WO2014006674A1 - Robot - Google Patents

Robot Download PDF

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Publication number
WO2014006674A1
WO2014006674A1 PCT/JP2012/066903 JP2012066903W WO2014006674A1 WO 2014006674 A1 WO2014006674 A1 WO 2014006674A1 JP 2012066903 W JP2012066903 W JP 2012066903W WO 2014006674 A1 WO2014006674 A1 WO 2014006674A1
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WO
WIPO (PCT)
Prior art keywords
arm
door
robot
hand
knob
Prior art date
Application number
PCT/JP2012/066903
Other languages
English (en)
Japanese (ja)
Inventor
健仁 曽我
飛 趙
Original Assignee
株式会社安川電機
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 株式会社安川電機 filed Critical 株式会社安川電機
Priority to PCT/JP2012/066903 priority Critical patent/WO2014006674A1/fr
Publication of WO2014006674A1 publication Critical patent/WO2014006674A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B25J15/026—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B25J15/0266—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links
    • B25J15/0273—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links comprising linear guide means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members

Definitions

  • the disclosed embodiment relates to a robot.
  • robots that can be operated by remote control so that a sense of realism can be obtained even in remote locations.
  • Such robots are called so-called “telepresence robots” and can be used for conferences between members at remote locations and for practical work in remote locations.
  • the current telepresence robot does not have a means for opening the door and cannot move to another room by opening the door.
  • One aspect of the embodiment has been made in view of the above, and an object thereof is to provide a robot that can be easily and smoothly opened and moved to another room.
  • a robot includes a cart provided with a two-wheel differential mechanism, a main body standing on the cart, a hand attached to the main body and capable of gripping a knob provided on a door at a tip. And an door opening maintaining mechanism for maintaining the opening of the door.
  • FIG. 1 is a schematic explanatory view showing the appearance of the robot according to the first embodiment.
  • FIG. 2 is an explanatory diagram of the robot as viewed from the side.
  • FIG. 3 is an explanatory diagram of the robot in plan view.
  • FIG. 4 is a block diagram showing a drive mechanism system of the robot.
  • FIG. 5 is an explanatory diagram showing a mode in which the robot pulls the door and opens it to move to another room.
  • FIG. 6 is an explanatory diagram showing a first modification of the robot.
  • FIG. 7 is an explanatory diagram showing a second modification of the robot.
  • FIG. 8 is an explanatory diagram illustrating a mode in which the robot according to the second modification pulls and opens the door and moves to another room.
  • FIG. 9 is an explanatory diagram of the robot according to the second embodiment viewed from the side.
  • FIG. 10A is an explanatory diagram showing the movement of the arm of the robot.
  • FIG. 10B is an explanatory view showing the movement of the arm and the door opening maintaining unit of the robot.
  • FIG. 11A is an explanatory diagram showing a drive mechanism of the robot arm.
  • FIG. 11B is an explanatory diagram showing a drive mechanism of the robot arm.
  • FIG. 12 is a schematic explanatory diagram of a door opening maintaining unit of the robot.
  • FIG. 13 is a schematic explanatory view showing a drive mechanism of the door opening maintaining portion.
  • FIG. 14 is an explanatory view showing a mode in which the robot pulls the door and opens it to move to another room.
  • FIG. 15 is an explanatory diagram illustrating a modified example of the door opening maintaining unit.
  • FIG. 16A is an explanatory diagram illustrating an operation of an arm of a robot according to a modification of the second embodiment.
  • FIG. 16B is an explanatory view showing the operation of the arm.
  • FIG. 16C is an explanatory diagram showing the operation of the arm.
  • FIG. 17 is an explanatory view showing the movement of the joint portion of the arm.
  • FIG. 18 is an exploded perspective view illustrating an example of a hand included in the robot.
  • FIG. 19 is an explanatory view showing the movement of the gripper claws of the hand.
  • FIG. 20 is an explanatory diagram illustrating another example of a hand included in a robot.
  • FIG. 21 is an explanatory diagram of the hand in a sectional view.
  • FIG. 22A is an explanatory diagram showing movement of a claw portion of a gripper provided in the hand.
  • FIG. 22B is an explanatory diagram showing movement of
  • FIG. 1 is a schematic explanatory view showing the appearance of the robot 10 according to the first embodiment
  • FIG. 2 is an explanatory view in a side view of the robot 10
  • FIG. 3 is an explanatory view in a plan view of the robot 10.
