WO2022186050A1 - 連結装置、ロボット - Google Patents
連結装置、ロボット Download PDFInfo
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- WO2022186050A1 WO2022186050A1 PCT/JP2022/007676 JP2022007676W WO2022186050A1 WO 2022186050 A1 WO2022186050 A1 WO 2022186050A1 JP 2022007676 W JP2022007676 W JP 2022007676W WO 2022186050 A1 WO2022186050 A1 WO 2022186050A1
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- WIPO (PCT)
- Prior art keywords
- link
- housing
- elastic member
- rotation
- mounting portion
- Prior art date
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- 230000008878 coupling Effects 0.000 title claims abstract description 16
- 238000010168 coupling process Methods 0.000 title claims abstract description 16
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 16
- 230000005489 elastic deformation Effects 0.000 claims abstract description 17
- 238000001514 detection method Methods 0.000 claims description 6
- 230000004048 modification Effects 0.000 description 12
- 238000012986 modification Methods 0.000 description 12
- 239000003638 chemical reducing agent Substances 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 5
- 230000000052 comparative effect Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000009467 reduction Effects 0.000 description 4
- 241000282412 Homo Species 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 210000000988 bone and bone Anatomy 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000013013 elastic material Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 210000000707 wrist Anatomy 0.000 description 2
- 241001333990 Rugopharynx theta Species 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000002250 progressing effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Images
Classifications
-
- 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
- B25J17/0241—One-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
- B25J19/063—Safety devices working only upon contact with an outside object
Definitions
- the present invention relates to a connecting device that connects a plurality of members so that they can move relative to each other, and a robot that uses the connecting device.
- Patent Document 1 discloses a technique of providing a curved elastic element or spring element inside a joint (joint) part of an industrial robot. Even if a human who works together in the same space collides with this industrial robot, the elastic element inside the joint part elastically deforms to absorb the impact, thereby improving safety. On the other hand, since the elastic element must be incorporated inside the joint part together with other components, there are many restrictions on its shape, size, layout, etc., and once it is incorporated inside the joint part, it is difficult to replace it. Have difficulty.
- the present invention has been made in view of such circumstances, and its object is to provide a connecting device that can be provided with an elastic member in a simple manner.
- a connection device is a connection device that connects a first member and a second member so as to allow relative movement, the first attachment portion to which the first member is attached; a housing including a second mounting portion to which a second member is mounted; an actuator housed inside the housing and generating power for relative movement between the first member and the second member; , an elastic member that can be elastically deformed by rotation of the first member with respect to the housing; and detecting torque that generates rotation based on the elastic deformation of the elastic member.
- the robot includes a first link, a second link, and a connecting device that connects the first link and the second link so as to be relatively rotatable.
- the connecting device includes a housing including a first mounting portion to which a first link is mounted and a second mounting portion to which a second link is mounted; An actuator that generates rotational power, an elastic member that is provided on the outer circumference of the housing and that can be elastically deformed by rotation of the first link with respect to the housing, and a torque that generates rotation based on the elastic deformation of the elastic member is detected. and a torque detector.
- an elastic member can be easily provided in a connecting device or a robot.
- FIG. 4 is a diagram schematically showing the configuration of a coupling device that can be used for each joint of a robot arm;
- FIG. 4 is a diagram schematically showing the principle of torque detection based on elastic deformation of an elastic member; It is a figure which shows the 1st modification of a connection apparatus. It is a figure which shows the 2nd modification of a connection apparatus. It is a figure which shows the 3rd modification of a connection apparatus. It is a figure which shows the 4th modification of a connection apparatus.
- FIG. 1 is a perspective view showing the appearance of a robot arm 100 as an example of an industrial robot or collaborative robot.
- This robot arm 100 is a vertically articulated robot arm with a serial link mechanism.
- a robot to which the present invention can be applied is not limited to a robot arm, and may be any robot having joints (corresponding to joints in the human body) connecting a plurality of links (corresponding to bones in the human body).
