WO1980001774A1 - Arm with gravity-balancing function - Google Patents

Arm with gravity-balancing function Download PDF

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Publication number
WO1980001774A1
WO1980001774A1 PCT/JP1979/000043 JP7900043W WO8001774A1 WO 1980001774 A1 WO1980001774 A1 WO 1980001774A1 JP 7900043 W JP7900043 W JP 7900043W WO 8001774 A1 WO8001774 A1 WO 8001774A1
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WO
WIPO (PCT)
Prior art keywords
arm
sheave
gravity
rotating
spring
Prior art date
Application number
PCT/JP1979/000043
Other languages
French (fr)
Japanese (ja)
Inventor
G Tsuda
O Mizuguchi
Original Assignee
Kobe Steel Ltd
G Tsuda
O Mizuguchi
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Kobe Steel Ltd, G Tsuda, O Mizuguchi filed Critical Kobe Steel Ltd
Priority to PCT/JP1979/000043 priority Critical patent/WO1980001774A1/en
Priority to DE7979900310T priority patent/DE2965974D1/en
Publication of WO1980001774A1 publication Critical patent/WO1980001774A1/en
Priority to EP19790900310 priority patent/EP0024433B1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
    • B23Q11/001—Arrangements compensating weight or flexion on parts of the machine
    • B23Q11/0017—Arrangements compensating weight or flexion on parts of the machine compensating the weight of vertically moving elements, e.g. by balancing liftable machine parts
    • B23Q11/0021—Arrangements compensating weight or flexion on parts of the machine compensating the weight of vertically moving elements, e.g. by balancing liftable machine parts the elements being rotating or pivoting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0008—Balancing devices
    • B25J19/0016—Balancing devices using springs

