CN107073720B - Manipulator Hand and manipulator - Google Patents

Manipulator Hand and manipulator Download PDF

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Publication number
CN107073720B
CN107073720B CN201480082825.0A CN201480082825A CN107073720B CN 107073720 B CN107073720 B CN 107073720B CN 201480082825 A CN201480082825 A CN 201480082825A CN 107073720 B CN107073720 B CN 107073720B
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China
Prior art keywords
driven
tip
manipulator
link
shaft
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CN201480082825.0A
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CN107073720A (en
Inventor
村上润一
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Kawasaki Heavy Industries Co Ltd
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Kawasaki Heavy Industries Co Ltd
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Priority to PCT/JP2014/005363 priority Critical patent/WO2016063314A1/en
Publication of CN107073720A publication Critical patent/CN107073720A/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/08Gripping heads and other end effectors having finger members
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0009Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0004Braking devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102Gears specially adapted therefor, e.g. reduction gears

Abstract

Manipulator Hand has: pedestal;Grasping claw;Link Chebyshev's link mechanism of pedestal and grasping claw;It is fixed on the shell of pedestal;Rotatably it is supported at least one of pedestal and shell and to the input shaft of Chebyshev's link mechanism input power;With the output shaft parallel with input shaft and it is supported in the motor of shell;The coaxial transmission shaft for above and being rotatably supported in shell is disposed in input shaft;From the power transfer mechanism of output axial drive shaft transmitting power;And the deceleration device being set between transmission shaft and input shaft, motor, transmission shaft and deceleration device are set to the same side from power transfer mechanism.

Description

Manipulator Hand and manipulator
Technical field
The present invention relates to the Manipulator Hand of the end effector as the tip end portion for being installed on manipulator arm and tools The manipulator of the standby Manipulator Hand.
Background technique
In the past, the industrial robot of the end effector of operation is suitable for using the tip end portion installation in manipulator arm. One kind as end effector, it is known that there are two fingers and hold Manipulator Hand (the so-called fixture of workpiece (gripper)).This Manipulator Hand is to utilize the Chebyshev's connecting rod for converting rotational motion to linear motion The Manipulator Hand of (Chebyshev linkage) mechanism, in patent document 1 by present applicant motion.
The finger of Manipulator Hand described in patent document 1 is made of Chebyshev's link mechanism, Chebyshev's connecting rod Mechanism has: the dynamic section of the original being driven in rotation centered on the base end part for being supported in base station;Base end part rotatably with base The driven section of platform connection;Base end part rotatably the tip end portion connection with former dynamic section and middle part rotatably with driven section Tip end portion connection middle node.Moreover, finger tip portion is provided in the tip end portion of the middle node of Chebyshev's link mechanism, with Straight line portion in the motion track of all shapes acquired by the motion track in the finger tip portion and the middle node of Chebyshev's link mechanism Corresponding form determines the rotating range of former dynamic section.
Existing technical literature:
Patent document:
Patent document 1: International Publication WO2010/007795 bulletin.
Summary of the invention
Problems to be solved by the invention:
The manipulator hand of Chebyshev's link mechanism of above patent document 1 and the fixture shape with two fingers is utilized Portion, there are two former dynamic section, each former dynamic sections to have motor for tool.The rotary shaft of the dynamic section of two originals is arranged in parallel, and two motors are concentrated It is configured at the side that axis supports the base station of former dynamic section.Generally, deceleration device and motor combination use, motor and deceleration device string Connection (i.e. coaxial on) configuration.In order to avoid include these motors and deceleration device finger driving portion and manipulator arm Interference, the movable range of limit mechanical hand hand.Therefore, it is desirable to which the driving portion of finger is small as far as possible.
The Manipulator Hand of Chebyshev's link mechanism of above patent document 1 is utilized, the stroke of the finger tip of finger is big In the length of fixed knot, it is possible to minimize finger relative to the stroke of required finger tip.Finger has been achieved Miniaturization Manipulator Hand in, it is expected that the Manipulator Hand due to caused by the miniaturization of the driving portion of finger it is whole into The miniaturization of one step.
The present invention generates in view of the above circumstances, and the purpose is to realize the manipulator that Chebyshev's link mechanism is utilized Hand miniaturises.
The means solved the problems, such as:
The Manipulator Hand of a form according to the present invention, which is characterized in that have: pedestal;Grasping claw;Link the pedestal With Chebyshev's link mechanism of the grasping claw;It is fixed on the shell of the pedestal;Rotatably it is supported in the pedestal And at least one of described shell and to the input shaft of Chebyshev's link mechanism input power;With with it is described defeated Enter the parallel output shaft of axis and is supported in the motor of the shell;It is disposed in coaxial upper with the input shaft and rotatably props up It is held in the transmission shaft of the shell;From the power transfer mechanism of the axial transmission shaft transmitting power of the output;Be set to Deceleration device between the transmission shaft and the input shaft.
