JP7364776B2 - ロボットアーム機構 - Google Patents
ロボットアーム機構 Download PDFInfo
- Publication number
- JP7364776B2 JP7364776B2 JP2022501865A JP2022501865A JP7364776B2 JP 7364776 B2 JP7364776 B2 JP 7364776B2 JP 2022501865 A JP2022501865 A JP 2022501865A JP 2022501865 A JP2022501865 A JP 2022501865A JP 7364776 B2 JP7364776 B2 JP 7364776B2
- Authority
- JP
- Japan
- Prior art keywords
- torque sensor
- torque
- link
- axis
- robot arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
- B25J9/047—Revolute coordinate type the pivoting axis of the first arm being offset to the vertical axis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Description
Claims (6)
- ベース部と、
前記ベース部上に配置される複数のリンクと、
前記複数のリンクを連結する複数の回転関節部と、
複数のトルクセンサと、を具備し、
前記複数のトルクセンサは、前記複数のリンクのうち前記ベース部に最も近いリンクにまとめて装備される、ロボットアーム機構。 - 前記複数のトルクセンサは複数の検出軸がねじれ又は交差する位置関係にあるように配置される、請求項1記載のロボットアーム機構。
- 前記複数のトルクセンサのうち第1のトルクセンサは第2のトルクセンサに対して検出軸が垂直な位置関係にあるように配置される、請求項2記載のロボットアーム機構。
- 前記複数のトルクセンサのうち第3のトルクセンサは前記第1のトルクセンサに対して検出軸が90度未満の角度で傾斜する位置関係にあるように配置される、請求項3記載のロボットアーム機構。
- 前記第3のトルクセンサは前記第2のトルクセンサに対して検出軸が垂直な位置関係にあるように配置される、請求項4記載のロボットアーム機構。
- 前記第1のトルクセンサと前記第2のトルクセンサは、前記少なくとも一のリンクの両側に接続される2つの回転関節部の回転軸に対して検出軸がそれぞれ平行になるように配置される、請求項3乃至5のいずれか一項に記載のロボットアーム機構。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2020026056 | 2020-02-19 | ||
JP2020026056 | 2020-02-19 | ||
PCT/JP2021/005450 WO2021166831A1 (ja) | 2020-02-19 | 2021-02-15 | ロボットアーム機構 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2021166831A1 JPWO2021166831A1 (ja) | 2021-08-26 |
JP7364776B2 true JP7364776B2 (ja) | 2023-10-18 |
Family
ID=77391180
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2022501865A Active JP7364776B2 (ja) | 2020-02-19 | 2021-02-15 | ロボットアーム機構 |
Country Status (5)
Country | Link |
---|---|
US (1) | US12090632B2 (ja) |
JP (1) | JP7364776B2 (ja) |
CN (1) | CN115087524A (ja) |
DE (1) | DE112021001067T5 (ja) |
WO (1) | WO2021166831A1 (ja) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN116039807A (zh) * | 2023-01-31 | 2023-05-02 | 三一机器人科技有限公司 | 俯仰组件和多自由度悬臂轴agv |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20140371762A1 (en) | 2013-03-14 | 2014-12-18 | Board Of Regents Of The University Of Nebraska | Methods, Systems, and Devices Relating to Force Control Surgical Systems |
JP2017177293A (ja) | 2016-03-30 | 2017-10-05 | ファナック株式会社 | 人協働型のロボットシステム |
US20180215054A1 (en) | 2015-07-27 | 2018-08-02 | Kuka Roboter Gmbh | Robot With A Force Measuring Device |
JP2018134059A (ja) | 2017-02-23 | 2018-08-30 | パナソニック株式会社 | 収穫装置及び収穫方法 |
US10189159B1 (en) | 2015-04-06 | 2019-01-29 | X Development Llc | Methods and systems for detecting states of operation of a robotic device |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11850741B2 (en) * | 2017-07-12 | 2023-12-26 | Sony Corporation | Control device, control method, and master-slave system |
US10829242B2 (en) * | 2018-04-30 | 2020-11-10 | Textron Innovations Inc. | Drive link mounted flapping sensor systems |
US11780491B2 (en) * | 2019-11-25 | 2023-10-10 | Steering Solutions Ip Holding Corporation | Electric recirculating ball power steering system |
-
2021
- 2021-02-15 US US17/794,536 patent/US12090632B2/en active Active
- 2021-02-15 JP JP2022501865A patent/JP7364776B2/ja active Active
- 2021-02-15 DE DE112021001067.0T patent/DE112021001067T5/de active Pending
- 2021-02-15 WO PCT/JP2021/005450 patent/WO2021166831A1/ja active Application Filing
- 2021-02-15 CN CN202180014043.3A patent/CN115087524A/zh active Pending
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20140371762A1 (en) | 2013-03-14 | 2014-12-18 | Board Of Regents Of The University Of Nebraska | Methods, Systems, and Devices Relating to Force Control Surgical Systems |
US10189159B1 (en) | 2015-04-06 | 2019-01-29 | X Development Llc | Methods and systems for detecting states of operation of a robotic device |
US20180215054A1 (en) | 2015-07-27 | 2018-08-02 | Kuka Roboter Gmbh | Robot With A Force Measuring Device |
JP2017177293A (ja) | 2016-03-30 | 2017-10-05 | ファナック株式会社 | 人協働型のロボットシステム |
JP2018134059A (ja) | 2017-02-23 | 2018-08-30 | パナソニック株式会社 | 収穫装置及び収穫方法 |
Also Published As
Publication number | Publication date |
---|---|
CN115087524A (zh) | 2022-09-20 |
DE112021001067T5 (de) | 2023-01-26 |
US12090632B2 (en) | 2024-09-17 |
US20230079034A1 (en) | 2023-03-16 |
JPWO2021166831A1 (ja) | 2021-08-26 |
WO2021166831A1 (ja) | 2021-08-26 |
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