WO2017150317A1 - Mécanisme de bras de robot et mécanisme de butée - Google Patents

Mécanisme de bras de robot et mécanisme de butée Download PDF

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Publication number
WO2017150317A1
WO2017150317A1 PCT/JP2017/006720 JP2017006720W WO2017150317A1 WO 2017150317 A1 WO2017150317 A1 WO 2017150317A1 JP 2017006720 W JP2017006720 W JP 2017006720W WO 2017150317 A1 WO2017150317 A1 WO 2017150317A1
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WO
WIPO (PCT)
Prior art keywords
stopper
rotating body
rotating
slide block
rotation
Prior art date
Application number
PCT/JP2017/006720
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English (en)
Japanese (ja)
Inventor
尹　祐根
啓明 松田
Original Assignee
ライフロボティクス株式会社
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 ライフロボティクス株式会社 filed Critical ライフロボティクス株式会社
Publication of WO2017150317A1 publication Critical patent/WO2017150317A1/fr

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    • 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

Definitions

  • Embodiments of the present invention relate to a robot arm mechanism and a stopper mechanism.
  • the polar arm mechanism with a linear motion telescopic joint that has been put to practical use by the inventors has no elbow joint and no singularity, thus realizing an environment where the robot device can work in cooperation with the operator. Yes.
  • the robot In order to ensure a highly reliable safety level, the robot is configured to limit the range of motion with a soft limit, and the robot is surrounded by a safety fence to prepare for emergencies such as system runaway or misalignment of the origin. Has been done. On the other hand, even if a safe situation is ensured by surrounding the robot with a safety fence, the robot's performance is limited so that the robot's performance cannot be fully utilized. There was a possible explanation for the situation occurring.
  • the purpose is to provide a robot arm mechanism and a stopper mechanism that have a simple structure, high safety and reliability, and can fully utilize the performance.
  • a stopper rod is attached to one of the rotating base and the rotating body.
  • a track that allows the stopper block to move within a predetermined range in the circumferential direction is provided. As the rotating body rotates, the stopper rod is brought into contact with the stopper block, and the stopper block is moved along the track.
  • FIG. 1 is a perspective view showing an appearance of the robot arm mechanism according to the present embodiment.
  • FIG. 2 is a side view showing the internal structure of the robot arm mechanism of FIG.
  • FIG. 3 is a diagram showing the configuration of the robot arm mechanism of FIG.
  • FIG. 4 is a perspective view showing the structure of the rotary joint part with the cover of the column part of FIG. 1 removed.
  • FIG. 5 is a plan view showing an operation range on the mechanism of the first joint portion of FIG. 1 and a safe movable range of the robot arm mechanism.
  • FIG. 6 is a plan view showing a rotation limiting mechanism of the first joint portion of FIG.
  • FIG. 7 is a perspective view showing a rotation limiting mechanism of the first joint part of FIG.
  • FIG. 8 is a diagram showing an example of the configuration of the slide block accommodated in the slit shown in FIG.
  • FIG. 9 is a diagram showing movement of the slide block accommodated in the slit shown in FIG.
  • FIG. 1 is a perspective view of a polar coordinate type robot arm mechanism according to the present embodiment.
  • FIG. 2 is a side view showing the internal structure of the robot arm mechanism.
  • the base 1 of the robot arm mechanism is typically provided with a column portion 2 that forms a cylindrical body vertically.
  • the strut portion 2 accommodates a first joint portion J1 as a turning and rotating joint portion.
  • the first joint portion J1 includes a torsional rotation axis RA1.
  • the rotation axis RA1 is parallel to the vertical direction.
  • the arm portion 5 pivots horizontally by the rotation of the first joint portion J1.
  • the column part 2 includes a lower part 2-1 and an upper part 2-2. As will be described in detail later, the lower part 2-1 has a lower frame 22.
  • the lower frame 22 is connected to a rotary base 201 as a fixing part of the first joint part J1.
  • the upper part 2-2 has an upper frame 23.