Also, the manipulator of a form according to the present invention, which is characterized in that have: the manipulator master with manipulator arm Body;It is installed on the Manipulator Hand of the tip end portion of the manipulator arm;With the control manipulator arm and institute State the controller of the movement of Manipulator Hand.
According to the Manipulator Hand of above structure and have the manipulator of the Manipulator Hand, by motor and can slow down Device configures side by side.Therefore, compared with by motor and the Manipulator Hand of deceleration device arranged in series, shell can be reduced Size (the especially size in the direction parallel with the output shaft of motor).And then it is possible to realize the miniaturizations of Manipulator Hand.
Invention effect:
In accordance with the invention it is possible to seek miniaturising for Manipulator Hand.
Detailed description of the invention
Fig. 1 is the substantially side view for having the multi-joint manipulator of Manipulator Hand of an implementation form according to the present invention Figure;
Fig. 2 is the figure for showing the general configuration of Manipulator Hand;
Fig. 3 is the figure for showing the finger for the Manipulator Hand that finger tip is in off state;
Fig. 4 is the figure for showing the finger for the Manipulator Hand that finger tip is in an open state;
Fig. 5 is the V direction view for showing Fig. 2 of the construction of finger of Manipulator Hand;
Fig. 6 is to show the VI-VI of Fig. 2 of the construction of driving portion of finger to cross-sectional view;
Fig. 7 is the figure for showing the structure of control system of multi-joint manipulator;
Fig. 8 A in Fig. 8 is according to the figure of the Manipulator Hand of this implementation form, and Fig. 8 B is according to servo motor, deceleration dress Set and brake apparatus be configured at comparative example on coaxial Manipulator Hand figure;
Fig. 9 is the figure for illustrating general Chebyshev's link mechanism and its trend.
Specific embodiment
Then, it is described with reference to implementation form of the invention.Fig. 1 is the machinery for having an implementation form according to the present invention The substantially side view of the multi-joint manipulator 10 of hand hand.As shown in Figure 1, the multi-joint of an implementation form is mechanical according to the present invention Hand 10 is substantially by the manipulator main body 2 with manipulator arm 20;It is installed on the manipulator hand of the tip end portion of manipulator arm 20 Portion 1;It is constituted with the controller 3 of the movement of control multi-joint manipulator 10.Each knot of multi-joint manipulator 10 described further below Structure element.
Firstly, manipulator main body 2 is described in detail.Have base station 30 according to the manipulator main body 2 of this implementation form and supports In the manipulator arm 20 of base station 30.Manipulator arm 20 includes vertical arm rotary shaft 21, horizontal arm antero posterior axis 22, water Flat arm upper and lower axle 23 and the substantially orthogonal wrist rotary shaft 24 of arm upper and lower axle 23 and the substantially orthogonal hand of wrist rotary shaft 24 Wrist bending axis 25 and the wrist torsional axis 26 substantially orthogonal with wrist flex axis 25.That is, manipulator main body 2 is that six axis are vertically more Articulated robot.But be applicable in manipulator main body 2 of the invention and be not limited to this, it is also possible to manipulator arm 20 ?.Manipulator main body 2 is for example also possible to vertical articulated robot hand or articulated type manipulator other than six axis Deng.
Manipulator arm 20 has: the first arm 31 that can rotationally link with base station 30 around arm rotary shaft 21;It can be around The second arm 32 that arm antero posterior axis 22 rotationally links with the tip end portion of the first arm 31;It can be around arm upper and lower axle 23 rotationally with second The third arm 33 of the tip end portion connection of arm 32;The 4th arm 34 that can be rotationally connect with third arm 33 around wrist rotary shaft 24; The wrist 35 that can be rotationally connect with the tip end portion of the 4th arm 34 around wrist bending axis 25;With around wrist torsional axis 26 and wrist The hand adapter 36 of 35 connections.Manipulator main body 2, which is also equipped with to rotate around each axis 21~26, drives watching for each arm element 31~35 Take 61~66(of motor Fig. 7) etc. driving mechanisms.
Then, Manipulator Hand 1 is described in detail.Fig. 2 is the figure for showing the general configuration of Manipulator Hand 1, and Fig. 3 is to show The figure of the finger 42 for the Manipulator Hand 1 that finger tip is in off state, Fig. 4 are the Manipulator Hands 1 for showing finger tip and being in an open state Finger 42 figure, Fig. 5 is the V direction view for showing Fig. 2 of the construction of finger 42 of Manipulator Hand 1, and Fig. 6 is to show finger 42 Driving portion 43 construction Fig. 2 VI-VI to cross-sectional view.
