JP3932283B2 - Robot compliance device - Google Patents

Description

[0001]
[Industrial application fields]
  The present invention relates to a compliance device for a robot that performs work while receiving external force, and avoids that a certain amount of external force is applied to the robot hand during operation during parts assembly, disassembly work, etc., and compliance rigidity. It is possible to increase the accuracy and speed of the work by appropriately adjusting.
[0002]
[Prior art]
  When assembly or disassembly work is performed by gripping a component with the hand provided at the tip of the robot arm, the tolerance range for component dimensional error or positioning error is small if the robot hand is not compliant. As a result, the operation accuracy becomes severe, and therefore the work speed becomes slow or the work failure rate becomes high. Therefore, the connection part between the arm and the hand or the finger part of the hand has a compliance characteristic by an elastic mechanism, and the elastic mechanism is displaced by the work reaction force during assembly or disassembly work so that the positions and postures of the parts are In addition to the above method and the above configuration, a force sensor that detects the work reaction force is provided, and the arm is controlled based on the detected work reaction force so that the positions and postures of the parts are matched. There is a way to work.
[0003]
  A generally used compliance mechanism is shown in FIG. 10A, in which a hand side plate 91 and an arm side plate 92 are connected by an elastic member 93.
  When the assembly work is performed by the robot arm 94, if there is a deviation in the relative position or posture between the fitting component 96 held by the hand 95 and the fixed fitting component 97, the fitting component 96 is moved. When they are pushed into the holes of the fitted component 97, they come into contact with each other, and an external force corresponding to the amount and direction of displacement acts on the hand 95. The elastic member 93 is elastically deformed by the external force and absorbs (compensates for) the relative positional deviation and the attitude deviation between the fitting part 96 and the fitting part 97, so that the assembling work can be performed smoothly.
[0004]
  However, if the relative displacement amount of the component is larger than the allowable deformation amount of the elastic member, or if the strength of the component is smaller than the compliance rigidity of the elastic member, the above-mentioned compliance mechanism absorbs (compensates) the relative displacement. There is a risk that it will not be obtained or the parts will be broken. In addition to the compliance mechanism described above, a force sensor is provided at the connection between the arm and the hand to detect the work reaction force and control the arm so that translational forces and moments other than those assumed in the work are not generated. In this method (FIG. 10B), since the compliance mechanism and the force sensor 98 are individually provided between the hand and the arm, the distance and weight from the arm to the tip of the hand are increased accordingly, and the speed is increased. This makes it difficult to move the tip of the hand with high accuracy.
[0005]
  Incidentally, a compliance mechanism and a force sensor which are made thin in the Z-axis direction are described in Japanese Patent Laid-Open No. 5-253883, and this compliance mechanism (“XY-θZ-axis leaf spring compliance mechanism”) is described below. (See FIG. 11).
  Four leaf springs 102 having the same outer shape and rigidity are coupled to each other by four rotation links 104 having a rotation axis parallel to the surface of the leaf springs so as to form a square lattice and are opposed to each other. Among the two pairs of leaf springs facing each other, the movable body 106 is fixed between the pair of leaf springs 102, 102 so as to bridge the middle point of each leaf spring 102, and the other leaf spring pair is attached to each leaf spring. By fixing to the stationary rigid body 110 at the middle point, the X-axis and Y-axis directions perpendicular to the surface of the leaf spring 102 are orthogonal between the movable rigid body 106 and the stationary rigid body 110, and the X-axis and Y-axis. Compliance is provided in the rotation direction of the Z axis perpendicular to the axis. In addition, by appropriately attaching a strain gauge to the leaf spring 102 and assembling a bridge circuit, forces in the X and Y axis directions and moments around the Z axis are detected independently. However, in this method, since the allowable displacement amount of the strain gauge is small, it is necessary to reduce the displacement amount of the leaf spring 102. Therefore, the displacement amount of the mechanical compliance cannot be increased, and the hand displacement is not increased. It is difficult to increase the speed of operation because there is a risk that the strain gauge may be broken by the impact on the surface.
[0006]
[Patent Document 1]
JP-A-5-253883
[0007]
[Problems to be solved by the invention]
  This invention is a robot compliance device that performs work while receiving external forces acting due to positional deviation and attitude deviation, and has a simple structure with compliance and force sensing functions, enabling high-speed and high-precision work. An object of the present invention is to provide a robot capable of high-speed and high-precision work with a compliance device and a simple structure, and the problems for that purpose are as follows.
