WO2016136821A1 - 出力装置および出力システム - Google Patents
出力装置および出力システム Download PDFInfo
- Publication number
- WO2016136821A1 WO2016136821A1 PCT/JP2016/055475 JP2016055475W WO2016136821A1 WO 2016136821 A1 WO2016136821 A1 WO 2016136821A1 JP 2016055475 W JP2016055475 W JP 2016055475W WO 2016136821 A1 WO2016136821 A1 WO 2016136821A1
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- WO
- WIPO (PCT)
- Prior art keywords
- operating rod
- rod
- guide
- axial direction
- output device
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
- B25J15/0408—Connections means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/007—Arms the end effector rotating around a fixed point
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
- B25J15/0408—Connections means
- B25J15/0416—Connections means having balls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
- B25J15/0408—Connections means
- B25J15/0425—Connections means having cams
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
- B25J15/0491—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof comprising end-effector racks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
Definitions
- the present invention relates to an output device suitable for use by attaching to the tip of a robot arm.
- An output device is attached to the tip of the robot arm so that various operations can be performed by one robot, and an adapter to which various tools are attached is fastened to this output device.
- an adapter to which various tools are attached is fastened to this output device.
- an operation rod (drive spindle) is arranged so as to be orthogonal to an output rod (fastening / releasing passive wedge), and a hexagon wrench is inserted into a hexagon hole provided at an end of the operation rod.
- the operating rod is moved in the axial direction thereof, so that the output rod is moved through two wedges (fastening drive wedge and detachment drive wedge).
- An object of the present invention is to propose an output device for improving the above problems.
- the output device is configured as follows.
- the operating rod 22 inserted into the housing 1 so as to be movable in the axial direction moves in the axial direction by an external force applied to the end of the operating rod 22 in the axial direction.
- a booster mechanism 5 that assists the movement of the operation rod 22 in the axial direction is provided between the housing 1 and the operation rod 22.
- the output rod 21 is moved by the operating rod 22 in the axial direction of the operating rod 22 or in a direction intersecting with the axial direction.
- the booster mechanism 5 has an engagement member 51, and the engagement member 51 is fitted into an engagement recess 52 formed on the outer periphery of the operation rod 22.
- the engaging recess 52 has a cam surface 52a with which the engaging member 51 is engaged.
- An engagement member support portion 53 that allows the engagement member 51 to move in the radial direction of the operation rod 22 but restricts the movement of the engagement member 51 in the axial direction of the operation rod 22 is provided.
- a pressing member 54 that presses the engaging member 51 by being biased by a spring 55 is provided, and the pressing member 54 has a boosting surface 54 a with which the engaging member 51 is engaged.
- the output device of the present invention has the following effects.
- the movement of the operating rod is assisted by the above-described booster mechanism. Therefore, since the operating rod can be moved with a small force, it is not necessary to use a driving means such as a tool or an electric motor that moves the operating rod with a large force.
- the output device of the present invention preferably further comprises the following configuration.
- a guide member 35 is provided at the proximal end portion of the output rod 21.
- a cam groove 38 is provided in the operating rod 22 so as to be directly or indirectly engaged with the guide member 35.
- the drive groove portion 40 of the cam groove 38 is configured to move away from the shaft center toward one end of both ends of the operation rod 22 in the axial center direction.
- An output system is an output system comprising the above-described output device and a stocker 100 having guide surfaces 90b and 91a for moving the operation rod 22 in the axial direction, for example, As shown in FIGS. 3A to 5, the configuration is as follows.
- the stocker 100 includes mounting table portions 86 and 87 on which a clamping object 70 to be clamped by an output device is mounted, and guide grooves 90 and 91 that serve as guide portions at the end of the operation rod 22.
- the guide grooves 90 and 91 are provided with tapered guide surfaces 90b and 91a on the inner surface.
- the stocker 100 is configured so that the end of the operating rod 22 protruding from the housing 1 is passed through the guide grooves 90 and 91 so as to contact the tapered guide surfaces 90b and 91a so that the operating rod 22 moves in the axial direction. It is configured.
