JPS6149078B2 - - Google Patents
Info
- Publication number
- JPS6149078B2 JPS6149078B2 JP57163067A JP16306782A JPS6149078B2 JP S6149078 B2 JPS6149078 B2 JP S6149078B2 JP 57163067 A JP57163067 A JP 57163067A JP 16306782 A JP16306782 A JP 16306782A JP S6149078 B2 JPS6149078 B2 JP S6149078B2
- Authority
- JP
- Japan
- Prior art keywords
- spring assembly
- parallel plate
- support device
- parallel
- plate spring
- 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.)
- Expired
Links
- 238000006073 displacement reaction Methods 0.000 claims description 17
- 230000001105 regulatory effect Effects 0.000 claims description 7
- 230000000712 assembly Effects 0.000 claims description 6
- 238000000429 assembly Methods 0.000 claims description 6
- 210000000707 wrist Anatomy 0.000 description 26
- 238000005516 engineering process Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000013011 mating Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Description
【発明の詳細な説明】
(1) 発明の技術分野
本発明は、第１の部材と、前記第１の部材に弾
性体を介して支持される第２の部材とを備えると
共に、前記弾性体が、一端が前記第１の部材に接
続される一対の第１の平行板ばねと、一端が前記
第２の部材に接続される一対の第２の平行板ばね
と、前記第１の平行板ばねの他端が接続され、且
つ前記第２の平行板ばねの他端が前記第１の平行
板ばねの変位方向と直交するように接続される接
続部材とを少なくとも備えた支持装置の構造の改
良に関するものである。Detailed Description of the Invention (1) Technical Field of the Invention The present invention includes a first member, a second member supported by the first member via an elastic body, and a second member supported by the first member via an elastic body. a pair of first parallel leaf springs having one end connected to the first member, a pair of second parallel leaf springs having one end connected to the second member, and the first parallel leaf spring. The structure of a support device includes at least a connecting member to which the other end of the spring is connected, and the other end of the second parallel leaf spring is connected perpendicularly to the displacement direction of the first parallel leaf spring. It is about improvement.
(2) 技術の背景
近年、各種製品の製造の自動化を図るため工場
の組立ライン上に工業用ロボツトが導入されてい
る。このような工業用ロボツトを用いて、部材を
孔内に挿入する嵌入ハメ合い作業を行わせる場
合、ハメ合い公差がミクロン単位の精度の高いハ
メ合い作業においてはハメ合い部材同士の位置合
せを正確に行わないと挿入作業が円滑に行われず
部材が損傷するおそれがある。従つて、高精度の
嵌入ハメ合い作業を円滑に達成するための位置合
せ制御が容易なロボツトが要望されている。(2) Background of the technology In recent years, industrial robots have been introduced on factory assembly lines to automate the manufacturing of various products. When such industrial robots are used to perform fitting fitting work in which parts are inserted into holes, it is necessary to accurately align the fitting parts with each other in the fitting work where fitting tolerances are in the micron level. If it is not done properly, the insertion work will not be carried out smoothly and there is a risk of damage to the member. Therefore, there is a need for a robot that can easily control positioning in order to smoothly accomplish highly accurate fitting work.
(3) 従来技術と問題点
従来使用されているハメ合い作業用ロボツトは
アーム先端に挿入すべき部材を掴むハンドを有
し、アームの水平移動により部材を挿入すべき孔
上に位置させ次いでアームの垂直移動により部材
を孔内に嵌合させるものである。従来のロボツト
においては、ハンドはアームの先端に剛体的に固
定されており、嵌合すべき部材同士の位置がわず
かでも狂えば挿入は困難となり、また部材が損傷
する場合があつた。従つて、アームの位置決めを
制御するために高精度の制御機構を必要としロボ
ツトの価格が高価なものとなつていた。(3) Conventional technology and problems Conventionally used fitting robots have a hand at the tip of the arm that grasps the component to be inserted, and by horizontally moving the arm, the robot positions the component over the hole to be inserted, and then the arm vertical movement of the hole causes the member to fit into the hole. In conventional robots, the hand is rigidly fixed to the tip of the arm, and if the positions of the members to be fitted are even slightly misaligned, insertion becomes difficult and the members may be damaged. Therefore, a highly accurate control mechanism is required to control the positioning of the arm, making the robot expensive.
