JP7364426B2 - Striatal support devices, robots and robotic systems - Google Patents

Description

The present invention relates to a striatal support device, a robot, and a robot system.

A support device that supports cables attached to a robot is known (for example, see Patent Document 1). In this support device, a cable processing tool for processing cables is suspended and supported by a buffer member such as a compression spring so as to be movable up and down above the arm.

Japanese Patent Application Publication No. 7-328981

When a load is applied to the cables, the compression spring expands and contracts, thereby reducing the load on the cables and preventing damage to the cables. However, the support device of Patent Document 1 has a configuration in which it largely protrudes above the arm of the robot in order to ensure sufficient space in the vertical direction for expanding and contracting the compression spring according to the load.

Therefore, the support device is likely to interfere with external objects, making it difficult to insert the arm into a narrow space. Therefore, there is a need for a cable support device that can sufficiently reduce the burden on cables and that can minimize the amount of protrusion from the outside of the robot.

One aspect of the present invention includes a base part fixed to a surface of a robot, a fixing part fixed to a striatum, and a base part fixed to a surface of a robot, and when a force acting on the striatum is smaller than a predetermined threshold, the fixing part and a detachment mechanism that maintains the attached state on the base portion and releases the attached state when the force acting on the striated body is equal to or greater than the threshold value.

1 is a perspective view showing a robot equipped with a linear body support device according to an embodiment of the present invention. FIG. 2 is a perspective view showing the linear body support device of FIG. 1. FIG. FIG. 3 is an exploded view showing the striatal support device of FIG. 2; FIG. 3 is a front view, partially cut away, showing a state in which the filament body is supported by the filament body support device of FIG. 2; FIG. 5 is a front view showing a state in which the connecting portion is broken due to the operation of the detachment mechanism of the linear body support device in FIG. 4; FIG. 3 is a partially cutaway front view showing a state in which a linear body is supported by a modified example of the linear body support device shown in FIG. 2; FIG. 7 is a front view showing a state in which the base member and the support member are separated by the operation of the detachment mechanism of the linear body support device of FIG. 6; FIG. 3 is a perspective view showing another modification of the linear body support device of FIG. 2; FIG. 9 is a perspective view showing a state in which the base member and the support member are separated by the operation of the separation mechanism of the linear body support device of FIG. 8; FIG. 3 is a partially cutaway front view illustrating a state in which a linear body is supported by another modification of the linear body support device of FIG. 2;

A linear body support device 1 and a robot 100 according to an embodiment of the present invention will be described below with reference to the drawings.
As shown in FIG. 1, the filament support device 1 according to the present embodiment is a device used when wiring a filament 200 such as a cable along the outer surface of a robot 100. 4, it includes a main body member 2 and a fixing member (fixing part) 3.
In FIG. 1, a 6-axis vertically articulated robot is illustrated as an example of the robot 100, but the robot 100 is not limited to this.

In the example shown in FIG. 1, the filament body 200 is fixed to a first filament body fixing part 111 fixed to the side surface of the arm 110 of the robot 100 and a tool S attached to the tip of the wrist 120 of the robot 100. They are each fixed in a second filament fixing section 121. Further, the filamentous body 200 is supported by the filamentous body support device 1 according to the present embodiment near the tip of the arm 110 of the robot 100.

That is, in the example of FIG. 1, the striatal body portion 201 disposed between the striatal body support device 1 and the second striate body fixing part 121 is a movable striate body that is deformed by the movement of the wrist 120. It is a part.
Further, the filament body portion 202 between the first filament body fixing portion 111 and the filament body support device 1 is given some slack, as shown in FIG.

As shown in FIG. 3, the main body member 2 includes a base portion 4 fixed to the surface of the robot 100, a support portion (fixed portion) 5 that supports the linear body 200, and the base portion 4 and the support portion 5. It is provided with a connecting part 6 for connecting. The base portion 4 includes, for example, a contact surface 4a that is brought into close contact with a seat surface 101 provided on the outer surface of the robot 100, and a through hole 7 through which a bolt 8 fastened to a screw hole 102 provided on the seat surface 101 is passed through. It is equipped with

The support portion 5 includes a screw hole 9 into which a bolt 10 for attaching the fixing member 3 can be fastened. The fixing member 3 has a through hole 11 through which a bolt 10 passes, and is composed of a sheet metal 12 and an elastic body 13 such as a sponge, which are fixed to the support part 5 by sandwiching the filament 200 therebetween. The support portion 5 of the main body member 2 and the fixing member 3 constitute a fixing portion that is fixed to the filament body 200.

