TW201641232A - Robot system - Google Patents
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- TW201641232A TW201641232A TW105113295A TW105113295A TW201641232A TW 201641232 A TW201641232 A TW 201641232A TW 105113295 A TW105113295 A TW 105113295A TW 105113295 A TW105113295 A TW 105113295A TW 201641232 A TW201641232 A TW 201641232A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
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Abstract
Description
本發明之實施形態係關於一種機器人系統。 Embodiments of the invention relate to a robotic system.
近年來，於書籍或各種商品之配送中心或製造．組裝工場，實用有藉由機器人系統將保管書籍或各種商品、零件等物品之倉庫內之保管架搬送至作業員之作業場所，藉此實現配送等之作業效率化。該機器人系統係用於保管架之搬送，並不具備自保管架揀選必要之書籍或各種商品、零件等物品之功能。 In recent years, in the distribution center or manufacturing of books or various commodities. In the assembly plant, it is practical to transfer the storage racks in the warehouses for storing books or various commodities and parts to the work place of the worker by the robot system, thereby realizing the efficiency of the distribution and the like. This robot system is used for the transport of the storage rack, and does not have the function of picking necessary books or items such as various products and parts from the storage rack.
此種機器人大多數具備垂直多關節部臂機構，於垂直多關節部臂機構針對位置要求3自由度(x、y、z)、針對姿勢要求3自由度(Φ、θ、ψ)，為了移動末端而需要關節部J1、J2、J3之連動旋轉，尤其係被稱為肘部之關節部J2與末端之動作相比朝前後、上下、左右大幅度地伸出活動，且於臨界點附近有時非常高速地動作。 Most of these robots have a vertical multi-joint arm mechanism, which requires 3 degrees of freedom (x, y, z) for the position of the vertical multi-joint arm mechanism and 3 degrees of freedom (Φ, θ, ψ) for the posture, in order to move At the end, the joints J1, J2, and J3 are required to rotate in conjunction with each other. In particular, the joint portion J2, which is called the elbow, protrudes significantly forward and backward, up and down, and left and right, and has a position near the critical point. It moves very fast.
因此，於在配送中心或製造．組裝工場之保管架等之周圍相對狹窄且供作業員協同動作之通道等之環境中，實 際上難以讓機器人負責揀選作業。 Therefore, in the distribution center or manufacturing. In the environment where the surrounding area of the assembly workshop is relatively narrow and the operator is working together, etc. It is difficult for the robot to pick up the job.
本發明之目的在於提供一種在倉庫等中能夠自動行走於相對狹窄之通道，自沿著通道配置之物品保管架揀選零件等物品之機器人系統。 An object of the present invention is to provide a robot system capable of automatically traveling in a relatively narrow passage in a warehouse or the like, and picking up parts and the like from an article storage rack disposed along the passage.
本實施形態之機器人系統具備：自行台車，其依照移動路面上之引導標籤或地圖，自行移動至保管有所需物品之物品保管架；及機械臂機構，其載置於上述自行台車，自上述物品保管架揀選上述所需物品。機械臂機構具有筒形狀之基部、繞與上述基部之中心線平行之第1旋轉軸旋轉之扭轉旋轉關節部、繞與上述第1旋轉軸垂直之第2旋轉軸旋轉之彎曲旋轉關節部、具有沿著與上述第2旋轉軸垂直之移動軸直動伸縮之臂部的直動伸縮關節部、具有裝備於上述臂部之前端之正交3軸之旋轉軸之腕部、以及裝備於上述腕部之末端效應器。 The robot system of the present embodiment includes: a self-propelled vehicle that moves to an article storage rack that stores required articles in accordance with a guide label or a map on a moving road surface; and a robot arm mechanism that is placed on the self-propelled trolley, The item storage rack picks the above-mentioned items. The arm mechanism has a cylindrical base portion, a torsion rotation joint portion that rotates about a first rotation axis that is parallel to a center line of the base portion, and a curved rotation joint portion that rotates around a second rotation axis that is perpendicular to the first rotation axis. a linear motion expansion joint portion of an arm portion that linearly moves and contracts along a movement axis perpendicular to the second rotation axis, a wrist portion having a rotation axis of an orthogonal three-axis shaft provided at a front end of the arm portion, and a wrist portion End effector.
1‧‧‧機械臂機構(多關節臂機構) 1‧‧‧Mechanical arm mechanism (multi-joint arm mechanism)
2‧‧‧臂部 2‧‧‧arms
3‧‧‧基部 3‧‧‧ base
J1、J2、J4、J5、J6‧‧‧旋轉關節部 J1, J2, J4, J5, J6‧‧‧ Rotating joints
J3‧‧‧直動伸縮關節部 J3‧‧‧Directive telescopic joint
11a‧‧‧第1支持體 11a‧‧‧1st support
11b‧‧‧第2支持體 11b‧‧‧2nd support
11c‧‧‧第3支持體 11c‧‧‧3rd support
20‧‧‧第1連結鏈節排 20‧‧‧1st link chain
21‧‧‧第2連結鏈節排 21‧‧‧2nd link chain
22‧‧‧第1連結鏈節 22‧‧‧1st link chain
23‧‧‧第2連結鏈節 23‧‧‧2nd link chain
100‧‧‧自行台車 100‧‧‧ Self-propelled trolley
101‧‧‧積載台 101‧‧‧Standard
102‧‧‧台車框架 102‧‧‧Trolley frame
105‧‧‧升降機構 105‧‧‧ Lifting mechanism
圖1係本實施形態之機器人系統之外觀立體圖。 Fig. 1 is a perspective view showing the appearance of the robot system of the embodiment.
圖2係圖1之機器人系統之側視圖。 2 is a side view of the robot system of FIG. 1.
圖3係表示圖1之機器人系統之升降機之側視圖。 Figure 3 is a side elevational view of the elevator of the robotic system of Figure 1.
圖4係藉由圖符號表現來表示圖1之機械臂機構之圖。 Figure 4 is a diagram showing the mechanical arm mechanism of Figure 1 by representation of the symbols.
圖5係表示圖1之機械臂機構之內部構造之圖。 Fig. 5 is a view showing the internal structure of the mechanical arm mechanism of Fig. 1.
