JPH0615155B2 - Adapter with centering mechanism - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an adapter with a centering mechanism for inserting an operating member such as a manipulator into the tip of a movable arm of a robot or an automatic device.

Conventional technology and its problems Operating members such as manipulators attached to the tip of the movable arm of robots and automatic machines are required to operate or approach the target position with high accuracy. Centering work is required. In many cases traditional
This centering work was performed by moving the robot and the entire device so that the manipulator at the end of the arm would match the target position, so the work required time and labor, and it was activated due to damage or wear. After exchanging the members, it was necessary to perform the centering work again by moving the robot and the entire apparatus. Alternatively, there is one in which a dovetail groove is provided at the tip of the movable arm so that the operating member can be centered.
In order to obtain high centering accuracy with the dovetail mechanism, the length of the contact portion between the dovetail member and the dovetail groove must be lengthened, resulting in an increase in the size of the entire mechanism and an increase in the weight of the tip of the arm. There is a drawback that the operating performance is reduced.

SUMMARY OF THE INVENTION It is an object of the present invention to solve these problems of the prior art and to provide an adapter with a centering mechanism that is compact and lightweight and that can achieve high centering accuracy.

Means for Solving the Problems The above-mentioned object of the present invention is an adapter with a centering mechanism for mounting an operating member on the tip of a movable arm, and a fixing part fixed to the tip of the movable arm. A base member having a pair of support portions extending from the fixed portion at a distance from each other, and an insert portion located between the support portions, and the operating member attached integrally to the insert portion. A mount member having a mounting portion for obtaining the mounting portion, and each of the pair of bearing portions is provided with a female threaded hole penetrating perpendicularly to the extending direction of the bearing portion and having axes aligned with each other. The insert portion is provided with an integral convex or concave guide portion that extends concentrically with the female threaded hole at a position corresponding to the female threaded hole, and the adapter further includes female threads of the pair of bearing portions. When screwed into the holes A pair of screw members for moving the insertion portion in the forward / backward movement direction by the forward / backward movement based on the screw engagement in a state of being engaged with the side surface of the guide portion, and being coupled to one of the support portion and the mount member. It is achieved by an adapter with a centering adjusting mechanism, which is provided with a detent member that is in contact with the other side and prevents rotation of the mount member around the guide portion.

The object of the present invention is also an adapter with a centering mechanism for mounting an actuating member to the tip of a movable arm, the adapter being fixed to the tip of the movable arm, and the adapter in the first direction. A pair of first portions extending from the fixing portion at intervals
A base member having a support portion, a first insertion portion located between the first support portions, and a first insertion portion spaced from each other in a second direction crossing the first direction. An intermediate member having a pair of second support portions extending in the extension direction of the support portion, a second insert portion located between the second support portions, and integrally connected to the insert portion. And a mount member to which the actuating member can be attached, each of the first and second pair of bearing portions penetrating perpendicularly to the extending direction and including a first bearing portion and a first bearing portion. A pair of two bearing portions are provided with female screw holes provided with their axes aligned with each other, and the first and second insertion portions are provided with female screw holes at positions corresponding to the female screw holes. Each of the holes is provided with a pair of convex or concave guide portions extending concentrically, and the adapter further includes The first and second insertion portions are screwed into the female screw holes of the first and second pair of bearing portions, respectively, and are moved forward and backward based on the screw engagement in a state of being engaged with the side surface of the guide portion. A pair of screw members for respectively moving in the advancing / retracting direction, a first member coupled to one of the first support portion and the intermediate member and in contact with the other, and preventing rotation of the intermediate member around the guide portion. And a second detent member that is coupled to one of the second support portion and the mount member and is in contact with the other to prevent rotation of the mount member around the guide portion. This is achieved by an adapter with a centering adjustment mechanism.

Preferably, the guide portion is a pin that penetrates the insertion portion perpendicularly to the extension direction and projects from the insertion portion to both sides, and the screw member is provided with a through hole for passing the pin. In addition, a set screw that is vertically inserted in the axial direction of the pin and abuts on the pin is attached to the insertion portion.

The guide part may be a recessed part that is recessed perpendicularly to the extending direction with respect to the insertion part, and the screw member may be provided with a guided surface in contact with a side surface of the recessed part at a tip end part.