As figures 2-6, Manipulator Hand 1 has: being fixed on the pedestal 41 of the hand adapter 36 of manipulator main body 2; It is supported in a pair of finger 42 of pedestal 41;With the driving portion 43 of driving a pair of finger 42.The finger tip (tip end portion) of a pair of finger 42 On be separately installed with grasping claw 44.Being sticked in the contact portion with workpiece of grasping claw 44 has padded coaming 45.A pair of finger 42 In, a finger 42 is the finger 42A of the active system driven by the power transmitted from aftermentioned servo motor 81, another finger 42 are (that in more detail, transmits from input shaft 46 to driven system's input shaft 47 is dynamic by the power transmitted from the finger 42A of active system Power) drive driven system finger 42B.In the specification, the finger of finger 42A and driven system that intended distinction is not actively When 42B, it is expressed as finger 42.
Pedestal 41 is formed as section U-shaped (Fig. 5), has the bottom wall 411 for being fixed on hand adapter 36 and from bottom wall 411 A pair of sidewalls 412,412 of standing.The shell for accommodating the structural element of driving portion 43 is fixed on one of a pair of sidewalls 412 40.For from driving portion 43 to two of 42 input power of finger parallel input shaft (input shaft 46 and driven system's input shaft 47) run through this side wall 412, two input shafts 46,47 are prominent into pedestal 41.
Each finger 42 be formed as include Chebyshev's link mechanism 5 link mechanism.In other words, grasping claw 44 is by packet The link mechanism for including Chebyshev's link mechanism 5 is supported in pedestal 41.
Fig. 9 is the figure for illustrating general Chebyshev's link mechanism 5 and its trend.As shown in figure 9, Chebyshev's connecting rod machine Structure 5 is to have former dynamic section 51, fixed knot 50, driven section 52 and the link mechanism of middle node 53 4 sections (connecting rod).The dynamic section of original 51 base end part rotatably with the base end part of fixed knot 50 link, the base end part of driven section 52 rotatably with fixed knot 50 tip end portion connection, the tip end portion of Yuan Dongjie 51 rotatably link with the base end part of middle node 53, the tip of driven section 52 End rotatably links with the middle part of middle node 53.If with the length of former dynamic section 51 for " 1 ", ratio are as follows: fixed knot 50 length is " 2 ", the length of driven section 52 is " 2.5 ", the length of middle node 53 is " 5 ".The Chebyshev of above structure connects In linkage 5, during Yuan Dongjie 51 one centered on base end part rotation, the tip end portion of middle node 53 motion track 500 Are as follows: the curve part between straight line portion 501 substantially parallel with fixed knot 50 in some face and the end for linking the straight line portion 501 502 are formed by all shapes of substantially D font.With the rotation angle of the dynamic section 51 of the original of erected state for 0 degree, with rotation counterclockwise The direction of rotation that direction is positive, then with former dynamic section 51 from 0 degree to corresponding 53 tip of middle node of rotary motion 180 degree The motion track 500 of end is above-mentioned straight line portion 501.
Fig. 2~6 are back to, a pair of finger 42 is formed as using the center of Manipulator Hand 1 as axial symmetry (each paper of Fig. 2~4 Bilateral symmetry on face).The structure of a finger 42 described further below, because indicating corresponding structure with identical reference marks Part, so omitting the explanation of the structure about another finger 42.
Finger 42 has: Yuan Dongjie 51, driven section 52, middle node 53, assisting saving 55, centre from dynamic auxiliary section 54, centre Section 57 is combined in conjunction with section 56 and tip end portion.Moreover, connection pedestal 41 and the link mechanism of grasping claw 44 are by these sections 51~57 And the pedestal 41 functioned as fixed knot is constituted.Tip end portion combines and is provided with joint portion 57a on section 57, and grasping claw 44 is borrowed Fastener (not shown) etc. is helped to be removably secured to joint portion 57a.
The base end part of the dynamic section 51 of original is fixed on input shaft 46(or driven system's input shaft 47), and with input shaft 46(or driven It is input shaft 47) unitary rotation.The tip end portion of the dynamic section 51 of original is by the first joint shaft 71 rotatably base with middle node 53 End connection.The base end part of driven section 52 is fixed on the second joint axis for being rotatably supported in 41 a pair of sidewalls 412 of pedestal 72.The tip end portion of driven section 52 rotatably connects with the length direction middle position of middle node 53 by third joint shaft 73 Knot.The tip end portion of middle node 53 is by rotatably 57 connection of section in conjunction with tip end portion of the 4th joint shaft 74.
