JP7035761B2 - How to control mobile devices, hands, robots and mobile devices - Google Patents

Description

The present invention relates to a mobile device, a hand, a robot, and a method for controlling the mobile device.

The linear guide device described in Patent Document 1 includes a moving stage, a driven member fixed to the moving stage, and a piezoelectric motor provided with a friction member, and the friction member of the piezoelectric motor is used as the driven member. It is in contact. In the linear guide device having such a configuration, when the piezoelectric motor is driven, the friction member vibrates, and the driven member is sent out by the vibration to move the moving stage.

Japanese Patent Application Laid-Open No. 2003-343561

In a moving body device in which the vibration of the piezoelectric motor is transmitted to the driven member via the friction member, when the driven member decelerates from the constant velocity state to the stop, the driven member and the friction member are compared with the constant velocity state. The frictional force of is large. Therefore, if the driven member is repeatedly stopped in the same region with respect to the friction member, the wear of that part of the driven member progresses as compared with other parts, and stable driving can be maintained for a long period of time. There was a problem that it was difficult.

The mobile device according to the application example of the present invention includes a driven member and
A drive unit having a vibrating portion, a protruding portion that is arranged so as to project from the vibrating portion, abuts on the driven member, and transmits the vibration of the vibrating portion to the driven member.
Processing unit and
A storage unit that stores instructions that can be read by the processing unit is provided.
The driven member is configured to move by the vibration of the vibrating portion.
The storage unit stores a region of the driven member that comes into contact with the protrusion so as not to decelerate the driven member.
The processing unit reads the position information of the region where the driven member is not decelerated from the storage unit, and when the protruding portion is in contact with a region different from the region where the driven member is not decelerated, the processing unit reads the position information. It is characterized by decelerating the driven member.

It is sectional drawing which shows the hand which concerns on 1st Embodiment of this invention. It is a block diagram which shows the circuit system of the hand of FIG. It is sectional drawing which shows the moving body apparatus which the hand of FIG. 1 has. It is a perspective view which shows the piezoelectric module which the mobile apparatus of FIG. 3 has. It is a top view which shows the piezoelectric actuator which the piezoelectric module of FIG. 4 has. It is a top view which shows the moving area of the driven member which the moving body apparatus of FIG. 3 has. It is a graph which shows the driving speed of the mobile device of FIG. It is sectional drawing for demonstrating a conventional problem. It is sectional drawing which shows the 2nd gripping mode which the moving body apparatus of FIG. 3 has. It is sectional drawing for demonstrating the effect of the moving body apparatus of FIG. It is a top view for demonstrating the driving method of the moving body apparatus of FIG. It is a top view for demonstrating the driving method of the moving body apparatus of FIG. It is a top view for demonstrating the driving method of the moving body apparatus of FIG. It is a top view for demonstrating the driving method of the moving body apparatus of FIG. It is a top view for demonstrating the driving method of the moving body apparatus of FIG. It is a top view for demonstrating the driving method of the moving body apparatus of FIG. It is sectional drawing for demonstrating the driving method of the hand which concerns on 2nd Embodiment of this invention. It is sectional drawing for demonstrating the driving method of the hand which concerns on 2nd Embodiment of this invention. It is sectional drawing for demonstrating the driving method of the hand which concerns on 2nd Embodiment of this invention. It is a top view which shows the hand which concerns on 3rd Embodiment of this invention. It is a top view which shows the hand which concerns on 3rd Embodiment of this invention. It is a top view which shows the hand which concerns on 4th Embodiment of this invention. It is a top view which shows the hand which concerns on 4th Embodiment of this invention. It is a perspective view which shows the robot which concerns on 5th Embodiment of this invention. It is a side view which shows the robot which concerns on 6th Embodiment of this invention. It is a top view which shows the moving body device which a robot has. It is a top view which shows the moving body device which a robot has. It is a flowchart which shows the control method of the robot of FIG.

Hereinafter, the control method of the mobile device, the hand, the robot, and the mobile device of the present invention will be described in detail based on the embodiments shown in the accompanying drawings.

<First Embodiment>
FIG. 1 is a cross-sectional view showing a hand according to the first embodiment of the present invention. FIG. 2 is a block diagram showing a circuit system of the hand of FIG. FIG. 3 is a cross-sectional view showing a mobile device held by the hand of FIG. FIG. 4 is a perspective view showing a piezoelectric module included in the mobile device of FIG. FIG. 5 is a plan view showing a piezoelectric actuator included in the piezoelectric module of FIG. FIG. 6 is a plan view showing a moving region of the driven member included in the moving body device of FIG. FIG. 7 is a graph showing the driving speed of the mobile device of FIG. FIG. 8 is a cross-sectional view for explaining a conventional problem. FIG. 9 is a cross-sectional view showing a second gripping mode included in the mobile device of FIG. FIG. 10 is a cross-sectional view for explaining the effect of the mobile device of FIG. 11 to 16 are plan views for explaining a method of driving the mobile device of FIG. 3, respectively.

The hand 1 shown in FIG. 1 can hold the object W by sandwiching it from both sides. The hand 1 is used, for example, by attaching it to a robot. The hand 1 is an encoder that detects the positions of a pair of finger portions 23, 24 (grip portions) that grip the object W, piezoelectric drive portions 3A, 3B that drive the finger portions 23, 24, and finger portions 23, 24. It has 4A and 4B, a force detecting unit 5 for detecting the force received by the finger units 23 and 24 from the object W, and a control device 6. Hereinafter, such a hand 1 will be described in detail.

