WO2017094922A1 - 2自由度の駆動機構 - Google Patents
2自由度の駆動機構 Download PDFInfo
- Publication number
- WO2017094922A1 WO2017094922A1 PCT/JP2016/086123 JP2016086123W WO2017094922A1 WO 2017094922 A1 WO2017094922 A1 WO 2017094922A1 JP 2016086123 W JP2016086123 W JP 2016086123W WO 2017094922 A1 WO2017094922 A1 WO 2017094922A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- rotation axis
- link member
- drive mechanism
- driven body
- pair
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H21/00—Gearings comprising primarily only links or levers, with or without slides
- F16H21/02—Gearings comprising primarily only links or levers, with or without slides the movements of two or more independently-moving members being combined into a single movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C11/00—Pivots; Pivotal connections
- F16C11/04—Pivotal connections
- F16C11/06—Ball-joints; Other joints having more than one degree of angular freedom, i.e. universal joints
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H21/00—Gearings comprising primarily only links or levers, with or without slides
- F16H21/46—Gearings comprising primarily only links or levers, with or without slides with movements in three dimensions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Definitions
- the present invention relates to a drive mechanism for transmitting power to a driven body and driving it with a motion of two degrees of freedom, and more particularly to a drive mechanism applicable to a joint structure of a robot.
- a drive mechanism for operating a joint such as an ankle joint.
- the joint part of the humanoid robot it is necessary for the joint part of the humanoid robot to realize both the tilting motion (roll motion) around the rotation axis extending in the front-rear direction and the tilting motion (pitch motion) around the rotation axis extending in the left-right direction. is there.
- the present invention has been made in view of the above-described problems of the prior art, and suppresses the deflection of the structure to which the driven body is mounted within a desired operating angle range of two degrees of freedom in the driven body.
- it aims at providing the drive mechanism which can be ensured with a compact structure.
- a first aspect of the present invention is a drive mechanism for transmitting power to a driven body and driving it with a two-degree-of-freedom operation, and having a base portion having a central axis, A universal joint for connecting the driven body to the base so as to be tiltable; and a power transmission means for transmitting the power to the driven body, wherein the universal joint is orthogonal to the central axis.
- the power transmission means includes a pair of link mechanisms arranged on both sides with respect to a first virtual plane including the central axis and the first rotation axis, and the pair of link mechanisms Each of the third is perpendicular to the first virtual plane.
- a first link member having a base end portion provided at the base portion so as to be rotatable around a rotation axis; and a distal end portion of the first link member which is rotatable around a fourth rotation axis parallel to the third rotation axis.
- a second link member having a connected base end; and a second link member provided on the driven body so as to be rotatable about a fifth rotation axis in a second virtual plane perpendicular to the second rotation axis.
- the tip part of a member has the 3rd link member provided rotatably about the 6th axis of rotation perpendicular to the 5th axis of rotation.
- the distal end portion of the first link member and the proximal end portion of the second link member are connected by a spherical joint. To do.
- a third aspect of the present invention is characterized in that, in the first or second aspect, the distal end portion of the second link member and the third link member are connected by a spherical joint.
- the power generation means for generating the power is further provided on both sides with respect to the first virtual plane. It has a pair of drive source arranged, It is characterized by the above-mentioned.
- the pair of drive sources has a pair of cylinders, and tip ends of the rods of the pair of cylinders are connected to the first link member. It is characterized by that.
- the pair of cylinders are provided at the base portion so as to be rotatable around a seventh rotation axis perpendicular to the first virtual plane. To do.
- the cylinder is an electric cylinder having a screw shaft and a nut screwed to the screw shaft, and the power generation means includes the When the screw shaft is rotationally driven, the nut is driven forward and backward to generate the power.
- the distance between the third rotation axis and the fourth rotation axis is equal to the second rotation axis and the second rotation axis. It is different from the distance from the sixth rotation axis when in a parallel state.
