CN105228799A - Stopper mechanism, articulation mechanism and robot - Google Patents

Abstract

The present invention provides a brake mechanism, a joint mechanism, and a robot capable of limiting the movable range of a rotating body to an arbitrary range. The brake mechanism includes a fixed body, a pin body, a pin body guide, and a brake body. The rotating body rotates around the axis, and the fixed body and the rotating body are arranged coaxially. The pin body is movably provided on either the rotating body or the fixed body. The pin body guide can move the pin body in the radial direction along with the rotation of the rotating body. The braking body is provided on either the rotating body or the fixed body, and abuts against the pin body that has moved a predetermined distance to restrict the rotation of the rotating body.

Description

Brake mechanism, joint mechanism and robot

technical field

The invention relates to a brake mechanism, a joint mechanism and a robot.

Background technique

Conventionally, a robot including a multi-joint robot arm is known. The plurality of link bodies of the robot arm are connected via a joint mechanism. The link body rotates about an axis via a joint mechanism, but its rotational range is subject to motion control based on software, motion control using a mechanical structure, or a combination of both.

As a brake mechanism for controlling the motion of a mechanical structure, for example, there is a brake mechanism that includes: a swing body provided with a first abutting portion and a second abutting portion via a pivot; The two abutting parts abut against the brake body freely arranged. And, the oscillating body is arranged on any one of the rotating body or the fixed body, and the brake body is arranged on any other of the rotating body or the fixed body, thereby restricting the rotation of the rotating body (for example, refer to the patent Literature 1).

prior art literature

patent documents

Patent Document 1: Japanese Patent Application Laid-Open No. 07-68485

Contents of the invention

The problem to be solved by the present invention

However, in the conventional mechanical structure stopper mechanism represented by Patent Document 1, the movable range until the rotating body is forcibly stopped is narrow.

When this brake mechanism is applied to a robot, for example, and the link body is rotated in conjunction with the rotating body, the rotation range of the link body is not sufficient, and the robot may not be able to perform a predetermined operation smoothly.

One aspect of the embodiment has been made in view of the above-mentioned problems, and an object thereof is to provide a brake mechanism, a joint mechanism, and a robot capable of limiting the movable range of a rotating body to an arbitrary range.

Technical solutions for problem solving

A stopper mechanism according to one aspect of the embodiment includes a rotating body, a fixed body, a pin body, a pin body guide, and a brake body. The rotating body rotates around the axis, and the fixed body is arranged coaxially with the rotating body. The pin body is movably provided on any one of the rotating body or the fixed body. In addition, the pin body guide can move the pin body in the radial direction along with the rotation of the rotating body. In addition, the braking body is provided on either the rotating body or the fixed body, abuts on the pin body that has moved by a predetermined distance, and restricts the rotation of the rotating body.

Invention effect

According to one aspect of the embodiment, it is possible to provide a brake mechanism, a joint mechanism, and a robot capable of restricting the movable range of a rotating body to an arbitrary range.

Description of drawings

FIG. 1 is a side view showing a robot according to the embodiment.

FIG. 2 is an enlarged view showing a part of the robot.

Fig. 3A is a perspective view of the brake mechanism according to the embodiment viewed obliquely from above.

Fig. 3B is a perspective view of the stopper mechanism viewed obliquely from below.

Fig. 4 is a top view of the plate of the brake mechanism provided with pin guides.

Fig. 5A is a side view showing the brake mechanism in section.

FIG. 5B is an enlarged view of a part of FIG. 5A .

FIG. 6 is a diagram showing a positional relationship between a moving pin body and a brake body in the stopper mechanism.

Fig. 7A is a diagram showing the operation of the brake mechanism.

FIG. 7B is a diagram showing the operation of the brake mechanism.

Fig. 7C is a diagram showing the operation of the brake mechanism.

Fig. 7D is a diagram showing the operation of the brake mechanism.

