JP2699941B2 - Robot joints - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot joint which facilitates connection and disassembly.

[0002]

2. Description of the Related Art Conventionally, a robot joint for realizing a multi-degree-of-freedom operation is composed of a plurality of links and a joint for connecting the links. Alternatively, since the link is permanently connected along the link, it is not easy to disassemble the plurality of links.

Further, all the joints are all controlled by a centralized control device, and when the joint structure is changed, it is necessary to develop a control program in the control device again. Due to the above restrictions, it has been difficult to develop a robot joint that freely changes the joint structure.

The proposal of a system for modularizing robot joints and dynamically reconstructing the connected state was proposed by Fukuda et al. Under the title of "Research on Dynamically Reconfigurable Robotic Systems", The 8th Annual Meeting of the Robotics Society of Japan. It is described in the proceedings of the lecture.

[0005]

In the conventional modular robot joint, a plurality of joints can be separated and connected to each other. However, since the mechanism is complicated and the weight of each joint is large, a large number of joints such as a robot arm are required. It was difficult to construct a mechanism for deforming the joint in space.

In addition, there has been a problem that it is necessary for the entire control unit to manage structural parameters for each mechanism for a plurality of joints, and the control structure becomes complicated. Further, there is another problem that when a large number of joints are connected, the coordinate transformation matrix calculation for each joint increases.

An object of the present invention is to provide a robot joint that solves these problems.

[0008]

According to the present invention, one or more of the following:
Has multiple degrees of freedom of bending or telescopic joints and joint drives
It consists of a mechanism, a joint drive unit, and a control calculation unit.
Robot joints that can be mechanically separated and connected to each other
First, the joint module is placed on both sides of the joint.
A link that will form the structure of the
Is the first half of the cross section after the adjacent joint module is connected
Shape and the second link is the first half of the cross section
And occupy the second half on the opposite side, and the first
And a connecting pin at the end of the second link and adjacent to each other
The first and second links of the
A mechanical guide section in the area where
Robot joints, and secondly first
In the described robot joint, control the drive operation of the motor
The control operation unit that performs
Characterized by having means for calculating a coordinate transformation matrix between joints
Claims 1 and 2
From a combination of robot joints that
The plurality of robot joints having different sizes from each other
Combined with each other via a joint conversion module
Robot joint characterized by

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Specific embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a perspective view showing a reference example of the present invention. In the figure, a bendable or telescopic joint 1 having one or a plurality of degrees of freedom forms a joint module by connecting links 2 and 3 on both sides of the joint. Inside the joint module, a motor 11 and a deceleration mechanism 12 for driving the joint, a motor driver 21 for driving the motor 11 and a control operation unit 22 for controlling the driving operation are integrally provided.

At the ends of the link 2 and the link 3, electrical connectors 31 and 32 for electrically connecting adjacent joint modules, and connecting pins 41 for mechanically connecting the adjacent joint modules to each other. And a mechanical coupling mechanism comprising a coupling pin fixing means 42 and a mechanical guide 43 for strengthening the coupling.

FIG . 3 is a perspective view showing a first embodiment of the present invention.
(A) and a side view (b). In the figure, 1 or
A flexible or telescopic joint 1 having a plurality of degrees of freedom
Link 2 and 3 on both sides of the joint
Configure the module. Drive the joints inside the joint module.
The motor 11 and the speed reduction mechanism 12
Moving motor driver 21 and control for controlling driving operation
The calculation unit 22 is provided integrally. In particular, joint 1
Link 2 and link 3 placed on both sides
The link 2 is the first section of the cross section after the adjacent joint module is connected.
The link 3 has a shape occupying one half of the
The shape occupies one half of the second half opposite to one half
You. In the example shown in the figure, link 2 is
Link 3 becomes the lower half of the link after joining.
Shape. That is, the link of the joint module
Is located above link 3 of the adjacent joint module.
Combined to hit.

A linking pin is provided at the tip of each of the links 2 and 3.
41A, 41B, 41C, 41D and coupling pin fixing means
42A, 42B, 42C, and 42D are installed. Link 2
Lower side 43A and upper side 43B of link 3
Are mechanical guides that fit each other
Configure. Multiple joints with connecting pins and mechanical guides
Marking the module in various directions, such as bending and twisting
It can be firmly connected to an applied force.

In the configuration shown in FIG. 3, the joint 1 is moved in two directions.
When two-degree-of-freedom adjustment is possible, it is driven
11A and 11B for connection and coaxially connected to the motor
Link the speed reducers 12A and 12B
It can be built inside the link 3. Usually large
Motors and decelerators that generate torque are small in diameter
The length is often long. In the configuration shown, adjacent joints
Module motors and reducers can be arranged one above the other
Therefore, even when multiple joint modules are connected,
The distance between them should be close to the length of one set of motor and reducer.
It becomes possible. Because the driving torque is large,
When the speed reducer is installed closer to the joint 1
The motor can be placed on top of
Reduce the distance between joints when connecting modules
And it is possible.