圖6係表示圖1之機械臂機構之可動區域之圖。 Fig. 6 is a view showing a movable area of the mechanical arm mechanism of Fig. 1.
圖7係表示圖1之機器人系統之構成之方塊圖。 Figure 7 is a block diagram showing the construction of the robot system of Figure 1.
以下，一面參照圖式一面對本實施形態之機器人系統行進說明。 Hereinafter, the description of the travel of the robot system of the present embodiment will be described with reference to the drawings.
如圖1、圖2、圖3所示，機器人系統包含自行台車100、及搭載於自行台車100之機械臂機構1。自行台車100具備長方形之台車框架102。於台車框架102經由升降機構105而積載有與其同形之積載台101。於與積載台101相反側之台車框架102之下部，在其前後左右配設有4個腳輪103。另，於圖2、圖3中，將紙面右側設為自行台車100之行進方向(前方)。台車框架102之後方之2個腳輪103為驅動輪，經由齒輪箱而連接有未圖示之移動馬達。台車框架102之前方之2個腳輪103係迴旋輪，經由齒輪箱而連接有未圖示之轉向馬達。另，4個腳輪103亦可作為萬向輪構造提供。萬向輪構造係如下構造：如周知般藉由軸上之輪之旋轉而前後移動，藉由於輪之圓周上排列之樽型輥之旋轉而可左右平行移動，藉由上述輪之旋轉與樽型輥之旋轉之復合旋轉，而可全方位地平行移動。 As shown in FIGS. 1, 2, and 3, the robot system includes a self-propelled vehicle 100 and a robot arm mechanism 1 mounted on the self-propelled vehicle 100. The self-propelled vehicle 100 includes a rectangular trolley frame 102. The pallet frame 102 is loaded with the isochronous stage 101 having the same shape via the elevating mechanism 105. On the lower portion of the bogie frame 102 on the opposite side of the stowage station 101, four casters 103 are disposed on the front, rear, left and right sides. In addition, in FIGS. 2 and 3, the right side of the paper surface is set as the traveling direction (front) of the self-propelled vehicle 100. The two casters 103 behind the carriage frame 102 are drive wheels, and a moving motor (not shown) is connected via a gear box. The two casters 103 in the front of the carriage frame 102 are a turning wheel, and a steering motor (not shown) is connected via a gear box. In addition, the four casters 103 can also be provided as a universal wheel structure. The universal wheel structure is constructed as follows: as is well known, it is moved forward and backward by the rotation of the wheel on the shaft, and can be moved side by side by the rotation of the 樽-shaped roller arranged on the circumference of the wheel, by the rotation and the cymbal of the wheel The composite rotation of the rotation of the roller can be moved in parallel in all directions.
升降機構105係使積載台101相對於台車框架102升降之縮放式升降裝置，由上框106、107及下框108、109構成連接機構而成。上框106之端部與下框108之端部分別軸支於積載台101及台車框架102。於積載台101及台車框架102分別設有滾珠螺桿等直動機構111、121。於直動機構111、121之螺桿軸連接有馬達(升降致動器)，於螺帽分別軸支上框107之端部及下框109之端部。藉由受馬達驅動之螺桿軸之軸旋轉，積載台101相對於台車框架102而升降。 The elevating mechanism 105 is a zoom type lifting and lowering device that moves the stowage table 101 up and down with respect to the bogie frame 102, and the upper frames 106 and 107 and the lower frames 108 and 109 constitute a connecting mechanism. The end of the upper frame 106 and the end of the lower frame 108 are respectively supported by the stowage station 101 and the bogie frame 102. The load stage 101 and the carriage frame 102 are respectively provided with linear motion mechanisms 111 and 121 such as ball screws. A motor (elevating actuator) is connected to the screw shafts of the linear motion mechanisms 111 and 121, and the ends of the upper frame 107 and the lower frame 109 are axially supported by the nut. The stowage station 101 is raised and lowered with respect to the bogie frame 102 by the rotation of the shaft of the screw shaft driven by the motor.
於台車框架102之前方下部，裝備有記錄有配設於移動路面上之各場所資訊之RFID標籤、用於與條碼標籤或QR碼(註冊商標)標籤等引導標籤通信之讀寫器之RFID天線、條碼讀取器或QR碼(註冊商標)讀取器等之讀取感測器404。 In the lower part of the front of the trolley frame 102, an RFID tag for recording information of various places disposed on a moving road surface, and an RFID antenna for a reader/writer for communicating with a guide label such as a barcode label or a QR code (registered trademark) label are provided. A read sensor 404 such as a barcode reader or a QR code (registered trademark) reader.
於積載台101之後方之寬度中央搭載有機械臂機構1。於積載台101之前方載置有收納機械臂機構1所揀選之物品之收納箱50。 The arm mechanism 1 is mounted at the center of the width behind the staging base 101. A storage box 50 for accommodating articles selected by the robot arm mechanism 1 is placed in front of the loading platform 101.
機械臂機構1具有：筒形狀之基部3，其於底部設置於自行台車100之積載台101；扭轉旋轉關節部J1，其繞與上述筒狀體之基部3之中心線一致之水準迴旋軸RA1旋轉；彎曲旋轉關節部J2，其繞與水準迴旋軸RA1垂直之起伏旋轉軸RA2旋轉；直動伸縮關節部J3，其讓臂部2沿著與起伏旋轉軸RA2垂直之移動軸RA3直動伸縮；以及腕部4，其具有裝備於臂部2之前端之正交3軸之旋 轉軸RA4、RA5、RA6。 The arm mechanism 1 has a cylindrical base portion 3 which is disposed at the bottom of the stowage platform 101 of the self-propelled vehicle 100, and a torsionally rotating joint portion J1 which is wound around the center axis of the base portion 3 of the cylindrical body. Rotating; bending the rotating joint portion J2, which rotates around the undulating rotating shaft RA2 perpendicular to the horizontal gyration axis RA1; and linearly expanding and expanding the joint portion J3, which allows the arm portion 2 to be linearly moved along the moving axis RA3 perpendicular to the undulating rotating shaft RA2 And the wrist 4 having an orthogonal 3-axis rotation equipped at the front end of the arm 2 Rotors RA4, RA5, RA6.
