JPH05154778A - Manipulator - Google Patents

Abstract

PURPOSE:To provide a manipulator integrally provided with a mechanism portion and a control portion in a unit, connected with them, independently operating them, and having high reliability. CONSTITUTION:A DC servo motor 13, a mobile system section 14 driven by the DC servo motor 13, at least two connector sections 22, 23 provided on the mobile system section 14, and a distributed controller 28 controlling the DC servo motor 13 and transmitting or receiving information with the outside via the connector sections 22, 23, multiple units can be connected via the connector sections 22, 23, and the communication with the whole system can be performed via the connector sections 22, 23.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a manipulator used in, for example, robots and various mobile machines (construction robots, etc.).

[0002]

2. Description of the Related Art FIG. 9 shows a general industrial robot 1. The robot 1 is composed of a mechanism portion 2 which is a main body, and a controller 3 which controls the mechanism portions 2 and 5. Then, in the mechanism part 2, the part preceding the base part 4, that is, the second part
The mechanism part end effector 5 of (1) is selected from a plurality of types as necessary and attached to the base part 4.
The robot 1 is called a component (trade name), and the second mechanism portion 5 is exchanged according to the purpose to change the degree of freedom, the operating range, and the like.

In addition, as described above, there are many robots 1 that change a part of their shape as the second mechanism portion 5 is replaced. For example, the whole shape can be freely changed to form various manipulators. There are few things you can do.

[0004]

By the way, in the robot 1 of the type in which the mechanism parts 2 and 5 can be combined into a jule as described above, the wiring can be routed up to the controller 3. Since it needs to be turned, the routing pattern changes depending on the combination method, so it is necessary to deal with each individually, and as a result, other movable parts (for example, the second
The wiring of the mechanism portion 5 of (1) is only through the first mechanism portion 2 or is routed in the air. ), And there is no other way than to uselessly pull it around.

Forcibly passing the wire through the movable portion may damage the wiring and cause disconnection. That will reduce the reliability of the robot 1. Further, since wiring is difficult work as described above, it cannot be easily assembled and moved at the site of use, and must be assembled by a professional engineer at a factory or the like.

[0006] That is, even though it is modularized and can be changed in combination, it is a story at the ordering stage, that the product delivered as a product is remodeled according to changes in the operating environment, or it fails. It does not mean that repairing can be done by just replacing the entire (modular) part.

An object of the present invention is to integrally provide a mechanism part and a control part in a single unit, thereby unifying the standard of a connector part required when a plurality of parts are connected to each other, and thereby, how to route wiring. Simplifies the process, improves reliability, and allows structural changes to be performed in the field, providing functions such as extended service life as a device due to high morphological changeability and improved repairability. To do.

[0008]

In order to achieve the above object, the present invention provides an actuator, a movable mechanism part driven by the actuator, and at least two movable mechanism parts provided in the movable mechanism part. One connector part and a controller for controlling the actuator and transmitting / receiving information to / from the outside via the connector part are integrally provided, and a plurality of connectors can be connected via the connector part. At the same time, a module that can perform the entire communication via the connector is used as a structural unit.

Various types of actuators can be selected depending on the combination of actuator movement (translation, rotation, stroke difference, etc.) and controller type (DC motor control, sensor input, etc.). There is a manipulator which can form a unit having a variety and can be connected to each other through a connector portion.

The present invention can unify (standardize) the method of connecting the constituent units both electrically and mechanically. Further, the connecting method is only the connection of the connector and a slight mechanical fastening, which is very simplified and does not require a special function. Therefore, the routing property of the wiring is improved, and the reliability can be improved. Further, by making it possible to easily add or change a function due to a change in form and perform repairs on site, it is possible to achieve improvement in device life and improvement in repairability (maintenance).

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS.

1 to 8 show an embodiment of the present invention, which is a manipulator operating on a plane. Figure 1
Reference numerals 11 ... Indicate an arm module as a manipulator schematically. Each arm module 11 has the same structure, and one structure 12 can be formed by sequentially connecting a plurality of arm modules 11.

Each arm module 11 is a DC servo motor (hereinafter referred to as a motor) 13 as an actuator.
The movable mechanism portion 14 is rotated in a plane by utilizing the driving force of the motor 13. And each
Each of the module 11 has one degree of freedom,
The degree of freedom in the plane of the structure 12 is the arm module 11
Corresponds to the number of.

The arm module 11a located at one end of the structure 12 in the connecting direction is connected to the base module 15, and the arm module 11b located at the other end thereof is a hand module. 16 are connected. Then, the structure 12 is displaced with respect to the base module 15 to guide the hand module 16 to a predetermined position in the plane.

Electric power is supplied to each arm module 11 ... In this example, electric power is transmitted in serial form to each of the sequentially connected arm modules 11 ... through 22 and 23 connectors. A more detailed structure of the arm module 11 is shown in FIGS.