Definitions

  • the present invention particularly relates to a structure of an arm having a gravity balance function in a robot of a teaching and playback system.
  • the motion trajectory is previously stored in the storage device by manual teaching operation using a welding port, etc.7
  • the robot has multiple joints. It goes without saying that it is preferable that the arm can be operated manually, regardless of the direction of movement, with only light effort.
  • Japanese Patent Application Laid-Open No. 52-271158 discloses an industrial robot arm, but the theory and configuration for achieving perfect balance are shown. Not.
  • a rotary shaft capable of maintaining a vertical state irrespective of the vertical swing of an arm is provided so as to protrude above an arm swing fulcrum, and the center of gravity of the arm is provided.
  • a wire hooked between the point of action on the line and the rotary sheave is connected to a contact mechanism having a length of extension between the point of action and the rotary sheave.
  • the panel mechanism includes a plurality of fixed rotating sheaves and a spring member.
  • FIG. 1 is a diagram illustrating the principle of an arm according to the present invention.
  • FIG. 2 is a skeleton diagram of a one-stage arm mechanism according to the present invention.
  • FIG. 3 is a skeleton diagram of a two-stage arm mechanism according to the present invention.
  • FIG. 4 is a skeletal view showing a main part of a sieve system on which wires are stretched in the arm according to the present invention.
  • FIG. 5 is a partially omitted front view of an example of a specific joint mechanism of the present invention.
  • FIG. 6 is a partially omitted plan view of an example of the specific joint mechanism shown in FIG.
  • the arm moment about the fulcrum B is a downward force
  • the upward direction is P x K
  • the spring tension ( ⁇ ) is proportional to the spring length ().
  • a spring having a spring constant that satisfies the condition of a certain force has a free length of zero, and it is needless to say that it does not exist. Therefore, it is far from achieving the intended purpose as a practical device.
  • the gist of the present invention is to provide a spring mechanism capable of substantially satisfying the above-described basic conditions, and the basic configuration is schematically shown in FIG. Arm 1 capable of swinging in the vertical direction, and a rotating shaft 2 pivotally supported at a vertically upper position C of a vertical swing fulcrum B of the arm 1.
  • the one or more rotating sheaves 4 and the movable sheave 5 capable of horizontal movement are suspended between the moving sheave row and the fixed member.
  • the panel member 3 and the wire 6 formed by extending the rotary sheave 2 from the position A on the barycentric line of the arm 1 through the sheave row are also used as elements. And that.
  • the rotating sheave 2 forming the supporting member of the roller 6 is displaced from the fulcrum in FIG. 1 by the radius thereof with respect to the fulcrum in FIG. , This bias
  • the link and spring mechanism is connected in series in two stages, and the first arm 1a and the second arm lb are connected by the joint D.
  • the link-spring mechanism related to the second arm 1b In connection with the link-spring mechanism related to the second arm 1b, the link-spring mechanism related to the second arm 1b has the same vertical axis of the joint D as the link-node mechanism related to the first arm la.
  • the rotating sheave 21 pivotally supported at the upper position E, the rotating sheaves 8, 9 and a row of moving sheaves (not shown), as well as the moving sheave and the fixing member And a panel member (not shown) suspended between them as an element, and further, the sheave row 2b, which is a rotating sheave 2b, at a position F force on the center line of the second arm lb, and The wire 6b stretched through is also an element.
  • the rotating sheave 2b related to the second arm lb is connected to the tilt angle of the arm lh in the same manner as the rotating sheave 2a related to the first arm la.
  • the first arm la is set to one side
  • the link member 7 is set to two sides facing the first arm la.
  • a four-node parallel link mechanism is formed in which the fixing member 10 having a vertical side is on three sides, and the fixing member 11 having the vertical side is also on four sides opposed to the three sides. The problem can be easily solved if the rotating sheave 2b is rotatably pivoted on the four vertical sides.
  • the rotary sheave 2 provided at an appropriate position vertically above the base joint of each arm 1 has a heavy cover according to the length of its radius. As described above, a factor that causes an error in the measurement is described below. This error absorbing means will be described below.
  • a fixed sheave 12 having the same diameter as the rotating sheave 2 is arranged coaxially with the rotating sheave 2, while the weight of the first arm 1 and the rotating sheave 2
  • a rotatable sheave 13 having the same or substantially the same diameter as the rotatable shaft is rotatably supported, and the wire 6 is wound and fixed to the fixed sheave 12 at one end thereof.
  • the winding 13 is wound around the rotating sheave 2 and is sequentially hooked on the above-mentioned sheave row composed of the rotating sheave 4 and the moving sheave 5 (see FIG. 2).
  • FIG. 2, FIG. 3, and FIG. 4 explain the basic structure of the mechanism of the present invention, but the sheave row including the rotating sheaves 4, 8 and the moving sheave 5, the spring member 3, and
  • Fig. 5 and Fig. 6 a concrete example of a compact structure is shown in Figs. 5 and 6, in which the rotating sheaves 4 and 8 are respectively rotated at both ends of the base frame 14.
  • the movable sheave 5 is pivotally supported by a freely movable parallel shaft, and the movable sheave 5 is supported by a shaft 16 bridged so as to be able to move in parallel between the elongated holes 15, 15 provided at an intermediate position of the base frame U.
  • a panel member 3 is provided between a bearing 17 supporting the shaft 16 and a boss 19 screwed to a screw rod 18.
  • the wire 6 extending from or near the barycentric line of the arm 1 is provided by the arm.
  • the wire tension / relaxation / absorption mechanism consisting of a spring member, which turns in the direction of gravity by the absorption mechanism.
  • the force used to cancel the moment> allows the arm to move and to move at any position, irrespective of the vertical swing position of the arm. It has a tremendous effect on simplicity and labor savings.
  • the fixed sheaves 12 having the same diameter as the rotary sheave 2 are coaxially arranged side by side to form two strips parallel to the rotating sheave 13 provided at the working end of the arm.
  • the action force of the wire 6 is applied without any rotation moment, so that the gravity force is applied to the wire 6.
  • the balance function is performed as expected, and stable performance can be maintained.
  • the gravitational balance function according to the present invention is provided.
  • the arm can be moved lightly with a perfect gravitational balance, and the force is not affected by vertical movement. It is extremely effective not only for enhancing power, but also for improving reproduction accuracy in a servo control system, and is an industrial robot used for various purposes. It is a very suitable arm to implement on the device.

Abstract

Arm having a gravity-balancing function effective for use in welding robots as well as robots employed in a variety of industrial fields. Projectively provided over the fulcrum of an arm (1) is a rotary sheave (2), whose position is perpendicularly maintained regardless of the vertical swaying of the arm (1). A wire (6) is extended from an action point (A) on a line traced by the center of gravity of the arm (1), to the rotary sheave (2), and is connected to a spring mechanism (3) which may extend by the length of elongation equal to the distance between the action point (A) and the rotary sheave (2), whereby a moment due to the weight of the arm (1) is completely balanced to provide an arm with gravity-balancing.

