WO1980001774A1 - Bras avec fonction d'equilibrage par gravite - Google Patents

Bras avec fonction d'equilibrage par gravite Download PDF

Info

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
Authority
WO
WIPO (PCT)
Prior art keywords
arm
sheave
gravity
rotating
spring
Prior art date
Application number
PCT/JP1979/000043
Other languages
English (en)
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 DE7979900310T priority Critical patent/DE2965974D1/de
Priority to PCT/JP1979/000043 priority patent/WO1980001774A1/fr
Publication of WO1980001774A1 publication Critical patent/WO1980001774A1/fr
Priority to EP19790900310 priority patent/EP0024433B1/fr

Links

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

Un bras ayant une fonction d'equilibrage par gravite est utilise dans des robots de soudage ainsi que dans des robots utilises dans plusieurs domaines industriels. Montee en projection sur l'axe pivot d'un bras (1) se trouve une roue a gorge (2), dont la position est maintenue perpendiculaire independemment de l'oscillation verticale du bras (1). Un cable (6) s'etend a partir d'un point d'action (A) sur une ligne definie par le centre de gravite du bras (1) a la roue (2), et il est relie a un mecanisme a ressort (3) qui peut s'etendre d'une longueur egale a la distance entre le point d'action (A) et le disque excentrique rotatif (2), et il s'ensuit qu'un moment du au poids du bras (1) est completement equilibre permettant ainsi d'obtenir un bras avec equilibrage par gravite.
PCT/JP1979/000043 1979-02-22 1979-02-22 Bras avec fonction d'equilibrage par gravite WO1980001774A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
DE7979900310T DE2965974D1 (en) 1979-02-22 1979-02-22 Arm with gravity-balancing function
PCT/JP1979/000043 WO1980001774A1 (fr) 1979-02-22 1979-02-22 Bras avec fonction d'equilibrage par gravite
EP19790900310 EP0024433B1 (fr) 1979-02-22 1980-09-11 Bras avec fonction d'equilibrage de gravite

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
WOJP79/00043 1979-02-22
PCT/JP1979/000043 WO1980001774A1 (fr) 1979-02-22 1979-02-22 Bras avec fonction d'equilibrage par gravite

Publications (1)

Publication Number Publication Date
WO1980001774A1 true WO1980001774A1 (fr) 1980-09-04

Family

ID=13677616

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP1979/000043 WO1980001774A1 (fr) 1979-02-22 1979-02-22 Bras avec fonction d'equilibrage par gravite

Country Status (2)

Country Link
DE (1) DE2965974D1 (fr)
WO (1) WO1980001774A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2001085403A1 (fr) * 2000-05-12 2001-11-15 Renishaw Plc Mecanisme de contrepoids de stylet pour sonde de mesure
US8812158B2 (en) 2011-04-07 2014-08-19 Kuka Roboter Gmbh Method and handling system for automatically moving a gravity-compensated load body
CN108818618A (zh) * 2018-06-29 2018-11-16 华中科技大学 一种康复机器人手臂重力平衡装置

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 (fr) * 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 (fr) * 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 (fr) * 2000-05-12 2001-11-15 Renishaw Plc Mecanisme de contrepoids de stylet pour sonde de mesure
US8812158B2 (en) 2011-04-07 2014-08-19 Kuka Roboter Gmbh Method and handling system for automatically moving a gravity-compensated load body
CN108818618A (zh) * 2018-06-29 2018-11-16 华中科技大学 一种康复机器人手臂重力平衡装置

Also Published As

Publication number Publication date
DE2965974D1 (en) 1983-09-01

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