JPS60207788A - Positioning device for industrial robot - Google Patents
Positioning device for industrial robotInfo
- Publication number
- JPS60207788A JPS60207788A JP5961184A JP5961184A JPS60207788A JP S60207788 A JPS60207788 A JP S60207788A JP 5961184 A JP5961184 A JP 5961184A JP 5961184 A JP5961184 A JP 5961184A JP S60207788 A JPS60207788 A JP S60207788A
- Authority
- JP
- Japan
- Prior art keywords
- hole
- industrial robot
- joint member
- positioning device
- robot arm
- 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
- Manipulator (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
〔発明の技術分野〕
本発明は産業用ロボットの位置決め装置に関するもので
ある。DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a positioning device for an industrial robot.
従来、産業用ロボットの両部材、例えばロボットアーム
と関節部材とを結合する部分では、動作時あるいは輸送
時等においてずれたシしないように両部材の組立後、通
し穴をあけ、この穴にピンを入れていた。このような従
来の位置決め装置を第１図〜第３図に示す。図において
（１）はロボットアーム、（２）は関節部材、（３）は
ロボットアーム（１）及び関節部材（２）の位置合せ部
（４） （５）の外周に１けられた円周状の嵌合部で、
第２図及び第３図に示すようにロボットアーム（１）側
は段部（６ａ）に、関節部材（２）側はこの段部（３ａ
）に密接嵌合する円環状の凸部（３ｂ）にそれぞれ形成
されている。（６）はロボットアーム（１）と関節部材
（２）を結合するためのボルトで、ロボットアーム（１
）側にボルト（６）を通すきシ穴（６ａ）を設け、関節
部材（２）側にボルト（６）がねじ込まれるねじ穴（６
ｂ）を設けている。なお、図には１個所のボルト結合個
所を代表して示しであるが、実際には円周方向に数個所
設けられている。Conventionally, in the part where two parts of an industrial robot are connected, for example, the robot arm and the joint part, a through hole is drilled and a pin is inserted into this hole after the two parts are assembled to prevent them from shifting during operation or transportation. was included. Such a conventional positioning device is shown in FIGS. 1 to 3. In the figure, (1) is the robot arm, (2) is the joint member, and (3) is the circumference of the alignment part (4) and (5) of the robot arm (1) and the joint member (2). At the shaped fitting part,
As shown in FIGS. 2 and 3, the robot arm (1) side has a stepped portion (6a), and the joint member (2) side has this stepped portion (3a).
) are respectively formed in annular convex portions (3b) that closely fit into the respective portions. (6) is a bolt for connecting the robot arm (1) and the joint member (2).
) side is provided with a hole (6a) through which the bolt (6) passes, and the joint member (2) side is provided with a screw hole (6a) into which the bolt (6) is screwed.
b). Although the figure shows one bolted connection point as a representative, in reality, several bolted connection points are provided in the circumferential direction.
（７）は１個の通し穴で、これはロボットアーム（１）
と関節部材（２）の組立後においてきシで穴あけされる
。(7) is one through hole, which is connected to the robot arm (1).
After the joint member (2) is assembled, the hole is drilled with a drill.
（８）はこの通し穴（７）に挿入された位置決めのため
のピンである。(8) is a positioning pin inserted into this through hole (7).
すなわち、従来の場合、ロボットアーム（１）と関節部
材（２）を関係位置を合せたのちボルト（６）によシ両
者を強固に結合する。しかるのち、適当な１個所に通し
穴（７）をあけ、この穴（７）にピン（８）を挿入して
組立を終了している。この場合、ロボットアーム（１）
と関節部材（２）の半径方向のずれは両者の位置合せ部
（４） （５）の外周に設けられた円周状の嵌合部（３
）、すなわち段部（３ａ）と凸部（’３ｂ）による密接
嵌合によって防止され、また回転方向のずれは通し穴（
７）に挿入されたピン（８）によって防止される。That is, in the conventional case, after the relative positions of the robot arm (1) and the joint member (2) are aligned, the two are firmly connected using the bolt (6). Thereafter, a through hole (7) is made at a suitable location and a pin (8) is inserted into this hole (7) to complete the assembly. In this case, the robot arm (1)
The deviation in the radial direction between the joint member (2) and the joint member (2) is caused by the circumferential fitting part (3) provided on the outer periphery of the alignment parts (4) and (5).
), that is, the step part (3a) and the convex part ('3b) are tightly fitted together to prevent misalignment in the rotational direction.
7).
従来装置上以上のように構成されていたため、いずれか
一方の部材を取シ替えるとそれまでの関係が変ってしま
い、また組立てた状態での穴あけは作業性が良くないと
いう欠点があった。Since the conventional apparatus was constructed as described above, there were disadvantages in that replacing one of the members would change the previous relationship, and drilling in the assembled state was not very efficient.