The connecting portion 6 is a columnar portion disposed between the base portion 4 and the support portion 5, and is integrally made of the same material as the base portion 4 and the support portion 5.
A detachment mechanism 14 is provided at the connection portion 6 .

The detachment mechanism 14 is, for example, provided in a part of the connecting portion 6, and is constituted by a constriction (easily breakable portion) 15 that reduces the cross-sectional area to such an extent that it breaks when a force exceeding a threshold is applied to the filamentary body 200. has been done.
The threshold value is set to be less than or equal to the minimum value of the allowable tensile force, allowable shear force, and allowable torsional force that the filamentary body 200 can withstand without being damaged.

The operation of the striated body support device 1 according to the present embodiment configured in this way will be described below.
Due to the operation of the robot 100, the striated body 200 fixed to the arm 110 and the tool S also moves. In particular, the striatal body portion 201 between the striatal body support device 1 and the second striatal body fixing part 121 is a movable striatal body 200 that deforms according to the movement of the wrist 120, and therefore has a wide range of movement. There is a high possibility that it will get caught in peripheral devices, etc.

When the filamentary body 200 is caught on a peripheral device or the like, a large force such as a tensile force, shearing force, or twisting force acts on the filamentous body 200.
In a normal state in which the robot 100 is operating without the filamentary body 200 being caught on a peripheral device, the force acting on the filamentous body 200 is smaller than a predetermined threshold, and in this case, the connecting portion 6 breaks. The main body member 2 is maintained in a state in which the base portion 4 and the support portion 5 are connected without doing so. Thereby, the filamentous body 200 can be maintained on the desired route passing through the position of the filamentous body support device 1.

On the other hand, when the filamentous body 200 is caught by a peripheral device, a large force exceeding the threshold is applied to the filamentous body 200, so that the connecting portion 6 breaks at the constriction 15, as shown in FIG. , the connection between the base portion 4 and the support portion 5 is severed. In other words, by releasing the restraint on the position of the filamentous body support device 1, the degree of freedom of movement of the filamentous body 200 increases, and the force acting on the filamentous body 200 is instantly reduced. Damage to the striatum 200 can be prevented.

In this case, the linear body support device 1 according to the present embodiment can fix and support the linear body 200 on a desired route close to the surface of the robot 100 in a normal state. Further, since the linear body support device 1 according to the present embodiment does not have a movable part, the amount of protrusion from the surface of the robot 100 is suppressed to a sufficiently small value. Therefore, even in work performed by inserting the arm 110 into a narrow space, there is an advantage that interference of the filamentary body support device 1 and the filamentous body 200 with external objects can be effectively prevented.

If the connection part 6 is broken due to the operation of the detachment mechanism 14 at the connection part 6 of the main body member 2, simply by removing the bolt 8 and replacing only the main body member 2, the filament body 200 can be removed from the arm 110. It can be re-supported in the same position. Moreover, by configuring the detachment mechanism 14 with the constriction 15, even if the force applied to the filamentary body 200 is tensile force, shear force, or torsional force, the filament body 200 can be broken with a force that is less than the allowable value. can. Therefore, there is an advantage that the striatum 200 can be protected from any force applied to the striatum 200.

In this embodiment, the base portion 4, the support portion 5, and the connecting portion 6 of the main body member 2 are integrally manufactured from the same material, but instead of this, the material of the connecting portion 6 may be 4 and the support portion 5 may be made of a material having lower strength. That is, in the above embodiment, the easy-to-break part that is easily broken locally in the connection part 6 due to the constriction 15 is used as the detachment mechanism 14, but instead of this, the easy-to-break part is made of a material with low strength. You can.

Further, in this embodiment, the detachment mechanism 14 whose strength is locally reduced by the constriction 15 is employed. Instead, as shown in FIG. The member 17 may be provided with a fitting portion (convex portion) 19 that fits into the fitting hole 18 and is maintained in the fitted state by friction. The base member 16 may be provided with a protrusion 19 and the support member 17 may be provided with a recess 18.

As a result, under normal operating conditions, the force acting in the direction of pulling out the fitting part 19 from the fitting hole 18 is smaller than the static friction between them, and the fitting part 19 is maintained in the fitted state in the fitting hole 18. Ru. On the other hand, when a force exceeding the static friction force acts on the filament 200 in the direction of pulling out the fitting part 19 from the fitting hole 18, the fitting part 19 is pulled out from the fitting hole 18, as shown in FIG. As a result, the support member 17 is separated from the base member 16. This prevents the striatal body 200 from being damaged. According to this structure, the main body member 2 can be reused.