Description

明 柳 発明の名称  Akira Yanagi Title of Invention
重力バ ラ ン ス機能 を備えた ア ー ム 技術分野  Arm technology field with gravity balance function
本発明は特に テ ィ 一チ ン グ · プ レ イ バ ッ ク 方式の ロ ボ ッ ト におけ る重力バ ラ ン ス機能を備えた アー ム の構造に 関する も のであ る 。 背景技術  The present invention particularly relates to a structure of an arm having a gravity balance function in a robot of a teaching and playback system. Background art
溶接用 口 ボ ッ ト な どで、 動作軌跡を予め人力テ ィ ー チ ン グ操作に よ って記憶装置に億え込ま せて い る こ と 力 あ る 7 、 ロ ボ ッ ト の多関節ァ ー ム を人力に よ つて操作さ せ る に は 、 移動方向に関係 な く 軽力で行なえ る こ と が好ま し いのは言 う ま で も ない。  The motion trajectory is previously stored in the storage device by manual teaching operation using a welding port, etc.7 The robot has multiple joints. It goes without saying that it is preferable that the arm can be operated manually, regardless of the direction of movement, with only light effort.
し カゝ し なが ら 、 一般の 口 ボ ッ ト ア ー ム はそ れ 自体に可 成 り の重 さ を 有して い る ので、 降下方向 には軽く 昇場方 向 に は重た く な る こ と は Sめず、 従って人カテ ィ 一チ ン グ操作の際に円滑さ を欠 く こ と が問題 と な る し 、 ま た サ 一ボ制御の際に再現精度が低下す る こ と も 欠点 と さ れて いた 。 例え ば特開昭 5 2 — 2 7 1 5 8 号は産業用 ロ ボ ッ ト の ァ 一 ム を開示し て い る が、 完全バ ラ ン ス を達成す る た めの理論、 構成は示 し て いない。  However, since the general mouth bot arm itself has a considerable weight, it is light in the descent direction and light in the ascending direction. Therefore, the lack of smoothness during human categorizing operation is a problem, and the accuracy of reproduction is reduced during servo control. This was also a drawback. For example, Japanese Patent Application Laid-Open No. 52-271158 discloses an industrial robot arm, but the theory and configuration for achieving perfect balance are shown. Not.
.Τ\0 発明の開示 .Τ \ 0 Disclosure of the invention
本発明は アー ム の上下方向揺動に関係な く 垂直状態を 保持する こ と がで き る回転シ 一 ブを、 アー ム揺動支点上 方に突出 さ せて設け、 前記アー ム の重心線上の作用点と 前記回転シーブ と の間に係架させた ワ イ ヤ を、 その作用 点 と 回転シーブ との間の長さ の伸び量を有す る ノヽ * ネ機構 に接続して、 ア ー ム の重量に よ る モ ー メ ン ト を均衡させ る よ う に した重力バ ラ ン ス機能を備えた ァ ー ム で あっ て 完全バ ラ ンス を達成す る も ので あ る 。  According to the present invention, a rotary shaft capable of maintaining a vertical state irrespective of the vertical swing of an arm is provided so as to protrude above an arm swing fulcrum, and the center of gravity of the arm is provided. A wire hooked between the point of action on the line and the rotary sheave is connected to a contact mechanism having a length of extension between the point of action and the rotary sheave. This is an arm with gravitational balance function that balances the moment by the weight of the arm and achieves perfect balance.
又本発明は、 上記改良さ-れた ア ー ム に おいて、 パネ機 構は、 それぞれ複数個の固定された回転 シー ブ、 並びに バネ部材を有している 。 図面の簡単な説明  Further, according to the present invention, in the above-mentioned improved arm, the panel mechanism includes a plurality of fixed rotating sheaves and a spring member. BRIEF DESCRIPTION OF THE FIGURES
第 1 図は本発明に係る アー ム の原理説明図である。 第 2 図 は本発明に係る 1 段アー ム機構の骨格図である。 第 3 図は本発明に係る 2 段アー ム機構の骨格図である。 第 4 図は本発明に係る ア ー ム に おいて 、 ワ イ ヤ を張架 さ せ る シ 一 ブ系の要部を示す骨格図であ る。  FIG. 1 is a diagram illustrating the principle of an arm according to the present invention. FIG. 2 is a skeleton diagram of a one-stage arm mechanism according to the present invention. FIG. 3 is a skeleton diagram of a two-stage arm mechanism according to the present invention. FIG. 4 is a skeletal view showing a main part of a sieve system on which wires are stretched in the arm according to the present invention.
第 5 図は本発明の具体的関節機構の 1 例に係る 一部省 略正面図であ る 。  FIG. 5 is a partially omitted front view of an example of a specific joint mechanism of the present invention.
第 6 図は第 5 図に示す具体的関節機構の 1 例に係る一 部省略平面図であ る。  FIG. 6 is a partially omitted plan view of an example of the specific joint mechanism shown in FIG.
C .PI 発明を実施する た め の最良の形態 C .PI BEST MODE FOR CARRYING OUT THE INVENTION