〔発明の概要〕
本発明は、上記の欠点を除去するためになされたもので
、一方の部材側には打込みピンを、他方の部材側には短
径がこのピンの外径に相当し長径方向が該他方の部材の
半径方向に一致する長穴をそれぞれ設けておくことによ
シ、両部材の位置決めが容易にできる産業用ロボットの
位置決め装置を提供しようとするものである。[Summary of the Invention] The present invention has been made to eliminate the above-mentioned drawbacks, and has a driving pin on one member side, and a driving pin on the other member side whose short diameter corresponds to the outer diameter of the pin and whose long diameter corresponds to the outside diameter of the pin. The object of the present invention is to provide a positioning device for an industrial robot that can easily position both members by providing elongated holes whose directions coincide with the radial direction of the other member.
以下、本発明の一実施例を図によシ説明する。 Hereinafter, one embodiment of the present invention will be explained with reference to the drawings.
第４図はこの実施例の断面図で、第１図に対応するもの
である。第５図及び第６図はそれぞれ各部材の断面図（
ａ）と正面図（ｂ）を第２図及び第６図に対応させて示
しである。第４図〜第６図において第１図〜第３図のも
のと同一部分は同一の符号を付して説明は省略する。FIG. 4 is a sectional view of this embodiment, and corresponds to FIG. 1. Figures 5 and 6 are cross-sectional views of each member (
Fig. 6a) and front view (b) are shown in correspondence with Figs. 2 and 6; In FIGS. 4 to 6, parts that are the same as those in FIGS. 1 to 3 are designated by the same reference numerals, and explanations thereof will be omitted.
一方の部材、すなわちロボットアーム（１）の位置合せ
部（４）にはピン（８）を打込むための穴（９）をリー
マ等によ＃）あらかじめ高精度にあけておく。A hole (9) for driving a pin (8) into one member, that is, a positioning portion (4) of the robot arm (1), is pre-drilled with high precision using a reamer or the like.
他方の部材、すなわち関節部材（２）の位置合せ部（５
）には穴（９）とｉｔぼ対応する位置に短径がピン（９
）の外径に相当しく両者間に微小な隙間ができる程度に
ピン径よシ少し大きくする）、かつ長径方向が関節部材
（２）の半径方向に一致する長穴αＱを同様にあらかじ
め設けておく。長穴αＱの長径は嵌合部（３）の加工誤
差を吸収し得るよう多少余裕のある長さとする。そして
、ロボットアーム（１）と関節部材（２）の組立時に、
ロボットアーム（１）側に設けられた穴（９）にピン（
８）を打込み、このピン（８）を関節部材（２）側に設
けられた長穴（ト）に嵌入すれば、従来装置と同様に両
部材の位置決めを行うことができる。すなわち、ピン（
８）と長穴αＱの嵌合によシ両部材の回転方向のずれを
、嵌合部（３）の密接嵌合によシ半径方向のずれをそれ
ぞれ防止するとと゛ができる。しかも本発明においては
、位置決めのための穴あけ加工を部品段階で行うことが
でき、一方の部材の取替えによシ関係位置が変ることも
なく互換性が得られる。The alignment part (5) of the other member, i.e., the joint member (2)
) has a pin (9) whose short diameter corresponds to the hole (9).
), and the long diameter direction coincides with the radial direction of the joint member (2). put. The long axis of the elongated hole αQ is set to a length with some margin so as to absorb machining errors of the fitting portion (3). Then, when assembling the robot arm (1) and the joint member (2),
Insert the pin (into the hole (9) provided on the robot arm (1) side
8) and inserting this pin (8) into the elongated hole (G) provided on the joint member (2) side, it is possible to position both members in the same manner as in the conventional device. That is, the pin (
8) and the elongated hole αQ can prevent displacement in the rotational direction of both members, and the close fit of the fitting portion (3) can prevent displacement in the radial direction. Moreover, according to the present invention, hole drilling for positioning can be performed at the component stage, and compatibility can be achieved without changing the relative position even if one member is replaced.
以上のように本発明によれば、位置決めのための穴あけ
加工が部品段階で行え、しかも互換性があるため産業用
ロボットの部材間の位置決めが容易、簡単になるという
効果がある。As described above, according to the present invention, hole drilling for positioning can be performed at the component stage, and since the parts are compatible, positioning between members of an industrial robot can be easily and easily performed.
第１図は従来の産業用ロボットの位置決め装置の断面図
、第２図はロボットアーム側の状態を示し、同図（ａ）
は断面図、同図（ｂ）は正面図、第６図は関節部材側の
状態を示し、同図（ａ）は断面図・同図（ｂ）は正面図
である。第４図は本発明の実施例を示す断面図、第５図
はロボットアーム側の状態を示し、同図（ａ）は断面図
、同図（ｂ）は正面図、第６図は関節部材側の状態を示
し、同図（ａ）は断面図、同図（ｂ）は正面図である。
（１）：ロボットアーム、（２）：関節部材、（３）：
嵌合部、＜４）（５） ：位置合せ部、（８）二打込み
ピン、α０：長穴。
なお、図中同一符号は同一、又は相当部分を示す。
代理人 弁理士 木材 三 朗
第１図
第３図Figure 1 is a sectional view of a conventional positioning device for an industrial robot, and Figure 2 shows the state of the robot arm.