- the operation rod of the output device can be moved in the axial direction with a simple operation.
- the size of the lock operation portion 23a that is one end portion of the operation rod 22 of the output device and the release operation portion 24a that is the other end portion are different, and the stocker 100
- the guide grooves 90 and 91 preferably include a lock guide groove 90 corresponding to the lock operation portion 23a and a release guide groove 91 corresponding to the release operation portion 24a. According to this configuration, erroneous operation can be prevented.
- the output rod can be operated by moving the operating rod with a small force.
- FIG. 1A is a sectional view in an elevational view in a released state of a robot hand changer to which an output device according to a first embodiment of the present invention is applied.
- 1B is a diagram corresponding to a cross-sectional view taken along line 1B-1B in FIG. 1A.
- 1C is a diagram corresponding to a cross-sectional view taken along line 1C-1C in FIG. 1A.
- FIG. 2A is a view similar to FIG. 1A, showing a locked state of the robot hand changer.
- FIG. 2B is a view similar to FIG. 1B.
- 3A and 3B are a plan view and a front view, respectively, showing a state in which the output device shown in FIG.
- FIG. 1 is inserted into a stocker according to an embodiment of the present invention on which a clamp object (tool adapter) is placed.
- 4A is a diagram corresponding to a cross-sectional view taken along line 4A-4A in FIG. 3A
- FIG. 4B is a diagram corresponding to a cross-sectional view taken along line 4B-4B in FIG. 3A.
- the output device and the clamping object (tool adapter) are not shown.
- FIG. 5 is a plan view showing a state in the middle of sliding the output device from the released state shown in FIG.
- FIG. 6 shows a robot hand changer to which the output device of the second embodiment of the present invention is applied, and is a view similar to FIG. 1A.
- FIGS. 1A to 1C illustrate a robot hand changer to which the output device according to the first embodiment of the present invention is applied.
- the structure of the robot hand changer will be described with reference to FIGS. 1A to 1C.
- a housing 1 of the output device includes a housing main body 2 as a main body portion, and a cylindrical plug portion 3 that integrally protrudes upward from the upper portion of the housing main body 2.
- a component member of the output device is disposed in the housing body 2, and a component member of a clamp mechanism 4 described later is provided in the plug portion 3.
- the housing 1 (output device) is attached to the tip of a robot arm (not shown).
- the first guide hole 11 is formed in the housing body 2 in the vertical direction.
- a second guide hole 12 is formed in the housing body 2 in the horizontal direction, and the second guide hole 12 intersects the first guide hole 11.
- the output rod 21 is inserted into the first guide hole 11 and the cylindrical hole 3a of the plug portion 3 so as to be movable in the vertical direction (axial direction).
- a driving operation rod 22 is inserted into the second guide hole 12 so as to be movable in the horizontal direction (axial direction).
- the operation rod 22 includes a lock-side operation rod 23 and a release-side operation rod 24 that are coaxially arranged.
- the lock operation portion 23 a that is an end portion of the lock side operation rod 23 is smaller than the release operation portion 24 a that is an end portion of the release side operation rod 24.
- the lock-side operation rod 23 is inserted into the second guide hole 12 and is also inserted into the guide tube 25 fixed to the side end of the housing body 2.
- a disc-shaped flange portion 23 b is provided in the middle portion of the lock-side operation rod 23.
- the release side operation rod 24 is inserted into the second guide hole 12 and is also inserted into the guide cylinder 26 fixed to the side end opposite to the side end of the housing body 2.
- the guide cylinders 25 and 26 are one part constituting the housing 1.
- a receiving groove 31 extending in the horizontal direction and in the vertical direction is formed in the lower half portion (base end side portion) of the output rod 21.
- An insertion portion 32 provided on the lock-side operation rod 23 is fitted into the accommodation groove 31.
- both end portions in the longitudinal direction of a pin member 35 as a guide member are rotatably supported on both side walls 31 a and 31 a of the accommodation groove 31 via a radial bearing 36.
- a cam groove 38 is formed in the insertion portion 32 of the lock side operation rod 23.