The control operation unit 22 and the motor driver 21
Can be installed on the link 3. Link 2
Electrical connection connectors 31 and 32
Is installed.

FIG . 2 shows a control function mounted on the joint module.
FIG. 3 is a block diagram illustrating a configuration of a calculation unit 22. Arithmetic CPU2
21 and the joint parameter storage means 222
Communication means 223 between the joint modules and adjacent joints
Power supply line 224 for electrically connecting modules and communication
A line 225 and an auxiliary connection line 226 are provided, respectively.
Connected to the electrical connectors 31 and 32.
Therefore, the arithmetic CPU 221 is required to execute the control arithmetic.
Necessary arithmetic circuit, memory, clock generation circuit, peripheral input / output
It is shown as a block containing circuits, etc.
It may be integrated on a chip or mounted as a plurality of chips.
The connection with the motor driver is omitted.

As the joint parameter storage means 222
Is a joint module using read only memory
All parameters related to the shape and mechanism configuration of the joint module
Configuration with a read-only memory or
Simply write the number of the joint module by jumper wire, etc.
Remember, a host computer installed outside the joint module
Any of the configurations for storing clause parameters may be used.

The control operation unit 22 shown in FIG.
Blocks and the motor driver 21 are the same circuit.
Configuration to be mounted on a board and mounting separately on several boards
That the present invention is realized by any of the configurations
There is no difference, it can be selected according to implementation requirements
Is clear.

FIG. 4 is a perspective view showing a third embodiment of the present invention. The basic components are the same as in the second embodiment,
In particular, links 2 and 3 placed on both sides of joint 1
As for the link 2, among the components constituting the joint module, an electrical connector 31 and a coupling pin 41 and a mechanical guide 43 constituting a mechanical coupling mechanism are installed. The other link 3 includes a motor and a speed reducer 10 for driving a joint, in addition to an electric connector 32 and a connecting pin fixing means 42 and a mechanical guide 43 constituting a mechanical connecting mechanism. The circuit and the control circuit 20 are installed.

According to the configuration shown in FIG. 4, since no motor is provided on the link 2 side, there is no need to consider the length of the motor. A functional component such as a hand or a camera can be attached as short as possible from the center of the joint, and a joint module with good operability can be obtained.

FIG. 5 is a block diagram showing a third embodiment of the present invention. FIG. 4 is a block diagram illustrating an embodiment of a control operation unit mounted on the first and second embodiments of the present invention. It is characterized in that, in addition to the configuration of the control calculation unit shown in FIG. 2, there is a means 230 for calculating a coordinate transformation matrix between adjacent joints corresponding to the current joint displacement.

If the CPU mounted on each joint module has sufficient computing power, the C
After the joint displacement is measured by the PU, a coordinate transformation matrix is calculated on each joint and transferred to the host computer. Even when a large number of joints are connected, the process for obtaining the coordinate transformation matrix from the measured joint displacements requires only a calculation time for one joint module. Although the time required to transfer the coordinate transformation matrix is required as an overhead, it does not matter when a high-speed communication line is applied. For this reason, the load on the CPU for overall control can be significantly reduced, and the overall control operation of a mechanism in which a plurality of joint modules are coupled can be executed at high speed.

FIG. 6 is a side view showing a fourth embodiment of the present invention. A robot joint according to any one of the first to third aspects of the present invention, in which a large number of joint modules having the same shape and size are combined. With the configuration according to the present invention, the number of joint modules to be connected can be freely increased or decreased according to the operation to be applied. In particular, in an environment where the influence of gravity is minimal, such as in outer space, it is easy to combine a large number of joint modules and apply them to complicated tasks.

FIG. 7 is a diagram showing a three-dimensional shape resulting from driving a robot joint according to a fourth embodiment of the present invention.
By coupling a large number of joint modules having the same shape, the outer shape has a small unevenness while taking a three-dimensional shape, and it becomes possible to insert it into a complicated part.

FIG. 8 is a side view showing a fifth embodiment of the present invention. A robot joint according to any one of the first to third aspects of the present invention, in which a plurality of joint modules having different sizes are combined in series. At this time,
Adjustment modules of different sizes cannot be directly coupled and are combined via a coupling conversion module 4. As a result, when used in an environment affected by gravity, the joint module close to the part where the robot joint is fixed should be large and capable of generating large torque, and the smaller and lighter joint module will be used closer to the tip. can do. Thus, even in an environment affected by gravity, a large number of joint modules can be connected and applied to a complicated operation.

On the other hand, as shown on the right side of FIG. 8, a coupling conversion module is not required at a place where modules of the same size are coupled.