is a sectional view, FIG. 6(b) is a front view, FIG. 6 shows the state of the joint member side, FIG. 6(a) is a sectional view, and FIG. 6(b) is a front view. FIG. 4 is a sectional view showing an embodiment of the present invention, FIG. 5 is a state of the robot arm side, FIG. 4(a) is a sectional view, FIG. 6(b) is a front view, and FIG. 6 is a joint member. The state of the side is shown, with FIG. 6(a) being a cross-sectional view and FIG. 2(b) being a front view. (1): Robot arm, (2): Joint member, (3):
Fitting part, <4) (5): Aligning part, (8) Two driving pins, α0: Long hole. Note that the same reference numerals in the figures indicate the same or equivalent parts. Agent Patent Attorney Sanro Mokuwa Figure 1 Figure 3
Claims (1)
る円周状の嵌合部を設け、前記部材の一方の位置合せ部
に打込みピンを他方の部材の位置合せ部に短径が前記打
込みピンの外径に相当し長径方向が該部材の半径方向に
一致する長穴をそれぞれ設けたことを特徴とする産業用
ロボットの位置決め装置。A circumferential fitting portion that closely fits each other is provided in the alignment portions of both members of the industrial robot, and a driving pin is inserted into the alignment portion of one of the members, and a short diameter is inserted into the alignment portion of the other member. A positioning device for an industrial robot, characterized in that elongated holes are provided, each of which corresponds to the outer diameter of the driving pin and whose major axis direction coincides with the radial direction of the member.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5961184A JPS60207788A (en) | 1984-03-29 | 1984-03-29 | Positioning device for industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5961184A JPS60207788A (en) | 1984-03-29 | 1984-03-29 | Positioning device for industrial robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS60207788A true JPS60207788A (en) | 1985-10-19 |
| JPH0141477B2 JPH0141477B2 (en) | 1989-09-05 |
Family
ID=13118214
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5961184A Granted JPS60207788A (en) | 1984-03-29 | 1984-03-29 | Positioning device for industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60207788A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2019118978A (en) * | 2017-12-28 | 2019-07-22 | ファナック株式会社 | Robot fixation system and robot |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5838609U (en) * | 1981-09-07 | 1983-03-14 | 三菱重工業株式会社 | Storage facility using used ships |
| JPS58218145A (en) * | 1982-06-11 | 1983-12-19 | Fujitsu Ltd | Positioning method of sintered body |
| JPS598792U (en) * | 1982-07-06 | 1984-01-20 | 三菱電機株式会社 | Industrial robot working arm |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS598792B2 (en) * | 1977-05-17 | 1984-02-27 | 松下電工株式会社 | Bad Teri Chietska |
-
1984
- 1984-03-29 JP JP5961184A patent/JPS60207788A/en active Granted
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5838609U (en) * | 1981-09-07 | 1983-03-14 | 三菱重工業株式会社 | Storage facility using used ships |
| JPS58218145A (en) * | 1982-06-11 | 1983-12-19 | Fujitsu Ltd | Positioning method of sintered body |
| JPS598792U (en) * | 1982-07-06 | 1984-01-20 | 三菱電機株式会社 | Industrial robot working arm |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2019118978A (en) * | 2017-12-28 | 2019-07-22 | ファナック株式会社 | Robot fixation system and robot |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0141477B2 (en) | 1989-09-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US3150506A (en) | Flexible coupling | |
| JPS58102825A (en) | Connecting structure of member | |
| US3492710A (en) | Mounting of a bearing in a bore | |
| JPS60129426A (en) | Shaft coupling | |
| JPS60207788A (en) | Positioning device for industrial robot | |
| JPH037808B2 (en) | ||
| JPH08284921A (en) | Joining structure | |
| JPH0118594Y2 (en) | ||
| JPH0740146Y2 (en) | Branch connection pipe fitting for ribbed pipe | |
| JP4168007B2 (en) | motor | |
| JPH033865A (en) | Device for combining rotating machine spindle with tool carrier | |
| JPH0357098Y2 (en) | ||
| JP2534570Y2 (en) | Lock ring for cutting tube | |
| JPS622333Y2 (en) | ||
| JPS61275707A (en) | Optical fiber connector structure | |
| JPS58225208A (en) | Knock pin apparatus of flange clamp part | |
| JPS6243087A (en) | Floating mechanism for connector | |
| JPS59142008A (en) | Method of machining positioning hole for connecting divided coaxial casing | |
| JPH0125745Y2 (en) | ||
| JPS6029006U (en) | Assembly type tool holder | |
| IE50556B1 (en) | Universal joint member manufacture | |
| JPH0814089B2 (en) | Bridge pipe repair pipe | |
| JPS6336843Y2 (en) | ||
| JPH0535217Y2 (en) | ||
| KR20030005620A (en) | Dowel pin for jig |