JPS62294459A - Robot apparatus - Google Patents

Abstract

PURPOSE:To perform safe high speed coating by reducing the vibration of an arm at the leading end thereof, by connecting a plurality of arms driven by a rubber artifical muscle actuator by a rotary shaft parallel to the moving direction of a moving body. CONSTITUTION:Numerals 51A, 51B are rubber artificial muscles and one end of each of said artificial muscles is connected to the structural body 40 of a forearm mechanism 12 and the other end of each is connected through the wire rope 52 wound around the pulley 53 connected to a drive shaft 54 through pulleys 61A, 62A, 61B, 62B to be arranged in opposed relationship. The drive shaft 54 supported by a structural body 60 is connected to the structural body of a finger part to rotate said finger part. The angle of rotation of the drive shaft 54 is detected by an angle-of-rotation detector through a coupling.

Description

Detailed Description of the Invention 3. Detailed Description of the Invention [Field of Industrial Application] The present invention relates to a robot device, and particularly to a robot device suitable for painting.

[Conventional technology]

As a robot device, for example, Japanese Patent Application Laid-Open No. 59-209790
As described in the above publication, a system driven by a rubber artificial muscle actuator is known.

[The problem that the invention is trying to solve]

1. In the conventional technology, no consideration was given to high speed, and the rigidity of the drive system was low, so when the arm tip was driven at high speed, vibrations were generated. There was a problem in that coating unevenness occurred when coating.

An object of the present invention is to provide a robot device that can perform painting while moving at high speed over a wide movable range.

[Means for resolving intertemporal points]

The above-mentioned object of the present invention is to provide a high-speed, high-speed, mobile-only drive II.
The movable body is configured to move using a wJ mechanism, and this movable body is provided with a multi-joint arm means driven by a rubber artificial muscle actuator, and the arms of this arm means are connected by a rotation axis parallel to the moving direction of the movable body. achieved.

[Effect]

The degree of freedom of the multi-jointed arm, which is driven by a rubber artificial muscle actuator mounted on a moving body capable of high-speed movement, is rearranged so that it can move in a direction perpendicular to the seven multi-force directions of the moving body, giving it one hand degree of freedom. is placed in balance with respect to the axis of rotation. As a result, each degree of freedom of the arm means is not affected by the acceleration caused by the moving body, so vibrations at the tip of the arm are reduced and uneven coating is reduced. Furthermore, since the rubber artificial muscle actuator is explosion-proof, it enables safe, high-speed heavy equipment work by combining it with a moving object.

〔Example〕

An embodiment of the apparatus of the present invention will be described below with reference to the drawings.

In FIG. 1, IAJ- and IB are supported by columns, and 2A and 213 are supported by one column and IB.

Rails arranged in parallel, 3 is an electric motor, 5A is a sprocket driven by a speed reducer 4 connected to the electric motor 3, 6 is a sprocket driven by a speed reducer 4 connected to the electric motor 3, and 6 is a sprocket driven by tin rockets 5A and 5B, a part of which is connected to a trolley 7. chain, 7 wheels 8A, 8B, sc.

A truck 8D moves along rails 2A and 2B, however, wheels 8C and 8D are arranged at positions symmetrical to wheels 8, A, and 8B with respect to truck 7, and are omitted from the figure. 9 is a drive mechanism with both legs attached to the trolley 7.

10 is an upper arm mechanism connected to the drive mechanism 9 and rotates around a shaft 101; 12 is a forearm mechanism connected to the upper arm mechanism 10 and rotates around an axis 102; 11 is a flexible arm mechanism connected to the upper arm mechanism 10 and the forearm mechanism. A flexible cover 14 is a hand mechanism connected to the forearm mechanism 12 and rotates about shafts 103 and 104; 13 is a flexible cover connected to the forearm mechanism 12 and the hand member 14. The upper arm mechanism 10 and the forearm mechanism 12 are shown in the figure with their covers attached. Here, the directions of the axes 101, 102, 103 substantially coincide with the moving direction X of the rails 2A, 2B, that is, the truck 7. Further, the hand mechanism 14 is substantially balanced around the axis 104. That is, movement in the X direction, and axis 101. Axis 102
Due to the rotational movement, the hand mechanism 14 makes a stroke in the X direction,
It can be positioned at any position within the range of motion determined by the movable rotation angles of the shafts 101 and 102 and the lengths of the upper arm mechanism and forearm mechanism.゛Also, the shaft 103. By rotating the shaft 104, the hand mechanism can be positioned in any direction within the movable rotation angle of the shafts 103 and 104.

