201022552 九、發明說明： 【發明所屬之技術領域】 .本發明涉及一種緩衝裝置’尤其涉及-種能夠吸收碰 撞產生之衝擊以起到保護作用之緩衝I置。 【先前技術】 隨著工業之發展，自動化設備已經廣泛應用於各生產 領域中，比如能夠進行抓取和搬運之機械手，其可按照設 ©定之運動軌跡運動，實現自動上料和下料。然，當機械手 在有限空間中進行回轉或進行其他動作時，因受機械手本 身運動精度限制以及其產生之慣性力作用，或者受周邊設 備安裝精度限制，機械手易與周邊設備發生剛性碰撞，從 而造成機械手或周邊設備損壞，嚴重時甚至會產生安全事 故。此類因剛性碰撞而造成設備損壞之現象在其他自動化 作業中也經常發生。 一種現有避免上述剛性碰撞之方法是藉由在機械手上 安裝感測裝置，比如力感測器等，以對機械手與周邊設備 之接觸情況進行感知，當機械手與周邊設備發生碰撞時， 該感測器產生一訊號，並將該訊號傳送給機械手之控制裝 置’控制裝置根據該訊號發出控制指令以改變機械手運動 軌跡’從而使機械手避開周邊設備，以起到保護作用。待 機械手避過周邊設備之後’控制裝置再發出控制指令使機 械手重新返回到原先設定之工作路徑上，進行後續之工作。 然’在機械手等自動化設備上配置感測裝置及相應之 6 201022552 =較::=:r度’提高了成本，且需 【發明内容】 鐾於上述内容，有必要提供—種結構簡單、能夠吸收 碰撞產生之衝擊，並能夠實現自動復位之緩衝裝置。 -種緩衝裝置，其包括基座、連接臂、續件、法蘭 及復位機構。基座及法蘭分別與支撐件固定連接。連接臂 ©具有轉動部’該轉動部可轉動地設於該支料與法蘭之 間。復位機構包括可相對支揮件滑動之抵持件及用於推抵 該抵持件與連接臂之轉動部相互靠近之彈性件。抵持件與 連接臂之轉動部其中之-設有凹坑，另外一個設有與該凹 支几相抵持之突起。 上述緩衝裝置之連接臂在受到碰撞時可發生擺動，與 碰撞物體柔性接觸，復位機構還能夠依靠彈性件變形來吸 藝收碰撞產生之衝擊，可減輕連接臂與碰撞物體碰撞而造成 之損壞。同時’藉由在抵持件與連接臂之轉動部其中之一 設置突起’在另外一個上設置與該突起相抵持之凹坑，連 接臂與碰撞物體分離後，由於彈性件對抵持件施加推力， 從而可依靠突起與凹坑間之抵持力產生之力矩自動回復到 碰撞前之狀態。上述緩衝裝置還具有結構簡單、使用方便 之優點。 【實施方式】 7 201022552 下面結合附圖及實施例對本發明之緩衝裝置作進一步 之詳細說明。 本發明之缓衝裝置可應用於工業機械人、數控機床等 設備中，本實施例以應用於工業機械人之機械手之緩衝裝 置為例加以說明。 請參見圖1至圖4，本發明較佳實施例之緩衝裝置100 包括基座11、支撐件12、法蘭13、連接臂14及復位機構 15。 © 基座11大致為圓盤狀，其外圓周之邊緣部開設有複數 通孔112，用於與帶動緩衝機構100運動之主軸（圖未示） 固定連接。基座11 一端之中部沿軸向突出形成圓柱形定位 部113。基座11還設有圍繞定位部113之複數安裝孔114。 支撐件12大致呈圓柱形，其一端設有一盲孔122，相 對之另一端設有一安裝部124。盲孔122用於與基座11之 定位部113相配合。安裝部124大致為一半球形凹面，該 安裝部124與盲孔122藉由連通孔123相連通。支撐件12 相對之二端面分別設有複數螺紋孔126、127。 連接臂14包括一主體141及設於主體141 一端之轉動 部142。主體141為圓柱體，轉動部142大致為球體，且主 體141之轴線通過轉動部142之中心。轉動部142之底 部形成有凹坑143,凹坑143大致為半球形，其中心落於主 體141之轴線上。本實施例中，連接臂14為機械手之機械 臂，其主體141上與轉動部142相對之一端可直接連接吸 盤、炎爪等工具。 8 201022552 法蘭13包括一連接部 λ 部133。連接部131為产此及叹於連接部131上之配合 1314 ‘”、衣狀，靠近其外圓周邊緣部設有複數 且右一可盘、。 133形成於連接部131之内周緣，其 配人面連接臂U之轉動部142相配合之配合面1331， tr 為半球面。配合部如頂部設有一圓形開 ::供連接臂14之主體141穿設並可用於限制連接 臂14主體141之擺動範圍。 ❹201022552 IX. Description of the Invention: [Technical Field of the Invention] The present invention relates to a cushioning device', particularly to a buffering device capable of absorbing an impact generated by a collision to provide a protective effect. [Prior Art] With the development of the industry, automation equipment has been widely used in various production fields, such as robots capable of grasping and transporting, which can be automatically loaded and unloaded according to the motion of the fixed motion. However, when the manipulator performs a revolving or other action in a limited space, the robot is likely to collide with the surrounding equipment due to the limitation of the movement accuracy of the manipulator itself and the inertial force generated by the manipulator, or by the mounting accuracy of the peripheral device. This can cause damage to the robot or peripheral equipment, and even cause a safety accident in severe cases. This type of equipment damage caused by rigid collisions also occurs frequently in other automated operations. One existing method for avoiding the above rigid collision is to sense the contact between the robot and the peripheral device by installing a sensing device such as a force sensor on the robot, when the robot collides with the peripheral device, The sensor generates a signal and transmits the signal to the control device of the robot. The control device issues a control command according to the signal to change the movement track of the robot, so that the robot can avoid the peripheral device for protection. After the robot has avoided the peripheral equipment, the control device issues a control command to return the robot