JP2008188699A - Device for limiting shoulder-to-shoulder space of dual-arm robot, and dual-arm robot with the device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To protects the operator from colliding with a dual-arm robot during operation of the robot even if the operator approaches the dual-arm robot sideways, and allows the operator to safely carry out work in cooperation with the dual-arm robot. <P>SOLUTION: A device is provided for limiting a shoulder-to-shoulder space of the dual-arm robot which is set up by arranging arms 3 on both right and left sides of the trunk 1. Herein each arm 3 has a shoulder joint 13 formed of a shoulder yaw shaft 13a and a shoulder pitch shaft 13b, and the device is composed of a shoulder yaw shaft movable range limiting means for limiting a movable range of the shoulder yaw shaft 13a such that a distal end of the arm 3 is positioned in the predetermined range in front of the dual-arm robot. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a device for limiting the shoulder width space of a double-arm robot and a double-arm robot provided with the device.

  In recent years, in the domestic manufacturing industry, the cell production method (variable-variable production method corresponding to the demand) utilizing human ability is prosperous. On the other hand, in the domestic manufacturing industry, we will respond to changes in the social environment by changing the production method to a comprehensive automation method using computers in order to deal with labor shortages due to the declining birthrate and aging of society and to further improve production efficiency. There is movement.

  Given these market trends, even in cell production systems where human capabilities are the main, assembly work that repeats simple and monotonous tasks is a need for dual-arm robots that can operate in combination with humans instead of humans. Is growing.

By the way, as a double-arm robot that can work on behalf of a human, a robot having a form having at least two movable axes (pitch axis and roll axis) as shoulder joints on the left and right arms is known as a so-called humanoid robot. (See Patent Document 1).
JP 2005-238350 A

  However, if the shoulder joint has a pitch axis and a roll axis in consideration of only human arm movements as in the conventional robot described above, when changing the posture of the hand for work in front of the robot, Since the shoulder roll axis may operate at a large angle, the arm is open, that is, the elbow protrudes to the side of the robot, and the person can safely approach the side of the robot while the robot is operating. There was a problem that I could not.

  Therefore, the present invention limits the shoulder space of the double-armed robot so that it does not collide with the robot even if the person enters the robot movement range while the robot is in operation. It is an object of the present invention to provide a shoulder width space limiting device for a double-arm robot and a double-arm robot provided with the device that can perform work safely.

  An object of the present invention is to advantageously solve the above-mentioned problems, and a shoulder width space limiting device for a double-arm robot according to the present invention provides a shoulder-width space for a double-arm robot in which arms are arranged on both the left and right sides of a torso. In the limiting device, the shoulder joint of the arm is composed of a shoulder yaw axis and a shoulder pitch axis, and the shoulder yaw axis of the shoulder yaw axis is positioned so as to be positioned within a predetermined range in front of the double arm robot. A shoulder yaw axis movable range limiting means for limiting the movable range is provided. The dual-arm robot according to the present invention is characterized by comprising the shoulder width space limiting device.

  In such a double-arm robot shoulder width limiting device and a double-arm robot provided with the device, the shoulder joint of the arm is composed of two movable axes, a shoulder yaw axis and a shoulder pitch axis, and further the shoulder yaw. The rotation range of the shaft is limited by the shoulder yaw axis movable range limiting means so that the tip of the arm is positioned within a predetermined range in front of the double-arm robot. In this specification, “movable shaft” includes a drive motor and a speed reducer, and a rotation mechanism or a drive motor that relatively rotates two members around a predetermined axis by the output of the speed reducer. Means a linear movement mechanism that relatively moves the two members linearly along a predetermined axis by the output of the reduction gear.

  Therefore, according to the shoulder width limiting device for the double arm robot of the present invention and the dual arm robot of the present invention having the device, the shoulder joint of the arm is composed of the shoulder yaw axis and the shoulder pitch axis, and the shoulder roll Since there is no axis, when the work area of the double-arm robot is within a predetermined range in front of the double-arm robot, the operation state of the double-arm robot is determined by the work command (for example, the hand position / posture command). Even if it becomes, the arm elbow does not protrude to the left or right side of the double-arm robot because it always works with the side tightened, and the double-arm robot is in operation Even if a person or object approaches the left or right side of the, it will not collide.

  On the other hand, even if a person or an object approaches the left or right side of the arm of the double-arm robot while the double-arm robot is working in the front work area, the shoulder yaw axis movable range limiting means is Since the movable range is limited so that the tip of the arm is located within a predetermined range in front of the double-arm robot, the double-arm robot cannot work on the left and right sides of the arm. Since the arms of the double-arm robot do not collide, it becomes possible for the person and the double-arm robot to work adjacent to each other safely.

