JPS63144986A - Device for automatically correcting error of connecting coupling position in automatic machine, etc. - Google Patents
Device for automatically correcting error of connecting coupling position in automatic machine, etc.Info
- Publication number
- JPS63144986A JPS63144986A JP28762586A JP28762586A JPS63144986A JP S63144986 A JPS63144986 A JP S63144986A JP 28762586 A JP28762586 A JP 28762586A JP 28762586 A JP28762586 A JP 28762586A JP S63144986 A JPS63144986 A JP S63144986A
- Authority
- JP
- Japan
- Prior art keywords
- rotor
- gripper
- frame
- automatically correcting
- automatic machine
- 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
- 230000008878 coupling Effects 0.000 title 1
- 238000010168 coupling process Methods 0.000 title 1
- 238000005859 coupling reaction Methods 0.000 title 1
- 229910000831 Steel Inorganic materials 0.000 claims description 5
- 239000010959 steel Substances 0.000 claims description 5
- 241000257465 Echinoidea Species 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
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】
産業上の利用分野
本発明はロボット等の自！ＩＪ 機械に於て、ｌ′Ｅ動
時保時係合連結位置差がある場合等、これを自動的にＩ
Ｉき圧する装置に関する。[Detailed Description of the Invention] Industrial Application Field The present invention is applicable to robots, etc. IJ In the machine, if there is a difference in the time keeping engagement connection position during l'E movement, this will be automatically corrected.
It relates to a device for applying pressure.
従来の技術
従来ロボット等ンて実施されている先行技術として、シ
ャフトのグリッパ−を固定するプレートと。2. Prior Art As a prior art that has been implemented in conventional robots, etc., there is a plate for fixing a gripper on a shaft.
ロボットアームに取付けるプレートの間に、ゴムの要素
を組み込んで、ゴム要素の弾性を利用してシャフトの係
合連結位置の誤差を自動的に修正するようにしたものが
知られているが、この自動修正装置は、ゴ／磁性を利用
するため、ワークが重荷重物である場合修正作動が円滑
でなく、また曲りやすい棒状物等であるとき、グリッパ
一部分に異状な力が加わり、該グリッパ一部分を損壊し
たり或はワ゛−りを屈曲、折損することがあり、さらに
耐久性がないなどの欠点があった。It is known that a rubber element is incorporated between the plates attached to the robot arm, and the elasticity of the rubber element is used to automatically correct errors in the engagement and connection position of the shaft. The automatic correction device uses magnetism, so if the workpiece is a heavy load, the correction operation will not be smooth, and if the workpiece is a bendable rod-like object, an abnormal force will be applied to a part of the gripper, causing the gripper to be damaged. The wires may be damaged, or the wires may be bent or broken, and there are other disadvantages such as lack of durability.
本発明が解決しょうとする問題点
本発明は前記従来装置の欠点を除去し、耐久性て優れた
コンパクトな自動修正装置の提供を目的としてなされた
ものである。Problems to be Solved by the Invention The present invention has been made for the purpose of eliminating the drawbacks of the conventional apparatus and providing a compact automatic correction apparatus with excellent durability.
実施例
本発明を以下図面に示す実施例に工っで説明すると、ロ
ボットのアームＩＫ取付ける構框２の内方に、スラスト
方向に鋼球３にて挾持されるローター４を、構框の内方
に、構框の内壁面との間ンこ所要の間隔５を設けて装置
すると共に１０−ター４の中心部にグリッパ−６の主軸
７を固着し、構 −框の底面板８に設けた主軸７の挿通
孔９は、主軸の横移動に差支えのない十分の余裕ある開
孔となし、ローター４の外周部には、定間隔を設けて三
個の凸縁部１０を設け、各凸縁部の両側面に、鋼球１１
を均等弾性のコイルスプリング１２にて無圧に近い状態
で当接させてローターの回動を制御し、コイルスプリン
グ１２は夫々構框２に埋設した固定管１３内に装嵌した
ものである。尚符号１４は前記固定管の固定用押しネジ
、１５は主軸７をローター４に固定した取付用ネジ、１
６は主軸７をローター４に固定する補助ネジである。Embodiment To explain the present invention in detail with reference to the embodiment shown in the drawings below, a rotor 4, which is held by steel balls 3 in the thrust direction, is mounted inside a structural frame 2 to which the arm IK of a robot is attached. On the other hand, the gripper 6 is installed with a required spacing 5 between it and the inner wall surface of the frame, and the main shaft 7 of the gripper 6 is fixed to the center of the 10-ter 4, and the gripper is installed on the bottom plate 8 of the frame. The insertion hole 9 of the main shaft 7 is an opening with enough room to allow lateral movement of the main shaft, and three convex edges 10 are provided at regular intervals on the outer circumference of the rotor 4. Steel balls 11 are placed on both sides of the convex edge.