FIG. 2 is a view of the embodiment shown in FIG. 1 when viewed from the direction tA. The same parts as in FIG. 1 are indicated by the same reference numerals.

A chain 6 arranged in an annular manner by tin rockets 5A and 5B is connected to a truck 7 by means of fasteners 16A and 16B. Cables and piping 19 connected to the park, truck 7 are bent and extended along the guide 18.

Figures 3 and 4 show the arm portion driven by the rubber artificial muscle with the cover removed. 2
1A, 21B, 21C, and 21D are rubber artificial muscles that drive the degree of freedom 101, and one end is connected to the structure 20 of the drive mechanism 9, and 21A.

21B is the goo! connected to the drive shaft 24! 21C and 21D are arranged opposite to each other via a wire rope 22A'i wrapped around a pulley 23J3 connected to the drive shaft 24. .

A drive shaft 24 supported by the structure 20 is connected to the structure 30 of the upper arm mechanism 10 and rotates it. In addition, the drive shaft 24
The rotation angle is detected by a rotation angle detector 37 connected via a coupling 36.

31A, 31B, 31C, and 31D are driving rubber artificial muscles with a degree of freedom of 102 f, and one end of 31A, 31B is connected to the upper p
14=Wire 35A in structure 30 with structure 0.

3581, the other end of which is connected to the drive shaft 34. The wire ropes 32A are connected to the wire ropes 32A wrapped around the drive shaft 34, and the other end is connected to the drive shaft 34.
One end of 1C, 31D is connected to the structure 30 of the upper arm mechanism 10 via wires 35C, 35D'i, and the other end is connected to the drive shaft 3.
They are connected via a wire rope 32B wound around the goo 1j 33B connected to the goo 1j 33B, and are arranged to face each other. A drive shaft 34 supported by the structure 30 is connected to and rotates the structure 40 of the forearm mechanism 12. Furthermore, the rotation angle of the drive shaft 34 is determined by the angle of rotation of the drive shaft 34.
38 A, timing belt 36 and pulley 38B'
i is detected by the rotation angle detector 37.

41A and 41B are rubber artificial muscles driven with a degree of freedom of 103'e, one end of 41A and 4113 is connected to the structure 40 of the forearm mechanism 12 via wires 45A and 45B, and the other end is connected to the drive shaft 44. They are connected to each other via a wire rope 42 wound around a pulley 43 and arranged to face each other. A drive shaft 44 supported by the structure 40 is connected to the structure 60 and rotates it. Further, the rotation angle of the drive shaft 44 is determined by the pulley 48A connected to the drive shaft 44, the timing belt 46, and the rotation angle of the drive shaft 44. J48Bt- is detected by the rotation angle detector 47.

51A and 51B are rubber artificial muscles that drive the degree of freedom 104, and one end of 51A and 51B is the structure 4 of the forearm mechanism 12.
0 via wires 55A, 55B, and the other end is connected to Goo IJ61A, 62A and Boo! j61J: 1.62
They are connected via a wire rope 52 wound around a pulley 53 which is connected to a drive shaft 54 via B, and are arranged opposite to each other. The drive shaft 54 supported by the structure 60 is connected to the structure 70 of the hand member 14 and rotates it.

Further, the rotation angle of the drive shaft 54 is detected by a rotation angle detector 57 via a coupling 56.

Therefore, the rubber artificial muscles 21A are arranged in parallel.

The degree of freedom 101 is driven by the contraction and extension of each of the rubber artificial muscles 21C, 21B, and 21D, and the degree of freedom 102 is driven by the contraction and extension of each of the rubber artificial muscles 31A, 31C, 31B, and 31D, which are arranged in parallel. The degree of freedom 103 is driven by the contraction and extension of the artificial muscles 41A and 41B, and the rubber artificial muscles 51A and 5
Contraction and extension of 1B drives degree of freedom 104.

Next, an example of the control system of the present invention is shown in FIG.

