KR20160003812A - Stopper mechanism, joint mechanism, and robot - Google Patents

Abstract

A stopper mechanism, a joint mechanism, and a robot that can limit the movable range of the rotating body to an arbitrary range are provided. The stopper mechanism includes a fixed body, a pin body, a pin guide, and a stopper body. The rotating body rotates about an axis, and the fixed body is disposed coaxially with the rotating body. The pin body is provided so as to be movable to either the rotating body or the fixed body. The pin guide can move the pin body in the radial direction in accordance with the rotation of the rotating body. The stopper body is provided on the other of the rotating body and the fixing body, contacts the pin body moved a predetermined distance, and regulates rotation of the rotating body.

Description

Stopper mechanism, joint mechanism, and robot {STOPPER MECHANISM, JOINT MECHANISM, AND ROBOT}

The disclosed embodiments relate to a stopper mechanism, a joint mechanism, and a robot.

2. Description of the Related Art Conventionally, a robot equipped with a robot arm of multiple joints is known. In the robot arm, a plurality of link members are connected via a joint mechanism. The link body rotates around an axis via a joint mechanism. The rotation range of the link body is controlled by software-based operation, mechanical (mechanical) operation, or both.

As a stopper mechanism for performing mechanical operation control, for example, there is a stopper mechanism in which a first contact portion and a second contact portion are provided with an oscillator provided with a pivot shaft interposed therebetween, and a stopper body provided so as to be in contact with the first contact portion and the second contact portion There is. Further, the oscillator is provided on either the rotating body or the fixed body, and the stopper body is provided on either the rotating body or the fixed body so as to restrict rotation of the rotating body (see, for example, Patent Document 1) .

Patent Document 1: JP-A-1995-68485

However, in the conventional mechanical stopper mechanism disclosed in Patent Document 1, the movable range until the rotating body forcibly stops is narrow.

When such a stopper mechanism is applied to, for example, a robot or the like, and the link body is rotated in conjunction with the rotation body, there is a fear that the rotation range of the link body is not sufficient and the robot can not perform a predetermined operation smoothly.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a stopper mechanism, a joint mechanism, and a robot which can limit the movable range of the rotating body to a certain range.

A stopper mechanism according to an aspect of the embodiment includes a rotating body, a fixed body, a pin body, a pin guide, and a stopper body. The rotating body rotates about an axis, and the fixing body is disposed coaxially with the rotating body. The pin body is provided so as to be movable in either one of the rotating body and the fixing body. Further, the pin guide can move the pin body in the radial direction in accordance with the rotation of the rotating body. The stopper body is provided on either the rotating body or the fixed body and contacts the pin body moved a predetermined distance to regulate the rotation of the rotating body.

According to one aspect of the embodiment, it is possible to provide a stopper mechanism, a joint mechanism, and a robot that can limit the range of motion of the rotating body within an arbitrary range.

1 is a side view showing a robot according to an embodiment,
Fig. 2 is an enlarged view of a part of the robot,
Fig. 3A is a perspective view of the stopper mechanism according to the embodiment viewed from an oblique upper side,
Fig. 3B is a perspective view of the above-described stopper mechanism viewed obliquely from below,
Fig. 4 is a plan view of the plate body provided with the above-described pin guide of the stopper mechanism,
5A is a side view showing the above-described stopper mechanism in cross section,
5B is an enlarged view of a part of 5a,
6 is a diagram showing the positional relationship between the moving pin body and the stopper in the above-described stopper mechanism,
7A is a view showing the operation of the above-described stopper mechanism,
7B is a view showing the operation of the above-described stopper mechanism,
7C is a view showing the operation of the above-described stopper mechanism,
7D is a view showing the operation of the above-described stopper mechanism,
7E is a view showing the operation of the above-described stopper mechanism.

Hereinafter, with reference to the accompanying drawings, embodiments of a stopper mechanism, a joint mechanism, and a robot of the rotating body disclosed in this document will be described in detail. The present invention is not limited to the embodiments shown below.

Fig. 1 is a side view showing the robot 1 according to the embodiment, and Fig. 2 is an enlarged view of a part of the robot 1. Fig. 1, the robot 1 according to the present embodiment includes a body portion 12 provided on a base 11, an arm portion 13 connected to the body portion 12, an arm portion 13, And a list portion 14 provided at the front end of the wrist portion.

That is, in the robot 1 according to the present embodiment, the base 11, the body portion 12, the arm portion 13, the list portion 14, and the like are formed as a link body, and they are connected via a joint mechanism. As described above, the robot 1, which is a so-called articulated robot, has a structure including a pair of link members connected by a joint mechanism.