- a drive mechanism that can ensure a desired operating angle range of two degrees of freedom in a driven body with a compact configuration while suppressing the deflection of the structure to which the driven body is mounted. Can do.
- FIG. 9 is another perspective view showing the drive mechanism shown in FIG. 8.
- the drive mechanism according to the present embodiment is particularly suitable for a drive mechanism in a joint portion (for example, an ankle joint) of a humanoid robot.
- the drive mechanism according to the present invention is not limited to the application to the joint portion of a humanoid robot, and can be widely applied to a drive mechanism in a driven body that requires an operation of at least two degrees of freedom.
- the drive mechanism 1 according to the present embodiment shown in FIG. 1 is for realizing an operation with two degrees of freedom in the driven body 2.
- the driven body 2 is a component of an ankle joint of a humanoid robot, for example, and performs an operation of at least two degrees of freedom during walking.
- the drive mechanism 1 includes an elongated frame member (base) 3 having a central axis A0 in the longitudinal direction.
- a universal joint 4 is provided at the lower end of the frame member 3, and the driven body 2 is tiltably connected to the frame member 3 by the universal joint 4.
- the universal joint 4 has a first rotation axis A1 orthogonal to the center axis A0 and a second rotation axis A2 orthogonal to the first rotation axis A1 and tiltable about the first rotation axis A1.
- the universal joint 4 includes a first shaft member 5 that extends along the first rotation axis A1 and a second shaft member 6 that extends along the second rotation axis A2.
- the first shaft member 5 is supported by attachment members 7 provided in front of and behind the lower end portion of the frame member 3.
- the second shaft member 6 is supported by a block piece 8 provided at the center of the first shaft member 5.
- the driven body 2 has a pair of left and right flange portions 9, and the flange portion 9 is supported by the second shaft member 6 of the universal joint 4 so that the driven body 2 can rotate around the second rotation axis A ⁇ b> 2. Has been.
- the driven body 2 can be tilted (rolled) around the first rotation axis A ⁇ b> 1 and the second rotation axis.
- a tilting motion (pitch motion) around A2 can be performed.
- the drive mechanism 1 further includes a pair of link mechanisms 10 as power transmission means for transmitting power to the driven body 2.
- the pair of link mechanisms 10 are arranged on both sides with respect to the first virtual plane including the center axis A0 and the first rotation axis A1.
- Each of the pair of link mechanisms 10 includes a first link member 11, a second link member 12, and a third link member 13.
- the first link member 11 has base end portions provided on the left and right side surfaces of the frame member 3 so as to be rotatable around a third rotation axis A3 perpendicular to the first virtual plane.
- the second link member 12 has a proximal end portion connected to the distal end portion of the first link member 11 so as to be rotatable around a fourth rotation axis A4 parallel to the third rotation axis A3.
- the third link member 13 is provided on the flange portion 9 of the driven body 2 so as to be rotatable around the fifth rotation axis A5 in the second virtual plane perpendicular to the second rotation axis A2.
- the distal end portion of the second link member 12 is coupled to the third link member 13 so as to be rotatable around a sixth rotation axis A6 orthogonal to the fifth rotation axis A5.
- the distal end portion of the first link member 11 and the base end portion of the second link member 12 are connected by a spherical joint. Moreover, the front-end
- a pair of electric cylinders (drive sources) 14 as power generation means are provided on the left and right sides of the frame member 3 of the drive mechanism 1 with respect to the first virtual plane.
- a base end portion of the electric cylinder 14 is coupled to a block member 15 provided on the frame member 13 so as to be rotatable around a seventh rotation axis A7 parallel to the second rotation axis A2.
- each rod 16 of the pair of electric cylinders 14 is connected to the tip of the first link member 11 so as to be rotatable around the fourth rotation axis A4.
- Each of the pair of electric cylinders 14 includes a servo motor 17 that can be driven independently of each other.