[0008]
[Problem 1]
  Problem 1 is a compliance device for a robot arm in which a movable member is elastically connected to a base member, and the mechanism of the compliance device is configured so that it has a simple structure and compliance in two-degree-of-translation and multi-degree-of-freedom directions. It is to devise.
[0009]
[Problem 2]
  Task 2 is to change and adjust the compliance rigidity freely and quickly in addition to the above problem 1, and to make the robot hand work faster and more precise by optimizing the compliance rigidity. It is.
[0010]
[Measures taken to solve the problem]
[Solution 1]
  Solution 1 is a solution to Problem 1, and in a compliance device for a robot arm in which a movable member is elastically connected to a base member, movement in the vertical direction with respect to the base member and the base member is restricted. A movable member, a plurality of one-degree-of-freedom restoring force generating means for generating a restoring force having a strength corresponding to the amount of displacement from the reference position of the movable member, and a control means for the restoring force generating means In the contact point between the restoring force generating means and the movable member, the restoring force generating means is in contact with the movable member and its slidable spherical tip.
[0011]
[Action]
  Since the contact surface of the restoring force generating means with the movable member is a slidable spherical surface, the movable member can be freely supported by the restoring force generating means. Therefore, the movable member is in the translational direction and the turning direction. Displaceable. Further, since the restoring force generating means generates a restoring force having a strength corresponding to the amount of displacement of the movable member, the restoring member generates a force that returns the movable member to the initial position and posture according to the displacement. , Compliant.
  The compliance device has a very simple structure because the spherical tip of the elastic restoring means is merely slidably in contact with the movable member.
[0012]
Embodiment 1
  The first embodiment is that the solving means 1 includes an input / output means for the restoring force generating means and an external control means.
[0013]
Embodiment 2
  In Embodiment 2, the base member and the movable member are substantially polygonal or elliptical plate-shaped in the above solution 1 or Embodiment 1, and at least three or more restoring force generating means are disposed around the base member. It is arrange | positioned so that a direction may become substantially in the same plane.
[Action]
  By arranging three or more restoring force generating means around the base member having a substantially polygonal or elliptical shape, compliance with three degrees of freedom of translation and rotation is achieved by the resultant force of the restoring force generated by the restoring force generating means. Have sex.
[0014]
[Solution 2]
(Claim 1Corresponding to)
  The solving means 2 includes a movable member elastically coupled to the base member,Base member and movable partMaterialcross sectionThere are manySquare or oval,
  A plurality of one-degree-of-freedom restoring force generating means for generating a restoring force having a strength corresponding to the amount of displacement from the reference position of the movable member, and a control means for the restoring force generating means;
  Assuming a compliance device for a robot arm in which the restoring force generating means abuts against the movable member at the slidable spherical tip at the contact point between the restoring force generating means and the movable member. The,
  The side surface of the movable member is formed by two inclined surfaces having opposite inclination angles so as to be convex toward the base member.,
  Around the base member, in each plane perpendicular to the Z-axis at the reference position of the movable member and intersecting each inclined surface of the side surface of the movable member,There are at least three restoring force generating means,ThatDisplacement directionThe above eachIn planeToArranged asingThat is.
[Action]
  The side surface of the movable member is formed by two inclined surfaces having opposite inclination angles, and in each plane intersecting each inclined surface of the side surface of the movable memberArranging three or more restoring force generating meansBy averageEven in the direction perpendicular to the 2nd degree of freedom, there is compliance by the resultant force of each restoring force generating means.BecauseThereby, the compliance property of three translational degrees of freedom and three degrees of freedom of rotation is obtained.
[0015]
[Embodiment 1]
(Claim 2Corresponding to)
  Embodiment 1 is a solution 2The restoring force generating means includes a cylinder and a piston.Consist ofUse the elasticity of compressible fluidsRukoIt is.
[0016]
[Embodiment 2]
(Claim 3Corresponding to)
  Embodiment 2 is the embodiment 1 described above.In the above cylinderCompressible fluidSupplyfluidSupply means;Compressible fluidPressure control means for controlling the pressure offluidAn on-off valve is provided at the coupling portion between the supply means and the cylinder.