The rotation stopping member may be a nut that is screwed to the mount member between the mounting portion of the mount member and the tip end surface of the support portion, and comes into close contact with the tip end surface of the support portion by a screw action. .

Preferably, the first detent member is screwed to the intermediate member between the second bearing portion of the intermediate member and the tip end surface of the first bearing portion of the base member, and the first bearing member is screwed. Is a nut that comes into close contact with the distal end surface of the mounting portion based on a screw action, and the second detent member is screwed to the mounting member between the mounting member of the mounting member and the distal end surface of the second support portion. It is a nut that comes into close contact with the end surface of the support portion based on the screw action.

Embodiments Embodiments of the present invention will be described below with reference to the accompanying drawings.

1 to 4 show an adapter with a centering mechanism according to an embodiment of the present invention together with a manipulator. In FIG. 1, the central axis line of the operation of the manipulator (hereinafter referred to as the operation axis line) is shown by a one-dot chain line, and the movable arm is shown by a two-dot chain line. As shown in the figure, the adapter with a centering mechanism includes a base member (10) fixed to the tip of the movable arm (A), an intermediate member (20) sequentially attached to the tip side of the base member (10) along an operating axis, and a mount. The member (30) is provided, and the manipulator (B) is attached to the tip side of the mount member (30).

The base member (10) is a shank-shaped fixed portion (1) inserted and fixed in a mounting hole at the tip of the movable arm (A).
1) and a cylindrical portion (12) integrally connected to the tip side of the fixing portion. A pair of female threaded holes (13) are provided on the mutually facing side walls of the cylindrical portion (12) perpendicularly to the operating axis and aligned with each other. In this example, the pair of female threaded holes are provided so that the axis is horizontal. The bored portions of the pair of female threaded holes in the cylindrical member (12) serve as support portions for supporting the intermediate member (20) as described below.

The intermediate member (20) is inserted with the first insertion portion (21) located in the central hole of the cylindrical portion (12) and the second cylindrical portion (22) integrally connected to the distal end side of the insertion portion. A pin (23) extending through the portion (21). The first insertion portion (21) has a columnar shape with an outer diameter smaller than the inner diameter of the cylindrical portion (12), and a moving gap for centering exists between the two. The pin (23) has a small diameter portion (230) at the center.
And the tip of the set screw (25) screwed into the second insertion portion (21) abuts the small diameter portion to fix the pin (23). In this state, both ends of the pin (23) project in the radial direction from the second insertion portion (21) to both sides, and serve as guide portions during movement by a screw member described below. Also, for the operation of the set screw (25),
The side wall of the first cylindrical portion (12) is provided with a through hole (14). The second cylindrical portion (22) has the same shape as the first cylindrical portion (12), but the axes of the pair of female screw through holes (24) are provided so as to extend in the vertical direction. . The pair of female screw hole drilling portions in the cylindrical portion (22) form a second support portion for supporting the mount member described below.

A screw member (40) is screwed into each of the pair of female screw holes (13) of the base member (11). Screw member (40)
Has a cylindrical shape with a through hole in the axial direction, and the diameter of the through hole is determined so that the pin (23) is passed through closely so as to guide the pin (23) in the axial direction. Intermediate member (2
A male screw is formed at a transitional portion of the insertion portion (21) of (0) to the cylindrical portion (22), and a first detent nut (60) is screwed to the male screw portion, so that the cylindrical portion (12) is By contacting the tip end surface, it serves to prevent the intermediate member from rotating around the pin (23).

The mount member (30) includes a second insertion portion (31) located in the cylindrical portion of the intermediate member, and a mounting portion (32) integrally connected to the distal end side of the insertion portion. A pin (33) extending perpendicularly to the operating axis and the axis of the pin (23) penetrates through the insertion portion (31), and the pin (33) is inserted.
Like the pin (23), is fixed to the second insertion part (31) by the small diameter part (33) and the set screw (35). Also, for the operation of the set screw (35), a second
A through hole (24) is provided in the side wall of the cylindrical portion (22).

A screw member (50) is screwed into each of the pair of female screw holes (24) of the intermediate member (20). Screw member (50)
Has the same cylindrical shape as the screw member (40), and the diameter of the through hole is determined so that the pin (33) can be passed through closely.