The base 11 is fixed to the mounting surface 100. On the base 11, the body portion 12 is provided so as to be rotatable in the horizontal direction via the swivel portion 2 constituted by a joint mechanism. 2, the body portion 12 interlocks with the drive shaft 21 of the motor 20 that drives the swing portion 2, and rotates around the vertical axis 2a.

1, the arm portion 13 connected to the body portion 12 is configured such that the link arm first arm 131 and the second arm 132 are respectively connected to a joint portion So as to be rotatable.

That is, the first arm 131 is swingably connected to the body portion 12 in the front-rear direction (left-right direction in FIG. 1) via the first joint portion 3a. The second arm 132 is pivotably connected to the distal end of the first arm 131 via the second joint 3b in the vertical direction. As described above, the first joint portion 3a for pivoting the first arm 131 and the second joint portion 3b for pivoting the second arm 132 are respectively connected to the drive shaft by a joint mechanism having a drive shaft connected to the drive source .

The list portion 14 is rotatably connected via a third joint portion 3c which is also constituted by a joint mechanism.

As shown in Fig. 2, the stopper mechanism 4 according to the present embodiment is provided in the swivel portion 2 constituted by a joint mechanism. That is, the swivel portion 2 connecting the base 11 and the body portion 12 includes a drive shaft 21 extending from the motor 20, a speed reducer (not shown) And a stopper mechanism (4) for mechanically restricting the turning operation.

The robot 1 according to the present embodiment is configured such that the body part 12 can perform a swing operation of 360 degrees or more in the normal or reverse direction in the operation program. The stopper mechanism 4 corresponds to such a widely movable body portion 12 and can mechanically forcibly stop the body portion 12 even if the body portion 12 tries to turn over a predetermined range.

Therefore, by employing the stopper mechanism 4 according to the present embodiment, the robot 1 can perform, for example, a plurality of revolutions in one direction of the body part 12 , Even if the swing range is set to a wide range of 360 degrees or more, safety can be ensured.

Further, the operation speed of the link member (here, the body portion 12) of the robot 1 tends to be more stable when a predetermined time elapses from the start of operation. Therefore, when the robot 1 performs any work such as painting work or welding work, it is possible to stabilize the working speed and to reduce the work unevenness as much as possible by widening the movable range of the link body.

Here, the stopper mechanism 4 provided in the joint mechanism will be described in detail with reference to Figs. 2 to 5B. FIG. 3A is a perspective view of the stopper mechanism 4 according to the embodiment viewed from an obliquely upward direction, and FIG. 3B is a perspective view of the stopper mechanism 4 as viewed obliquely from below. 4 is a plan view of the plate body 45 provided with the pin guide 44 of the stopper mechanism 4. As shown in Fig. Fig. 5A is a side view showing the stopper mechanism 4 in cross section, and Fig. 5B is an enlarged view of a part of Fig. 5A.

3A and 3B, the stopper mechanism 4 includes a rotating body 41, a fixing body 42, a pin body 43, a pin body guide 44, a stopper body 46, Respectively.

The rotating body 41 is formed in a disc shape having a predetermined thickness and is rotatable around the rotating shaft 400 (see Fig. 5A). As shown in Fig. 3B, Fig. 5A and Fig. 5B, a linear groove portion 410 is formed in the radial direction. One end 43a of the pin 43 is slidably inserted into the groove portion 410, . That is, the pin body 43 is provided so as to be movable in the radial direction of the rotating body 41 and the fixing body 42.

The fixed body 42 is arranged coaxially with the rotating body 41 at a predetermined interval and is formed into a disc shape having substantially the same diameter as the rotating body 41. A stopper body 46 is provided on the fixing body 42. [ Therefore, rotation of the rotating body 41 can be restricted when the pin body 43 moved in the radial direction by a predetermined distance from the groove portion 410 of the rotating body 41 comes into contact with the stopper body 46.

The thickness of the fixing body 42 according to the present embodiment is larger than that of the rotating body 41, but may be the same or smaller. As shown in Fig. 5A, both the rotating body 41 and the fixing body 42 have a solid structure, but a hollow structure may also be used.

4, the pin body guide 44 is formed by a spiral-shaped slit formed in the plate body 45, and moves in the radial direction of the pin body 43 in accordance with the rotation of the rotating body 41 .