於腕部4之前端，作為執行作業之末端效應器(末端執行器)此處係裝備手部16。為了擴大第5關節部J5之旋轉軸RA5之腕部起伏可動範圍，手部16係以其中心軸與腕部4之第6關節部J6之旋轉軸RA6一致、至少平行之朝向安裝於腕部4之第6關節部J6。作為末端效應器，並不限定於藉由開閉之2指161、162把持物品(工件)之手部16，亦可為吸附部、鑽頭等作業工具、以及相機、顯示器。亦可於腕部4之前端設置能夠轉換為任意種類之末端效應器之轉接器。 At the front end of the wrist 4, as an end effector (end effector) for performing work, the hand 16 is equipped here. In order to enlarge the range of the wrist undulation of the rotation axis RA5 of the fifth joint portion J5, the hand portion 16 is attached to the wrist at least in a direction parallel to the rotation axis RA6 of the sixth joint portion J6 of the wrist portion 4. Joint 6 of the 6th joint of J6. The end effector is not limited to the hand 16 that holds the article (workpiece) by the two fingers 161 and 162 that are opened and closed, and may be a working tool such as an adsorption unit or a drill, a camera, or a display. An adapter that can be converted to any type of end effector can also be provided at the front end of the wrist 4.
圖4中藉由圖符號表現來表示機械臂機構1。為便於說明而規定機器人座標系Σ b。機器人座標系Σ b係定義為以第1關節部J1之鉛垂之旋轉軸RA1與機械臂機構1之基部3之底面BP之交點為原點、以旋轉軸RA1為Zb軸的旋轉座標系。將Yb軸定義為與第2關節部J2之水準的旋轉軸RA2平行。將Xb軸規定為與旋轉軸RA1、RA2一併垂直。 The robot arm mechanism 1 is represented by a symbol in FIG. The robot coordinate system Σ b is specified for convenience of explanation. The robot coordinate system Σ b is defined as a rotational coordinate system in which the intersection of the vertical rotation axis RA1 of the first joint portion J1 and the bottom surface BP of the base portion 3 of the arm mechanism 1 is the origin and the rotation axis RA1 is the Zb axis. The Yb axis is defined to be parallel to the rotation axis RA2 of the level of the second joint portion J2. The Xb axis is defined to be perpendicular to the rotation axes RA1, RA2.
機械臂機構1係藉由構成根部3軸之第1關節部J1、第2關節部J2及第3關節部J3、以及構成腕部3軸之第4關節部J4、第5關節部J5及第6關節部J6，而實現3個位置自由度及3個姿勢自由度。 The arm mechanism 1 is composed of a first joint portion J1, a second joint portion J2, and a third joint portion J3 that constitute the root 3 axis, and a fourth joint portion J4 and a fifth joint portion J5 and the third portion that constitute the wrist portion 3 axis. 6 joints J6, achieving 3 positional degrees of freedom and 3 posture degrees of freedom.
第1關節部J1係配設於第1支持部11a與第2支持部11b之間，構成為以旋轉軸RA1為中心之扭轉旋轉關節。第2關節部J2構成為以旋轉軸RA2為中心之彎曲旋 轉關節。以第2關節部J2之旋轉軸RA2不與第1關節部J1之旋轉軸RA1交叉、即旋轉軸RA2不僅相對於旋轉軸RA1朝第1旋轉軸RA1之方向(Zb軸方向)偏置、還於Xb軸之方向偏置的方式，相對於第1關節部J1配置第2關節部J2。 The first joint portion J1 is disposed between the first support portion 11a and the second support portion 11b, and is configured as a torsion rotary joint centering on the rotation axis RA1. The second joint portion J2 is configured as a curved rotation centering on the rotation axis RA2 Turn joints. The rotation axis RA2 of the second joint portion J2 does not intersect the rotation axis RA1 of the first joint portion J1, that is, the rotation axis RA2 is not only offset from the rotation axis RA1 in the direction of the first rotation axis RA1 (Zb axis direction), but also The second joint portion J2 is disposed with respect to the first joint portion J1 in such a manner as to be offset in the direction of the Xb axis.
第3關節部J3構成為以移動軸RA3為中心之直動伸縮機構。關於第3關節部J3之直動伸縮機構於下文敘述。第3關節部J3之移動軸RA3係設為與第2關節部J2之旋轉軸RA2垂直之朝向。於第2關節部J2之旋轉角為零度、即臂部2之起伏角為零度且臂部2為水準之基準姿勢下，第3關節部J3之移動軸RA3係設為與第2關節部J2之旋轉軸RA2垂直之方向。以第3關節部J3之移動軸RA3不與第2關節部J2之旋轉軸RA2交叉、即移動軸RA3相對於旋轉軸RA2而於與旋轉軸RA2及移動軸RA3垂直之方向偏置之方式，相對於第2關節部J2配置第3關節部J3。 The third joint portion J3 is configured as a linear motion expansion mechanism centering on the movement axis RA3. The linear motion expansion mechanism of the third joint portion J3 will be described below. The movement axis RA3 of the third joint portion J3 is oriented perpendicular to the rotation axis RA2 of the second joint portion J2. When the rotation angle of the second joint portion J2 is zero degrees, that is, the undulation angle of the arm portion 2 is zero and the arm portion 2 is at the level of the reference posture, the movement axis RA3 of the third joint portion J3 is set to be the second joint portion J2. The direction of the rotation axis RA2 is perpendicular. The movement axis RA3 of the third joint portion J3 does not intersect with the rotation axis RA2 of the second joint portion J2, that is, the movement axis RA3 is offset in the direction perpendicular to the rotation axis RA2 and the movement axis RA3 with respect to the rotation axis RA2. The third joint portion J3 is disposed with respect to the second joint portion J2.