The mounting portion (32) is in the shape of a substantially rectangular plate extending perpendicularly to the operating axis, and has two mounting holes (36) so that the manipulator (B) can be mounted on the distal end side. Further, since a sensor such as a proximity switch (C) is often attached to the rear end of the manipulator (B), a notch (3) for passing the connecting wire through the attachment portion (32).
7) is provided. A male screw is provided at a transition portion of the mount member (30) from the insertion portion (31) to the attachment portion (32), and the rotation preventing nut (70) is attached to the male screw.
Is screwed on. The detent nut (70) contacts the tip end surface of the cylindrical portion (22) of the intermediate member and prevents the mount member (30) from rotating around the pin (33).

This adapter is assembled as follows. First, the insertion portion (21) of the intermediate member (20) is inserted into the cylindrical portion of the base member (10). At this time, the non-rotating nut (60) has a cylindrical portion (1) of the male screw portion of the intermediate member (20).
Fully screw into 2) side. Next, the pin (23) is inserted from the hole (13) of the cylindrical portion (12) into the through hole of the insertion portion (21). The small diameter portion (230) of the pin (23) is located at the center of the insertion portion (21), and the hole (1) of the cylindrical portion (12) is
4) The set screw (25) is screwed into the insertion portion (21) from 4) to fix the pin (23). Next, the screw member (40) is screwed into the female screw hole (13) of the cylindrical portion (12). At this time, both projecting ends of the pin (23) are inserted into the through holes of the screw member (40). The pair of pins (40) are screwed in until their tip surfaces abut the peripheral surface of the insertion part (21). In this state, the anti-rotation nut (60) is turned to lightly contact the tip end surface of the cylindrical portion (12). Next, the nut (7)
0) is sufficiently screwed into the male screw portion of the mount member (30), the mount member insertion portion (31) is inserted into the cylindrical portion (22) of the intermediate member, and the pin (3
3) is fixed to the insertion part (31), and a pair of screw members (5
0) is screwed into the female screw hole of the cylindrical portion (22). Furthermore,
Turn the anti-rotation nut (70) to advance to the intermediate member side,
Lightly abut the tip surface of the cylindrical portion (22). This completes the assembly of the adapter.

To use this adapter to attach the manipulator (B) to the tip of the arm (A) and perform centering, follow the steps below. First, the adapter assembled as described above is fixed to the tip portion of the arm (A) by the fixing portion (11) of the base member (10). This is done according to the usual mounting configuration at the tip of the arm (A). Next, the mounting portion (32) of the mount member (30) screws the manipulator (B). When the manipulator (B) includes a sensor such as a proximity switch (C), the connecting wire (D) is passed through the notch (37) of the mounting portion (32),
It can be appropriately extended along the arm (A). Next, the arm (A) is moved to cause the manipulator (B) to reach the target position. In this state, when the manipulator (B) is displaced horizontally with respect to the target position, the screw member screwed to the base member (10) is operated. That is, the screw member (4
0) is rotated to pull out from the cylindrical portion (12), and the screw member (40) on the opposite side is rotated to be inserted into the cylindrical portion (12).
As a result, the intermediate member (20) horizontally moves to the target position side together with the mount member (30) and the manipulator (B). When the manipulator (B) is vertically displaced from the target position, the screw member (50) screwed to the intermediate member is operated. That is, the mount member (30) is moved in the vertical direction together with the manipulator (B) by pulling out and inserting the pair of screw members (50) as in the horizontal adjustment. Screw member (40)
And (50) to move the intermediate member (20) and the mount member (30) respectively, the pins (23), (3)
By closely contacting the through holes of the screw members (40) and (50), 3) can be accurately moved in the axial direction of each screw member, that is, in the direction perpendicular to the operating axis. These operations are repeated as needed, and when the manipulator matches the target position, the detent nuts (60) and (70) are tightly tightened. The above operation completes the mounting and centering work.

In the above example, the insertion portions (21) and (31) are used as the guide portions.
Although the pins (23) and (33) are shown protruding from the guide, the guide portion is replaced with the pins (23) and (33), and as shown in FIG. 5, it is recessed in the direction of movement required for centering. The recessed portion may be provided in each insertion portion. In this case, the screw members (40), (50) have a diameter such that they can slide with respect to the concave portion (23 ') in a state where the tip portion is in close contact with the side surface of the concave portion (23'). Through holes can be omitted.