先ずア ー ム の重力バ ラ ン ス を と る ため の構成につ き 、 その基本的な構造について第 1 図に よ り説明すれば、 定 位置の支点 B を 回転中心とする アー ム を l 、 支点 B に 対し垂直上方の若干距離 a 隔て た位置の支点 と 、 ァ ー ム XI の重心線上の位置 A と の間に係架さ せたバネ S と して、 さ ら に アー ム T¥ の重心線上の位置 Α におけ る荷 重を W、 パネ S の引張力を P、 支点 B の線 I に対する 垂線の長さ を K、 先端 Αの線 "Τ^に対する垂線の長さ を h と す る と 、  First, the basic structure of the structure for taking the gravity balance of the arm will be described with reference to FIG. 1. And a spring S hooked between the fulcrum at a position slightly above the fulcrum B by a distance a above the fulcrum B and the position A on the barycenter line of the arm XI, and the arm T ¥ The load at the position 位置 on the center of gravity line Α is W, the tensile force of the panel S is P, the length of the perpendicular to the line I of the fulcrum B is K, and the length of the perpendicular to the line Τ ^ at the tip と is h. Then,
支点 B の回 り のア ー ム モ ー- メ ン ト は、 下向 き力； W X h  The arm moment about the fulcrum B is a downward force; W X h
上向 き が P x Kであ り 、  The upward direction is P x K,
鈎合条件は当然 W X = P X ( 1) と な る 。 ま た 厶 A B C の面積はThe hook condition is naturally W X = P X (1). Also, the area of A
- X = ^ £ X (2) 但し はバネ長  -X = ^ £ X (2) where spring length
( 1) (2) 両式の両辺の比を と る と  (1) (2) The ratio of both sides of both equations is
W X h P X a X β X K 従って W Ρ  W X h P X a X β X K Therefore W Ρ
= =―定 (3)  = =-Fixed (3)
a β 即 ち バネ張力 （ Ρ ) と バネ長 （ ） が比例する も の と  a β In other words, the spring tension (Ρ) is proportional to the spring length ().
C.V.PI C.V.PI
:.ϋ. す る と、 第 1 図 々示の リ ン グ ' バネ 機構は全円周 にわた つて平衡す る 。 し かし な力 ら カ る 条件 を満た すバ ネ定 数を有す る バネ は 自 由長が零と な り 、 実在 しない こ と は 言 う 迄 も な く 、 従って か ^ る 単純な構成では実用装置 と して所期の 目的を達せ し め る に は程遠い も のであ る 。 :. ϋ . Then, the ring 'spring mechanism shown in Fig. 1 equilibrates over the entire circumference. However, a spring having a spring constant that satisfies the condition of a certain force has a free length of zero, and it is needless to say that it does not exist. Therefore, it is far from achieving the intended purpose as a practical device.
こ の意味におい て特開昭 5 2 - 2 7 1 5 8 号記載の ァ — ム は 上記 目的であ る 完全バ ラ ン ス を達成す る こ と はで き な い。 即 ち 、 同特開昭 5 2— 2 7 1 5 8 号に示さ れた ァ ー ム では に相当す る位置に は バ ラ ンス機構が直線状に 係架 さ れて お り 、 勿論そ の 自 由長は零に な ら ない。 本発明は 上述せ る 基本的条件を実質的に満足 し得 る バ ネ機構 を提供す る こ と を要旨 と す る も の であ り 、 そ の基 本的構成は第 2 図に略示す る よ う に、 垂直方向の揺動可 能 と な した ア ー ム 1 と 、 該 ア ー ム 1 の垂直揺動支点 B の 垂直上方位置 C に枢支 し た 回転 シ一 ブ 2 と 、 定置 さ せた 1 個以上の 回転 シーブ 4 およ び水平移動可能な移動 シ ー ブ 5 力 > ら な る シ一ブ列 と 、 該移 シ一ブ 5 と 固定部材と の 間 に係架 さ せたパ ネ部材 3 と を要素 と な し、 さ ら に ァ一 ム 1 の重心線上の位置 Aか ら 回転シ ーブ 2 、 前記 シーブ 列を経て張架 さ せた ワ イ ャ 6 を も 要素 と な し て い る 。 上述の リ ン ク 》 バ ネ機構において 、 ヮ ィ ャ 6 の支持部 材を形成す る 回転シ ー ブ 2 は第 1 図 におけ る 支点に対し て、 そ の半径分 だけ支持部が偏位し て い る の で 、 こ の偏  In this sense, the arm described in Japanese Patent Application Laid-Open No. 52-27158 cannot achieve the above-mentioned objective of perfect balance. That is, in the arm shown in Japanese Patent Application Laid-Open No. 52-271158, a balance mechanism is linearly hooked at a position corresponding to, and, of course, Free length does not become zero. The gist of the present invention is to provide a spring mechanism capable of substantially satisfying the above-described basic conditions, and the basic configuration is schematically shown in FIG. Arm 1 capable of swinging in the vertical direction, and a rotating shaft 2 pivotally supported at a vertically upper position C of a vertical swing fulcrum B of the arm 1. The one or more rotating sheaves 4 and the movable sheave 5 capable of horizontal movement are suspended between the moving sheave row and the fixed member. The panel member 3 and the wire 6 formed by extending the rotary sheave 2 from the position A on the barycentric line of the arm 1 through the sheave row are also used as elements. And that. In the link described above, in the spring mechanism, the rotating sheave 2 forming the supporting member of the roller 6 is displaced from the fulcrum in FIG. 1 by the radius thereof with respect to the fulcrum in FIG. , This bias