FIG. 9 is a diagram showing a sixth embodiment of the present invention. A robot joint according to any one of the first to third aspects of the present invention, in which a plurality of joint modules having different sizes are branched in series and in parallel, and many are combined. At this time, the joint modules having different sizes are combined via the joint conversion module, similarly to the configuration shown in FIG. Furthermore, since the plurality of joint modules are branched and connected, the connection conversion modules 101 and 102 at the center are configured so that the joint modules can be connected particularly in various directions. Further, the hand modules 106 and 107 and the foot module 1 are located at the ends of the joints connected in series.
The human-like bot is constituted by combining 04 and 105.

According to the configuration using the coupling conversion module shown in the figure, a humanoid robot capable of connecting a joint module having a similar shape according to the present invention and changing the directivity direction by two feet and two arms and necks. Can be configured.

In the figure, the configuration has two legs and two arms and necks as an example. However, it is possible to have an arbitrary number of legs, arms and necks by the configuration of the coupling conversion module. it is obvious.

The configuration and operation of each block described above can be easily inferred by those skilled in the art, and further detailed description will be omitted.

[0031]

According to the present invention, it is possible to obtain a robot joint which has a plurality of degrees of freedom, is mechanically and electrically independent for each joint, and is easily separated and connected. For this reason, it becomes easy to prepare a robot joint having the same mechanism or a robot joint configured for each function, and to rearrange and reconfigure according to a change in work request. That is, it is possible to adapt to a large number of work requests by combining a small number of types of robot joints prepared in advance.

When a joint module fails, it can be easily repaired by separating the failed joint module and replacing it with a normal joint module having the same configuration. In applications such as home use, an easy repair function in case of failure is very important. Also in this case, since the configuration of the joint module is simple, a spare joint module for a failure can be prepared without a large investment. The joint module for the failure can be easily used for other purposes such as the third arm of the humanoid robot while the failure does not occur.

According to the present invention, the structure using the mechanical guide and the connecting pins provided at both ends of the connecting portion enables the adjacent modules to be firmly connected by the connecting pin fixing means having a simple structure. Further, since the fixing is realized only by the connecting pin fixing means, the separation is easy.

In the case where the coordinate conversion matrix calculating means is mounted for each joint module, even if the total number of joint modules to be connected increases, the operation time of the coordinate conversion matrix does not increase and the control operation can be executed efficiently. Can be.

Regarding the joint use of a plurality of joint modules, the joint conversion module can be easily applied to joint the joint modules having different sizes. Therefore, by using a large module on the fixed side, many joint modules can be connected in series in an environment affected by gravity. Further, it is easy to configure a humanoid robot by using a coupling conversion module capable of branching and coupling a plurality of modules.

According to the present invention described above, it is easy to construct a robot system which can easily respond to various work requests by combining a large number of joint modules having a simple shape, and a robot joint which solves the above-mentioned conventional problems. Is obtained.

[Brief description of the drawings]

FIG. 1 is a diagram showing a reference example of the present invention.

FIG. 2 is a block diagram showing a configuration of a control calculation unit 22 mounted on the joint module.

FIG. 3 is a perspective view showing a first embodiment of the present invention.

FIG. 4 is a perspective view showing a second embodiment of the present invention.

FIG. 5 is a block diagram showing a third embodiment of the present invention.

FIG. 6 is a side view showing a fourth embodiment of the present invention.

FIG. 7 is a diagram showing a three-dimensional shape as a result of driving a robot joint according to a fourth embodiment of the present invention.

FIG. 8 is a side view showing a fifth embodiment of the present invention.

FIG. 9 is a diagram showing a sixth embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Joint 2, 3 link 11 Motor 12 Reducer 21 Motor driver 22 Control calculation part 31, 32 Electrical connection connector 41 Connection pin 42 Connection pin fixing means 43 Mechanical guide part 221 Calculation CPU 222 Joint parameter storage means 223 Communication means 224 Power line 225 Communication line 226 Auxiliary connection line

Claims (3)

(57) [Claims] Claims 1. A bendable or stretchable one or more degrees of freedom
Joint and joint drive mechanism, joint drive unit and control calculation unit
Be electrically and mechanically separable and connectable to each other
Joints on both sides of the robot joint
Set up the link that will be the module structure and
Link is the first half of the cross section after the adjacent joint module is connected
The shape occupies one side, and the second link is the first of the cross section.
Occupy one half of the second half opposite the half
Installing a connecting pin at the end of the first and second links, and
The first and second links of adjacent joint modules
A mechanical guide at the point where
A robot joint characterized by becoming. 2. The robot joint according to claim 1, wherein
As a control operation unit that controls the drive operation of the motor,
Calculation method of coordinate transformation matrix between adjacent joints corresponding to joint displacement
Robot joint characterized by having a step. 3. A method according to claim 1, wherein
It consists of a combination of bot joints and
A coupling conversion module connects the plurality of different robot joints to each other.
Robots characterized by combining via
section.