- the cam groove 38 has a horizontal groove portion 39 and a drive groove portion 40 inclined downward to the right, and the drive groove portion 40 has mutually different inclination angles with respect to the axial direction of the lock-side operation rod 23.
- the first drive groove portion 40a and the second drive groove portion 40b are configured.
- the inclination angle (for example, 30 °) of the second drive groove portion 40b is smaller than the inclination angle (for example, 45 °) of the first drive groove portion 40a.
- the cam groove 38 is externally fitted (engaged) with the central portion of the pin member 35 in the longitudinal direction. Further, a lock spring 44 is mounted between a spring receiver 43 provided at an intermediate height portion of the plug portion 3 and an intermediate height portion of the output rod 21.
- a booster mechanism 5 for assisting the movement of the lock-side operation rod 23 in the axial direction is provided on the right side portion in the housing body 2.
- the booster mechanism 5 is configured as follows.
- a plurality of engaging recesses 52 into which engaging balls 51 as engaging members are fitted are formed on the outer periphery of the lock-side operation rod 23 at predetermined intervals in the circumferential direction.
- a cam surface 52 a formed on the center side of the housing main body 2 in the engagement recess 52 is formed so as to approach the axis as it goes toward the end of the lock-side operation rod 23. Further, the cylinder wall 25a on the radially inner side of the guide cylinder 25 is allowed to move the engagement ball 51 in the radial direction of the lock-side operation rod 23, but the engagement of the lock-side operation rod 23 in the axial direction is allowed.
- a plurality of support holes 53 as engagement member support portions for restricting the movement of the ball 51 are formed in correspondence with the engagement recesses 52.
- a cylindrical pressing member 54 that presses the engagement ball 51 is disposed in the recess 27 portion of the guide cylinder 25.
- the boost surface 54a formed on the inner periphery of the pressing member 54 is formed so as to approach the axial center toward the end of the lock-side operation rod 23, and the inclination angle with respect to the horizontal direction (axial direction) is The angle of inclination of the cam surface 52a with respect to the horizontal direction (axial direction) is smaller.
- a spring 55 that urges the pressing member 54 toward the center of the housing body 2 is inserted between the pressing member 54 and the bottom surface of the recess 27 portion of the guide tube 25.
- an annular locking groove 56 is provided in a portion of the outer periphery of the lock-side operation rod 23 that is a little closer to the center of the housing body 2 than the engaging recess 52.
- the clamp mechanism 4 is configured as follows. In the upper part of the peripheral wall of the plug portion 3, lateral through holes 61 are formed at predetermined intervals in the circumferential direction, and the engagement balls 62 are inserted into the respective through holes 61. A tapered outer peripheral surface 63 and a retracting groove 64 that are narrowed downward are formed in the upper and lower portions of the output rod 21. A collet 65 is fitted on the lower half of the peripheral wall of the plug portion 3. The collet 65 has a slit 66 formed in the vertical direction, and is configured so that it can be reduced in the radial direction and can be enlarged in the radial direction by its own elastic restoring force. The collet 65 is biased upward by the advance spring 67. Note that a plurality of the advance springs 67 are arranged at predetermined intervals in the circumferential direction.
- an insertion hole 71 is opened on the lower surface of the tool adapter 70 as a clamping object to be clamped by the output device.
- a locking hole 72 and a taper positioning hole 73 are formed vertically on the inner peripheral surface of the insertion hole 71.
- Various tools (not shown) are attached to the tool adapter 70.
- a support wall 82 is erected and fixed by bolts 83a on the back surfaces of the pair of leg portions 81 and 81 fixed on the table.
- a pair of receiving members 84, 85 are fixed to the support wall 82 with bolts 83b so as to extend in the horizontal direction.
- the fixing of the receiving members 84 and 85 to the support wall 82 is reinforced by ribs 84a and 85a.
- a groove-shaped mounting table portion 86 extending in the horizontal direction is formed on the surface of the lower portion of the receiving member 84 facing the receiving member 85.
