JPH0122083Y2 - - Google Patents
Info
- Publication number
- JPH0122083Y2 JPH0122083Y2 JP8465782U JP8465782U JPH0122083Y2 JP H0122083 Y2 JPH0122083 Y2 JP H0122083Y2 JP 8465782 U JP8465782 U JP 8465782U JP 8465782 U JP8465782 U JP 8465782U JP H0122083 Y2 JPH0122083 Y2 JP H0122083Y2
- Authority
- JP
- Japan
- Prior art keywords
- detector
- plate
- locking pin
- notch
- shaft
- 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
Links
- 230000006835 compression Effects 0.000 description 6
- 238000007906 compression Methods 0.000 description 6
- 238000006073 displacement reaction Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Landscapes
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Description
【考案の詳細な説明】
この考案は、工業用ロボツトの回転装置に取付
けられる位置検出器等の取付構造に関する。[Detailed Description of the Invention] This invention relates to a mounting structure for a position detector or the like to be attached to a rotating device of an industrial robot.
従来の検出器の取付構造としては例えば第１図
に示すようなものがあつた。 An example of a conventional detector mounting structure is shown in FIG. 1.
１は本例においては工業用ロボツトの手首回転
軸などの回転装置本体を示し、２は該回転装置本
体の回転軸のシヤフトで、３は該シヤフトに固定
されたギヤである。４はギヤ３と噛合するギヤ
で、検出器５の入力軸６に固定されている。 In this example, reference numeral 1 indicates a main body of a rotating device such as a wrist rotating shaft of an industrial robot, 2 is a shaft of the rotating shaft of the main body of the rotating device, and 3 is a gear fixed to the shaft. A gear 4 meshes with the gear 3 and is fixed to the input shaft 6 of the detector 5.
この検出器５は、例えば回転装置本体１の回動
量を検出するためのポテンシヨメータ等の機能を
有する高精度の位置検出器であつて、回転装置本
体１に固設されたブラケツト７に固定されており
シヤフト２の回動量を前記ギヤ３，４及び入力軸
６を経由して検出するようになつている。 This detector 5 is a high-precision position detector having a function such as a potentiometer for detecting the amount of rotation of the rotating device main body 1, and is fixed to a bracket 7 fixed to the rotating device main body 1. The amount of rotation of the shaft 2 is detected via the gears 3 and 4 and the input shaft 6.
８は図外のロボツト制御部と電気的に連結して
検出値等を伝達するための信号線である。 Reference numeral 8 denotes a signal line for electrically connecting with a robot control section (not shown) and transmitting detected values and the like.
しかしながら、このような従来の検出器の取付
構造にあつては、ギヤの噛合によつて変位量を伝
達する構造となつていたため、(i)ギヤには本来背
隙を有するため、その背隙の量だけ伝達すべき変
位量に誤差を生じる。(ii)シヤフト２の軸線と入力
軸６の軸線との平行度が充分な正確さをもつて組
立てられないと、ギヤの噛合不良を生じ、惹いて
は検出値の精度を低下せしめる。また甚だしい場
合は検出器に損傷を与える等の問題点があつた。 However, in the conventional mounting structure of such a detector, the amount of displacement is transmitted through the meshing of gears, so (i) since the gear originally has a back gap, the back gap is This causes an error in the amount of displacement that should be transmitted. (ii) If the parallelism between the axis of the shaft 2 and the axis of the input shaft 6 is not assembled with sufficient accuracy, gear meshing failure will occur, which in turn will reduce the accuracy of the detected value. Moreover, in severe cases, there were problems such as damage to the detector.
この考案は、このような従来の問題点に着目し
てなされたもので、回転装置本体の回転軸に入力
軸を直結した検出器を固定しかつ前記回転装置本
体に設けた係止ピンと係合する切欠部を設けたプ
レートと、該プレートに設け前記係止ピンに前記
切欠部の内面を圧接するように一方向へ付勢する
弾性体とから成る検出器の取付構造とすることに
より、上記問題点を解決することを目的としてい
る。 This idea was made by focusing on the problems of the conventional system, and it fixes a detector whose input shaft is directly connected to the rotating shaft of the rotating device body, and engages with a locking pin provided on the rotating device main body. By adopting a detector mounting structure consisting of a plate provided with a cut-out portion, and an elastic body provided on the plate and biased in one direction so as to press the inner surface of the cut-out portion against the locking pin, the above-mentioned The purpose is to solve problems.
以下、この考案を図面に基づいて説明する。 This invention will be explained below based on the drawings.