Input shaft 46, the first joint shaft 71, second joint axis 72, third joint shaft 73 and each axis of the 4th joint shaft 74 The extending direction in axle center is parallel.Moreover, when being " 1 " at a distance from the first joint shaft 71 with input shaft 46, with input shaft 46 and the The distance of two joint shafts 72 be " 2 ", the first joint shaft 71 with third joint shaft 73 at a distance from be " 2.5 ", second joint axis 72 and The distance of third joint shaft 73 is " 2.5 ", and form of the third joint shaft 73 at a distance from the 4th joint shaft 74 for " 2.5 " determines each The ratio of the length of section.But strictly speaking the specification axis is the distance from axle center to axle center at a distance from axis.
Chebyshev's link mechanism 5 is moved by the original of above structure saves 51, driven section 52, middle node 53 and as fixation The a part for saving the pedestal 41 functioned is constituted.Moreover, with the shifting of the tip end portion of the middle node 53 of Chebyshev's link mechanism 5 Dynamic range (motion track) and the movement as all shapes acquired by Chebyshev's link mechanism 5, Chebyshev's link mechanism 5 Track 500(Fig. 9) in straight line portion 501(Fig. 9) corresponding form, determine that former dynamic section 51(, that is, input shaft 46 or driven system input Axis 47) slewing area.
From the base end part of dynamic auxiliary section 54 between input shaft 46 and second joint axis 72, it is fixed on and rotatably supports In the 5th joint shaft 75 of a pair of sidewalls 412 of pedestal 41.Input shaft 46, second joint axis 72 and the arrangement of the 5th joint shaft 75 In on substantially same straight line.The straight line for linking the input shaft 46 and second joint axis 72 is known as " benchmark for convenience of description Line L ".56 connection of section is rotatably combined with centre by the 6th joint shaft 76 from the tip end portion of dynamic auxiliary section 54.Centre knot It closes section 56 and rotatably links with driven section 52 by third joint shaft 73.In addition, as shown in figure 5, in third joint shaft 73 Axis direction on, the inside of driven section 52 is equipped with middle node 53, in addition, the inside of middle node 53 is equipped and intermediate combines section 56.In this way, which it is possible to realize the densifications of finger 42.
Among the above, second joint axis 72 is at a distance from the 5th joint shaft 75 and third joint shaft 73 and the 6th joint shaft 76 Be equidistant.Also, second joint axis 72 is at a distance from third joint shaft 73 and the 5th joint shaft 75 and the 6th joint shaft 76 It is equidistant.That is, four section parallel linkages 48 of base portion side by driven section 52, from dynamic auxiliary section 54, it is intermediate combine section 56 with And a part of pedestal 41 is constituted.
The base end part of centre auxiliary section 55 is rotatably combined 56 connection of section by the 6th joint shaft 76 with centre.Also, The tip end portion of centre auxiliary section 55 is by rotatably 57 connection of section in conjunction with tip end portion of the 7th joint shaft 77.Among the above, Three joint shafts 73 are equidistant at a distance from the 6th joint shaft 76 with the 4th joint shaft 74 and the 7th joint shaft 77.Also, third Joint shaft 73 is equidistant at a distance from the 4th joint shaft 74 with the 6th joint shaft 76 and the 7th joint shaft 77.That is, tip end portion Four section parallel linkages 49 of side are by the tip end portion side of middle node 53, intermediate auxiliary section 55, intermediate combination section 56 and top end Portion combines section 57 to constitute.
As shown in fig. 6, the driving portion 43 of finger 42 has: servo motor 81;Transmit the power from servo motor 81 Output gear 82;The driven gear 83 engaged with output gear 82;It is dynamic from servo motor 81 to output gear 82 with being set to Deceleration device 84 and brake apparatus 85 on power transmission path.
Servo motor 81, output shaft 811 are supported in being arranged with the substantially parallel form of two input shafts 46,47 Shell 40.The detector 86 of the rotation position and rotation speed for detecting servo motor 81 is provided on servo motor 81. Detector 86 is, for example, rotary encoder.Detector 86 amplifies by detector cable 86a and aftermentioned controller 3 and servo Device 97 is electrically connected.
The transmission shaft 90 for being rotatably supported in shell 40 is provided on the extended line of the input shaft 46 of shell 40.Input Axis 46 is configured on coaxial with transmission shaft 90, the extending direction in each axle center of the output shaft 811 and transmission shaft 90 of servo motor 81 It is substantially parallel.
Assembly has driving belt pulley 87 on the output shaft 811 of servo motor 81, corresponding driven with the driving belt pulley 87 88 assembly of belt pulley is in transmission shaft 90.Cricoid transmission belt 89 is equipped on driving belt pulley 87 and driven pulley 88.By this A little belt pulleys 87,88 and transmission belt 89 form belt power transfer mechanism 8, pass from the power transfer mechanism 8 to transmission shaft 90 Pass the output of servo motor 81.