As shown in FIG. 1, the hand 1 includes a base 20, a pair of sliders 21 and 22 slidably supported with respect to the base 20, fingers 23 and 24 fixed to the sliders 21 and 22, and a slider. It has the driven members 25 and 26 fixed to the 21 and 22, and the piezoelectric drive portions 3A and 3B for sliding the sliders 21 and 22. Further, as shown in FIG. 2, the hand 1 includes encoders 4A and 4B connected to the piezoelectric drive units 3A and 3B, and a force detection unit 5 for detecting the force received by the finger units 23 and 24 from the object W. It has a control device 6 for controlling the drive of the piezoelectric drive units 3A and 3B. In such a hand 1, the piezoelectric drive unit 3A and the driven member 25 constitute the mobile device 10A, and the piezoelectric drive unit 3B and the driven member 26 constitute the mobile device 10B. Fingers 23 and 24 are fixed to the mobile devices 10A and 10B, respectively.

As shown in FIG. 1, the sliders 21 and 22 are supported by the base 20 via the slide guide 29, respectively, and can slide in the lateral direction in FIG. 1, that is, in the direction in which the fingers 23 and 24 approach and separate. Is. That is, the sliders 21 and 22 can move linearly, respectively.

Further, the sliders 21 and 22 can slide independently. Therefore, for example, only the slider 22 can be slid with the slider 21 stopped, or conversely, only the slider 21 can be slid with the slider 22 stopped. Further, for example, the sliders 21 and 22 can be slid in the same direction or slid in opposite directions. By sliding the sliders 21 and 22 in this way, the object W can be gripped by the fingers 23 and 24, the gripped object W can be released, and the object W can be moved while gripping the object W. You can make it.

The fingers 23 and 24 have elasticity. Since the finger portions 23 and 24 have elasticity, the impact at the time of contact between the object W and the finger portions 23 and 24 can be softened. Therefore, damage to the object W and the fingers 23 and 24 can be effectively suppressed. Further, by deforming the fingers 23 and 24, it is possible to suppress an excessive force from being applied to the object W, and it is possible to suppress damage to the object W. However, the fingers 23 and 24 may be hard enough not to be substantially elastically deformed by a force sufficient to grip the object W.

Next, the piezoelectric drive units 3A and 3B will be described, but since they have the same configuration as each other, the piezoelectric drive unit 3A will be described as a representative below, and the description of the piezoelectric drive unit 3B will be omitted. do. As shown in FIG. 3, the piezoelectric drive unit 3A has a piezoelectric module 30. Further, as shown in FIG. 4, the piezoelectric module 30 has a laminated body 310 in which a plurality of piezoelectric actuators 31 are laminated, and an urging portion 32 that urges the laminated body 310 toward the driven member 25. The piezoelectric module 30 is screwed to the base 20 at the urging portion 32.

Further, as shown in FIG. 5, each piezoelectric actuator 31 vibrates with a vibrating portion 311 and a support portion 312 that supports the vibrating portion 311 and a pair of connecting portions 313 that connect the vibrating portion 311 and the supporting portion 312. It has a protruding portion 314 provided at the tip end portion of the portion 311 and transmitting the driving force of the vibrating portion 311 to the driven member 25. The protruding portion 314 is provided so as to project from the vibrating portion 311 and is in contact with the driven member 25 in a state where the tip portion thereof is pressed against the driven member 25 by the urging portion 32. Further, the vibration unit 311 is provided with piezoelectric elements 311a, 311b, 311c, 311d, and 311e, and by applying a predetermined drive signal to each of these piezoelectric elements 311a, 311b, 311c, 311d, and 311e, the vibration unit is provided. The 311 vibrates (the protrusion 314 makes an elliptical motion), which causes the slider 21 to slide relative to the base 20. In the state where the drive of the piezoelectric drive unit 3A is stopped, the position of the slider 21 is held by the frictional force generated between the protrusion 314 and the driven member 25, and the unintended slide of the slider 21 is suppressed.

Although the piezoelectric drive unit 3A has been described above, the piezoelectric drive unit 3A is not particularly limited as long as the driven member 25 can be moved by the vibration of the protrusion 314. For example, a rotary type piezoelectric drive unit 3A as in the second embodiment described later may be used. The same applies to the piezoelectric drive unit 3B. Further, the piezoelectric drive units 3A and 3B may have the same configuration or may have different configurations.

Here, the constituent materials of the protrusion 314 and the driven member 25 are not particularly limited, but materials having excellent wear resistance are preferable. Examples of such materials having excellent wear resistance include oxide ceramics such as alumina, silica, titania, and zirconia, various ceramics such as nitride ceramics such as silicon nitride, aluminum nitride, and titanium nitride, sapphire, and crystals. Can be mentioned. In particular, the protruding portion 314 and the driven member 25 of the present embodiment are each made of alumina having a purity of 99% or more. As a result, the protrusion 314 and the driven member 25 having sufficiently excellent wear resistance can be obtained. In addition to the ceramics, the projecting portion 314 and the driven member 25 may contain, for example, materials that may be mixed in or necessary for manufacturing.

As shown in FIG. 2, the control device 6 has a processor 61 as a processing unit for processing information, a memory 62 as a storage unit communicably connected to the processor 61, and an external interface 63. Each part of the control device 6 is communicably connected via various buses. The processor 61 executes various programs and the like stored in the memory 62. Various programs that can be executed by the processor 61 are stored (stored) in the memory 62. Further, the memory 62 can store various data from the host computer received by the external interface 63. The memory 62 includes, for example, a volatile memory such as a RAM (Random Access Memory) and a non-volatile memory such as a ROM (Read Only Memory).

