Mechanical Stopper Device

Abstract

To absorb larger impact while keeping a relative rotatable range of two members from narrowing in a mechanical stopper device.SOLUTION: A mechanical stopper device (30) that sets a mechanical rotation limit of a first member (60) and a second member (20) includes: a first stopper (31) which is provided on the first member and making relative movement on a prescribed track (W) with to the second member by relative rotation; and a second stopper (41) having a first fixed member (42) formed of a metal plate metal and fixed to the second member at a position off the prescribed track, a first extension member (43) bent toward the prescribed track from the first fixing object member, and extending to make a plate surface of the plate lie opposite the prescribed track, a second extension part (44) bent toward the second member from the first extension part and extending to a position off the prescribed track, and a second fixed member (45) bent from the second extension part and fixed to the second member at a position off the prescribed track.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a mechanical stopper device applied to a robot. [Background technology]

[0002] Conventionally, there is a mechanical stopper device that includes a movable member with a protruding stopper, a fixed member with a stopper receiver with which the stopper collides in the event of abnormal operation, and a buffer member provided on the opposing surface of the stopper receiver facing the stopper to absorb the impact of the collision (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2002-264069 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in order to make the mechanical stopper device described in Patent Document 1 capable of absorbing a larger impact, it is necessary to make the buffer member larger. In that case, it is unavoidable that the movable range of the movable member (the relative rotatable range of the two members) is narrowed by the amount of the increase in the size of the buffer member.

[0005] The present invention has been made to solve the above-mentioned problems, and its main objective is to enable a mechanical stopper device to absorb a larger impact while preventing the relative rotation range of two components from becoming narrower. [Means for solving the problem]

[0006] The first means for solving the above problem is A mechanical stopper device is provided on a rotation shaft of a robot in which a first member and a second member rotate relatively around a predetermined rotation axis, the mechanical stopper device setting a mechanical rotation limit between the first member and the second member, a first stopper provided on the first member and moving along a predetermined track relative to the second member by the relative rotation; a second stopper including: a first fixed portion formed of a metal plate and fixed to the second member at a position deviated from the predetermined track; a first extension portion bending from the first fixed portion toward the predetermined track and extending so as to cause a plate surface of the plate material to face the predetermined track; a second extension portion bending from the first extension portion toward the second member and extending to a position deviated from the predetermined track; and a second fixed portion bending from the second extension portion and fixed to the second member at a position deviated from the predetermined track; a first fixing member that is provided at a position deviated from the predetermined track and fixes the first fixed portion to the second member; A second fixing member that is provided at a position deviated from the predetermined track and fixes the second fixed portion to the second member; Equipped with.

[0007] According to the above configuration, the first member and the second member rotate relatively around a predetermined rotation axis in the rotating shaft of the robot. The mechanical stopper device is provided on the rotating shaft of the robot and sets a mechanical rotation limit between the first member and the second member.

[0008] Here, the first stopper is provided on the first member and moves relative to the second member along a predetermined track by the relative rotation. The second stopper is formed of a metal plate and includes a first fixed part fixed to the second member at a position off the predetermined track, a first extension part bending from the first fixed part toward the predetermined track and extending so as to make the plate surface of the plate face the predetermined track, a second extension part bending from the first extension part toward the second member and extending to a position off the predetermined track, and a second fixed part bending from the second extension part and fixed to the second member at a position off the predetermined track. The first fixed part and the second fixed part are fixed to the second member by a first fixing member and a second fixing member, respectively, at positions off the predetermined track. The first fixing member and the second fixing member are provided at positions off the predetermined track. Therefore, the first fixed portion, the second fixed portion, the first fixing member, and the second fixing member do not come into contact (collide) with the first stopper, and the relative rotatable range of the first member and the second member is not narrowed.

[0009] In the event of an abnormal operation, when the first stopper collides with the first extension of the second member, the second stopper made of a metal plate deforms to absorb the impact. This makes it possible to absorb a larger impact even when no other buffer member is provided other than the second stopper. This makes it possible to absorb a larger impact while preventing the relative rotation range of the first member and the second member from narrowing.