第２，３図は、この考案の一実施例を示す図で
ある。まず構成を説明すると、１０は前記シヤフ
ト２と軸線を共有するようにシヤフト２に固定し
て取付けられた検出器１１の入力軸で、例えば検
出器であるポテンシヨメータ内の摺動抵抗体（図
示せず）と係合してシヤフト２の変位量を伝達す
るようになつている。 Figures 2 and 3 are diagrams showing an embodiment of this invention. First, to explain the configuration, 10 is an input shaft of a detector 11 fixedly attached to the shaft 2 so as to share an axis with the shaft 2. For example, a sliding resistor ( (not shown) to transmit the amount of displacement of the shaft 2.
１２は検出器１１を固定したプレートで、入力
軸１０を接触することなく挿通しており、縁部に
は回転装置本体１に立設された係止ピン１３と係
合する切欠部１４が設けてある。 Reference numeral 12 denotes a plate on which the detector 11 is fixed, through which the input shaft 10 is inserted without contacting it, and a notch 14 is provided at the edge to engage with a locking pin 13 provided upright on the rotating device main body 1. There is.
１５は上記係止ピン１３との間に弾性体として
引張りばね１６を架設するためにプレート１２に
立設されたピンで、図においてはプレート１２の
検出器１１の取付側に対して反対側に設けてある
がプレート１２のいずれの側に設けてもよい。 Reference numeral 15 denotes a pin provided upright on the plate 12 in order to install a tension spring 16 as an elastic body between the locking pin 13, and in the figure, the pin 15 is located on the opposite side of the plate 12 to the side on which the detector 11 is mounted. Although provided, they may be provided on either side of the plate 12.
１７は従来例と同様の信号線である。 17 is a signal line similar to the conventional example.
次に作用を説明する。 Next, the effect will be explained.
回転装置本体１の回転軸（図示せず）の変位量
は、シヤフト２及び該シヤフトに同軸に固定され
た入力軸１０を介して検出器１１に伝達され、信
号として図外の制御部へ送られる。 The amount of displacement of the rotating shaft (not shown) of the rotating device main body 1 is transmitted to the detector 11 via the shaft 2 and the input shaft 10 coaxially fixed to the shaft, and is sent as a signal to a control section (not shown). It will be done.
また、入力軸１０が上記変位量に応じて回動す
る際に、検出器１１内の例えば摺動摩擦等によつ
て検出器１１を固定したプレート１２が回動しよ
うとするが、切欠部１４に係合した係止ピン１３
のために回動は妨げられる。ただし、切欠部１４
は係止ピン１３の径よりも大きく形成されている
ため、切欠部１４と係止ピン１３との間には隙間
があるが、係止ピン１３は常に切欠部１４の一辺
と当接しているようにピン１５との間に架設した
引張りばね１６が引張り方向に作用しているた
め、プレート１２は入力軸１０が回動しても動く
ようなことはない。すなわち、引張りばね１６は
検出器１１に生じる前記回動力によつて検出値に
影響を受けないばね定数をもつて形成されている
ため通常の動きに対して追従可能であり、かつ回
転軸の急激な変動または、摺動摩擦部分のかじり
等による異常時においても引張りばね１６により
緩衝するので、検出器１１を損傷することなく計
測できる。 Further, when the input shaft 10 rotates in accordance with the above displacement amount, the plate 12 in the detector 11 that fixes the detector 11 by, for example, sliding friction, etc. tries to rotate, but the plate 12 in the detector 11 tries to rotate. Engaged locking pin 13
Rotation is hindered because of this. However, the notch 14
is formed larger than the diameter of the locking pin 13, so there is a gap between the notch 14 and the locking pin 13, but the locking pin 13 is always in contact with one side of the notch 14. Since the tension spring 16 installed between the pin 15 and the pin 15 acts in the tension direction, the plate 12 does not move even when the input shaft 10 rotates. In other words, the tension spring 16 is formed with a spring constant that does not affect the detected value due to the rotational force generated in the detector 11, so that it can follow normal movements, and can also handle sudden movements of the rotation axis. Even in the event of an abnormality due to sudden fluctuations or galling of the sliding friction portion, the tension spring 16 provides a buffer, so that measurements can be made without damaging the detector 11.
第４，５図には他の実施例を示す。 4 and 5 show other embodiments.
この実施例は、前記実施例における引張りばね
１６の代りに圧縮ばね２１を、前記係止ピン１３
と押しビス２２との間に介装して、プレート１９
の切欠部１８内面に係止ピン１３を常に当接せし
めているように押圧している。 In this embodiment, a compression spring 21 is used instead of the tension spring 16 in the previous embodiment, and the locking pin 13 is replaced with a compression spring 21.
and the push screw 22, the plate 19
The locking pin 13 is pressed so that it is always in contact with the inner surface of the notch 18.