Brake apparatus 85 is provided on transmission shaft 90.According to the brake apparatus 85 of this implementation form, for by being powered to coil And the electromagnetic brake that the electromagnetic force generated drives, it is braked when non-energized, when energization releases braking maneuver.By such The movement of brake apparatus 85, even if in Manipulator Hand 1(or multi-joint manipulator 10) force stop when etc. cut off to manipulator When the power supply of hand 1, Manipulator Hand 1 can also continue to hold workpiece.
From servo motor 81 in the power transfer path of output gear 82, the back segment of brake apparatus 85 is provided with deceleration dress Set 84.In more detail, between transmission shaft 90 and input shaft 46, that is, from transmission shaft 90 in the power transfer path of input shaft 46 It is provided with deceleration device 84.The input unit and transmission shaft 90 of deceleration device 84 link, and power is from transmission shaft 90 to deceleration device 84 Input.The output section of deceleration device 84 and output gear 82 link, and the rotary power to be slowed down by deceleration device 84 is from output gear 82 outputs.In addition, according to the deceleration device 84 of this implementation form, for by the wave producer and output gear that link with transmission shaft 90 The flexible gear of 82 connection of wheel is fixed on the harmonic gear drive that the rigid gear of shell 40 is formed.
Deceleration device 84 and brake apparatus 85 and servo motor 81 are configured at side by side in shell 40.In this implementation form, Between the axis direction length for the servo motor 81 for connecting servo motor 81 and detector 86, it is equipped with deceleration device 84 and system Dynamic device 85.
Output gear 82 and driven gear 83 can rotationally be supported in shell 40.Output gear 82 and driven gear 83 For the wheel of the same shape, input shaft 46 is integrally provided to output gear 82, driven system's input shaft 47 be integrally provided to from Moving gear 83.Rotary power is transferred to output gear 82 from servo motor 81 to which output gear 82 rotates, then is engaged with Driven gear 83 is also with rotation angle identical with output gear 82 reverse rotation.That is, input shaft 46 and driven system's input shaft 47 Simultaneously and with the mutually opposing rotation of identical rotation angle.Whereby, the finger tip of the finger 42 of Manipulator Hand 1 and a pair of of grasping claw 44 simultaneously and as such to being located remotely from each other or direction close to each other is moved.
Then, illustrate controller 3.Fig. 7 is the figure for showing the structure of control system of multi-joint manipulator 10.In the figure, The structure with the associated control system of control of Manipulator Hand 1 is particularly illustrated, other structures are omitted.As shown in fig. 7, to The servo amplifier 91 of the supply driving current of each servo motor 61~66 of each axis 21~26 of rotary driving machine tool hand main body 2~ 96 connect with controller 3.Also, detector 61a~66a such as encoder is provided on each servo motor 61~66, to control Device 3(or controller 3 and each servo motor 61~66) input detected by detector 61a~66a servo motor 61~ 66 rotation position.Also, to the servo amplifier 97 and controller 3 of the servo motor 81 of Manipulator Hand 1 supply driving current Connection.The rotation position of the servo motor 81 detected from detector 86 is to controller 3(or controller 3 and each servo motor 61~66) it inputs.In addition, any one in detection output gear 82, driven gear 83, input shaft 46 and driven system's input shaft 47 The rotational position detector 98 of a rotation position is connect with controller 3.By the rotation detected by the rotational position detector 98 Indexing is set, and can speculate the finger tip of a pair of finger 42 of Manipulator Hand 1 and the position of a pair of of grasping claw 44.
Controller 3 is computer, has the storage units such as calculation processing units, ROM, RAM (not shown) such as CPU.Storage unit In be stored with program performed by calculation processing unit, various fixed datas etc..Calculation processing unit carries out the data with external device (ED) Transmitting-receiving.Also, calculation processing unit carries out the input of the detection signal from various sensors or controls signal to each control object Output.Controller 3 read and executed by calculation processing unit the softwares such as the program for being stored in storage unit carry out it is more for controlling The processing of the movement of joint Manipulator 10.It is executed everywhere in addition, controller 3 can be by the centralized control of single computer Reason is also possible to the decentralised control to cooperate by multiple computers and executes each processing.Also, being also possible to controller 3 by miniature control Device processed, programmable logic controllers (PLC) etc. are constituted.