  Furthermore, even when a person or an object exists on the left and right sides of the arm of the double-arm robot and the movable range of the shoulder yaw axis is limited, the double-arm robot can move the movable axis of the arm other than the shoulder yaw axis (for example, (Shoulder pitch axis, elbow pitch axis, wrist roll axis, wrist pitch axis, wrist yaw axis) can be freely moved, and the shoulder yaw axis can also be moved within the limited movable range. Therefore, even when a person or object is present on the left and right sides of the arm of the double-arm robot, the double-arm robot does not need to stop the entire movement and can continue working in the front work area, and therefore The working efficiency of the double-arm robot can be increased.

  In the dual-arm robot of the present invention, and the dual-arm robot of the present invention equipped with the apparatus, the torso has a waist yaw axis, and the apparatus has a rotation of the waist yaw axis. There may be provided a waist / yaw axis rotation limiting means for limiting the movement, and in this way, the rotation of the waist / yaw axis is limited (for example, stopped) when a person or an object is present on the left and right sides of the double-arm robot. If there is no person or object on the left and right sides, the work space can be expanded as appropriate.

  Moreover, in the dual-arm robot of the present invention and the dual-arm robot of the present invention equipped with the device, the arm is inclined and extended so that the portion closer to the elbow is closer to the torso. In this way, the elbow of the arm of the double-arm robot can be stored within the projection plane of the shoulder width toward the ground, so the width of the double-arm robot can be reduced and the required installation area is reduced. be able to. Further, since the arm extends closer to the torso so that the part closer to the elbow is closer to the torso, a human-like form can be achieved, and the intimidation and fear of the surroundings can be reduced.

  Furthermore, in the shoulder space limiting device for the double-arm robot of the present invention and the dual-arm robot of the present invention equipped with the device, the axis of the shoulder yaw axis tilts closer to the body as it goes downward. In this way, even if the arm of the double-arm robot rotates around the axis of the shoulder yaw axis, the elbow is difficult to project to the left and right sides of the double-arm robot. It is possible to further improve safety when the robot is working adjacently.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Here, FIG. 1 is a perspective view showing an entire embodiment of a double-arm robot of the present invention, which includes an embodiment of a shoulder space limiting device for a double-arm robot of the present invention, and FIG. FIG. 3 is a side view of the dual arm robot of the above embodiment, FIG. 4 is a plan view of the double arm robot of the above embodiment, and FIG. 5 is a plan view of the double arm robot of the above embodiment. FIG. 6 (a) is a rear view, and FIG. 6 (b) to FIG. 6 (f) are front views showing the left arm of the dual-arm robot when the dual-arm robot of the above embodiment works in a predetermined work space ahead. FIGS. 7A and 7B are plan views showing the operating state of the left arm, and FIGS. 7A and 7B show the case where the left shoulder yaw axis is rotated 90 degrees in the left direction when viewed from the double arm robot itself in the above-described double arm robot. And the case where the hip yaw axis is rotated 90 degrees to the left as seen from the double-arm robot itself. It is an explanatory diagram.

  Here, the angle Θ in FIG. 6 is the rotation angle of the shoulder yaw axis (in this case, 0 degree) in the initial state when the initial state of the double-arm robot is the state shown in FIGS. The angle formed by the rotation angle in the state in which the shoulder yaw axis is rotated is shown. Further, the angle Θ is − (minus) clockwise from the shoulder yaw axis in FIG. 6 and + (Plus).

  As shown in FIG. 1, the double-arm robot of the above-described embodiment including the shoulder-space limiting device for the double-arm robot of the above-described embodiment includes a body 1 and left and right sides as viewed from the robot itself (see FIG. 2, 4, and 5, and two arms 3 that are positioned on the left side and the left side, and a neck joint 5 that supports a head (not shown) equipped with a visual sensor, for example, at the upper end of the body 1. The neck joint 5 has, as movable axes, a neck pitch axis that tilts the head back and forth around the axis P1 and a neck yaw axis that rotates the head left and right around the axis Y1. Further, the double-arm robot of this embodiment includes a columnar support leg 7 having a lower end fixed to the floor and supporting the body 1 at the upper end, and an upper end of the support leg 7 and a lower end of the body 1. The hip joint 9 has a waist yaw shaft 9a as a movable shaft that rotates the body 1 to the left and right around the axis Y1 with respect to the support leg 7.

