JP5982042B1 - Shock absorber in robot arm - Google Patents

Abstract

An object of the present invention is to protect the robot arm itself and the robot main body by preventing shock and vibration generated on the robot arm side during a predetermined work from being transmitted to the robot main body side, and buffering and reducing the shock and vibration. Shock and vibration generated on the work block 4 side are buffered between the robot body 2 side of the robot arm 3 and the work block 4 attached to the robot arm 3. The shock absorber 1 is bent between the first fixed flange 11 fixed to the robot body 2 side, the second fixed flange 21 fixed to the work block 4 side, and the first and second fixed flanges 11 and 21. A donut disk-shaped buffer plate 31 that is freely arranged, a first connecting portion 15 that allows the buffer plate 31 to bend toward the second fixed flange 21 and is connected to the first fixed flange 11, and a buffer plate 31. A second connecting portion 25 that can be bent toward the first fixed flange 11 and connected to the second fixed flange 21 is provided, and the first connecting portion 15 and the second connecting portion 25 are arranged symmetrically. [Selection] Figure 1

Description

  The present invention, for example, at the time of casting by a die casting machine, takes out a cast after casting by a take-out hand connected to a robot arm of a predetermined robot machine and supports so-called burrs that are connected to the cast while being supported, for example. The present invention relates to a shock absorber in a robot arm that cushions and reduces an impact reaction force applied to the robot arm when removing it with a hammer device or the like.

  Traditionally, industrial robots have various types of work such as conveyance, welding, and support by robot arms provided on the base so that they can have expansion / contraction, inversion, torsion and other movements by having an appropriate number of joint structures. Is used. However, depending on the content of the work, reaction force is applied to the robot arm, and the robot arm itself, and also the robot body that controls the robot arm, often breaks down, and periodic inspections, parts replacement, etc. are performed. Yes.

  In order to eliminate these points, for example, an industrial robot hand shown in Patent Document 1, a force limiting device shown in Patent Document 2, a torque limiter, a robot arm, and a robot, a robot arm shown in Patent Document 3, and the like have been proposed. ing. For example, the robot hand of Patent Document 1 cushions the reaction force applied at the time of impact by expansion and contraction by a compression spring interposed between the robot arm and the working mechanism. It is assumed that the robot arm of Patent Document 3 is provided with a first arm and a second arm in a posture maintaining means so that a buffering operation can be obtained by a repulsive action and a resilient action by a return spring. The second arm itself swings and retreats from the impacted object at the time of an impact applied to the second arm by the buffer means comprising the retracting means.

Japanese Patent Application Laid-Open No. 7-171643 Japanese Patent Laid-Open No. 2001-3951 JP2011-240450A

  However, in the robot hand according to Patent Document 1, since the compression spring is interposed between the robot arm and the working mechanism, the apparatus itself must be relatively large, and cannot be configured compactly. In order to incorporate the magnetic force configuration and the return spring configuration into the robot arm in the force limiting device according to Patent Document 2, it is necessary to greatly change or improve the internal configuration of the robot arm itself, and it is particularly difficult to attach to the existing robot arm. is there. In the robot arm according to Patent Document 3, when the second arm collides with an obstacle or the like, it swings so as to avoid this, so that, for example, a casting having a burr or the like to be folded by the second arm or the like is supported. Then, it is not possible to give a sufficient striking force to burrs.

  Therefore, the present invention has been created in view of the above-described circumstances, and its purpose is, for example, the reaction when a hammering hammer device strikes a burr or the like of a supported casting. Buffers reaction, impact, etc. that occur on the robot arm due to force, protects the robot arm itself and thus the robot body from impact, can prevent the cause of the failure beforehand, and can be easily applied to existing robot arms It is an object of the present invention to provide a shock absorber in a robot arm that can be attached.

