JPH0253390U

JPH0253390U -

Info

Publication number: JPH0253390U
Application number: JP13046088U
Authority: JP
Priority date: 1988-10-06
Filing date: 1988-10-06
Publication date: 1990-04-17
Anticipated expiration: 2003-10-06
Also published as: JPH0546872Y2

Description

[Brief explanation of drawings]

第１図はこの考案に係わる芯合わせ装置の一実
施例の構成を一部断面を取つて示す正面図；第２
図は第１図におけるＩ―Ｉ線に沿つて切断して示
す平面断面図；第３図は芯合わせ装置を、第２図
における―線に沿つて切断して示すと共に、
ロツク機構を非作動状態で示す縦断面図；第４図
は第３図に示す芯合わせ装置を、ロツク機構をロ
ツク作動状態で示す縦断面図；第５図はｘ―ｙ軸
平面におけるずれ状態を示す平面図；第６Ａ図は
第１及び第２の軸部材が互いに整合された状態を
部分的に示す正面図；そして、第６Ｂ図はピンと
嵌合穴とのずれを吸収するため、第１及び第２の
軸部材が互いにずれた状態を部分的に示す正面図
である。図中、１０……ロボツトアーム、１２……芯合
わせ装置、１４……ハンド部、１６……ハンド本
体、１８……ボルト、２０……保持具、２２……
ピン、２４……挿入孔、２６……吸引管、２８…
…嵌合穴、３０……基板、３２……テーパ面、３
４；３６……コンプライアンス機構、３４ａ；３
６ａ……第１の軸部材、３４ｂ；３６ｂ……第２
の軸部材、３４ｃ；３６ｃ……支持ピン、３４ｄ
；３６ｄ……切り溝、３４ｅ；３６ｅ……付勢部
材、３８……ボルト、４０……取付本体、４２…
…ボルト、４４……支持本体、４４ａ……円柱部
、４４ｂ……フランジ部、４６……第１のボール
ベアリング、４８……第２のボールベアリング、
５０；５２……ロツク機構、５０ａ；５０ａ……
シリンダ室、５０ｂ；５２ｂ……ピストン部材、
５０ｃ；５２ｃ……コイルスプリング、５０ｄ；
５２ｄ……ストツパ部材、５０ｅ；５２ｅ……ロ
ツク穴、５０ｆ；５２ｆ……連結管、５４……電
磁弁、５６……加圧ポンプ機構である。 Fig. 1 is a partially sectional front view showing the configuration of an embodiment of the centering device according to this invention; Fig. 2
The figure is a plan sectional view taken along the line II in FIG. 1; FIG. 3 shows the centering device taken along the line - in FIG. 2;
A vertical sectional view showing the locking mechanism in a non-operating state; Fig. 4 is a longitudinal sectional view showing the centering device shown in Fig. 3 in a locking state; Fig. 5 shows a state of deviation in the x-y axis plane. FIG. 6A is a front view partially showing a state in which the first and second shaft members are aligned with each other; FIG. 6B is a plan view showing a state in which the first and second shaft members are aligned with each other; and FIG. It is a front view partially showing a state in which the first and second shaft members are shifted from each other. In the figure, 10... Robot arm, 12... Center alignment device, 14... Hand section, 16... Hand body, 18... Bolt, 20... Holder, 22...
Pin, 24...Insertion hole, 26...Suction tube, 28...
...Fitting hole, 30... Board, 32... Tapered surface, 3
4;36...compliance mechanism, 34a;3
6a...first shaft member, 34b; 36b...second
Shaft member, 34c; 36c...Support pin, 34d
;36d...cut groove, 34e;36e...biasing member, 38...bolt, 40...mounting body, 42...
...Bolt, 44... Support body, 44a... Cylindrical part, 44b... Flange part, 46... First ball bearing, 48... Second ball bearing,
50; 52...Lock mechanism, 50a; 50a...
Cylinder chamber, 50b; 52b... piston member,
50c; 52c...Coil spring, 50d;
52d...Stopper member, 50e; 52e...Lock hole, 50f; 52f...Connecting pipe, 54...Solenoid valve, 56...Pressure pump mechanism.

Claims

[Scope of claim for utility model registration] In a centering device inserted between a machine body such as a robot and a terminal device such as a hand, a center connecting the mounting body of the machine body and the terminal mounting body of the terminal device. It is characterized by comprising a plurality of compliance units arranged on concentric circles of the wire and for restoring mutual misalignment between the respective bodies, and a locking means for restricting mutual movement between the attachment body and the terminal attachment body. Center alignment device.