- a groove-shaped mounting base portion 87 extending in the horizontal direction is also formed on the surface facing the receiving member 84 below the other receiving member 85.
- the tool adapter 70 is inserted from the open ends of the mounting table portions 86 and 87 and placed on the mounting table portions 86 and 87.
- the vertical orientation of the tool adapter 70 shown in FIG. 3B is opposite to the vertical orientation of the tool adapter 70 shown in FIG. 1A. Note that the tool adapter 70 is mounted on the mounting table portion formed in a flat shape instead of being mounted across the mounting table portion 86 and the mounting table portion 87 formed in a groove shape extending in the horizontal direction. May be placed.
- a groove-shaped guide groove 88 extending in the horizontal direction is formed on the surface of the upper portion of the receiving member 84 facing the receiving member 85, and similarly, the surface of the upper surface of the receiving member 85 facing the receiving member 84 also extends in the horizontal direction.
- An extending groove-shaped guide groove 89 is formed.
- a lock guide groove 90 extending in the horizontal direction is further provided in the guide groove 88, and an end thereof is a groove 90a extending in the vertical direction.
- a tapered surface 90b having a tapered shape with which the end of the lock side operation rod 23 (lock operation portion 23a) abuts is formed.
- a release guide groove 91 extending in the horizontal direction is further provided in the guide groove 89, and a taper-shaped tapered surface with which an end portion (release operation portion 24a) of the release side operation rod 24 abuts a part thereof. 91a is formed.
- the width of the lock guide groove 90 is such that the end portion of the release side operation rod 24 cannot pass and the end portion of the lock side operation rod 23 can pass, and the width of the release guide groove 91 is the release side operation rod. That is, the size of the lock guide groove 90 and the release guide groove 91 are different from each other.
- the robot arm When switching from the released state of FIG. 1A to the locked state of FIG. 2A, the robot arm is moved, and first, as shown in FIGS. 3A and 3B, a groove 90a formed in the receiving member 84 from above the stocker 100, The plug of the output device is inserted into the insertion hole 71 of the tool adapter 70 mounted on the mounting table portions 86 and 87 of the stocker 100 while the end portion (lock operation portion 23a) of the lock-side operation rod 23 of the output device is inserted. The portion 3 is inserted, and the tapered outer peripheral surface of the collet 65 is fitted into the taper positioning hole 73 of the tool adapter 70.
- the output device is slid along the guide grooves 88 and 89 of the stocker 100 in a direction away from the support wall 82.
- the end portion of the lock-side operation rod 23 of the output device reaches the tapered surface (guide surface) 90b portion of the lock guide groove 90, the end portion eventually comes into contact with the tapered surface 90b and further slides to become the tapered surface 90b.
- the engagement ball 51 is released from the locking groove 56 by the reaction force from the, and the lock side operation rod 23 is pushed into the guide tube 25.
- the drive groove portion 40 of the lock operation rod 23 raises the output rod 21 via the pin member 35 (lowering in FIG. 1A).
- the taper outer peripheral surface 63 of the output rod 21 pulls up the tool adapter 70 via the engaging ball 62 and the locking hole 72 by the resultant force of the rising force and the lock spring 44 (lowering in FIG. 1A).
- the taper positioning hole 73 of the tool adapter 70 reduces the diameter of the collet 65 so that the inner peripheral surface of the collet 65 is in close contact with the outer peripheral surface of the plug portion 3, and the collet 65 rises against the advance spring 67.
- the upper surface of the tool adapter 70 is pressed against the lower surface of the housing body 2.
- the pin member 35 Since the inclination angle of the second driving groove portion 40b of the driving groove portions 40 is smaller than the inclination angle of the first driving groove portion 40a, when the pin member 35 reaches the position of the second driving groove portion 40b, The output rod 21 presses the engagement ball 62 with a greater force than when passing through the first drive groove portion 40a. Further, since the pin member 35 is positioned in the second drive groove portion 40b and the engagement ball 51 is positioned on the boost surface 54a, the pin mechanism 35 is boosted by the boost mechanism 5. The lock-side operation rod 23 strongly presses the output rod 21 against the engagement ball 62 via the pin member 35 and the second drive groove portion 40b. In the locked state, the urging force of the spring 55 mechanically holds the locked state via the wedge action of the booster mechanism 5, so that the locked state is reliably maintained.