Rotation of the rotor is controlled by bringing them into contact with each other in a nearly pressureless state using uniformly elastic coil springs 12, and each coil spring 12 is fitted into a fixed tube 13 embedded in the structural frame 2. Reference numeral 14 is a set screw for fixing the fixed tube, 15 is a mounting screw for fixing the main shaft 7 to the rotor 4, 1
6 is an auxiliary screw that fixes the main shaft 7 to the rotor 4.
本発明は上記の；うに構成されているから、ロボットや
自動機械等のアーム１に取付けられる構框２は、アーム
の作動に従いて狂いなく作動するが、ローター４は軸線
が構框２の内方に構框の中心軸線と一致する位置にコイ
ルスプリング１２にＬつで支承される鋼球１１の無圧に
近い状態の当接に：つで保持され、且つローター４の外
周と構框２の内面壁との間には、所要の間隔５を設けて
いるから、グリッパ−６に取付けたシャフト１７の下端
が、第１図に仮想鎖線で例示した：うにシャフトの嵌合
孔１８の口端部との間に、誤差がある場合。Since the present invention is configured as described above, the frame 2 attached to the arm 1 of a robot or automatic machine operates without any deviation in accordance with the operation of the arm, but the axis of the rotor 4 is within the frame 2. The steel ball 11 supported by L on the coil spring 12 is held in almost pressureless contact with the outer periphery of the rotor 4 and the frame 2 at a position that coincides with the center axis of the frame 2. Since the required distance 5 is provided between the shaft 17 and the inner wall of the gripper 6, the lower end of the shaft 17 attached to the gripper 6 is connected to the opening of the fitting hole 18 of the sea urchin shaft, as illustrated by the imaginary chain line in FIG. If there is an error between the ends.
シャフトの降下に従いグリッパ−６の主軸７を取付けた
ローターは、シャフト１７の移動に応じ無理なく移動し
、シャフトが再び上昇旧位置に戻れば、コイルスプリン
グ１２の作用に工っで直ちに定位置に復帰し、グリッパ
−６を常に正しき位置に保持する。As the shaft descends, the rotor to which the main shaft 7 of the gripper 6 is attached moves smoothly in response to the movement of the shaft 17, and when the shaft rises again and returns to its old position, it immediately returns to its home position due to the action of the coil spring 12. The gripper 6 is always held in the correct position.
発明の効果
本発明は前述の；うにシャフト１７と、このシャフトと
が嵌合する嵌合孔との間に多少の誤差があっても、グリ
ッパ−の作動に少しの無理な荷重負担を加えることなく
、重荷重物、結い曲り易瞥ハ棒等のワークも円滑ンて作
業が進行し、南械各部：て損傷を与えることなく、而し
てこの作動が行われる要部機構は、上記した工うに極め
てコンパクトに構成されている力為ら、製作が容易なる
は勿論、構成部の損傷も少なく、従って本発明はロボッ
ト等の如き自動機械に於ける係合連結位置の誤差自動修
正装置として、まことに適切有効である。Effects of the Invention The present invention is as described above; even if there is some error between the sea urchin shaft 17 and the fitting hole into which this shaft is fitted, a slight unreasonable load is not applied to the operation of the gripper. Works such as heavy loads and easily bendable rods can be carried out smoothly without damaging any parts of the machine, and the main mechanisms for this operation are as described above. Since the construction is extremely compact, it is easy to manufacture and there is little damage to the component parts. Therefore, the present invention can be used as an automatic correction device for errors in engagement and connection positions in automatic machines such as robots. , is quite appropriate and effective.
