JP5521674B2 - robot - Google Patents

Description

The present invention relates to a robot.

  Recently, researches on service robots and human cooperative industrial robots have been actively conducted. Since these robots are in direct contact with humans, safety assurance is important. In order to maintain the safety of the robot system, each joint of the robot is required to be flexible and lightweight. In view of this, the conventional technology uses a wire antagonist drive by inserting a non-linear spring element into the drive transmission path to achieve flexibility and weight reduction of the device (for example, see Non-Patent Document 1).

Journal of the Robotics Society of Japan, Vol. No. 14 8, p. 1152-1159

Conventionally, the robot is configured serially and provided with one link and one rotating shaft to realize one degree of freedom, so not only the link and rotating shaft but also a pulley and an idle pulley are provided to realize multiple degrees of freedom. It is necessary to provide many, and the structure becomes complicated. In addition, since the wire that drives the link at the distal end must pass through pulleys and idle pulleys installed on all links closer to the most proximal end, there is a problem that energy loss due to friction and wire wear are large. It was.
The present invention has been made in view of such problems, and reduces the number of joints and the number of links using a multi-degree-of-freedom joint and a parallel drive unit, and fixes an actuator such as a motor as a power source to the main body. The arm can be reduced in weight by driving the arm through articulated muscle (referring to a wire or other member that transmits force flexibly). In addition, by inserting a nonlinear spring element into each drive unit, and controlling the joint and link in an antagonistic manner using one or more drive units greater than the number of degrees of freedom of the joint, the arm posture and stiffness are independent of the target command and An object of the present invention is to provide a robot that can accurately follow and achieve both good safety and excellent control performance.

In order to solve the above problem, the present invention is configured as follows.
The invention according to claim 1 includes a main body, a shoulder joint portion that can be displaced by three degrees of freedom, an upper arm link, an elbow joint portion that can be displaced by two degrees of freedom, and a forearm link. Installed, the actuator drives the shoulder joint and the upper arm link via four or more one joint muscles, and drives the elbow joint and the forearm link via three or more biarticular muscles In addition, the two articulated muscles intersecting in plan view are arranged symmetrically on both sides of the upper arm link, and the point at which the two articulated muscles intersect is more than the center of the one articulated muscle. a it shall be located on the upper arm link side.
Further, the invention according to claim 2 includes a main body, a shoulder joint that can be displaced by three degrees of freedom, an upper arm link, an elbow joint that can be displaced by one degree of freedom, a forearm link, and a wrist that can be displaced by three degrees of freedom. A hand, and an actuator is installed in the main body, and the actuator drives the shoulder joint and the upper arm link via four or more articulated muscles, and via at least two biarticular muscles. The elbow joint and the forearm link are driven, the wrist and the hand are driven via at least four triarticular muscles, and the two articulated muscles intersecting in plan view are the upper arm are arranged symmetrically on either side of the link, two additional of the point to which an articular muscles intersect is shall be located in the upper arm link side from the central portion of the top joint muscles.
According to a third aspect of the present invention, the shoulder joint portion has one end so as to enclose a spherical joint in which a receiving member is fixed to the main body and a spherical portion is connected to the upper arm link, and the spherical portion of the spherical joint. It is composed of three or more ligaments fixed to the main body and the other end fixed to the upper arm link.
According to a fourth aspect of the present invention, in the spherical joint, both side surfaces of the receiving member do not sandwich the center of the spherical surface of the receiving member.
According to a fifth aspect of the present invention, the ligament is configured by inserting a stretchable elastic body into a knitted tube.
According to a sixth aspect of the present invention, the elbow joint is composed of a fold rotation joint and a shaft rotation joint which are shaft joints whose rotation axes are perpendicular to each other.
According to a seventh aspect of the present invention, the elbow joint portion is constituted by a differential mechanism, and the two biarticular muscles are wound around two pulleys respectively connected to two side gears.
According to an eighth aspect of the present invention, the wrist is composed of an axial rotation joint and a universal joint.