Fig. 7E is a diagram showing the operation of the brake mechanism.

detailed description

Hereinafter, embodiments of a brake mechanism, a joint mechanism, and a robot for a rotating body disclosed in the present application will be described in detail with reference to the drawings. In addition, this invention is not limited to embodiment shown below.

FIG. 1 is a side view showing a robot 1 according to the embodiment, and FIG. 2 is an enlarged view showing a part of the robot 1 . As shown in the figure, the robot 1 according to this embodiment includes: a trunk 12 provided on a base 11 ; an arm 13 connected to the trunk 12 ; and a toggle 14 provided at the tip of the arm 13 .

That is, the robot 1 according to the present embodiment uses the base 11 , the trunk portion 12 , the arm portion 13 , the toggle portion 14 , and the like as link bodies, and these members are connected via a joint mechanism. Thus, the robot 1 which is a so-called articulated robot has a structure including a pair of link bodies connected by a joint mechanism.

The base 11 is fixed on the installation surface 100 . The trunk 12 is provided on the base 11 so as to be rotatable in the horizontal direction via the swivel part 2 constituted by the joint mechanism. That is, as shown in FIG. 2 , the trunk portion 12 rotates about the vertical axis 2 a in conjunction with the drive shaft 21 of the motor 20 as the drive source of the revolving portion 2 .

In addition, as shown in FIG. 1 , the first arm 131 and the second arm 132 , which are link bodies, are rotatably connected via joints constituted by joint mechanisms, thereby constituting the arm 13 connected to the trunk 12 .

That is, the first arm 131 is connected to the trunk portion 12 so as to be swingable in the front-rear direction (left-right direction in FIG. 1 ) via the first joint portion 3 a. In addition, the second arm 132 is connected to the front end portion of the first arm 131 so as to be swingable in the vertical direction via the second joint portion 3b. In this way, the first joint part 3a for swinging the first arm 131 and the second joint part 3b for swinging the second arm 132 are each constituted by a joint mechanism having a drive shaft connected to a drive source.

The toggle portion 14 is similarly rotatably connected via the third joint portion 3c constituted by a joint mechanism.

As shown in FIG. 2, the stopper mechanism 4 which concerns on this embodiment is provided in the turning part 2 which consists of a joint mechanism. That is, the swivel unit 2 connecting the base 11 and the trunk 12 includes: a drive shaft 21 extending from a motor 20 ;

The torso 12 of the robot 1 according to the present embodiment can perform forward and reverse rotation of 360 degrees or more based on the motion program. The stopper mechanism 4 corresponds to the trunk part 12 movable within this wide range, and can forcibly stop the trunk part 12 with a mechanical structure even if the trunk part 12 tries to turn beyond a predetermined range.

Therefore, by adopting the brake mechanism 4 according to the present embodiment, for example, the robot 1 can ensure safety even if the turning range is set to a wide range of 360 degrees or more, such as making the torso 12 circle around in one direction multiple times. sex.

In addition, the movement speed of the link body (here, the trunk portion 12 ) of the robot 1 tends to be more stable when a predetermined time elapses from the start of the movement. Therefore, when the robot 1 performs some kind of work such as painting work or welding work, by expanding the movable range of the link body, the work speed can be stabilized, and work unevenness can be reduced as much as possible.

Here, the stopper mechanism 4 included in the joint mechanism will be specifically described with reference to FIGS. 2 to 5B . FIG. 3A is a perspective view of the stopper mechanism 4 according to the embodiment viewed from obliquely above, and FIG. 3B is a perspective view of the stopper mechanism 4 viewed from obliquely below. In addition, FIG. 4 is a plan view of the plate body 45 provided with the pin body guide 44 of the stopper mechanism 4. As shown in FIG. 5A is a side view showing the brake mechanism 4 in cross section, and FIG. 5B is an enlarged view showing a part of FIG. 5A .

As shown in FIGS. 3A and 3B , the stopper mechanism 4 includes a rotating body 41 , a fixed body 42 , a pin body 43 , a pin body guide 44 , and a braking body 46 .