In order to solve the above-described problems, the present invention will be described with reference numerals used in the embodiments for carrying out the invention to be described later, to the robot body 2 side of the robot arm 3 and the tip of the robot arm 3. In a shock absorber 1 for buffering shocks and vibrations generated on the work block 4 side with a predetermined work block 4 to be attached, a first fixing flange 11 fixed on the robot body 2 side and a work block 4 side are fixed. The second fixing flange 21 and the first fixing flange 11 and the second fixing flange 21 are arranged so as to be freely bent and overlapped with each other according to the amount of shock absorption. a buffer plate 31 of the de donut board shape which is perforated in a first series of interlocking the first fixing flange 11 in the deflectable the buffer plate 31 to the second fixing flange 21 side And parts 15, likewise provided with a buffer plate 31 and a second interlocking portion 25 linked with each the second fixing flange 21 in the deflectable to a first fixed flange 11 side, the first interlocking portion 15, second interlocking portion 25, respectively characterized by comprising been symmetrically arranged via the slow衝板31 is Nuki挿interlocking the interlocking holes 32.
The first or second fixing flanges 11 and 21 are formed in a donut shape fixed to the robot body side mount M1 or the work block side mount M2, and the robot body side mount M1 or The fixing holes 12 and 22 for fixing to the work block side mount M2 are opened, and the fixing holes 13 and 23 for fixing the first or second connecting portions 15 and 25 to the outer peripheral edge on the outer peripheral side are provided. The insertion holes 14 and 24 for inserting the second or first connecting portions 25 and 15 so as to freely advance and retract can be formed.
The first or second connecting portions 15 and 25 are arranged on the inner and outer surfaces of the buffer plate 31 and support spacers 16 and 26 that support the buffer plate 31, and are connected to the spacers 16 and 26 and the buffer plate 31. The hole 32 can be configured to include connecting screws 19 and 29 that are inserted from the work block side mount M2 or the robot body side mount M1 side and are screwed and fixed to the robot body side mount M1 or the work block side mount M2. .
The spacers 16 and 26 have large-diameter contact portions that contact the periphery of the connection hole 32 on the work block side mount M2 or the robot body side mount M1 side of the buffer plate 31, and are inserted into the connection holes 32. The hollow T-shaped presser cylinders 17 and 27 having a small-diameter insertion portion and the buffer body 31 on the robot body side mount M1 or the work block side mount M2 are fitted to the insertion portion and come into contact with the periphery of the connection hole 32. It can comprise from the cylindrical pressing cylinders 18 and 28.
The buffer plate 31 is formed in a donut disk shape that can be bent, and can be configured by opening and connecting holes 32 through which the first or second connecting portions 15 and 25 are inserted and connected.

In the shock absorber in the robot arm according to the present invention configured as described above, the shock absorber 1 interposed between the robot body 2 side and the robot arm 3 side is a work block attached to the robot arm 3. 4 reduces or reduces shocks and vibrations associated with various operations performed by the robot 4, and does not damage the robot arm 3, the robot body 2, and the like.
In the shock absorber 1, an appropriate number of shock absorbing plates 31 interposed between the first fixed flange 11 on the robot body 2 side and the second fixed flange 21 on the work block 4 side are generated on the work block 4 side. By bending according to the impact and vibration, the impact, vibration and the like are absorbed and not transmitted to the robot body 2 side.
The buffer plate 31 has a donut shape, and a portion connected to the first fixed flange 11 by the first connecting portion 15 and a portion connected to the second fixed flange 21 by the second connecting portion 25 are arranged symmetrically. On the one hand, the load such as an impact is distributed on the first fixing flange 11 side on the one hand and on the second fixing flange 21 side on the other hand on the entire buffer plate 31, respectively, so that no bias is generated.
The spacers 16, 26 of the first or second connecting portions 15, 25 are the holding cylinders 17 into which the connecting screws 19, 29 connected to each of the first or second fixing flanges 11, 21 are screwed. , 27, an appropriate number of buffer plates 31 are sandwiched between the pressing cylinders 18 and 28, and are integrated by pressing, so that the buffer plate 31 is partly on the first or second fixing flanges 11 and 21 side. The impact and vibration are alleviated and reduced by the elastic force that bends, fluctuates and displaces.

  Since the present invention is configured as described above, for example, the reaction, impact, etc. associated with the reaction force when the striking hammer device H supported by the robot arm 3 strikes the burrs or the like in the casting S. Thus, the robot arm 3 itself and thus the robot body 2 can be protected from impact, vibration, etc., and the cause of failure caused by these can be prevented. In addition, the end of the robot arm 3 in the robot body 2, the work block 4 such as a take-out hand connected to the end of the robot arm 3, and the robot arm 3 itself can be inserted without any particular modification. Can be easily attached to robot arms.

  That is, according to the present invention, an appropriate number of donut disk-like buffer plates can be bent between the first fixed flange 11 fixed to the robot body 2 side and the second fixed flange 21 fixed to the work block 4 side. 31 is arranged, the buffer plate 31 can be bent to the second fixed flange 21 side and connected to the first fixed flange 11 by the first connecting portion 15, and the buffer plate 31 is also bent to the first fixed flange 11 side. This is because it is possible to connect to the second fixed flange 21 at the second connecting portion 25, and the first connecting portion 15 and the second connecting portion 25 are arranged symmetrically via the buffer plate 31. The vibration, impact, etc. generated on the work block 4 side are not transmitted to the robot body 2 side.