  Further, the double-arm robot of this embodiment includes a shoulder joint 13 between the body 1 and the upper arm 11 of each arm 3, an elbow joint 17 between the upper arm 11 and the lower arm 15 of each arm 3, and each arm 3. The lower arm 15 includes a wrist joint 19 between a lower arm 15 and a hand (not shown), and a lower arm torsion joint 21 provided on the lower arm 15 of each arm 3. In this way, it rotates or tilts around each axis.

  That is, as shown in FIGS. 2 and 5, the shoulder joint 13 is disposed between two brackets 23 each having a substantially U-shape provided on the left and right side surfaces of the body 1, and the arm 3 is placed against the body 1. A shoulder yaw shaft 13a for rotating the whole around the axis Y2 relatively to the left and right, and an axis P2 perpendicular to the axis Y2 of the shoulder yaw shaft 13a are arranged. A shoulder pitch shaft 13b that tilts back and forth relatively around is provided as a movable shaft. Here, since the tip end portion of the bracket 23 is inclined 15 degrees obliquely downward with respect to the fuselage 1, the axis Y2 of each shoulder yaw axis 13a is as shown in FIG. It is inclined 15 degrees toward the body 1 with respect to the axis Y1 that is the center line extending in the vertical direction, and extends closer to the body 1 as it goes downward. The axis P2 of each shoulder pitch axis 13b orthogonal to the axis Y2 is also inclined by 15 degrees with respect to the floor surface. The upper arm 11 of the arm 3 is inclined and extended so that the portion closer to the elbow joint 17 is closer to the body 1.

  Further, as shown in FIG. 1, each elbow joint 17 has an elbow pitch axis 17a as a movable axis that tilts the lower arm 15 up and down around an axis P3 parallel to the axis P2 with respect to the upper arm 11, The wrist joint 19 has a wrist pitch axis 19a that tilts a hand (not shown) relatively up and down around the axis P4 relative to the lower arm 15, and a left and right around the axis Y3 perpendicular to the axis P4. The lower arm torsion joint 21 has a lower arm roll shaft 21a that twists the wrist joint 19 around the axis R as a movable axis. As a result, each arm has a total of six movable axes, that is, six degrees of freedom, and by the arrangement of these movable axes, the two arms 3 can have a singular point and have a free posture. Is possible.

  Here, as shown in FIGS. 6A and 6B, the working space of the dual-arm robot of this embodiment is set in the A4 horizontal area 27 (210 mm long, 297 mm wide) in front of the double-arm robot. The wrist joint 19 and the hand of each arm 3 of the double-arm robot, as shown for the left arm in FIGS. 6C to 6F, the maximum range of the work space, that is, the outer peripheral edge of the A4 lateral area 27 When moving along the edge, from the initial position of the shoulder yaw axis 13a (position where the axis P2 of the shoulder pitch axis 13b is located in a plane including the center axis Y1 and the axis Y2 of the left and right shoulder yaw axes 13a) The rotation angle Θ of the shoulder yaw axis 13a varies within a range from −3 degrees to −74 degrees.

  Further, the double-arm robot of this embodiment includes a normal control device (not shown) that controls the operation of the drive motor of each joint, and the double-arm robot connected to the control device has a person from the left and right sides. Alternatively, an approach detection sensor (not shown) that detects that an object has approached and outputs a detection signal is provided, and these control device and approach detection sensor are the shoulder yaw axis movable range restriction of the shoulder width space restriction device of this embodiment. Means and a waist yaw axis rotation restricting means.

  In the shoulder width space limiting device of this embodiment and the dual arm robot of this embodiment including the shoulder width space limiting device, the shoulder joint 13 of the arm 3 is divided into two parts, a shoulder yaw axis 13a and a shoulder pitch axis 13b. Based on a detection signal output by the approach detection sensor when the control device detects the approach of a person or an object from the left and right sides to the double-armed robot, and rotates the shoulder yaw shaft 13a. For example, the moving range is electrically restricted within a range from 0 degrees to -75 degrees, and the rotational position of the waist yaw shaft 9a is electrically restricted (fixed) to 0 degrees facing the front. For such rotation limitation, it is desirable to use, for example, an absolute encoder that detects the rotation angles of the shoulder yaw shaft 13a and the waist yaw shaft 9a as absolute angles.