[0010] In the second aspect, the second extension portion includes a lateral portion that bends from the second fixed portion toward the predetermined track and extends along the second fixed member. Therefore, the lateral portion comes into contact with the second fixed member over a wider area, making it easier to absorb the impact caused by the collision between the first stopper and the second stopper. Therefore, it is possible to absorb a larger impact while preventing the relative rotation range of the first member and the second member from narrowing.

[0011] In a third aspect, the second fixing member includes an opposing portion that extends toward the predetermined track and faces the lateral portion, and the lateral portion is inclined so as to move away from the second fixing member as the portion is farther from the second fixed portion. With this configuration, it becomes easier to bring the opposing portion of the second fixing member and the lateral portion into contact with each other on the surface, and when the second stopper is formed by rolling using a die, it becomes easier to remove the lateral portion from the die. The above inclination is within a range in which the lateral portion can be considered to extend along the second fixing member.

[0012] In a fourth means, the second member includes a first receiving portion facing the second extension portion via the second fixed member at a position off the specified track, and the second stopper includes a first receiving portion bent from the second fixed portion to the opposite side of the second extension portion relative to the second fixed member and extending along the first receiving portion.

[0013] According to the above configuration, the second member includes a first receiving portion facing the second extension portion via the second fixed member at a position deviated from the predetermined track. Therefore, when the first stopper collides with the first extension portion of the second member, the second stopper approaches the first receiving portion. The second stopper includes a first receiving portion that bends from the second fixed portion to the opposite side of the second extension portion with respect to the second fixed member and extends along the first receiving portion. Therefore, when the first stopper collides with the first extension portion of the second member, the first receiving portion is received by the first receiving portion. Toga This makes it possible to absorb a larger impact.

[0014] In a fifth aspect, the first received portion is inclined so as to approach the first received portion as it moves away from the second fixed portion. This configuration makes it easier to bring the first received portion into contact with the first received portion on a surface basis, and also makes it easier to remove the first received portion from a die when the second stopper is formed by rolling using a die. The inclination is within a range in which the first received portion can be considered to extend along the first received portion.

[0015] When the first stopper collides with the first extension portion of the second member, a moment is generated that rotates the second stopper around a part of the second fixed portion as a fulcrum.

[0016] In this regard, in the sixth aspect, the second member includes a second receiving portion that is connected to an end of the first receiving portion on the side of the predetermined track and faces the predetermined track at a position deviated from the predetermined track, and the second stopper includes a second receiving portion that is bent from the first receiving portion and extends along the second receiving portion. Therefore, when the first stopper collides with the first extension portion of the second member, the second receiving portion is received by the second receiving portion. Toga This makes it possible to absorb a larger impact.

[0017] In the seventh aspect, the first stopper and the second stopper can approach each other in the forward and reverse directions due to the relative rotation, so that the mechanical stopper device can absorb the impact of a collision even if an abnormal operation occurs in either the forward or reverse direction.

[0018] When a bolt having a hexagonal head is used for the first fixing member and the second fixing member, the way in which the bolt head and the second extension part come into contact during a collision changes depending on the rotation angle of the bolt, which may result in the shock of the collision not being absorbed stably.

[0019] In this regard, in the eighth aspect, the first fixing member and the second fixing member are bolts having cylindrical heads. With this configuration, the way in which the head of the bolt and the second extension part come into contact during a collision can be made constant, and the impact of the collision can be stably absorbed. [Brief description of the drawings]

[0020] [Figure 1] FIG. [Diagram 2] FIG. 2 is a plan view of the mechanical stopper device of FIG. 1 . [Diagram 3] Cross-sectional view of line III-III in Figure 2. [Figure 4] FIG. 11 is a cross-sectional view of a modified example of the mechanical stopper device. [Diagram 5] FIG. 11 is a cross-sectional view of another modified example of the mechanical stopper device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] Hereinafter, a first embodiment embodied in a mechanical stopper device provided at a joint (rotation shaft portion) of a vertical articulated robot will be described with reference to the drawings.