- the output device that locked the tool adapter 70 is switched from the open end of the receiving members 84 and 85 of the stocker 100, as opposed to switching from the released state to the locked state.
- the material is inserted into the stocker 100 along the guide grooves 88 and 89.
- the end portion of the release-side operation rod 24 of the output device reaches the tapered surface 91a portion of the release guide groove 91, the end portion eventually comes into contact with the tapered surface (guide surface) 91a, and further slides, the tapered surface 91a.
- the release ball operating rod 24 that moves integrally with the lock operating rod 23 is pushed into the guide cylinder 26 by the reaction force from the engagement ball 51 being disengaged from the engaging recess 52.
- the release side operation rod 24 is completely pushed into the guide tube 26, the release state shown in FIG. 1A is obtained. Thereafter, the output device is removed from the stocker 100 by moving the output device upward.
- the pushing force of the release-side operation rod 24 into the guide cylinder 26 due to the reaction force varies as the inclination angle of the tapered surface 91a with respect to the sliding direction of the output device is increased or decreased. If the inclination angle of the taper surface 91a is reduced, a sufficient pushing force can be obtained even if the force applied in the direction of sliding the output device is small.
- the booster mechanism 5 assists the movement of the operation rod 22 in the axial direction. Therefore, since the operation rod 22 can be moved with a small force, the output device and the tool adapter 70 can be locked without using a driving unit that generates a large force such as a tool / electric motor. If the spring 55 having a large elastic force is used, the operating rod 22 moves even when there is no external force when the boost driving is started. “Assisting the movement of the operating rod 22 in the axial direction by the booster mechanism 5” not only means that an external force such as a reaction force and a booster by the booster mechanism are applied to the operating rod 22 simultaneously. In addition, it includes a case where the operating rod 22 is moved only by the boosting force by the boosting mechanism after the operating rod 22 is moved a little by applying an external force such as a reaction force to the operating rod 22.
- the pin member 35 is positioned at the position of the second drive groove portion 40b.
- the output rod 21 presses the engagement ball 62 with a larger force than when passing through the first drive groove portion 40a.
- the pin member 35 is positioned in the second drive groove portion 40b and the engagement ball 51 is positioned on the boost surface 54a in the locking operation.
- the operation rod 23 which is boosted by the booster mechanism 5 strongly presses the output rod 21 against the engagement ball 62 via the pin member 35 and the second drive groove portion 40b.
- the urging force of the spring 55 mechanically holds the locked state via the wedge action of the booster mechanism 5, so that the locked state is reliably maintained.
- the lock-side operation rod 23 constituting the operation rod 22 is also supported on the inner peripheral surface of the cylindrical wall 25a of the guide cylinder 25, so that the guide characteristics are improved. Excellent.
- the release-side operation rod 24 is supported by the inner peripheral surface of the guide cylinder 26 in addition to the second guide hole 12 formed in the housing body 2, so that the guide characteristics are excellent.
- the flange portion 23 b provided in the midway portion of the lock-side operation rod 23 further improves the guide characteristics of the second guide hole 12.
- FIG. 6 shows a robot hand changer to which the output device of the second embodiment of the present invention is applied.
- the same members (or similar members) as the constituent members of the first embodiment are described with the same reference numerals in principle.
- the second embodiment shown in FIG. 6 differs from the first embodiment described above in the following points.
- the support hole 53 as the engagement member support portion is provided in the cylindrical wall 25a on the radially inner side of the guide cylinder 25.
- a convex portion 28a as the engaging member support portion is formed on the surface of the guide tube 28 that faces the engaging ball 51 in the axial direction, and the guide tube 28 is the tube wall 25 of the first embodiment. And no support hole 53.
- the press member 54 is arrange
- each of the embodiments described above can be modified as follows.