When executing program by above controller 3, so that the form that Manipulator Hand 1 is mobile to target position according to program, Based on the rotation position detected by detector 61a~66a, the output control letter from controller 3 to each servo amplifier 91~96 Number.Each servo amplifier 91~96 supplies driving current corresponding with control signal to servo motor 61~66.Also, according to journey Sequence is to keep a pair of of grasping claw 44 close and hold workpiece and close the finger tip (Fig. 3) of finger 42, to keep a pair of of grasping claw 44 separate And unclamp workpiece and open the form of the finger tip (Fig. 4) of finger 42, based on being examined by detector 86 and rotational position detector 98 The rotation position measured, the output control signal from controller 3 to servo amplifier 97.Servo amplifier 97 will be with control signal pair The driving current answered is supplied to servo motor 81.In this way, with manipulator arm 20 similarly, for a pair of finger 42, controller 3 Also with the position of a pair of finger 42, orientation, posture etc. is used as control amount, carries out that such automatically control of target value is followed (to watch Clothes control).
As described above, the Manipulator Hand 1 of this implementation form has: pedestal 41, grasping claw 44, connection pedestal 41 and handle Hold Chebyshev's link mechanism 5 of pawl 44;It is fixed on the shell 40 of pedestal 41;To 5 input power of Chebyshev's link mechanism Input shaft 46;Servo motor 81 with the output shaft 811 parallel with input shaft 46;The biography being disposed in input shaft 46 on coaxial Moving axis 90;The power transfer mechanism 8 of power is transmitted from output shaft 811 to transmission shaft 90;Be set to transmission shaft 90 and input shaft Deceleration device 84 between 46.Among the above, input shaft 46 and transmission shaft 90 are able to rotationally be supported in shell 40, servo horse Shell 40 is supported in up to 81.
In the Manipulator Hand 1 of above structure, transmission shaft 90 and input shaft 46 and the output shaft 811 of servo motor 81 are flat Row setting, deceleration device 84 is configured on coaxial with the transmission shaft 90 and input shaft 46, so servo horse can be configured side by side Up to 81 and deceleration device 84.Fig. 8 A shows the Manipulator Hand 1 according to this implementation form, and Fig. 8 B is shown according to servo motor 81, the Manipulator Hand 101 of the comparative example of deceleration device 84 and 85 arranged in series of brake apparatus on coaxial.Compare Fig. 8 A with Fig. 8 B can be defined, according to the shell of servo motor 81 and the Manipulator Hand 101 of the comparative example of 84 arranged in series of deceleration device 40 ', longer than the shell 40 according to the Manipulator Hand 1 of this implementation form Δ corresponding with the axis direction length of servo motor 81 H.In this way, the Manipulator Hand 1 according to this implementation form can be reduced compared with the Manipulator Hand 101 according to comparative example Size (the especially direction parallel with the axis direction of servo motor 81 of the shell 40 of the middle driving portion 43 that will accommodate finger 42 Size).Manipulator Hand 1 has the finger 42 for seeking to minimize and be made of Chebyshev's link mechanism 5, energy as described above Enough minimize driving portion 43 and its shell 40, thus, it is possible to realize that Manipulator Hand 1 is whole to miniaturise.
Also, the Manipulator Hand 1 of this implementation form is also equipped with: the pairs of driven system with the grasping claw 44 of aforementioned active system Grasping claw 44;Link Chebyshev's link mechanism 5 of the grasping claw 44 of driven system and the driven system of pedestal 41;With to driven system Driven system's input shaft 47 of the parallel driven system of the input shaft 46 of 5 input power of Chebyshev's link mechanism;With from input shaft 46 To the gear mechanism (output gear 82 and driven gear 83) of driven system's input shaft 47 of driven system transmitting power.
In the Manipulator Hand 1 of above structure, two Chebyshev's link mechanism 5(hands are driven by a servo motor 81 Refer to 42).In this way, even if Chebyshev link mechanism 5(finger 42) quantity increase servo motor 81 quantity will not change, So being able to suppress the enlargement for accommodating the shell 40 of driving portion 43 of finger 42.
Also, the Manipulator Hand 1 of this implementation form is also equipped with the brake apparatus 85 being set on transmission shaft 90.
In the Manipulator Hand 1 of above structure, transmission shaft 90 and the output shaft 811 of servo motor 81 are arranged in parallel, and are slowed down Device 84 and brake apparatus 85 are configured on coaxial with the transmission shaft 90, so can configure side by side servo motor 81 and subtract Speed variator 84 and brake apparatus 85.Therefore, compared with Manipulator Hand 101(Fig. 8 B according to comparative example), appearance can be reduced Receive finger 42 driving portion 43 shell 40 size (the especially size in the direction parallel with the axis direction of servo motor 81).