to the previously set working path for subsequent work. However, 'configuring the sensing device on the automation equipment such as the robot and the corresponding 6 201022552 = comparison::=:r degree' increases the cost, and requires [invention content] 鐾In the above, it is necessary to provide a simple structure, A shock absorber that absorbs the impact of a collision and enables automatic reset. A cushioning device comprising a base, a connecting arm, a continuation, a flange and a reset mechanism. The base and the flange are respectively fixedly connected to the support. The connecting arm © has a rotating portion' which is rotatably disposed between the support and the flange. The reset mechanism includes a resisting member slidable relative to the support member and an elastic member for urging the resisting member and the rotating portion of the connecting arm to be adjacent to each other. The resisting member and the rotating portion of the connecting arm are provided with a recess, and the other is provided with a projection which abuts against the recess. The connecting arm of the above-mentioned cushioning device can swing when it is subjected to a collision, and is in flexible contact with the colliding object, and the resetting mechanism can also rely on the deformation of the elastic member to absorb the impact generated by the collision, and can reduce the damage caused by the collision between the connecting arm and the colliding object. At the same time, by providing a protrusion on one of the rotating parts of the resisting member and the connecting arm, the other side is provided with a recess that abuts against the protrusion. After the connecting arm is separated from the collision object, the elastic member applies the resisting member. The thrust can be automatically restored to the state before the collision by the moment generated by the abutting force between the protrusion and the pit. The above buffer device also has the advantages of simple structure and convenient use. [Embodiment] 7 201022552 The buffer device of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. The cushioning device of the present invention can be applied to equipment such as industrial robots and numerically controlled machine tools. This embodiment is described by taking a buffer device applied to a robot of an industrial robot as an example. Referring to FIGS. 1 through 4, the cushioning device 100 of the preferred embodiment of the present invention includes a base 11, a support member 12, a flange 13, a connecting arm 14, and a reset mechanism 15. The base 11 is substantially disk-shaped, and a plurality of through holes 112 are defined in an edge portion of the outer circumference for fixed connection with a main shaft (not shown) for driving the buffer mechanism 100. A central portion of one end of the base 11 protrudes in the axial direction to form a cylindrical positioning portion 113. The base 11 is also provided with a plurality of mounting holes 114 surrounding the positioning portion 113. The support member 12 has a substantially cylindrical shape with a blind hole 122 at one end and a mounting portion 124 at the other end. The blind hole 122 is for mating with the positioning portion 113 of the base 11. The mounting portion 124 is substantially a semi-spherical concave surface, and the mounting portion 124 communicates with the blind hole 122 through the communication hole 123. The opposite ends of the support