  • the upper frame 23 is connected to a rotating body 202 as a rotating part of the first joint part J1, and rotates about the rotation axis RA1.
  • First and second frame rows 51 and 52 of a third joint portion J3 serving as a linear motion expansion / contraction mechanism, which will be described later, are housed in the hollow interior of the column portion 2 that forms a cylindrical body.
  • a undulating part 4 for accommodating the second joint part J2 as the undulating rotary joint part is installed in the upper part 2-2 of the column part 2.
  • the second joint portion J2 is a bending rotation joint.
  • the rotation axis RA2 of the second joint portion J2 is perpendicular to the rotation axis RA1.
  • the undulating part 4 has a pair of side frames 57 as a fixing part (support part) of the second joint part J2.
  • the pair of side frames 57 are connected to the upper frame 23.
  • the pair of side frames 57 are covered with a bowl-shaped cover 15.
  • a pair of side frames 57 supports a drum body 60 as a rotating portion of the second joint portion J2 that also serves as a motor housing.
  • a delivery mechanism 56 is attached to the peripheral surface of the drum body 60.
  • the delivery mechanism 56 is covered with a cylindrical cover 16.
  • the delivery mechanism 56 supports a plurality of rollers 59, a drive gear 64, and a guide roller 69.
  • the delivery mechanism 56 rotates, and the arm portion 5 supported by the delivery mechanism 56 rises and falls.
  • the gap between the bowl-shaped cover 15 and the cylindrical cover 16 is covered with a U-shaped bellows cover 14 having a U-shaped cross section.
  • the U-shaped bellows cover 14 expands and contracts following the up-and-down movement of the second joint portion J2.
  • the third joint portion J3 is provided by a linear motion expansion / contraction mechanism.
  • the linear motion expansion / contraction mechanism has a structure newly developed by the inventors, and is clearly distinguished from a so-called conventional linear motion joint in terms of a movable range.
  • the arm portion 5 of the third joint portion J3 is freely bendable, the bending is limited when the arm portion 5 is fed forward along the central axis (extension / contraction center axis RA3) from the base feed mechanism 56 of the arm portion 5, and linear rigidity is thus achieved. Is secured. When the arm part 5 is pulled back, the bending is recovered.
  • the arm unit 5 includes a first frame row 51 and a second frame row 52.
  • the first frame row 51 is composed of a plurality of first frames 53 that are connected to be freely bent.
  • the first frame 53 is formed in a substantially flat plate shape.
  • the front and rear first frames 53 are connected to each other at bendable ends by connecting pins.
  • the second frame row 52 includes a plurality of second frames 54.
  • the second frame 54 has a U-shaped or U-shaped groove-like cross section.
  • the second piece 54 is connected to bendable by a connecting pin at an end portion of the bottom plate.
  • the bending of the second frame row 52 is limited at a position where the end surfaces of the side plates of the second frame 54 come into contact with each other. At that position, the second frame row 52 is linearly arranged.
  • the first first frame 53 in the first frame sequence 51 and the first second frame 54 in the second frame sequence 52 are connected by a combined frame 55.
  • the combined frame 55 has a shape obtained by combining the first frame 53 and the second frame 54.
  • the first and second frame rows 51 and 52 are pressed and joined to each other when passing between the plurality of rollers 59 of the feed mechanism 56. By joining, the first and second frame rows 51 and 52 exhibit linear rigidity and constitute a columnar arm portion 5.
  • a drive gear 64 is disposed behind the roller 59 together with the guide roller 69.
  • the drive gear 64 is connected to the stepping motor via a speed reducer (not shown).
  • a linear gear is formed at the center of the inner surface of the first frame 53 along the connecting direction. When the plurality of first frames 53 are arranged in a straight line, adjacent linear gears are connected in a straight line to form a long linear gear.
  • the drive gear 64 is engaged with the linear gear of the first frame 53 pressed by the guide roller 69.
  • the linear gear connected in a straight line forms a rack and pinion mechanism together with the drive gear 64.