Specifically, the pin guide 44 is a spiral-shaped slit in which a plurality of sets of slits are formed in the radial direction of the plate body 45. In this case, the leading end 44a and the trailing end 44b of the slit are provided at substantially the same angular position with respect to the center of the plate body 45.

5A, the plate body 45 having such a pin guide 44 is formed of a disk having a substantially same diameter as that of the fixing body 42 and the rotating body 41, (41). That is, the plate body 45 is supported on the main surface of the fixing body 42 at the tips of a plurality of connecting columns 47 arranged at intervals in the circumferential direction, It is connected by accumulation.

As shown in Figs. 5A and 5B, the other end 43b side of the pin body 43 is inserted into the spiral-shaped slit constituting the pin guide 44, as shown in Figs. 5A and 5B.

With this configuration, when the rotating body 41 rotates, the pin body 43 guided by the pin guide 44, which is a spiral-shaped slit, moves so as to revolve the fixed body 42, The groove portion 410 is linearly moved.

That is, the movement of the pin body 43 in the circumferential direction is restricted by the groove portion 410 of the rotating body 41, so that the rotating body 41 is rotated with respect to the rotating body 41 , And moves in the radial direction. Thus, the pin body guide 44 can move the pin body 43 in the radial direction in accordance with the rotation of the rotating body 41. [

5A and 5B, the end 43a of the pin body 43, which is inserted into the groove portion 410, and the other end 43b of the pin body 43, which is inserted through the pin guide 44, are narrowly formed And a wider portion 43c is formed in the middle portion. For example, when the stopper mechanism 4 is provided in the posture shown in Fig. 5A, if the wider portion 43c is disposed on the plate body 45, the movement of the pin body 43 is smoothly performed.

When two plate bodies 45 having the same structure are prepared and the wider portion 43c is provided so as to be positioned between the two plate bodies 45 and 45, for example, the stopper mechanism 4 Even when the posture of the pin body 43 changes from up to down, the movement of the pin body 43 can be performed smoothly.

In the present embodiment, the pin body 43 is provided on the rotating body 41 side and the stopper body 46 is provided on the fixed body 42 side, but they may be provided on the opposite sides.

Next, the structure and operation of the stopper body 46 according to the present embodiment will be described with reference to Figs. 5B to 7E. Fig. 6 is a diagram showing the positional relationship between the moving pin body 43 and the stopper member 46 in the stopper mechanism 4. As shown in Fig.

Figs. 7A to 7E are diagrams showing the operation of the stopper mechanism 4. Fig.

5B to 7E, the stopper body 46 has first and second genuine bezel 46a, 46b which are provided so as to be swingable about the pivot 46c as a substantially right angle isosceles triangle. That is, a plurality of pincers (a first pincer 46a and a second pincer 46b) are juxtaposed on the pivot 46c.

The first genuine body 46a and the second genuine body 46b are all provided such that the first contact portion 461 and the second contact portion 462 capable of making contact with the pin 43 are provided with the pivot 46c therebetween And independently swing around the pivot 46c. The first genuine body 46a and the second genuine body 46b are disposed with a space 46d having a width larger than the diameter of the pin body 43 in this embodiment. The swing range around the pivot 46c of the first genuine body 46a and the second genuine body 46b is 90 degrees.

When the pin 43 comes into contact with either the first contact portion 461 or the second contact portion 462 from one direction, the movement of the rotating body 41 is regulated. On the other hand, when the pin 43 comes into contact with either the first contact portion 461 or the second contact portion 462 from the other direction, the pinions 46a and 46b are oscillated.

That is, in the stopper mechanism 4 according to the present embodiment, as shown in Figs. 7A to 7E, when the pin body 43 advances relative to the stopper body 46 in the direction indicated by the arrow 500 In this case, when the second contact portion 462 is contacted, the movement of the rotating body 41 is regulated. The movement of the pin body 43 is restricted as it contacts the pinions 46a and 46b (Fig. 7E). As a result, the rotation of the rotating body 41 mounted via the groove portion 410 Stop.

Conversely, when the pin body 43 contacts the first contact portion 461, the pin body 43 rocks and oscillates the pinions 46a and 46b. That is, as shown in Figs. 7B and 7D, the rotation of the rotating body 41 is maintained only by rotating the pin body 43 around the pivot 46c.

Since the stopper mechanism 4 is configured as described above, it is possible to arbitrarily set the movable range (orbital amount) of the body portion 12 as well. For example, the number of the gauges 46a, 46b or the width of the contact portions 461, 462 of the gauges 46a, 46b and the width of the pin guides 44 The width of the pitch between the slits of the spiral-shaped slit to be formed, and the like may be appropriately set. By doing so, the movable range (turning amount) of the body portion 12 can be easily set.