member 12 are respectively provided with a plurality of threaded holes 126, 127. The connecting arm 14 includes a main body 141 and a rotating portion 142 provided at one end of the main body 141. The main body 141 is a cylinder, the rotating portion 142 is substantially a sphere, and the axis of the main body 141 passes through the center of the rotating portion 142. The bottom of the rotating portion 142 is formed with a recess 143 which is substantially hemispherical and whose center falls on the axis of the main body 141. In this embodiment, the connecting arm 14 is a mechanical arm of the robot, and one end of the main body 141 opposite to the rotating portion 142 can be directly connected with a tool such as a suction cup or a claw. 8 201022552 The flange 13 includes a connecting portion λ portion 133. The connecting portion 131 is formed and sighed by the fitting 1314 ′′ on the connecting portion 131, and has a garment shape, and a plurality of right and right discs are provided near the outer circumferential edge portion thereof. 133 is formed on the inner circumference of the connecting portion 131, and is matched with The mating surface 1331, tr of the rotating portion 142 of the human face connecting arm U is a hemispherical surface. The fitting portion is provided with a circular opening such as a top portion: the main body 141 of the connecting arm 14 is passed through and can be used to restrict the connecting arm 14 body 141. The swing range.
復位機構工5包括抵持件151及彈性件152。抵持件ΐ5ι 包括-圓柱形滑動部1511，滑動部MU 一端延伸形成柱狀 支撐部郎，滑動部1511另一端之中心位置設有突起 1515。滑動部1511可與切件u之盲孔122相配合並沿 盲孔122轴向滑動。突起1515大致為半料，其用於與連 接臂14轉動部142凹坑143相抵持，突起1515之半徑略 小於凹坑143之直徑。彈性件152為螺旋形壓簧，其可套 設於抵持件151之支撐部1513上，用於施加彈力使抵持件 151與連接臂14相抵。當然，彈性件152也可為其他彈性 體’比如彈片、碟形彈簧、橡膠件等。 裝配時，首先將復位機構15之抵持件151插設於支撐 件12之盲孔122内，然後將彈性件152套設於抵持件151 之支撐部1513 ^藉由基座11之定位部與支撐件12之 盲孔122相配合’快速找准基座11與支撐件12之配合位 置’將支撐件12對應基座11放置，並將嫘釘U8穿設基 座11上之安裝孔114並與支撐件12底端之螺紋孔127螺 合，從而將基座11與支撐件12固定連接。此時，彈性件 9 201022552 152之二端分別與基座11及抵持件151相抵，同時，抵持 件151之突起1515穿過支撐件12之連通孔123伸入安裝 部124内。 ’ 然後，將連接臂14之轉動部142安裝至支撐件12之 安裝部124内，並使凹坑143與抵持件151之突起1515相 抵持。將法蘭13套設於連接臂14，螺釘136穿設法蘭13 連接部131上之安裝孔1314與支撐件12上端之螺紋孔126 相螺合，使連接臂14之轉動部142可萬向轉動地設置於法 ©蘭13配合部142之配合面1331與支撐件12之安裝部124 界定之空間内，連接臂14之旋轉中心即轉動部142之中心 〇ι。藉由調整螺釘136可調節轉動部142與配合面1331及 安裝部124間相接觸之鬆緊程度。 使用時，可於連接臂14之自由端，即與轉動部142相 對之一端裝設吸盤、夾爪等工具用於抓取工件，將基盤11 固定於主軸上，主軸做旋轉運動或直線運動以帶動連接臂 14，使連接臂14運動到設定之位置。圖4所示為緩衝裝置 100處於正常工作狀態之示意圖，此時抵持件151突起1515 之頂點與轉動部142之凹坑143之頂點相接觸，該接觸點a 與轉動部142之中心（^及連接臂14主體之軸線共線。此 時，因彈性件152形變而產生之突起1515與凹坑143間之 抵持力恰好通過連接臂14之旋轉中心0!，從而連接臂14 不會產生擺動。 請參見圖5，當連接臂14之主體部141與周邊設備發 生碰撞時，該碰撞力將產生一轉動力矩Mi使連接臂14繞 201022552 轉動部142之中心（^發生擺動，從而使連接臂14與碰撞 物體柔性接觸。此時，突起1515與凹坑143之接觸點a’ 移動至頂點之一側，同時，連接臂14對抵持件151施加推 力，彈性件152壓縮並吸收碰撞時產生之衝擊。因突起1515 與凹坑143之接觸點a’偏離了連接臂14主體141之軸線， 抵持件151對連接臂14之抵持力對連接臂14之轉動中心 (^產生一復位力矩M2，該復位力矩M2與碰撞力產生之轉 動力矩方向相反。在連接臂14與外部設備脫離之前， β連接臂14可與碰撞物體間始終保持柔性接觸。藉由連接臂 14之主體141與法蘭13之圓形開孔1334孔壁相抵擋可限 制連接臂14之最大擺動角度，從而防止突起1515從凹坑 143中滑脫。當連接臂14與外部設備分離後，轉動力矩 隨之消失，在抵持件151對連接臂14之抵持力產生之復位 力矩M2之作用下，連接臂14發生擺動，回復至圖4所示 之正常工作狀態，此時，因突起1515與凹坑143間之抵持 ©力大致通過連接臂14之旋轉中心Ο:，復位力矩M2基本為 零，從而連接臂14可保持於正常工作狀態。 為避免連接臂14擺動過程中其轉動部142與法蘭13 之配合面1331直接摩擦，可於轉動部142與配合面1331 之間設置耐磨墊片16。耐磨墊片16具有一外表面161及一 内表面162，外表面161與法蘭13之配合面1331相適配， 内表面162與連接臂14之轉動部142相適配。耐磨墊片16 由POM(polyformaldehyde，聚甲酸）材料經注塑成型，其具 有較低摩擦係數並具有彈性，不但可避免轉動部142與法 11 201022552 蘭13間直接摩擦，減小元件磨損，還可藉由其彈性形變來 補償因轉動部142之形狀誤差產生之配合間隙，使連接臂 14之轉動更為順暢。 上述緩衝裝置100之連接臂14在受到碰撞時可發生萬 向擺動，與碰撞物體柔性接觸，並可依靠復位機構15之彈 性件152吸收碰撞產生之衝擊，在與碰撞物體分離後還可 依靠復位機構15之作用自動回復到碰撞前之狀態。 