  The buffer plate 31 has a donut shape, and when the first and second fixing flanges 11 and 21 are interposed between the first and second fixing flanges 11 and 21, the second connecting portion 15 is connected to the first fixing flange 11. Since the parts connected to the second fixed flange 21 by the connecting part 25 are symmetrically arranged, the parts bent to the respective sides of the first and second fixed flanges 11 and 21 by shock and vibration are buffer plates. Thus, it is dispersed on an average over the entire area of 31, and the impact, vibration relaxation, and reduction are not biased.

  The spacers 16, 26 in the first or second linking part 15, 25 have an appropriate number of buffer plates 31 sandwiched between the pressing cylinders 17, 27 and the pressing cylinders 18, 28, and the first or second Since the connecting screws 19 and 29 that are screwed and connected to the fixing flanges 11 and 21 side of the fixing flanges 11 and 21 are inserted, the buffer plate 31 is bent by the first or second connecting portion 15 or 25 Each part is bent in the opposite direction to the first or second fixed flanges 11 and 21 respectively in the opposite direction, and the impact and vibration are mitigated by the elastic force caused by the variation and displacement caused by the bending action. Can be reduced.

  In addition, as the buffer plate 31 is bent, the first or second connecting portions 15 and 25 are inserted into the insertion holes 14 and 24 in the first or second fixing flanges 11 and 21 so as to freely advance and retract. Due to the partial deflection of the buffer plate 31, the first or second connecting portion 15, 25 does not hinder the advancement / retraction to the second or first fixing flange 21, 11 side on the opposite side, and the buffer plate 31 itself smoothly Can be bent.

  When the first or second fixing flanges 11 and 21 are fixed to the robot body side mount M1 or the work block side mount M2, either of them may be arranged on the robot body 2 side or the work block 4 side. By selecting an appropriate number of buffer plates 31, the elastic force associated with the flexure can be adjusted and set in advance, and it is possible to cope with the magnitude of impact and vibration generated on the work block 4 side.

  In addition, the code | symbol attached | subjected in each means of the means for solving said subject and the effect of invention was attached | subjected in order to make easy reference with the part which shows each structure part described in drawing. The present invention is not limited to these descriptions, structures, shapes, and the like indicated by reference numerals and the like in the drawings.

It is a disassembled perspective view which shows one form for implementing this invention. It is sectional drawing similarly. It is sectional drawing at the time of buffering similarly. It is the schematic diagram of the robot at the time of the operation | work in an example of the robot arm to which this invention apparatus was applied similarly.

  An embodiment for carrying out the present invention will be described below with reference to the drawings. Reference numeral 1 shown in the figure is a shock absorber according to the present invention, for example, a robot body 2 in a robot used for various operations. Between the robot arm 3 and the robot arm 3, between the rear end of the robot arm 3 and various work blocks 4 connected to the robot arm 3. In the embodiment of the illustrated example, for example, after the casting S cast by a die casting machine is gripped and taken out, burrs and the like continuous with the casting S are removed by smashing with a striking hammer device H. Therefore, a case will be described where the casting hand (work block 4) that keeps the casting S supported is interposed between the tip of the robot arm 3 (the robot body 2 side) (see FIG. 4).

  The shock absorber 1 includes, for example, a first fixed flange 11 that is fixed to the front end of the robot arm 3 on the robot body 2 side, for example, and a second fixed flange 21 that is fixed to the rear end of the take-out hand 4 on the work block side, for example. An appropriate number of donut disk-shaped buffer plates 31 that are arranged to be flexible between the first fixed flange 11 and the second fixed flange 21, and the buffer plate 31 can be bent toward the second fixed flange 21. A first connecting portion 15 connected to the first fixing flange 11 and a second connecting portion 25 connected to the second fixing flange 21 so that the buffer plate 31 can be bent toward the first fixing flange 11. Each of the first linking part 15 and the second linking part 25 is arranged symmetrically via a buffer plate 31.

  As shown in the figure, the first fixing flange 11 is formed in a donut shape that is fixed to the robot body side mount M1 that is the distal end surface of the robot arm 3 by, for example, screwing or the like. The mounting fixing hole 12 is opened, and the fixing hole 13 for fixing the first connecting portion 15 and the insertion hole 14 for inserting the second connecting portion 25 so as to be able to move forward and backward are opened at the outer peripheral edge on the outer peripheral side. . The attachment fixing hole 12 is formed in a through-hole shape through which an attachment screw for screwing, for example, the first fixing flange 11 itself to the robot body side mount M1 is inserted.