第4關節部J4構成為以旋轉軸RA4為中心之扭轉關節。第4關節部J4之旋轉軸RA4係以與第3關節部J3之移動軸RA3大致一致之方式配置。第5關節部J5構成為以旋轉軸RA5為中心之彎曲關節。第5關節部J5之旋轉軸RA5係以與第3關節部J3之移動軸RA3及第4關節部J4之旋轉軸RA4大致正交的方式配置。第6關節部J6係構成為以旋轉軸RA6為中心之扭轉關節。第6關節部J6之旋轉軸RA6係以與第4關節部J4之旋轉軸RA4及第5 關節部J5之旋轉軸RA5大致正交的方式配置。第6關節部J6係為了使作為末端效應器之手部迴旋而設置，其旋轉軸RA6亦可作為與第4關節部J4之旋轉軸RA4及第5關節部J5之旋轉軸RA5大致正交之彎曲關節而安裝。 The fourth joint portion J4 is configured as a torsion joint centering on the rotation axis RA4. The rotation axis RA4 of the fourth joint portion J4 is disposed to substantially coincide with the movement axis RA3 of the third joint portion J3. The fifth joint portion J5 is configured as a curved joint centering on the rotation axis RA5. The rotation axis RA5 of the fifth joint portion J5 is disposed so as to be substantially orthogonal to the movement axis RA3 of the third joint portion J3 and the rotation axis RA4 of the fourth joint portion J4. The sixth joint portion J6 is configured as a torsion joint centering on the rotation axis RA6. The rotation axis RA6 of the sixth joint portion J6 is the same as the rotation axis RA4 and the fifth joint of the fourth joint portion J4. The rotation axis RA5 of the joint portion J5 is arranged substantially orthogonally. The sixth joint portion J6 is provided to rotate the hand as the end effector, and the rotation axis RA6 may be substantially orthogonal to the rotation axis RA4 of the fourth joint portion J4 and the rotation axis RA5 of the fifth joint portion J5. Bend the joint and install it.
於本實施形態中，將機械臂機構1之構造設定為，第1關節部J1之旋轉軸RA1與第2關節部J2之旋轉軸RA2之偏置距離L12、和第2關節部J2之旋轉軸RA2與第3關節部J3之旋轉軸RA3之偏置距離L23不同者。又，將機械臂機構1之構造設定為，腕部彎曲關節部J5與腕部彎曲關節部J6之偏置距離L12，和偏置距離L12與偏置距離L23之差距離不同者。除了該等構造以外，藉由採用直動伸縮機構作為第3關節部J3，一面確保根部3自由度及腕部3自由度，而實現不存在肘部且不存在臨界點之機械臂機構1。 In the present embodiment, the structure of the arm mechanism 1 is set to an offset distance L12 between the rotation axis RA1 of the first joint portion J1 and the rotation axis RA2 of the second joint portion J2, and the rotation axis of the second joint portion J2. The offset distance L23 between the RA2 and the rotation axis RA3 of the third joint portion J3 is different. Further, the structure of the arm mechanism 1 is set such that the offset distance L12 between the wrist bending joint portion J5 and the wrist bending joint portion J6 and the difference between the offset distance L12 and the offset distance L23 are different. In addition to these structures, by using the linear motion expansion mechanism as the third joint portion J3, the degree of freedom of the root portion 3 and the degree of freedom of the wrist portion 3 are ensured, and the arm mechanism 1 having no elbow portion and no critical point is realized.
即，當第2關節部J2自基準姿勢向90度上方旋轉，第3關節部J3之旋轉軸RA3處於鉛垂之屹立姿勢時，同為扭轉旋轉關節之關節部J1之旋轉軸RA1與腕部關節部J4之旋轉軸RA4變成並非同軸而是偏置之狀態。同様地，作為扭轉旋轉關節之關節部J1之旋轉軸RA1與腕部關節部J6之旋轉軸RA6變成並非同軸而是偏置之狀態。 In other words, when the second joint portion J2 is rotated upward by 90 degrees from the reference posture, and the rotation axis RA3 of the third joint portion J3 is in the vertical standing posture, the rotation axis RA1 and the wrist portion of the joint portion J1 of the torsion rotary joint are also the same. The rotation axis RA4 of the joint portion J4 is in a state of being not coaxial but biased. In the same manner, the rotation axis RA1 of the joint portion J1 as the torsion rotary joint and the rotation axis RA6 of the wrist joint portion J6 are in a state of being not biased coaxially.
形成基部3之臂支持體(第1支援體)11a具有以第1關節部J1之旋轉軸RA1為中心形成之圓筒形狀之中空構造。第2支援部11b具有與第1支援部11a連續之中空構造。第3支援部11c具有與第1支援部11a及第2支援 部連通之鱗片狀之中空構造。第3支持部11c係伴隨第2關節部J2之彎曲旋轉而其後部被收容至第2支持部11b、或自第2支持部11b送出。構成臂部2之直動關節部之第3關節部J3之後部係藉由其收縮而被收納於第1支持部11a與第2支持部11b連續之中空構造之內部。 The arm support (first support body) 11a that forms the base portion 3 has a hollow hollow structure formed around the rotation axis RA1 of the first joint portion J1. The second support portion 11b has a hollow structure continuous with the first support portion 11a. The third support unit 11c has the first support unit 11a and the second support unit. A scaly hollow structure connected to the part. The third support portion 11c is accommodated in the second support portion 11b or is delivered from the second support portion 11b in accordance with the bending of the second joint portion J2. The rear portion of the third joint portion J3 constituting the linear motion joint portion of the arm portion 2 is housed inside the hollow structure in which the first support portion 11a and the second support portion 11b are continuous by contraction.
如上述般具備直動伸縮構造之第3關節部J3形成本實施形態之機械臂機構1之特徵性構造物。第3關節部J3具備之直動伸縮距離之長度係藉由圖5所示之構造而達成。具有第1連結鏈節排20及第2連結鏈節排21。於臂部2水準配置之基準姿勢下，第1連結鏈節排20位於第2連結鏈節排21之上部，第2連結鏈節排21位於第1連結鏈節排20之下部。 The third joint portion J3 having the linear motion expansion and contraction structure as described above forms the characteristic structure of the mechanical arm mechanism 1 of the present embodiment. The length of the linear motion stretching distance of the third joint portion J3 is achieved by the structure shown in FIG. The first connecting link row 20 and the second connecting link row 21 are provided. In the reference posture in which the arm portion 2 is horizontally placed, the first connecting link row 20 is located above the second connecting link row 21, and the second connecting link row 21 is located below the first connecting link row 20.