可以理解，也可於連接臂14之轉動部142之底部形成 ©突起，而於復位機構15之抵持件151上形成可與該突起相 抵持之凹坑。此時，需滿足連接臂14處於工作狀態時，該 突起與凹坑間之抵持力通過連接臂14之旋轉中心，而當連 接臂14受到碰撞而發生擺動時，該突起與凹坑間之抵持力 相對連接臂14之旋轉中心產生一力矩，當連接臂14與碰 撞物分離後，該力矩使連接臂14回復至工作狀態。 綜上所述，本發明確已符合發明專利之要件，遂依法 提出專利申請。惟，以上所述者僅為本發明之較佳實施方 式，自不能以此限制本案之申請專利範圍。舉凡熟悉本案 技藝之人士援依本發明之精神所作之等效修飾或變化，皆 應涵蓋於以下申請專利範圍内。 【圖式簡單說明】 圖1係本發明較佳實施例緩衝裝置之立體示意圖。 圖2係圖1所示緩衝裝置之立體分解示意圖。 圖3係圖2所示緩衝裝置之連接臂之立體示意圖。 12 201022552 圖4係圖1所示緩衝裝置之連接臂不發生擺動時之剖 面示意圖。 圖5係圖1所示緩衝裝置之連接臂發生擺動時之剖面 示意圖。The reset mechanism 5 includes a resisting member 151 and an elastic member 152. The resisting member ΐ5i includes a cylindrical sliding portion 1511, and one end of the sliding portion MU extends to form a columnar supporting portion lang, and a center portion of the sliding portion 1511 is provided with a projection 1515 at a central position. The sliding portion 1511 is engageable with the blind hole 122 of the cutting member u and slides axially along the blind hole 122. The projection 1515 is substantially half-piece for abutting against the recess 143 of the rotating portion 142 of the connecting arm 14, and the radius of the projection 1515 is slightly smaller than the diameter of the recess 143. The elastic member 152 is a spiral compression spring which is sleeved on the supporting portion 1513 of the resisting member 151 for applying an elastic force to abut the resisting member 151 and the connecting arm 14. Of course, the elastic member 152 may also be another elastic body such as a spring piece, a disc spring, a rubber member or the like. In the assembly, the resisting member 151 of the resetting mechanism 15 is first inserted into the blind hole 122 of the supporting member 12, and then the elastic member 152 is sleeved on the supporting portion 1513 of the resisting member 151. Cooperating with the blind hole 122 of the support member 12, 'quickly aligning the mating position of the base 11 with the support member 12', the support member 12 is placed corresponding to the base 11, and the dowel U8 is passed through the mounting hole 114 on the base 11. And screwed into the threaded hole 127 at the bottom end of the support member 12, thereby fixedly connecting the base 11 and the support member 12. At this time, the two ends of the elastic member 9 201022552 152 are respectively abutted against the base 11 and the resisting member 151, and the protrusion 1515 of the resisting member 151 extends into the mounting portion 124 through the communication hole 123 of the support member 12. Then, the rotating portion 142 of the connecting arm 14 is fitted into the mounting portion 124 of the support member 12, and the recess 143 is abutted against the projection 1515 of the resisting member 151. The flange 13 is sleeved on the connecting arm 14, and the mounting hole 1314 of the screw 136 penetrating the connecting portion 131 of the flange 13 is screwed with the threaded hole 126 of the upper end of the supporting member 12, so that the rotating portion 142 of the connecting arm 14 can be rotated universally. The center of rotation of the connecting arm 14, that is, the center of the rotating portion 142, is disposed in a space defined by the mating surface 1331 of the fitting portion 142 of the method 13 and the mounting portion 124 of the support member 12. The degree of tightness of the contact between the rotating portion 142 and the mating surface 1331 and the mounting portion 124 can be adjusted by adjusting the screw 136. In use, a tool such as a suction cup or a clamp can be attached to the free end of the connecting arm 14 , that is, opposite to the rotating portion 142 , for grasping the workpiece, and the base plate 11 is fixed on the main shaft, and the main shaft is rotated or linearly moved. The connecting arm 14 is driven to move the connecting arm 14 to the set position. 