- a parallel link mechanism may be used instead of the serial link mechanism, and a horizontal articulated type may be used instead of the vertical articulated type.
- the robot arm 100 has six axes or joints, a first axis 10, a second axis 12, a third axis 14, a fourth axis 16, a fifth axis 18, and a sixth axis 20, in order from the base.
- Each axis corresponds to each joint of the human body.
- the first axis 10 is the waist
- the second axis 12 is the shoulder
- the third axis 14 is the elbow
- the fourth axis 16 is the wrist (rotation)
- the fifth axis 18 is the wrist (bending).
- the sixth axis 20 corresponds to the fingertip (rotation).
- each axis can be appropriately designed according to the purpose and application of the robot arm 100, but in this embodiment, the pedestal is placed on a horizontal plane, and the first axis 10 is set in the vertical direction (perpendicular to the pedestal, which is a horizontal plane). ), the second axis 12 and the third axis 14 are horizontal (parallel to the pedestal which is a horizontal plane), the fourth axis 16 is vertical to the third axis 14, the fifth axis 18 is horizontal, and the sixth axis is horizontal.
- Axis 20 is oriented perpendicular to fifth axis 18 .
- a tip device having a shape and function according to the purpose of work is attached.
- a grapple shape for grabbing things For example, a shovel shape for scooping things up, a fork shape for supporting and transporting things from below, a hook shape for hooking and transporting things, and a shape for lifting and transporting things.
- Various tip devices are available, such as crane-like.
- FIG. 2 schematically shows the configuration of the coupling device 30 that can be used for each joint of the robot arm 100.
- the connecting device 30 connects a first link 41 as a first member and a second link 42 as a second member so as to be relatively movable.
- the connecting device 30 corresponds to a joint in the human body, and the first link 41 and the second link 42 mutually connected by the connecting device 30 correspond to bones in the human body.
- the first link 41 and the second link 42 perform relative motion in various modes depending on the mode of connection by the connecting device 30 .
- the first link 41 and the second link 42 rotate relative to each other around a rotation axis A perpendicular to the extending direction of the first link 41 and the second link 42 will be described.
- the coupling device 30 according to this example is applicable to shafts that perform a "bending" action, such as the second shaft 12, the third shaft 14, and the fifth shaft 18 in FIG.
- the relative motion between the first link 41 and the second link 42 is not limited to rotational motion, and may be translational motion.
- the first link 41 and the second link 42 may be configured to relatively translate in the direction perpendicular to the extending direction of the first link 41 and the second link (the direction perpendicular to the paper surface of FIG. 2).
- the first link 41 and the second link 42 may be configured to relatively translate in a direction parallel to the extending direction of the first link 41 and the second link (the vertical direction in FIG. 2).
- the coupling device 30 includes a housing 31 , a control board 32 , a motor 33 , a speed reducer 34 , an output shaft encoder 35 and an output flange 36 .
- the housing 31 has a shape that is rotationally symmetrical about the rotation axis A, and accommodates the components 32 to 36 of the coupling device 30 therein.
- a first attachment portion 311 to which the first link 41 is attached, a second attachment portion 312 to which the second link 42 is attached, and a flange portion 313 protruding in a radial direction away from the rotation axis A. be provided.
- the first attachment portion 311 is a portion on the outer peripheral surface of the housing 31 where the first link 41 comes into contact or approaches with a minute interval of about 1 mm.
- the first link 41 and the first attachment portion 311 are not fixed to each other, and the elastic member 37 described later fixes the first link 41 to the housing 31 (flange portion 313). Since the elastic member 37 is elastically deformable, a relative rotation of about 5 to 10 degrees around the rotation axis A between the first link 41 and the housing 31 is allowed. If this coupling device 30 is applied to a collaborative robot, even if a person working together collides with the collaborative robot, the impact will be caused by elastic deformation of the elastic member 37 (rotation of the first link 41 with respect to the housing 31). Absorption improves safety.
- the second attachment portion 312 is an opening on the bottom side (left side in FIG. 2) that communicates with the internal space of the housing 31 that accommodates the components 32-36.