第1連結鏈節排20具有大致平板形狀，包含於背面方向及表面方向均可彎曲之狀態下藉由銷而呈排狀連結之複數個第1連結鏈節22。第2連結鏈節排21包含具有相同剖面字形状，且藉由銷而於背面部位呈排狀連結之複數個第2連結鏈節23。藉由第2連結鏈節23之端面彼此抵接而第2連結鏈節排21具備於上述銷之連結側(內側)可彎曲但於其相反側不可彎曲之性質。第1連結鏈節排20係於前端部藉由結合鏈節26而與第2連結鏈節排21結合。結合鏈節26具有由第1連結鏈節22及第2連結鏈節22成為一體之形狀。結合鏈節26為始端，第2連結鏈節排21自第3支持部11c送出至第1連結鏈節排20時，第1、第2連結鏈節排20、21藉由射出部30而接 合。當第1連結鏈節排20與第2連結鏈節排21保持接合狀態時，第1連結鏈節排20與第2連結鏈節排21之彎曲被限制，藉此藉由第1連結鏈節排20與第2連結鏈節排21而構成具備一定剛性之柱狀體。當第1連結鏈節排20與第2連結鏈節排21相互分離時，彎曲限制被解除，分別恢復成可彎曲之狀態。第1連結鏈節排20與第2連結鏈節排21係於射出部30之後方分離，分別變成可彎曲之狀態，第2連結鏈節排21向內側彎曲，且第1連結鏈節排20亦向相同方向(內側)彎曲，分別被單獨地收容於基部3之內部。 The first connecting link row 20 has a substantially flat plate shape, and includes a plurality of first connecting links 22 that are connected in a row by pins in a state in which the back surface direction and the surface direction are both bendable. The second connecting link row 21 includes the same section A plurality of second connecting links 23 that are in the shape of a word and are connected in a row at the back portion by a pin. When the end faces of the second connecting link 23 abut each other, the second connecting link row 21 has a property that the connecting side (inner side) of the pin is bendable but not bendable on the opposite side. The first connecting link row 20 is coupled to the second connecting link row 21 by the joint link 26 at the front end portion. The joint link 26 has a shape in which the first joint link 22 and the second joint link 22 are integrated. When the joint link 26 is the start end and the second link link row 21 is sent out from the third support portion 11c to the first link link row 20, the first and second link link rows 20 and 21 are joined by the injection portion 30. . When the first connecting link row 20 and the second connecting link row 21 are held in engagement, the bending of the first connecting link row 20 and the second connecting link row 21 is restricted, whereby the first connecting link is restricted by the first connecting link The row 20 and the second connecting link row 21 constitute a columnar body having a certain rigidity. When the first connecting link row 20 and the second connecting link row 21 are separated from each other, the bending restriction is released and the state is restored to a bendable state. The first connecting link row 20 and the second connecting link row 21 are separated from each other after the emitting portion 30, and are respectively bendable, and the second connecting link row 21 is bent inward, and the first connecting link row 20 is 20 They are also bent in the same direction (inside) and are individually housed inside the base 3.
於第1連結鏈節22之內表面，雖未圖示但分別形成有線性齒輪。線性齒輪於第1連結鏈節21變成直線狀時連結，構成連續的線性齒輪。第1連結鏈節22於第3支持體11c內被夾持於輥40與驅動齒輪53之間。線性齒輪嚙合於驅動齒輪53。驅動齒輪53藉由馬達55而順向旋轉，藉此第1連結鏈節排20與第2連結鏈節排21一併被送出。此時，第1連結鏈節排20與第2連結鏈節排21係於設置於第3支持體11c之開口附近之射出部30之上下輥31、32夾持，相互擠壓而接合，於此狀態下沿著第3移動軸RA3被直線地送出。驅動齒輪40藉由馬達55而逆向旋轉，藉此第1連結鏈節排20隨著第2連結鏈節排21而於射出部30之後方解除接合狀態，相互分離。分離後之第1連結鏈節排20與第2連結鏈節排21分別變成可彎曲之狀態，被設置於第2、第3支持體11b、11c之內 部之導軌引導，朝沿著第1旋轉軸RA1之方向彎曲，並收容於基部3之內部。 The inner surface of the first connecting link 22 is formed with a linear gear, although not shown. The linear gear is coupled when the first connecting link 21 is linear, and constitutes a continuous linear gear. The first connecting link 22 is sandwiched between the roller 40 and the drive gear 53 in the third support 11c. The linear gear meshes with the drive gear 53. The drive gear 53 is rotated in the forward direction by the motor 55, whereby the first connecting link row 20 is sent out together with the second connecting link row 21. At this time, the first connecting link row 20 and the second connecting link row 21 are sandwiched by the lower rollers 31 and 32 of the emitting portion 30 provided in the vicinity of the opening of the third supporting body 11c, and are pressed and joined to each other. In this state, it is linearly sent along the third movement axis RA3. The drive gear 40 is reversely rotated by the motor 55, whereby the first connecting link row 20 is disengaged from the second connecting link row 21 after the emitting portion 30, and is separated from each other. The first connecting link row 20 and the second connecting link row 21 after separation are respectively bendable, and are provided in the second and third supports 11b and 11c. The guide rail of the portion is bent in the direction along the first rotation axis RA1 and housed inside the base portion 3.
如圖6(a)、圖6(b)所示，直動伸縮關節部J3拉伸且收縮。如圖6(c)所示，機械臂機構1之水準方向相關之可動區域係設定為如下扇形狀：以直動伸縮關節部J3最拉伸時之旋轉軸RA1至臂部2之前端之關注點之臂長RL1(long)為半徑，以加入機械臂機構1之構造上之限制而設計之特定之迴旋角度為中心角。如圖6(d)所示，機械臂機構1之鉛垂方向相關之可動區域係設定為如下扇形狀：以直動伸縮關節部J3最拉伸時之旋轉軸RA2至臂部2之前端之關注點之臂長RL2為半徑，以加入機械臂機構1之構造上之限制而設計之特定之起伏角度為中心角。 As shown in Fig. 6 (a) and Fig. 6 (b), the linear motion expansion joint portion J3 is stretched and contracted. As shown in Fig. 6(c), the movable region associated with the horizontal direction of the arm mechanism 1 is set to the following fan shape: the rotation axis RA1 when the linear motion expansion joint portion J3 is most stretched to the front end of the arm portion 2 The arm length RL1 (long) is a radius, and a specific rotation angle designed to be added to the structural limitation of the arm mechanism 1 is a central angle. As shown in Fig. 6(d), the movable region of the mechanical arm mechanism 1 in the vertical direction is set to have a fan shape: the rotational axis RA2 when the linear motion expansion joint portion J3 is most stretched, and the front end of the arm portion 2 The arm length RL2 of the point of interest is a radius, and a specific undulation angle designed to be added to the structural limitation of the arm mechanism 1 is a central angle.