- the electric cylinder 14 incorporates a ball screw mechanism, and the power of the servo motor 17 is transmitted to the ball screw mechanism via the belt 18.
- the drive mechanism 1 shown in FIG. 2 to FIG. 7 is configured such that the rod of the electric cylinder 14 is composed of a plurality of elongated members, but the other structure is the same as that of the drive mechanism 1 shown in FIG. In FIGS. 3, 5, and 6, a part of the cylinder body is notched so that the internal structure of the electric cylinder 14 can be seen.
- the screw shaft 19 of the electric cylinder 14 is rotationally driven, whereby the nut 20 screwed to the screw shaft 19 is provided. It is configured to be driven back and forth along the screw shaft 19.
- the base end of the rod 16 is connected to the nut 20, and the rod 16 is driven forward and backward together with the nut 20.
- the screw shaft 19 is rotationally driven and the nut 20 is driven forward and backward, thereby providing the following various advantages compared to the configuration in which the nut is rotationally driven and the screw shaft is advanced and retracted. can get.
- the roll motion and the pitch motion can be performed in the driven body 2 by changing the expansion and contraction amounts of the rods 16 of the left and right electric cylinders 14 independently of each other. it can.
- the power of the pair of electric cylinders 14 attached to the frame member 3 is transmitted to the driven body 2 by the pair of link mechanisms 10 without using the planetary gear speed increasing mechanism. Since the transmission is performed, a desired operating angle range can be secured in the driven body 2 without causing a large deflection as in the case of using the planetary gear speed increasing mechanism.
- the distance between the third rotation axis A3 and the fourth rotation axis A4 is the second rotation axis A2 and the sixth rotation axis A6 when the distance is parallel to the second rotation axis A2. It is set to be longer than the distance. Thereby, it is possible to secure a speed increasing ratio when the rod 16 of the electric cylinder 14 is driven to extend and contract to cause the driven body 2 to perform a tilting operation. As a result, the stroke required in the electric cylinder 14 is shortened, and the electric cylinder 14 can be shortened.
- FIGS. 8 and 9 show a drive mechanism 100 as a comparative example.
- the first link member 11 and the second link member 12 are omitted, and the rod 16 of the electric cylinder 14 is provided.
- the third link member 13 is directly connected.
- a part of the cylinder body is cut away so that the internal structure of the electric cylinder 14 can be seen.
- the constituent members of the robot cannot be arranged within the range of the swinging motion of the electric cylinder 14 in the left-right direction. For example, a member for increasing the strength of the robot or a cover member for covering the internal structure Placement was difficult.
- the rod 16 of the electric cylinder 14 is used to cause the driven body 2 to tilt (roll and pitch).
- the electric cylinder 14 does not oscillate in the left-right direction even if it is expanded or contracted, and oscillates only in the direction parallel to the first virtual plane including the center axis A0 and the first rotation axis A1 of the frame member 3.
- the degree of freedom in the arrangement of a member for increasing the strength of the robot and a cover member for covering the internal structure is greatly improved.
- the electric cylinder 14 can be shortened as described above, it is possible to increase the degree of freedom of arrangement in the components of the robot.
- ball bearings are provided at both ends of the second link member 12 in order to expand the tiltable range of the driven body 2, but only one end portion of the second link member 12 is provided.
- a ball bearing may be provided.
- the electric cylinder 14 driven by the servo motor 17 is used as a drive source.