このため、例えば特開昭50−8255号公報に示さ
れるようにハンドをアームに対して柔軟に結合
し、Ｘ−Ｙ平面内を移動可能にするために、ハン
ドを２つのＣ形状バネで支持するように構成した
ものが提案されている。 For this reason, for example, as shown in Japanese Patent Application Laid-open No. 50-8255, in order to flexibly connect the hand to the arm and make it movable in the X-Y plane, the hand is supported by two C-shaped springs. A system configured to do so has been proposed.
しかしながら、このような構成においては、Ｘ
−Ｙ平面内を移動可能とする柔軟機構として、２
つのＣ形状バネを使用するので、柔軟機構の大き
さがＣ形状バネ２つ分の長さをとなり、Ｃ形状バ
ネをそれぞれ支持する部分を加えるとかなり大型
化してしまうという欠点があつた。 However, in such a configuration,
- As a flexible mechanism that allows movement within the Y plane, 2
Since two C-shaped springs are used, the size of the flexible mechanism is the same as the length of two C-shaped springs, and if parts supporting each C-shaped spring are added, the size becomes quite large.
(4) 発明の目的
本発明は上記従来技術の欠点に鑑みなされたも
のであつて、ハメ合いの位置合わせに高精度制御
を必要とすることなく、容易に確実にハメ合い作
業を行なうことのできる安価で且つ小型の支持装
置の提供を目的とする。(4) Purpose of the Invention The present invention has been made in view of the above-mentioned shortcomings of the prior art. The purpose of the present invention is to provide a support device that is inexpensive and compact.
(5) 発明の構成
そしてこの目的は、第１の部材と、第１と第２
の取付部材を有する弾性体とを含み、該弾性体は
該第１の取付部材を介して該第１の部材に支持さ
れ、該第２の取付部材を介して第２の部材を支持
するように構成された支持装置であつて、
前記弾性体は、一端が前記第１の取付部材に接
続される互いに平行な板ばねからなる第１の平行
板バネ組体と、一端が前記第２の取付部材に接続
される互いに平行な板バネからなる第２の平行板
バネ組体と、該第１の平行板バネ組体の他端が接
続され、且つ該第２の平行板バネ組体の他端が該
第１の平行板バネ組体の変位方向に対し該第２の
平行板バネ組体の変位方向と直交するように接続
される前記第１、第２の平行板バネ組体他端同士
を共通に取付けるための矩形の接続部材とを含
み、前記第１の平行板バネ組体他端は該矩形接続
部材の対向する２辺上に固定し、前記第２の平行
板バネ組体他端は別の対向する２辺上に固定して
成ると共に、
前記第１と第２の平行板バネ組体は、前記各部
材の空間的な配置が第２の取付部材、第１の取付
部材、接続部材の順となるように前記接続部材に
接続されて成ることを特徴とする支持装置により
達成される。(5) Structure of the invention And this purpose is to
an elastic body having a mounting member, the elastic body being supported by the first member via the first mounting member and supporting the second member via the second mounting member. The support device is configured such that the elastic body includes a first parallel leaf spring assembly consisting of parallel leaf springs whose one end is connected to the first mounting member, and a first parallel leaf spring assembly whose one end is connected to the second mounting member. A second parallel plate spring assembly consisting of mutually parallel plate springs connected to the mounting member is connected to the other end of the first parallel plate spring assembly, and the second parallel plate spring assembly is connected to the second parallel plate spring assembly. The first and second parallel plate spring assemblies, etc., whose other ends are connected such that the displacement direction of the first parallel plate spring assembly is perpendicular to the displacement direction of the second parallel plate spring assembly. a rectangular connecting member for commonly attaching the ends, the other end of the first parallel plate spring assembly is fixed on two opposing sides of the rectangular connecting member, and the second parallel plate spring assembly is fixed to the second parallel plate spring assembly. The other end of the body is fixed on two other opposing sides, and the first and second parallel plate spring assemblies are configured such that the spatial arrangement of each member is such that the second mounting member, the first This is achieved by a support device characterized in that the mounting member is connected to the connecting member in this order.
