JPH0422954Y2 - - Google Patents

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Publication number
JPH0422954Y2
JPH0422954Y2 JP1986052382U JP5238286U JPH0422954Y2 JP H0422954 Y2 JPH0422954 Y2 JP H0422954Y2 JP 1986052382 U JP1986052382 U JP 1986052382U JP 5238286 U JP5238286 U JP 5238286U JP H0422954 Y2 JPH0422954 Y2 JP H0422954Y2
Authority
JP
Japan
Prior art keywords
shear pin
mounting plate
hand
robot
external force
Prior art date
Legal status (The legal status 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 status listed.)
Expired
Application number
JP1986052382U
Other languages
Japanese (ja)
Other versions
JPS62165891U (en
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 filed Critical
Priority to JP1986052382U priority Critical patent/JPH0422954Y2/ja
Publication of JPS62165891U publication Critical patent/JPS62165891U/ja
Application granted granted Critical
Publication of JPH0422954Y2 publication Critical patent/JPH0422954Y2/ja
Expired legal-status Critical Current

Links

Classifications

    • 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
    • B25J19/06—Safety devices
    • B25J19/063—Safety devices working only upon contact with an outside object
    • B25J19/065—Mechanical fuse

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Snaps, Bayonet Connections, Set Pins, And Snap Rings (AREA)

Description

【考案の詳細な説明】 ＜産業上の利用分野＞ 本考案は産業用ロボツトのシヤーピン機構、詳
しくはロボツトのアーム部とハンド部の間に介設
されて、ハンド部に過大な外力がかかつた場合
に、シヤーピンを破断させ、これによりロボツト
を保護する機構に関する。[Detailed description of the invention] <Industrial application field> The present invention is a shear pin mechanism for an industrial robot, specifically, a shear pin mechanism that is installed between the arm part and the hand part of the robot, and is used to prevent excessive external force from being applied to the hand part. This invention relates to a mechanism that protects the robot by breaking the shear pin when the robot is damaged.

＜従来の技術＞ 第４図及び第５図に従来のシヤーピン機構が示
されている。このシヤーピン２０は垂直部２０Ａ
と垂直部２０Ａの両端から水平に延びて互いに対
向する水平部２０Ｂ，２０Ｂを有するコの字形に
形成され、前記垂直部２０Ａの中間に薄肉部２１
を形成した構造になつている。<Prior Art> A conventional shear pin mechanism is shown in FIGS. 4 and 5. This shear pin 20 has a vertical portion 20A.
It is formed in a U-shape having horizontal parts 20B, 20B extending horizontally from both ends of the vertical part 20A and facing each other, and a thin part 21 is provided in the middle of the vertical part 20A.
It has a structure that has formed.

そして、シヤーピン２０の一端水平部２０Ｂを
ロボツトのアーム部（図示せず）に固着し、他端
水平部をロボツトのハンド部（図示せず）に固着
することで、シヤーピン２０をアーム部とハンド
部間に介設している。 One end horizontal portion 20B of the shear pin 20 is fixed to an arm portion (not shown) of the robot, and the other end horizontal portion is fixed to a hand portion (not shown) of the robot, so that the shear pin 20 is connected to the arm portion and the hand portion. It is interposed between departments.

＜考案が解決しようとする課題＞ 前記従来の産業用ロボツトのシヤーピン機構で
は、ハンド部が下面に直角な外力F1やハンド部
の軸線に沿う外力F2を受けた場合、回転モーメ
ントF1，R1（但しR1は前記薄肉部２１と外力の作
用点までの距離）及びF2，R2（ただしR2は薄肉部
２１と外力の作用点までの距離）によつて薄肉部
２１が破断されるので、ロボツト全体の機構の安
全は確保される。<Problem to be solved by the invention> In the conventional shear pin mechanism of an industrial robot, when the hand part receives an external force F 1 perpendicular to the lower surface or an external force F 2 along the axis of the hand part, the rotational moment F 1 , The thin part 21 is determined by R 1 (where R 1 is the distance between the thin part 21 and the point of application of external force) and F 2 and R 2 (where R 2 is the distance between the thin part 21 and the point of application of external force). Since it is broken, the safety of the entire robot mechanism is ensured.

しかしながら、例えばFyで示すように、薄肉
部２１を通る外力（前記R1＝０の場合）が作用
しても回転モーメントは発生しないので、回転モ
ーメントによる破断はない。この場合には薄肉部
２１は圧縮応力を受け、この力による座屈ないし
は圧縮破壊があるのみであり、従つて、シヤーピ
ン２０は容易に破断しないおそれがある。なお紙
面に垂直な方向の外力（図示していない）がハン
ド部にかかつた場合には、前記F1やFyに準じて
考えればよいだろう。 However, as shown by Fy, for example, no rotational moment is generated even if an external force passing through the thin wall portion 21 (in the case of R 1 =0) is applied, so there is no breakage due to the rotational moment. In this case, the thin wall portion 21 is subjected to compressive stress and only buckles or compressively breaks due to this force, and therefore, there is a possibility that the shear pin 20 will not break easily. Note that if an external force (not shown) is applied to the hand section in a direction perpendicular to the plane of the paper, the above-mentioned F1 and Fy may be considered.