  • the drive gear 64 rotates forward
  • the first and second frame rows 51 and 52 are sent forward from the roller 59.
  • the drive gear 64 rotates in the reverse direction
  • the first and second frame rows 51 and 52 are pulled back behind the roller 59.
  • the pulled back first and second frame rows 51 and 52 are separated between the roller 59 and the drive gear 64.
  • the separated first and second frame rows 51 and 52 are returned to a bendable state.
  • the first and second frame rows 51, 52 that have returned to the bendable state are both bent in the same direction (inner side), and are stored vertically in the column portion 2.
  • the first frame row 51 is stored in a state of being substantially aligned with the second frame row 52 substantially in parallel.
  • the wrist part 6 is attached to the tip of the arm part 5.
  • the wrist 6 is equipped with fourth to sixth joints J4 to J6.
  • the fourth to sixth joints J4 to J6 are each provided with three orthogonal rotation axes RA4 to RA6.
  • the fourth joint portion J4 is a torsional rotary joint centered on a fourth rotation axis RA4 that substantially coincides with the expansion / contraction center axis RA3, and the end effector is swung and rotated by the rotation of the fourth joint portion J4.
  • the fifth joint portion J5 is a bending rotation joint about the fifth rotation axis RA5 arranged perpendicular to the fourth rotation axis RA4, and the end effector is tilted back and forth by the rotation of the fifth joint portion J5.
  • the sixth joint portion J6 is a torsional rotational joint about the sixth rotational axis RA6 that is arranged perpendicular to the fourth rotational axis RA4 and the fifth rotational axis RA5. By the rotation of the sixth joint portion J6, The end effector is pivoted.
  • the end effector (hand effector) is attached to an adapter 7 provided at the lower part of the rotating part of the sixth joint part J6 of the wrist part 6.
  • the end effector is a part having a function of directly acting on a work target (work) by the robot, and various tools such as a gripping part, a vacuum suction part, a nut fastener, a welding gun, and a spray gun exist.
  • the end effector is moved to an arbitrary position by the first, second, and third joint portions J1, J2, and J3, and is disposed in an arbitrary posture by the fourth, fifth, and sixth joint portions J4, J5, and J6.
  • the length of the expansion / contraction distance of the arm portion 5 of the third joint portion J3 enables the end effector to reach a wide range of objects from the proximity position of the base 1 to the remote position.
  • the third joint portion J3 is a characteristic point that is different from the conventional linear motion joint in the linear expansion / contraction operation realized by the linear motion expansion / contraction mechanism constituting the third joint portion J3 and the length of the expansion / contraction distance.
  • Fig. 3 shows the configuration of the robot arm mechanism in graphical symbols.
  • three position degrees of freedom are realized by the first joint portion J1, the second joint portion J2, and the third joint portion J3 that form the three base axes.
  • three posture degrees of freedom are realized by the fourth joint portion J4, the fifth joint portion J5, and the sixth joint portion J6 constituting the wrist three axes.
  • the rotation axis RA1 of the first joint portion J1 is provided in the vertical direction.
  • the rotation axis RA2 of the second joint portion J2 is provided in the horizontal direction.
  • the second joint portion J2 is offset with respect to the first joint portion J1 with respect to the two directions of the rotation axis RA1 and an axis orthogonal to the rotation axis RA1.
  • the rotation axis RA2 of the second joint portion J2 does not intersect the rotation axis RA1 of the first joint portion J1.
  • the movement axis RA3 of the third joint portion J3 is provided in a direction perpendicular to the rotation axis RA2.
  • the third joint portion J2 is offset with respect to the second joint portion J2 with respect to two directions of the rotation axis RA1 and an axis orthogonal to the rotation axis RA1.
  • the rotation axis RA3 of the third joint portion J3 does not intersect the rotation axis RA2 of the second joint portion J2.
  • One bending joint part of the base three axes of the plurality of joint parts J1-J6 is replaced with a linear motion expansion joint part J3, and the second joint part J2 is offset in two directions with respect to the first joint part J1,
  • the robot arm mechanism of the robot apparatus eliminates the singularity posture structurally.