The processor 61 included in the control device 6 controls the drive of the piezoelectric drive units 3A and 3B based on the outputs of the encoders 4A and 4B and the outputs of the force detection unit 5. As a result, the hand 1 can grip the object W with a predetermined gripping force by the fingers 23 and 24, and can release the gripped object W. Further, the control device 6 has the piezoelectric drive units 3A and 3B so that the wear of the driven members 25 and 26 does not occur locally in the moving region Q, that is, the wear is as uniform as possible in the moving region Q. Control the drive of. The moving region Q refers to an region that comes into contact with the protruding portions 314 of the driven members 25 and 26 and moves relative to the protruding portion 314, and as shown in FIG. 6, the slider 21 is on the leftmost side of the paper surface (fingers). The contact point Q'between the driven member 25 and the protruding portion 314 in the state of being moved to the portion 24 side) and the driven member 25 in the state where the slider 21 is moved to the rightmost side of the paper surface (the side opposite to the finger portion 24). It is a region between the contact point Q "with the protrusion 314 and the driven member 26. The same applies to the driven member 26.

Hereinafter, the control method of the hand 1 by the control device 6 will be described, but since the control thereof is the same for the mobile device 10A and 10B, the mobile device 10A will be described and moved as a representative for convenience of explanation below. The description of the body device 10B will be omitted. First, when the slider 21 is slid by a predetermined distance, the piezoelectric drive unit 3A accelerates the slider 21 from a stopped state to a preset maximum speed Sm as shown in FIG. 7 as a drive pattern thereof. It has a drive mode M1, a constant speed drive mode M2 that maintains the maximum speed Sm, and a deceleration drive mode M3 that stops the slider 21 from the maximum speed Sm. However, if the moving distance of the slider 21 is so short that there is no time to reach the maximum speed Sm, the constant speed drive mode M2 is omitted as shown by the chain line in the figure, and acceleration is performed before the maximum speed is reached. The drive mode M1 may be switched to the deceleration drive mode M3. In FIG. 7, the acceleration of the acceleration drive mode M1 is constant, but the acceleration is not limited to this, and the acceleration may change with time. Similarly, in FIG. 7, the deceleration rate of the deceleration drive mode M3 is constant, but the deceleration rate is not limited to this, and the deceleration may change over time.

Here, in the acceleration drive mode M1 and the deceleration drive mode M3, the frictional force generated between the protrusion 314 and the driven member 25 is between the protrusion 314 and the driven member 25 in the constant velocity drive mode M2. It is larger than the frictional force generated in. Therefore, in the acceleration drive mode M1 and the deceleration drive mode M3, the driven member 25 is more burdened than the constant velocity drive mode M2. Therefore, for example, as shown in FIG. 8, when the acceleration drive mode M1 and the deceleration drive mode M3 are repeatedly performed in a certain region D located in the moving region Q of the driven member 25, the region D becomes larger than the other portions. However, the surface is worn out and the surface becomes rough or wears out in a concave shape. In such a state, for example, the protrusion 314 is caught in the area D, which hinders the smooth sliding of the slider 21 or prevents the slider 21 from sliding further.

As a mode for gripping the object W, for example, a first grip mode Mh1 (not shown) for stopping the driving of the piezoelectric drive units 3A and 3B while gripping the object W, and as shown in FIG. In addition, while gripping the object W, the piezoelectric drive units 3A and 3B are continuously driven so as to move the finger portions 23 and 24 in the direction in which the gripping force is increased, that is, in the direction in which the finger portions 23 and 24 approach. There is a second gripping mode Mh2. The second gripping mode Mh2 is an effective mode when a larger gripping force is required because it is easier to obtain a larger gripping force than the first gripping mode Mh1. However, in the second gripping mode Mh2, since the slider 21 is restricted from sliding further by the object W, the piezoelectric drive unit 3A is idle in the same region of the movement region Q, that is, the driven member 25. On the other hand, the protruding portion 314 is in a slipped state. Such a state causes damage to the driven member 25 equal to or more than that of the acceleration drive mode M1 and the deceleration drive mode M3 described above, and is a major cause of the formation of a dent as shown in FIG.

Therefore, in the control device 6, in the acceleration drive mode M1, the deceleration drive mode M3, and the second gripping mode Mh2, the driven member 25 that comes into contact with the protrusion 314 is made uniform over the entire moving region Q. In addition, the drive of the mobile device 10A is controlled. According to such a control method, the damaged region of the driven member 25 is dispersed over the entire moving region Q. Therefore, the formation of the dent as shown in FIG. 8 is reduced, and as shown in FIG. 10, the bottom of the dent is expanded so that the entire area of the moving region Q is uniformly worn. Therefore, it is possible to obtain a mobile device 10A capable of maintaining the moving region Q of the driven member 25 in a good state for a long period of time and stably performing long-term driving.

Next, a specific control method will be described. For example, as shown in FIG. 11, the slider 21 is located at the origin P0 (standby position) in the drive start state. In this state, when a "command to move the slider 21 to the target position P1" is input from the host computer to the control device 6, the control device 6 drives the piezoelectric drive unit 3A according to the received command, and is shown in FIG. As shown above, the slider 21 is moved to the target position P1. At this time, the processor 61 detects the region Q1 of the moving region Q of the driven member 25 that is in contact with the protrusion 314 in the acceleration drive mode M1 from the output of the encoder 4A, and determines the region Q1 as the “deceleration drive mode M3”. At this time, it is stored in the memory 62 as a contact avoidance area QX1 which is a “region for avoiding contact with the protrusion 314”.