- the second link 42 is attached to the housing 31 via the output flange 36 provided in this opening.
- the flange portion 313 is provided at a position away from the first mounting portion 311 along the direction of the rotation axis A.
- An elastic member 37 is interposed between the first link 41 attached to the first attachment portion 311 and the flange portion 313 to fix them.
- the control board 32 is responsible for controlling the entire coupling device 30. For example, generation of a drive command for the motor 33, change of the reduction ratio of the speed reducer 34, adaptive control based on measurement data of the output shaft encoder 35, detection of torque based on elastic deformation of the elastic member 37, adaptation based on the detected torque Control and the like are performed by the control board 32 .
- the motor 33 is an actuator that generates power to rotationally drive the second link 42 around the rotation axis A according to a drive command from the control board 32 .
- the speed reducer 34 reduces the rotational speed of the motor 33 using gears or the like, and generates torque proportional to the speed reduction ratio.
- the speed reduction ratio of the speed reducer 34 can be changed by the control board 32, and torque suitable for the work performed by the robot arm 100 can be generated.
- the output shaft encoder 35 is a rotary encoder that measures the rotational position of the second link 42 relative to the housing 31 around the rotation axis A.
- the output of the output shaft encoder 35 is represents the relative rotation angle of the first link 41 and the second link 42 around the rotation axis A.
- the output flange 36 transfers the torque generated by the speed reducer 34 to the second link 42 causing the second link 42 to rotate about the axis of rotation A.
- a bearing 361 is provided around the output flange 36 to facilitate rotation of the second link 42 with respect to the housing 31 .
- the elastic member 37 is made of an elastic material such as elastically deformable rubber, and surrounds the outer periphery of the housing 31 in a ring shape. Specifically, the elastic member 37 enters an annular gap between the flange portion 313 of the housing 31 and the first link 41 attached to the first mounting portion 311, and rotates the housing 31 and the first link 41 as a rotation axis. rotatably connected around A; Rotation of the first link 41 about the rotation axis A with respect to the housing 31 is caused by an external force. Since the torque due to the external force appears as elastic deformation of the elastic member 37 in the circumferential direction, the torque due to the external force can be detected based on the amount of elastic deformation of the elastic member 37 in the circumferential direction.
- an elastic material such as elastically deformable rubber
- various displacement sensors such as a magnetostrictive sensor, a strain gauge, a piezoelectric element, a polarizing element, and a capacitance sensor may be attached to the surface of the elastic member 37 or the like.
- the amount of elastic deformation measured by the displacement sensor is converted into torque by an arithmetic device or the like mounted on the control board 32 .
- the function of the torque detection section is realized by the displacement sensor and the control board 32.
- FIG. 3 schematically shows the principle of torque detection based on elastic deformation of the elastic member 37.
- FIG. This figure shows a cross section S including the elastic member 37 in FIG. 2, showing only the elastic member 37 (solid line) and the housing 31 (dotted line).
- 3A shows a comparative example in which an elastic member 37' is provided inside the housing 31, and
- FIG. 3B shows this embodiment in which an elastic member 37 is provided outside the housing 31.
- FIG. The size of the annular housing 31 is the same in FIGS. 3(A) and 3(B).
- the present embodiment in FIG. 3(B) has a higher torsional stiffness K than the comparative example in FIG. 3(A).
- the torque sensor The rigidity of the elastic member 37 constituting the torque sensor can be increased while maintaining the accuracy of . Therefore, it is possible to reduce the risk of damage to the elastic member 37 when a strong external force is applied, thereby extending the life of the elastic member 37 .
- the elastic member 37 is provided outside the housing 31, it can be replaced more easily than in the comparative example when replacement is necessary. Furthermore, when the elastic member 37 is provided outside the housing 31, compared to the inside of the housing 31 in which the other components 32 to 36 are accommodated, there are fewer restrictions on the shape, size, and layout, so the configuration is simplified. and facilitate installation.