[0022] As shown in Fig. 1, the robot is configured as, for example, a six-axis vertical articulated robot. The robot includes a base 11 (base), a shoulder section 12, a lower arm (not shown below), a first upper arm, a second upper arm, a wrist section, and a flange. The shoulder section 12 is supported by the base 11 so as to be rotatable about a first axis J1 (predetermined axis of rotation) (not shown). In the following description, the up, down, left and right directions in Fig. 1 are the up, down, left and right directions of the robot, but the installation direction of the robot is not limited to this.

[0023] The base 11 includes a housing 20 and the like. The housing 20 (second member) is formed by casting of, for example, an aluminum alloy (metal).

[0024] The shoulder portion 12 includes a housing 60. The housing 60 (first member) is formed by casting, for example, an aluminum alloy (metal).

[0025] The mechanical stopper device 30 sets a mechanical rotation limit between the housing 20 and the housing 60. The configuration of the mechanical stopper device 30 will be described in detail below.

[0026] The mechanical stopper device 30 includes a first stopper 31, a second stopper 41, a bolt 70, and the like.

[0027] The first stopper 31 is formed, for example, by casting an aluminum alloy (metal), and is molded integrally with the housing 60 when the housing 60 is cast. The first stopper 31 protrudes in a quadrangular prism shape from the outer circumferential surface of the housing 60. The longitudinal direction of the first stopper 31 is parallel to the first axis J1.

[0028] FIG. 2 is a plan view of the mechanical stopper device 30, and FIG. 3 is a cross-sectional view taken along line III-III in FIG.

[0029] When the shoulder portion 12 rotates about the first axis J1, the first stopper 31 moves along a circular (annular) predetermined track W. That is, when the housing 20 and the housing 60 rotate relative to each other, the first stopper 31 moves along the predetermined track W relative to the housing 20.

[0030] The second stopper 41 is formed into a substantially "W" shape from, for example, a plate material of iron (metal). The second stopper 41 is formed by rolling using a metal die. More specifically, the second stopper 41 is curved into a gentle arc shape along a predetermined track W. The second stopper 41 includes a first fixed portion 42, a first extension portion 43, a second extension portion 44, a second fixed portion 45, and first received portions 46, 47.

[0031] The first fixed part 42 has a through hole 42a through which the shaft portion 70b of the bolt 70 is inserted. The second fixed part 45 has a through hole 45a through which the shaft portion 70b of the bolt 70 is inserted. The bolt 70 has a cylindrical head 70a and a cylindrical shaft portion 70b having a diameter smaller than that of the head 70a. A gap is formed between the through hole 45a and the shaft portion 70b of the bolt 70.

[0032] A groove 21 is formed in the housing 20 to accommodate the first fixed portion 42, the second fixed portion 45, the first received portions 46 and 47, and the head 70a of the bolt 70. The groove 21 is curved in an arc shape as a whole in accordance with the shapes of the first fixed portion 42 and the second fixed portion 45.

[0033] Two bolts 70 (first fixing member, second fixing member) are inserted into the through holes 42a, 45a, respectively, and screwed into female threads formed in the housing 20, thereby fixing the first fixed part 42 and the second fixed part 45 to the housing 20. The two bolts 70 are disposed (provided) at positions deviated from the predetermined track W.

[0034] The first fixed portion 42 is disposed at a position outside the predetermined track W and is fixed to the housing 20.

[0035] The first extension portion 43 bends from the first fixed portion 42 toward the predetermined track W and extends so that the plate surface of the plate material faces the predetermined track W. That is, the first extension portion 43 extends from the first fixed portion 42 to a position where it intersects with the predetermined track W. This allows the first extension portion 43 to come into contact with the first stopper 31 due to relative rotation between the housing 20 and the housing 60.