Also, Chebyshev's link mechanism 5 of the Manipulator Hand 1 of this implementation form has: base end part is fixed on input shaft 46(or driven system's input shaft 47) the dynamic section 51 of original;Base end part is rotatably supported in the driven section 52 of pedestal 41;And cardinal extremity The middle node 53 that the tip end portion of portion and former dynamic section 51 links and the tip end portion of middle part and driven section 52 links.The Manipulator Hand 1 has: be used to form the four section parallel linkages 48 including driven section 52, base end part be rotatably supported in pedestal 41 Slave dynamic auxiliary section 54, and, link the tip end portion of driven section 52 and the intermediate of the tip end portion from dynamic auxiliary section 54 combined and save 56. The Manipulator Hand 1 is also equipped with: being used to form including middle node 53 and the intermediate four section parallel linkages 49 for combining section 56 , base end part is combined the intermediate auxiliary section 55 of 56 connection of section with centre, and, it is auxiliary to the tip end portion and centre that link middle node 53 The tip end portion for helping the tip end portion of section 55 to be linked combines section 57.Moreover, grasping claw 44, which is fixed on tip end portion, combines section 57.
In addition, in the Manipulator Hand 1 of this implementation form, Yuan Dongjie 51(, that is, input shaft 46 or driven system's input shaft 47) Make all shape motion track 500(Fig. 9 acquired by 53 tip end portion of middle node of Chebyshev's link mechanism 5) in straight line portion 501 (Fig. 9), which becomes within the scope of predetermined angular as the moving range of 53 tip end portion of middle node, to be rotated.
In the Manipulator Hand 1 of above structure, pass through the effect of Chebyshev's link mechanism 5, the tip end portion of middle node 53 (i.e. the finger tip of finger 42) and reference line L maintain a certain distance movement.Meanwhile the four section parallel linkages for passing through base portion side 48 and tip end portion side four section parallel linkages 49 effect, positioned at finger 42 finger tip tip end portion combine section 57 and The grasping claw 44 and reference line L for being fixed on this is moved in parallel.As described above, grasping claw 44 can keep a spacing with reference line L From while move in parallel with reference line L.In this way, grasping claw 44 will not change from the distance of reference line L, so being easy handle Hold the position of pawl 44, in addition, can be easy to carry out the holding of the workpiece by a pair of of grasping claw 44.
Be explained above be suitable for implementation form of the invention, but the structural example of above-mentioned Manipulator Hand 1 can such as do it is as follows Change.
According in the Manipulator Hand 1 of above-mentioned implementation form, input shaft 46 and driven system's input shaft 47 are supported in shell 40 but it is also possible to be being supported at least one of pedestal 41 and shell 40.
Also, transmitting the dynamic of power from output shaft 811 to transmission shaft 90 according in the Manipulator Hand 1 of above-mentioned implementation form Force transfer mechanism 8 is belt power transfer mechanism, but power transfer mechanism 8 is not limited to this.For example, it can be as from defeated Shaft 811 transmits the power transfer mechanism 8 of power to transmission shaft 90, is formed using the driving gear by engaging with driven gear Geared power transmission mechanism, or by drive sprocket, the driven chain gear teeth and it is wound in the chain that the chain of these sprockets formed Formula power transfer mechanism.
Also, being respectively arranged with servo motor 81 and brake apparatus 85 according in the Manipulator Hand 1 of above-mentioned implementation form.d It however, it can be and be not provided with servo motor 81 and brake apparatus 85, and braked using having for these functions is provided simultaneously with The servo motor of device function replaces servo motor 81.At this point, omitting the brake apparatus 85 on transmission shaft 90.
Also, according in the Manipulator Hand 1 of above-mentioned implementation form, in order to make the finger 42B of driven system and the hand of active system Refer to the movement synchronization action of 42A, and the gear mechanism formed by output gear 82 and the driven gear 83 being engaged with is set.Such as This is preferably by output gear 82 on the basis of reducing the actively finger 42B synchronous error of the finger 42A of system and driven system Directly engaged with driven gear 83, it may also be between output gear 82 and driven gear 83 there are at least more than one Gear.Also, being also possible between output gear 82 and driven gear 83, or, between driven gear 83 and driven system's input shaft 47 There are the interrupted switching mechanisms of the power such as clutch.Whereby, the finger 42A that can only make a finger 42(actively be) work.
Also, having the finger 42B of actively the finger 42A of system and driven system according to the Manipulator Hand 1 of above-mentioned implementation form Each one, but the finger 42B of more than one driven system can also be increased.For example, it can be increase a driven system Finger 42B, as the Manipulator Hand 1 with three fingers 42.At this point, so that driven system's input shaft 47 also number with finger 42 The form for accordingly increasing, and engaging the driven gear 83 and output gear 82 that are wholely set with driven system's input shaft 47 is measured, Form driving portion 43.