- the end of the operating rod 22 is an object of any suitable object.
- the operating rod 22 may be moved in the axial direction by applying to the surface (contacting), using an actuator such as a fluid pressure cylinder or an electric motor, or pushing or pulling it by hand.
- the above-described operation rod 22 is divided into a lock-side operation rod 23 and a release-side operation rod 24, but the lock-side operation rod 23 and the release-side operation rod 24 may be integrated.
- a hook portion having a hook shape or a hole shape is provided only at one of both ends of the integrally formed operation rod 22, and an object is hooked on the hook portion to push the operation rod 22.
- the lock operation and the release operation may be performed by pulling.
- booster mechanism 5 is provided on the lock operation unit 23a side
- a booster mechanism may be provided in the housing body 2 on the release operation unit 24a side instead of being provided on the lock operation unit 23a side.
- the direction in which the spring 55 constituting the booster mechanism 5 biases the engaging ball 51 is changed to the direction intersecting with the axis direction of the operation rod 22 instead of the axis direction of the operation rod 22. May be.
- the axial center direction of the output rod 21 and the axial center direction of the operation rod 22 may be made to intersect with each other while being inclined at a predetermined angle from the orthogonal state instead of being orthogonal to each other. Furthermore, by providing a mechanism such as the booster mechanism 5 at the end of the output rod 21 opposite to the clamp mechanism 4 and projecting the end from the first guide hole 11, the end of the output rod 21 is provided.
- the part may be an operating rod. That is, the output rod and the operation rod may be integrated. In this case, the axial center direction of the output rod and the axial center direction of the operating rod are the same direction.
- the output rod 21 and the first guide hole 11 may be extended downward (direction in FIG. 1A), and the clamp mechanism 4 described above may be provided at the extended end. That is, the two clamping mechanisms may be arranged to face each other with the operation rod 22 interposed therebetween.
- the above-described pin member 35 may be fixed to the both side walls 31a and 31a instead of being rotatably supported by the both side walls 31a and 31a of the housing groove 31. Furthermore, in this case, a radial bearing may be extrapolated to the longitudinal center portion of the pin member 35, and the longitudinal center portion may be fitted (engaged) with the cam groove 38 via the radial bearing. Further, instead of the illustrated pin member 35, a ball, a key, or the like may be used as the guide member. The radial bearing 36 can be changed to a roller or the like.
- the output rod 11 is provided with an insertion portion and the operation rod 22 (lock side operation rod 23). ) May be formed with a receiving groove.
- the left portion (end portion) of the horizontal groove portion 39 may be closed.
- the output rod 11 may be configured to be driven to lock upward (direction in FIG. 1A) instead of being driven to lock downward (direction in FIG. 1A).
- the inclination direction of the drive groove portion 40 of the cam groove 38 may be changed.
- the inclination angle of the drive groove portion 40 may be constant from end to end.
- the above-described clamp mechanism 4 is a mechanism using the engagement ball 62, but a clamp mechanism as described in JP-A-2014-030892 may be used as the clamp mechanism.
- the output device may be applied to various types of clamps.
- various modifications can be made within a range that can be assumed by those skilled in the art.