- the data of the rotation angle ⁇ caused by the elastic deformation of the elastic member 37 and the detected torque ⁇ are used by the control board 32 for adaptive control based thereon. Since the rotation angle ⁇ represents the rotation of the first link 41 about the rotation axis A with respect to the housing 31, it is combined with the measurement data of the output shaft encoder 35 representing the rotation of the second link 42 about the rotation axis A with respect to the housing 31. By matching, the control board 32 can detect an accurate relative rotation angle of the first link 41 and the second link 42 . Further, the control board 32 functioning as a torque detector can detect the torque ⁇ due to the external force based on the rotation angle ⁇ .
- control board 32 controls the first link 41 and the second link 42 to perform desired operations, taking into consideration the relative rotation angle between the first link 41 and the second link 42 and the torque due to the external force. It autonomously generates a drive command for the motor 33 .
- a bearing 411 is provided at the contact portion between the first attachment portion 311 and the first link 41 .
- a bearing 411 that supports the first link 41 rotating with respect to the housing 31 is attached to the bearing attachment portion 311A of the first attachment portion 311 .
- This bearing 411 facilitates the rotation of the first link 41 around the rotation axis A with respect to the housing 31, thereby improving the accuracy of elastic deformation of the elastic member 37 in response to the torque caused by an external force, that is, the accuracy of the torque sensor. do.
- flange portions for attaching elastic members are provided on both sides of the first attachment portion 311 .
- the first flange portion 313A is provided at a position apart from the second link 42 along the rotation axis A with the first mounting portion 311 as a reference (a position on the right side of the first mounting portion 311 in FIG. 5).
- the second flange portion 313B is provided at a position closer to the second link 42 along the rotation axis A (on the left than the first mounting portion 311 in FIG. 5) with the first mounting portion 311 as a reference.
- a first elastic member 37A is interposed between the first link 41 attached to the first attachment portion 311 and the first flange portion 313A to fix both.
- a second elastic member 37B is interposed between the first link 41 attached to the first attachment portion 311 and the second flange portion 313B to fix them.
- the first elastic member 37A and the second elastic member 37B are made of an elastic material such as elastically deformable rubber, like the elastic member 37 described above, and surround the outer circumference of the housing 31 in a ring shape.
- the first link 41 and the second link 42 rotate relative to each other around a rotation axis B parallel to their extending directions.
- the coupling device 30 according to this example can be applied to a shaft performing a "rotating" or “twisting” action such as the first shaft 10, the fourth shaft 16 and the sixth shaft 20 in FIG. Similar to the second modification of FIG. sandwich also.
- An annular first elastic member 37A is attached to an annular gap formed between the first flange portion 313A and the first link 41 and the second link 42, and the second flange portion 313B is attached between the first link 41 and the second link 42.
- An annular second elastic member 37B is attached to the annular gap formed between the link 42 and the ring 42 .
- the first elastic member 37A fixes the first link 41 and the first flange portion 313A so as to be elastically deformable in the circumferential direction.
- the first elastic member 37A does not contact the second link 42 due to the first notch 371A provided on the second link 42 side.
- the second elastic member 37B fixes the first link 41 and the second flange portion 313B so as to be elastically deformable in the circumferential direction.
- the second elastic member 37B does not contact the second link 42 due to the second notch 371B provided on the second link 42 side.
- the elastic members 37A and 37B constitute a torque sensor that detects torque due to the rotation of the first link 41 with respect to the housing 31 (rotation about the left-right direction in FIG. 6).
- the rotation of the second link 42 around the rotation axis B by 33 is not hindered.
- the same effect can be obtained even if the elastic members 37A and 37B are arcuate (for example, semicircular) that covers only the first link 41 side instead of being annular.
- the elastic member 37 constitutes a torque sensor that detects torque due to the rotation of the first link 41 about the rotation axis B with respect to the housing 31 .