ところで、ロボツトの置かれる環境や他の機器
類、部材の配置等を考慮すると、ロボツトハンド
部が受ける外力の方向は、ハンド部の前方からハ
ンド部の軸に沿う方向、或いはハンド部の軸に対
して垂直な方向（図示した場合では薄肉部２１に
垂直な方向）が殆どであり、斜め下方からの外力
は殆どないものである。 By the way, considering the environment in which the robot is placed and the arrangement of other equipment and parts, the direction of the external force that the robot hand receives is either from the front of the hand to the direction along the axis of the hand, or from the front of the hand to the axis of the hand. The direction is mostly perpendicular to the thin wall portion 21 (in the illustrated case, the direction perpendicular to the thin wall portion 21), and there is almost no external force from diagonally downward.

そうすると、前記薄肉部２１を通る外力は充分
受けることがあるはずで、この場合にシヤーピン
２０が破断されないようでは、ロボツトは充分な
安全を確保できないことになり、ロボツトの破
損、人体への危険のおそれがある。 In this case, the thin wall portion 21 may receive sufficient external force, and if the shear pin 20 does not break in this case, the robot will not be able to ensure sufficient safety, resulting in damage to the robot and danger to the human body. There is a risk.

本考案は上記事情に鑑みて創案されたもので、
少なくともハンド部の斜め方向以外の成分を有す
る外力に対しては充分安全を期すことのできる新
規な産業用ロボツトのシヤーピン機構を提供する
ことを目的としている。 This idea was devised in view of the above circumstances.
It is an object of the present invention to provide a new shear pin mechanism for an industrial robot that can ensure sufficient safety at least against external forces having components other than those in the diagonal direction of the hand portion.

＜課題を解決するための手段＞ 本考案に係る産業用ロボツトのシヤーピン機構
は、ロボツトのアーム部の先端下部に軸まわりに
回転可能な手首を介してアーム部の下面に平行に
取付けた第１の取付板と、アーム部に平行なハン
ド部の上面に取付けた第２の取付板と、第２の取
付板に対して30〜60°傾斜して第１、第２の取付
間に取付けたシヤーピンを具備しており、前記第
１、第２の取付板とシヤーピンでもつて全体とし
て略Ｚ状の形状を呈しており、且つ前記シヤーピ
ンはその中間位置に断面積の小さい狭小部を有す
る段付棒状に形成してある。<Means for Solving the Problem> The shear pin mechanism for an industrial robot according to the present invention has a first shear pin mechanism attached to the lower end of the arm of the robot parallel to the lower surface of the arm via a wrist rotatable around an axis. A second mounting plate is attached to the upper surface of the hand part parallel to the arm part, and a second mounting plate is attached between the first and second mounting plate at an angle of 30 to 60 degrees with respect to the second mounting plate. The shear pin is provided with a shear pin, and the first and second mounting plates and the shear pin have a generally Z-shaped shape as a whole, and the shear pin has a stepped shape having a narrow part with a small cross-sectional area at an intermediate position. It is formed into a rod shape.

＜作用＞ この考案によれば、シヤーピンの軸線に沿う外
力以外の外力に対しては、必ずシヤーピンは回転
モーメントを受けるので、狭小部が破断する機会
はそれだけ従来のものに比較して多い。<Function> According to this invention, since the shear pin is always subjected to a rotational moment in response to an external force other than the external force along the axis of the shear pin, the chances of the narrow portion breaking are increased compared to the conventional one.

＜実施例＞ 以下、図面を参照して本考案に係る一実施例を
説明する。第１図はこの考案の１実施例を示す正
面図、第２図は同側面図である。<Example> Hereinafter, an example according to the present invention will be described with reference to the drawings. FIG. 1 is a front view showing one embodiment of this invention, and FIG. 2 is a side view of the same.