(6) 発明の実施例
以下本発明に係る支持装置の実施例を図面を用
いて詳細に説明する。(6) Embodiments of the invention Hereinafter, embodiments of the support device according to the present invention will be described in detail with reference to the drawings.
尚、以下の実施例の説明においてはロボツトの
場合について説明する。 In the following description of the embodiment, a case of a robot will be explained.
第１図は本発明に係るロボツトの手首の一例の
斜視図である。手首１はＸ方向に変位可能な平行
板バネ３ａ，３ｂおよびＸ方向と直交するＹ方向
に変位可能な平行板バネ４ａ，４ｂにより構成さ
れる。各平行板バネ３ａ，３ｂ，４ａ，４ｂの上
端は正方形の共通取付台２の各辺上にネジ１０に
より着脱可能に固定される。Ｘ方向平行板バネ３
ａ，３ｂの下端はネジ１０により取付台６に固定
され、Ｙ方向平行板バネ４ａ，４ｂの下端はネジ
１０により別の取付台５に固定される。手首１の
上方に位置する図示しないアームとの連結棒７が
Ｙ方向平行板バネ４ａ，４ｂの下端取付台５に固
定され、この連結棒７は平行板バネ３ａ，３ｂ，
４ａ，４ｂの上端の共通取付台２の貫通孔８を介
してアームと連結される。９はアームとの連結用
ネジ孔である。Ｘ方向板バネ３ａ，３ｂおよびＹ
方向板バネ４ａ，４ｂはそれの交換により任意の
バネ定数を得るべくネジ１０により各取付台２，
５，６に締結されている。このような手首とアー
ムとの連結棒７に力Ｆが加わるとその分力ＰX，
ＰYに応じてＸ方向平行板バネ３ａ，３ｂおよび
Ｙ方向平行板バネ４ａ，４ｂが変形してこの力Ｆ
を吸収する。この場合、貫通孔８の径の大きさに
よつて連結棒７の可動範囲が定まるため、平行板
バネの変位は貫通孔８に規制される。 FIG. 1 is a perspective view of an example of a wrist of a robot according to the present invention. The wrist 1 is composed of parallel leaf springs 3a, 3b that are movable in the X direction and parallel leaf springs 4a, 4b that are movable in the Y direction orthogonal to the X direction. The upper end of each parallel plate spring 3a, 3b, 4a, 4b is removably fixed on each side of the square common mounting base 2 with screws 10. X direction parallel plate spring 3
The lower ends of the Y-direction parallel leaf springs 4 a and 4 b are fixed to another mounting base 5 using screws 10 . A connecting rod 7 connected to an arm (not shown) located above the wrist 1 is fixed to a lower end mounting base 5 of the parallel plate springs 4a, 4b in the Y direction.
It is connected to the arm through the through hole 8 of the common mounting base 2 at the upper end of 4a and 4b. 9 is a screw hole for connection with the arm. X-direction leaf springs 3a, 3b and Y
The directional plate springs 4a, 4b are attached to each mounting base 2,
5 and 6 have been concluded. When a force F is applied to the connecting rod 7 between the wrist and the arm, the corresponding force P x ,
The parallel plate springs 3a, 3b in the X direction and the parallel plate springs 4a, 4b in the Y direction are deformed in accordance with P Y , and this force F
absorb. In this case, since the movable range of the connecting rod 7 is determined by the diameter of the through hole 8, the displacement of the parallel plate spring is regulated by the through hole 8.
第２図は本発明に係る手首１の別の例の斜視図
である。この例においては、各平行板バネ３ａ，
３ｂ４ａ，４ｂの下端取付台６，５は第３図に示
すようにコ字形であつて各々コ字形凹部６ａ，５
ａを有する。各取付台５，６は凹部同士を対面さ
せ、各取付台が相手側の取付台の凹部内に入り込
むように相互に直交させて配置される。各取付台
の凹部の幅W1とこれに入り込む相手側の取付台
の幅W2との差により各取付台のＸ，Ｙ方向の可
動範囲が定まり平行板バネの変位が規制される。
この例においては各平行板バネ３ａ，３ｂ，４
ａ，４ｂの長さLxおよびLyは等しい。よつて１
種類のバネ形状によりＸ，Ｙ方向で同じバネ定数
が得られる。その他の構成、作用については第１
図の例と同様である。 FIG. 2 is a perspective view of another example of the wrist 1 according to the present invention. In this example, each parallel leaf spring 3a,
The lower end mounting bases 6 and 5 of 3b4a and 4b are U-shaped as shown in FIG.