Further, the rotation preventing nuts (60) and (70) of the intermediate member and the mount member may be replaced with the structure shown in FIG. That is, the insertion portion (21 ') of the intermediate member has a rectangular parallelepiped shape, and the central hole of the cylindrical portion (12') has a rectangular cross section. This rectangular center hole is a pair of female screw holes (1
The side surface of 3) is wider than the insertion portion (21 ′), and the side surface perpendicular to the insertion portion (21 ′) closely contacts the side surface of the insertion portion (21 ′). As a result, the insertion portion (21 ') becomes a cylindrical portion (1
2 ') has a gap for centering with the bored portion (support portion) of the female screw hole. In this example, the portion (61) connecting the supporting portions in the cylindrical portion (12 ') is
The intermediate member is in contact with the insertion portion (21 ') and the intermediate member is screwed (1
3) Prevent rotation around. It plays the role of a detent member. Similarly, the insertion part (31 ') of the mount member is rectangular parallelepiped, the cylindrical part (22') of the intermediate member is provided with a central hole having a rectangular cross section, and the cylindrical part (22) is provided with a female screw hole. The portion (71) connecting the (supporting portions) serves as a rotation preventing member for the insertion portion (31 ').

In addition, when the movement of the manipulator for centering is limited to one direction, such as only the horizontal direction and the vertical direction, the intermediate member (20) of the example shown in FIG. 1 is omitted,
The insertion part (31) of the mount member (32) can be in a state of being inserted into the cylindrical part (12) of the base member (11). For example, when the manipulator needs to be adjusted only in the vertical direction, the base member (11) is connected to the mount member (30) in a state of being rotated 90 ° around the operating axis from the position shown in FIG. .

EFFECTS OF THE INVENTION As is apparent from the above, according to the present invention, it is possible to provide an adapter with a centering mechanism that exhibits the following effects. That is, the adapter is a base member for attachment to the tip of the movable arm, an intermediate member for movement in one adjustment direction (eg, horizontal direction), and movement and actuation in another adjustment direction (eg, vertical direction). It has three main elements, a mount member for mounting members, and movement in each adjustment direction is
A pair of screw members that move back and forth in the respective adjustment directions between the base member and the intermediate member and between the intermediate member and the mount member are used. If only one adjustment direction is sufficient, the intermediate member is omitted and two main elements, a base member and a mount member, are provided, and a pair of screw members that move back and forth in the adjustment direction between the two members. To move in the adjustment direction. Therefore, movement and fixation in each adjustment direction can be performed by each pair of screw members, and high centering accuracy can be realized with an extremely simple structure. In addition, the location where the width of the adapter is the largest in terms of the centering function is the dimension between the ends of the pair of screw members protruding from the insertion part to both sides. The size of the entire adapter is extremely small, especially since the guide part during the movement is formed in a convex or concave shape on the insertion part so that no special space is required. Can be made compact. Therefore, even when the manipulator is accompanied by various sensors, it is necessary to extend the connecting wire linearly along the side of the intermediate member and the base member behind the connecting wire through the notch provided in the mounting portion of the mount member. It is possible and extremely convenient.

[Brief description of drawings]

FIG. 1 shows an embodiment of the present invention. FIG. 1 is a perspective view showing an adapter together with a manipulator, FIG. 2 is a vertical sectional side view of the adapter, and FIG. 3 is a sectional view taken along line P-P of FIG. ,
4 is a sectional view taken along the line QQ of FIG. 2, FIG. 5 is a vertical sectional front view of another example of the adapter, and FIG. 6 is a perspective view showing a further example of the adapter in an exploded manner. . (10) ... Base member, (11) ... Fixed part, (12), (12 ') ... Cylindrical part (provided with first support part), (13) ... Female screw hole, (20) ...... Intermediate member, (21), (21 ') ...... First insertion part, (22), (22') ...... Cylindrical part (including second bearing part), (23) ...... Pin ( Guide part), (23 ') ... Recessed part (guide part), (30) ... Mount member, (31), (31') ... Second insertion part, (32) ... Mounting part, (33 ) ... pin (guide part), (33 ') ... recessed part (guide part), (40), (50) ... screw member, (60), (70) ... detent member, (A) ... … Movable arm, (B) …… Manipulator (actuator),