  The fixing hole 13 is formed as a small-diameter screw hole so that the first connecting portion 15 is fixed with screws, for example, and the insertion hole 14 has a head of a connecting screw 29 (described later) in the second connecting portion 25 of the buffer plate 31. It is formed in the shape of a large-diameter through-hole having an inner diameter sufficient to be smoothly advanced and retracted with bending. Since the first fixing flange 11 and the second fixing flange 21 are symmetrically arranged with the first connecting portion 15 and the second connecting portion 25 with respect to the buffer plate 31, these fixing holes 13 and the insertion holes 14 are configured. Symmetrically, even numbers are arranged and formed, for example, four pairs at equal intervals as shown in the illustrated example. Of course, these may be 1 to 3 pairs, or 5 pairs or more.

  In addition, the 1st connection part 15 and the 2nd connection part 25 are alternately along the circumferential direction in each of the 1st fixing flange 11 and the 2nd fixing flange 21, and the center of the buffer plate 31, ie, robot body side mount M1. Alternatively, by being symmetrically arranged and formed with respect to the center of the work block side mount M2, even if the impact is from either the work block 4 side or the robot body 2 side, Can be smoothly buffered and reduced.

  On the other hand, the second fixing flange 21 is formed in a donut shape that is fixed to the work block side mount M <b> 2 that is the base surface of the take-out hand 4 by, for example, screwing, and has the same configuration as the first fixing flange 11 described above. The attachment fixing hole 22, the fixing hole 23, and the insertion hole 24 are each formed as an opening. The first or second fixing flanges 11 and 21 are fixed to the robot body side mount M1 or the work block side mount M2 so as to be fixed to the robot body side mount M1 or the work block side mount M2. Of course, it corresponds to the shape, structure, and the like.

  The buffer plate 31 has an outer diameter substantially corresponding to the circular outer shape of each end surface of the robot main body side mount M1 and the work block side mount M2, for example, and has an inner diameter that allows the buffer plate 31 itself to bend. For example, a plate spring having a thickness of about 0.3 mm, for example, SUS304 spring steel is used. In addition, the buffer plate 31 is formed with a total of eight connecting holes 32 that are inserted and connected to each of the first connecting portion 15 and the second connecting portion 25, for example, at equal intervals. It should be noted that this buffer plate 31 is superposed with an appropriate number of sheets so that the amount of deflection at the time of buffering can be selected and adjusted in accordance with the degree of shock absorption during work, for example, the magnitude, strength, etc. of the shock. Yes, the number is increased when it is sufficient to bend slightly in response to a small impact, and the number is decreased when it is greatly bent in response to a large impact. Of course, the amount of flexure and flexibility selected according to the magnitude and strength of the impact can be obtained.

  The first connecting portion 15 is disposed on the inner and outer surfaces of the buffer plate 31 and supports the spacer plate 31 by sandwiching the buffer plate 31, and the spacer 16 and the connecting hole 32 are inserted from the work block side mount M2 side into the robot. The connecting screw 19 is fixed to the fixing hole 13 of the main body side mount M1 with screws.

  The spacer 16 in the illustrated example has a large-diameter abutting portion that abuts on the peripheral edge of the connection hole 32 on the work block side mount M2 side of the buffer plate 31, and has a small-diameter insertion portion that is inserted into the connection hole 32. It comprises a hollow T-shaped holding cylinder 17 and a cylindrical pressing cylinder 18 that fits into the insertion part on the robot body side mount M1 side of the buffer plate 31 and abuts the periphery of the connecting hole 32. Further, since the connecting screw 19 is inserted into the spacer 16, the relative movement between the connecting screw 19 and the spacer 16 and thus the buffer plate 31 is smoothed, the flexibility of the buffer plate 31 is improved, and the buffering action is improved. No damage. Note that the length of the pressing cylinder 18 may be appropriately selected and adjusted in accordance with the thickness that varies depending on the number of buffer plates 31 interposed.

  The second connecting portion 25 is arranged on the inner and outer surfaces of the buffer plate 31 and supports the buffer plate 31. The spacer 26 and the connecting hole 32 are inserted from the robot body side mount M1 side to the work block side mount. The connecting screw 29 is fixed to the fixing hole 23 of the M2 with a screw. The second connecting portion 25 is configured in the same manner as the first connecting portion 15 described above, and the spacer 26 includes a pressing cylinder body 27 and a pressing cylinder body 28, and is connected to the work block side mount M2 by screws. The screw 29 penetrates the spacer 26.

