JPS5847316B2 - Actuation force detection device for manipulators, etc. - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an operating force detection device for a manipulator, etc., and more specifically, a device for detecting operating force in a manipulator, a robot, etc., in which a drive device or a deceleration device is installed inside a joint such as an arm. The present invention relates to an operating force detection device for a manipulator, etc., which allows various operations such as maintenance and replacement operations to be performed.

Conventionally, the operating force detection device for the above-mentioned types of manipulators has mainly been used by attaching a strain gauge.

However, in manipulators that use small servo motors, if strain gauges are used, they are forced to be larger due to the necessity of sealing the attached part with a bellows to prevent long-term deterioration. The reliability of the department was low and it was not satisfactory.

It is also possible to determine the driving torque from the current of the driving device (motor, etc.), but in this case there are the following drawbacks.

In other words, in order to downsize manipulators, etc., it is necessary to use a high-speed drive device that is significantly decelerated via a reduction gear, but in this case, the mechanical efficiency of the reduction gear decreases. becomes large, making it impossible to accurately determine the torque of the output shaft.

Further, it becomes extremely difficult to reverse the rotation from the output shaft side, and the operational response of the manipulator and the like to the operational load becomes extremely poor.

As the work becomes more advanced, a device that accurately detects the operating force of a manipulator or the like is required, and there is a growing demand for compactness, so improvements to the above-mentioned conventional technology have been desired.

The present invention has been made in view of the above-mentioned conventional problems, and provides an actuation force detection device for a manipulator, etc., which is compact and can be installed internally, and is capable of detecting actuation force with high precision. This is what we are trying to provide.

Hereinafter, one embodiment of the present invention will be described in detail using the drawings.

In FIG. 1, numeral 1 indicates a manipulator, whose operation is controlled by remote control.

Reference numeral 2 denotes a shoulder portion for supporting the upper arm portion 3, the lower arm portion 4, etc., and is normally installed on a traveling truck (not shown) or the like.

Upper arm 3. The lower arm portion 4 has respective connecting portions (joint portions) 5
, 6, so that it can be bent freely, and
Joints 7 provided at appropriate positions on each arm 3.4
, 8, it is configured to be rotatable.

A wrist section 10 having a fingertip section 9 at the distal end is provided at the distal end of the lower arm section 4.

Each of the joints 5, 6, 7.8 is internally provided with an actuating device 11 as shown in FIG. ing.

In the figure, 12 indicates an electric motor or hydraulic pressure.

A drive device such as a pneumatic motor is installed inside the tubular body 13 on the drive side of the joints 7 and 8.

Reference numeral 14 denotes a speed reduction device that is provided integrally or interlocked with the drive device 12, and an operating member (driven body) 16 on the driven side is fixed to the output shaft 15 via a key 17. It is provided as a set-up.

The output shaft 15 is supported by a substantially annular bracket 18 fixedly attached to the speed reduction device 14 via bearings 19 and 20.

The drive device 12 and the reduction gear device 14 are rotatably supported by a boss portion 21.22 provided on the inner peripheral surface of the drive side main body 13 via bearings 23.24.

The bearing 24 supporting the reduction gear 14 side is attached to the bracket 18
and the boss portion 22.

A portion of the outer circumferential surface of the bracket 18 includes the drive side main body 13.
A protrusion (actuation force detection member) 2 protruding toward the inner circumferential surface of the
5 is provided, and this protrusion 25 is connected to the drive side main body 13.
It is inserted into the groove part 27 of the thick part 26 provided on the inner peripheral surface of.

The groove width of the groove portion 27 is set to be an appropriate amount wider than the thickness of the protrusion portion 25, and the thick portions 26 located on both sides of the protrusion portion 25 are configured to detect the actuation force during operation by the manipulator. An actuating force detecting device 28 is attached and provided to detect the actuating force.

The actuation force detection device 28 is, for example, as shown in FIG. 3, a detection member (sensor) for detecting the actuation force.
29. A suppressing member 31 for pressing the protrusion 25 via the ammunition 30. and an adjusting member 32 for adjusting the elastic force of the elastic machine 30.

The detection member 29 is constituted by, for example, a load meter, and is mounted in a recess 33 provided in the thick portion 26 .

The detection part 34 of the detection member 29 is provided so as to be able to freely come into contact with one side surface of the protrusion part 25, and the detection part 34
The load is detected by pressing .

The detection unit 34 is provided at a position separated by a certain distance R from the axis of the output shaft 15.

Therefore, the load detected via the detection unit 34 can be detected as an operating force (operating torque).

The pressing member 312, the bullet 30, and the adjusting member 32,
The adjustment member 32 is installed in a hole 35 provided in the thick portion 26 on the same straight line as the axis of the recess 33, and the adjustment member 32 is screwed into a female screw portion 36 provided in the hole 35.