  • FIG. 4 is a perspective view showing the internal structure of the first joint portion J1 with the cover 13 of the upper part 2-2 of the support column 2 removed.
  • FIG. 5 is a plan view showing the operating range on the mechanism of the first joint portion J1 of FIG. 1 and the safe movable range of the robot arm mechanism.
  • 6 is a plan view showing a rotation limiting mechanism of the first joint portion J1 of FIG.
  • FIG. 7 is a perspective view showing a rotation limiting mechanism of the first joint portion J1 of FIG.
  • the first joint portion J1 has a cylindrical or annular rotating base 201.
  • the rotary base 201 is connected to the lower frame 22 of the lower part 2-1. Since the lower frame 22 is connected to the base 1, the rotary base 201 is a fixed part.
  • the rotating body 202 has a cylindrical shape or an annular shape.
  • the rotating body 202 has an outer diameter slightly shorter than the inner diameter of the rotating pedestal 201 and is rotatably fitted inside the rotating pedestal 201.
  • a bearing is interposed between the rotating base 201 and the rotating body 202.
  • a cylindrical upper frame 23 is connected to the upper portion of the rotating body 202.
  • the inner frame of the upper frame 23 accommodates first and second frame rows 51 and 52 that are separated and bendable. As the rotator 202 rotates, the upper frame 23 rotates together with the cover 13.
  • the rotating body 202 is connected to a rotating shaft of a motor (not shown) directly or indirectly through a power transmission mechanism.
  • a slight gap is provided between the rotating body 202 and the upper surface of the rotating base 201.
  • the rotating body 202 and the rotating base 201 are provided with a stopper mechanism for limiting the rotation range of the rotating body 202.
  • two types of mechanical stopper mechanisms a first stopper mechanism and a second stopper mechanism
  • the first stopper mechanism and the second stopper mechanism share a part of the structure.
  • the upper surface of the rotating body 202 is aligned with the upper surface of the rotating base 201 or slightly higher than the upper surface of the rotating base 201.
  • the rotating body 202 and the rotating base 201 are provided with a stopper mechanism for restricting the rotation of the rotating body 202.
  • two types of mechanical stopper mechanisms are provided. (First stopper mechanism, second stopper mechanism) are provided. The first stopper mechanism and the second stopper mechanism share a part of the structure.
  • the first stopper mechanism limits the rotation of the rotating body 202 within the operating range on the mechanism of the first joint portion J1.
  • the operating range on the mechanism includes “disconnection of a large number of cables routed inside the support column 2” due to the rotation of the rotating body 202, and “the internal structure of the support column 2 and the first and second frame rows.
  • the maximum rotation range allowed in the robot design for avoiding “breakage due to contact with 51 and 52” and the like.
  • the first stopper mechanism can also limit the operating range on the mechanism of the first joint portion J1 (the rotation range of the rotating body 202) within a range of 360 ° or more. As shown in FIG.
  • the first stopper mechanism can move the slide block (stopper block) 204 provided to limit the rotation range of the rotating body 202, thereby reducing the rotation range of the rotating body 202. Limit in the range of more than 360 °.
  • the first stopper mechanism stops the rotation of the rotating body 202 at the position of the slide block 204a shown in FIG. 5 and when the rotating body 202 is rotated counterclockwise, The rotation of the rotating body 202 is stopped at the position of the slide block 204b shown in FIG.
  • the second stopper mechanism is equipped to limit the rotation of the rotating body 202 within a safe movable range that varies depending on the surrounding environment where the robot arm mechanism according to the present embodiment is installed.
  • This safe movable range is a range narrower than the operating range on the mechanism, and is arbitrarily set by the user.
  • the “safe movable range” should be distinguished from the general term “movable region”, and this “movable region” is defined as a three-dimensional region swept by the movable part of the robot. From this “movable area”, an area where the arm unit 5, the wrist unit 6, and further the hand device come into contact with other structures and interference objects such as workers in the environment around the position where the robot arm mechanism is installed.