  Next, an example of the incorporation and use of the shock absorber 1 according to the present invention will be described. For example, as shown in FIG. 4, a casting S to be cast by a die casting machine is gripped by a take-out hand 4 attached to a robot arm 3. When removing the burr and the like continuous with the casting S by the hammering hammer device H while supporting the removed casting S, the robot arm is configured to buffer the impact applied to the taking-out hand 4. 3. Used to prevent the robot body 2 from being affected. That is, the shock absorber 1 is interposed between the tip of the robot arm 3 and the take-out hand 4, and the first fixing flange 11 is fixed to the tip of the robot arm 3, while the second fixing flange 21 is taken out. Fix it to the rear end.

  In this way, when an impact from the take-out hand 4 side is transmitted to the robot arm 3 side, as shown in FIG. 3, the robot at the portion of the buffer plate 31 in the second connecting portion 25 connected to the second fixed flange 21 is shown in FIG. While it bends so that it may move to the arm 3 side, it will bend so that it may move to the extraction hand 4 side in the part of the buffer plate 31 in the 1st connection part 15 connected to the 1st fixed flange 11 conversely. Alternatively, the first fixed flange 11 and the second fixed flange 21 are contracted or expanded so that the first fixed flange 11 and the second fixed flange 21 are contracted to move in opposite directions and return to the original position. Mitigates and decreases.

  Although the shock absorber 1 is illustrated and described as the first fixing flange 11 is fixed to the take-out hand 4 side and the second fixing flange 21 is fixed to the robot arm 3 side when the shock absorber 1 is interposed, it may be reversed. It is possible and not particularly limited.

M1 ... Robot body side mount M2 ... Work block side mount S ... Casting H ... Battery hammer device 1 ... Shock device 2 ... Robot body 3 ... Robot arm 4 ... Work block (take-out hand)
DESCRIPTION OF SYMBOLS 11 ... 1st fixing flange 12 ... Mounting fixing hole 13 ... Fixing hole 14 ... Insertion hole 15 ... 1st connection part 16 ... Spacer 17 ... Pressing cylinder 18 ... Pressing cylinder 19 ... Connection screw 21 ... 2nd fixing flange 22 ... mounting fixing hole 23 ... fixing hole 24 ... insertion hole 25 ... second connecting part 26 ... spacer 27 ... pressing cylinder 28 ... pressing cylinder 29 ... connecting screw 31 ... buffer plate 32 ... connecting hole

Claims (5)

A first fixing flange fixed to the robot body side in a shock absorber for buffering shock and vibration generated on the work block side between the robot body side of the robot arm and a predetermined work block attached to the tip of the robot arm; The second fixed flange fixed to the work block side, and the first fixed flange and the second fixed flange can be freely bent between each other and arranged in an appropriate number according to the amount of shock absorption. and de donut plate-like buffer plate which interlocking holes are perforated in a first interlocking portion that interlocking the buffer plate to the first fixing flange and enables deflection in the second fixing flange side, also the buffer plate first and a second interlocking portion for interlocking with the second fixing flange and the deflectable the fixed flange side, the first interlocking portion, the slow衝板each second interlocking portion is Nuki挿interlocking the interlocking hole Buffering device in a robot arm, characterized by comprising been symmetrically arranged with.   The first or second fixing flange is formed in a donut shape that is fixed to the robot body side mount or work block side mount, and is fixed to the robot body side mount or work block side mount at the inner peripheral edge on the center side. The mounting fixing hole is opened, and a fixing hole for fixing the first or second connecting portion and an insertion hole for inserting the second or first connecting portion so as to freely advance and retract are formed on the outer peripheral edge of the outer peripheral side. The shock absorber in the robot arm according to claim 1, wherein the shock absorber is opened.   The first or second connecting part is a spacer arranged on the inner and outer surfaces of the buffer plate to support the buffer plate, and the spacer, the connecting hole opened in the buffer plate, the work block side mount or the robot body side mount side The shock absorber for the robot arm according to claim 1, further comprising a connecting screw that is inserted from the robot body and is screwed and fixed to the robot main body side mount or the work block side mount.   The spacer has a large-diameter abutting portion that abuts the peripheral edge of the connection hole on the work block side mount or the robot body side mount side of the buffer plate, and a hollow having a small-diameter insertion portion inserted into the connection hole. 4. A T-shaped holding cylinder, and a cylindrical pressing cylinder that is fitted to the insertion portion on the robot body side mount or work block side mount side of the buffer plate and abuts the periphery of the connecting hole. Shock absorber in the robot arm.   The buffer plate is formed in a donut disk shape that can be bent, and a connection hole that penetrates and connects each of the first or second connection portions is formed by opening the buffer plate. Shock absorber in the robot arm.

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