The rotating body 41 is formed in a disk shape with a predetermined thickness, and is rotatable around a rotating shaft 400 (see FIG. 5A ). Further, as shown in FIGS. 3B , 5A, and 5B, a linear groove portion 410 is formed in the radial direction, and one end 43 a of the pin body 43 is slidably inserted into the groove portion 410 . That is, the pin body 43 is provided so as to be able to move freely in the radial direction of the rotating body 41 and the fixed body 42 .

The fixed body 42 is disposed coaxially with the rotary body 41 with a predetermined interval therebetween, and the fixed body 42 is formed in a disk shape having substantially the same diameter as the rotary body 41 . Furthermore, a brake body 46 is provided on the fixed body 42 . Therefore, when the pin body 43 that has moved a predetermined distance in the radial direction in the groove portion 410 of the rotating body 41 comes into contact with the brake body 46 , the rotation of the rotating body 41 can be restricted.

In addition, the thickness of the fixed body 42 according to the present embodiment is larger than the thickness of the rotating body 41, but may be the same thickness or thinner. In addition, as shown in FIG. 5A , both the rotating body 41 and the fixing body 42 are solid structures, but they may also be hollow structures.

As shown in FIG. 4 , the pin body guide 44 is formed by a spiral slit formed in the plate body 45 , and can move the pin body 43 in the radial direction as the rotating body 41 rotates.

Specifically, the pin body guide 44 is a spiral slit in which a plurality of slits are formed in the radial direction of the plate body 45 . In addition, here, the starting end 44 a and the ending point 44 b of the slit are provided at substantially the same angle with respect to the center of the plate body 45 .

As shown in FIG. 5A, the plate body 45 formed with the pin body guide 44 is composed of a circular plate having approximately the same diameter as the fixed body 42 and the rotating body 41, and the plate body 45 is sandwiched between the fixed body 42 and the rotating body 41. between. That is, on the main surface of the fixed body 42 , a plurality of connecting columns 47 are erected at intervals in the circumferential direction, and the plate body 45 is supported by the front ends of the plurality of connecting columns 47 and coaxially connected to the fixed body 42 .

Further, as shown in FIGS. 5A and 5B , the other end 43 b side of the pin body 43 is inserted through a spiral slit constituting the pin body guide 44 .

According to this structure, when the rotating body 41 rotates, the pin body 43 guided by the pin body guide 44 which is a scroll-shaped slit moves so as to revolve relative to the fixed body 42 . 410 to move in a straight line.

That is, since the circumferential movement of the pin body 43 is restricted by the groove portion 410 of the rotating body 41 , the pin body 43 moves radially relative to the rotating body 41 every time the rotating body 41 rotates once. In this way, the pin body guide 44 can move the pin body 43 in the radial direction along with the rotation of the rotating body 41 .

In addition, as shown in FIGS. 5A and 5B , the pin body 43 has a structure in which one end 43 a inserted into the groove 410 and the other end 43 b side inserted into the pin body guide 44 are formed thinner. A widened portion 43c is formed in the middle portion. For example, when the stopper mechanism 4 is installed in the posture shown in FIG. 5A , if the widened portion 43c is placed on the plate body 45, the pin body 43 can move smoothly.

Also, if two plate bodies 45 having the same structure are prepared, and the pin body 43 is provided so that the widened portion 43c is located between the two plate bodies 45, 45, even if the attitude of the stopper mechanism 4 is reversed, for example, , and the movement of the pin body 43 can also be smoothly performed.

In addition, in the present embodiment, the pin body 43 is provided on the rotating body 41 side, and the brake body 46 is provided on the fixed body 42 side, but both may be provided on mutually opposite sides.

Next, the structure and operation of the brake body 46 according to this embodiment will be described with reference to FIGS. 5B to 7E . FIG. 6 is a diagram showing the positional relationship between the moving pin body 43 and the brake body 46 in the stopper mechanism 4 . 7A to 7E are diagrams showing the operation of the brake mechanism 4 .