Moreover, instead of fitting the fitting hole 18 and the fitting part 19, as shown in FIG. , the support member 17 may be provided with a dovetail-like projection (protrusion) 21 that engages with the dovetail groove 20. Thereby, as shown by the arrow in FIG. 9, when a tensile force is applied to the filament 200 in the longitudinal direction, the dovetail protrusion 21 comes off from the dovetail groove 20, and the support member 17 can be separated from the base member 16. The dovetail groove 20 and dovetail-like protrusion 21 may be reversed.

Further, as shown in FIG. 10, a permanent magnet 22 may be provided on one of the base member 16 or the support member 17, and a magnetic member 23 that is attracted to the permanent magnet 22 by magnetic attraction force may be arranged on the other. The magnetic member 23 may be a permanent magnet.
A force equal to or greater than a threshold applied to the filamentous body 200 acts in a direction to separate the support member 17 from the base member 16 against the magnetic attraction force, thereby separating the support member 17 from the base member 16 and separating the filamentous body 200 from the base member 16 . can be protected.

In addition, in this embodiment, the fixing member 3 made of the sheet metal 12 and the elastic body 13 that sandwich and fix the filament 200 between the support part 5 of the main body member 2 is employed; A binding device such as a nylon band may be used to bind the body 200. Moreover, although the fixing member 3 is fastened to the support part 5 with the bolt 10, it may be fixed with an adhesive instead.

Furthermore, in a robot system that includes a robot 100 that includes the linear body support device 1 according to the present embodiment and a control device that controls the robot 100, the detachment mechanism 14 operates to separate the base portion 4 and the support portion 5. A sensor (detection unit) may be provided to detect separation. If the detection unit detects that the robot 100 has been separated, the control device may interrupt the operation of the robot 100.
The sensor may be either a contact type or a non-contact type. Alternatively, a cable may be provided that is disconnected when the base portion 4 and the support portion 5 are separated by the detachment mechanism 14 to detect separation. Further, the operation of the detachment mechanism 14 may be detected from the variation in the current value of the motor or the variation in the torque value by a torque sensor.

1 Striatal body support device 3 Fixing member (fixing part)
4 Base part 5 Support part (fixed part)
14 Detachment mechanism 15 Neck (easily broken part)
16 Base member (base part)
17 Support member (fixed part)
18 Fitting hole (recess)
19 Fitting part (convex part)
20 Dovetail groove (recess)
21 Dovetail-like projection (convex part)
22 Permanent magnet 23 Magnetic member 100 Robot 200 Wire body

Claims (8)

a base portion fixed to the surface of the robot;
a fixed part fixed to the striatum;
a detachment mechanism disposed between the base part and the fixing part,
The fixing part has a support part that supports the filamentous body, and a fixing member that sandwiches and fixes the filament body between the support part,
The detachment mechanism maintains the fixing part in the attached state to the base part when the force acting on the striatum is smaller than a predetermined threshold, and the detachment mechanism maintains the fixing part in the attached state to the base when the force acting on the striatum is equal to or higher than the threshold. A striatal body support device that releases the attachment state in certain cases. The linear body support device according to claim 1, wherein the detachment mechanism is an easily breakable portion that breaks when a force equal to or greater than the threshold is applied to the linear body. the base portion is removably fixed to the surface of the robot;
The filamentous body support device according to claim 2, wherein the fixing portion is removably fixed to the filamentous body. 2. The detachment mechanism includes a recess provided on one of the base portion and the fixed portion, and a protrusion provided on the other of the recesses and maintained in a fitted state by friction within the recess. striatal support apparatus. 5. The linear body support device according to claim 4, wherein the recess is a dovetail groove, and the convex portion is a dovetail projection. The linear body according to claim 1, wherein the detachment mechanism includes a magnetic member provided on one of the base portion and the fixed portion, and a permanent magnet provided on the other side and attracts the magnetic member by magnetic attraction force. Support device. A robot comprising the linear body support device according to any one of claims 1 to 6. The robot according to claim 7, a control device that controls the robot, and a detection unit that detects that the attached state by the detachment mechanism is released,
A robot system in which the control device controls the operation of the robot when the detection unit detects that the mounted state is released.

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