4 is a schematic view showing the cushioning device 100 in a normal working state. At this time, the apex of the protrusion 1515 of the resisting member 151 is in contact with the apex of the recess 143 of the rotating portion 142, and the center of the contact point a and the rotating portion 142 (^ And the axis of the main body of the connecting arm 14 is collinear. At this time, the abutting force between the protrusion 1515 and the recess 143 due to the deformation of the elastic member 152 just passes through the center of rotation of the connecting arm 14, so that the connecting arm 14 does not generate. Referring to FIG. 5, when the main body portion 141 of the connecting arm 14 collides with the peripheral device, the collision force generates a rotational moment Mi to cause the connecting arm 14 to wrap around the center of the rotating portion 142 of the 201022552 (^, thereby making the connection The arm 14 is in flexible contact with the collision object. At this time, the contact point a' of the protrusion 1515 and the recess 143 is moved to one side of the vertex, and at the same time, the connecting arm 14 applies a thrust to the resisting member 151, and the elastic member 152 compresses and absorbs the collision. The impact is generated. Since the contact point a' of the protrusion 1515 and the recess 143 is offset from the axis of the main body 141 of the connecting arm 14, the resisting force of the resisting member 151 against the connecting arm 14 is opposite to the center of rotation of the connecting arm 14 Torque M2, the complex The positional moment M2 is opposite to the direction of the rotational torque generated by the impact force. The beta connecting arm 14 can always maintain flexible contact with the colliding object before the connecting arm 14 is disengaged from the external device. By the body 141 of the connecting arm 14 and the flange 13 The circular opening 1334 hole wall can resist the maximum swing angle of the connecting arm 14, thereby preventing the protrusion 1515 from slipping out of the recess 143. When the connecting arm 14 is separated from the external device, the rotational moment disappears and is resisted. Under the action of the resetting moment M2 generated by the resisting force of the connecting arm 14, the connecting arm 14 swings and returns to the normal working state shown in FIG. 4, at this time, due to the resistance between the protrusion 1515 and the recess 143. The force is substantially passed through the center of rotation of the connecting arm 14: the resetting moment M2 is substantially zero, so that the connecting arm 14 can be maintained in a normal working state. To avoid the mating surface of the rotating portion 142 and the flange 13 during the swinging of the connecting arm 14 Directly rubbing 1331, a wear pad 16 may be disposed between the rotating portion 142 and the mating surface 1331. The wear pad 16 has an outer surface 161 and an inner surface 162, and the outer surface 161 and the mating surface 1331 of the flange 13 Fit, inside The surface 162 is adapted to the rotating portion 142 of the connecting arm 14. The wear-resistant gasket 16 is injection-molded from a POM (polyformaldehyde) material, which has a low friction coefficient and elasticity, and can avoid the rotating portion 142 and the method. 