  • 4 is a block diagram showing a drive mechanism system of the robot 10.
  • the robot 10 includes a carriage 11 having a two-wheel differential mechanism 9A, a main body 1 erected on the carriage 11, a main body 1, and attached to the tip. And an arm 2 having a hand 3.
  • the robot 10 is configured to be operable by remote operation.
  • the main body 1 includes a control unit that receives a command signal from the outside and a driving device that drives each movable unit. Yes.
  • the carriage 11 is formed in a circular shape in plan view, and includes left and right traveling wheels 15 and 15 and a two-wheel differential mechanism 9A capable of distributing power to both wheels.
  • the hand 3 has a grip function capable of gripping a knob 110 (see FIG. 5) provided on the door 100 described later.
  • the configuration of the hand 3 is not particularly limited, and may be any configuration that can grip and twist the knob 110, for example. Further, when the knob 110 is not interlocked with a locking mechanism including a latch or the like, the knob 110 may be configured to be held by suction or the like instead of gripping. A specific configuration of the hand 3 will be described later.
  • the robot 10 includes a door opening maintaining mechanism 7 that maintains the opening of the door 100 when the door 100 is opened.
  • the robot 10 grips the knob 110 with the hand 3, and in some cases, rotates the knob 110 to unlock (unlatch) to open the door 100, and the door opening maintaining mechanism 7 opens the door 100. Maintain the open state.
  • the robot 10 is configured to be easily and smoothly movable to another room on the other side of the door 100.
  • the main body 1 standing on the carriage 11 includes a cylindrical trunk portion 12 standing on the carriage 11 and an arm support shaft 13 extending upward from the center of the trunk portion 12. ing.
  • the base end of the arm 2 extending substantially horizontally is attached to the arm support shaft 13 via a connecting cylinder 14.
  • the robot 10 has a door open maintaining mechanism 7 attached to the arm 2 together with the hand 3.
  • the arm 2 is composed of a bifurcated arm that is branched into a first arm 21 and a second arm 22 that are formed to have substantially the same length.
  • the hand 3 is attached to the first arm 21 so as to be able to advance and retreat (see arrow f1), while the door opening maintaining mechanism 7 is attached to the second arm 22 so as to be able to advance and retreat (see arrow f2).
  • the arm 2 is configured to be rotatable in the horizontal direction via a vertical shaft 202 provided on the base 20 (see arrow f3).
  • a motor M2 is appropriately disposed as shown in FIG.
  • the arm 2 is turned by the motor M2 that is a single actuator, and the hand 3 and the door opening maintaining mechanism 7 are moved linearly (advanced and retracted).
  • the linear movement (advance / retreat) operation of the hand 3 and the door opening maintaining mechanism 7 and the horizontal rotation operation of the arm 2 around the vertical axis 202 are operated with a time difference via the time difference drive mechanism 9B shown in FIG.
  • the time difference drive mechanism may be a well-known underdrive, and can be appropriately configured by combining, for example, a planetary gear mechanism and a tension bar spring mechanism.
  • the base 20 of the arm 2 is attached to the arm support shaft 13 constituting the main body 1 via a horizontal shaft 201 so as to be rotatable (see arrow f4). Therefore, whether the door 100 is opened to the right or left can be dealt with by reversing the positions of the hand 3 and the door opening maintaining mechanism 7 by inverting the arm 2.
  • a motor M1 is appropriately disposed as shown in FIG.
  • the height of the hand 3 from the installation surface can be adjusted according to the amount of rotation.
  • the height of the hand 3 can be adjusted to cope with the door 100 having various heights of the knob 110, particularly without adopting a configuration in which the arm 2 is moved up and down relative to the arm support shaft 13. it can.
  • the hand 3 is attached to the tip of the connecting rod 30, and the connecting rod 30 is attached to the tip of the first arm 21 so as to advance and retract in the direction orthogonal to the first arm 21.
  • the door opening maintaining mechanism 7 includes a first roller 71 rotatably provided at the front end of the main body rod 70, and is rotatably attached to the front side of the first roller 71.
  • the second rollers 72 and 72 are exposed.
  • the main body rod 70 is attached to the tip of the second arm 22 so as to be able to advance and retract in the direction orthogonal to the second arm 22.