Symbol description:
1 Manipulator Hand;
2 manipulator main bodys;
3 controllers;
5 Chebyshev's link mechanisms;
8 power transfer mechanisms;
10 multi-joint manipulators;
20 manipulator arms;
40 shells;
41 pedestals;
42 fingers;
(finger that 42A is actively);
(finger of the driven system of 42B);
43 driving portions;
44 grasping claw;
46 (being actively) input shafts;
47 (driven system) input shafts;
48,49 4 section parallel linkage;
50 fixed knots;
51 former dynamic sections;
52 driven sections;
53 middle nodes;
54 from dynamic auxiliary section;
Auxiliary section among 55;
Section is combined among 56;
57 tip end portions combine section;
61~66 servo motors;
81 servo motors;
811 output shafts;
82 output gears;
83 output gears;
84 deceleration devices;
85 brake apparatus;
86 detectors;
90 transmission shafts;
91~97 servo amplifiers;
98 rotational position detectors.

Claims (5)

1. a kind of Manipulator Hand, which is characterized in that have:
Pedestal with bottom wall and a pair of sidewalls erected from the bottom wall;
Grasping claw;
It is set between the pair of side wall and is supported in a pair of sidewalls and link the pedestal and the grasping claw cuts ratio Avenge husband's link mechanism;
On one in the pair of side wall of the pedestal, Chebyshev's link mechanism phase is fixed on by the side wall The shell tossed about;
It is rotatably supported at least one of the pedestal and the shell and is cut through the side wall to described Than the input shaft for avenging husband's link mechanism input power;
With motor parallel with the input shaft and to the pedestal opposite side output shaft outstanding;
Detect the rotation position of the motor and the detector of rotation speed;
In the transmission shaft for being coaxially above adjacent to arranging with the output shaft with the input shaft;
From the power transfer mechanism of the axial transmission shaft transmitting power of the output;
The brake apparatus being set on the transmission shaft;With
It is set between the transmission shaft and the input shaft and is configured at subtracting between the brake apparatus and the input shaft Speed variator;
The motor, the detector, the transmission shaft, the power transfer mechanism, the deceleration device and braking dress It sets and is contained in the shell, the motor configures side by side with the deceleration device and the brake apparatus, and makes the motor The deceleration device and the brake apparatus are equipped between the axis direction length for the motor connecting with the detector.
2. Manipulator Hand according to claim 1, which is characterized in that be also equipped with:
The grasping claw of pairs of driven system with the grasping claw;
Link Chebyshev's link mechanism of the grasping claw of the driven system and the driven system of the pedestal;
To the driven system Chebyshev's link mechanism input power, the input of parallel with the input shaft driven system Axis;With
From the gear mechanism of the input shaft transmitting power of the axial driven system of the input.
3. Manipulator Hand according to claim 1 or 2, which is characterized in that
Chebyshev's link mechanism includes the dynamic section of original that base end part is fixed on the input shaft;Base end part is rotatably It is supported in the driven section of the pedestal;Tip end portion connection and middle part and the driven section with base end part with the former dynamic section The middle node of tip end portion connection,
It is also equipped with:
Be used to form the four section parallel linkages including the driven section, base end part be rotatably supported in the pedestal Slave dynamic auxiliary section, and, link the tip end portion of the driven section and the intermediate of the tip end portion from dynamic auxiliary section combined and saved; With
Be used to form including the middle node and the centre in conjunction with section four section parallel linkages, base end part with it is described Centre combines the intermediate auxiliary section of section connection, and, link the tip end portion of the middle node and the top end of the intermediate auxiliary section The tip end portion in portion combines section,
The grasping claw is fixed on the tip end portion and combines section.
4. Manipulator Hand according to claim 1 or 2, which is characterized in that
Chebyshev's link mechanism includes the dynamic section of original that base end part is fixed on the input shaft;Base end part is rotatably It is supported in the driven section of the pedestal;Tip end portion connection and middle part and the driven section with base end part with the former dynamic section The middle node of tip end portion connection,
Straight line portion in the motion track of all shapes acquired by the tip end portion for making the middle node becomes the tip of the middle node Within the scope of the predetermined angular of the moving range of end, the input shaft rotation.
5. a kind of manipulator, which is characterized in that have:
Manipulator main body with manipulator arm;
Be installed on the tip end portion of the manipulator arm, according to claim 1~any one of 4 described in manipulator hand Portion;With
Control the controller of the movement of the manipulator arm and the Manipulator Hand.
CN201480082825.0A 2014-10-22 2014-10-22 Manipulator Hand and manipulator Active CN107073720B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
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CN107073720B true CN107073720B (en) 2019-10-15

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KR (1) KR101964253B1 (en)
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WO (1) WO2016063314A1 (en)

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WO2016063314A1 (en) 2016-04-28
JPWO2016063314A1 (en) 2017-09-07
KR101964253B1 (en) 2019-04-01
JP6499669B2 (en) 2019-04-10
CN107073720A (en) 2017-08-18

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