The pressing member 31 is a bullet 30. It is constantly brought into contact with the protrusion 25 via the adjustment member 32, and the ammunition 30
The configuration is such that the detection unit 34 can be pressed through the protrusion 25 with a pressing force of .

The pressing force for pressing the detection section 34 can be adjusted freely by operating the adjustment member 32.

The detection member 29 is constituted by, for example, a diffusion type semiconductor pressure exchanger or the like.

It should be noted that the bracket 18 is not limited to being mounted on the deceleration device 14 side, but may of course be provided in an appropriate position on the drive device 12 side in a space 2 where there is sufficient space. .

In the above configuration, the operation of the present invention will be explained.

The fingertips 9 on the wrist 10 are used to remotely control maintenance work, replacement work, etc., but before starting the work,
The actuation force detection device 28 is set in advance.

That is, the bullet 30 is pressed through the pressing member 31 to apply a certain preload to the detection member 29.

For example, if it is desired to detect the same working torque in both forward and reverse rotation directions, a preload (load) of up to 1/2 of the rated load of the detection member 29 may be applied.

In this case, the rated load of the detection member 29 is, for example, Pkg.
If there is, it is possible to detect ±-HP and H torques.

This preload does not necessarily need to be set to 1/2 of the rated load, but may be set within a range of, for example, 10% to 90% of the sensing member 29, and the set point therein is set at the reference point (not shown) in the amplifier (not shown). It is also possible to detect operating torque in the forward and reverse directions as output 0).

It is the ammunition 30 that makes the preload 10% or more of the detection member 29.
This is to prevent large vibrations caused by the vibrations of the protruding portion 25.

If work is carried out using the operating force detection device 28 set as described above, the load resistance during work can be detected as load torque, and the operating force (operating torque) in either the forward or reverse rotation direction can be accurately detected. can be detected.

Moreover, in the case of this configuration, the detection of the operating force is performed by the deceleration device 1.
Since it is not affected by the decrease in mechanical efficiency during the deceleration process described in step 4, extremely precise detection of the operating force can be performed.

Further, the actuation force detection device 28 can be installed inside an appropriate space within the tubular drive-side main body 13, and the detection member 29
Since the manipulator 1 is also composed of a simple load cell, the arms 3 and 4 of the manipulator 1 can be constructed with extremely thin arms and compactly.

Furthermore, since there is no play or backlash in the actuating force detection device 28 even during reverse rotation, accuracy is guaranteed.

In addition, it has extremely good stability over long-term use, and there are no unstable factors caused by long-term use unlike conventional strain gauges.

Furthermore, even if the drive device 12, such as a small and lightweight high-speed motor, is used at a greatly reduced speed, there will be no problem in detecting and adjusting the operating torque, and therefore the device can be made smaller and more powerful. It is effective.

Note that it is of course possible to mount another detection member 29 in place of the ammunition 30 and the pressing member 31.

Further, the ammunition 30 may be a compression coil spring, a disc spring, or the like, but a spring with small hysteresis with respect to changes in load is suitable.

Furthermore, the present invention is applicable not only to manipulators but also to other robots.

Further, the present invention also includes changes made to the structure of the present invention without departing from the functions and effects of the present invention.

[Brief explanation of drawings]

The drawings show one embodiment of the invention.
The figure is an explanatory diagram of a manipulator equipped with the device according to the present invention, FIG. 2 is a side cross-sectional explanatory diagram of the main part of the present invention, and FIG. 3 is a cross-sectional view taken along the line II in FIG. 2. 7.8...Joint part, 13...Drive body, 14...Deceleration gear, 15...Output shaft, 16...Target Drive body, 25...actuation force detection member (protrusion), 29...detection member.

Claims (1)

[Claims] 1. In a manipulator or the like having joint parts 7 and 8 that are divided into a drive body 13 and a driven body 16, a drive device for operating the driven body 16 is installed in the drive body 13. It is rotatably mounted on the main body 13 and is provided as a speed reducer 1 in the drive device.
4, the driven body 16 is attached to the output shaft 15 of the drive body 13, and a pressure detection type detection member 29 for detecting the applied load is provided on a part of the inner circumference of the drive body 13, and the drive unit An actuating force detecting member 25 that can freely come into contact with the detecting member 29 is provided in a part of the actuating force detecting member 25 so as to protrude in the radial direction, and the actuating force detecting member 25
An actuating force detection device for a manipulator or the like, characterized in that the actuating force detection device for a manipulator or the like is provided on the inner circumferential portion of the drive main body 13 by being pressed against the detection member 29 in advance via a bullet 30 disposed facing and spaced apart from the detection member 29 in the circumferential direction.