11 201022552 The direct friction between the blue 13 reduces the wear of the components, and the elastic deformation can compensate the matching gap caused by the shape error of the rotating portion 142, so that the rotation of the connecting arm 14 is smoother. The arm 14 can swing in a universal direction when it is subjected to a collision, and is in flexible contact with the collision object, and can absorb the impact generated by the collision by the elastic member 152 of the reset mechanism 15, and can automatically respond to the action of the reset mechanism 15 after being separated from the collision object. To the state before the collision. It can be understood that a protrusion may be formed at the bottom of the rotating portion 142 of the connecting arm 14, and a recess that can abut against the protrusion is formed on the resisting member 151 of the reset mechanism 15. At this time, when the connecting arm 14 is in the working state, the abutting force between the protrusion and the recess passes through the center of rotation of the connecting arm 14, and when the connecting arm 14 is oscillated by the collision, the protrusion and the pit are The abutting force generates a moment with respect to the center of rotation of the connecting arm 14, which moment returns the connecting arm 14 to the operating state when the connecting arm 14 is separated from the collision object. In summary, the present invention has indeed met the requirements of the invention patent, and has filed a patent application according to law. However, the above description is only a preferred embodiment of the present invention, and it is not possible to limit the scope of the patent application of the present invention. Equivalent modifications or variations made by persons skilled in the art in light of the present invention are intended to be included within the scope of the following claims. BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a perspective view of a cushioning device in accordance with a preferred embodiment of the present invention. 2 is a perspective exploded view of the buffer device shown in FIG. 1. Figure 3 is a perspective view of the connecting arm of the cushioning device shown in Figure 2. 12 201022552 Fig. 4 is a schematic cross-sectional view showing the connecting arm of the shock absorber shown in Fig. 1 without swinging. Fig. 5 is a schematic cross-sectional view showing the connecting arm of the shock absorber shown in Fig. 1 when it is swung.
【主要元件符號說明】 緩衝裝置 100 基座 11 通孔 112 定位部 113 安裝孔 114、1314 支撐件 12 盲孔 122 連通孔 123 安裝部 124 螺紋孔 126、127 法蘭 13 連接部 131 配合部 133 配合面 1331 圓形開孔 1334 連接臂 14 主體 141 轉動部 142 凹坑 143 復位機構 15 抵持件 151 滑動部 1511 支撐部 1513 突起 1515 彈性件 152 耐磨塾片 16 外表面 161 内表面 162 螺釘 118 ' 136 13[Description of main component symbols] Buffer device 100 Base 11 Through hole 112 Positioning portion 113 Mounting hole 114, 1314 Support member 12 Blind hole 122 Connecting hole 123 Mounting portion 124 Threaded hole 126, 127 Flange 13 Connecting portion 131 Mating portion 133 Fit Face 1331 circular opening 1334 connecting arm 14 body 141 rotating portion 142 recess 143 reset mechanism 15 resisting member 151 sliding portion 1511 supporting portion 1513 protrusion 1515 elastic member 152 wear-resistant cymbal 16 outer surface 161 inner surface 162 screw 118 ' 136 13