  • the rotation range permitted for the first joint portion J1 in order to exclude and secure the region (safety region) given as a result is defined herein as the “safe movable range”.
  • the first stopper mechanism has a slide block (stopper block) 204 and a stopper rod 206A.
  • the slide block 204 is configured in a rectangular parallelepiped curved in the thickness direction, and is accommodated in the slit 205 on the upper surface of the rotary base 201.
  • the slit 205 is provided in an arc shape around the rotation axis RA1.
  • the slit 205 is shallower than the height of the slide block 204.
  • Stopper pins 210 ⁇ / b> A and 210 ⁇ / b> B are mounted on both ends of the slit 205 to buffer collision (contact) with the slit end by the slide block 204.
  • the slide block 204 is supported by the slit 205 so as to be slidable (slidable) between the stopper pins 210 ⁇ / b> A and 210 ⁇ / b> B with its upper portion protruding from the upper surface of the rotating base 201.
  • the stopper rod 206A is vertically attached to the lower surface of the rotating body 202.
  • the stopper rod 206A is provided at a position that passes on a circumference (an arc in which the slide block 204 slides) including a range in which the slit 205 formed along the circumferential direction is provided.
  • the stopper rod 206A is attached to the rotating body 202, the stopper rod 206A is in contact with the side surface of the stopper block 204 accommodated in the slit 205 and has a length so as not to contact the upper surface of the rotating base 201.
  • the stopper rod 206 ⁇ / b> A moves the stopper block 204 along the slit 205 while being in contact with the side surface of the stopper rod 206 ⁇ / b> A.
  • the rotating body 202 stops with the stopper rod 206A rotating to a position where the slide block 204 contacts the stopper pin 210A at the end of the slit 205.
  • the rotating body 202 stops when the stopper rod 206A rotates to a position where the slide block 204 contacts the stopper pin 210B at the end of the slit 205. That is, the rotation of the rotating body 202 is stopped (restricted) at a position where the slide block 204 abuts against the stopper pins 210A and 210B at the ends of the slit 205.
  • the second stopper mechanism includes a pair of stopper blocks 207 and 208 installed on the upper surface of the rotating base 201 so as to project upward, and a stopper rod attached to the upper surface of the rotating body 202 so as to project radially outward. 206B.
  • the tip of the stopper rod 206B is bent vertically downward.
  • the stopper rod 206B passes on the orbit of the rotating body 202.
  • the pair of stopper blocks 207 and 208 are installed at both limit positions in the safe movable range on the orbit of the stopper rod 206B.
  • the stopper blocks 207 and 208 are installed on a circumference different from the circumference on which the slit 205 is formed. 6 and 7, the stopper blocks 207 and 208 are installed on the outer side in the radial direction of the rotating body 202 with respect to the circumference where the slit 205 is provided.
  • the stopper rod 206B is moved to a position where it comes into contact with the stopper blocks 207 and 208, it is stopped. That is, the rotation of the rotating body 202 is stopped (restricted) at the position where the stopper rod 206B is in contact with the stopper blocks 207 and 208.
  • the stopper blocks 207 and 208 are detachably attached to any of a plurality of block mounting portions 209 provided on the upper surface of the rotary base 201.
  • the stopper blocks 207 and 208 are typically hexagon socket bolts, and the block mounting portion 209 is provided as a screw hole.
  • the plurality of block mounting portions 209 are evenly distributed and arranged at intervals of, for example, 5 degrees on the orbit of the stopper rod 206B.
  • “0 degree” is written next to the block mounting portion 209 at the front position, and similarly, “+5 degrees”, “+10 degrees”,. “5 degrees”, “ ⁇ 10 degrees”,...
  • Stopper blocks 207 and 208 are mounted on a pair of block mounting portions 209 selected from a plurality of block mounting portions 209. By selecting the pair of block mounting portions 209, it is possible to flexibly cope with a safe movable range that changes according to the installation position of the robot arm mechanism.