  Reduce the number of joints and links using multi-degree-of-freedom joints and parallel drive units, and fix the actuators such as motors that are power sources to the main body and drive the arms through joint muscles (wires etc.) to lighten the arms Can be In addition, by inserting a nonlinear spring element into each drive unit and controlling the joint and link to be antagonistically driven using one or more drive units greater than the number of degrees of freedom of the joint, the posture angle and stiffness of the joint are independent of the target command. Moreover, it is possible to accurately follow and achieve both good safety and excellent control performance.

The block diagram of the robot which shows 1st Example of this invention The block diagram of the robot which shows 2nd Example of this invention. The block diagram of the robot which shows 3rd Example of this invention

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a configuration diagram of a robot showing a first embodiment of the present invention. 1a is a front view and FIG. 1b is a plan view. In the figure, the main body 1 is provided with an actuator (not shown) such as a motor for driving the arm. The shoulder joint portion 2 includes a three-degree-of-freedom spherical joint 21 in which the receiving member is fixed to the main body 1 and three ligaments 22, 23, and 24 that restrain the spherical portion of the spherical joint 21. The elbow joint portion 4 is composed of a bending rotation joint 411 and a shaft rotation joint 412 which are shaft joints whose rotation axes are perpendicular to each other, and moves with two degrees of freedom. 3 is an upper arm link and 5 is a forearm link. 11, 12, 13, and 14 are one joint muscles (hereinafter, one joint muscle that spans one joint is one joint muscle, two joint muscles that span two joints are two joint muscles, and three joint muscles are three joint muscles) , 15, 16 and 17 are biarticular muscles. The guide pins 61, 62, and 63 restrain the three biarticular muscles so that the biarticular muscle 15, the biarticular muscle 16, and the biarticular muscle 17 do not separate from the upper arm link 3. The fixing pins 711, 712, 713, 721, 722, 723, 724, 731, 732, and 733 fix the distal ends of the ligaments, monoarticular muscles, and biarticular muscles to the upper arm link 3 or the upper arm link 5.

