JPS5919645A - Elastic body for compliance device - Google Patents

Abstract

PURPOSE:To absorb the positioning displacement through deformation by sticking and laminating many metal shims and rubber-like elastic body layers in turn so that the rigidity ratio in the axial direction and lateral direction can be increased. CONSTITUTION:Screw holes 6a, 6a of fitting members 6, 6 of an elastic body 5 are fitted to the base body and intermediate body of a compliance device. A laminated body 7 is provided between the fitting members 6, 6 and many sheets of plate-like metal shims 8 and rubber-like elastic body layers 9 are stuck and laminated to form the laminated body 7. The compliance device fitted with such elastic bodies has a mis-alignment correction function, little performance deterioration, and large durability.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an elastic body that is attached to a compliance device that passively corrects positioning accuracy in an industrial robot or the like and is used to deform and absorb positioning deviations.

In recent years, assembly equipment using industrial robots, etc.

Automation of various equipment such as machining equipment and measuring equipment is being attempted. At that time, due to various factors during the actual assembly process, misalignment may occur in the positioning between assembled parts or between tools and parts, so if the work is continued as it is, prying and galling will occur and the parts will be damaged. etc., machining accuracy decreases, or machine operation rate decreases. This phenomenon is particularly noticeable in precision assembly processing where the working accuracy is from several microns to several tens of microns.

There are two ways to solve this problem: an active feedback method and a passive compliance method.The former is commonly used and uses electronic technology to correct the positioning by feedback and improve its accuracy. However, it is also necessary to improve the mechanical precision of the device, which complicates the mechanism and causes rotation, which increases costs.

On the other hand, the latter, for example, US Pat. ! F01.2
As shown in No. 03, a compliance device equipped with an elastic body is attached to the part corresponding to the wrist of an industrial robot, and the tapered surface or template between the parts is used to reduce the lateral direction caused by the insertion force 1. The misalignment is passively corrected by applying force to perform assembly and processing with a predetermined accuracy.

This method requires an elastic body in the compliance device to allow movement of the holding parts corresponding to the positioning accuracy, and the present invention provides an optimal elastic body for the compliance device. This is what we intend to provide.

As illustrated in FIG. 1, the compliance device 1 includes:
An intermediate body 4 is installed between the base body 2 on the main body side and the base body 6 on the gripper side, and this intermediate body 4 and both base bodies 2 and 6 are connected by elastic bodies A and B (for J' pieces), respectively. has been configured. Note that the elastic body B that connects the base body 6 on the gripper side and the intermediate body 4 is mounted so as to be inclined toward the center.

The functions required for the above compliance device are as follows:
It is as follows.

■Axial allowable load capacity Tension side 0. j～, 50kgE (payload capacity) compression side, 50～/jθ(:, 1kgf (pressure resistance) ■ Misalignment absorption amount horizontal direction / Ow= (horizontal direction force/~#70kgf) Prying direction Kojirimo y' 7) 2.5~/J 00
kgf -) Torsional direction: 20° (Torsional moment: 26 ~ θ0 kgf・t) ■Maximum deflection: Axial direction: 2° (at maximum load) Also, to provide stability in the axial direction and flexibility in absorbing misalignment. , it is necessary to make the stiffness ratio of the compliance device very high in the lateral direction to the vertical direction, and furthermore, in order to minimize the moment on the gripper that occurs when conveying the article, the axial height of the compliance device is Due to constraints, compactness is required.

The above-mentioned requirements are requirements for the elastic body. In other words, as an elastic body, the axial stiffness is very large compared to the lateral stiffness, and while it has flexibility in the prying, torsion, and shearing directions, the axial stiffness is very large. It is necessary to ensure payload capacity and compressive strength on the compression side, and generally used elastic bodies cannot provide a satisfactory function.

Therefore, in view of this, the present invention provides an elastic body for a compliance device having a laminate in which a large number of elastic layers and rubber-like elastic body layers are alternately bonded and laminated, and which satisfies the above-mentioned requirements. be.

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

In the elastic body 5 shown in FIGS. 2 to 7, reference numeral 6.6 is a handle member at both ends, and reference numeral 7 is a laminate provided between the surface mounting members 6.6.

The mounting members 6, 6 have screw holes 6a for fixing.

6a, and is attached to the base bodies 2, 6 and intermediate body 4 of the compliance device 1 shown in FIG. 1, and its shape and size are changed as appropriate.

On the other hand, the laminate 7 is made up of a large number of plate-shaped fully bent shims 8 and rubber-like elastic layers 9 which are alternately adhesively laminated.