Here, with respect to the operation of the stopper mechanism 4 in the case where the turning amount becomes the setting or more when the body portion 12 of the robot 1 shown in Figs. 1 and 2 actually rotates on the base 11 6 to 7E. The first position P1 to the fifth position P5 showing the position of the pin body 43 shown in Fig. 6 and the positions of the pin body 43 shown in Figs. 7A to 7E are respectively One-to-one correspondence.

In the stopper mechanism 4 provided in the swivel portion 2 shown in Figs. 1 and 2, the rotating body 41 is connected to the body portion 12 side of the robot 1, The fixture 42 is connected to the base 11 side of the robot 1. [

7A, when the body portion 12 is at the initial position which is a neutral position that is not pivoted in any direction with respect to the base 11, And is located in front of the first contact portion 461 of itself 46a. At this time, in Fig. 6, the pin 43 is the first position P1.

When the body portion 12 is pivoted within the set range, the pin body 43 moves from the position P1 in Fig. 6 to the position P5 through the position P2 to the position P4, Move forward.

In the position P2 shown in Fig. 6, the pin body 43 comes into contact with the first contact portion 461 of the first genuine body 46a, and passes over the first contact portion 461 as shown in Fig. 7B. That is, the first contact portion 461 of the first genuine body 46a rotates about the pivot 46c in the direction of the arrow 600 as shown in Fig. 7A to Fig. 7B , The first contact portion 461 is positioned below and the second contact portion 462 is positioned above.

Next, in the position P3 shown in Fig. 6, the pin body 43 has a space 46d (refer to Fig. 5B) formed between the first genuine body 46a and the second genuine body 46b It passes. Therefore, the attitude of the first genuine body 46a and the second genuine body 46b shown in Fig. 7C is not different from the state shown in Fig. 7B.

Next, in the position P4 shown in Fig. 6, the pin body 43 comes into contact with the first contact portion 461 of the second genuine body 46b, as shown in Fig. 7D, . That is, the first contact portion 461 of the second genuine body 46b rotates about the pivot 46c in the direction of the arrow 700 as shown in Fig. 7C to Fig. 7D , The first contact portion 461 is positioned below and the second contact portion 462 is positioned above.

While the pin body 43 is moving between the positions P1 to P5 in Fig. 6, the body part 12 is moved on the base 11 in the set operating range Turn around. When the body portion 12 rotates beyond the set range of movement for some reason, the pin body 43 moves from the position P4 to the position P5 in Fig.

In the position P5 shown in Fig. 6, the pin body 43 comes into contact with the first contact portion 462 of the second genuine body 46b, as shown in Fig. 7E. In this state, the second genuine body 46b does not rock and performs a function as a stopper. Therefore, the movement of the pin body 43 is stopped, and consequently, the rotating body 41 is forcibly stopped. That is, the body part 12 interlocked with the rotating body 41 is forcibly stopped.

As described above, according to the present embodiment, the stopper mechanism 4 having the structure shown below can be realized.

That is, as the structure, the rotating body 41 that rotates about the axis, the fixed body 42 disposed coaxially with the rotating body 41, the pin body 43, the pin body guide 44, And a stopper mechanism (4) having a body (46). The pin body 43 is provided so as to be movable in either one of the rotating body 41 and the fixing body 42. The pin body guide 44 is movable in the radial direction of the pin body 43 in accordance with the rotation of the rotating body 41. The stopper body 46 is provided on either the rotating body 41 or the fixing body 42 and contacts the pin body 43 moved by a predetermined distance to regulate the rotation of the rotating body 41. [

The pin guide 44 is a slit through which the pin body 43 is inserted and is formed in a spiral shape in a plate body 45 interposed between the fixed body 42 and the rotating body 41, The stopper mechanism 4 having the structure in which the pin body 43 is moved in the radial direction is realized each time the first and second pinion gears 41 and 41 circulate.

The stopper body 46 is provided on the fixed body 42 and the plate body 45 on which the slit is formed is connected to the fixed body 42 in a coaxial manner The stopper mechanism 4 of the construction is realized.

The stopper mechanism 4 having the linear groove portion 410 in which one end 43a of the pin 43 inserted through the slit is slidably inserted is realized in the rotating body 41. [

The stopper member 46 is pivotable around the pivot shaft 46c and the first contact portion 461 and the second contact portion 462 are connected to a pendulum chain stopper mechanism 4) is realized. In this case, when the pin member 43 contacts one of the first contact portion 461 or the second contact portion 462 from one direction, the movement of the rotating body 41 is restricted, The case oscillates itself.