図面は本発明の実施例を示すものばして、第１図は要部
の縦断面図、第２図は横断面図にして。
ローターの支持装置を示すものである。
１・・・アーム、２・・・構框、４・・・ローター、５
・・・間隔、６・・・グリッパ−％７・・・主軸、１０
・・・凸縁部、１２・・・コイルスプリング、１３・・
・固定管。The drawings show an embodiment of the present invention, and FIG. 1 is a longitudinal cross-sectional view of the main part, and FIG. 2 is a cross-sectional view. It shows a rotor support device. 1...Arm, 2...Structure, 4...Rotor, 5
... Spacing, 6...Gripper-%7...Spindle, 10
...Convex edge, 12...Coil spring, 13...
・Fixed pipe.
Claims (1)
内方に、構框の内壁面との間に所要の間隔を設けて装置
すると共に、ローターの中心部に、グリッパーの主軸を
固定し、ローターの外周部に所要数の凸縁部を等間隔に
設け、この凸縁部の各両側面に、鋼球を均等弾性のコイ
ルスプリングにて無圧に近い状態で当接せしめ、ロータ
ーの回動を制御したことを特徴とする、自動機械等に於
ける係合連結位置の誤差を自動的に修正する装置。The rotor, which is held in the thrust direction by steel balls, is installed inside the frame with the required distance between it and the inner wall of the frame, and the main shaft of the gripper is fixed to the center of the rotor. A required number of convex edges are provided at equal intervals on the outer periphery of the rotor, and a steel ball is brought into contact with each side of each convex edge in a nearly pressureless state using a coil spring of uniform elasticity. A device for automatically correcting errors in engagement and connection positions in automatic machines, etc., characterized in that the rotation of the device is controlled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP28762586A JPS63144986A (en) | 1986-12-04 | 1986-12-04 | Device for automatically correcting error of connecting coupling position in automatic machine, etc. |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP28762586A JPS63144986A (en) | 1986-12-04 | 1986-12-04 | Device for automatically correcting error of connecting coupling position in automatic machine, etc. |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS63144986A true JPS63144986A (en) | 1988-06-17 |
| JPH0378238B2 JPH0378238B2 (en) | 1991-12-13 |
Family
ID=17719668
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP28762586A Granted JPS63144986A (en) | 1986-12-04 | 1986-12-04 | Device for automatically correcting error of connecting coupling position in automatic machine, etc. |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS63144986A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02100792U (en) * | 1989-01-31 | 1990-08-10 | ||
| JP2007296587A (en) * | 2006-04-27 | 2007-11-15 | Nippon Mektron Ltd | Compliance module |
| US7438635B2 (en) | 2003-10-06 | 2008-10-21 | Oy Kwh Mirka Ab | Abrasive product having parallel base and abrasive threads |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5877483A (en) * | 1981-10-28 | 1983-05-10 | 株式会社日立製作所 | Floating device for fitting |
| JPS5877482A (en) * | 1981-10-07 | 1983-05-10 | 富士通フアナツク株式会社 | Industrial robot |
-
1986
- 1986-12-04 JP JP28762586A patent/JPS63144986A/en active Granted
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5877482A (en) * | 1981-10-07 | 1983-05-10 | 富士通フアナツク株式会社 | Industrial robot |
| JPS5877483A (en) * | 1981-10-28 | 1983-05-10 | 株式会社日立製作所 | Floating device for fitting |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02100792U (en) * | 1989-01-31 | 1990-08-10 | ||
| US7438635B2 (en) | 2003-10-06 | 2008-10-21 | Oy Kwh Mirka Ab | Abrasive product having parallel base and abrasive threads |
| JP2007296587A (en) * | 2006-04-27 | 2007-11-15 | Nippon Mektron Ltd | Compliance module |
| JP4684160B2 (en) * | 2006-04-27 | 2011-05-18 | 日本メクトロン株式会社 | Compliance module |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0378238B2 (en) | 1991-12-13 |
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