Hereinafter, the operation principle of the robot will be described.
The robot has a body 1, a shoulder joint 2 with 3 degrees of freedom, an elbow joint 4 with 2 degrees of freedom, an upper arm link 3 that connects the shoulder joint 2 and the elbow joint 4, The forearm link 5 connecting the wrist part shown in the figure, four one-joint muscles 11, 12, 13, 14 for pulling the upper arm link 3, and three bi-articular muscles 15, 16, 17 for pulling the forearm link 5 It has been done. In order to reduce the weight of the arm that is a moving part, actuators such as motors that are all power sources are installed in the main body 1 that is a non-moving part, and the arm is driven via joint muscles (wires and the like).
The shoulder joint portion 2 includes a three-degree-of-freedom spherical joint 21 whose receiving member is fixed to the main body 1 and three ligaments 22, 24, and 25 that restrain the spherical portion of the spherical joint 21. Since the ordinary spherical joint firmly constrains the spherical portion, both side surfaces of the receiving member are configured to sandwich the center of the spherical surface, so that the movable range is narrow. Here, in order to extend the movable range of the shoulder joint, the area covered by the receiving member is reduced (both side surfaces of the receiving member do not sandwich the spherical center). If it is left as it is, the spherical part of the spherical joint will not come back out of the recess of the receiving member, that is, it will be easy to dislocate. Therefore, at least three ligaments 22, 23 and 24 are evenly installed so as to surround the spherical portion of the spherical joint 21. The ligament is configured so that one end is fixed to the main body and the other end is fixed to the upper arm link 3 with a fixing pin, and can be expanded and contracted within a certain range. For example, a stretchable elastic body is inserted into the knitted tube. In this way, the ligament does not interfere much with the driving of the joint muscles, it bears the weight of the arm with elasticity when there is no load, and the spherical part of the spherical joint works so that it always contacts the recess of the receiving member. Even when the weight is heavy, the spherical portion of the spherical joint is stopped at the limit length and is completely prevented from coming out of the recess of the receiving member, that is, the shoulder joint is prevented from dislocation.
One end of the upper arm link 3 is fixed to the spherical portion of the spherical joint 21 and the other end is connected to the elbow joint. One end of each of the four articulated muscles 11, 12, 13 and 14 is connected to a separate actuator arranged on the main body, and the other end is fixed to the upper arm link 3 by a stop pin. Further, the one joint muscle 11 and the one joint muscle 12 and the one joint muscle 13 and the one joint muscle 14 are respectively closed and symmetrically arranged on both sides of the upper arm link 3 and the spherical portion of the spherical joint 21. . In addition, one actuator and one joint muscle become one drive unit, and this tension can be feedback controlled by attaching a sensor for measuring the tension of the joint muscle. By controlling the tension of the four joint muscles, rotational torque about three axes xyz about the spherical center point of the recess of the receiving member of the spherical joint 21 is generated, and the upper arm link 3 and the spherical joint 21 are generated. Is moved in a spherical motion with 3 degrees of freedom.
The elbow joint portion 4 includes a bending rotation joint 411 and a shaft rotation joint 412 that are shaft joints whose rotation axes are perpendicular to each other, and connects the upper arm link 3 and the forearm link 5. Here, the installation positions of the bending rotation joint 411 and the shaft rotation joint 412 may be exchanged. Further, the rotation axis of the bending rotation joint 411 is perpendicular to the upper arm link 3, and the rotation axis of the axis rotation joint 412 is parallel to the forearm link 5. In addition, each of the three biarticular muscles 15, 16 and 17 is connected to a separate actuator, one end of which is arranged on the main body, the other end is fixed to the forearm link 5 by a stop pin, and the middle stage is installed on the upper arm link 3, respectively. The guide pins 61, 62, 63 are restrained so as not to move in the vertical direction. Further, the biarticular muscles are substantially parallel between the actuator and the guide pin, and the biarticular muscles 15 and 16 intersect between the guide pin and the stop pin.
When the two joint muscles 15 and 16 are pulled simultaneously and the two joint muscles 17 are loosened, or when the two joint muscles 15 and 16 are simultaneously loosened and the two joint muscles 17 are pulled, the folding joint 411 is rotated. To make the elbow bend and stretch. When one of the biarticular muscle 15 and the biarticular muscle 16 is pulled and the remaining one is loosened, the shaft rotation joint 412 and the forearm link 5 are rotated to cause the arm to perform a twist operation. Therefore, the elbow joint part 4 and the forearm link 5 are caused to exercise with two degrees of freedom using three biarticular muscles.

  As described above, each joint can be driven in an antagonistic manner using one joint muscle that is greater than the number of degrees of freedom of the joint. Further, by inserting a non-linear spring element between the actuator of each drive unit and the joint muscle, the joint stiffness can be adjusted independently without affecting the posture control of the joint. Here, the term “non-linear spring” means that the spring constant is not a constant value but changes according to displacement. For example, the spring constant of the conical coil spring increases as the expansion / contraction amount increases. Also, the effect on the motion performance of the arm is significant when the arm is displaced at a high acceleration / deceleration and at a low speed. On the other hand, when the safety should be considered, the arm is displaced at a high speed. Therefore, if the stiffness target command is given to a small value at high speed displacement and a large value at high acceleration / deceleration and low speed displacement, the arm can achieve both good safety and excellent control performance.

FIG. 2 is a block diagram of a robot showing a second embodiment of the present invention. 2a is a front view and FIG. 2b is a plan view. In the figure, the elbow joint 4 is composed of a differential mechanism 42 and includes a frame 421, a differential mechanism link 422, two pulleys 423 and 424, two side gears 425 and 426, and a pinion gear 427. is there. The same parts as those in FIG.
In the robot of the present embodiment shown in FIG. 2, the elbow joint portion 4 is bent, and a differential mechanism 42 is configured instead of the rotary joint 411 and the shaft rotary joint 412. Further, in the robot of the first embodiment, the biarticular muscle 15 and the biarticular muscle 16 are crossed after passing through the guide pin 61 and the guide pin 62 respectively, and the tip is fixed to the forearm link 5. Then, the biarticular muscle 15 and the biarticular muscle 16 are parallel to each other after passing through the guide pin 61 and the guide pin 62, respectively, and their respective tips are fixed to the pulley 423 and the pulley 424 of the differential mechanism 42.