Here, in the state of FIG. 12, when a "command to move the slider 21 to the origin P0" is input from the host computer to the control device 6, and the control device 6 moves the slider 21 to the origin Q0 according to the command. As shown in FIG. 13, the region Q2 that comes into contact with the protrusion 314 and the contact avoidance region QX1 overlap in the deceleration drive mode M3. If the region Q2 and the contact avoidance region QX1 overlap each other, the portion is damaged as compared with the other regions, which causes the formation of a dent as shown in FIG. Therefore, the control device 6 corrects the target position P2 of the slider 21 to a position deviated from the origin P0 so that the region Q2 does not overlap with the contact avoidance region QX1. Then, as shown in FIG. 14, the control device 6 drives the piezoelectric drive unit 3A and moves the slider 21 to the corrected target position P2. As a result, it is possible to prevent the region Q2 from overlapping the contact avoidance region QX1. Therefore, it is possible to prevent the moving region Q of the driven member 25 from being locally damaged, and it is possible to maintain a good and homogeneous state over the entire moving region Q for a long period of time. As a result, the mobile device 10A can be stably driven for a long period of time.

As shown in FIG. 14, it is most preferable that the region Q2 does not overlap with the contact avoidance region QX1, and the above-mentioned effect can be exerted more remarkably, but the region Q2 is not limited to this and is a part of the region Q2. May overlap with the contact avoidance area QX1. In this case, the length of the portion of the region Q2 overlapping with the contact avoidance region QX1 is not particularly limited, but is preferably, for example, 20% or less of the total length of the region Q2, and more preferably 10% or less. It is preferably within 5%, more preferably within 5%.

When a "command to move the slider 21 to the target position P3" is input from the host computer to the control device 6 in the state of FIG. 14, the control device 6 starts from the target position P2 to the target position P3 as shown in FIG. The moving distance L up to is calculated, the piezoelectric drive unit 3A is driven according to the calculated moving distance L, and the slider 21 is moved to the target position P3. As a result, the deviation M from the origin P0 generated in FIG. 14 can be corrected, and the slider 21 can be moved to the target position P3 with higher accuracy. At this time, the processor 61 detects the region Q3 of the moving region Q of the driven member 25 that has come into contact with the protrusion 314 in the acceleration drive mode M1 from the output of the encoder 4A, and the region Q3 is the contact avoidance region QX2. Is stored in the memory 62.

Further, in the state of FIG. 15, when the "command to move the slider 21 to the origin P0" is input to the control device 6 from the host computer, as shown in FIG. 16, the control device 6 is in the deceleration drive mode M3. The target position P4 of the slider 21 is corrected to a position deviated from the origin P0 so that the region Q4 in contact with the protrusion 314 does not overlap with the contact avoidance regions QX1 and QX2. Then, the control device 6 drives the piezoelectric drive unit 3A and moves the slider 21 to the corrected target position P4. As a result, it is possible to prevent the region Q4 from overlapping the contact avoidance regions QX1 and QX2. Therefore, it is possible to prevent the moving region Q from being locally damaged, and it is possible to maintain a good and homogeneous state over the entire moving region Q for a long period of time. As a result, the mobile device 10A can be stably driven for a long period of time. In particular, in FIG. 16, the region Q4 does not overlap with either the contact avoidance region QX1 set two times before and the contact avoidance region QX2 set last time. Therefore, the above-mentioned effect can be exerted more remarkably.

In this way, by gradually shifting the position of the actual slider 21 from the origin P0 at the time of the origin P0 return command, the region in contact with the protrusion 314 in the deceleration drive mode M3 is covered over the entire moving region Q. Can be dispersed over. As a result, it is possible to prevent the moving region Q from being locally damaged, and it is possible to maintain a good and homogeneous state over the entire moving region Q for a long period of time. As a result, the mobile device 10A can be stably driven for a long period of time.

The hand 1 has been described above. As described above, the moving body device 10A included in the hand 1 is arranged so as to project from the driven member 25, the vibrating portion 311 and the vibrating portion 311, abut against the driven member 25, and receive the vibration of the vibrating portion 311. A piezoelectric drive unit 3A as a drive unit having a protrusion 314 transmitted to the drive member 25, a processor 61 as a processing unit, and a memory 62 as a storage unit for storing instructions readable by the processor 61 are provided. The driven member 25 is configured to move due to the vibration of the vibrating unit 311. Further, the piezoelectric drive unit 3A has, as its drive pattern, an acceleration drive mode M1 for accelerating the driven member 25 and a deceleration drive mode M3 for decelerating the driven member 25. Further, the memory 62 stores the region of the driven member 25 that avoids contact with the protrusion 314 in the deceleration drive mode M3 as the contact avoidance region QX (for example, QX1 and QX2 described above). In other words, the memory 62 stores a region in which the deceleration drive mode M3 is not set even if the protruding portion 314 is in contact with the driven member 25 as the contact avoidance region QX. Then, the processor 61 reads the position information of the contact avoidance area QX from the memory 62, and in the deceleration drive mode M3, the protruding portion 314 comes into contact with the area different from the contact avoidance area QX of the driven member 25. The piezoelectric drive unit 3A is driven as described above. In other words, the piezoelectric drive unit 3A is driven so that the protrusion 314 executes the deceleration drive mode M3 in a region different from the contact avoidance region QX of the driven member 25. According to such a configuration, local wear of the moving region Q can be suppressed, and the moving region Q can be maintained in a good and homogeneous state for a long period of time. As a result, the mobile device 10A can be stably driven for a long period of time. Since the contact avoidance region QX (for example, the above-mentioned QX1 and QX2) is a region that restricts the execution of the acceleration drive mode M1 and the deceleration drive mode M3, it can also be referred to as a "drive mode restriction region". can.