G.VP1 -、' - ：："0 »V 差分だけ第 1 図に よって説明 した原理的な条件に対して 誤差を生ぜしめ る が、 こ の誤差を吸収する手段は後述す る機構によって解決さ れる も のであ る。 G.VP1-, '-:: "0» V An error is generated by the difference with respect to the principle condition described with reference to FIG. 1, and the means for absorbing this error can be solved by a mechanism described later.
こ の リ ン ク · バネ機構のバネ定数を適正な値に設定す る こ とが必要であ る 力；、 バ ネ部材 3 のバネ定数を q 、 ァ — ム作動時に伸縮する ワ イ ャ 6 の本数を N とする と 、 q =— N2 と な る It is necessary to set the spring constant of this link / spring mechanism to an appropriate value; the spring constant of the spring member 3 is q, the wire that expands and contracts when the arm is activated 6 If the number of is N, then q = — N 2
a  a
W  W
従っ て リ ン ク · バ ネ機構の前記パネ定数を一 N2 に設定 Set to an N 2 the panel constant of Li down click BAS Ne mechanism according
a  a
する た めには、 ノヽ'ネ部材 3 の バ ネ定数と シ一ブ歹!]の シ ー ブ構成枚数を適当 に選ぶ こ と に よ って 、 ア ー ム 1 の傾動 角には関係な く リ ン ク 。 バ ネ機構の定荷重およ び自重バ ラ ンス を と る こ と が可能であ る 。 In order to do this, by appropriately selecting the number of sheaves in the spring member and the number of sheaves in the member 3, the tilt angle of the arm 1 is not affected. Link. It is possible to balance the constant load and the dead weight of the spring mechanism.
こ こ で自重バ ラ ン ス の計算式は第 1 図を参照すれば次 の如 く な る 。 即ち 、  Here, the formula for calculating the weight balance is as follows with reference to FIG. That is,
· R sind = P ' K で あ り 、 一方  · R sind = P 'K
= R s ίιιβ , £ s m β = a sm θ で あ る 力 > ら 、 κ = R · 一 sin0で あ り 、  = R s ίιιβ, £ sm β = a sm θ> then κ = R · 1 sin0,
W · R sin0 = R . P一 sin Θ と なっ て、 W · R sin0 = R. P1 sin 、
Ά  Ά
P = で あ る カ ら P と wは均衡す る こ と と な る 。  When P =, P and w are balanced.
次に 2本の ァー ム構成になる リ ング 。 パネ機構の基本 構造を第 3 図に よ り 説明すれば、 該機構は第 2 図々示の  Next, a ring consisting of two arms. The basic structure of the panel mechanism will be described with reference to FIG. 3.
O-V.PI .. リ ン ク · バ ネ機構の 2 系統を 2 段の直列に連設 して な る も のであ って 、 第 1 アー ム 1 a と第 2 ア ー ム l b と を関 節部 D に よ り 関着し て 、 第 1 ア ー ム l a に係 る リ ン ク · ノヽ'ネ機構 と 同様に、 第 2 ア ー ム 1 b に係 る リ ン ク · バネ 機構には 前記関節部 D の垂直上方位置 E に枢支し た回転 シーブ 2 1 と 回転シーブ 8 , 9 お よ び図示し ない移動 シ —ブか ら な る シ 一ブ列 と 、 同 じ く 該移動 シーブ と 固定部 材 と の間に係架さ せ たパ ネ部材 （ 図示せず ） と を要素 と な し 、 さ ら に第 2 ア ー ム l b の重心線上の位置 F 力 > ら 回 転 シーブ 2 b 、 前記シーブ列を経て張架さ せた ワ イ ヤ 6 b を も 要素 と な して い る 。 OV.PI .. The link and spring mechanism is connected in series in two stages, and the first arm 1a and the second arm lb are connected by the joint D. In connection with the link-spring mechanism related to the second arm 1b, the link-spring mechanism related to the second arm 1b has the same vertical axis of the joint D as the link-node mechanism related to the first arm la. The rotating sheave 21 pivotally supported at the upper position E, the rotating sheaves 8, 9 and a row of moving sheaves (not shown), as well as the moving sheave and the fixing member And a panel member (not shown) suspended between them as an element, and further, the sheave row 2b, which is a rotating sheave 2b, at a position F force on the center line of the second arm lb, and The wire 6b stretched through is also an element.
こ の機構にお い て第 2 アー ム l b に係 る 回転 シーブ 2 b を 、 第 1 アー ム l a に係 る 回転シ ーブ 2 a と 同 じ よ う に 該ア ー ム l h の傾動角に関係な く 、 常に垂直上方位置に 安定さ せ る よ う にする に は、 第 1 ア ー ム l a を一辺と し、 リ ン ク 部材 7 を第 1 ア ー ム l a に対向 した二辺に、 ま た 垂直辺部を有す る 固定部材 10を三辺に、 同 じ く 垂直辺部 を有す る 固定部材 11 を前記三辺に対向す る 四辺に した 4 節平行 リ ン ク 機構を形成 し て、 前記四辺の垂直辺部に回 転 シーブ 2 b を 回転 自在に枢支 さ せ る よ う にすれば容易 に解決で き る 。  In this mechanism, the rotating sheave 2b related to the second arm lb is connected to the tilt angle of the arm lh in the same manner as the rotating sheave 2a related to the first arm la. Regardless, in order to always stabilize the vertical upper position, the first arm la is set to one side, and the link member 7 is set to two sides facing the first arm la. Also, a four-node parallel link mechanism is formed in which the fixing member 10 having a vertical side is on three sides, and the fixing member 11 having the vertical side is also on four sides opposed to the three sides. The problem can be easily solved if the rotating sheave 2b is rotatably pivoted on the four vertical sides.