- the drive source (power generation means) in the drive mechanism according to the present invention is not limited to this. There is no limitation as long as the rotation angle of the first link member 11 around the third rotation axis A3 can be controlled.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
Abstract
Description
2 被駆動体
3 フレーム部材(基部)
4 自在継手
5 第1軸部材
6 第2軸部材
7 取付部材
8 ブロック片
9 フランジ部
10 リンク機構(動力伝達手段)
11 第1リンク部材
12 第2リンク部材
13 第3リンク部材
14 電動シリンダー
15 ブロック部材
16 電動シリンダーのロッド
17 サーボモータ
18 ベルト
19 電動シリンダーのネジ軸
20 電動シリンダーのナット
A0 基部の中心軸線
A1 第1回転軸線
A2 第2回転軸線
A3 第3回転軸線
A4 第4回転軸線
A5 第5回転軸線
A6 第6回転軸線
A7 第7回転軸線
Claims (8)
- 被駆動体に動力を伝達して2自由度の動作にて駆動するための駆動機構であって、
中心軸線を有する基部と、
前記被駆動体を前記基部に傾動可能に連結するための自在継手と、
前記被駆動体に前記動力を伝達するための動力伝達手段と、を備え、
前記自在継手は、前記中心軸線に直交する第1回転軸線と、前記第1回転軸線に直交し且つ前記第1回転軸線周りに傾動可能な第2回転軸線とを有し、
前記被駆動体は、前記第2回転軸線周りに回転可能となるように前記自在継手に設けられ、
前記動力伝達手段は、前記中心軸線および前記第1回転軸線を含む第1仮想平面に関して両側に配置された一対のリンク機構を有し、
前記一対のリンク機構の各々は、前記第1仮想平面に垂直な第3回転軸線周りに回転可能に前記基部に設けられた基端部を有する第1リンク部材と、前記第3回転軸線に平行な第4回転軸線周りに回転可能に前記第1リンク部材の先端部に連結された基端部を有する第2リンク部材と、前記第2回転軸線に垂直な第2仮想平面内にある第5回転軸線周りに回転可能に前記被駆動体に設けられ、前記第2リンク部材の先端部が、前記第5回転軸線に直交する第6回転軸線周りに回転可能に設けられた第3リンク部材と、を有する、駆動機構。 - 前記第1リンク部材の前記先端部と前記第2リンク部材の前記基端部とが、球状継手によって連結されている、請求項1記載の駆動機構。
- 前記第2リンク部材の前記先端部と前記第3リンク部材とが、球状継手によって連結されている、請求項1または2に記載の駆動機構。
- 前記動力を生成するための動力生成手段をさらに有し、
前記動力生成手段は、前記第1仮想平面に関して両側に配置された一対の駆動源を有する、請求項1乃至3のいずれか一項に記載の駆動機構。 - 前記一対の駆動源は、一対のシリンダーを有し、
前記一対のシリンダーの各々のロッドの先端が、前記第1リンク部材に連結されている、請求項4記載の駆動機構。 - 前記一対のシリンダーは、前記第1仮想平面に垂直な第7回転軸線周りに回転可能に前記基部に設けられている、請求項5記載の駆動機構。
- 前記シリンダーは、ネジ軸と、前記ネジ軸に螺着されたナットとを有する電動シリンダーであり、
前記動力生成手段は、前記ネジ軸が回転駆動されることにより前記ナットが進退駆動されて前記動力が生成されるように構成されている、請求項5または6に記載の駆動機構。 - 前記第3回転軸線と前記第4回転軸線との距離が、前記第2回転軸線と、前記第2回転軸線に平行な状態にあるときの前記第6回転軸線との距離と異なる、請求項1乃至7のいずれか一項に記載の駆動機構。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020187018680A KR20180088448A (ko) | 2015-12-03 | 2016-12-05 | 2자유도의 구동 기구 |
KR1020217029181A KR102458112B1 (ko) | 2015-12-03 | 2016-12-05 | 2자유도의 구동 기구 |
JP2017554218A JP6803338B2 (ja) | 2015-12-03 | 2016-12-05 | 2自由度の駆動機構 |
CN201680070544.2A CN108291618A (zh) | 2015-12-03 | 2016-12-05 | 2个自由度的驱动机构 |
EP16870856.8A EP3385571B1 (en) | 2015-12-03 | 2016-12-05 | Two-degree-of-freedom drive mechanism |
US15/781,465 US10828787B2 (en) | 2015-12-03 | 2016-12-05 | Drive mechanism of two degrees of freedom |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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JP2015236635 | 2015-12-03 | ||
JP2015-236635 | 2015-12-03 |
Publications (1)
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WO2017094922A1 true WO2017094922A1 (ja) | 2017-06-08 |
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Application Number | Title | Priority Date | Filing Date |