Here, the above-mentioned "in the deceleration drive mode M3, the protrusion 314 abuts on a region different from the contact avoidance region QX of the driven member 25" means that the protrusion 314 is covered in the deceleration drive mode M3. It is meant to include not only the case where the entire region in contact with the drive member 25 does not overlap with the contact avoidance region QX, but also the case where a part of the region overlaps with the contact avoidance region QX. When a part overlaps with the contact avoidance area QX, for example, in the deceleration drive mode M3, the protrusion 314 overlaps with the contact avoidance area QX with respect to the total length of the area in contact with the driven member 25. The length of the portion is preferably 20% or less, more preferably 10% or less, and further preferably 5% or less. Further, the contact avoidance area QX may be set or read every time, or may be performed a plurality of times, for example, every 2 to 10 times of driving.

Further, as described above, the hand 1 has a mobile device 10A. Therefore, the hand 1 can enjoy the effect of the mobile device 10A and can exhibit high reliability.

Further, as described above, in the control method of the mobile device 10A, the region of the driven member 25 that avoids contact with the protrusion 314 in the deceleration drive mode M3 is set as the contact avoidance region QX, and the deceleration drive is performed. In the mode M3, the piezoelectric drive unit 3A is driven so that the protrusion 314 abuts on a region different from the contact avoidance region QX of the driven member 25. According to such a control method, local wear of the moving region Q is suppressed, and the moving region Q can be maintained in a good and homogeneous state for a long period of time. As a result, the mobile device 10A can be stably driven for a long period of time.

Further, as described above, the contact avoidance region QX stored in the memory 62 includes at least the region of the driven member 25 that has come into contact with the protrusion 314 during the previous acceleration drive mode M1. As a result, the mobile device 10A can more effectively suppress the local wear of the moving region Q and stably perform long-term driving. For example, the contact avoidance region QX may include a region of the driven member 25 that has come into contact with the protrusion 314 in the acceleration drive mode M1 in all of the plurality of times from the previous time to the previous time. This makes it possible to exert the above-mentioned effect more remarkably. The plurality of times before is not particularly limited and varies depending on the length of the moving region Q and the like, but for example, it is preferably 2 to 20 times before, and more preferably 5 to 15 times before. , 7 to 13 times before, more preferably.

Further, the contact avoidance region QX stored in the memory 62 divides the moving region Q of the driven member 25 into a plurality of regions, and hits the protrusion 314 in each of the plurality of regions in the acceleration drive mode M1. The frequency of contact may be obtained, and the frequency may be a region higher than a predetermined value. In this case, the region having the highest frequency among all the regions may be designated as the contact avoidance region QX, or a plurality of regions having a high frequency may be designated as the contact avoidance region QX.

Further, as described above, the driven member 25 moves linearly with respect to the piezoelectric drive unit 3A. As a result, the driven member 25 can be smoothly moved.

Further, as described above, the protrusion 314 is made of ceramics. As a result, a protrusion 314 having sufficiently excellent wear resistance can be obtained. Further, as described above, the driven member 25 is made of ceramics. As a result, the driven member 25 having sufficiently excellent wear resistance can be obtained.

<Second Embodiment>
17 to 19 are cross-sectional views for explaining a method of driving a hand according to a second embodiment of the present invention, respectively.

In the following description, the hand of the second embodiment will be mainly described with respect to the differences from the first embodiment described above, and the description thereof will be omitted with respect to the same matters. Further, in FIGS. 17 to 19, the same reference numerals are given to the same configurations as those of the above-described embodiments.

In the hand 1 of the present embodiment, the driving of the mobile devices 10A and 10B is controlled so that the positions of the fingers 23 and 24 when gripping the object W do not become the same positions as the previous positions. Even with such a configuration, local wear of the moving region Q can be suppressed, and the moving region Q can be maintained in a good and homogeneous state for a long period of time. As a result, the hand 1 can be driven stably for a long period of time.

For example, as the nth gripping operation, when a "command to move the sliders 21 and 22 to the target positions Pa'and Pa" in order to grip the object W "is input from the host computer to the control device 6, the processor 61 is input. Drives the piezoelectric drive unit 3A according to the received command, moves the sliders 21 and 22 to the target positions Pa', Pa'as shown in FIG. 17, and grips the object W. At this time, the processor 61 grips the object W. Of the moving regions Q of the driven members 25 and 26, the regions Qa'and Qa'that are in contact with the projecting portion 314 in the deceleration drive mode M3 are detected from the outputs of the encoders 4A and 4B, and the regions Qa'and Qa are detected. Is stored in the memory 62 as a contact avoidance area QXa, which is a “region for avoiding contact with the protrusion 314 in the deceleration drive mode M3”.

The nth gripping operation is completed, and as the n + 1th gripping operation, the host computer issues a "command to move the sliders 21 and 22 to the target positions Pb'and Pb" in order to grip the object W. When input, as shown in FIG. 18, the processor 61 is in the moving region Q in contact with the protrusion 314 in the deceleration drive mode M3 when moving the sliders 21 and 22 to the target positions Pb', Pb'. Area Qb', Qb'is calculated.

Next, the processor 61 determines whether or not the calculated regions Qb', Qb "overlap with the contact avoidance region QXa (regions Qa', Qa"). When the regions Qb'and Qb' do not overlap with the contact avoidance region QXa, the processor 61 drives the piezoelectric drive units 3A and 3B according to the instruction from the host computer, and the sliders 21 and 22 are set to the target positions Pb'and Pb'. To grip the object W.