[0036] The first extension portion 43 includes a side portion 43a that bends from the first fixed portion 42 toward the predetermined track W and extends along the head 70a of the bolt 70. The side portion 43a is approximately parallel to a facing portion 70c of the head 70a of the bolt 70 that faces the side portion 43a. In detail, the side portion 43a is inclined so that the further away from the first fixed portion 42 the portion 43a is, the further away from the head 70a of the bolt 70. The inclination angle of the side portion 43a with respect to the facing portion 70c of the head 70a of the bolt 70 is 1.0 to 1.5°. This inclination angle is set so that the side portion 43a (second stopper 41) can be easily removed from the die after the second stopper 41 is rolled using the die. That is, this inclination angle is set within a range in which the side portion 43a can be considered to extend along the facing portion 70c of the head 70a of the bolt 70. Moreover, the largest gap between the head 70a of the bolt 70 and the extending portion 43a is smaller than the gap between the through hole 42a of the first fixed portion 42 and the shaft portion 70b of the bolt 70.

[0037] The second extension portion 44 bends from the first extension portion 43 toward the housing 20 and extends to a position deviating from the predetermined trajectory W. The second stopper 41 is formed in a bilaterally symmetrical shape. Therefore, the second extension portion 44 includes a side portion 44a similar to the above-mentioned side portion 43a. The relationship between the side portion 44a and the facing portion 70c of the head portion 70a of the bolt 70 is similar to the relationship between the side portion 43a and the facing portion 70c of the head portion 70a of the bolt 70.

[0038] The second fixed portion 45 is bent from the extending portion 44a (the second extension portion 44) and disposed at a position outside the predetermined track W, and is fixed to the housing 20.

[0039] A longitudinal side wall 21a (first receiving portion) of the groove 21 faces the first extension portion 43 via the head 70a of the bolt 70 at a position deviated from the predetermined trajectory W. A longitudinal side wall 21b (first receiving portion) of the groove 21 faces the second extension portion 44 via the head 70a of the bolt 70 at a position deviated from the predetermined trajectory W.

[0040] The second stopper 41 includes a first receiving portion 46 that is bent from the first fixed portion 42 toward the opposite side of the first extension portion 43 with respect to the bolt 70 and extends along the side wall 21a. The first receiving portion 46 is approximately parallel to the side wall 21a. More specifically, the first receiving portion 46 is inclined so that the further away from the first fixed portion 42 the portion is, the closer it is to the side wall 21a. The inclination angle of the first receiving portion 46 with respect to the side wall 21a is 1.0 to 1.5°. This inclination angle is set so that the first receiving portion 46 (second stopper 41) can be easily removed from the die after the second stopper 41 is rolled using the die. That is, this inclination angle is set within a range in which the first receiving portion 46 can be considered to extend along the side wall 21a. Furthermore, the largest gap between the side wall 21a and the first received portion 46 is smaller than the gap between the through hole 42a of the first fixed portion 42 and the shaft portion 70b of the bolt 70.

[0041] The relationship between the first receiving portion 47 and the side wall 21b is similar to the relationship between the first receiving portion 46 and the side wall 21a.

[0042] In the above configuration, the first stopper 31 (housing 60) is controlled to rotate within a range of ±170° relative to the second stopper 41 (housing 20). That is, the first stopper 31 and the second stopper 41 can approach each other in the forward and reverse directions due to relative rotation. Then, when some abnormality occurs and the first stopper 31 rotates beyond +172° relative to the second stopper 41, the first stopper 31 abuts (collides) against the first extension portion 43. Also, when the first stopper 31 rotates beyond -172° relative to the second stopper 41, the first stopper 31 abuts (collides) against the second extension portion 44. Below, the action and effect of the mechanical stopper device 30 will be described using as an example a case where some abnormality occurs and the first stopper 31 rotates beyond +172° relative to the second stopper 41.