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PCT/JP2016/086123 WO2017094922A1 (ja) | 2015-12-03 | 2016-12-05 | 2自由度の駆動機構 |
Country Status (6)
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US (1) | US10828787B2 (ja) |
EP (1) | EP3385571B1 (ja) |
JP (1) | JP6803338B2 (ja) |
KR (2) | KR20180088448A (ja) |
CN (1) | CN108291618A (ja) |
WO (1) | WO2017094922A1 (ja) |
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JP7331854B2 (ja) * | 2018-08-08 | 2023-08-23 | ソニーグループ株式会社 | リンク構造 |
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US11752645B2 (en) * | 2020-02-13 | 2023-09-12 | Boston Dynamics, Inc. | Non-planar linear actuator |
US20210331310A1 (en) * | 2020-04-28 | 2021-10-28 | Ubtech Robotics Corp Ltd | Neck mechanism for robot |
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- 2016-12-05 US US15/781,465 patent/US10828787B2/en active Active
- 2016-12-05 CN CN201680070544.2A patent/CN108291618A/zh active Pending
- 2016-12-05 KR KR1020187018680A patent/KR20180088448A/ko not_active Application Discontinuation
- 2016-12-05 EP EP16870856.8A patent/EP3385571B1/en active Active
- 2016-12-05 WO PCT/JP2016/086123 patent/WO2017094922A1/ja active Application Filing
- 2016-12-05 JP JP2017554218A patent/JP6803338B2/ja active Active
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Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2018097252A1 (ja) * | 2016-11-24 | 2018-05-31 | 川崎重工業株式会社 | ロボットの関節構造体 |
WO2019177022A1 (ja) * | 2018-03-13 | 2019-09-19 | BionicM株式会社 | 補助装置およびその制御方法 |
US11786384B2 (en) | 2018-03-13 | 2023-10-17 | Bionicm Inc. | Assistance device and control method therefor |
US20210162602A1 (en) * | 2018-04-25 | 2021-06-03 | Mitsubishi Electric Corporation | Rotation connecting mechanism, robot, robot arm, and robot hand |
JP2021038779A (ja) * | 2019-09-02 | 2021-03-11 | 川崎重工業株式会社 | 球面継手及びそれを備えるロボットの関節構造体 |
WO2021045057A1 (ja) | 2019-09-02 | 2021-03-11 | 川崎重工業株式会社 | 球面継手及びそれを備えるロボットの関節構造体 |
KR20220051381A (ko) | 2019-09-02 | 2022-04-26 | 카와사키 주코교 카부시키 카이샤 | 구면 조인트 및 이를 구비하는 로봇의 관절 구조체 |
WO2024143474A1 (ja) * | 2022-12-28 | 2024-07-04 | 川崎重工業株式会社 | ロボットの関節構造体およびロボット |
Also Published As
Publication number | Publication date |
---|---|
EP3385571B1 (en) | 2024-03-13 |
KR102458112B1 (ko) | 2022-10-24 |
KR20210116692A (ko) | 2021-09-27 |
CN108291618A (zh) | 2018-07-17 |
JP6803338B2 (ja) | 2020-12-23 |
KR20180088448A (ko) | 2018-08-03 |
US20190168400A1 (en) | 2019-06-06 |
EP3385571A4 (en) | 2019-08-07 |
EP3385571A1 (en) | 2018-10-10 |
US10828787B2 (en) | 2020-11-10 |
JPWO2017094922A1 (ja) | 2018-09-20 |
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