Hereinafter, the operation principle will be described.
Since the configuration and operation principle of the shoulder joint portion 2 and the upper arm link 3 are the same as those in the first embodiment, description thereof is omitted here.
The elbow joint 4 is connected to the upper arm link 3 with the frame 421 of the differential mechanism 42, and is connected to the forearm link 5 with the pinion gear 427 of the differential mechanism 42. On the other hand, the support shaft 428 is fixed to the frame 421. The pulley 423 and the pulley 424 are connected to the side gear 425 and the side gear 426, respectively, and are installed on the support shaft 428 through bearings. The differential mechanism link 422 is coupled to the connecting portion between the pinion gear 427 and the forearm link 5 and the support shaft 428 via a bearing. The biarticular muscle 15 and the biarticular muscle 16 are fixed to the pulley 423 and the pulley 424 after passing through the guide pin 61 and the guide pin 62 installed on the upper arm link 3, respectively. On the other hand, the biarticular muscle 17 is fixed to the rear forearm link 5 through the upper arm link 3 or the guide pin 63 installed on the frame 421.
When the biarticular muscle 15 and the biarticular muscle 16 are pulled simultaneously and the biarticular muscle 17 is loosened, torque is generated in the pulley 423 and the pulley 424, and this torque passes through the side gear 425, the side gear 426, and the pinion gear 427, and the forearm link 5 It is transmitted to and bends to the elbow. On the other hand, when the biarticular muscles 15 and 16 are simultaneously loosened and the biarticular muscle 17 is pulled, the tension of the biarticular muscle 17 is immediately transmitted to the forearm link 5 and is extended to the elbow. When one of the biarticular muscle 15 and the biarticular muscle 16 is pulled and the remaining one is loosened, a difference in torque is generated between the side gear 425 and the side gear 426, and the difference rotates between the pinion gear 427 and the forearm link 5. To twist the arm. Therefore, the elbow joint 4 and the forearm link 5 are moved by two degrees of freedom using three biarticular muscles.

  As described above, each joint can be driven in an antagonistic manner using one joint muscle that is greater than the number of degrees of freedom of the joint. Further, by inserting a non-linear spring element between the actuator of each drive unit and the joint muscle, the joint stiffness can be adjusted independently without affecting the posture control of the joint. Also, the effect on the motion performance of the arm is significant when the arm is displaced at a high acceleration / deceleration and at a low speed. On the other hand, when the safety should be considered, the arm is displaced at a high speed. Therefore, if the stiffness target command is given to a small value at high speed displacement and a large value at high acceleration / deceleration and low speed displacement, the arm can achieve both good safety and excellent control performance.

The twist operation range of the robot according to the present embodiment is limited to only the amount of joint muscles to be caught in the pulley 423 and the pulley 424, and can be widened if the size of the pulley is sufficiently large.

FIG. 3 is a block diagram of a robot showing a third embodiment of the present invention. 3a is a front view and FIG. 3b is a plan view. In the figure, the robot includes a wrist portion 8 that connects the forearm link 5 and the hand 9 in addition to the shoulder joint portion 2, the upper arm link 3, the elbow joint portion 4, and the forearm link 5. The wrist portion 8 is composed of an axial rotation joint 81 and a universal joint 82 and moves with three degrees of freedom. On the other hand, the elbow joint part 4 is composed of only the bending rotation joint 411 and moves with one degree of freedom. 181, 182, 183 and 184 are triarticular muscles. Guide pins 641, 642, 643, 644, 651, 652, 653, 654, 661, 662, 663 and 664 prevent the triarticular muscles 181, 182, 183 and 184 from leaving the upper arm link 3 and the forearm link 5. The four triarticular muscles are restrained. The fixing pins 741, 742, 743, and 744 fix the tip of the triarticular muscle to the hand 9. The same parts as those in FIG.