図において、１はロボツトのアーム部、２はハ
ンド部を示しており、アーム部１の先端下面には
軸まわりに回転可能な手首３を介して第１の取付
板４が固定され、ハンド部２の上面には第２の取
付板５が固定されている。この場合、前記取付板
４，５は平行であるとする。６はシヤーピンであ
つて、シヤーピン６は第２の取付板５に対して斜
め方向にしてあるので、全体としては略Ｚの形状
を呈している。好ましい実施例としては、第２の
取付板５に対するシヤーピン６の角度は45°であ
るが、必ずしもこれに限定することはなく、30〜
60°が適当である。 In the figure, 1 indicates an arm portion of the robot, and 2 indicates a hand portion. A first mounting plate 4 is fixed to the lower surface of the tip of the arm portion 1 via a wrist 3 that is rotatable around an axis. A second mounting plate 5 is fixed to the upper surface of 2. In this case, the mounting plates 4 and 5 are assumed to be parallel. Reference numeral 6 denotes a shear pin, and since the shear pin 6 is oriented diagonally with respect to the second mounting plate 5, it has an approximately Z-shape as a whole. In a preferred embodiment, the angle of the shear pin 6 with respect to the second mounting plate 5 is 45°, but the angle is not necessarily limited to this, and is between 30° and 45°.
60° is appropriate.

第１図では、第２の取付板５とシヤーピン６の
なす角度θを45°にしてある。 In FIG. 1, the angle θ between the second mounting plate 5 and the shear pin 6 is 45°.

手首３の取付板３１に第１の取付板４が、ハン
ド部２の上面に第２の取付板５がそれぞれ取付固
定されている。７は取付板３１と第１の取付板４
を固定するボルト、８はハンド部２の上面と第２
の取付板５を固定するボルトである。１１は第２
の取付板５の上面に取付けたリミツトスイツチで
あり、リミツトスイツチ１１のレバーの先端はシ
ヤーピン６に当接している。 A first attachment plate 4 is attached and fixed to an attachment plate 31 of the wrist 3, and a second attachment plate 5 is attached and fixed to the upper surface of the hand portion 2, respectively. 7 is a mounting plate 31 and a first mounting plate 4
Bolts 8 fix the upper surface of the hand part 2 and the second
This is a bolt that fixes the mounting plate 5. 11 is the second
The tip of the lever of the limit switch 11 is in contact with the shear pin 6.

シヤーピン６の形状は全体として略中央部分に
狭小部９を有する角柱段付棒であつて、上面及び
下面に短小な平坦部６１，６２があり、平坦部６
１，６２はボルト７１及び８１によりそれぞれ第
１の取付板４及び第２の取付板５に取付けられて
いる。１０，１０はシヤーピン６が破断した場合
にハンド部２が落下することを防ぐために設けた
連結板であつて、連結板１０は長孔を有してお
り、第１の取付板４と第２の取付板５間に緩やか
に介在している。なお１２はハンド部２の指部
材、１３はハンド部２の爪部材である。 The shape of the shear pin 6 as a whole is a prismatic stepped rod having a narrow portion 9 approximately in the center, and short and small flat portions 61 and 62 on the upper and lower surfaces.
1 and 62 are attached to the first mounting plate 4 and the second mounting plate 5 by bolts 71 and 81, respectively. 10, 10 are connecting plates provided to prevent the hand part 2 from falling when the shear pin 6 breaks, and the connecting plate 10 has a long hole and connects the first mounting plate 4 and the second mounting plate. It is loosely interposed between the mounting plates 5 of. Note that 12 is a finger member of the hand portion 2, and 13 is a claw member of the hand portion 2.

つぎにハンド部が外力を受けた場合について説
明する。 Next, a case where the hand section receives an external force will be explained.

第１図のＰ点にハンド部２の下面からこれに垂
直に外力Fy1が作用したとする。外力Fy1はシヤ
ーピン６の軸線C1に沿う分力Fy2と軸線C1に直角
の分力Fy3に分解される。従つて、シヤーピン６
はFy2の軸力（圧縮力）とFy3・Ｒ＝Fy1・cosθ・
Ｒ（ただしＲは狭小部９と作用点までの距離）の
回転モーメントを受ける。 Assume that an external force Fy 1 is applied perpendicularly to point P in FIG. 1 from the lower surface of the hand section 2. The external force Fy 1 is decomposed into a component force Fy 2 along the axis C 1 of the shear pin 6 and a component force Fy 3 perpendicular to the axis C 1 . Therefore, shear pin 6
is the axial force (compressive force) of Fy 2 and Fy 3・R=Fy 1・cosθ・
It receives a rotational moment of R (where R is the distance between the narrow portion 9 and the point of application).

一方、第２の取付板５の間に沿う外力Fy2がＰ
点に作用した場合には、シヤーピン６にかかる回
転モーメントはFx1・sinθ・Ｒである。 On the other hand, the external force Fy 2 along between the second mounting plates 5 is P
When acting on a point, the rotational moment applied to the shear pin 6 is Fx 1 ·sinθ·R.