本實施形態之機器人系統之機械臂機構1並無如先前之多關節臂機構之肘關節，且亦不存在臨界點，故而不會產生肘關節意外地以過度之速度朝後方或側方等自扇形狀之可動區域伸出之事態，且周圍之人相對容易自作為柱狀體之臂部2之直線運動預測此臂部2或末端之軌道。因此，於倉庫等中，可於相對狹窄之通道自動行走，自配置於通道兩側之物品保管架揀選零件等物品。 The robot arm mechanism 1 of the robot system of the present embodiment does not have the elbow joint of the prior multi-joint arm mechanism, and there is no critical point, so that the elbow joint does not accidentally go to the rear or the side at an excessive speed. The movable area of the fan shape is extended, and the surrounding person relatively easily predicts the orbit of the arm 2 or the end from the linear motion of the arm 2 as the columnar body. Therefore, in a warehouse or the like, it is possible to automatically travel in a relatively narrow passage, and to arrange items such as parts from the article storage racks disposed on both sides of the passage.
圖7係本實施形態之機器人系統之構成圖。於本實施形態之機械臂機構1之關節部J1、J2、J3、J4、J5、J6，分別設有包含步進馬達及馬達驅動器等之致動器201。於各致動器201之驅動軸，連接有每隔一定旋轉角輸出脈衝 之旋轉編碼器202。藉由計數器對該輸出脈衝進行加減算，而測定關節角度。於手16之2指設有致動器203。於致動器203之驅動軸連接有每隔一定旋轉角輸出脈衝之旋轉編碼器204。藉由計數器對該輸出脈衝進行加減算，而測定手開度。另，雖未圖示，但於自行台車100搭載有電源單元，負責致動器201、旋轉編碼器202、其他機器人系統全體之電力供給。 Fig. 7 is a view showing the configuration of the robot system of the embodiment. In the joint portions J1, J2, J3, J4, J5, and J6 of the arm mechanism 1 of the present embodiment, an actuator 201 including a stepping motor and a motor driver is provided, respectively. The drive shaft of each actuator 201 is connected to output pulses at regular rotation angles. Rotary encoder 202. The output pulse is added and subtracted by a counter to measure the joint angle. The finger 2 of the hand 16 is provided with an actuator 203. A rotary encoder 204 that outputs pulses at regular rotation angles is coupled to the drive shaft of the actuator 203. The hand pulse is measured by adding and subtracting the output pulse by the counter. Further, although not shown, a power supply unit is mounted on the self-propelled vehicle 100, and electric power is supplied to the actuator 201, the rotary encoder 202, and other robot systems.
於自行台車100裝備有移動馬達113、轉向致動器115、以及升降致動器117，於各者之驅動軸連接有用於計測移動距離、方位(轉向角)、升降高之旋轉編碼器114、116、118。 The self-propelled vehicle 100 is equipped with a moving motor 113, a steering actuator 115, and a lifting actuator 117, and a rotary encoder 114 for measuring a moving distance, an azimuth (steering angle), and a high lifting height is connected to each of the drive shafts. 116, 118.
動作控制裝置300係於系統控制部101經由控制/資料匯流排310而連接有揀選控制部309、末端軌道計算部308、地圖記憶部305、移動路徑計算部306、移動控制部307、讀寫器302、303、加速度感測器介面304而成。於系統控制部101，連接有用於輸入包含揀選指示及特定揀選對象之物品之資訊之揀選指令等讓揀選管理負責者(操作者)輸入各種指示之操作元件401、以及用於顯示上述操作畫面之顯示元件402。典型而言，操作元件401與顯示元件402係由平板式電腦構成。另，於揀選動作期間以外之移動期間等，機械臂機構1藉由系統控制部101之控制，作為初期姿勢使例如臂2最收縮，配置成鉛垂朝下之姿勢。該初期姿勢對於穩定移動及末端軌道計算時之計算處理工數之削減有效。 The motion control device 300 is connected to the system control unit 101 via the control/data bus 310 to the picking control unit 309, the end track calculating unit 308, the map memory unit 305, the moving path calculating unit 306, the movement control unit 307, and the reader/writer. 302, 303, acceleration sensor interface 304 is formed. The system control unit 101 is connected to an operation element 401 for inputting various instructions, a sorting command for inputting information including the picking instruction and the item of the specific picking object, and the like, and for displaying the operation screen. Display element 402. Typically, the operating element 401 and the display element 402 are comprised of a tablet computer. In addition, during the movement period other than the picking operation period, the arm mechanism 1 is controlled by the system control unit 101, and the arm 2 is most contracted as the initial posture, and is placed in a vertically downward posture. This initial posture is effective for reducing the number of calculation processes in the case of stable movement and end track calculation.
於地圖記憶部305中，記憶有倉庫內之通道及沿著通道之保管架之佈局、以及用於特定保管各個物品之保管架及架位置之地圖資訊。讀寫器302對經由固定或裝卸自如地裝備於手16、腕部4、或兩者之RFID天線403而貼附於物品或保管架之RFID標籤中記錄的物品資訊進行讀取。將RFID天線403裝備於手16時，較理想為於手16之2指161、162間配置RFID天線403。 The map memory unit 305 stores maps of the passages in the warehouse, the storage racks along the passages, and the map information for the storage racks and rack positions for storing the respective articles. The reader/writer 302 reads the article information recorded in the RFID tag attached to the article or the storage rack via the RFID antenna 403 that is fixedly or detachably attached to the hand 16, the wrist 4, or both. When the RFID antenna 403 is equipped in the hand 16, it is preferable to arrange the RFID antenna 403 between the fingers 161 and 162 of the hand 16.