  • Each of the rollers 71, 72, 72 of the door opening maintaining mechanism 7 is pivotally supported on an axis orthogonal to the virtual plane formed by the first arm 21 and the second arm 22. In addition, it can replace with each roller 71,72,72 and a spherical body can also be used.
  • the robot 10 performs the turning operation of the arm 2 and the direct movement operation of the hand 3 and the door opening maintaining mechanism 7 by the motor M2 as a single actuator.
  • a time difference drive mechanism 9B that operates with a time difference is provided.
  • FIG. 5 is an explanatory diagram showing an aspect in which the robot 10 pulls and opens the door 100 to move to another room.
  • the door 100 is left-opened, but in the case of right-opening, the arm 2 may be rotated 180 degrees around the horizontal axis 201 and reversed.
  • the robot 10 first drives and moves the carriage 11 and lays down in front of the knob side wall surface 120 of the wall surface to which the door 100 is attached.
  • “laying the robot 10 side by side” means that the traveling wheels 15 are positioned in parallel with the knob side wall surface 120.
  • the arm 2 is appropriately rotated around the horizontal axis 201 to adjust the height position of the hand 3 to the height of the knob 110.
  • the door opening maintaining mechanism 7 attached to the second arm 22 is moved backward, the hand 3 attached to the first arm 21 is advanced, and the knob 110 is moved by its grip function. Grab. In this state, when the knob 110 is interlocked with the locking mechanism, the knob 110 is rotated and unlocked.
  • the hand 3 is moved backward together with the connecting rod 30 to slightly open the door 100. Then, the door opening maintaining mechanism 7 is advanced, and the hand 3 attached to the first arm 21 is retracted, so that the door opening maintaining mechanism is in the space formed between the leading edge of the door 100 and the knob side wall surface 120. 7 Insert the tip side.
  • the door opening maintaining mechanism 7 is further advanced to advance to the maximum extent, and the hand 3 is retracted to the maximum extent.
  • the door opening maintenance mechanism 7 may come into contact with the back surface of the door 100, but the first roller 71 and the second rollers 72 and 72 of the door opening maintenance mechanism 7 come into contact with the back surface of the door 100, so that the door 100 is damaged. There is no fear.
  • the arm 2 is rotated with a time difference with respect to the operation of the hand 3 and the door opening maintaining mechanism 7 via the time difference driving mechanism 9B. That is, the arm 2 is rotated counterclockwise around a vertical axis 202 (see FIG. 1) provided on the base portion 20, and the door 100 is pushed out from the back side by the door opening maintaining mechanism 7. Specifically, the first roller 71 provided at the front end of the door opening maintaining mechanism 7 is pushed on the back surface of the door 100 without being damaged, and the passing space 200 is formed on the back side of the door 100.
  • the carriage 11 is driven to further advance, and the carriage 11 is directly opposed to the passage space 200 by the two-wheel differential mechanism 9A.
  • the direct facing of the carriage 11 means that the traveling wheels 15 are positioned so as to be orthogonal to the passing space 200 and the knob side wall surface 120.
  • the carriage 11 is directly opposed to the passage space 200, and at the same time, the arm 2 is largely rotated around the vertical axis 202, and the hand 3 together with the connecting rod 30 is moved to the main body 1 side. Make it closest. Thereby, the occupation area
  • the robot 10 includes the carriage 11 including the two-wheel differential mechanism 9A, the main body 1 standing on the carriage 11, the arm 2 attached to the main body 1, and the tip of the arm 2. And a hand 3 capable of gripping the knob 110 provided on the door 100. Moreover, since the robot 10 includes the door opening maintaining mechanism 7 for maintaining the opening of the door 100, the door 100 with the knob 110 can be easily opened to smoothly move to another room. it can.
  • the robot 10 described above attaches the arm 2 to the arm support shaft 13 through the horizontal shaft 201 so as to freely rotate, and adjusts the height of the hand 3 from the installation surface according to the amount of rotation.
  • the arm 2 can also be configured to move up and down with respect to the arm support shaft 13.
  • FIG. 6 shows a first modification of the robot 10.
  • the arm 2 is configured to be rotatable in the directions indicated by the arrows f3 and f4, but the arm support shaft 13 is extended upward.
  • the arm 2 is attached to the arm support shaft 13 through the connecting cylinder 14 so as to be movable up and down as indicated by an arrow f6.