軸線C1に沿う外力を受けた場合には、Ｒは零
であるから、シヤーピン６は回転モーメントは受
けない。この場合には、両端固定段付棒の狭小部
９に軸線C1に垂直な力Fy3を受け、狭小部９は破
断する。 When receiving an external force along the axis C1 , R is zero, so the shear pin 6 does not receive any rotational moment. In this case, the narrow portion 9 of the stepped rod fixed at both ends receives a force Fy 3 perpendicular to the axis C1 , and the narrow portion 9 breaks.

また軸線C1に沿う外力のみを受けた場合には
圧縮応力破断や座屈破断になるのであるが、この
ような外力を受けるケースは前述したように、殆
どない。 Furthermore, if only an external force along the axis C1 is applied, compressive stress rupture or buckling rupture occurs, but as mentioned above, there are almost no cases in which such an external force is applied.

このように、シヤーピン６が狭小部９で破断さ
れると、この破断状態をリミツトスイツチ１１が
検出し、ロボツトを緊急停止させ、ロボツト装置
の破損を防止する。 In this manner, when the shear pin 6 is broken at the narrow portion 9, the limit switch 11 detects this broken state and brings the robot to an emergency stop, thereby preventing damage to the robot device.

＜考案の効果＞ 以上説明したように、この考案によればアーム
部とハンド部の間に介設されるシヤーピンの軸線
を傾斜させているので、シヤーピンの軸線に沿う
外力以外の外力によつて狭小部は破断する可能性
があり、従つて、従来のものに比較してシヤーピ
ンが破断する機会は多く、この考案は大変実用価
値の高いものである。<Effects of the invention> As explained above, according to this invention, the axis of the shear pin interposed between the arm part and the hand part is inclined, so that it is not affected by external forces other than the external force along the axis of the shear pin. There is a possibility that the narrow portion may break, and therefore, there are more opportunities for the shear pin to break than in the past, and this invention has great practical value.

【図面の簡単な説明】[Brief explanation of drawings]

第１図はこの考案の１実施例を示す正面図、第
２図は同側面図、第３図はシヤーピンに対する外
力の作用状態を示す説明図、第４図は従来例を示
す正面図、第５図は同側面図である。 １……アーム部、２……ハンド部、６……シヤ
ーピン、９……狭小部。 Fig. 1 is a front view showing one embodiment of this invention, Fig. 2 is a side view of the same, Fig. 3 is an explanatory view showing the state of action of external force on the shear pin, and Fig. 4 is a front view showing a conventional example. Figure 5 is a side view of the same. 1... Arm part, 2... Hand part, 6... Shear pin, 9... Narrow part.

Claims (1)

【実用新案登録請求の範囲】[Scope of utility model registration request] ロボツトのアーム部の先端下部に軸まわりに回
転可能な手首を介してアーム部の下面に平行に取
付けた第１の取付板と、アーム部に平行なハンド
部の上面に取付けた第２の取付板と、第２の取付
板に対して30〜60°傾斜して第１、第２の取付間
に取付けたシヤーピンを具備しており、前記第
１、第２の取付板とシヤーピンでもつて全体とし
て略Ｚ状の形状を呈しており、且つ前記シヤーピ
ンはその中間位置に断面積の小さい狭小部を有す
る段付棒状に形成してあることを特徴とする産業
用ロボツトのシヤーピン機構。 A first mounting plate is attached to the lower end of the arm of the robot parallel to the lower surface of the arm via a wrist rotatable around an axis, and a second mounting plate is attached to the upper surface of the hand parallel to the arm. A board, and a shear pin installed between the first and second mounting plates at an angle of 30 to 60 degrees with respect to the second mounting plate, and the first and second mounting plates and shear pin 1. A shear pin mechanism for an industrial robot, characterized in that the shear pin has a substantially Z-shaped shape, and the shear pin is formed in the shape of a stepped rod having a narrow part with a small cross-sectional area at an intermediate position.
JP1986052382U 1986-04-07 1986-04-07 Expired JPH0422954Y2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP1986052382U JPH0422954Y2 (en) 1986-04-07 1986-04-07

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP1986052382U JPH0422954Y2 (en) 1986-04-07 1986-04-07

Publications (2)

Publication Number Publication Date
JPS62165891U JPS62165891U (en) 1987-10-21
JPH0422954Y2 true JPH0422954Y2 (en) 1992-05-27

Family

ID=30877504

Family Applications (1)

Application Number Title Priority Date Filing Date
JP1986052382U Expired JPH0422954Y2 (en) 1986-04-07 1986-04-07

Country Status (1)

Country Link
JP (1) JPH0422954Y2 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0746424Y2 (en) * 1988-10-03 1995-10-25 西部電機株式会社 Jet nozzle for wire electric discharge machine

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6094490U (en) * 1983-12-01 1985-06-27 フアナツク株式会社 Safety fittings for industrial robots

Also Published As

Publication number Publication date
JPS62165891U (en) 1987-10-21

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