Hereinafter, the operation principle will be described.
The robot has an upper arm link that connects the main body 1, a shoulder joint 2 with 3 degrees of freedom, an elbow joint 4 with 1 degree of freedom, a wrist 8 with 3 degrees of freedom, and a shoulder joint 2 and an elbow joint 4. 3, a forearm link 5 that connects the elbow joint 4 and the wrist 8, four one-joint muscles 11, 12, 13, 14 that pull the upper arm link 3, and two biarticular muscles 15 that pull the forearm link 5 , 17 and four triarticular muscles 181, 182, 183, 184 that pull the hand 9. In order to reduce the weight of the arm that is a moving part, actuators such as motors that are all power sources are installed in the main body 1 that is a non-moving part, and the arm is driven via joint muscles (wires and the like).
Since the configuration and operation principle of the shoulder joint portion 2 and the upper arm link 3 are the same as those in the first embodiment, description thereof is omitted here.
The elbow joint portion 4 is configured by a bending rotation joint 411 that is a shaft joint whose rotation axis is perpendicular to the upper arm link 3 and the forearm link 5, and connects the upper arm link 3 and the forearm link 5. The two biarticular muscles 15 and 17 are each connected to a separate actuator having one end arranged on the main body, the other end is fixed to the forearm link 5 by a stop pin, and the middle stage is a guide pin installed on the upper arm link 3 respectively. They are constrained so as not to move in the vertical direction by 61 and 63, and are installed one by one on the top and bottom on a plane perpendicular to the rotation axis of the rotation joint 411.
When the biarticular muscle 15 is pulled and the biarticular muscle 17 is loosened, or when the biarticular muscle 15 is loosened and the biarticular muscle 17 is pulled, the folding joint 411 is rotated to cause the elbow to bend and extend. Accordingly, the elbow joint 4 and the forearm link 5 are caused to move with one degree of freedom with respect to the upper arm link 3 by using two biarticular muscles.
The wrist portion 8 is connected to the forearm link 5 with an axis rotation joint 81 whose rotation axis is parallel to the forearm link 5, and is connected to the hand 9 with a universal joint 82. The four triarticular muscles 181, 182, 183, and 184 are connected to separate actuators each having one end arranged on the main body, the other end is fixed to the hand 9 by a stop pin, and the middle stage is installed on the upper arm link 3. The guide pins 641, 642, 643, 644 and the guide pins 651, 652, 653, 654, 661, 662, 663, 664 installed on the forearm link 5 are restrained so as not to move in the vertical direction. In addition, the triarticular muscles are substantially parallel between the actuator and the guide pins and between the adjacent guide pins, while the triarticular muscles 181 and 182 intersect between the guide pins 661 and 662 and the stop pins 741 and 742. The triarticular muscles 183 and 184 intersect between the guide pins 663 and 663 and the stop pins 743 and 744.
When the three-joint muscle 181 and the three-joint muscle 182 are pulled simultaneously and the three-joint muscle 183 and the three-joint muscle 184 are simultaneously loosened, or the three-joint muscle 181 and the three-joint muscle 182 are simultaneously loosened and the three-joint muscle 183 and the three-joint muscle are Pulling 184 at the same time causes the hand 9 to swing left and right by rotating the universal joint 82 around the vertical rotation axis. On the other hand, when the three-joint muscle 181 and the three-joint muscle 183 are pulled simultaneously and the three-joint muscle 182 and the three-joint muscle 184 are simultaneously loosened, or the three-joint muscle 181 and the three-joint muscle 183 are simultaneously loosened and the three-joint muscles 182 and three When the joint muscle 184 is pulled at the same time, the hand 9 is caused to swing up and down by rotating the universal joint 82 around the rotation axis in the left-right direction. In addition, when the three-joint muscle 181 and the three-joint muscle 184 are simultaneously pulled and the three-joint muscle 182 and the three-joint muscle 183 are simultaneously loosened, or the three-joint muscle 181 and the three-joint muscle 184 are simultaneously loosened, and the three-joint muscles 182 and the three-joint muscles 182 When the joint muscle 183 is pulled at the same time, the hand 9 is caused to rotate in and out by rotating the shaft rotation joint 412. Therefore, the wrist portion 8 and the hand 9 are caused to exercise with 3 degrees of freedom with respect to the forearm link 5 by using four triarticular muscles.

