JPS6020894A - Control mechanism of overload of robot - Google Patents
Control mechanism of overload of robotInfo
- Publication number
- JPS6020894A JPS6020894A JP12606683A JP12606683A JPS6020894A JP S6020894 A JPS6020894 A JP S6020894A JP 12606683 A JP12606683 A JP 12606683A JP 12606683 A JP12606683 A JP 12606683A JP S6020894 A JPS6020894 A JP S6020894A
- Authority
- JP
- Japan
- Prior art keywords
- robot
- overload
- load
- control mechanism
- flange
- 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.)
- Pending
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】
〔発明の利用分野〕
本発明は過負荷を回避し自動復帰するロボットのトルク
伝達機構に関するものである。DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to a torque transmission mechanism for a robot that avoids overload and automatically returns to its original state.
従来、ロボットには過負荷時にモーターの出力を停止し
、ロボットの破損を防止する働きをプログラムで制御し
ていたが、プログラムの暴走時には機能を果せず、トル
ク伝達径路の一部分を破損する場合が多く生じた。Conventionally, robots have been programmed to stop motor output in the event of an overload to prevent damage to the robot, but if the program runs out of control, this function may not function and a portion of the torque transmission path may be damaged. occurred a lot.
本発明は上記した、従来技術の欠点を解決し。 The present invention solves the above-mentioned drawbacks of the prior art.
過負荷時に駆動用モーターと、手先との間に予め定ｄ）
だ以」−の負荷が生じた場合には、伝達部分に滑りを生
じさせることによって負荷を回避し、伝達機構の破損を
防止し、負荷を取り除けば再び元の状態ｖｃｙ帰するト
ルクの伝達機構を提供するにある。During overload, a predetermined distance between the drive motor and the hand d)
When a load occurs, the torque transmission mechanism avoids the load by causing slippage in the transmission part, prevents damage to the transmission mechanism, and returns to its original state when the load is removed. is to provide.
ロボットの駆動モーターのトルク伝達経路の一部に調節
可能なバネ力によって、傾斜を設けた２枚の板の一方を
固定し、その間にベアリングボール又はコロ等を配置し
、一定収上の負荷が生じた場合にヘアリングボール又は
コロが移動し、傾斜を設けた板を押し開きバネをたわま
せる。負荷を取り除けは、バネ力によって再Ｏ・元の状
態に復帰され、伝達経路の破５．Ｆ４を防止するもので
ある。One of the two slanted plates is fixed by an adjustable spring force on a part of the torque transmission path of the robot's drive motor, and bearing balls or rollers are placed between them, so that a constant load can be applied. When this occurs, the hair ring ball or roller moves, pushing the sloped plate open and deflecting the spring. When the load is removed, the spring force will cause the transmission path to return to its original state, causing damage to the transmission path.5. This is to prevent F4.
第１図および第２図は本発明の一実施例であり、駆動モ
ータ（図示せず）に連結回転する軸１にキー２を介し、
歯車３がベアリング４に支持され回転する。歯車６と直
角に対向する歯車軸５はロボットアーム６との間をベア
リング７と筒８を介して回転可能な状態に保持されてい
る。歯車軸５はキー９を介し、筒８と結合されている。1 and 2 show an embodiment of the present invention, in which a key 2 is connected to a rotating shaft 1 connected to a drive motor (not shown).
A gear 3 is supported by a bearing 4 and rotates. A gear shaft 5, which faces the gear 6 at right angles, is rotatably held between the robot arm 6 and the robot arm 6 via a bearing 7 and a tube 8. The gear shaft 5 is connected to the cylinder 8 via a key 9.
その下端に設げたネジ部１０にはナツト１１［よって２
皿バネ１２が適当な値にたわむように取り付げられてい
る。１６は旋回フランジである。一端は皿バネ１２と接
触し他端は複数箇所設けた円型状の穴１４があり、ベア
リングポール１５を介し、筒８の下端に複数箇所設けた
円型状の穴１６と連結さねている。１７は部品把持用ハ
ンドであり、ボルト１８によって旋回フランジ１５に取
付けられている。このような構成において。A nut 11 [thus 2
A disc spring 12 is attached so as to be deflected to an appropriate value. 16 is a turning flange. One end contacts the disk spring 12, and the other end has a plurality of circular holes 14, which are connected via bearing poles 15 to circular holes 16 provided in multiple locations at the lower end of the cylinder 8. There is. Reference numeral 17 denotes a part gripping hand, which is attached to the swing flange 15 with bolts 18. In such a configuration.
ロボｙ）アーム６が矢印Ａ方向に旋回中１把持用ハンド
１７の一部分が障害物１９に接触した場合、旋回フラン
ジ１６は矢印Ｂ方向に押戻されるこの時、駆動用モータ
（図示せず）と連結された軸１が旋回停止した状態に保
持されていれば。Robot y) When a part of the gripping hand 17 comes into contact with an obstacle 19 while the arm 6 is turning in the direction of the arrow A, the turning flange 16 is pushed back in the direction of the arrow B. At this time, the drive motor (not shown) If the shaft 1 connected to is held in a state where it has stopped rotating.