The number of metal shims 8 is 5 to 3.6, and the outer diameter is 5-. 2.2 order, thickness 0. −? ~/, 0. ．． It is preferable to use

The rubber-like elastic layer 9 may be made of rubber or synthetic material having a hardness of 10 to 70 degrees as measured by the JIS-A type of a spring-type hardness tester, and a shear modulus of elasticity of 26 kgf/-. Made of resin, 0.2-7.0m
It is preferable to provide a thickness of m.

The laminated body 7 consisting of the metal shim 8, the rubber-like elastic layer 9, and the like described above has a stiffness ratio of 20 to 600 in the lamination direction (axial direction) and in the lateral direction.

Furthermore, when the elastic body 5 is attached to the compliance device 1 as shown in FIG. The optimum range is 5 to 30 degrees), and it is preferable to arrange 3 to 30 degrees each on the upper and lower sides.

In constructing the laminate 7 of the elastic body 5, basic design matters regarding required characteristics will be explained.

The axial to lateral stiffness ratio is the ratio of the compression spring constant to the shear spring constant, that is, the ratio of the compression modulus to the shear modulus. This compressive elastic modulus depends on the shape factor, and its value increases exponentially with changes in the shape factor. This shape factor is proportional to the diameter of the rubber-like elastic layer 9, and It is inversely proportional to the thickness of the shaped elastic layer 9.

In order to increase the shape factor, it is effective to reduce the thickness of the rubber-like elastic layer 9 (it is effective to increase the number of installed metal shims 8 and narrow the spacing).

Further, the shear modulus is determined by the material composition of the rubber or synthetic resin constituting the rubber-like elastic layer 9, that is, its hardness, and is determined by the shape of the laminate 7 (axial length,
When the outer diameter), material composition, and material volume are the same, the rigidity ratio in the axial direction and in the lateral direction can be adjusted by changing the number of metal shims 8.

Here, the thickness of the metal shim 8 is preferably thin in order to form the laminate 7 short and compact.

Set to the minimum thickness that does not cause deformation in terms of strength.

On the other hand, the thickness of the rubber-like elastic layer 9 is determined by the shape and relationship with the material composition, and if the laminate 7 is required to be compact, it is better to be thinner like the metal shim 8; This is the minimum thickness for manufacturing purposes.

An increase in the number of metal shims 8 improves stability due to an increase in the compressive elastic modulus due to an increase in the shape coefficient as described above, and a decrease in the unbalance coefficient. Furthermore, increasing the shape factor changes the stress-strain properties and increases the allowable compressive stress,
The allowable load capacity in the compression direction is increased, and the elastic body 5 can be downsized in accordance with this increase in load capacity.

To give a specific structural example, the rubber-like elastic layer 9 is made of a material with a shear modulus of J kgf/d, a JIS-A hardness of 30 degrees, and an outer diameter of 7. In forming the two-piece laminate 7, the metal shim 8 has a thickness of θ.
, 77 pieces of 3♂ size, each having a thickness of θ as the rubber-like elastic body layer 9, are laminated in /♂ layers, and are laminated with adhesive to each other, making a total of /3. A laminate 7 having a length of 6 am and a thickness in the lamination direction was obtained.

This laminate 7 has a compressive modulus of elasticity of 27 kgE/,j, and a spring constant in the compression direction:/;,! ,5. ．． 2kgf/
σ, the shear spring constant is G, 7 kgf/Ko, and the stiffness ratio in the axial direction and the lateral direction is J,! F, 6.

In addition, in the case of manufacturing the elastic body 5 using a rubber material, mounting members 6, 6 are arranged at both ends of metal shims 8 arranged at a predetermined interval in a mold, and a rubber material is placed between the metal shims 8. The material is press-fitted and heated (1k) to form a rubber-like elastic layer 9.
are integrally bonded and laminated, and in Fig. 3,
1o is a rib formed to improve the fluidity when press-fitting the rubber.

In the case of synthetic resin material, mounting members 6.6 are provided at both ends of metal shims 8 arranged at predetermined intervals in the mold, and molten synthetic resin material is injected between the metal shims 8. It is then cured and laminated with adhesive.

As for other implemented products, the number of metal shims 8 is //, 7
3.2j; sheet, outer diameter /, 2.7, /6. Somon, thickness is 0. O/mm, and the thickness of the rubber-like elastic layer 9 is 0. There is a model with a rigidity ratio of /F0, . 2.3
0.

It was there.

A compliance device equipped with the above-mentioned implementation product satisfies the required functions, has the desired misalignment correction function, and has stable performance.