On the other hand, when at least one of the regions Qb'and Qb' overlaps with the contact avoidance region QXa, the processor 61 corrects the target positions Pb'and Pb'. Specifically, as shown in FIG. 19, the processor 61 overlaps with the contact avoidance region QXa while maintaining the relative positional relationship (distance between the fingers 23 and 24) of the target positions Pb'and Pb'. Move the target positions Pb'and Pb'to positions that do not become. Then, the processor 61 drives the piezoelectric drive units 3A and 3B, moves the sliders 21 and 22 to the corrected target positions Pb'and Pb', and grips the object W. According to such a control method. Since the region in contact with the protrusion 314 is dispersed in the moving region Q in the deceleration drive mode M3, local wear of the moving region Q can be suppressed, and the moving region Q is kept in a good and homogeneous state for a long period of time. It can be maintained. As a result, the hand 1 can be stably driven for a long period of time.

Even with such a hand 1, the same effect as that of the first embodiment described above can be exhibited. When the hand 1 of the present embodiment is mounted on the articulated robot, the gripping position of the object W (positions of the sliders 21 and 22) is changed in response to a command from the host computer, so that the deviation of the gripping position is cancelled. Therefore, it is necessary to correct the position and posture of the hand 1 (base 20). Therefore, for example, the processor 61 feeds back the deviation amount of the target positions Pb'and Pb "before and after the correction to the robot, and corrects the posture and position of the hand 1 so that the robot receiving the feedback can cancel the deviation amount. You just have to.

<Third Embodiment>
20 and 21 are plan views showing the hands according to the third embodiment of the present invention, respectively.

In the following description, the hand of the third embodiment will be mainly described with respect to the differences from the first embodiment described above, and the description thereof will be omitted with respect to the same matters. Further, in FIGS. 20 and 21, the same reference numerals are given to the same configurations as those in the above-described embodiment.

The hand 1 shown in FIGS. 20 and 21 is fixed to the base 20, a pair of driven members 25, 26 rotatably supported around the axis J with respect to the base 20, and the driven members 25, 26. It has finger portions 23 and 24, and piezoelectric drive portions 3A and 3B for rotating the driven members 25 and 26. Each of the driven members 25 and 26 has a disk shape, and the protruding portions 314 of the piezoelectric drive portions 3A and 3B are in contact with the side surfaces thereof. In the hand 1 having such a configuration, the fingers 23 and 24 can be opened and closed by rotating the driven members 25 and 26 around the shaft J by driving the piezoelectric drive portions 3A and 3B.

Even in such a hand 1, as shown in FIG. 21, the moving body is such that the positions of the fingers 23 and 24 when gripping the object W are not the same as the previous positions (positions in FIG. 20). It controls the drive of the devices 10A and 10B. That is, the driving of the mobile devices 10A and 10B is controlled so that the region of the driven members 25 and 26 in contact with the deceleration drive mode M3 does not overlap with the previous region. Therefore, local wear of the moving region Q of the driven members 25 and 26 can be suppressed, and the moving region Q can be maintained in a good and homogeneous state for a long period of time. As a result, the hand 1 can be driven stably for a long period of time.

In such a hand 1, as described above, the driven members 25 and 26 rotate with respect to the piezoelectric drive units 3A and 3B. As a result, the driven members 25 and 26 can be smoothly moved.

<Fourth Embodiment>
22 and 23 are plan views showing the hands according to the fourth embodiment of the present invention, respectively.

In the following description, the hand of the fourth embodiment will be mainly described with respect to the differences from the first embodiment described above, and the description thereof will be omitted with respect to the same matters. Further, in FIGS. 22 and 23, the same reference numerals are given to the same configurations as those in the above-described embodiment.

The hand 1 shown in FIGS. 22 and 23 is fixed to the base 20, a pair of driven members 25, 26 rotatably supported around the axis J1 with respect to the base 20, and the driven members 25, 26. It has fingers 23 and 24. Further, the finger portions 23 and 24 are supported by the proximal phalanx portions 231 and 241 fixed to the driven members 25 and 26 and the driven members 232 rotatably supported around the shaft J2 with respect to the proximal phalanx portions 231 and 241. It has 242 and terminal nodes 233 and 243 fixed to the driven members 232 and 242.

Further, the hand 1 has a piezoelectric drive unit 3A and 3B for rotating the driven members 25 and 26, and a piezoelectric drive unit 3C and 3D for rotating the driven members 232 and 242. The driven members 232 and 242 and the piezoelectric drive units 3C and 3D have the same configurations as the driven members 25 and 26 and the piezoelectric drive units 3A and 3B. Further, the mobile device 10C is composed of the driven member 232 and the piezoelectric drive unit 3C, and the mobile device 10D is composed of the driven member 242 and the piezoelectric drive unit 3D.

The driven members 25, 26, 232, and 242 are each in the shape of a disk, and the protruding portions 314 of the piezoelectric drive portions 3A, 3B, 3C, and 3D are in contact with the side surfaces thereof. In the hand 1 having such a configuration, the proximal phalanx portions 231 and 241 can be opened and closed by rotating the driven members 25 and 26 around the shaft J1 by driving the piezoelectric drive portions 3A and 3B. By rotating the driven members 232 and 242 around the shaft J2 by driving 3C and 3D, the terminal nodes 233 and 243 can be opened and closed.

Even in such a hand 1, as shown in FIG. 23, the positions of the proximal phalanx portions 231 and 241 and the distal phalanx portions 233 and 243 when gripping the object W are the same as the previous positions (positions in FIG. 22). The drive of the mobile devices 10A, 10B, 10C, and 10D is controlled so as not to be in a position. That is, the driving of the mobile devices 10A, 10B, 10C, and 10D is controlled so that the region of the driven members 25, 26, 232, and 242 in contact with the deceleration drive mode M3 does not overlap with the previous region. Therefore, local wear of the moving region Q of the driven members 25, 26, 232, and 242 can be suppressed, and the moving region Q can be maintained in a good and homogeneous state for a long period of time. As a result, the hand 1 can be driven stably for a long period of time.