30 is a robot control means, and 31 to 35 are respective axes 10.
．． The servo mechanism that drives 1 to 105 is expressed as a block. Reference numeral 36 represents a servo mechanism for driving the electric motor 3 as a block. signal θr
l to θ, 6 are the signals from the robot control means 30 to each servo mechanism 3.
Target angle signal output to 1-35, 1po No. 321-3
25 is a robot control means 30 from servo mechanisms 31 to 35;
This is the operating angle signal of the axes 101 to 105 outputted to.

Further, X is a target position signal outputted from the robot control means 30 to the servo mechanism 36, and Xo is an output position signal of the trolley 7 outputted from the servo mechanism 36 to the robot control means 30.

Next, the servo mechanism 31 mentioned above. 32. 33°34.
An example of a specific configuration of 35 is shown in FIG.

1001 is a base, and 1002A and 1002B are elastic tubular structures each having one end fixed to the base 1001.

These elastic tubular structures 1002A and 1002B have a structure in which the outer periphery of a highly elastic rubber tube is covered with braided or braided fiber cords, and when compressed fluid is supplied to the inside thereof, it expands in the radial direction and expands in the longitudinal direction. shrink in the direction. 1
003 is a pulley holder fixed to the base 1001, 1
004 is a Boo! rotatably installed on this pulley holder/QS 1003. J, 1005 is a movable body rotatably provided on the pulley holder 1003 coaxially with the pulley 1004, 1010 is a rotation angle detector coupled coaxially to the movable body 1005, 1006A, 100
6B has one end thereof connected to an elastic tubular structure 1002A,
Wire rope connected to 1002B, other end is goo! After wrapping it around the j1004 almost once, the movable body 100
It is fixed at the tip of 5.

The elastic tubular structures 1002A and 1002B are connected to pipes 1007A and 1007Bf, respectively, and pressure control means 1008.
A.

1008B supplies compressed fluid and controls the internal pressure.

That is, when the internal pressure of the elastic tubular structure 1002A increases and the internal pressure of the elastic tubular structure 1002B decreases, the former contracts, the latter expands, and the movable body 1005 rotates counterclockwise. Conversely, when the internal pressure of the elastic tubular structure 1002A decreases and the internal pressure of the elastic tubular structure 1002B increases, the movable body 10
05 rotates clockwise.

These bases 1001 are indicated by dashed lines in the figure.
, the elastic tubular structures 1002A and 1002B, the pulley holder 1003, the pulley 1004, the movable body 1005°, and the wire ropes 1006A and 1006B, hereinafter referred to as a loading mechanism system 1050. Note that the load mechanism system 105
0 is the axis 101, 102, 103° 104 in Fig. 1
．． Corresponds to 105.

A target angle signal θ is input from the robot control means 30 to this servo mechanism, and the actual movable body 1 is output from the rotation angle detector 1010 connected to the rotation axis of the movable body 10050.
The operating angle θ0 of 005 is fed back as an operating angle signal. 1030 is a servo compensation means, and the movable body 1
The servo mechanism is driven by the feedback of the operating angle θ0 of 005, and is output as a differential pressure deviation target signal Δpr to the comparators 1023A, 10231). 1025 is a bias pressure target signal generator, and this bias pressure target signal generator 1025 generates preset bias pressure target signals pbm, Pbmft, and fourth comparators 1023A and 1023.
Output to B. These fourth comparators 1023A.

1023B is the pressure deviation target signal Δpr outputted by the second loop gain compensator 1022 and the bias pressure target signal Pb outputted by the bias pressure target signal generator 1025.
A, elastic tubular structure 1002A, 1 described above from Pb Karasu
Pressure target whisper signals PrA, Prm for internal pressure of 002B
It outputs to pressure control means 1008A and 1008B described in ei.

Next, an example of the configuration and operation of the pressure control means 1008A and 1008B described above will be explained using FIG. 7.

In this figure, 1201 is a tubular elastic structure.

1202 is a conduit with a branched tip, 1203 is a conduit 112
Pressure detector located at 02, 1204A, 1204B
is a pressure control valve placed at the tip of the branched pipe line 1♀02, and is supplied with pressure fluid from the pressure source 1205, and the discharge port 12
At 06, all pressure fluid was discharged. 1207A.

1207B are pressure control valves 1204A and 1204, respectively.
1208A and 1208B are nonlinear function generators, 1209 is a pressure deviation signal pe (z operation is performed, and a nonlinear function Generator 1208
This is a comparator that outputs to A and 1208B. Here, the pressure target value signal pr is P r A in FIG.