[0017]
[Action]
  The compliance rigidity can be freely changed and adjusted by opening / closing control of the opening / closing valve and pressure adjustment by the pressure control means.
  Therefore, the initial conditions for the compliance operation can be set and adjusted quickly and easily. In addition, since the compliance rigidity can be changed and adjusted to the optimum value quickly and easily during the series of operations, the sequence of operations can be speeded up and increased in accuracy.
[0018]
[Embodiment 3]
  Embodiment 3 is the embodiment 2 described above.The measuring means for measuring the pressure of the compressible fluid and the calculating means for calculating the external force from the measured pressure.
[Action]
  By calculating the external force from the pressure of the compressive fluid, the magnitude of the compliance load can be detected, and appropriate control according to the detected magnitude of the compliance load can be performed.
[0019]
[Embodiment 4]
  Embodiment 4 is the embodiment 2 described above.In the above, there are provided a measuring means for measuring the pressure of the compressive fluid and a calculating means for calculating the relative movement amount of the base member and the movable member from the measured pressure.
[Action]
  By calculating the relative movement amount of the base member and the movable member from the pressure of the compressive fluid, it is possible to detect the magnitude of the compliance load and perform appropriate control according to the detected magnitude of the compliance load.
[0020]
[Embodiment 5]
(Claim 4Corresponding to)
  Embodiment 5 is Embodiment 2The pressure control means changes the restoring force of all restoring force generating means.
[0021]
[Embodiment 6]
(Claim 5Corresponding to)
  Embodiment 6 is Embodiment 2In the abovepressureThe control means changes the restoring force of the specific restoring force generating means.
[Action]
  By changing the restoring force of the specific restoring force generating means, the compliance stiffness in a specific direction can be changed, and the compliance stiffness in a desired direction can be set to a required value according to the work content. .
[0022]
Embodiment
  First, an embodiment of a compliance device according to the present invention will be described with reference to FIG.
  In FIG. 1A, the movement of the square plate-shaped movable member 1 in the Z-axis direction (the front and back direction in the drawing) is restricted by the abutting member 3 against the base member 2. The movable member 1 and the base member 2 are provided with a plurality of screw holes and positioning holes so that they can be screwed to a flange for connecting to other members. When connecting to another member, the flange and the other member are fixed, and the flange is connected to the movable member 1 or the base member 2. Pistons 5a, 5b, 5c, and 5d are fitted into cylinders 4a, 4b, 4c, and 4d embedded in a cross shape at the center of each side of the base member 2.
  The tips of the pistons 5a, 5b, 5c, 5d are hemispherical heads 5h having high wear resistance, which are in contact with the side plane of the movable member 1. In this example, the hemispherical head 5h is fixed to the pistons 5a, 5b, 5c, and 5d. Thus, the hemispherical head 5h can be configured, and this can lower the sliding resistance between the side plane of the movable member 1 and the spherical tip of the piston.
[0023]
  Further, on end faces of the cylinders 4a, 4b, 4c, 4d are provided on-off valves 7a, 7b, 7c, 7d controlled by the computer 6, and these on-off valves 7a, 7b, 7c, 7d are provided with tubes 8a, Regulators 9a, 9b, 9c, 9d controlled by the computer 6 are connected via 8b, 8c, 8d, and air supply means (not shown) is connected to the regulators 9a, 9b, 9c, 9d.
  The on-off valves 7a, 7b, 7c, 7d are opened based on the command from the computer 6 to supply / discharge air, and the air pressure is adjusted by the regulators 9a, 9b, 9c, 9d based on the command from the computer 6, Thus, the initial pressure in the cylinders 4a, 4b, 4c, 4d is adjusted. In the initial state, air of the same pressure is supplied to all the cylinders 4a, 4b, 4c and 4d, and the movable member 1 is pressed by the pistons 5a, 5b, 5c and 5d with equal pressing force from all directions. In the operating state, the on-off valves 7a, 7b, 7c and 7d are closed, and each cylinder is completely sealed. By setting the initial pressure in the pistons 5a, 5b, 5c, and 5d to a desired value, it becomes possible to adjust the compliance rigidity according to the component strength and work accuracy.