It has a. The mounts 5 and 6 are arranged so that their recesses face each other and are orthogonal to each other so that each mount fits into the recess of the other mount. The movable range of each mount in the X and Y directions is determined by the difference between the width W 1 of the concave portion of each mount and the width W 2 of the mating mount inserted therein, and the displacement of the parallel leaf spring is regulated.
In this example, each parallel plate spring 3a, 3b, 4
The lengths Lx and Ly of a and 4b are equal. Yotsute 1
Depending on the type of spring shape, the same spring constant can be obtained in the X and Y directions. For other configurations and functions, please refer to Part 1.
This is similar to the example in the figure.
第４図は本発明に係る手首１のさらに別の例の
斜視図である。この例においては、Ｘ方向平行板
バネ３ａ，３ｂの長さLxとＹ方向平行板バネ４
ａ，４ｂの長さLyとを等しくするために共通取
付台２の取付位置をＸ方向とＹ方向とで段差を設
けたものである。その他の構成、作用については
第１図の例と同様である。 FIG. 4 is a perspective view of still another example of the wrist 1 according to the present invention. In this example, the length Lx of the parallel leaf springs 3a and 3b in the X direction and the parallel leaf spring 4 in the Y direction are
In order to make the lengths Ly of a and 4b equal, the mounting position of the common mounting base 2 is stepped in the X direction and the Y direction. The other configurations and operations are the same as those in the example shown in FIG.
このような平行バネ組体からなる手首１を用い
たロボツト１４の例を第５図に示す。アーム１５
およびハンド１６間に手首１が設けられる。アー
ム１５は矢印Ｅのように正逆回転可能でありまた
矢印Ｆのように伸縮可能であつて、所定の場所で
ハンド１６が丸棒１７を掴み、これを嵌入すべき
部材１８の孔１９の上方位置に移動させ、次いで
アーム１５の矢印Ｇ方向に垂直変位により丸棒１
７を孔１９内に挿入する。孔１９の入口周縁には
テーパ面からなる面取り２０が施されている。丸
棒１７と孔１９との位置合せが面取り２０の範囲
内でずれている場合（第６図）、アーム１５を下
降させれば丸棒１７は面取り２０のテーパ面に当
接する。さらにアーム１５を下降させようとすれ
ば、丸棒１７にＨ方向の力が加わりこれに応じて
手首１にはずれた位置に応じて水平方向にＸ方
向、Ｙ方向の力が加わる。従つて手首１の各平行
板バネがＸ方向およびＹ方向に変位し、丸棒１７
は第７図に示すように面取り２０のテーパ面を摺
動し孔１９に嵌入する。なお、第７図ではＸ方向
の変位のみ図示してある。 An example of a robot 14 using a wrist 1 made of such a parallel spring assembly is shown in FIG. Arm 15
and the wrist 1 is provided between the hands 16. The arm 15 can be rotated forward and backward as shown by the arrow E, and can be extended and contracted as shown by the arrow F, and the hand 16 grasps the round bar 17 at a predetermined location and inserts it into the hole 19 of the member 18 into which it is to be inserted. the round bar 1 by vertically displacing the arm 15 in the direction of arrow G.
7 into the hole 19. A chamfer 20 consisting of a tapered surface is provided at the entrance periphery of the hole 19. If the alignment between the round bar 17 and the hole 19 is misaligned within the range of the chamfer 20 (FIG. 6), when the arm 15 is lowered, the round bar 17 will come into contact with the tapered surface of the chamfer 20. When the arm 15 is further lowered, a force is applied to the round bar 17 in the H direction, and in response, a force is applied to the wrist 1 in the horizontal direction in the X direction and the Y direction depending on the position of the wrist 1. Therefore, each parallel plate spring of the wrist 1 is displaced in the X direction and the Y direction, and the round bar 17
slides on the tapered surface of the chamfer 20 and fits into the hole 19 as shown in FIG. In addition, in FIG. 7, only the displacement in the X direction is illustrated.