<Fifth Embodiment>
FIG. 24 is a perspective view showing a robot according to a fifth embodiment of the present invention.

The robot 1000 shown in FIG. 24 can perform operations such as supplying, removing, transporting, and assembling precision equipment and parts constituting the precision equipment. The robot 1000 is a 6-axis robot, and has a base 1010 fixed to the floor or ceiling, an arm 1020 rotatably connected to the base 1010, an arm 1030 rotatably connected to the arm 1020, and an arm 1030. An arm 1040 rotatably connected to the arm 1040, an arm 1050 rotatably connected to the arm 1040, an arm 1060 rotatably connected to the arm 1050, and a rotatably connected arm 1060. It has an arm 1070 and a control device 1080 that controls the drive of these arms 1020, 1030, 1040, 1050, 1060, and 1070.

Further, the arm 1070 is provided with a hand connection portion, and the hand connection portion is equipped with an end effector 1090 corresponding to the work to be executed by the robot 1000. As the end effector 1090, the above-mentioned hand 1 can be used.

In this way, the robot 1000 has a hand 1. Therefore, the robot 1000 includes mobile devices 10A and 10B. Therefore, the robot 1000 can enjoy the effects of the mobile devices 10A and 10B described above, and can stably perform long-term driving.

The configuration of the robot 1000 is not limited to the configuration of the present embodiment, and may be, for example, a horizontal articulated robot (SCARA robot) or a dual-arm robot.

<Sixth Embodiment>
FIG. 25 is a side view showing the robot according to the sixth embodiment of the present invention. 26 and 27 are plan views showing a mobile device possessed by the robot, respectively. FIG. 28 is a flowchart showing a control method of the robot of FIG. 25.

The robot 2000 shown in FIG. 25 is a horizontal articulated robot and has a base 2100, a first arm 2200, a second arm 2300, a work head 2400, and an end effector 2500.

The base 2100 is fixed to, for example, a floor surface (not shown) with bolts or the like. The first arm 2200 is connected to the base 2100. The first arm 2200 is rotatable around the first rotation axis Ja along the vertical direction with respect to the base 2100. Further, a mobile device 10E for rotating the first arm 2200 is provided in the base 2100. A second arm 2300 is connected to the tip of the first arm 2200. The second arm 2300 is rotatable around the second rotation axis Jb along the vertical direction with respect to the first arm 2200. A mobile device 10F for rotating the second arm 2300 is provided in the second arm 2300.

A work head 2400 is arranged at the tip of the second arm 2300. The working head 2400 has a spline nut 2410 and a ball screw nut 2420 coaxially arranged at the tip of the second arm 2300, and a spline shaft 2430 inserted through the spline nut 2410 and the ball screw nut 2420. The spline shaft 2430 can rotate about the axis (rotation axis Jc) of the second arm 2300, and can move (up and down) in the vertical direction.

Further, the robot 2000 has a control device 6 for controlling the drive of the mobile devices 10E and 10F, and the control device 6 is provided on the base 2100.

As shown in FIG. 26, the moving body device 10E has a disk-shaped driven member 25 fixed to the first arm 2200 and a piezoelectric drive fixed to the base 2100 and abutted on the side surface of the driven member 25. It has a part 3E and. Further, the mobile device 10F includes a disk-shaped driven member 26 fixed to the first arm 2200, a piezoelectric drive unit 3F fixed to the second arm 2300 and abutted on the side surface of the driven member 26. Has. The piezoelectric drive units 3E and 3F have the same configuration as the above-mentioned piezoelectric drive units 3A to 3D, and have a protruding 314 that transmits the vibration of the vibrating unit 311 to the driven members 25 and 26, and the protruding portion 314 has a protrusion 314. It is pressed against the side surfaces of the driven members 25 and 26.

Here, when the work head 2400 is moved to the target position P, assuming that the processor 61 is in the posture shown in FIG. 26 in the nth operation, the n + 1th operation is the nth operation as shown in FIG. 27. The drive of the mobile devices 10E and 10F is controlled so that the first arm 2200 and the second arm 2300 are in different postures. That is, the processor 61 controls the driving of the mobile devices 10E and 10F so that the region of the driven members 25 and 26 in contact with the deceleration drive mode M3 does not overlap with the previous region. Therefore, local wear of the moving region Q of the driven members 25 and 26 can be suppressed, and the moving region Q can be maintained in a good and homogeneous state for a long period of time. As a result, the robot 2000 can be driven stably for a long period of time. However, in the n + 1th time, when the posture different from the nth time cannot be taken, that is, when there is only one posture of the first and second arms 2200 and 2300 for moving the work head 2400 to a predetermined position. The processor 61 controls the driving of the mobile devices 10E and 10F so that the first arm 2200 and the second arm 2300 are in the same posture as the nth time.