  Therefore, according to the shoulder width space limiting device of this embodiment and the dual arm robot of this embodiment including the shoulder width space limiting device, the shoulder joint 13 of the arm 3 does not have a shoulder roll axis. When the work area is in the A4 horizontal area 27 in front of the double-arm robot as viewed from above, the operation state of the double-arm robot is determined by a work command (for example, a hand position / posture command). The rotation angle Θ of the shoulder yaw axis 13a is in the range of −3 degrees to −74 degrees, and the double-arm robot always works with the sides tightened. The joint 17 does not protrude to the left and right sides of the double-arm robot, and does not collide with the left and right arms 3 even if a person or an object approaches the left and right sides of the double-arm robot during operation of the double-arm robot.

  On the other hand, when a double-arm robot is working in the work space in the A4 lateral area 27 ahead when viewed from above, if a person or object approaches the double-arm robot from the left or right side, the approach is detected. The proximity detection sensor outputs a detection signal, and based on this signal, the control device determines that the wrist joint 19 at the tip of the arm 3 is slightly wider than the A4 lateral area 27 in front of the double-arm robot as viewed from above. The rotation range of the shoulder yaw shaft 13a is limited to, for example, a range from 0 degrees to -75 degrees so as to be positioned within the area, and the rotation position of the waist yaw shaft 9a is returned to 0 degrees facing the front. Since it is fixed in that direction, even if the dual-arm robot tries to expand the work range to the left and right sides of the double-arm robot based on the work command from this state, it is within the range where the person or object is detected by the proximity detection sensor. Present During this time, the double-arm robot cannot rotate the shoulder yaw axis 13a to the left and right sides as shown in FIG. 7A to expand the work range. No collision occurs with 3 and a person and a double-arm robot can be adjacent to each other and can safely work.

  Further, while the person or object is on the left and right sides of the arm 3 of the double-arm robot, that is, while the rotation range of the shoulder yaw axis 13a is electrically limited, the double-arm robot is not limited to the shoulder yaw axis 13a and the waist yaw. A movable shaft other than the shaft 9a can be freely moved, and the shoulder yaw shaft 13a can also be moved within a limited rotation range. Therefore, it is not necessary to stop the operation of the entire dual-arm robot while a person or an object is present on the left and right sides of the arm 3 of the dual-arm robot, and the operation is continued in the work space of the front A4 lateral area 27. Therefore, the working efficiency of the double-arm robot can be increased.

  Furthermore, according to the shoulder width space limiting device of this embodiment and the dual arm robot of this embodiment including the shoulder width space limiting device, the body 1 includes the waist yaw axis 9a, and the control device includes the waist yaw axis. Since the rotation of 9a is also electrically limited (fixed) based on the detection signal of the approach detection sensor, when a person or an object is present on the left and right sides of the arm 3 of the double-arm robot, the rotation of the waist yaw shaft 9a is performed. The movement can be restricted so that the work space is not enlarged by the rotation of the waist yaw shaft 9a as shown in FIG. 7 (b). On the other hand, near the left and right sides of the arm 3 of the double-arm robot. If there is no person or object, the work space can be expanded as appropriate.

  Further, according to the shoulder width space limiting device of this embodiment and the double arm robot of this embodiment including the shoulder width space limiting device, the upper arm 11 of the arm 3 is closer to the body 1 as the portion is closer to the elbow joint 17. In addition, the shoulder width of the double-arm robot can be reduced and the elbow can be accommodated in the projection plane of the shoulder width in the ground direction. The width can be reduced, and the required installation area can be reduced. In addition, since the arm 3 is inclined and extended toward the body 1 side, it can have a human-like form, and the intimidation and fear of the surroundings can be reduced.

  Further, according to the shoulder width limiting device of this embodiment and the dual arm robot of this embodiment including the shoulder width limiting device, the axis Y2 of the shoulder yaw axis 13a is closer to the body 1 as it goes downward. Since the arm 3 of the double-arm robot rotates around the axis Y2 of the shoulder yaw axis 13a, the elbow joint 17 does not easily protrude to the left and right sides of the double-arm robot. It is possible to further improve the safety when the arm robot is adjacent to the work.

  Although the present invention has been described based on the illustrated examples, the present invention is not limited to the above-described embodiments, and can be appropriately changed within the scope of the claims. For example, the body 1 is supported. The legs 7 may be suspended from the ceiling without being fixed to the floor, or movable legs may be provided like a humanoid robot. Further, the signal input to the control device for limiting the rotation of the shoulder yaw shaft 13a and / or the waist yaw shaft 9a may be a signal from a visual sensor provided on the head. Further, the shoulder yaw axis movable range limiting means is, for example, instead of or in addition to the electric one in the above example, for example, by moving the stopper member between a position where it interferes with the shoulder yaw axis and a position where it does not interfere with the shoulder yaw axis. A device that mechanically limits the movable range may be used, and the waist yaw axis rotation limiting means is similarly mechanically controlled to rotate the waist yaw axis instead of or in addition to the electrical one in the above example. You may use what restricts to.

