to be able to rotate approximately 360 degrees, and the rotating shaft (
(not shown) are connected to the side plates 2 and 3.

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 and 8, and the base ends of the upper arm 7 and the auxiliary arm 9 are located between the side plates 2 and 3. The upper and lower arms 7 and 8 are connected to vertically connected links 10 and 10 via support shafts 11 and 12, respectively, and the tips of the upper and lower arms 7 and 8 are connected vertically and are connected to vertical arms 13 that hang down and are connected to support shafts 14, respectively. ．．
It is pivoted via 15.

Reference numeral 16 denotes a second vertical arm that extends along the vertical arm 13, and the tip of the auxiliary arm 9 has a protruding piece 17 pivotally supported thereon via a support shaft 18, and is also pivotally supported via a support shaft 19 of the vertical arm 13. I support you. 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 guide rails 23, 23 are attached along the longitudinal edges of the guide hole 22, which are arranged vertically on the inside and outside of the guide hole 22. The supports 24 and 25 are pivoted on support shafts 26 and 27 on the auxiliary arm 9 and the lower arm 8, respectively, and rollers 28, 28, 29 and 29 provided at the bottom end of the outer support 25 are connected to the guide rail 23. ．．
23 in a slidable manner.

Reference numeral 30 denotes a horizontal guide hole provided on the upper end side of the side plates 2 and 3, and supports 31 arranged on the inner and outer sides are inserted through this guide hole 30.
, 32 has one end connected to the support shaft 11, and a base end connected to the piston rod 3 of a drive actuator 33 as a drive source for forward and backward movement.
4 are each pivotally supported on a support shaft 76.

35 is a vertically movable drive actuator whose piston rod 36 is connected to the support shaft 27.

37 is a window hole provided below the guide hole 23, and a plate-shaped body 39 is attached to the side of the side plates 2, 3 via supports 38, 38, . . . The connector 41, such as a ball bearing, of the mounting shaft 40 extending from the window hole 37 attached to the holder is configured to be in constant contact with the connector 41.
By contacting the plate member 39, inertia due to rotation can be prevented.

Reference numeral 42 denotes a cylinder disposed on the outer surface of the side plates 2 and 3. This cylinder 42 has its piston rod 43 pivotally supported on the support shaft 12 via a knuckle joint 44, and furthermore, this cylinder 42 has metal fittings 45 on the upper and lower sides. Rollers 49, 50 are provided on shaft rods 47, 48 attached via .46, and these rollers 49, 50 are slidably fitted into upper and lower guide holes 51, 52 provided in side plates 2, 3, respectively. The roller 54 of the shaft 53, which also hangs down from the lower end, constitutes a balance device 57 which is similarly slidably fitted into the guide hole 56 of the support 55.

Alternatively, a balance device 62 may be constructed in which the lower end of the cylinder 58 is pivotally supported to the support 59 via a support shaft 60, and the upper end thereof is pivotally supported to the piston rod 61 to the support shaft 12.

With the above configuration, even if the link 10,10 of the balance device 57 of the present invention tilts due to the movement of the arm mechanism 1, and the cylinder 42 follows this link 10, the movement will not occur through the guide hole. 51 and 52 are always in a vertical state, the thrust of this cylinder 42 always acts in the vertical direction, and the thrust of the cylinder 42 acts in the most effective state, and in the case of the present invention, the piston rod 43 of the cylinder 42 is directly connected to the support shaft 12 of the link 10, and there is no mechanical resistance such as sliding resistance, and the thrust of the five cylinders 43 acts effectively.

Also. A balance device 62 configured to pivot the lower end of the cylinder 58 and have its piston rod 61 pivoted to the support shaft 12.
However, since the movement of the link 10 is restricted within the range of the guide hole 23 in the tilting range of the cylinder 58, the thrust acts substantially in the vertical direction, so that sufficient balance can be maintained.

Moreover, if the conventional balance weight is not required, the machine can be made more compact, work safety can be improved, and there is no need to adjust the position of the weight each time.

Also, instead of the above arm mechanism 1, the horizontal arm 6
3.64, and in the case of an arm mechanism 66 consisting of two vertical arms 65, a balance device 68 .
It is also possible to provide 69.

In the figure, 70 is a horizontal guide hole, 71 is a roller, and 72 is a vertical guide hole. 73, 73 is a mouthpiece, 74 is a driving actuator, and 75 is a turning device.

[Brief explanation of drawings]

FIG. 1 is a side view of the entire industrial robot equipped with the present invention;
Fig. 2 is a partially cutaway side view of the same part, Fig. 3 is a sectional view of the main part, and Fig. 4 is a partially cutaway sectional view of another embodiment of the main part. FIG. 1...Arm mechanism, 10. ．． ．． -・-Link, 42...Cylinder.

Claims (1)

[Claims] 1 Between the side plates that support the arm mechanism that can be operated longitudinally, vertically, and swiveled, the cylinder is attached to a link vertically connecting the base ends of the upper arm extending in the horizontal direction and the auxiliary arm interposed between the upper and lower arms. A balance device with an arm mechanism in which a piston rod is connected and the cylinder is configured to be able to slide horizontally along a long hole in a side plate.