As shown in FIG. 2, the arm module 11
Has a movable mechanism portion 14 and a motor 13 suspended from the movable mechanism portion 14. The movable mechanism section 14 has a plate-shaped movable body 17, and the movable body 17 is connected to the joint section 1.
It is connected to 4a. The movable body 17 is the motor 13
The rotational force of the motor 13 is received, and the motor 13 is rotationally displaced in a plane around the rotation axis of the motor 13. Here, it is also possible to dispose movable bodies on both sides of the motor 13 and displace both movable bodies so as to open and close, for example.

Further, a speed reducer 18 is interposed between the motor 13 and the movable body 17, as shown in FIG. Further, a negative actuating brake 19 is provided in the movable mechanism portion 14, and the negative actuating brake 19 acts on the rotary shaft 20 of the motor 13 to stop the displacement of the movable body 17.

A limit sensor 21 is provided in the movable mechanism section 14. The limit sensor 21 detects the amount of displacement of the movable body 17. And the limit sensor 2
The displacement of the movable body 17 is restricted based on the output of 1. The limit sensor 21 is arranged on the lower surface side of the movable mechanism section 14.

Further, a male side connector section 22 and a female side connector section 23 are provided at both ends of the movable mechanism section 14. Each of the connector portions 22 and 23 is provided with electrical system connecting means 24 and 25 and mechanism connecting means 26 and 27, respectively. A combination of a pin-shaped male terminal and a female terminal into which the terminals can be inserted is adopted as the electrical system connecting means 24, 25. A combination of male and female screws is used as the connecting means 26, 27 for connecting the mechanism.

A distributed controller (hereinafter referred to as controller) 28 is mounted on the movable mechanism portion 14. The controller 28 is assembled to the movable mechanism portion 14 and is mounted on the movable body 17. The controller 28 is located in the vicinity of the female connector portion 23 and is located between the male connector portion 22 and the male connector portion 22.
Data 13 is interposed. And controller 28
Receives the output of the limit sensor 21 and
The controller 13 and the negative operation brake 19 are controlled.

Further, the controller 28 transmits / receives information to / from the controller 28 of another arm module 11. The controller 28 includes the connector portion 22,
Communication is performed through the communication connecting means 23, and the control data is sent to the other controller 28 and the control data is received from the other controller 28. It also receives power.

Wirings 29 ... 3 on the movable mechanism portion 14
0 ... has been routed. The wiring 29 ..., 30 ... is the motor 1
3, limit sensor 21, and connector portions 22, 2
3 and is connected to the controller 28. The wirings 28, 29, ... Are bundled by fasteners 31.

The wires 29 connecting the controller 28 and the female connector 23 are connected to the controller 28 and the connector 23.
The length is set according to the distance between the movable body 17 and the movable body 17, and the movable body 17 is guided from the lower surface side to the upper surface side.

A wiring 30 connecting the controller 28 to the male connector portion 23 and the limit sensor 21.
Are arranged so as to straddle the joint portion 14a and the motor 13 and reach the controller 28. Furthermore, this wiring 3
0 are arranged on the upper surface side opposite to the side on which the limit sensor 21 is arranged (the lower surface side of the movable mechanism portion 14). Next, the operation of the arm module 11 will be described.

Generally, the manipulator has a plurality of degrees of freedom. For example, three independent degrees of freedom are required to move a predetermined object to an arbitrary point in a three-dimensional space, and separate degrees of freedom are necessary to arbitrarily determine the posture at a specific point. .. There are roughly two types of degrees of freedom, rotation and translation, and there are many combinations of these. When designing the manipulator, an optimal degree of freedom configuration can be considered in accordance with the desired movement. However, it is difficult to expand the movable range once the manufacture of the manipulator is completed.

Therefore, it is conceivable to modularize the motion pattern which is the basis of the degree of freedom configuration and to combine it as a unit that operates independently. And, if each manipulator has functions that can be added (or connected) both mechanically and softwareally, and if the required functions are combined for each unit, a manipulator with an arbitrary degree of freedom configuration Is realized on the spot. It is considered that the following elements are necessary to realize such features and functions. 1. It must have an actuator to achieve at least one movement (degree of freedom).

2. Each module is equipped with a sensor group for controlling the actuator, and the work from supply of energy to signal processing of the output of the sensor group and supplying it to the controller as control information is performed in each module. Can be done independently with. Alternatively, the controller has a sensor I / F (interface) that processes the output of the sensor group and supplies it as control information to the controller. 3. A controller for controlling the above-mentioned actuator and sensor is present in the module. This controller has the following functions. I. The actuator shown in "1" is driven. B. It has an algorithm that can generate a control signal based on the information from the sensor shown in [2] above.