As shown in FIGS. 5B to 7E , the brake body 46 includes first and second pendulum bodies 46 a , 46 b of substantially isosceles right triangles that are swingably provided about a pivot 46 c . That is, a structure is provided in which a plurality of pendulum bodies (the first pendulum body 46a and the second pendulum body 46b) are arranged in parallel on the pivot shaft 46c.

Both the first pendulum body 46a and the second pendulum body 46b are arranged as follows: the first abutment portion 461 and the second abutment portion 462 capable of abutting against the pin body 43 are arranged across the pivot shaft 46c, and the first pendulum body 46a and the second pendulum 46b independently swing around the pivot 46c. In this embodiment, the first pendulum body 46 a and the second pendulum body 46 b are arranged with a space 46 d having a width greater than the diameter of the pin body 43 . In addition, the swing range of the first pendulum body 46a and the second pendulum body 46b around the pivot shaft 46c is set to 90 degrees.

Furthermore, when the pin body 43 abuts against either the first abutting portion 461 or the second abutting portion 462 from one direction, the movement of the rotating body 41 is restricted. On the other hand, when the pin body 43 abuts on either the first abutting portion 461 or the second abutting portion 462 from the other direction, the pendulum bodies 46a, 46b are swung.

That is, in the stopper mechanism 4 according to the present embodiment, as shown in FIGS. When the abutting portion 462 abuts, the movement of the rotating body 41 is restricted. The movement of the pin body 43 is restricted in a state of being in contact with the pendulum bodies 46 a and 46 b ( FIG. 7E ), and as a result, the pin body 43 stops the rotation of the attached rotating body 41 via the groove portion 410 .

Conversely, when the pin body 43 is in contact with the first contact portion 461 , the pin body 43 pushes down the pendulum bodies 46 a and 46 b to swing. That is, as shown in FIG. 7B and FIG. 7D , only by rotating the pin body 43 around the pivot shaft 46c, the rotation operation of the rotating body 41 can be maintained.

Since the stopper mechanism 4 is configured as described above, the movable range (rotation amount) of the trunk portion 12 can be set arbitrarily. For example, the number of pendulum bodies 46a (46b) as the structure of the brake body 46, or the width of the abutting portion 461 (462) of the pendulum body 46a (46b), the scroll width constituting the pin body guide 44, are appropriately set. The width of the pitch between the slits of the spiral slits, etc. may be sufficient. By setting in this way, the movable range (rotation amount) of the trunk portion 12 can be easily set.

Here, the stopper mechanism 4 in the case where the rotation amount becomes more than the set value when the torso 12 of the robot 1 shown in FIGS. 1 and 2 actually rotates on the base 11 will be described using FIGS. 6 to 7E . Actions. In addition, the first position P1 to the fifth position P5 showing the position of the pin body 43 shown in FIG. 6 correspond to the positions of the pin body 43 shown in FIGS. 7A to 7E respectively.

In the stopper mechanism 4 included in the revolving unit 2 shown in FIGS.

In addition, when the trunk portion 12 is located at the initial position, which is a neutral position that does not rotate in any direction with respect to the base 11, as shown in FIG. in front of. At this time, in FIG. 6 , the pin body 43 is located at the first position P1.

Then, when the trunk portion 12 turns within the set range, the pin body 43 moves from the position P1 in FIG. 6 to the front of the position P5 via the positions P2 to P4.

In the position P2 shown in FIG. 6 , as shown in FIG. 7B , the pin body 43 comes into contact with the first contact portion 461 of the first pendulum body 46 a, pushes down the first contact portion 461 , and passes. That is, the first abutting portion 461 of the first pendulum body 46a rotates in the direction of the arrow 600 around the pivot 46c as shown in FIG. 7B from the state shown in FIG. A contact portion 461 is located below, and a second contact portion 462 is located above.

Next, in the position P3 shown in FIG. 6 , the pin body 43 passes through a space 46d formed between the first pendulum body 46a and the second pendulum body 46b (refer to FIG. 5B ). Therefore, the postures of the first pendulum body 46a and the second pendulum body 46b shown in FIG. 7C are in the state shown in FIG. 7B without changing.