上述せ る 機構 と 同 じ も の を逐次追加す る こ と に よ って 、 3 段若し く は そ れ以上の多関部ア ー ム を形成する こ と が可能であ る のは言 う迄 も ない。 By successively adding the same mechanism as described above, a multistage arm of three or more stages is formed. Needless to say, this is possible.
以上の構成にな る多関節ア ー ム機構において 、 各ァ 一 ム 1 の基部側関節に対して垂直上方の適当位置に設け た 回転シーブ 2 がそ の半径の長さ に応じて重カバ ラ ン ス上 誤差を生ぜし める 因と なる こ と は前掲した通 り であるが 、 こ の誤差吸収手段を次に説明する 。  In the multi-joint arm mechanism having the above structure, the rotary sheave 2 provided at an appropriate position vertically above the base joint of each arm 1 has a heavy cover according to the length of its radius. As described above, a factor that causes an error in the measurement is described below. This error absorbing means will be described below.
第 4 図において 、 回転 シ一 ブ 2 と等径を なす固定シ ー ブ 12を前記回転シーブ 2 に同軸で配設する一方、 第 1 ァ ー ム 1 の重 、線上の 1 点に回転シーブ 2 と等径又は略々 等径を なす回転シーブ 13を 回転自在に枢支せ し め て、 前 記ワ イ ヤ 6 を その一端側において前記固定シー ブ 12に巻 回固着した後、 回転 シ 一 プ 13を巻回 し て回転 シ ーブ 2 に 係架し、 回転 シ—ブ 4 と 移動 シーブ 5 と よ り な る前記シ ―ブ列に順次係架させる （ 第 2 図参照 ）  In FIG. 4, a fixed sheave 12 having the same diameter as the rotating sheave 2 is arranged coaxially with the rotating sheave 2, while the weight of the first arm 1 and the rotating sheave 2 A rotatable sheave 13 having the same or substantially the same diameter as the rotatable shaft is rotatably supported, and the wire 6 is wound and fixed to the fixed sheave 12 at one end thereof. The winding 13 is wound around the rotating sheave 2 and is sequentially hooked on the above-mentioned sheave row composed of the rotating sheave 4 and the moving sheave 5 (see FIG. 2).
こ の ワ イ ヤ 6 張架に際して固定シ 一 ブ 12力 ら 回転シ ー ブ 13を経て、 回転シ 一 ブ 2 に至る張架状態は第 4 図々示 の如 く 、 ワ イ ヤ 6 が平行した 2 条 6 ， 6' と なつて展延す る態様と な る こ と が必要であ り 、 即ち櫸掛けの如き交叉 状と なる のは回避し なければな ら ないのであ る  When the wire 6 is stretched, the tension from the fixed sheave 12 to the rotating sheave 2 via the rotating sheave 13 and the rotating sheave 2 is such that the wires 6 are parallel as shown in FIG. Therefore, it is necessary to have the form of spreading as in Articles 2, 6 and 6 ', that is, it is necessary to avoid crossing like a cross.
かく す る こ と に よ って 、 2 条の ワ イ ヤ 6 ， 6 '  By doing so, the two wires 6 and 6 '
る張力は それぞれ第 1 図におけ る 点 A即ち前記 The tensions at point A in Fig. 1
プ 13の軸中心 と、 同 じ く 点 B 即ち回転シーブ 2 Same as point B of shaft 13
定シ ー ブ 12の共通軸中心と を結ぶ作用線に対し For the action line connecting to the common axis center of the constant sheave 12,
、' ' ^ 離をなす両側で平行に作用す る こ と と な り 、 従って両張 力の合成力は点 A , 点 C 間を通過す る と 同等の状態にな る ので理論計算通 り の鈎合を保持す る構成と なすこ と が 可能であ る 。 , '' ^ Since both sides are separated and act in parallel, the combined force of the dilatation forces becomes equivalent when passing between points A and C. It is possible to have a configuration that retains it.
但 し 、 回転シ 一ブ 2 を経て前記シ 一ブ列に至る ワ イ ヤ 6 における力およ び動き は第 1 図およ び動 き と比較して 、 夫々 およ び 2 倍と なる ので、 前記シーブ列におけ る パネ部材 3 と は同値 と な らず、 パネ定数およ び シ ーブ列 数を選定し直すこ と が必要であ る。  However, since the force and the movement of the wire 6 reaching the above-mentioned row of the sieves via the rotary sieve 2 are respectively twice as large as those in FIG. 1 and the movement. However, the panel members 3 in the sheave row do not have the same value, and it is necessary to select the panel constant and the number of the sheave rows again.
なお、 回転シ 一 ブ 2 およ び固定 シ 一 ブ 12は共に ア ー ム 1 の関節部中心に対 し垂直上方に位置させる こ と が最良 で あ る が、 厳密に垂直上方を保持する必要は な く 、 垂直 を外した略々垂直上方の位置であって も実用上の支障は な く 目的は十分達成で き る も ので あ る 。  It is best to position the rotary shib 2 and the fixed shiv 12 vertically above the center of the joint of the arm 1, but it is necessary to maintain the vertical upper exactly. However, even if the position is almost vertically above the vertical, the practical purpose is not hindered and the object can be achieved sufficiently.