第８図は本発明に係るロボツトの手首のさらに
別の例の斜視図である。前述の例の手首の平行板
バネ３ａ，３ｂ，４ａ，４ｂからなる平行バネ組
体の下部に十字を形成する板バネ２２，２３から
なる十字バネ２１を設けこの十字バネ２１を介し
てハンド（図示しない）が連結される。この十字
バネ２１は板バネ２２の曲げ変形と２３の捩り変
形により手首１の軸がＸ軸廻りにα方向に角度変
位可能であり、また板バネ２３の曲げ変形と２２
の捩り変形によりＹ軸廻りにβ方向に角度変位可
能であり、さらにＸ，Ｙ方向に直交するＺ方向に
も変位可能である。平行バネ組体はＸ，Ｙの２方
向に変位可能であるため、平行バネ組体と十字バ
ネを組合せた手首は５自由度をもつコンプライア
ンス機構を構成する。このような手首の下端部の
詳細図を第９図および第１０図に示す。前述のよ
うに、平行バネ組体の下端部の両取付台５，６に
はコ字形の凹部が形成され、この凹部の幅とこれ
に入り込む相手側の取付台の幅との差に基くギヤ
ツプ２５，２６によりアームに対するハンドのＸ
方向およびＹ方向の可動範囲（Sx，Sy）が定ま
る。また、両取付台５，６の上下方向のギヤツプ
２７によりアームに対するハンドのＺ方向の可動
範囲（Sz）が定まる。 FIG. 8 is a perspective view of still another example of the robot wrist according to the present invention. A cross spring 21 consisting of plate springs 22 and 23 forming a cross is provided at the bottom of the parallel spring assembly consisting of the parallel plate springs 3a, 3b, 4a, and 4b of the wrist in the above-mentioned example. (not shown) are connected. This cross spring 21 allows the axis of the wrist 1 to be angularly displaced in the α direction around the X axis due to the bending deformation of the leaf spring 22 and the torsional deformation of the leaf spring 23.
Due to the torsional deformation of , it can be angularly displaced around the Y axis in the β direction, and can also be displaced in the Z direction orthogonal to the X and Y directions. Since the parallel spring assembly can be displaced in two directions, X and Y, the wrist, which is a combination of the parallel spring assembly and the cross spring, constitutes a compliance mechanism with five degrees of freedom. Detailed views of the lower end of such a wrist are shown in FIGS. 9 and 10. As mentioned above, U-shaped recesses are formed in both the mounting bases 5 and 6 at the lower end of the parallel spring assembly, and the gap is formed based on the difference between the width of this recess and the width of the mating mounting base that fits into the recess. 25, 26 makes the X of the hand relative to the arm
The movable range (Sx, Sy) in the direction and Y direction is determined. Further, the vertical gap 27 of both the mounting bases 5 and 6 determines the movable range (Sz) of the hand relative to the arm in the Z direction.
このような５自由度の変位可能な手首を構成す
る各板バネに歪ゲージ等の力検出器を貼付し、こ
の歪ゲージの出力により各方向の力および変位を
検出し、この変位量、即ちロボツトのハンドの位
置ずれおよび角度ずれに応じてロボツトの位置を
フイーバツク制御することができる。歪ゲージは
各板バネの最大変形位置に貼ることが望ましく、
Ｘ方向およびＹ方向の平行板バネ３ａ，３ｂ，４
ａ，４ｂには第１１図および第１２図に示すよう
に歪ゲージ２４を各板バネの上端部および下端部
に貼付し、十字バネ２１に対しては第１３図に示
すように歪ゲージ２４を十字に形成する各板バネ
２２，２３の中央部近傍に貼付する。 A force detector such as a strain gauge is attached to each leaf spring that makes up the wrist that can be displaced with five degrees of freedom, and the output of this strain gauge is used to detect the force and displacement in each direction, and the amount of displacement, i.e. The position of the robot can be feedback-controlled in accordance with the positional and angular deviations of the robot's hand. It is desirable to attach the strain gauge to the maximum deformation position of each leaf spring.