讀寫器303經由裝備於自行台車100之RFID天線404，自埋設於通道之RFID標籤讀取各者之場所資訊。於自行台車100設有加速度感測器405。加速度感測器405之加速度資訊係經由加速度感測器介面304而讀取。 The reader/writer 303 reads the location information of each person from the RFID tag embedded in the channel via the RFID antenna 404 equipped in the self-propelled vehicle 100. An acceleration sensor 405 is provided in the self-propelled trolley 100. The acceleration information of the acceleration sensor 405 is read via the acceleration sensor interface 304.
移動路徑計算部306使用地圖資訊，特定保管有經由操作元件401指示之揀選對象之物品的保管架及架位置(架段)，且計算自當前位置至相對於保管架之基準停止位置為止之最短移動路徑。相對於保管架之基準停止位置，係指相對於保管架之例如通道側中心而自行台車100之例如前後中心一致的位置。當指示複數個物品為揀選對象時，計算揀選其等複數個物品之最短順路。 The movement path calculation unit 306 specifies the storage rack and the rack position (rack section) of the article to be sorted indicated by the operation element 401 using the map information, and calculates the shortest distance from the current position to the reference stop position with respect to the storage rack. Move the path. The reference stop position with respect to the storage rack refers to a position where the front and rear centers of the self-propelled vehicle 100 coincide with each other, for example, the center of the passage side of the storage rack. When a plurality of items are instructed to be picked, the shortest path to select a plurality of items is calculated.
移動控制部307為了依照計算之移動路徑移動自行台車100，一面基於經由RFID天線403而自RFID標籤接收之路面之位置資訊及來自加速度感測器405之加速度資訊，對實際之移動軌道進行修正，一面控制移動馬達113及轉向致動器115。藉此，自行台車100相對於所需保管架而停止於基準停止位置。進而，移動控制部307以相對 於保管指令物品之保管架之架位置(架段)而將積載台101配置於基準高度的方式控制升降致動器117。於揀選動作開始時，自行台車100相對於保管指令物品之保管架配置於基準停止位置，進而積載台101相對於載置有指令物品之架而配置於基準高度。藉此，機械臂機構1、及保管指令物品之保管架之所需架之相對位置配置為固定位置。 The movement control unit 307 corrects the actual moving track based on the position information of the road surface received from the RFID tag via the RFID antenna 403 and the acceleration information from the acceleration sensor 405 in order to move the self-propelled vehicle 100 in accordance with the calculated movement path. The moving motor 113 and the steering actuator 115 are controlled on one side. Thereby, the self-propelled vehicle 100 is stopped at the reference stop position with respect to the required storage rack. Further, the movement control unit 307 is relatively The lift actuator 117 is controlled such that the stacking table 101 is placed at the reference height at the rack position (rack section) of the storage rack of the command item. At the start of the picking operation, the self-propelled trolley 100 is placed at the reference stop position with respect to the storage rack for storing the command item, and the stowage station 101 is placed at the reference height with respect to the rack on which the command item is placed. Thereby, the relative position of the robot arm mechanism 1 and the required rack for storing the storage article of the command item is set to a fixed position.
末端軌道計算部308基於關節部J1、J2、J3、J4、J5、J6各自之關節變量(關節角度、關節伸縮長)，依照根據臂構造之鏈路參數規定之齊次變換矩陣，藉由順向運動學而計算自機器人座標系觀察之手部16之當前位置及末端姿勢。 The end orbit calculation unit 308 is based on the joint variables (joint angle, joint expansion and contraction length) of the joint portions J1, J2, J3, J4, J5, and J6, in accordance with the homogeneous transformation matrix defined by the link parameters of the arm structure, by The current position and end posture of the hand 16 observed from the robot coordinate system are calculated for kinematics.
末端軌道計算部308計算自手部16之末端基準点(把持中心点)之當前位置．姿勢、至保管揀選對象之物品之保管架上之位置．朝向(最終目標位置．姿勢)為止之末端軌道。典型而言，計算自當前位置．姿勢至最終目標位置．姿勢為止之軌道上之每單位時間(控制周期、例如10ms)之複數個目標位置。具体而言，軌道計算部105向預先設置之以末端之當前位置、當前姿勢、末端之最終目標位置、最終目標姿勢為參數之多項式中代入各關節參數，藉此計算末端之軌道(以下稱為末端軌道)，並於此末端軌道上計算每單位時間之目標位置。作為軌道計算方法係採用任意之方法。單位時間係作為控制周期而為固定值，設定為例如10ms。軌道計算部105基於將末端自當 前位置移動至最終目標位置所需之目標時間寬度及單位時間，決定目標位置之數，計算每隔單位時間之末端軌道上之末端之目標位置。例如，目標位置係設為賦予末端基準點之位置及末端姿勢之兩方之參數。目標時間係根據末端之當前位置與末端之最終目標位置之距離而自動地決定。例如，末端軌道作為將末端之當前位置與末端之最終目標位置連結之直線軌道而計算。 The end track calculation unit 308 calculates the current position of the end reference point (holding center point) from the hand 16 . Position, to the position on the storage rack of the item to be picked up. The end track toward the (final target position. posture). Typically, the calculation is from the current position. Posture to the final target position. A plurality of target positions per unit time (control period, for example, 10 ms) on the track up to the posture. Specifically, the trajectory calculating unit 105 substitutes each joint parameter into a polynomial in which the current position of the end, the current posture, the final target position of the end, and the final target posture are parameters, thereby calculating the end track (hereinafter referred to as The end track) and the target position per unit time is calculated on this end track. As the orbit calculation method, an arbitrary method is employed. The unit time is a fixed value as a control period, and is set to, for example, 10 ms. The track calculation section 105 is based on the end of the self The target time width and unit time required for the front position to move to the final target position, determine the number of target positions, and calculate the target position at the end of the end track every unit time. For example, the target position is set to a parameter that gives both the position of the end reference point and the end posture. The target time is automatically determined based on the distance between the current position of the end and the final target position of the end. For example, the end track is calculated as a linear track connecting the current position of the end to the final target position of the end.
