JPS6257891A - Balancer mechanism of joint type industrial robot - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] (Field of Industrial Application) The present invention utilizes six components (conventional technology ) An articulated industrial robot is fixed on the east side or is mounted on a base that can move along the floor. Figure 2 shows an articulated industrial robot with a base that is fixed on the floor. It is a perspective view showing an example of a robot.

In the figure, 1 is a base that is fixed to the floor of the installation location, and the θ-axis fixed side 2 is provided on the top of this base 1, and the 0-axis movable side that can rotate within a predetermined rotation range is provided on the top of this base 1. Side 3 is provided. The upper part of the θ-axis movable side 3 is used as a support lip 31, and a W-axis 4 that can swing within a predetermined rotation angle is supported as an operating arm. is provided with a swingable U-shaft 5, and a wrist 6 is attached to the tip of the U-shaft 5.

In order to balance the weight of the W-shaft 4 during its swinging motion, a balancer mechanism 7 having a built-in spring mechanism is attached to both sides of the W-shaft 4 .

(Problem to be solved by the invention) 1. At the dopa→n expansion point, W
As the spring expands and contracts to maintain balance when the shaft swings, the metal parts inside the spring mechanism come into contact with each other, causing shock sweat to occur as the W-shaft swings, and the contact parts to wear out. There was a problem. The present invention has been made in view of the problems of the prior art, and its purpose is to reduce impact noise and wear and tear of component parts when the spring mechanism expands and contracts to balance the operating arm. The present invention provides an articulated industrial robot/two-tooth balancer mechanism.

(Means for solving the problem) According to the present invention, an upper end plate and a lower end plate are fixed to the upper and lower ends of a hollow cylinder part, and a shaft is movably inserted into the center of the lower end plate. In the balancer mechanism of an articulated industrial robot, a movable plate is attached to the tip of the shaft inside the cylinder part, and a coil spring is inserted between the plate and the lower end plate. A balancer mechanism for an articulated industrial robot is provided, which includes several synthetic resin buffering plates that slide on cylinders on the outer periphery of the plates that are arranged so that they can move.

(Function) In the present invention, a buffer plate made of a Teflon resin plate is arranged on the plate that presses the balance coil spring.
When the coil spring expands and contracts, the plate does not come into direct contact with the inner wall of the cylinder or the end plate of the -L section, so noise and wear can be prevented.

(Example) Next, an example of the present invention will be described in detail using the drawings.

FIG. 1(A) is a front view showing an embodiment of a balancer mechanism for an articulated industrial robot according to the present invention, and FIG. 1(CB) is a sectional view thereof.

In the figure, reference numeral 8 denotes a cylindrical cylinder portion having a hollow portion 81 therein, which forms a side wall of the balancer mechanism 7, and an upper end plate 83 having an upper mounting portion 82 is attached to its upper surface. Further, a lower end plate 85 is attached to the lower surface of the cylinder portion 8. The lower end plate 85 has a shaft hole 84 in the center thereof through which a piston shaft (shaft) described later is inserted and moved.

Reference numeral 9 denotes a plate serving as a piston portion that is slidably provided in the hollow portion 81, and a shaft 91 having a lower mounting portion 92 at the other end is inserted into the center portion of the plate 9. Then, a plate 9 facing the upper end plate 83 is provided.
A buffering plate 93 made of, for example, a Teflon resin disk is fixed to the outer periphery of the upper surface by a screw, and has a diameter larger than the diameter of the plate 9 by a predetermined size and slightly smaller than the inner diameter of the hollow part 81. This prevents noise generated when there is a collision with the upper end plate 83 or when the peripheral edge of the plate 9 comes into contact with the inner wall of the cylinder section 8.

A coil spring 10 is wound around the shaft 91, and its lower part is in contact with the upper surface of the lower end plate 85, and its upper part is in contact with the lower surface of the plate 9, and its elastic force pushes the plate 9 toward the upper end. It constitutes a spring mechanism that presses in the direction of the plate 83. - This embodiment configured in this way has an upper mounting portion.

When the actuating arm of the pound is attached to a predetermined position on the support part and the actuating arm is rocked, the plate 9 moves up and down inside the cylinder part 8 via the shaft 91, and the coil spring 10 expands and contracts. This balances the weight of the operating joints. At this time, the plate 9 comes into contact with the upper end plate 83 and the cylinder part 8 via the buffer plate 93, so no impact noise is generated and wear and tear of the contact parts is prevented. can. Moreover, since the plate 9 is always located at the center of the hollow part 81, when the coil spring is compressed, it will not arch and bend, so that its side part will come into contact with the side wall of the cylinder part 8. There's nothing to do.

Although the present invention has been described with reference to one embodiment, various modifications can be made within the scope of the spirit of the present invention, such as making the buffer plate hollow or polygonal. It is not excluded from the scope of the invention.

(Effect of the invention) 1 1- : 8 0 units j each hit Iψ
-12 sentences nR + Dito Kinuta I5 ・ku 4 pickles
↓As a balancer mechanism that uses the elastic force of the coil springs that make up 1 to balance the joint, a buffer plate is placed around the outer periphery of the plate that slides inside the cylinder. Since direct contact with the coil spring is avoided, a balancer mechanism that does not generate impact noise due to contact or wear out the contact parts can be obtained.In addition, when the coil spring is strongly compressed, the coil center of the compressed coil spring The shaft deflected and came into contact with the inner wall of the cylinder, causing abnormal noise and wear, but since the plate with the buffer plate sliding inside the cylinder, there was no deviation between the shaft axis and the cylinder center axis. It is also possible to prevent deflection of the coil center axis in ``-2.

[Brief explanation of the drawing]

FIG. 1(A) is a front view showing an embodiment of the balancer mechanism of an articulated industrial port according to the present invention, FIG. 1(B) is a sectional view thereof, and FIG. It is a perspective view showing an example. 3...0 輔iiJ moving side, 4...W 輼(operating arm), 7
... Balancer mechanism, 8 ... Cylinder part, 9 ... Plate (piston part), 10 ... Coil spring, 82 ... Upper claw part, 91 ... Piston shaft (shirt)) , 93... Buffer plate, 31... Support part.

Claims (1)

[Claims] An upper end plate and a lower end plate are fixed to the upper and lower ends of the hollow cylinder part, and a shaft is movably inserted through the center of the lower end plate. In a balancer mechanism for an articulated industrial robot in which a plate is attached and a coil spring is inserted between the plate and the lower end plate, on the outer periphery of the plate movably disposed inside the cylinder,
A balancer mechanism for an articulated industrial robot characterized by a synthetic resin buffer plate that slides on a cylinder.