- a notch 371 is provided on the second link 42 side of the housing 31 in the same manner as in the third modification of FIG. It is configured so that it does not interfere with
- the elastic members 37, 37A, and 37B provided outside the housing 31 are exposed on the surface of the housing 31. may be attached to and protected.
- This cover can prevent the elastic members 37, 37A, and 37B from being damaged or deteriorated, so that the life of the torque sensor can be extended. Also, the elastic members 37, 37A, 37B can be easily replaced by removing the cover.
- each device described in the embodiments can be realized by hardware resources or software resources, or by cooperation between hardware resources and software resources.
- Processors, ROMs, RAMs, and other LSIs can be used as hardware resources.
- Programs such as operating systems and applications can be used as software resources.
- the present invention relates to a connecting device that connects a plurality of members so that they can move relative to each other, and a robot that uses the connecting device.
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (5)
- 第1部材と第2部材を相対運動可能に連結する連結装置であって、
前記第1部材が取り付けられる第1取付部と、前記第2部材が取り付けられる第2取付部とを備える筐体と、
前記筐体の内部に収容され、前記第1部材と前記第2部材の相対運動の動力を発生させるアクチュエータと、
前記筐体の外周に設けられ、前記第1部材の前記筐体に対する回転によって弾性変形可能な弾性部材と、
前記弾性部材の弾性変形に基づいて前記回転を発生させるトルクを検出するトルク検出部と
を備える連結装置。 - 前記筐体はその外周から突出するフランジ部を備え、
前記弾性部材は前記第1取付部と前記フランジ部の間に設けられる
請求項1に記載の連結装置。 - 前記フランジ部は、前記第1取付部の両側に設けられる第1フランジ部と第2フランジ部とを含み、
前記弾性部材は、前記第1取付部と前記第1フランジ部の間に設けられる第1弾性部材と、前記第1取付部と前記第2フランジ部の間に設けられる第2弾性部材とを含む
請求項2に記載の連結装置。 - 前記第1取付部は前記筐体の外周に設けられ、当該筐体に対して回転する前記第1部材を支持する軸受が取り付けられる軸受取付部を備える請求項1から3のいずれかに記載の連結装置。
- 第1リンクと、第2リンクと、前記第1リンクおよび前記第2リンクを相対回転可能に連結する連結装置を備えるロボットであって、
前記連結装置は、
前記第1リンクが取り付けられる第1取付部と、前記第2リンクが取り付けられる第2取付部とを備える筐体と、
前記筐体の内部に収容され、前記第1リンクと前記第2リンクの相対回転の動力を発生させるアクチュエータと、
前記筐体の外周に設けられ、前記第1リンクの前記筐体に対する回転によって弾性変形可能な弾性部材と、
前記弾性部材の弾性変形に基づいて前記回転を発生させるトルクを検出するトルク検出部と
を備えるロボット。
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CN202280018813.6A CN116963880A (zh) | 2021-03-03 | 2022-02-24 | 连结装置及机械手 |
JP2023503765A JPWO2022186050A1 (ja) | 2021-03-03 | 2022-02-24 | |
EP22763106.6A EP4302940A4 (en) | 2021-03-03 | 2022-02-24 | COUPLING DEVICE AND ROBOT |
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JP2016168647A (ja) * | 2015-03-13 | 2016-09-23 | キヤノン株式会社 | 関節駆動装置およびロボット装置 |
JP2017026150A (ja) | 2015-07-23 | 2017-02-02 | リシンク ロボティクス インコーポレイテッド | 平面状湾曲部材およびそれらを用いたアクチュエータ |
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- 2022-02-24 JP JP2023503765A patent/JPWO2022186050A1/ja active Pending
- 2022-02-24 EP EP22763106.6A patent/EP4302940A4/en active Pending
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JP2016168647A (ja) * | 2015-03-13 | 2016-09-23 | キヤノン株式会社 | 関節駆動装置およびロボット装置 |
JP2017026150A (ja) | 2015-07-23 | 2017-02-02 | リシンク ロボティクス インコーポレイテッド | 平面状湾曲部材およびそれらを用いたアクチュエータ |
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