Parallel leaf springs 3a, 3b, 4 in the X and Y directions
a, 4b, strain gauges 24 are attached to the upper and lower ends of each leaf spring as shown in FIGS. 11 and 12, and for the cross spring 21, a strain gauge 24 is attached as shown in FIG. is pasted near the center of each leaf spring 22, 23 forming a cross.
(7) 発明の効果
以上説明したように、本発明においては、ロボ
ツトのアームとハンドとの連結部にアームに対す
るハンドの位置ずれおよび角度のずれ等の変位を
可能とする機械的コンプライアンス機構の手首を
設けているため、ハメ合い作業を行う場合に、高
精度で高価な位置決め制御機構を用いることな
く、ハメ合い位置合せ制御がラフであつても円滑
なハメ合い作業が達成され、位置ずれに基く部材
の損傷は防止される。また、手首を構成する各板
バネのＸ，Ｙ，Ｚ方向の変位量を規制する手段を
有しているため、過大変位した場合の座屈応力に
よる板バネの破損等が防止され信頼性の高いコン
プライアンス機能が得られる。(7) Effects of the Invention As explained above, in the present invention, a wrist of a mechanical compliance mechanism is provided at the connection portion between the arm and the hand of the robot, which enables displacement such as positional deviation and angular deviation of the hand with respect to the arm. Because of the provision of the Damage to the underlying member is prevented. In addition, since it has a means for regulating the amount of displacement in the X, Y, and Z directions of each leaf spring that makes up the wrist, damage to the leaf springs due to buckling stress in the event of excessive displacement is prevented and reliability is improved. This provides high compliance functionality.
更に、本発明においては、第１の平行板バネ組
体である平行板バネ４ａ，４ｂと第２の平行板バ
ネ組体である平行板バネ３ａ，３ｂとを接続部材
である共通取付台２に対し、空間的な配置が第２
の取付部材である取付台６、第１の取付部材であ
る下端取付台５、接続部材である共通取付台２の
順となるように接続しているので、第１と第２の
平行板バネ組体の高さを各平行板バネ４ａ等の長
さと略同じにすることができ、小型化することが
可能となる。 Furthermore, in the present invention, the parallel plate springs 4a, 4b, which are the first parallel plate spring assembly, and the parallel plate springs 3a, 3b, which are the second parallel plate spring assembly, are connected to a common mounting base 2, which is a connecting member. On the other hand, the spatial arrangement is the second
The mounting base 6, which is the mounting member for The height of the assembly can be made approximately the same as the length of each parallel plate spring 4a, etc., and it is possible to downsize the assembly.
第１図および第２図は本発明に係るロボツトの
手首の各別の例の斜視図、第３図は第２図の手首
の部分詳細図、第４図は本発明に係るロボツトの
手首の別の例の斜視図、第５図は本発明に係るロ
ボツトの一例の斜視図、第６図および第７図は
各々本発明に係るロボツトのハメ合い作業状態を
示す断面図、第８図は本発明に係るロボツトの手
首のさらに別の例の斜視図、第９図および第１０
図は第８図の手首の各別方向での部分断面図、第
１１図から第１３図までは各々第８図に示した手
首の各板バネの歪ゲージ貼付状態を示す分解斜視
図である。
１……手首、２……共通取付台、３ａ，３ｂ，
４ａ，４ｂ……平行板バネ、５，６……取付台、
７……連結棒、８……貫通孔、５ａ，６ａ……凹
部。
1 and 2 are perspective views of different examples of the wrist of the robot according to the present invention, FIG. 3 is a partial detailed view of the wrist of FIG. 2, and FIG. 4 is a diagram of the wrist of the robot according to the present invention. FIG. 5 is a perspective view of another example of the robot according to the present invention; FIGS. 6 and 7 are cross-sectional views showing the robot according to the present invention in a fitting operation state; FIG. Perspective views of still another example of the robot wrist according to the present invention, FIGS. 9 and 10
The figure is a partial sectional view of the wrist in FIG. 8 taken in different directions, and FIGS. 11 to 13 are exploded perspective views showing the strain gauges attached to each leaf spring of the wrist shown in FIG. 8. . 1...Wrist, 2...Common mounting base, 3a, 3b,
4a, 4b...parallel plate spring, 5, 6...mounting base,
7... Connection rod, 8... Through hole, 5a, 6a... recess.