第 2 図、 第 3 図、 第 4 図は本発明機構の基本構成につ き 説明 したが、 回転シーブ 4 ， 8 およ び移動 シ 一 ブ 5 か ら な る シーブ列 と 、 バネ部材 3 と を コ ン パ ク ト な一体に ま と めた具体的な構造例は第 5 図お よ び第 6 図に挙示す る よ う に、 基枠 14の両端に回転シーブ 4 ， 8 を夫々回転 自在な平行軸で枢支する と共に、 基枠 Uの中間位置に設 けた長孔 15 , 15 間に平行移動可能なよ う に橋架した軸 16 に対し移動シー ブ 5 を軸支さ せて、 前記軸 16 を支承す る 軸承 17と ネ ジ棒 18に螺合し たボス 19 との間にパ ネ部材 3  FIG. 2, FIG. 3, and FIG. 4 explain the basic structure of the mechanism of the present invention, but the sheave row including the rotating sheaves 4, 8 and the moving sheave 5, the spring member 3, and As shown in Fig. 5 and Fig. 6, a concrete example of a compact structure is shown in Figs. 5 and 6, in which the rotating sheaves 4 and 8 are respectively rotated at both ends of the base frame 14. The movable sheave 5 is pivotally supported by a freely movable parallel shaft, and the movable sheave 5 is supported by a shaft 16 bridged so as to be able to move in parallel between the elongated holes 15, 15 provided at an intermediate position of the base frame U. A panel member 3 is provided between a bearing 17 supporting the shaft 16 and a boss 19 screwed to a screw rod 18.
_O.VPI _O.VPI
' i'- 、.- ' 0 ノ を張架 して な る 構造を な してい る 。 'i'-, .-' 0 no It has a structure that is stretched.
か 、 る 構造 と す る こ と に よ って実用装置 と し て好適な も の が得 ら れ、 ま た 、 バ ネ張力の調節は前記ネ ジ棒 18の 左又は右旋回操作に よ って簡単に行な え る 。  With such a structure, a device suitable for a practical device can be obtained, and the adjustment of the spring tension can be performed by turning the screw rod 18 left or right. It is easy to do.
以上説明 し た こ と か ら 明 ら かなよ う に、 本発明に よ れ ば、 ア ー ム 1 の重心線上若 し く はそ の近傍か ら 延ば した ワ イ ャ 6 を前記ア ー ム 1 の基部側関節に対 し垂直上方或 は 略垂直上方お よ びバ ネ部材か ら な る ワ イ ヤ緊張弛緩吸 収機構に至 ら し め 、 該吸収機構に よ り 重力方向の回 り モ — メ ン ト を 打消すよ う に した 力 > ら 、 アー ム の上下方向揺 動位置に全 く 関係 な く 、 任意の位置で の静止な ら び に移 動を行わせ る た めの単純化と 省力化を果す上にす ぐれた 効果を奏す る 。  As is apparent from the above description, according to the present invention, the wire 6 extending from or near the barycentric line of the arm 1 is provided by the arm. (1) Vertical or almost vertical with respect to the proximal joint, and the wire tension / relaxation / absorption mechanism consisting of a spring member, which turns in the direction of gravity by the absorption mechanism. The force used to cancel the moment> allows the arm to move and to move at any position, irrespective of the vertical swing position of the arm. It has a tremendous effect on simplicity and labor savings.
ま た 、 前記回転 シーブ 2 と 等径を なす固定 シ 一 ブ 12を 同軸に並設さ せて 、 ア ー ム の作用端 に設け た回転 シ 一 ブ 13 と の閭に平行の 2 条 と な る 如 く ワ イ ャ 6 を反転架 さ せ た力 > ら 、 ワ イ ヤ 6 の作用力 は 回 り モ ー メ ン ト が全 く 生じ ないで作用す る こ と と な り 、 従って重力バ ラ ン ス機能が 所期通 り に発揮 さ れて 、 安定 し た性能を維持す る こ と が で き る 。 産業上の利用可能性  Further, the fixed sheaves 12 having the same diameter as the rotary sheave 2 are coaxially arranged side by side to form two strips parallel to the rotating sheave 13 provided at the working end of the arm. As a result, the action force of the wire 6 is applied without any rotation moment, so that the gravity force is applied to the wire 6. The balance function is performed as expected, and stable performance can be maintained. Industrial applicability
以上の よ う に 、 本発明 に係 る重力バ ラ ン ス機能 を備え  As described above, the gravitational balance function according to the present invention is provided.
ΟΛ'ΡΙ . " 'つ た ア ー ム は、 完全な重力バ ラ ン ス を は かって軽動が可能 で あ り 、 し 力 > も 上下動に は何等影響を受け る こ と がない ので、 人力操作時の利便を は力 ら せ得 る の は勿論、 サ一 ボ制御系 に おけ る再現精度の向上をは か る 上に も 極めて 有効であっ て 、 各種の用 に供 さ れる 産業用 ロ ポ ッ ト ゃ 自 動装置に実施し て誠に好適な ア ーム で あ る 。 '' ΡΙ. " The arm can be moved lightly with a perfect gravitational balance, and the force is not affected by vertical movement. It is extremely effective not only for enhancing power, but also for improving reproduction accuracy in a servo control system, and is an industrial robot used for various purposes. It is a very suitable arm to implement on the device.