[0024]
  In the working state, as shown in FIG. 1B, when a translational external force having component forces in the X-axis direction and the Y-axis direction acts on the movable member, the movable member 1 moves in the same direction. At this time, the pistons 5a, 5b, 5c, and 5d also move in the direction of the component force of the external force, and the pressing force of the pistons 5a, 5b, 5c, and 5d increases or decreases due to the expansion or contraction of the air in the cylinders 4a, 4b, 4c, and 4d. Then, the difference in the pressing force balances with the external force and the movable member stops, and this becomes a restoring force for the movable member 1.
  Even when an external force rotating around the Z-axis is applied, the movable member 1 rotates in the direction of the external force, and the air in the cylinders 4a, 4b, 4c, 4d expands due to the movement of the pistons 5a, 5b, 5c, 5d. Or it is compressed and the pressing force of piston 5a, 5b, 5c, 5d increases / decreases, and it stops in the state which the restoring force and external force by the difference have balanced (refer FIG.1 (c)). The same applies when translational and rotational external forces are applied simultaneously (see FIG. 1D).
[0025]
  The internal pressure of the cylinders 4a, 4b, 4c, and 4d can be changed and adjusted as needed during the series of operations as well as during the initial adjustment. The optimal compliance rigidity is adjusted in each process. Thereby, the workability of each process can be improved.
[0026]
  Further, the compliance rigidity in the X-axis and Y-axis directions can be individually adjusted by changing the pressures of the cylinders 4a and 4c and the cylinders 4b and 4d. In this embodiment, the regulators 9a, 9b, 9c, 9d are individually provided for the cylinders 4a, 4b, 4c, 4d, but a common regulator is provided for the cylinders 4a, 4c and the cylinders 4b, 4d. However, the compliance rigidity in the X-axis and Y-axis directions can be individually adjusted.
  When the direction of compliance rigidity is not required, it is possible to connect a common regulator to all the cylinders and branch the tube from the regulator to supply air. Further, by increasing the supply pressure by the regulators 9a, 9b, 9c, 9d, the compliance rigidity can be increased, and the stability of the compliance device during the movement or vibration of the movable member 1 can be improved.
[0027]
  Next, the input / output means to the external control means of the compliance device according to the present invention will be described with reference to FIG.The
  In FIG. 2, regulators 19 a, 19 b, 19 c and 19 d and on-off valves 17 a, 17 b, 17 c and 17 d are connected to an external computer 16 via an input / output device 11. Similarly to the above, the regulators 19a, 19b, 19c, 19d and the on-off valves 17a, 17b, 17c, 17d are operated based on commands from the computer 16 to adjust the compliance rigidity.
[0028]
  Next, based on FIG. 3, the shape of the first member of the compliance device according to the present invention and the state of arrangement of the restoring force generating means will be described.The
  In FIG. 3A, the movable member 21 has a triangular plate shape. Further, the cylinders 24a, 24b, and 24c are arranged at positions where the displacement directions are parallel to the upper surface (lower surface) of the movable member 21 and the pressing force of the cylinders 24a, 24b, and 24c against the movable member 21 can be balanced. Has been.
  In a state where no external force is applied to the movable member 21, the position where the pressing forces of the cylinders 24a, 24b, 24c are balanced is the reference position of the movable member 21, and the movable member 21 is moved from the reference position due to the external force. In this case, the vector sum of the pressing forces of the cylinders 24a, 24b, and 24c becomes the restoring force.
  As shown in FIG. 3B, the movable member 22 is oval and cylinders 25a, 25b, and 25c are arranged around it.
[0029]
  Next, based on FIG. 4, the shape of the first member of the compliance device according to the present invention and the state of arrangement of the restoring force generating means will be described (Claim 1Corresponding).
  In FIG. 4, four cylinders are provided on each of two planes perpendicular to the Z-axis in the figure (one plane is 54a, 54b, 54c, 54d and the other plane is only 55a, 55c), Are embedded in a cross shape at the center of the inner side of each side of the base member 52. Also movable member51The side surfaces of the pistons are slanted, and each piston generates a force parallel to the XY plane and a force in the Z-axis direction. In the initial state, the resultant force of the components parallel to the XY plane of the four pistons in each plane is balanced, and the resultant force in the Z-axis direction generated by the two sets of four cylinders is also balanced.
  When an external force is applied to the movable member 51, the movable member 51 can move in three translational degrees of freedom and three degrees of freedom of rotation, and the vector sum of the pressing force of the cylinder displaced by the movement becomes the restoring force.