Furthermore, in the position P4 shown in FIG. 6 , as shown in FIG. 7D , the pin body 43 abuts against the first contact portion 461 of the second pendulum body 46 b, pushes down the first contact portion 461 and passes. That is, the first abutting portion 461 of the second pendulum 46b rotates in the direction of the arrow 700 around the pivot 46c as shown in FIG. 7D from the state shown in FIG. A contact portion 461 is located below, and a second contact portion 462 is located above.

While the pin body 43 moves from the position P1 in FIG. 6 to the front of the position P5, the trunk portion 12 turns on the base 11 within a set movable range. When the trunk portion 12 rotates beyond the set movable range for some reason, the pin body 43 moves from the position P4 in FIG. 6 to the position P5.

In the position P5 shown in FIG. 6 , as shown in FIG. 7E , the pin body 43 abuts against the first abutting portion 462 of the second pendulum body 46 b. In this state, the second pendulum body 46b functions as a stopper without swinging. Therefore, the movement of the pin body 43 is stopped, and as a result, the rotating body 41 is also forcibly stopped. That is, the trunk part 12 interlocked with the rotating body 41 is forcibly stopped.

As described above, according to the present embodiment, the brake mechanism 4 having the configuration shown below can be realized.

That is, structurally, the stopper mechanism 4 includes: a rotating body 41 that rotates around an axis; a fixed body 42 disposed coaxially with the rotating body 41 ; a pin body 43 ; a pin body guide 44 ; The pin body 43 is movably provided on either the rotating body 41 or the fixed body 42 . The pin body guide 44 can move the pin body 43 in the radial direction as the rotating body 41 rotates. The brake body 46 is provided on either the rotating body 41 or the fixed body 42 , and abuts against the pin body 43 that has moved a predetermined distance to restrict the rotation of the rotating body 41 .

In addition, the pin body guide 44 is a slit through which the pin body 43 is inserted, and is spirally formed on the plate body 45 sandwiched between the fixed body 42 and the rotating body 41, so that the rotating body 41 can realize the The stopper mechanism 4 is a structure that moves the pin body 43 in the radial direction.

Also, the stopper mechanism 4 can be realized in which the pin body 43 is provided on the rotating body 41 , the brake body 46 is provided on the fixed body 42 , and the plate body 45 formed with the slit is coaxially connected to the fixed body 42 .

In addition, the stopper mechanism 4 having a structure in which the rotary body 41 has a linear groove portion 410 into which the one end 43 a of the pin body 43 inserted through the slit can be slidably inserted can be realized.

In addition, it is possible to realize the brake mechanism 4 having a structure in which the brake body 46 is a pendulum body provided to swing freely around the pivot 46c, and the first abutting portion 461 and the second abutting portion 462 interpose the pivot. Shaft 46c is provided. In this case, the pin body 43 restricts the movement of the rotating body 41 when it abuts against either the first abutting portion 461 or the second abutting portion 462 from one direction, and restricts the movement of the rotating body 41 from the other. Make the pendulum swing when the directions are in contact.

Furthermore, it is possible to realize the stopper mechanism 4 in which a plurality of pendulum bodies are arranged in parallel on the pivot shaft 46c. For example, the stopper mechanism 4 can be realized in which the first pendulum body 46a and the second pendulum body 46b which independently swing around the pivot 46c with the same structure are arranged in parallel.

In addition, according to the present embodiment, it is possible to realize a joint mechanism that includes each of the above-mentioned stopper mechanisms 4 and the drive shaft 21 that connects link bodies such as the base 11, the trunk portion 12, the arm portion 13, and the toggle portion 14. turn. As a joint mechanism, specifically, it is the above-mentioned turning part 2, the 1st joint part 3a, the 2nd joint part 3b, or the 3rd joint part 3c.

In addition, according to the present embodiment, it is possible to realize a robot 1 including: the joint mechanism described above; a motor 20 (drive source) that transmits power to the drive shaft 21 of the joint mechanism; Group connecting rod body. Here, the link body refers to the base 11 , the trunk portion 12 , the arm portion 13 , the toggle portion 14 , and the like of the above-mentioned robot 1 .