歯車３と歯車５およびキー９を介して取付けられた筒８
は旋回停止状態である。従って、旋回フランジ１５に働
く矢印Ｂ方向のトルクが筒８と旋回フランジ１３０間に
生じている摩擦力より大きければ、旋回フランジ１６は
矢印Ｂ方向に旋回する。同時に旋回フランジ１５上に設
けられた円型状の穴１４と筒８の下端に設けられた円型
状の穴１６の位置がずれることにより、ベアリングポー
ル１５によって旋回フランジ１３が矢印Ｃ方向に押し下
げられ１皿バネ１２が更にたわむことによって、衝撃を
吸収し、障害物１夕が取り除かれれば１皿バネ１２の反
力によって旋回フランジ１５は矢印り方向に回転し元の
状態に復帰する。Gear 3 and gear 5 and cylinder 8 attached via key 9
The rotation is stopped. Therefore, if the torque acting on the swing flange 15 in the direction of the arrow B is greater than the frictional force generated between the cylinder 8 and the swing flange 130, the swing flange 16 swings in the direction of the arrow B. At the same time, the positions of the circular hole 14 provided on the rotating flange 15 and the circular hole 16 provided at the lower end of the tube 8 are shifted, so that the rotating flange 13 is pushed down by the bearing pole 15 in the direction of arrow C. As the single disc spring 12 is further bent, the impact is absorbed, and when the obstacle is removed, the swing flange 15 is rotated in the direction of the arrow by the reaction force of the single disc spring 12 and returns to its original state.
本発明によれば、ロボフトが動作中に障害物等に接触し
た場合や、可搬重量以上の物品を把持して動作しようと
した場合等に、ロボット本体の動力伝達機構等を衝撃に
より破損することなく、過負荷を吸収することができ、
且つ負荷を取り除けば自動的に元の位置復帰することが
できる等の効果がある。According to the present invention, when the robot comes into contact with an obstacle during operation, or when it tries to operate while grasping an object that exceeds its carrying weight, the power transmission mechanism of the robot body is damaged by the impact. Can absorb overload without
Another advantage is that it can automatically return to its original position when the load is removed.
第１図は本発明の一実施例のロボットに部品把持用ハン
ドを取付けた状態図、第２図は同じくロボットの腕部分
の断面図、第３図はハンドが障害物と接触して旋回フラ
ンジ回転した状態の腕部分の断面図、第４図はボールと
円型状の穴部分の拡大断面図である。
１・・・軸％ ２・・・キー、６・・・歯車、４・・・
ベアリング、５・・・歯車、６・・・ロボットアーム、
７・・・ヘアリング、８・・・筒、９・・・キー、１０
・・・ネジ部、１１・・・ナツト、１２・・・皿バネ、
１５・・・旋回フランジ、１４・・・円型状の穴、１５
・・・ベアリングポール、１６・・・円型状の穴、１７
・・・部品把持用ハンド、１８・・・ボルト。
１９・・・障害物〇
代理人弁理士 高 橋 明 夫
第 ／ 図
第 ２図
茅３ 口
茅４図
／６
（ＢFig. 1 is a state diagram of a robot according to an embodiment of the present invention with a component grasping hand attached, Fig. 2 is a cross-sectional view of the arm portion of the robot, and Fig. 3 is a swivel flange when the hand comes into contact with an obstacle. FIG. 4 is a cross-sectional view of the arm in a rotated state, and an enlarged cross-sectional view of the ball and the circular hole. 1... Axis % 2... Key, 6... Gear, 4...
Bearing, 5... Gear, 6... Robot arm,
7...hair ring, 8...tube, 9...key, 10
...Threaded part, 11...Nut, 12...Disc spring,
15...Swivel flange, 14...Circular hole, 15
...Bearing pole, 16...Circular hole, 17
...hand for grasping parts, 18...bolts. 19...Obstacle〇Representative Patent Attorney Akio Takahashi/Figure 2Kaya 3 KuchiKaya 4/6 (B
Claims (1)
干渉した場合に、ロボットの手先から駆動用モーターま
での間に一定以上の負荷が加われば滑りを生じる機構を
設けることにより、衝撃を避けて腕の破損を防止すると
共に、ロボットの位置制御用データを変化せぬように、
負荷を取り除けば再び元の位置に自動的に復帰すること
を特徴とするロボットの過負荷制御機構。[Claims] 1. For handling operations using a robot. If the robot's arms or gripped parts interfere with other devices or parts, we can prevent the impact by providing a mechanism that causes slippage if a load above a certain level is applied between the robot's hands and the drive motor. In order to avoid damage to the arm and to not change the robot's position control data,
A robot overload control mechanism that automatically returns to its original position when the load is removed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP12606683A JPS6020894A (en) | 1983-07-13 | 1983-07-13 | Control mechanism of overload of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP12606683A JPS6020894A (en) | 1983-07-13 | 1983-07-13 | Control mechanism of overload of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6020894A true JPS6020894A (en) | 1985-02-02 |
Family
ID=14925773
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP12606683A Pending JPS6020894A (en) | 1983-07-13 | 1983-07-13 | Control mechanism of overload of robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6020894A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63144989A (en) * | 1986-12-10 | 1988-06-17 | 日立金属株式会社 | Rotary drive with shock-absorbing mechanism |
| JP2007190656A (en) * | 2006-01-20 | 2007-08-02 | Fujitsu Ltd | Rotary part protecting mechanism |
-
1983
- 1983-07-13 JP JP12606683A patent/JPS6020894A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63144989A (en) * | 1986-12-10 | 1988-06-17 | 日立金属株式会社 | Rotary drive with shock-absorbing mechanism |
| JPH0448594B2 (en) * | 1986-12-10 | 1992-08-07 | Hitachi Metals Ltd | |
| JP2007190656A (en) * | 2006-01-20 | 2007-08-02 | Fujitsu Ltd | Rotary part protecting mechanism |
| JP4594246B2 (en) * | 2006-01-20 | 2010-12-08 | 富士通株式会社 | Rotating part protection mechanism |
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