  • the connecting cylinder 14 in this case is attached via a lifting mechanism having a known structure.
  • the door 100 with the knob 110 can be easily opened and moved to another room smoothly as in the robot 10 according to the previous embodiment. Can do.
  • FIG. 7 shows a second modification of the robot 10. As shown in the figure, the robot 10 according to this modification differs from the robot 10 described above in the form of the door opening maintenance mechanism 7 and the form of the arm 2 provided with the door opening maintenance mechanism 7 and the hand 3. ing.
  • the robot 10 according to the second modified example has the same structure as that of the previous embodiment in the structure of the carriage 11 provided with the two-wheel differential mechanism 9A and the structure of the main body 1 standing on the carriage 11. This is almost the same as the robot 10 according to the above.
  • the main body 1 is also similar to the previous embodiment in that it is composed of a cylindrical body 12 and an arm support shaft 13 extending upward from the center of the body 12.
  • the arm 2 has a structure described below. That is, the connecting body 24 connected to the center of the arm main rod 23 is connected to the connecting cylinder 14 attached to the arm support shaft 13 so as to be movable up and down (see arrow f6). And while connecting the base end of the sheath 300 to the end of the arm main rod 23, the connecting rod 30 which attached the hand 3 to the front-end
  • a holding ring 75 is connected to the other end of the arm main rod 23, and a slide rod 76 in which a plurality of rollers 73 are connected in a row is slidably disposed in the holding ring 75 (arrow f2). See).
  • a roller support 74 is attached to the slide rod 76 in the vertical direction, and three rollers 73 are rotatably attached to each roller support 74.
  • a roller group in which the rollers 73 are arranged in triplicate vertically is provided on the arm 2 as the door opening maintaining mechanism 7 here.
  • the sheath 300 and the holding ring 75 connected to the end of the arm main shaft 23 are attached to the straight arm main shaft 23 at an acute angle. Therefore, the hand 3 attached to the tip of the connecting rod 30 that slides inside these and the roller 73 positioned at the head of the roller group attached to the slide rod 76 approach each other until they come into contact with each other. It is possible.
  • the door 100 with the knob 110 can be easily opened and moved to another room, as in the robot 10 according to the previous embodiment. It can be done smoothly.
  • FIG. 8 shows a mode in which the robot 10 according to the second modification pulls the door 100 and opens it to move to another room.
  • the robot 10 moves by driving the carriage 11 and lays down in front of the knob side wall surface 120.
  • the connecting rod 30 is appropriately advanced, and the knob 110 is gripped by the grip function of the hand 3.
  • the knob 110 is rotated and unlocked.
  • FIG. 8B With the knob 110 held, the hand 3 is moved backward together with the connecting rod 30 to slightly open the door 100. And the door opening maintenance mechanism 7 which consists of a roller group is advanced, and the front end side is inserted in the space formed between the front-end edge of the door 100, and the knob side wall surface 120.
  • FIG. 8 (c) the main body 1 is rotated counterclockwise, and the door opening maintaining mechanism 7 is pushed and spread against the back surface of the door 100.
  • a passage space 200 is formed on the back side of the door 100.
  • the robot 10 can then move through the passage space 200 and move to another room according to the procedure described with reference to FIGS. 5 (d) to 5 (f).
  • FIG. 9 is a side view of the robot 10 according to the second embodiment
  • FIG. 10A is an explanatory view showing the movement of the arm 2 of the robot 10
  • FIG. 10B is the arm 2 of the robot 10 and the door opening. It is explanatory drawing which shows a motion of the maintenance part.
  • 11A and 11B are explanatory views showing a drive mechanism of the arm 2 of the robot 10.
  • the robot 10 includes a cart 11 that has a substantially rectangular shape that is relatively flatter than the robot 10 according to the first embodiment, and a front and rear that are erected on the cart 11.
  • a slightly flat rectangular main body 1 is provided.
  • the carriage 11 in this embodiment also includes left and right traveling wheels 15 and 15 and a two-wheel differential mechanism 9A (see FIG. 4) capable of distributing power to both wheels.
  • the robot 10 includes an arm 2 having a base end connected to the base side of the main body 1 and extending in a foldable manner. That is, as shown in the figure, the arm 2 is configured to be bendable via a proximal joint portion 33, an intermediate joint portion 32, and a distal joint portion 31, and is handed via a wrist joint portion 34 provided at the distal end. 3 are connected. As described above, the hand 3 according to the present embodiment may be configured so that the knob 110 can be gripped.
