JPS6219951B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a device for accurately fixing a swing arm at a certain swing angle.

Conventionally, the above-mentioned fixing devices have been of a type that relies on, for example, abutment between a stopper and a dog, or that controls the operation of an actuator.
However, if the stopper and the dog come into contact with each other, the stopping position will be accurate; however,
For example, when an actuator is used as the power to rotate an arm, if a force is applied to the arm in a direction opposite to the direction of contact, the arm will rotate if the holding force of the actuator is small. Furthermore, in the case where the actuator itself is controlled to fix the rotation angle of the arm, it is not only difficult to make the stopping angle accurate, but also the holding force of the actuator poses a problem as described above.

Therefore, in this invention, a stopper and a dog are provided, a rotating latch is applied to the force in the opposite direction, and the actuation of this latch is performed by a linear actuator, thereby solving the above-mentioned problems. The main purpose is to provide a rotating arm fixing device with a simple configuration.

Embodiments of this invention will be described in detail below with reference to the drawings. Note that although this embodiment was implemented in an automatic welding robot, the present invention is not limited to this embodiment.

Reference numeral 1 denotes a part of the configuration of an automatic welding robot, and although the details are not shown, it is a movable body that can be moved in the front, rear, left and right directions (in the Y direction and the X direction of the illustrated control axes) by known means.

Reference numeral 2 denotes a support member, and a column 2a integral with the support member 2 is supported by the movable body 1 and is configured to be movable in the vertical direction (in the direction of the control axis Z in the drawing).

Reference numeral 3 designates an arm 3a pivotably supported on the support member 2. 3b is the power for rotating the pivot shaft 3a.

4 and 5 are stoppers fixed to the member 2 at symmetrical positions with respect to the axis 3a.

A dog 6 is fixed to the arm 3 at a position where it can come into contact with the stoppers 4 and 5.

Reference numeral 7 denotes a rotation shaft supported by the arm 3 in the vertical direction parallel to the shaft 3a.

8 is a link provided on the lower side of the arm 3 integrally with the shaft 7.

A linear actuator 9 is connected to the tip of the link 8 and the arm 3 by vertical shafts 9a and 9b, respectively. And the articulation axis 9a is the link 8
It is fitted into the elongated hole 8a at the tip to provide flexibility.

10 is a latch provided on the upper side of the arm 3 integrally with the shaft 7. 10a is a latch rotation lever provided integrally with the latch 10 and extending on the opposite side to the shaft 7.

Reference numerals 11 and 12 designate receivers for the latch 10, which are integrally fixed to the member 2. The receivers 11 and 12 are configured in a cylindrical shape and are located inside the shaft 7 when the arm 3 rotates to the left or right.
The point P at which it rotates and comes into contact with it is configured to be on the opposite side of the shaft 7.

Reference numeral 13 denotes a torch mount provided at the tip of the arm 3 and rotatable around the vertical axis V. 14 is the mounting tool 13
A welding torch is attached to the welding torch, and its tip welding point is arranged on the axis V.

Next, the operation of the above-mentioned structure will be described.

The case where the arm 3 is positioned by rotating it to the left from the position shown in FIG. 1 will be described. It is assumed that the actuator 9 is contracted.

The power 3 is controlled by a command from a control means (for example, a known computer) of an automatic welding robot (not shown).
b is activated, and the arm 3 rotates to the left in the figure. Finally, the dog 6 comes into contact with the lower part of the stopper 5.

At the same time, the lever 10a also comes into contact with the upper part of the stopper 5 and rotates it slightly to the right (Fig.
(Dot-dashed line). At this time, since the joint 9a has flexibility due to the elongated hole 8a, even if the actuator 9 is contracted, the slight rotation of the link 8 will not be hindered.

On the other hand, the contact between them is detected by a sensor means (not shown) and is inputted to the computer, so that the computer outputs a command to extend the actuator 9, and the actuator 9 accordingly extends. At this time, the dead center of the actuator 9 is avoided by the slight clockwise rotation of the lever 10a mentioned above, so the lever 10a rotates clockwise without any problem, and finally the latch 10 is moved to the opposite side of the receiver 12 (the first
(the right side in the figure) and come into contact P (the state shown by the solid line in Figure 2). Thus, the arm 3 is fixed clockwise in the figure by the stopper 5, and counterclockwise by the engagement of the latch 10 with the receiver 12. In particular, the shaft 7 is outside the receiver 12 and the latch 10
The abutment point P between the receiver 12 and the receiver 12 is on the inside, and the arm 3 is firmly fixed in the counterclockwise direction. Therefore, the holding force of the actuator 9 does not need to be very large.

Furthermore, when rotating the arm 3 to the right, the actuator 9 is contracted according to a command from the computer to release the engagement between the latch 10 and the receiver 12, and then the power 3b is activated to rotate the arm 3. rotate it to the right,
The dog 6 is brought into contact with the stopper 4, and the latch 10 is engaged with the receiver 11 and fixed.

If the position of the axis V when the arm 3 is rotated left and right is on a straight line parallel to the control axis X, the movable distance of the moving body 1 in the X-axis direction is By making the distance between the axes V equal to XL, the controllable distance of the axis V in the X-axis direction is
Can be made into 2XL. Even if an unexpected external force acts on the torch 14, the arm 3 will not rotate against your will. Furthermore, since the movable distance of the movable body 1 can be shortened, materials can be saved and the cost can be reduced.

In addition to the embodiments described above, the connection 9 of the actuator 9
Either one of a and 9b may be accommodated, and the structure of the interchange may also be other known means. Latch 1
0 and the shapes of the receivers 11 and 12 can also be modified in various ways. Further, this swing position fixing device for the swing arm may be used in devices other than industrial robots. Other replacements of each component with equivalents within the scope of the technical idea of this invention are also included within the technical scope of this invention.

As described above, the present invention has a unique and remarkable effect of being able to fix the swinging arm accurately and reliably without using an actuator with a large holding force.

[Brief explanation of the drawing]

The drawings all show one embodiment of this invention, and the first embodiment is shown in the drawings.
The figure is a perspective view, and FIG. 2 is a cross-sectional plan view of FIG. 1. 2... Support member, 3... Arm, 3a... Pivot shaft, 4, 5
...Stopper, 6...Dog, 7...Rotation axis, 8...Link, 8a...Elongated hole, 9...Linear actuator, 9
a, 9b... articulation shaft, 10... latch, 10a... latch rotation lever, 11, 12... receiver.

Claims (1)

[Scope of Claims] 1. An arm rotatably pivoted to a support member, a stopper fixed to the support member, a dog fixed to the arm and capable of abutting the stopper, and an arm pivotably mounted to the arm. a rotation shaft supported parallel to the support shaft, a link integral with the rotation shaft, and a linear actuator having both ends connected between the tip of the link and the arm;
a latch integral with the rotation shaft; and a receiver for the latch fixed to the support member, the latch engages with the receiver from a direction opposite to the contact of the dog; The activation and deactivation of the latch is to be carried out by actuation of a linear actuator.
Swivel arm rotation position fixing device. 2. The rotational and fixed positions of the arm are in both left and right directions, and the joints at both ends of the linear actuator are flexible at least on one side, and the dog and the stopper are brought into contact with each other by rotation of the arm. In this state, a portion of the latch contacts a portion of the support member, causing the latch to rotate slightly in the operating direction, thereby releasing the dead center of the linear actuator. According to claim 1,
Swivel arm rotation position fixing device.