  • the plurality of block mounting portions 209 (stopper blocks 207, 208) of the second stopper mechanism are arranged on the outer peripheral side from the slit 205 of the first stopper mechanism.
  • the slit 205 may be disposed on the outer peripheral side
  • the plurality of block mounting portions 209 may be disposed on the inner peripheral side of the slit 205.
  • the stopper rod 206B is provided so as to contact the slide block 204, and the stopper rod 206A is attached to a position where the stopper rod 206A contacts the stopper blocks 207 and 208.
  • FIG. 8 is a diagram showing an example of the configuration of the slide block 204 accommodated in the slit 205 shown in FIG. 8A is a front view of the slide block 204
  • FIG. 8B is a plan view of the slide block 204
  • FIG. 8C is a side view of the slide block 204
  • FIG. 8D is a perspective view of the slide block 204.
  • the slide block 204 forms a curved surface along an arc in the longitudinal direction so as to be slidable in the circumferential direction while being accommodated in the slit 205.
  • Both ends of the upper part of the slide block 204 are formed in a shape that stably contacts the stopper rod 206A.
  • the slide block 204 is configured to be smoothly slidable inside the slit 205 and to be engaged with a rail-like member disposed along the moving direction so as not to drop off the slit 205. It is also good.
  • FIG. 9 is a diagram illustrating the movement of the slide block 204 accommodated in the slit 205.
  • FIG. 9A shows a case where the rotating body 202 is forward rotated (right rotated) in FIG.
  • the slide block 204 is provided so as to be movable within a predetermined movement range on the orbit of the stopper rod 206A.
  • the length of the slit 205 that is, the moving range w1 of the slide block 204 is longer than the total length of the length w2 of the slide block 204 plus the width w3 of the stopper rod 206A.
  • the rotation range in which the rotating body 202 is restricted can be restricted to the operating range on the mechanism exceeding 360 degrees.
  • FIG. 9B shows a case where the rotating body 202 is reversely rotated (left-rotated) in FIG. As shown in FIG.
  • the stopper rod 206A is rotated in the reverse direction together with the rotating body 202, and the stopper rod 206A is in contact with the slide block 204, and the slide block 204 is moved to the stopper pin at the end of the slit 205. Move to a position in contact with 210B. At this position, the stopper rod 206A is stopped, and the rotation range of the rotating body 202 is limited. Therefore, if the length of the slit 205 is more than twice that of the slide block 204, the stopper rod 206A can be moved in a common range on the same circumference during right rotation and left rotation. That is, the rotation range of the rotator 202 can be limited to a range exceeding 360 °.
  • the length of the slit 205 that is, the moving range w1 of the slide block 204 is longer than the total length obtained by adding the width w3 of the stopper rod 206A to twice the length w2 of the slide block 204, so that the rotation range is 360. It can be regulated to a predetermined range exceeding °.
  • a plurality of types of slide blocks 204 having different lengths in the longitudinal direction are prepared, and the rotation range of the stopper rod 206A (rotating body 202) is changed by changing the slide block 204, thereby operating on the mechanism. You can change the range. 6 and 7, the stopper pins 210A and 210B are attached to the ends of the slit 205.
  • stopper pins 210A and 210B can be attached to any position of the slit 205, so that the stopper pin 210A can be attached. , 210B can be changed to change the rotation range of the stopper rod 206A (rotating body 202), thereby changing the operation range on the mechanism.
  • the rotation range is limited by the operating range of the mechanism assumed in the robot design, so that the safety and reliability can be increased.
  • a safe situation is ensured by surrounding the robot arm mechanism with a safety fence, and there is no need to restrict the safe movable range of the robot arm mechanism (stopper blocks 207 and 208 are installed. If not, the robot can be operated within the range of 360 ° assumed in the robot design, and the performance of the robot arm mechanism can be fully utilized.