[0043] The first stopper 31 is 1 Extension 4 3 When the second stopper 41 collides with the side wall 21b, the second stopper 41 is moved along the predetermined trajectory W toward the side wall 21b.

[0044] Here, the largest gap among the gaps between the side wall 21b and the first received portion 47 is smaller than the gap between the through hole 45a of the second fixed portion 45 and the shaft portion 70b of the bolt 70. Therefore, the first received portion 47 hits the side wall 21b before the inner wall of the through hole 45a hits the shaft portion 70b of the bolt 70. As a result, the impact of the collision is absorbed by the first received portion 47 and the side wall 21b.

[0045] In addition, the largest gap between the head 70a of the bolt 70 and the along-side portion 44a is smaller than the gap between the through hole 45a of the second fixed portion 45 and the shaft portion 70b of the bolt 70. Therefore, the along-side portion 44a hits the opposing portion 70c of the head 70a of the bolt 70 before the inner wall of the through hole 45a hits the shaft portion 70b of the bolt 70. As a result, the impact of the collision is transmitted to the along-side portion 44a. 4 a and the bolt 70. Either the first received portion 47 abuts against the side wall 21b or the extending portion 44a abuts against the opposing portion 70c of the head 70a of the bolt 70 can be made to come first.

[0046] Furthermore, when the first stopper 31 collides with the first extension portion 43, a moment is generated that rotates the second stopper 41 around a portion of the second fixed portion 45 that restricts the movement in a direction parallel to the predetermined trajectory W (a part of the second fixed portion 45) as a fulcrum. At this time, the second fixed portion 45 is received by the bottom portion 21c of the groove 21, thereby absorbing the impact.

[0047] Then, when the first stopper 31 further collides with the first extension portion 43 along the predetermined trajectory W, the second stopper 41 formed of a plate material is deformed, thereby further absorbing the impact.

[0048] Since the first stopper 31 is formed by casting, there may be variation in the shape and dimensions of the first stopper 31. For this reason, the position where the first stopper 31 and the first extension portion 43 come into contact (collide) varies, and there is a risk that the second stopper 41 will not be able to adequately absorb the impact of the collision.

[0049] Therefore, the first opposing surface 31a, which is a plane facing the first extension portion 43 of the first stopper 31, is disposed perpendicular to the predetermined track W. The second opposing surface 43b, which is a plane facing the first stopper 31 of the first extension portion 43, is inclined so as to move away from the first opposing surface 31a toward the tip side of the first extension portion 43. Therefore, even if the shape and dimensions of the first stopper 31 vary, the end portion 31b of the first opposing surface 31a of the first stopper 31 on the first fixed portion 42 side is easily brought into contact with the first extension portion 43. In addition, by adjusting the inclination angle of the second opposing surface 43b, the distribution of the impact caused by the collision between the side wall 21b and the bolt 70 and the bottom portion 21c of the groove 21 is adjusted.

[0050] In the direction in which the first extension portion 43 extends (the up-down direction), the length L1 of the first stopper 31 is set to be longer than the length L2 of the second stopper 41. That is, in the direction in which the first extension portion 43 extends, the length L1 of the first stopper 31 is set to be longer than the length L3 of the portion overlapping with the first extension portion 43, preferably longer than the length L4 of the portion of the first extension portion 43 other than the lateral portion 43a, and more preferably longer than the length L2 of the second stopper 41. As a result, in the direction in which the first extension portion 43 extends, the length L1 of the connection portion between the first stopper 31 and the housing 60 is set to be longer.

[0051] The present embodiment described above in detail has the following advantages.

