JP2013052456A5 - - Google Patents

Description

Robot according to the present invention, a plurality of joint units with swivel possible link member has the joint unit is a plurality of mounting portions mountable, a main body in which the respective joint units are attached to the respective mounting portion The pivoting operation of the link member of each joint unit is performed such that the plurality of drive units that pivotally drive the link member of each joint unit and the pivotable range of the link member of each joint unit at each mounting portion are different from each other. A control means for controlling, a detection means for detecting a turning position of the link member of each joint unit, a test operation for turning the link member of each joint unit until it is restricted by the restriction means, and the test operation Based on the difference in the swivelable range of each link member obtained by the detection means by performing the above, each drive unit and each attachment unit, Characterized by comprising recognizing control means a correspondence relationship, a.

Claims (10)

A plurality of joint units with swivel possible link member,
A plurality of attachment parts to which the joint units can be attached, and a main body in which the joint units are attached to the attachment parts;
A plurality of drive units for rotationally driving the link member of each joint unit;
A restricting means for restricting the pivoting movement of the link member of each joint unit such that the pivotable range of the link member of each joint unit in each attachment portion is different from each other;
Detecting means for detecting a turning position of the link member of each joint unit;
A test operation is performed to turn the link member of each joint unit until it is restricted by the restriction means, and based on the difference in the turnable range of each link member obtained by the detection means by execution of the test operation. And a control means for recognizing a correspondence relationship between each drive unit and each attachment unit. Storage means for storing in advance the correspondence between each mounting portion and the pivotable range of the link member in each mounting portion as table data;
The control means recognizes a correspondence relationship between each drive part and each attachment part from a detection result of the detection means with reference to table data stored in the storage means. The robot described in 1.   The restricting means includes a plurality of stopper members which are provided on the main body corresponding to the mounting portions and are formed so that stop positions at which the link members of the joint unit come into contact and stop are different from each other. The robot according to claim 1 or 2. A plurality of reference stoppers that are provided in the main body corresponding to the mounting portions and that the link member contacts when the link member is turned in a direction opposite to the direction in which the link member contacts the stopper member. Comprising a member,
The drive unit is an electric rotary motor,
The detection means is provided in each electric rotary motor, and the electric rotation when the link member of each joint unit comes into contact with the reference stopper member is used as a reference. The robot according to claim 3, wherein the robot is a plurality of encoders that detect a rotation angle of the motor as a turning position. Wherein each joint unit, when before Symbol link member that is a direction in contact with the stopper member to pivot said link member in an opposite direction, the link member has a reference stopper member abuts,
The drive unit is an electric rotary motor,
The detection means is provided in each electric rotary motor, and the electric rotation when the link member of each joint unit comes into contact with the reference stopper member is used as a reference. The robot according to claim 3, wherein the robot is a plurality of encoders that detect a rotation angle of the motor as a turning position. The control means is connected to the electric rotary motors, and a plurality of drive control units that supply electric power necessary for the operation of the electric rotary motors to the electric rotary motors according to an operation command received.
A plurality of connectors to which the drive control units are connected, and a controller that outputs an operation command to the drive control units via the connectors.
The robot according to claim 4, wherein the controller executes the test operation. The control means is connected to the electric rotary motors, and a plurality of drive control units that supply electric power necessary for the operation of the electric rotary motors to the electric rotary motors according to an operation command received.
Having a connector to which the plurality of drive control units are connected, and having a controller that outputs an operation command to each of the drive control units via the connector,
The robot according to claim 4 or 5, wherein each of the drive control units executes the test operation.   The control means can be switched between a test mode in which the test operation is performed and a control mode in which the driving unit is operated according to an operation command corresponding to the mounting unit, reflecting a recognition result of the test operation. The robot according to claim 1, wherein the robot is configured.   The robot according to any one of claims 1 to 7, further comprising notification means for notifying the fact that the correspondence relation is different from a predetermined correspondence relation set in advance.   The robot according to any one of claims 1 to 9, wherein the joint unit further includes a base member, and one end of the joint unit is rotatably supported by the base member.