Further, a stopper mechanism 4 in which a plurality of pincers are juxtaposed on the pivot 46c is realized. For example, a stopper mechanism 4 in which a first genuine body 46a and a second genuine body 46b are juxtaposed, each of which has the same structure and which independently oscillates around the pivot 46c.

According to the present embodiment, the above-described stopper mechanism 4 and the driving shaft 21 for rotating the link member such as the base 11, the body portion 12, the arm portion 13, and the list portion 14 ) Can be realized. Specifically, the joint mechanism is the above-described swivel unit 2, the first joint part 3a, the second joint part 3b, or the third joint part 3c.

Further, according to the present embodiment, the above-described joint mechanism, the motor 20 (drive source) for transmitting the power to the drive shaft 21 of the joint mechanism, and at least one pair of link members connected via the joint mechanism The robot 1 can be realized. Here, the link body is the base 11, the arm portion 13, the list portion 14, and the like of the robot 1 described above.

In the robot 1 according to the present embodiment, the stopper mechanism 4 is described as being provided on the swivel portion 2. However, the robot 1 according to the present embodiment is not limited to the swivel portion 2 but may be provided on another joint portion. In this case, the rotation range around the axis of the first arm 131, the second arm 132, the list portion 14, and the like can be mechanically restricted within a desired range.

As described above, according to the stopper mechanism 4 of the present embodiment, the movable range of the rotating body 41 can be limited within an arbitrary range exceeding 360 degrees. Therefore, the rotation range required for the rotating body 41 can be freely determined, and can be suitably used for various rotation mechanisms, thereby increasing the degree of freedom of use.

In the robot 1, it is possible to forcibly stop the rotation of the link member at a predetermined position exceeding the movable range in accordance with the movable range set by the link member such as the body portion 12, for example.

In addition, since the movable range of the rotating body 41 is set in an arbitrary range exceeding 360 degrees, the operation speed of the link member of the robot 1 can be operated in a stable state, .

Other effects and modifications may be readily devised by those skilled in the art. Therefore, the broader aspects of the present invention are as described above and are not limited to the specific details and representative embodiments described. Accordingly, various changes may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents.

1: Robot
2: Swivel part (joint mechanism)
3a: 1st joint
3b: second joint
3c: third joint
4: Stopper mechanism
12: Body part (link body)
20: Motor (driving source)
21:
41: rotating body
42:
43:
44: Pin guide
45:
46: Stopper body
46a: First Self
46b: Second Generation Self
46c: Pivot
410: Groove
461:
462:

Claims (8)

A rotating body rotating about an axis,
A fixed body disposed coaxially with the rotating body,
A pin body movably provided to either one of the rotator and the fixture,
A pin body guide capable of moving the pin body in the radial direction in accordance with rotation of the rotating body,
And a stopper body which is provided on either the rotating body or the fixed body and which contacts the pin body shifted a predetermined distance to restrict the rotation of the rotating body.
Stopper mechanism. The method according to claim 1,
The pin guide is a slit for inserting the pin body therethrough. The slit is formed in a spiral shape in a plate body interposed between the fixed body and the rotating body, and moves the pin body in the radial direction every time the rotating body circles Characterized by
Stopper mechanism. 3. The method of claim 2,
Characterized in that the pin body is provided on the rotating body, the stopper body is provided on the fixed body, and the plate body on which the slit is formed is coaxially connected to the fixed body
Stopper mechanism. The method of claim 3,
The rotating body includes:
And a linear groove portion into which one end of the pin inserted through the slit is slidably inserted.
Stopper mechanism. 5. The method according to any one of claims 1 to 4,
The stopper body,
Wherein the first contact portion and the second contact portion are swingably pivoted about the pivot axis and the pin member is a pin hole provided between the first contact portion and the second contact portion, The movement of the rotating body is regulated, and when the contact is made from the other direction, the gantry is oscillated
Stopper mechanism. 6. The method of claim 5,
Characterized in that a plurality of pins are juxtaposed on the pivot shaft
Stopper mechanism. A stopper mechanism according to claim 1;
And a drive shaft for rotating the link body
Joint mechanism. 8. A joint mechanism according to claim 7,
A driving source for transmitting power to the driving shaft of the articulating mechanism,
And at least one pair of the link members connected via the joint mechanism
robot.

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