Claims

請 求 の 範 囲 The scope of the claims
1. ア ー ム の重量を バ ネ機構によ って枢支し てバ ラ ン ス させ る重力バ ラ ン ス機能を備えた アー ム において、 ァ 一 ム の上下方向揺動に関係な く 垂直状態を保持する こ と が でき る 回転シーブ を、 アー ム揺動支点上方に突出さ せて 設け、 前記ア ー ム の重心線上の作用点 と前記回転シーブ と の 間に係架 さ せ た ワ イ ャ を 、 そ の作用点と回転シ 一ブ と の間の長さ の伸び量を有す る パネ機構に接続して、 ァ — ム の重量によ る モ ー メ ン ト を均衡させる こ と を特徴と する。 1. In an arm with a gravity balance function in which the arm weight is pivoted and balanced by a spring mechanism, regardless of the vertical swing of the arm. A rotating sheave capable of maintaining a vertical state is provided so as to protrude above an arm swing fulcrum, and is interposed between the point of action on the center of gravity of the arm and the rotating sheave. The wire is connected to a panel mechanism that has a length extension between the point of action and the rotary shib to balance the moment by the arm's weight. This is the feature.
2. 請求の範囲第 1 項記載の重力バ ラ ン ス機能を備えた アー ム において、 バネ機構は それぞれ複数個の固定 され た回転シーブ と 移動 シ ーブ、 並びにバ ネ部材を有して成 る こ と を特徴と する 。 2. The arm having a gravity balance function according to claim 1, wherein the spring mechanism includes a plurality of fixed rotating sheaves, a moving sheave, and a spring member. It is characterized by
G.v.PIG.v.PI
- Ό . ノ -Ό.
PCT/JP1979/000043 1979-02-22 1979-02-22 Arm with gravity-balancing function WO1980001774A1 (en)

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DE7979900310T DE2965974D1 (en) 1979-02-22 1979-02-22 Arm with gravity-balancing function
EP19790900310 EP0024433B1 (en) 1979-02-22 1980-09-11 Arm with gravity-balancing function

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2001085403A1 (en) * 2000-05-12 2001-11-15 Renishaw Plc Stylus counterbalancing mechanism for a measuring probe
US8812158B2 (en) 2011-04-07 2014-08-19 Kuka Roboter Gmbh Method and handling system for automatically moving a gravity-compensated load body
CN108818618A (en) * 2018-06-29 2018-11-16 华中科技大学 A kind of healing robot arm gravity balance device

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3608743A (en) * 1970-05-04 1971-09-28 Gen Electric Material-handling apparatus
JPS50111761A (en) * 1974-02-12 1975-09-02
JPS5241348A (en) * 1975-09-27 1977-03-30 Yasuyuki Takagi Balancing apparatus

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3608743A (en) * 1970-05-04 1971-09-28 Gen Electric Material-handling apparatus
JPS50111761A (en) * 1974-02-12 1975-09-02
JPS5241348A (en) * 1975-09-27 1977-03-30 Yasuyuki Takagi Balancing apparatus

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP0024433A4 *

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2001085403A1 (en) * 2000-05-12 2001-11-15 Renishaw Plc Stylus counterbalancing mechanism for a measuring probe
US8812158B2 (en) 2011-04-07 2014-08-19 Kuka Roboter Gmbh Method and handling system for automatically moving a gravity-compensated load body
CN108818618A (en) * 2018-06-29 2018-11-16 华中科技大学 A kind of healing robot arm gravity balance device

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