[0030]
  Next, referring to FIG. 5, the state of connection between the restoring force generating means of the compliance device according to the present invention and the first member and the second member will be described.
  In FIG. 5A, the cylinders 34a, 34b, 34c, 34d are embedded and fixed in the base member 32. Pistons 35a, 35b, 35c, 35d have hemispherical slidable pressing members 36a, 36b, 36c, 36d, which are movable members.31It is possible to translate and rotate with respect to the side surface. The movable member 31 is moved relative to the base member 32 by displacement of the pistons 35a, 35b, 35c, and 35d and sliding between the movable member 31 and the pressing members 36a, 36b, 36c, and 36d according to the direction and magnitude of the external force. Therefore, the displacement in three directions of translation and rotation in two directions is possible, and there is a restoring force corresponding to the displacement from the initial position.
  The same applies when the cylinder is embedded in the movable member as shown in FIGS. 5B and 5C, or when the cylinder is embedded in either the movable member or the base member.
[0031]
  Next, based on FIG. 6, the pressure measuring device of the compliance device and how to calculate the external force in the present invention will be described.The
  The dotted line in FIG. 6 indicates the no-load state (neutral state), and the solid line indicates the state when the translational force F (vector) and the moment M act on the movable member 41. This is a pressure sensor at the bottom of the cylinder in the embodiment of FIG.42a, 42b, 42c, 42dUsing the pressure value detected by the pressure sensor.43Thus, the external force F or the moving amount T of the movable member 41 is detected. The cross-sectional areas of the cylinders 44a, 44b, 44c, 44d are S, the internal pressures are Pa, Pb, Pc, Pd, and the pressing force vectors are Fa, Fb, Fc, Fd (the direction of the arrow of the coordinate axes in the figure is positive). Then, Fa = (PaS, 0), Fb = (0, PbS), Fc = (− PcS, 0), and Fd = (0, −PdS).
[0032]
  FaC, FbC, FcC, FdC are the components in the direction connecting the movable member 41 from the contact points of the pistons 45a, 45b, 45c, 45d of Fa, Fb, Fc, Fd and the movable member 41, and the components in the vertical direction are FaC ′, When FbC ′, FcC ′, and FdC ′, F is the sum of FaC, FbC, FcC, and FdC., M isThe sum of moments around the center of gravity by FaC ′, FbC ′, FcC ′, and FdC ′ is obtained by the following equation.
  F = FaC + FbC + FcC + FdC
  M = | Da || FaC ′ | + | Db || FbC ′ | + | Dc || FcC ′ | + | Dd || FdC ′ |
  Here, the vectors Da, Db, Dc, and Dd are vectors that connect the movable member gravity center from the contact point between the pistons 44a, 44b, 44c, and 44d and the movable member 41. In this embodiment, FaC, FbC, FcC, FdC, FaC ', FbC', FcC ', FdC', Da, Db, Dc, and Dd are obtained as follows.
[0033]
  The pressure in the cylinders 44a, 44b, 44c, 44d in the no-load state is P (initial setting value), the length of the air portion of the cylinders 44a, 44b, 44c, 44d is l, and the pistons 44a, 44b, 44c by the force F are applied. , 44d is assumed to be xa, yb, xc, yd (the direction of the arrow of the coordinate axis in the figure is positive) (however, the cylinder temperature is assumed to be substantially constant)
  PlS = Pa (l + xa) S
  PlS = Pb (l + yb) S
  PlS = Pc (l + xc) S
  PlS = Pd (l + yd) S
Because
  xa = 1 (P-Pa) / Pa
  yb = 1 (P-Pb) / Pb
  xc = 1 (P-Pc) / Pc
  yd = 1 (P-Pd) / Pd
It becomes.
  Actually, compression due to piston displacement is close to adiabatic compression, but the temperature is not always constant before and after compression. Therefore, if the temperature change is corrected, the displacement x can be obtained with higher accuracy. It is done.
[0034]
  If the moving amount vector of the center of gravity of the movable member is T (tx, ty),
  tx = (xa + xc) / 2
  ty = (yb + yd) / 2
It becomes.