[0052] The first stopper 31 is provided on the housing 60 and moves relative to the housing 20 along a predetermined track W by relative rotation. The second stopper 41 is formed of a metal plate and includes a first fixed part 42 fixed to the housing 20 at a position outside the predetermined track W, a first extension part 43 extending from the first fixed part 42 toward the predetermined track W so as to face the plate surface of the plate material to the predetermined track W, a second extension part 44 extending from the first extension part 43 toward the housing 20 to a position outside the predetermined track W, and a second fixed part 45 bent from the second extension part 44 and fixed to the housing 20 at a position outside the predetermined track W. The first fixed part 42 and the second fixed part 45 are fixed to the housing 20 by two bolts 70 at positions outside the predetermined track W, respectively. The two bolts 70 are provided at positions outside the predetermined track W. Therefore, the first fixed part 42, the second fixed part 45, and the bolt 70 do not come into contact with (collide against) the first stopper 31, and the relative rotatable range of the housing 60 and the housing 20 is not narrowed.

[0053] When the first stopper 31 collides with the first extension 43 of the housing 20 during abnormal operation, the second stopper 41 made of a metal plate deforms to absorb the impact. This makes it possible to absorb a larger impact even when no other buffer member is provided other than the second stopper 41. This makes it possible to absorb a larger impact while preventing the relative rotation range of the housing 60 and the housing 20 from narrowing.

[0054] The second extension portion 44 includes a lateral portion 44a that bends from the second fixed portion 45 toward the predetermined trajectory W and extends along the bolt 70. Therefore, the lateral portion 44a comes into contact with the bolt 70 over a wider area, making it easier to absorb the impact of the collision between the first stopper 31 and the second stopper 41. This makes it possible to absorb a larger impact while preventing the relative rotation range of the housing 60 and the housing 20 from becoming narrower.

[0055] The bolt 70 includes a facing portion 70c that extends toward the predetermined track W and faces the along portion 44a, and the along portion 44a is inclined so as to move away from the bolt 70 as it moves away from the second fixed portion 45. This configuration makes it easier to bring the facing portion 70c of the bolt 70 and the along portion 44a into surface contact, and also makes it easier to remove the along portion 44a from the die when the second stopper 41 is formed by rolling using a die. The above inclination is within a range in which the along portion 44a can be considered to extend along the bolt 70.

[0056] The housing 20 includes a side wall 21b facing the second extension portion 44 via the bolt 70 at a position deviated from the predetermined trajectory W. Therefore, when the first stopper 31 collides with the first extension portion 43 of the housing 20, the second stopper 41 approaches the side wall 21b. The second stopper 41 includes a first receiving portion 47 that bends from the second fixed portion 45 to the opposite side to the second extension portion 44 with respect to the bolt 70 and extends along the side wall 21b. Therefore, when the first stopper 31 collides with the first extension portion 43 of the housing 20, the first receiving portion 47 is received by the side wall 21b. Toga This makes it possible to absorb a larger impact.

[0057] The first received portion 47 is inclined so as to approach the side wall 21b as it moves away from the second fixed portion 45. This configuration makes it easier to bring the side wall 21b and the first received portion 47 into contact with each other, and also makes it easier to remove the first received portion 47 from a die when the second stopper 41 is formed by rolling using a die. The inclination is within a range in which the first received portion 47 can be considered to extend along the side wall 21b.

[0058] The first stopper 31 and the second stopper 41 can approach each other in the forward and reverse directions due to relative rotation. Therefore, the mechanical stopper device 30 can absorb the impact of a collision even if an abnormal operation occurs in either the forward or reverse direction.

[0059] When the two bolts 70 have hexagonal heads, the way in which the heads of the bolts 70 come into contact with the lateral portion 43a (second extension portion 44) during a collision changes depending on the rotation angle of the bolts 70. This may result in a risk of not being able to stably absorb the impact of a collision. In this regard, the two bolts 70 have cylindrical heads 70a. With this configuration, the way in which the heads 70a of the bolts 70 come into contact with the lateral portion 43a during a collision can be made constant, and the impact of a collision can be stably absorbed. Note that, by controlling the rotation angle of the bolts 70, it is also possible to use bolts with hexagonal heads for the two bolts 70.