揀選控制部309計算末端之當前位置與末端之最終目標位置之間之複數個目標位置相關之複數個關節變量向量。另，所謂關節變量向量係指關節部J1-J6之6個關節變量、即包含旋轉關節部J1、J2、J4-J6之旋轉角及直動伸縮關節部J3之臂伸縮長。揀選控制部309每隔單位時間將關節變量作為指令值輸出至關節部J1-J6之致動器201之馬達驅動器。馬達驅動器一面於單位時間內對旋轉編碼器202之輸出脈衝進行計數，一面變位元成指令之關節變量(關節角度、伸縮長)，以此方式向步進馬達輸出脈衝。 The picking control unit 309 calculates a plurality of joint variable vectors related to a plurality of target positions between the current position of the end and the final target position of the end. In addition, the joint variable vector refers to six joint variables of the joint portions J1 - J6, that is, the rotation angle including the rotation joint portions J1, J2, J4-J6 and the arm expansion and contraction length of the linear motion joint portion J3. The picking control unit 309 outputs the joint variable as a command value to the motor driver of the actuator 201 of the joint portions J1 - J6 every unit time. The motor driver counts the output pulse of the rotary encoder 202 in a unit time, and the displacement element is a joint variable (joint angle, telescopic length) of the command, and pulses are output to the stepping motor in this manner.
揀選控制部309將手部16移動至最終目標位置．姿勢時，經由裝備於手部16之2指161、162間之RFID天線403，自貼附於物品之RFID標籤讀取此物品資訊，並與揀選指令之物品資訊進行對照。當此物品與揀選指令一致時，揀選控制部309為了執行與物品形状．尺寸相應之把持動作而向手致動器203輸出指令值。藉由手部16把持物品後，揀選控制部309將手部16移動至配置於下方 之收容箱50，於此位置放開物品，使其收納於收容箱50。 The picking control unit 309 moves the hand 16 to the final target position. In the posture, the article information is read from the RFID tag attached to the article via the RFID antenna 403 equipped between the two fingers 161 and 162 of the hand 16, and is compared with the article information of the picking instruction. When the item coincides with the picking instruction, the picking control unit 309 performs the shape with the item. The command value is output to the hand actuator 203 in accordance with the gripping action of the size. After the article is held by the hand 16, the picking control unit 309 moves the hand 16 to the lower side. The storage box 50 is placed at this position to be stored in the storage box 50.
如此，於本實施形態中，機器人系統之機械臂機構1並無如先前之多關節臂機構之肘關節，且亦不存在臨界點，故而不會產生肘關節意外地以過度之速度向後方或側方等自扇形狀之可動區域伸出之事態，且周圍之人相對容易地自作為柱狀體之臂部2之直線運動預測其臂部2或末端之軌道，因此，於倉庫等中，可於相對狹窄之通道自行移動，自配置於通道兩側之物品保管架揀選零件等物品，進而可與附近之作業員協同執行上述作業。 Thus, in the present embodiment, the robot arm mechanism 1 of the robot system does not have the elbow joint of the previous multi-joint arm mechanism, and there is no critical point, so that the elbow joint does not accidentally go backwards at an excessive speed or The lateral side or the like protrudes from the movable region of the fan shape, and the surrounding person relatively easily predicts the orbit of the arm portion 2 or the end from the linear motion of the arm portion 2 as the columnar body. Therefore, in a warehouse or the like, It can be moved by itself in a relatively narrow passage, and items such as parts can be sorted from the item storage racks arranged on both sides of the channel, and the above operations can be performed in cooperation with nearby operators.
雖對本發明之若干實施形態進行了說明，但該等實施形態係作為示例而提示者，並不意圖限定發明之範圍。該等實施形態能以其他各種形態實施，且於不脫離發明主旨之範圍內可進行各種省略、置換、變更。該等實施形態及其變形包含於發明之範圍及主旨，且同樣包含於申請專利範圍所記載之發明及其均等範圍內。 The embodiments of the present invention have been described, but the embodiments are presented as examples and are not intended to limit the scope of the invention. The embodiments can be implemented in various other forms, and various omissions, substitutions and changes can be made without departing from the scope of the invention. The invention and its modifications are intended to be included within the scope of the invention and the scope of the invention.
1‧‧‧機械臂機構(多關節臂機構) 1‧‧‧Mechanical arm mechanism (multi-joint arm mechanism)
2‧‧‧臂部 2‧‧‧arms
3‧‧‧基部 3‧‧‧ base
J1、J2、J4、J5、J6‧‧‧旋轉關節部 J1, J2, J4, J5, J6‧‧‧ Rotating joints
J3‧‧‧直動伸縮關節部 J3‧‧‧Directive telescopic joint
16‧‧‧手部 16‧‧‧Hands
100‧‧‧自行台車 100‧‧‧ Self-propelled trolley
101‧‧‧積載台 101‧‧‧Standard
102‧‧‧台車框架 102‧‧‧Trolley frame
103‧‧‧腳輪 103‧‧‧ casters
161、162‧‧‧指 161, 162‧‧
403‧‧‧RFID天線 403‧‧‧RFID antenna
RA1‧‧‧水準迴旋軸 RA1‧‧‧ level rotation axis
RA2‧‧‧起伏旋轉軸 RA2‧‧‧ undulating rotating shaft
RA3‧‧‧移動軸 RA3‧‧‧Moving axis
RA4、RA5、RA6‧‧‧之旋轉軸 Rotary axis of RA4, RA5, RA6‧‧
Claims (6)
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| JP2015097327A JP2016209971A (en) | 2015-05-12 | 2015-05-12 | Robot system |
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| TW201641232A true TW201641232A (en) | 2016-12-01 |
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| CN113547513A (en) * | 2020-04-24 | 2021-10-26 | 精工爱普生株式会社 | Horizontal multi-joint robot and horizontal multi-joint robot system |
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| CN113547513A (en) * | 2020-04-24 | 2021-10-26 | 精工爱普生株式会社 | Horizontal multi-joint robot and horizontal multi-joint robot system |
| CN113547513B (en) * | 2020-04-24 | 2023-12-19 | 精工爱普生株式会社 | Horizontal multi-joint robot and horizontal multi-joint robot system |
| CN112544448A (en) * | 2020-12-02 | 2021-03-26 | 安徽科技学院 | Automatic milking equipment |
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| WO2016181801A1 (en) | 2016-11-17 |
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