Claims (1)
る弾性体とを含み、該弾性体は該第１の取付部材
を介して該第１の部材に支持され、該第２の取付
部材を介して第２の部材を支持するように構成さ
れた支持装置であつて、 前記弾性体は、一端が前記第１の取付部材に接
続される互いに平行な板ばねからなる第１の平行
板バネ組体と、一端が前記第２の取付部材に接続
される互いに平行な板バネからなる第２の平行板
バネ組体と、該第１の平行板バネ組体の他端が接
続され、且つ該第２の平行板バネ組体の他端が該
第１の平行板バネ組体の変位方向に対し該第２の
平行板バネ組体の変位方向と直交するように接続
される前記第１，第２の平行板バネ組体他端同士
を共通に取付けるための矩形の接続部材とを含
み、前記第１の平行板バネ組体他端は該矩形接続
部材の対向する２辺上に固定し、前記第２の平行
板バネ組体他端は別の対向する２辺上に固定して
成ると共に、 前記第１と第２の平行板バネ組体は、前記各部
材の空間的な配置が第２の取付部材、第１の取付
部材、接続部材の順となるように前記接続部材に
接続されて成ることを特徴とする支持装置。 ２ 前記第１の取付部材は、前記第１の部材と連
結するため連結手段を備え、該連結手段により前
記接続部材の次の位置となるように配置された前
記第１の部材に連結されて成ることを特徴とする
特許請求の範囲第１項記載の支持装置。 ３ 前記連結手段は、棒部材で構成され、該棒部
材が前記接続部材に設けられた貫通孔を貫通する
ように配置されて成ることを特徴とする特許請求
の範囲第２項記載の支持装置。 ４ 前記貫通孔内面と前記棒部材外面間の空隙に
より当該棒部材の可動範囲を定めて移動規制手段
を構成したことを特徴とする特許請求の範囲第３
項記載の支持装置。 ５ 前記第１の平行板バネ組体と前記第２の平行
板バネ組体は、その他端側で他方の平行板バネ組
体の変位を規制する変位規制手段を備えて成るこ
とを特徴とする特許請求の範囲第１項記載の支持
装置。 ６ 前記変位規制手段は、前記第１の取付部材と
前記第２の取付部材に、それぞれ取付けられる平
行板バネ組体の変位方向と直交する方向に沿つて
形成された凹状溝を設け、該凹状溝の底部が互い
に対向するように配置することにより構成されて
成ることを特徴とする特許請求の範囲第５項記載
の支持装置。 ７ 前記接続部材は、前記第１と第２の平行板バ
ネ組体の板バネの長さが同一となるように段差を
有することを特徴とする特許請求の範囲第１項記
載の支持装置。 ８ 前記第１と第２の取付部材は、前記凹状溝を
対向させた際に、前記第１と第２の平行板バネ組
体の板バネの長さが同一となるように構成されて
成ることを特徴とする特許請求の範囲第６項記載
の支持装置。 ９ 前記第２の部材が物品を把持するハンドであ
り、前記第１の部材が該ハンドを所定の位置に移
動させるアームであることを特徴とする特許請求
の範囲第１項から第８項までのいずれか１項記載
の支持装置。[Scope of Claims] 1 The elastic body includes a first member and an elastic body having first and second attachment members, and the elastic body is supported by the first member via the first attachment member. , a supporting device configured to support a second member via the second mounting member, wherein the elastic body is a mutually parallel leaf spring whose one end is connected to the first mounting member. a second parallel plate spring assembly consisting of mutually parallel plate springs whose one ends are connected to the second mounting member; and the first parallel plate spring assembly. the other end is connected, and the other end of the second parallel leaf spring assembly is perpendicular to the displacement direction of the second parallel leaf spring assembly with respect to the displacement direction of the first parallel leaf spring assembly. a rectangular connecting member for commonly attaching the other ends of the first and second parallel leaf spring assemblies that are connected in such a manner that the other end of the first parallel leaf spring assembly is connected to the rectangular connecting member. and the other end of the second parallel plate spring assembly is fixed on the other two opposing sides, and the first and second parallel plate spring assemblies are A support device characterized in that each of the members is connected to the connecting member such that the spatial arrangement thereof is in the order of the second attaching member, the first attaching member, and the connecting member. 2. The first mounting member is provided with a connecting means for connecting with the first member, and is connected to the first member disposed at a position next to the connecting member by the connecting means. A support device according to claim 1, characterized in that the support device comprises: 3. The support device according to claim 2, wherein the connecting means is composed of a rod member, and the rod member is arranged so as to pass through a through hole provided in the connecting member. . 4. Claim 3, characterized in that the movable range of the rod member is defined by a gap between the inner surface of the through hole and the outer surface of the rod member, thereby configuring a movement regulating means.