[0035]
  Also, if the length of one side of the movable member is 2L and the radius of the hemisphere at the piston tip is sufficiently smaller than L,
  Da = (L + tx, ty)
  Db = (tx, L + ty)
  Dc = (− L + tx, ty)
  Dd = (tx, -L + ty)
  Also,
  FaC = Fa · Da / | Da |
  FbC = Fb · Db / | Db |
  FcC = Fc · Dc / | Dc |
  FdC = Fd · Dd / | Dd | (• is the inner product of vectors)
Because
  FaC '= Fa-FaC
  FbC ′ = Fb−FbC
  FcC '= Fc-FcC
  FdC ′ = Fd−FdC
It becomes.
[0036]
  The compliance device or the robot can be controlled based on the external force measured or calculated as described above or the amount of movement of the movable member. In an operation in which the optimum compliance rigidity is not known in advance, the compliance rigidity or the robot can be controlled by changing the air pressure in the cylinder so that the calculated external force does not exceed a predetermined value.
[0037]
  Next, the state of the robot equipped with the compliance device according to the present invention in the wrist part will be described with reference to FIG.Claim 6Corresponding).
  In FIG. 7, the compliance device 71 is mounted between the arm tip of the robot and the hand. The movable member and the hand, and the base member and the arm tip are connected, and the position is corrected by moving the hand according to the work reaction force acting when the fitting part is assembled or disassembled. Further, even for a component whose assembly accuracy or assembly state is unknown, the position is corrected by changing the compliance rigidity in accordance with the work reaction force and the position correction amount generated during the work.
[0038]
  Next, based on FIG. 8, the state of the robot having the compliance device according to the present invention mounted on the finger portion will be described (Claim 7Corresponding).
  In FIG. 8, a compliance device 81 is mounted between a chuck moving part of a chuck-type hand provided at the arm tip and a finger. The movable member and the finger, the base member, and the chuck moving unit are connected, and the position is corrected by moving the finger according to the work reaction force that acts when the fitting part is assembled or disassembled. Further, even for a component whose assembly accuracy or assembly state is unknown, the position is corrected by changing the compliance rigidity in accordance with the work reaction force and the position correction amount generated during the work.
[0039]
  Next, the state of the robot having the compliance device mounted on the work table will be described based on FIG. 9 (Claim 8Corresponding).
  In FIG. 9, the compliance device 91 is mounted between a jig for placing a fitted part and a casing of a work table. The movable member and the jig, and the base member and the housing are connected, and the position is corrected by moving the jig in accordance with the work reaction force acting when the fitting part is assembled or disassembled. Further, even for a component whose assembly accuracy or assembly state is unknown, the position is corrected by changing the compliance rigidity in accordance with the work reaction force and the position correction amount generated during the work.
[0040]
【The invention's effect】
The effects of the present invention are organized as follows for each invention of the main claims.
(1) Effect of the invention according to claim 1
  Since compliance can be obtained simply by bringing the movable member into contact with the spherical tip of the restoring force generating means and biasing it, the compliance device can be configured with a simple structure. Also, the control means of the restoring force generating meansStepBy having it, the compliance rigidity can be quickly and appropriately set to a desired value for each part or for each work according to the part rigidity and the content of the work during a series of work.
  Further, the side surface of the movable member is formed by two inclined surfaces having opposite inclination angles, and three or more restoring force generating means are arranged in each plane intersecting each inclined surface of the side surface of the movable member. It is possible to obtain compliance operation for translation with 3 degrees of freedom and rotational motion with 3 degrees of freedom..
[0041]
    (Delete)
[0042]
    (Delete)
[0043]
    (Delete)
[0044]
(2) Claim 2Effects of the invention
  Since the restoring force generating means adjusts the fluid pressure by utilizing the elasticity of the compressive fluid, the elastic restoring force and thus the compliance rigidity can be easily set steplessly.
[0045]
(3) Claim 3Effects of the invention
  The compliance rigidity can be changed by adjusting the pressure in the cylinder in an unloaded state and then closing the on-off valve to seal the cylinder. Since the pressure in the unloaded cylinder can be appropriately adjusted in a timely manner by the pressure control means, the work speed can be increased and the precision can be improved by optimizing the compliance rigidity according to the work content.
[0046]
    (Delete)
[0047]
    (Delete)
[0048]
(4) Claim 4Effects of the invention
  pressureBy changing the restoring force of all restoring force generating means by the control means, it is possible to quickly and easily set the compliance rigidity not only in the initial stage but also in the middle of a series of operations.
[0049]
(5) Claim 5Effects of the invention
  pressureBy changing the restoring force of the specific restoring force generating means by the control means, the restoring force generating means for changing the restoring force can be appropriately selected, so the compliance rigidity can be given directionality. .