Explaining the above driving method based on the flowchart of FIG. 28, first, the processor 61 inputs the target position of the work head 2400 from the host computer to the control device 6 (STEP 1). Next, the processor 61 obtains the rotation angles of the first and second arms 2200 and 2300 for moving the work head 2400 to the received target position (STEP 2). Next, the processor 61 determines whether or not there are two or more combinations (solutions) of rotation angles (postures) of the first and second arms 2200 and 2300 (STEP 3). When there are two or more solutions, the processor 61 moves the work head 2400 to the target position so that the postures of the first and second arms 2200 and 2300 are different from the postures of the first and second arms 2200 and 2300 in the n + 1th drive (STEP4). ). On the other hand, when there are no two or more solutions, the processor 61 determines whether or not there is one solution (STEP 5). When there is only one solution, the processor 61 moves the work head 2400 to the target position so that the postures of the first and second arms 2200 and 2300 are the same as the nth posture in the n + 1th drive (STEP 6). ). On the other hand, if there is no solution, the work head 2400 cannot be moved to the target position, so that the processor 61 notifies, for example, an error (STEP 7).

The robot 2000 of this embodiment has been described above. The robot 2000 of the present embodiment has a configuration having two joints, but the number of joints is not particularly limited, and may be, for example, three or more, and is an articulated robot such as a 6-axis robot. There may be. Further, when having three or more joints, the rotation angle of at least one joint (the posture of the arm on the distal end side with respect to the arm on the proximal end side) may be different between the nth time and the n + 1th time. That is, the rotation angle of some joints (the posture of the arm on the distal end side with respect to the arm on the proximal end side) may be the same for the nth time and the n + 1th time.

Although the control method of the mobile device, the hand, the robot and the mobile device of the present invention has been described above based on the illustrated embodiment, the present invention is not limited to this, and the configuration of each part is described. It can be replaced with any configuration having a similar function. Further, any other constituents may be added to the present invention. Moreover, you may combine each embodiment as appropriate.

1 ... Hand, 10A to 10F ... Mobile device, 20 ... Base, 21, 22 ... Slider, 23, 24 ... Finger, 231, 241 ... Base, 232, 242 ... Driven member, 233, 243 ... Parts, 25, 26 ... Driven members, 29 ... Slide guides, 3A to 3F ... Piezoelectric drive parts, 30 ... Piezoelectric modules, 31 ... Piezoelectric actuators, 310 ... Laminates, 311 ... Vibration parts, 311a to 311e ... Piezoelectric elements, 312 ... Support part, 313 ... Connection part, 314 ... Protruding part, 32 ... Bounce part, 4A, 4B ... Encoder, 5 ... Force detector, 6 ... Control device, 61 ... Processor, 62 ... Memory, 63 ... External interface , 1000 ... robot, 1010 ... base, 1020 to 1070 ... arm, 1080 ... control device, 1090 ... end effector, 2000 ... robot, 2100 ... base, 2200 ... first arm, 2300 ... second arm, 2400 ... work head , 2410 ... Spline nut, 2420 ... Ball screw nut, 2430 ... Spline shaft 2500 ... End effector, D ... Region, J, J1, J2 ... Axis, Ja ... First rotation axis, Jb ... Second rotation axis, Jc ... Rotation axis, L ... Movement distance, M ... Deviation, M1 ... Acceleration drive mode, M2 ... Constant speed drive mode, M3 ... Deceleration drive mode, Mh2 ... Second gripping mode, P ... Target position, P0 ... Origin, P1 ~ P4 ... target position, Pa', Pa ", Pb', Pb" ... target position, Q ... moving area, Q', Q "... contact point, Q1 to Q4 ... area, QX, QX1, QX2, QXa ... Contact avoidance area, Qa', Qa ", Qb', Qb" ... area, W ... object

Claims (10)

Driven member and
A drive unit having a vibrating portion, a protruding portion that is arranged so as to project from the vibrating portion, abuts on the driven member, and transmits the vibration of the vibrating portion to the driven member.
Processing unit and
A storage unit that stores instructions that can be read by the processing unit is provided.
The driven member is configured to move by the vibration of the vibrating portion.
The storage unit is
Of the region of the driven member that comes into contact with the protrusion, the region that does not decelerate the driven member is stored.
The processing unit
When the position information of the region where the driven member is not decelerated is read from the storage unit and the protruding portion is in contact with a region different from the region where the driven member is not decelerated, the driven member is decelerated. A mobile device characterized by being made to. The mobile device according to claim 1, wherein the region stored in the storage unit that does not decelerate the driven member includes a region in which the driven member has previously decelerated. The mobile device according to claim 1 or 2, wherein the region stored in the storage unit that does not decelerate the driven member includes a region in which the driven member has previously accelerated. The moving body device according to any one of claims 1 to 3, wherein the driven member linearly moves with respect to the driven unit. The mobile device according to any one of claims 1 to 3, wherein the driven member rotates with respect to the driven unit. The mobile device according to any one of claims 1 to 5, wherein the protruding portion is made of ceramics. The mobile device according to any one of claims 1 to 6, wherein the driven member is made of ceramics. With fingers
The mobile device according to any one of claims 1 to 7.
A hand characterized in that the moving body device moves a finger portion. An arm that rotates with respect to the rotation axis,
The mobile device according to any one of claims 1 to 7.
A robot characterized in that the moving body device rotates the arm. Driven member and
A drive unit having a vibrating portion, a protruding portion that is arranged so as to project from the vibrating portion, abuts on the driven member, and transmits the vibration of the vibrating portion to the driven member.
Processing unit and
It has a storage unit that stores instructions that can be read by the processing unit, and has a storage unit.
The driven member is configured to move by the vibration of the vibrating portion.
The storage unit is
Of the region of the driven member that comes into contact with the protrusion, the region that does not decelerate the driven member is stored.
The processing unit
When the position information of the region where the driven member is not decelerated is read from the storage unit and the protruding portion is in contact with a region different from the region where the driven member is not decelerated, the driven member is decelerated. A method of controlling a mobile device, characterized in that it is made to operate.

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