JPS60155030A - Vibration suppressing device - Google Patents

Abstract

PURPOSE:To suppress vibration without increasing the rigidity of a vibrating body by bestowing a force phase-shifted about 180 deg. for the vibration speed to the vibrating body such as a robot arm which allows attaching such device. CONSTITUTION:Links 1-7 are connected through joints 8-13 and at the tip of the link 7 a hand 14 is fitted. A vibration sensor 21 to detect the vibration of the link 7, an additional mass 24 and a driving device 23 to drive the additional mass 24 are attached to the link 7. The vibration sensor 21 detects the vibration and a control device 22 finds the vibration speed from the vibration signal and along with, the driving device 23 outputs a force to the additional mass 24 proportional to the magnitude of the vibration speed and phase-shifted 180 deg. therefrom.

Description

DETAILED DESCRIPTION OF THE INVENTION Technical Field of the Invention The present invention relates to a vibration suppressing device for a vibrating body such as a robot arm.

<Prior Art> Conventionally, a robot has a configuration as shown in FIG. 1, for example.

That is, 1 to 7 are links, 8 to 10 are joints that perform rotational movement, 11 to 13 are joints that perform rotational movement,
Reference numeral 14 indicates a point for grasping an object.

However, in the conventional system described above, in order to reduce the vibration of the hand 14 during operation, the rigidity is increased by reinforcing the structure, but the reinforcement results in an increase in the mass of the structure and increases the drive force. There is an inconvenience that the load acting on the motor increases.

<Summary of the Invention> The present invention has been made in view of the above points, and its purpose is to damp the vibration of the vibrating body by applying a force that is approximately 180° out of phase with respect to the vibration velocity to the vibrating body. It is something to do.

<Embodiment of the Invention> An embodiment of the present invention will be described below based on FIG. 2. Incidentally, elements that are the same as those in the conventional example are designated by the same reference numerals, and description thereof will be omitted.

In the figure, 21 is a vibration sensor that detects the vibration of the link 7 directly connected to the hand 14 in order to reduce the vibration of the hand 14;
22 detects the vibration speed from the vibration detection value by the vibration sensor 21, and sends a drive signal to the link 7 so that a drive device (described later) applies a force that is proportional to the magnitude of the vibration speed and whose phase is shifted by 180 degrees. A control device 23 outputs the output to the drive device, and is a drive device that receives the drive signal from the control device 22 and generates the force, and the power section is supported by the main body via an elastic support section that has a low vibration transmission rate. . Reference numeral 24 denotes an additional mass that is freely slidable only through the wheels 25 on the link T so as to minimize the generation of frictional force between it and the link I;
A connecting shaft 26 transmits the force generated in the power section of the drive device 23 to the additional mass 24, and has elastic and viscous properties.

Next, the effect will be explained.

When vibration occurs in link 7, vibration sensor 21 detects vibration 117.
1 and outputs a vibration signal to the control device 22. The control device 22 detects the vibration speed from this vibration signal and outputs a drive signal corresponding to the vibration speed to the drive device 23. The drive device 23 receives the drive signal and applies a force proportional to the magnitude of the vibration speed and out of phase by 180 degrees to the link I via the connecting shaft 26, the additional mass 24, and the wheels 25.

On the other hand, the power section of the drive device 23 has a low vibration transmission rate, and the reaction force is not transmitted to the main body at all.

Therefore, the link 7 is connected to the connecting shaft 2 by the drive device t23.
6. Since the reducing force proportional to one vibration speed mainly acts through the additional mass 24 and the wheels 25, the vibration of the link 7 can be suppressed without special reinforcement of the link etc.

Although the above embodiment was applied to a 6-axis manipulator type robot, it is clear that the invention can also be applied to other types of robots or general vibrating bodies.

<Effects of the Invention> As explained above, the present invention provides a sensor that detects the vibration of a vibrating body, and a phase shift of approximately 180° with respect to the vibration velocity of the vibrating body based on the vibration signal from the sensor. Since the vibration suppressing device consists of a force generating device that applies a force to the vibrating body, vibration can be suppressed without increasing the rigidity of the vibrating body, and the light weight of the movable part reduces the kinetic load. It is possible to reduce the load and improve the responsiveness of interlocking.

(4)

[Brief explanation of drawings]

FIG. 1 is a schematic diagram of a conventional manipulator type robot, and FIG. 2 is a schematic diagram of a manipulator type robot equipped with a vibration suppressing device according to an embodiment of the present invention. γ... Link 21... Vibration sensor 22... Control device 23... Drive device 24... Additional mass 25
...Wheel 26...Connection shaft agent Masuo Oiwa (and 2 others) Figure 1

Claims (1)

[Claims] A sensor detects the vibration of the vibrating body, and the vibration speed of the vibrating body is approximately 1 based on the vibration peak number detected by the sensor.
A lift suppression device comprising: a force generator that applies forces that are out of phase by 80 degrees to the vibrating body.