- SYMBOLS 1 Housing, 5: Booster mechanism, 21: Output rod, 22: Operation rod, 23a: Lock operation part, 24a: Release operation part, 35: Guide member (pin member), 38: Cam groove, 40: Drive groove Part 51: engagement member (engagement ball) 52: engagement recess 52a: cam surface 53: engagement member support part (support hole) 54: pressing member 54a: boost surface 55: spring , 70: Tool adapter (clamp object), 86, 87: Placement unit, 90, 91: Guide groove, 90b, 91a: Guide surface (tapered surface), 100: Stocker
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Abstract
Description
本発明の目的は、上記の問題点を改善するための出力装置を提案することにある。
本発明の出力装置では、操作ロッドの移動を前記した倍力機構により助勢する。そのため、小さな力で操作ロッドを移動させることができるので、大きな力で操作ロッドを移動させる工具・電動機などの駆動手段を用いる必要はない。
出力ロッド21の基端側部分に案内部材35が設けられる。その案内部材35に直接または間接的に係合されるように操作ロッド22にカム溝38が設けられる。そのカム溝38の駆動溝部分40は、操作ロッド22の軸心方向の両端のうちのいずれか一端へ向かうにつれて当該軸心から離れるように構成される。
ストッカ100は、出力装置でクランプされるクランプ対象物70が載置される載置台部86,87と、操作ロッド22の端部の案内部となるガイド溝90,91とを有している。ガイド溝90,91にはテーパ形状の前記ガイド面90b、91aが内面に設けられている。ハウジング1から突出する操作ロッド22の端部をガイド溝90,91に通すことでテーパ形状の前記ガイド面90b、91aに当接させて操作ロッド22が軸心方向へ移動するようにストッカ100は構成されている。
上記出力装置のハウジング1は、本体部分としてのハウジング本体2と、そのハウジング本体2の上部から上方へ一体に突出された筒状のプラグ部分3とを備える。上記のハウジング本体2内に出力装置の構成部材が配置され、上記プラグ部分3に後述のクランプ機構4の構成部材が設けられる。ハウジング1(出力装置)は、図示を省略するロボットアームの先端に取り付けられる。
前記プラグ部分3の周壁の上部に、横向きの貫通孔61が周方向へ所定の間隔をあけて形成され、各貫通孔61に係合ボール62が挿入される。出力ロッド21の上部には、下向きに狭くなるテーパ外周面63と退避溝64とが上下に形成される。プラグ部分3の周壁の下半部にコレット65が外嵌めされる。そのコレット65は、上下方向へ形成されたスリット66を有し、半径方向へ縮小可能で自己の弾性復元力によって半径方向へ拡大可能に構成されている。上記コレット65が進出バネ67によって上方へ付勢される。なお、上記の進出バネ67は、周方向へ所定の間隔をあけて複数配置されている。
また、出力装置でクランプされるクランプ対象物としてのツールアダプタ70の下面に挿入穴71が開口される。その挿入穴71の内周面に係止孔72とテーパ位置決め孔73とが上下に形成される。このツールアダプタ70には、図示を省略する各種の工具が取り付けられる。
図3Aから図5は、本発明の出力システムを構成するストッカ100の一実施形態を示している。図3Aから図4Bに基づいてストッカ100の構造を説明する。
なお、ツールアダプタ70は、水平方向に延びる溝形状に形成される載置台部86と載置台部87に跨って載置されることに代えて、平面状に形成された載置台部上に載置されてもよい。
前記ストッカ100を用いたツールアダプタ70のロック・リリース操作について説明する。なお、図1A、図2Aに示す出力装置およびツールアダプタ70の上下方向の向きは、図3Aから図5に示す出力装置およびツールアダプタ70の向きと上下反対であることを先に言及しておく。
なお、上記ロック状態において、バネ55の付勢力が倍力機構5の楔作用を介してロック状態を機械的に保持するので、そのロック状態が確実に維持される。