  Thus, according to the apparatus for limiting the shoulder width of the dual-arm robot of the present invention and the dual-arm robot of the present invention including the apparatus, the shoulder joint of the arm is composed of the shoulder yaw axis and the shoulder pitch axis, and the shoulder roll axis. Therefore, when the work area of the double-arm robot is within a predetermined range in front of the double-arm robot, the operation state of the double-arm robot is changed according to the work command (for example, the hand position / posture command). However, since the work is always performed with the sides tightened, the elbow of the arm does not protrude to the left and right sides of the double-arm robot, and the left and right sides of the double-arm robot are in operation. Even if a person or object approaches to the side, it will not collide.

  On the other hand, even if a person or an object approaches the left or right side of the arm of the double-arm robot while the double-arm robot is working in the front work area, the shoulder yaw axis movable range limiting means is Since the range of rotation is limited so that the tip of the arm is located within a predetermined range in front of the double-arm robot, the double-arm robot cannot work on the left and right sides of the arm. And the arm part of the double-arm robot do not collide with each other, so that it is possible for the person and the double-arm robot to work adjacent to each other safely.

  Furthermore, even if a person or an object is present on the left and right sides of the arm of the double-arm robot and the rotation range of the shoulder yaw axis is limited, the double-arm robot can move the arm movable axis other than the shoulder yaw axis. (For example, a shoulder pitch axis, an elbow pitch axis, a wrist roll axis, a wrist pitch axis, a wrist yaw axis) can be freely moved, and the shoulder yaw axis can also be moved within the limited rotation range. Therefore, even when a person or object is present on the left and right sides of the arm of the double-arm robot, the double-arm robot does not need to stop the entire movement and can continue working in the front work area, and therefore The working efficiency of the double-arm robot can be increased.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view showing an entire embodiment of a double-arm robot according to the present invention, which includes an embodiment of a shoulder width space limiting device for a double-arm robot according to the present invention. It is a front view which shows the whole double arm robot of the said Example. It is a side view of the double-arm robot of the said Example. It is a top view of the double arm robot of the said Example. It is a rear view of the double arm robot of the said Example. (A) is a front view showing the left arm of the dual-arm robot when the dual-arm robot of the above embodiment works in the front work space, and (b) to (f) are planes showing the operating state of the left arm. FIG. (A), (b) shows the case where the left arm yaw axis is rotated 90 degrees to the left when viewed from the double arm robot itself and the waist yaw axis is viewed from the left side when viewed from the dual arm robot itself. It is explanatory drawing which shows the case where it rotates 90 degree | times, respectively.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Body 3 Arm 5 Neck joint 7 Support leg 9 Lumbar joint 9a Lumbar yaw axis 11 Upper arm 13 Shoulder joint 13a Shoulder yaw axis 13b Shoulder pitch axis 15 Lower arm 17 Elbow joint 17a Elbow pitch axis 19 Wrist joint 19a Wrist pitch axis 19b Wrist yaw Axis 21 Lower arm torsion joint 21a Lower arm roll axis 23 Bracket 27 A4 side area

Claims (5)

In a device that limits the shoulder width space of a double-arm robot with arms placed on the left and right sides of the torso,
The shoulder joint of the arm is composed of a shoulder yaw axis and a shoulder pitch axis,
A double-arm robot comprising shoulder-yaw axis movable range limiting means for limiting a movable range of the shoulder yaw axis so that a tip portion of the arm is positioned within a predetermined range in front of the double-arm robot. Shoulder width restriction device. The torso comprises a waist yaw axis;
The shoulder width space limiting device for a double-arm robot according to claim 1, further comprising a waist yaw axis rotation limiting means for limiting rotation of the waist yaw axis.   The shoulder width space limiting device according to claim 1, wherein the arm extends with an inclination so that a portion closer to the elbow is closer to the body.   The shoulder width space limiting device according to any one of claims 1 to 3, wherein an axis of the shoulder yaw axis extends so as to be closer to the body as it goes downward. In a dual-arm robot with arms placed on the left and right sides of the torso,
A dual-arm robot comprising the shoulder width space limiting device according to any one of claims 1 to 4.

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