Furthermore, no lubricant is required for the deformation of the elastic body, and no adjustment is required even during long-term use, resulting in high reliability and a long life.

The compliance device equipped with the elastic body of the present invention as described above can be assembled by, for example, inserting a bearing into a bearing box, inserting a shaft into a bearing, inserting a gear into a spline shaft, or inserting a gear into a rivet hole. insertion of,
It can be used for attaching screws to tapped holes, assembling precision parts, press-fitting, automatic transmission devices, assembly lines, etc. It can also be used for machining work, such as positioning and replacing tools, drilling and postcarding on metal plates, and reaming. It can be used for threading, tapping, polishing, etc. In addition, it can also be used for automatic measuring equipment and mold centering.

As explained above, when the elastic body of the present invention is installed in a compliance device that passively corrects positioning accuracy, the elastic body of the present invention has a large number of metal shims and rubber-like elastic body layers alternately bonded and laminated. It is possible to increase the stiffness ratio in the axial direction and the lateral direction, and it can demonstrate excellent functionality by satisfying the requirements for absorbing deformation due to misalignment, with little performance deterioration and high durability. It is something.

[Brief explanation of the drawing]

Fig. 1 is a central vertical sectional view showing an example of a compliance device, Fig. 2 is a front view showing an example of an elastic body, and Fig. 3 is a central longitudinal sectional view showing an example of a compliance device.
The left side view of the figure and FIG. 7 are partial sectional views. 1...Compliance device, 2,6...
... Base body, 4 ... Intermediate body, 5 ... Elastic body, 6 ... Mounting member, 7 ... Laminate, 8
...Metal shim, 9...Rubber-like elastic material layer procedure correction Showa era, 5! ? February 2016 / Z-day Commissioner of the Japan Patent Office Kazuo Wakasugi 1 Indication of the case Showa, 1957 Patent Application No. 7.2g'7'70 2 Name of the invention Elastic body for kelp mineance device 3 Person making the amendment Relationship to the case Patent applicant address 3-2 Meiwa-dori, Hyogo-ku, Kobe, Hyogo Prefecture/J name (506) Band-Kagaku Co., Ltd. 5 Date of amendment order (voluntary amendment) 6 Subject of amendment (1) Specification Column for detailed explanation of the invention (2) Column for brief explanation of drawings in the specification (3) Drawing (Figure 1) 7 Contents of amendment (1) Description Act Page 3, line j and page j Correct "Figure 1" in line 20 to "Figure 87 (6)". 12) Next to "Installed" in the first line of the specification page [Also, in addition to what is shown in FIG. 1(a), the compliance device 11 is shown in FIG. 1). As illustrated, for the purpose of weight reduction and compactness, the intermediate body 4 in FIG. 1 is omitted, and an elastic body A' is installed between the base body 2' on the main body side and the base body 6' on the gripper side. There is also one in which both substrates 2' and 3' are connected. Elastic body A'
The number of grippers is determined by the weight of the gripper side and the rigidity of compliance, and usually 3 to 7.2 grippers are arranged. Note that the elastic body A' is mounted so as to be inclined toward the center. ” to join. (3) Page 2 of the specification, lines 1 to ! In the line "attached," next to "attached to the bases 2', 5' of the compliance device 1' of FIG. 1(c),"
join. (4) "Figure 1" in page 2, line 1, line O and page 1, line 7.2 of the specification is corrected to ``first fixation) (c)''. (5) "Compliance device 1" on line 1/77 of the specification is corrected to "compliance device 1.1'". (6) Replace “1” in line 72 of page 1 of the specification with “1゜1”
’”. (7) r2, 3j on page 77, line 72 of the specification is “2.2
' , 5.3' Corrected to J. (8) Figure 7 of the drawings is corrected as shown in the attached sheet. 8 List of attached documents (1) One amended drawing

Claims (1)

[Claims] (1) This device is used to deform and absorb deviations in positioning accuracy in a compliance device, and a large number of plate-shaped metal shims and a rubber-like elastic layer with the same number of metal shims are interposed between the mounting members at both ends. An elastic body for a compliance device, characterized in that it has a laminate formed by bonding and laminating both parts together. L2) @ The culture medium has a thickness of θ1.2~/, a plate metal shim with θ tone, a hardness of 70~70 degrees as measured by the JIS-A type reading of a spring-type hardness tester, and a thickness of 0.2~ ．． 2. The elastic body for a compliance device according to claim 1, wherein the rubber-like elastic body layer is adhesively laminated. The laminate has a stiffness ratio between the stacking direction and the lateral direction of 20 to 20.
600, an elastic body for a compliance device according to claim 1 or 2.