  As described above, each joint can be driven in an antagonistic manner using one joint muscle that is greater than the number of degrees of freedom of the joint. Further, by inserting a non-linear spring element between the actuator of each drive unit and the joint muscle, the joint stiffness can be adjusted independently without affecting the posture control of the joint. Also, the effect on the motion performance of the arm is significant when the arm is displaced at a high acceleration / deceleration and at a low speed. On the other hand, when the safety should be considered, the arm is displaced at a high speed. Therefore, if the stiffness target command is given to a small value at high speed displacement and a large value at high acceleration / deceleration and low speed displacement, the arm can achieve both good safety and excellent control performance.

  The robot of the present embodiment can move with 7 degrees of freedom by combining 3 degrees of freedom of the shoulder joint part 2, 1 degree of freedom of the elbow joint part 4 and 3 degrees of freedom of the wrist part 8. It is possible to make a close movement.

DESCRIPTION OF SYMBOLS 1 Main body 2 Shoulder joint part 3 Upper arm link 4 Elbow joint part 5 Forearm link 11, 12, 13, 14 One joint muscle 15, 16, 17 Two joint muscle 181, 182, 183, 184 Three joint muscle 21 Spherical joint 22, 23 , 24 Ligament 411 Folding rotation joint 412, 81 Axis rotation joint 42 Differential mechanism 421 Frame 422 Differential mechanism link 423, 424 Pulley 425, 426 Side gear 427 Pinion gear 428 Support shaft 61, 62, 63, 641, 642, 643 , 644, 651, 652, 653, 654, 661, 662, 663, 664 Guide pin 711, 712, 713, 721, 722, 723, 724, 731, 732, 733, 741, 742, 743, 744 Fixed pin 8 Wrist part 82 Universal joint 9 Hand

Claims (8)

A main body, a shoulder joint that can be displaced by three degrees of freedom, an upper arm link, an elbow joint that can be displaced by two degrees of freedom, and a forearm link; an actuator is installed in the main body; The shoulder joint and the upper arm link are driven via an articulated muscle, the elbow joint and the forearm link are driven via at least three biarticular muscles, and two crossing in a plan view the one joint muscles are arranged symmetrically on either side of the upper arm link, further two of the points in which one joint muscles intersect is located on the upper arm link side from the center portion of said one joint muscles and wherein Rukoto Robot to do. A main body, a shoulder joint that can be displaced by three degrees of freedom, an upper arm link, an elbow joint that can be displaced by one degree of freedom, a forearm link, a wrist that can be displaced by three degrees of freedom, and a hand. It is installed, and the actuator drives the shoulder joint and the upper arm link through four or more joint muscles, and drives the elbow joint and the forearm link through at least two biarticular muscles. and, to drive the said hand and the wrist portion through at least four three-joint muscle, the one joint muscles two intersecting in plan view are disposed symmetrically on either side of the upper arm link, further 2 robot that said one joint muscles of the intersect, wherein Rukoto is located in the upper arm link side from the central portion of the top joint muscles.   The shoulder joint has a spherical joint in which a receiving member is fixed to the main body and a sphere is connected to the upper arm link, one end fixed to the main body so as to enclose the sphere of the spherical joint, and the other end is the upper arm link The robot according to claim 1, further comprising three or more ligaments fixed to the robot.   The robot according to claim 3, wherein the spherical joint is such that both side surfaces of the receiving member do not sandwich the center of the spherical surface of the receiving member. The ligament is
The robot according to claim 3, wherein the robot is configured by inserting a stretchable elastic body into the knitted tube.   2. The robot according to claim 1, wherein the elbow joint portion includes a folding rotation joint and a shaft rotation joint which are shaft joints whose rotation axes are perpendicular to each other.   2. The robot according to claim 1, wherein the elbow joint portion is constituted by a differential mechanism, and the two biarticular muscles are wound around two pulleys respectively connected to two side gears. The robot according to claim 2, wherein the wrist portion includes a shaft rotation joint and a universal joint.

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