C. It can communicate and exchange information with other controllers. In addition, the communication itself can pass through the communication of other controllers. The software for managing the whole works so that the application program is written without being aware of the connection state of each controller, and communication is performed. D. At least two communication ports are provided to realize the function of "C". E. The number of controllers connected to each other on the software can be changed. 4. A common connector part is provided between each module,
Communication lines and energy lines are mechanically and electrically connected to each other.

The arm module 1 shown in FIGS.
In 1 ..., the distributed controller 13 is one unit.
One is provided for each module 11. Further, the controller 13 is mounted on the movable mechanism section 14,
Similarly, it is located near the motor 13 (actuator) and the limit sensor 21 (sensor group) mounted on the movable mechanism portion 14. Then, the lengths of the wirings 29, ...
Protected against noise emitted from. Further, the wirings 29 ..., 30 ... Are arranged without passing through the joint portion 14a of the movable mechanism portion 14, and the occurrence of disconnection in the joint portion 14a is prevented.

Further, the wirings 29, ...
4 are arranged in a small range, and the environment is unified for each arm module 11. The form of the arm module 11 is considered to be the same as the form of a hybrid IC of a circuit composed of transistors and the like. Moreover, since the wirings 29, ...

Further, the total number of wirings between the modules is reduced, and the reliability is improved. And wiring 29 ..., 30 ...
Can be easily routed, and the burden of designing the mechanism is reduced. Furthermore, it ensures that the software managing between the controllers 28 can change the number of controllers connected to each other.

Further, in each arm module 11, ..., Connector portions 22 and 23 are used as standard, and each arm module 11 is connected through these connector portions 22 and 23. And controller 28 ...
Are distributed, and the communication between the controllers 28 ... Is performed serially. Further, the number of wirings 28, 29, ... Is small and standardized to a fixed number, and the connection portions of the whole are uniform. (Usually, the number of wirings increases as it approaches the base side, and the thickness of the bundled wirings increases, for example, as it approaches the base module 15 side.) Hand side (tip) And the wiring on the base side (root) cannot be the same, so
It is very difficult to replace each unit.

That is, in the arm module 11 as described above, the modules 11 ... Can be easily rearranged at the work site in a short time according to the environment. This achieves high adaptability to the surrounding environment.

Furthermore, the wiring between the arm modules 11 ... Is simple and localized (it is only necessary to group each module), so that the wiring man-hours can be reduced and standardized. The reliability of the arm modules 11 ... Is improved and the assembly / change of the arm modules 11 ... is facilitated at the work site.

In the present embodiment, the arm module 11 performing a plane rotation motion is used. However, the present invention is, for example, a plane translation motion or a rotation motion around an axis in another direction. It is also applicable to a manipulator of the type that performs translational movement along this axis. Further, the present invention can be variously modified without departing from the scope of the invention.

[0036]

As described above, according to the present invention, an actuator, a movable mechanism portion driven by the actuator, at least two connector portions provided in the movable mechanism portion, and an actuator. And a controller that controls the transmission and reception of information to and from the outside through the connector section, and is capable of connecting a plurality of parts through the connector section, and at the same time through the connector section. Can communicate.

Therefore, according to the present invention, the mechanism part and the control part are integrally provided in a single unit, so that the connector part when a plurality of parts are connected is unified as a common standard, and the individual wiring part is a single part. It can be limited to (module). As a result, long wirings are not routed through other movable parts, and the reliability of the manipulator can be improved. In addition, the structure of the part that connects the modules (connector part) can be disconnected or reconnected without changing the wiring, so you can change the purpose of use at the work site or remove it for repair. It becomes possible to easily and quickly replace them.

[Brief description of drawings]

FIG. 1 is an explanatory view showing an embodiment of the present invention.

FIG. 2 is a side view showing a single arm module.

FIG. 3 is a plan view showing a single arm module from above.

FIG. 4 is a plan view showing a single arm module from below.

FIG. 5 is a side sectional view showing a single arm module.

6 is a cross-sectional view taken along the line AA in FIG.

7 is a view in the direction of arrow B in FIG.

FIG. 8 is an arrow view in the direction of arrow C in FIG.

FIG. 9 is an explanatory diagram showing a conventional example.

[Explanation of symbols]

11 ... Arm module (manipulator), 13 ... D
C servo motor (actuator), 14 ... movable mechanism part, 22, 23 ... connector part, 28 ... distributed type controller
La (controller).

Claims (2)

[Claims] 1. An actuator, a movable mechanism portion driven by the actuator, at least two standardized electrical / mechanical connector portions provided on the movable mechanism portion, and the actuator. -A controller integrally controlling the data and transmitting / receiving information to / from the outside through the connector portion is provided, and a plurality of connectors can be connected through the connector portion and the connector portion can be connected. A manipulator capable of performing the entire communication via the. 2. Various types according to a combination of the type of movement of the actuator (translation, rotation, difference in stroke, etc.) and the type of controller (DC motor control, sensor input, etc.). A manipulator capable of forming a unit (module) having the above variation and connecting them through the connector section.