This corresponds to Prm.

Now, when the output signal P, which is the output of the pressure detector 203, is lower than the pressure target value signal pr, the pressure deviation signal pe becomes positive, the output of the nonlinear function generator 1208B is zero, and the nonlinear function generator 1208 is A signal proportional to the pressure deviation signal pe is output to the power amplifier 1207A, and the pressure control valve 1204A sets the valve opening degree in proportion to the signal. and flows into the tubular elastic structure 1201,
The internal pressure of the tubular elastic structure 1201 is increased. Conversely, when the pressure signal P, which is the output of the pressure detector 203, is higher than the pressure target value signal pr, the pressure deviation signal pe becomes negative, the output of the nonlinear function generator 1208A is zero, and the output of the nonlinear function generator 1208B becomes zero. A signal proportional to the pressure deviation signal pe is output to the full power amplifier 1207B, and the pressure control valve 1204
B sets the valve opening degree of the valve in proportion to the signal, and the fluid inside the tubular elastic structure 1201 flows through the conduit 1202.B. It flows out from the outlet 1206 through the pressure control valve 1204A, and the internal pressure of the tubular elastic structure 1201 decreases. In other words, the above mechanism follows the pressure target value signal pr to the tubular elastic structure 120.
1 constitutes a pressure servo mechanism in which the pressure within the chamber changes.

Next, the operation of the servo mechanism shown in FIG. 6 will be explained.

The target angle signal θ2 and the actual movable body 1 output from the rotation angle detector 1010 connected to the rotation axis of the movable body 1005
005 operating angle θ. The compensator 1030 outputs a pressure deviation target signal Δpr from the comparator 1023A.

1023B provides the bias pressure target signal pbm.

A pressure target value signal prm, Pr11, is calculated from Pbm. That is, the pressure target value of each pressure control means changes differentially around the bias pressure pb□, Pt)mk, and the internal pressure FA, Pm of each elastic tubular structure changes accordingly due to the action of the pressure servo mechanism described above. The rotation angle θ0 of the movable body 1005 changes differentially in response to the target angle signal θ.

FIG. 8 shows another embodiment of the present invention, and the same parts as in FIG. 1 are designated by the same reference numerals. The difference from FIG. 1 is that the drive mechanism 9 moves the rails 2A and 2B with respect to the trolley 7.
It has a structure that allows it to move in the direction Y perpendicular to the direction X and simultaneously rotate 110 times.

〔Effect of the invention〕

According to the present invention, the degree of freedom of the multi-jointed arm driven by a rubber artificial muscle actuator mounted on a moving body capable of high-speed movement is arranged so as to move in a direction perpendicular to the moving direction of the moving body, The degrees of freedom are arranged in balance with respect to the axis of rotation, and since these degrees of freedom are not affected by the acceleration caused by the moving body, vibrations at the tip of the arm are reduced.

Furthermore, since the rubber artificial muscle actuator is explosion-proof, it has the effect of allowing safe and dual-speed painting when combined with a moving object.

[Brief explanation of the drawing]

Fig. 1 is a diagram showing the structure of an embodiment of the device of the present invention, Fig. 2, Fig. 3, and Fig. 4 are diagrams showing details of the above embodiment, and Fig. 5 is a diagram showing the control system. , FIG. 6 is a diagram showing a servo mechanism for driving the rubber artificial muscle, FIG. 7 is a diagram of the air pressure control mechanism, and FIG. 8 is a diagram showing the structure of another embodiment. IA, IB... Support, 2A, 2B... Rail, 3.
...Electric motor %7...Dolly, 9...Drive mechanism, 1
0... Upper arm mechanism, 12... Forearm mechanism, 14... Hand mechanism.

Claims (1)

[Claims] 1. A robot comprising a movable body, arm means provided on the movable body, and painting means disposed at the tip of the arm means, wherein the arm means is driven by a rubber artificial muscle actuator. What is claimed is: 1. A robot device comprising a plurality of arms connected by a rotation axis parallel to the moving direction of a moving body. 2. In the robot device according to claim 1, a rotational degree of freedom is arranged at the tip of the arm means in which the mass of the rotating part is balanced with the rotation axis, and a coating means is arranged on the rotation axis. Characteristic robot device.