[0060] The first opposing surface 31a, which is a plane facing the first extension 43 of the first stopper 31, is disposed perpendicular to the predetermined track W, and the second opposing surface 43b, which is a plane facing the first stopper 31 of the first extension 43, is inclined so as to move away from the first opposing surface 31a toward the tip side of the first extension 43. With this configuration, even if the shape and dimensions of the first stopper 31 vary, the end 31b of the first opposing surface 31a of the first stopper 31 on the first fixed portion 42 side is easily brought into contact with the first extension 43. Therefore, the position where the first stopper 31 and the first extension 43 come into contact (collide) can be stabilized, and the impact caused by the collision can be appropriately absorbed. Furthermore, by adjusting the inclination angle of the second opposing surface 43b, the distribution of the impact caused by the collision between the side wall 21b and the bolt 70 and the bottom 21c of the groove 21 can be adjusted.

[0061] In the direction in which the first extension portion 43 extends, the length L1 of the first stopper 31 is longer than the length L2 of the second stopper 41. With this configuration, the length of the connection portion between the first stopper 31 and the housing 60 is increased in the direction in which the first extension portion 43 extends. Toga Therefore, damage to the first stopper 31 can be suppressed when the first stopper 31 collides with the first extension portion 43 of the second stopper 41. Even if the second stopper 41 is damaged during a collision, it can be easily replaced.

[0062] The above embodiment can be modified as follows: The same parts as those in the above embodiment are denoted by the same reference numerals and the description thereof will be omitted.

[0063] In the direction in which the first extension portion 43 extends, the length L1 of the first stopper 31 can be set shorter than the length L2 of the second stopper 41, or shorter than the length L4 of the portion of the first extension portion 43 other than the longitudinal portion 43a.

[0064] The facing portion 70c of the head portion 70a of the bolt 70 and the extending portion 43a may be parallel to each other.

[0065] The side wall 21a and the first receiving portion 46 may be parallel to each other.

[0066] As shown in Fig. 4, a configuration may be adopted in which the first extension 43 does not include the longitudinal portion 43a, and the second extension 44 does not include the longitudinal portion 44a. This configuration allows the shape of the second stopper 41 to be simplified. In addition to the configurations shown in Figs. 3 and 4, the shape of the second stopper 41 can be changed as appropriate by appropriately changing the way the plate material is bent.

[0067] As shown in FIG. 5, the housing 20 includes a top surface 21e (second receiving portion) that is connected to the end of the side wall 21b on the side of the predetermined track W and faces the predetermined track W at a position deviated from the predetermined track W. The second stopper 41 may include a second receiving portion 49 that is bent from the first receiving portion 47 and extends along the top surface 21e. When the first stopper 31 collides with the first extension portion 43 of the housing 20, a moment is generated that rotates the second stopper 41 with a part of the second fixed portion 45 as a fulcrum. According to the above configuration, when the first stopper 31 collides with the first extension portion 43 of the housing 20, the second receiving portion 49 is received by the top surface 21e. Toga This allows a larger impact to be absorbed. Similarly, on the left side of the second stopper 41, the housing 20 includes an upper surface portion 21d (second receiving portion) that is connected to the end portion of the side wall 21a on the side of the predetermined track W and faces the predetermined track W at a position deviated from the predetermined track W. The second stopper 41 may include a second receiving portion 48 that is bent from the first receiving portion 46 and extends along the upper surface portion 21d.

[0068] The first stopper 31 and the second stopper 41 may be capable of approaching each other only in the forward direction (one direction) due to relative rotation.

[0069] Copper, aluminum, copper alloy, aluminum alloy, iron alloy, etc. can also be used as the material of the metal plate forming the second stopper 41. In addition, the thickness of the plate can be adjusted and the shape of the second stopper 41 can be changed according to the magnitude of the impact to be absorbed.

[0070] The mechanical stopper device 30 can be applied to any joint of the robot, not just the joint connecting the base 11 and the shoulder portion 12.