Claims (6)

[Claims] 1. An adapter with a centering mechanism for mounting an actuating member to the tip of a movable arm, wherein a fixed portion fixed to the tip of the movable arm and a gap from the fixed portion. A mount member having a base member having a pair of supporting portions extending therein, and an insertion portion positioned between the supporting portions, and a mounting portion integrally coupled to the insertion portion and capable of mounting the operating member. The pair of bearings is provided with a female threaded hole penetrating perpendicularly to the extending direction of the bearing and having axes aligned with each other, and the insertion section is provided with the female thread. A pair of convex or concave guide portions extending concentrically in the female threaded hole are provided at positions corresponding to the holes, and the adapter is further screwed into the female threaded holes of the pair of bearing portions and the guide is provided. Engagement with the side of the part A pair of screw members for moving the insertion portion in the forward / backward movement direction by the forward / backward movement based on the screwing, and a pair of screw members connected to one of the support portion and the mount member and in contact with the other, around the guide portion of the mount member. An adapter with a centering adjustment mechanism, characterized in that it is provided with a detent member for preventing rotation. 2. An adapter with a centering mechanism for mounting an actuating member on the tip of a movable arm, wherein a fixed portion fixed to the tip of the movable arm and a fixed portion are spaced from each other in the first direction. The pair of first portions extending from the fixed portion
A base member having a support portion, a first insertion portion located between the first support portions, and a first insertion portion spaced from each other in a second direction crossing the first direction. An intermediate member having a pair of second support portions extending in the extension direction of the support portion, a second insert portion located between the second support portions, and integrally connected to the insert portion. And a mount member to which the actuating member can be attached, each of the first and second pair of bearing portions penetrating perpendicularly to the extending direction and including a first bearing portion and a first bearing portion. A pair of two bearing portions are provided with female screw holes provided with their axes aligned with each other, and the first and second insertion portions are provided with female screw holes at positions corresponding to the female screw holes. Each of the holes is provided with a pair of convex or concave guide portions extending concentrically, and the adapter further includes The first and second insertion portions are screwed into the female screw holes of the first and second pair of bearing portions, respectively, and are moved forward and backward based on the screw engagement in a state of being engaged with the side surface of the guide portion. A pair of screw members for respectively moving in the advancing / retracting direction, a first member coupled to one of the first support portion and the intermediate member and in contact with the other, and preventing rotation of the intermediate member around the guide portion. And a second detent member that is coupled to one of the second support portion and the mount member and is in contact with the other to prevent rotation of the mount member around the guide portion. An adapter with a centering adjustment mechanism. 3. The guide portion is a pin which penetrates the insertion portion perpendicularly to the extending direction and projects to both sides from the insertion portion, and the screw member has a through hole for passing the pin. The centering adjustment according to claim 1 or 2, wherein the insertion portion is provided with a set screw that is screwed in perpendicular to the axial direction of the pin and abuts against the pin. Adapter with mechanism. 4. The guide part is a recessed part which is recessed perpendicularly to the insertion part with respect to the insertion part, and the screw member has a guided surface in contact with a side surface of the recessed part at a tip end part thereof. The adapter with a centering adjusting mechanism according to claim 1 or 2. 5. The nut, wherein the rotation stopping member is screwed to the mount member between the mounting portion of the mount member and the tip surface of the bearing portion, and comes into close contact with the tip surface of the bearing portion by a screw action. The adapter with a centering adjustment mechanism according to claim 1, 3 or 4. 6. The first detent member is screwed to the intermediate member between the second bearing portion of the intermediate member and the tip end surface of the first bearing portion of the base member, and the first detent member is screwed to the intermediate member. Is a nut that comes into close contact with the tip end surface of the bearing portion of the mount member by means of a screw action, and the second rotation stopping member is attached to the mount member between the attachment portion of the mount member and the tip end surface of the second bearing portion. The adapter with a centering adjusting mechanism according to claim 2, 3 or 4, which is a nut that is screwed and comes into close contact with the front end surface of the support portion based on a screw action.