[Brief description of the drawings]
FIG. 1 shows the basic structure of the compliance mechanism.To completeFIG.
FIG. 2 is a diagram showing an input / output unit to an external control unit of the compliance device.StepFIG.
FIG. 3 shows the compliance mechanismotherBasic structureTo completeFIG.
FIG. 4 is a diagram showing a state of arrangement of the first member, the second member, and the restoring force generating means in the embodiment of the compliance mechanism.
FIG. 5 shows a compliance machineIndeedIt is the figure which showed the mode of arrangement | positioning of the 1st member, 2nd member, and restoring force generation | occurrence | production means in it.
FIG. 6 shows a compliance machineIndeedIt is the figure which showed the measurement means of the pressure in it, and the calculation method based on it.
FIG. 7 is a diagram showing an embodiment of a robot having a compliance mechanism mounted on a wrist unit.
FIG. 8 is a view showing an embodiment of a robot in which a compliance mechanism is mounted on a finger portion of a hand.
FIG. 9 is a diagram showing an embodiment of a robot in which a compliance mechanism is mounted on a work table.
10A is a conceptual diagram of a main part of a robot arm having a compliance device, and FIG. 10B is a conceptual diagram when a force measuring device is simply added to the robot arm of FIG. .
11A is a side view of a main part of a conventional compliance device having a force measuring device, and FIG. 11B is a plan view.
[Explanation of symbols]
1, 21, 22, 41, 31, 51: movable member
2, 32, 46, 52: Base member
3: Abutting member
4a, 4b, 4c, 4d, 24a, 24b, 24c, 25a, 25b, 25c, 34a, 34b, 34c, 34d, 44a, 44b, 44c, 44d, 54a, 54b, 54c, 54d, 55a, 55c: cylinder
5a, 5b, 5c, 5d, 35a, 35b, 35c, 35d, 45a, 45b, 45c, 45d: Piston
6, 16, 43:calculator
7a, 7b, 7c, 7d, 17a, 17b, 17c, 17d: Open / close valve
8a, 8b, 8c, 8d: Tube
9a, 9b, 9c, 9d, 19a, 19b, 19c, 19d: regulator
11: Input / output means
42a, 42b, 42c, 42d: Pressure measuring means
61, 71, 81: Compliance device
91: Hand side plate
92: Arm side plate
93: Elastic member
94: Robot arm
95: Hand
96: mating parts
97: mated parts
98: Force sensor

Claims (8)

A movable member is elastically connected to the base member, and the cross section of the base member and the movable member is a polygon or an ellipse ,
Has a restoring force generating means of the plurality of single degree of freedom for generating the restoring force of the strength corresponding to the amount of displacement from the reference position of the movable member, the control means該復source force generating means,
In contact with the restoring force generating means and the movable member, the compliance device of the robot arm into contact with the movable member in a slidable spherical tip of the restoring force generating means pixels,
The side surface of the movable member is formed by two inclined surfaces having opposite inclination angles so as to be convex toward the base member ,
Around the base member, there are at least three restoring force generating means in each plane perpendicular to the Z-axis at the reference position of the movable member and intersecting each inclined surface of the side surface of the movable member. The compliance device is arranged so that the displacement direction is in the respective planes . The restoring force generating means comprises Cylinders and piston, the compliance device of claim 1, wherein the benzalkonium take advantage of the elasticity of the compressible fluid. According to claim 2, wherein the fluid supply means for supplying compressed fluid to the cylinder, a pressure control means for controlling the pressure of the compressed fluid, to have an on-off valve in the coupling portion of the fluid supply means and the cylinder Compliance equipment. 4. The compliance apparatus according to claim 3, wherein the pressure control means changes the restoring force of all restoring force generating means. 4. The compliance apparatus according to claim 3, wherein the pressure control means changes a restoring force of a specific restoring force generating means. A robot comprising the compliance device according to any one of claims 1 to 5 mounted between a tip of a robot arm and a hand. A robot comprising the compliance device according to any one of claims 1 to 5 mounted at a base or middle of a finger of a hand attached to a robot arm. The compliance device according to any one of claims 1 to 5 is mounted between a jig for placing an assembly part to be assembled or disassembled by a robot and a work table to which the jig is attached. Robot.

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