上記構成の出力装置では、操作ロッド22の軸心方向への移動を倍力機構5により助勢する。そのため、小さな力で操作ロッド22を移動させることができるので、工具・電動機などの大きな力を発生させる駆動手段を用いることなく、出力装置とツールアダプタ70とのロック操作を行うことができる。なお、弾性力の大きい前記バネ55を用いれば、倍力駆動が始まると外力がなくても操作ロッド22は移動する。「操作ロッド22の軸心方向への移動を倍力機構5により助勢する」とは、反力などの外力と倍力機構による倍力とを操作ロッド22に対して同時に作用させる場合だけでなく、反力などの外力を操作ロッド22に付与することで操作ロッド22が少し移動をした後は倍力機構による倍力のみで操作ロッド22を移動させる場合も含む。
なお、上記ロック状態において、バネ55の付勢力が倍力機構5の楔作用を介してロック状態を機械的に保持するので、そのロック状態が確実に維持される。
図6は、本発明の第2実施形態の出力装置を適用したロボットハンドチェンジャーを示している。この実施形態においては、上記の第1実施形態の構成部材と同じ部材(または類似する部材)には原則として同一の参照数字を付けて説明する。
第1実施形態の前記の図1Aでは、ガイド筒25の半径方向内側の筒壁25aに前記係合部材支持部としての支持孔53が設けられていたが、第2実施形態の図6では、ガイド筒28の軸心方向における係合ボール51と対向する面に前記係合部材支持部としての凸部28aが形成されており、当該ガイド筒28は、前記第1実施形態の前記筒壁25や支持孔53を有さない。
上記の各実施形態は、次のように変更可能である。
出力装置の状態をロック状態またはリリース状態に切り換えるのに、すなわち、操作ロッド22を軸心方向へ移動させるのに、ストッカ100を用いる代わりに操作ロッド22の端部を適当な任意の物体の物体面に当てたり(当接させたり)、流体圧シリンダや電動機等のアクチュエータを利用したり、手で押したり引っ張ったりすることで操作ロッド22を軸心方向へ移動させてもよい。
その他に、当業者が想定できる範囲で種々の変更を行えることは勿論である。
Claims (4)
- ハウジング(1)内に軸心方向へ移動可能に挿入される操作ロッド(22)であって、その操作ロッド(22)の端部に加えられる前記軸心方向への外力で、前記軸心方向へ移動する操作ロッド(22)と、
前記ハウジング(1)と前記操作ロッド(22)との間に設けられる倍力機構(5)であって、前記操作ロッド(22)の前記軸心方向への移動を助勢する倍力機構(5)と、
前記操作ロッド(22)によって前記軸心方向または前記軸心方向と交差する方向へ移動させられる出力ロッド(21)と、
を備え、
前記倍力機構(5)は、
係合部材(51)と、
前記操作ロッド(22)の外周に形成された、前記係合部材(51)が嵌り込む係合凹部(52)であって、前記係合部材(51)が係合するカム面(52a)を有する係合凹部(52)と、
前記操作ロッド(22)の半径方向への前記係合部材(51)の移動を許容するが前記操作ロッド(22)の軸心方向への前記係合部材(51)の移動を制限する係合部材支持部(53)と、
バネ(55)により付勢されることで前記係合部材(51)を押圧する押圧部材(54)であって、前記係合部材(51)が係合する倍力面(54a)を有する押圧部材(54)と、
を有することを特徴とする、出力装置。 - 請求項1の出力装置において、
前記出力ロッド(21)の基端側部分に設けた案内部材(35)と、
前記案内部材(35)に直接または間接的に係合されるように前記操作ロッド(22)に設けたカム溝(38)であって、前記操作ロッド(22)の軸心方向の両端のうちのいずれか一端へ向かうにつれて当該軸心から離れる駆動溝部分(40)を有するカム溝(38)と、
を備えることを特徴とする、出力装置。 - 請求項1または2の出力装置と、
前記操作ロッド(22)を前記軸心方向へ移動させるためのガイド面(90b、91a)を有するストッカ(100)と、を備え、
前記ストッカ(100)は、
前記出力装置でクランプされるクランプ対象物(70)が載置される載置台部(86,87)と、
テーパ形状の前記ガイド面(90b、91a)が内面に設けられたガイド溝(90,91)であって、前記操作ロッド(22)の端部の案内部となるガイド溝(90,91)と、
を有しており、
前記ハウジング(1)から突出する前記操作ロッド(22)の端部を前記ガイド溝(90,91)に通すことでテーパ形状の前記ガイド面(90b、91a)に当接させて前記操作ロッド(22)を前記軸心方向へ移動させることを特徴とする、出力システム。 - 請求項3の出力システムにおいて、
前記操作ロッド(22)の一方の端部であるロック操作部(23a)と、他方の端部であるリリース操作部(24a)との大きさが異なり、
前記ガイド溝(90,91)は、前記ロック操作部(23a)に対応するロックガイド溝(90)と、前記リリース操作部(24a)に対応するリリースガイド溝(91)とで構成されることを特徴とする、出力システム。
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