In addition, in the robot 1 according to the present embodiment, the structure in which the stopper mechanism 4 is provided on the turning part 2 has been described, but it is not limited to the turning part 2 and can be provided on other joint parts. In this case, the range of rotation around the axis of the first arm 131 , the second arm 132 , the toggle portion 14 , and the like can be restricted within a desired range using a mechanical structure.

As described above, according to the stopper mechanism 4 according to the present embodiment, the movable range of the rotating body 41 can be limited to an arbitrary range exceeding 360 degrees. Therefore, the required rotation range of the rotating body 41 can be freely defined, and it can be suitably used in various rotating mechanisms, thereby increasing the degree of freedom in use.

In addition, in the robot 1 , for example, the rotation of the link body at a predetermined position beyond the movable range can be forcibly stopped based on the movable range set in the link body such as the torso 12 .

In addition, by setting the movable range of the rotating body 41 to an arbitrary range exceeding 360 degrees, the robot 1 can be operated while the operating speed of the link body of the robot 1 is stabilized, thereby reducing the number of operations as much as possible. Unequal.

Further effects and modified examples can be easily derived by those skilled in the art. Therefore, broader aspects of the present invention are not limited to the specific details and representative embodiments described above. Accordingly, various changes can be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents.

Explanation of reference signs

1: Robot, 2: Turning part (joint mechanism), 3a: First joint part, 3b: Second joint part, 3c: Third joint part, 4: Brake mechanism, 12: Trunk part (link body), 20 : motor (drive source), 21: drive shaft, 41: rotating body, 42: fixed body, 43: pin body, 44: pin body guide, 45: plate body, 46: brake body, 46a: first pendulum Body, 46b: second pendulum body, 46c: pivot, 410: groove portion, 461: first contact portion, 462: second contact portion.

Claims (8)

1. a stopper mechanism, is characterized in that, possesses:

Rotary body, it pivots;

Fixed body, it is arranged to coaxial with this rotary body;

Shank, it is movably arranged at the arbitrary one in described rotary body or described fixed body;

Shank guide, it is along with the rotation of described rotary body, and described shank can be made radially to move; And

Brake body, it is arranged at the arbitrary another one in described rotary body or described fixed body, and abuts with the described shank moving predetermined distance and limit the rotation of described rotary body.

2. stopper mechanism according to claim 1, is characterized in that,

Described shank guide is the slit inserting described shank, described shank guide is formed in the plate body be folded between described fixed body and described rotary body with vortex shape, described rotary body often revolves described shank guide when turning around makes described shank radially move.

3. stopper mechanism according to claim 2, is characterized in that,

Described shank is arranged at described rotary body, and described brake body is arranged at described fixed body, and the plate body and the described fixed body that are formed with described slit link coaxially.

4. stopper mechanism according to claim 3, is characterized in that,

Described rotary body has the groove portion of linearity, and the one end being inserted into the described shank of described slit is inserted into described groove portion sliding freely.

5. stopper mechanism according to any one of claim 1 to 4, is characterized in that,

Described brake body is pendulum mass, described pendulum mass is rotatably arranged centered by pivot, and the first abutting part of described pendulum mass and the second abutting part are arranged across described pivot, when described shank abuts from a direction with any one described first abutting part or described second abutting part, limit the rotation of described rotary body, on the other hand, abutting from other direction, described pendulum mass is swung.

6. stopper mechanism according to claim 5, is characterized in that,

Described pivot is set side by side with multiple described pendulum mass.

7. an articulation mechanism, is characterized in that, possesses:

Stopper mechanism according to claim 1; And

Make the driving shaft that gonnecting rod body rotates.

8. a robot, is characterized in that, possesses:

Articulation mechanism according to claim 7;

Drive source, its described driving shaft to this articulation mechanism transmits power; And

Gonnecting rod body described at least one group, it links via described articulation mechanism.