なお、押しビス２２は、前記切欠部１８に臨む
ようにプレート１９に設けられたばね保持部２０
に螺入されていて、圧縮ばね２１の長さを加減
し、ロツクナツト２３により固定されることによ
り、ばねの強さ（ばね定数）を調節するためのも
のである。従つて、圧縮ばね２１の介在によつ
て、入力軸１０に過大な荷重がかからないように
なつている。 Note that the push screw 22 is attached to a spring holding portion 20 provided on the plate 19 so as to face the notch 18.
The length of the compression spring 21 is adjusted by adjusting the length of the compression spring 21, and the spring is fixed by a lock nut 23, thereby adjusting the strength (spring constant) of the spring. Therefore, the presence of the compression spring 21 prevents excessive load from being applied to the input shaft 10.
以上説明してきたように、この考案によればそ
の構成を、回転装置本体の回転軸に入力軸を直結
した検出器を固定するとともに前記回転装置本体
に設けた係止ピンと係合する切欠部を有するプレ
ートを設け、該プレートに具備した弾性体によ
り、前記切欠部の内面を前記係止ピンに一方向へ
圧接するように付勢して成る検出器の取付構造、
としたため、回転軸の変位量伝達に際し誤差が生
じることがなく、また介装されたスプリングによ
つて入力軸等に過大な荷重がかからないため、精
度の向上及び検出器等の耐久性、信頼性の増大等
の効果が得られる。 As explained above, according to this invention, the configuration is such that a detector whose input shaft is directly connected to the rotating shaft of the rotating device main body is fixed, and a notch that engages with a locking pin provided on the rotating device main body is provided. a detector mounting structure comprising: a plate having a structure; and an elastic body provided on the plate urges the inner surface of the notch so as to press against the locking pin in one direction;
This eliminates errors when transmitting the displacement of the rotating shaft, and the interposed spring prevents excessive load from being applied to the input shaft, improving accuracy and increasing the durability and reliability of the detector. Effects such as an increase in
第１図は従来例の概要説明図、第２図は本案に
係る実施例の概要説明図、第３図は第２図におけ
るＡ−Ａ矢視図、第４図はその他の実施例の概要
説明図、第５図は第４図の正面図である。
１……回転装置本体、１３……係止ピン、１
４，１８……切欠部、１２，１９……プレート、
１６……引張りばね、２１……圧縮ばね、１０…
…入力軸、１１……検出器。
Fig. 1 is a schematic explanatory diagram of a conventional example, Fig. 2 is a schematic explanatory diagram of an embodiment according to the present invention, Fig. 3 is a view taken along arrow A-A in Fig. 2, and Fig. 4 is an outline of another embodiment. The explanatory drawing, FIG. 5, is a front view of FIG. 4. 1... Rotating device main body, 13... Locking pin, 1
4, 18... Notch, 12, 19... Plate,
16... tension spring, 21... compression spring, 10...
...Input shaft, 11...Detector.
Claims (1)
器を固定するとともに、前記回転装置本体に突設
した係止ピンと係合する切欠部を設け、かつ前記
検出器を固着するプレートと、該プレートに具備
され、前記切欠部の内面を前記係止ピンに圧接す
るように一方向へ付勢する弾性体とから成る検出
器の取付構造。 A plate that fixes a detector having an input shaft directly connected to a rotating shaft of a rotating device main body, has a notch that engages with a locking pin protruding from the rotating device main body, and fixes the detector, and the plate and an elastic body that biases an inner surface of the notch in one direction so as to press the inner surface of the notch against the locking pin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8465782U JPS58187712U (en) | 1982-06-09 | 1982-06-09 | Detector mounting structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8465782U JPS58187712U (en) | 1982-06-09 | 1982-06-09 | Detector mounting structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS58187712U JPS58187712U (en) | 1983-12-13 |
| JPH0122083Y2 true JPH0122083Y2 (en) | 1989-06-29 |
Family
ID=30093587
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP8465782U Granted JPS58187712U (en) | 1982-06-09 | 1982-06-09 | Detector mounting structure |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS58187712U (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0539453Y2 (en) * | 1985-04-02 | 1993-10-06 | ||
| JP2004294386A (en) * | 2003-03-28 | 2004-10-21 | Furukawa Electric Co Ltd:The | Displacement sensor |
-
1982
- 1982-06-09 JP JP8465782U patent/JPS58187712U/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS58187712U (en) | 1983-12-13 |
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