Support device as described in section. 5. The first parallel plate spring assembly and the second parallel plate spring assembly are characterized in that each of the first parallel plate spring assembly and the second parallel plate spring assembly is provided with a displacement regulating means for regulating displacement of the other parallel plate spring assembly on the other end side. A support device according to claim 1. 6. The displacement regulating means is configured such that the first mounting member and the second mounting member are provided with a concave groove formed along a direction perpendicular to the displacement direction of the parallel plate spring assembly to be attached, respectively. 6. The support device according to claim 5, wherein the support device is constructed by arranging the bottoms of the grooves to face each other. 7. The support device according to claim 1, wherein the connecting member has a step so that the lengths of the leaf springs of the first and second parallel leaf spring assemblies are the same. 8 The first and second mounting members are configured such that the lengths of the leaf springs of the first and second parallel leaf spring assemblies are the same when the concave grooves are opposed to each other. 7. A support device according to claim 6, characterized in that: 9. Claims 1 to 8, characterized in that the second member is a hand that grips an article, and the first member is an arm that moves the hand to a predetermined position. The support device according to any one of the above.
Priority Applications (7)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16306782A JPS5953192A (en) | 1982-09-21 | 1982-09-21 | Robot |
| DE8383305532T DE3372334D1 (en) | 1982-09-21 | 1983-09-20 | Supporting device |
| NO833384A NO159980C (en) | 1982-09-21 | 1983-09-20 | The carrier. |
| CA000437094A CA1237739A (en) | 1982-09-21 | 1983-09-20 | Supporting device |
| EP83305532A EP0104871B1 (en) | 1982-09-21 | 1983-09-20 | Supporting device |
| US07/158,041 US4921396A (en) | 1982-09-21 | 1988-02-16 | Supporting device |
| US07/546,661 US5207554A (en) | 1982-09-21 | 1990-07-03 | Supporting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16306782A JPS5953192A (en) | 1982-09-21 | 1982-09-21 | Robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5953192A JPS5953192A (en) | 1984-03-27 |
| JPS6149078B2 true JPS6149078B2 (en) | 1986-10-27 |
Family
ID=15766548
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP16306782A Granted JPS5953192A (en) | 1982-09-21 | 1982-09-21 | Robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5953192A (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59191290U (en) * | 1983-06-03 | 1984-12-19 | 本田技研工業株式会社 | Robot hand mounting device |
| JPS61226285A (en) * | 1985-03-20 | 1986-10-08 | 富士通株式会社 | Supporter |
| JPS62271689A (en) * | 1986-05-14 | 1987-11-25 | オムロン株式会社 | Part incorporator |
| JP6769764B2 (en) * | 2016-07-19 | 2020-10-14 | 株式会社ミツトヨ | Measuring probe and measuring device |
| KR101997356B1 (en) * | 2017-11-28 | 2019-07-05 | 경남대학교 산학협력단 | 2-axis compliance device with force sensing capability |
| JP7125588B2 (en) * | 2018-01-30 | 2022-08-25 | ミツミ電機株式会社 | Sensor assembly, stylus pen, handwriting input system, and work drawing technique instruction system |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS508255A (en) * | 1973-05-30 | 1975-01-28 |
-
1982
- 1982-09-21 JP JP16306782A patent/JPS5953192A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS508255A (en) * | 1973-05-30 | 1975-01-28 |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS5953192A (en) | 1984-03-27 |
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