[0071] The above modifications may be implemented in combination. [Explanation of symbols]

[0072] 20...housing (second member), 30...mechanical stopper device, 31...first stopper, 41...second stopper, 42...first fixed portion, 43...first extension portion, 44...second extension portion, 45...second fixed portion, 70...bolt (first fixing member, second fixing member), 60...housing (first member).

Claims

1. A mechanical stopper device is provided on a rotation shaft of a robot in which a first member and a second member rotate relatively around a predetermined rotation axis, the mechanical stopper device setting a mechanical rotation limit between the first member and the second member, a first stopper provided on the first member and moving along a predetermined track relative to the second member by the relative rotation; a second stopper including: a first fixed portion formed of a metal plate and fixed to the second member at a position deviated from the predetermined track; a first extension portion bending from the first fixed portion toward the predetermined track and extending so as to cause a plate surface of the plate material to face the predetermined track; a second extension portion bending from the first extension portion toward the second member and extending to a position deviated from the predetermined track; and a second fixed portion bending from the second extension portion and fixed to the second member at a position deviated from the predetermined track; a first fixing member provided at a position deviated from the predetermined track and fixing the first fixed portion to the second member; a second fixing member provided at a position deviated from the predetermined track and fixing the second fixed portion to the second member; Equipped with the second extension portion includes a side portion that is bent from the second fixed portion toward the predetermined track and extends along the second fixing member, The second fixing member includes an opposing portion extending toward the predetermined track and opposing the extending portion, The mechanical stopper device, wherein the extending portion is inclined so as to move away from the second fixing member as the extending portion moves away from the second fixed portion.

2. the second member includes a first receiving portion facing the second extension portion via the second fixing member at a position deviated from the predetermined track, The mechanical stopper device according to claim 1 , wherein the second stopper includes a first receiving portion that is bent from the second fixed portion toward the opposite side to the second extension portion relative to the second fixing member and extends along the first receiving portion.

3. A mechanical stopper device provided on a rotation axis of a robot in which a first member and a second member rotate relatively around a predetermined rotation axis, the mechanical stopper device setting a mechanical rotation limit between the first member and the second member, a first stopper provided on the first member and moving along a predetermined track relative to the second member by the relative rotation; a second stopper including: a first fixed portion formed of a metal plate and fixed to the second member at a position deviated from the predetermined track; a first extension portion bending from the first fixed portion toward the predetermined track and extending so as to cause a plate surface of the plate material to face the predetermined track; a second extension portion bending from the first extension portion toward the second member and extending to a position deviated from the predetermined track; and a second fixed portion bending from the second extension portion and fixed to the second member at a position deviated from the predetermined track; a first fixing member provided at a position deviated from the predetermined track and fixing the first fixed portion to the second member; a second fixing member provided at a position deviated from the predetermined track and fixing the second fixed portion to the second member; Equipped with the second member includes a first receiving portion facing the second extension portion via the second fixing member at a position deviated from the predetermined track, The second stopper is a mechanical stopper device including a first receiving portion that is bent from the second fixed portion toward the opposite side to the second extension portion relative to the second fixing member and extends along the first receiving portion.

4. A mechanical stopper device as described in claim 3, wherein the second extension portion includes a longitudinal portion that bends from the second fixed portion toward the specified orbit and extends along the second fixed member.

5. The mechanical stopper device according to any one of claims 2 to 4, wherein the first receiving portion is inclined so that a portion farther from the second fixed portion approaches the first receiving portion.

6. the second member includes a second receiving portion connected to an end portion of the first receiving portion on the side of the predetermined track and facing the predetermined track at a position away from the predetermined track, The mechanical stopper device according to claim 5 , wherein the second stopper includes a second receiving portion that is bent from the first receiving portion and extends along the second receiving portion.

7. The mechanical stopper device according to any one of claims 1 to 6, wherein the first stopper and the second stopper are capable of approaching each other in the forward and reverse directions due to the relative rotation.

8. The mechanical stopper device according to any one of claims 1 to 7, wherein the first fixing member and the second fixing member are bolts having cylindrical heads.

Images