  • the rotating body 202 is provided with the stopper rod 206A and the stopper rod 206B, and the rotating base 202 is provided with the slit 205, the slide block 204 (first stopper mechanism), and the stopper blocks 207 and 208 (second stopper mechanism).
  • the structure provided on the rotating body 202 and the rotating base 201 may be reversed. That is, the rotary base 202 is provided with a structure corresponding to the stopper rod 206A and the stopper rod 206B, and the rotary body 202 is provided with a structure corresponding to the slit 205, the slide block 204, and the stopper blocks 207 and 208. Even with such a structure, the same effects as described above can be obtained.
  • a plurality of block mounting portions 209 for mounting the stopper blocks 207 and 208 are distributed on the circumference, but instead of the plurality of block mounting portions, Similarly to the slit 205, an arc-shaped slit may be provided along the circular orbit of the stopper rod 206B so that the stopper blocks 207 and 208 can be mounted at arbitrary positions of the slit.
  • first joint portion J1 having the torsional rotation axis RA1 has been described.
  • the sixth joint portion J6 having the rotation axis RA6 shaft rotation indirect.
  • the first stopper mechanism described above may be provided.
  • the first stopper mechanism has a structure in which the slide block 204 is accommodated in the slit 205 so that the slide block 204 can be moved (slid).
  • a structure may be provided.
  • a stopper block that can be mounted so as to be slidable (slidable) is provided in the slit 205.
  • the block may be slid.
  • a track (rail) that allows the stopper block to move within a predetermined range by contact with the stopper rod 206A while being engaged with the stopper block may be formed.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

La présente invention vise à fournir un mécanisme de bras de robot qui a une structure simple, présente une haute fiabilité de sécurité, et est apte à utiliser pleinement ses propres capacités ; et un mécanisme de butée. Dans ce mécanisme de butée pour une partie d'articulation rotative dans laquelle un corps rotatif (202) est porté rotatif sur un socle rotatif (201), une tige de butée (206A) est fixée au socle rotatif (201) ou au corps rotatif (202). Une fente (205) qui permet à un bloc coulissant (204) de se déplacer dans une plage prescrite dans la direction circonférentielle est disposée sur l'autre élément parmi le socle rotatif (201) et le corps rotatif (202). La tige de butée (206A) est amenée en contact avec le bloc coulissant (204) suivant la rotation du corps rotatif (202), et le bloc coulissant (204) est déplacé le long de la fente (205).
PCT/JP2017/006720 2016-02-29 2017-02-23 Mécanisme de bras de robot et mécanisme de butée WO2017150317A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2016038463A JP2019069479A (ja) 2016-02-29 2016-02-29 ロボットアーム機構及びストッパ機構
JP2016-038463 2016-02-29

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WO2017150317A1 true WO2017150317A1 (fr) 2017-09-08

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PCT/JP2017/006720 WO2017150317A1 (fr) 2016-02-29 2017-02-23 Mécanisme de bras de robot et mécanisme de butée

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WO (1) WO2017150317A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6228194A (ja) * 1985-07-29 1987-02-06 フアナツク株式会社 工業用ロボツトの動作範囲規制装置
JP2011067920A (ja) * 2009-09-28 2011-04-07 Mitsubishi Electric Corp 回転リミット装置
JP2012228754A (ja) * 2011-04-27 2012-11-22 Nidec Sankyo Corp 回転体の回転範囲規制機構および産業用ロボット
JP2015147286A (ja) * 2014-02-10 2015-08-20 株式会社アイエイアイ アクチュエータとロボット

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6228194A (ja) * 1985-07-29 1987-02-06 フアナツク株式会社 工業用ロボツトの動作範囲規制装置
JP2011067920A (ja) * 2009-09-28 2011-04-07 Mitsubishi Electric Corp 回転リミット装置
JP2012228754A (ja) * 2011-04-27 2012-11-22 Nidec Sankyo Corp 回転体の回転範囲規制機構および産業用ロボット
JP2015147286A (ja) * 2014-02-10 2015-08-20 株式会社アイエイアイ アクチュエータとロボット

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