  • the arm 2 changes its height position as shown in FIG. 10A and FIG. 10B from the folded state so that it does not protrude greatly from the side projection area of the main body 1. However, it is configured to be able to extend forward.
  • the joint portions 31, 32, and 33 of the arm 2 are connected to the intermediate joint portion 32 and the distal joint portion 31 according to the operating angle of the proximal joint portion 33 via the gear mechanism.
  • the operation angle is determined uniquely.
  • the arm 2 provided in the robot 10 according to the present embodiment is formed of a one-degree-of-freedom multi-joint arm that is provided at the base end portion of the main body 1 and moves in the vertical direction.
  • the first bevel gear 302 provided on one end side of the first arm shaft 301 is engaged with a second bevel gear 304 that is linked to a motor (not shown). ing.
  • the third bevel gear 303 provided on the other end side of the first arm shaft 301 is engaged with the first intermediate bevel gear 305 at the intermediate joint portion 32.
  • the first intermediate bevel gear 305 meshes with the second intermediate bevel gear 306, and the second intermediate bevel gear 306 meshes with a fourth bevel gear 307 provided at one end of the second arm shaft 308.
  • the fifth bevel gear 309 provided at the other end of the second arm shaft 308 meshes with the sixth bevel gear 310 at the distal end joint portion 31.
  • the sixth bevel gear 310 is connected to one end of an arm tip shaft (not shown).
  • the second arm shaft 308 is the same as the first arm shaft 301. It tilts at a tilt angle ⁇ 1 that is uniquely determined according to the tilt angle ⁇ 2.
  • the height of the hand 3 is also determined by the extension state of the arm 2.
  • the posture of the arm 2 can be controlled only by the operation of one joint part (here, the proximal joint part 33), teaching work for the robot 10 is facilitated.
  • a pair of hooks 81 and 82 provided on the front surface of the carriage 11 as an example of the door opening maintaining mechanism 7 so as to be rotatable about the vertical axis are provided.
  • the door opening maintenance part 8 provided is provided.
  • FIG. 12 is a schematic explanatory view of the door opening maintaining unit 8 of the robot 10, and FIG. 13 is a schematic explanatory view showing the drive mechanism 800 of the door opening maintaining unit 8.
  • the door opening maintaining portion 8 includes a base portion 80 disposed on the front side of the carriage 11, and is attached to the base portion 80 in a superposed state up and down, and centered on the left and right base ends. Are provided with a pair of hooks 81 and 82 that are rotatable.
  • the base end of the first hook 81 located on the upper side is fixed to the first support shaft 813 provided on the left side of the base portion 80 when viewed from the front. Yes.
  • the base end of the second hook 82 located on the lower side is fixed to a second support shaft 814 provided on the right side of the base portion 80 in front view.
  • hook-shaped portions 81 a and 82 a are formed at the tip portions of the first hook 81 and the second hook 82 so as to be easily engaged with the door 100.
  • a buffer body 83 made of an elastic member or the like is provided on the front side of the first hook 81 and the second hook 82.
  • Such a buffer 83 can prevent damage to the door 100 as much as possible.
  • the buffering function with respect to the door 100 can also be provided to the hook-shaped portions 81a and 82a of the hooks 81 and 82, for example, by sticking a rubber material or the like.
  • a time difference drive mechanism 9 ⁇ / b> B (see FIG. 4) that also serves as the drive mechanism 800 of the door opening maintaining portion 8 is provided in the base portion 80.
  • the time difference drive mechanism 9B is a mechanism for opening and closing a pair of hooks including the first hook 81 and the second hook 82 with a time difference.
  • the drive mechanism 800 serving as the time difference drive mechanism 9B is provided with an intermediate gear 801 on an input shaft 804 provided at the center of the base portion 80 so as to be movable up and down. Further, a third support shaft 805 provided with a first transmission gear 802 and a fourth support shaft 806 provided with a second transmission gear 803 are provided on the left and right sides of the input shaft 804.
  • Both the first transmission gear 802 and the second transmission gear 803 can mesh with the intermediate gear 801, and the first transmission gear 802 when the intermediate gear 801 is located on the upper side and the second when the intermediate gear 801 is located on the lower side. Engage with the transmission gear 803.
  • first pulley 807 is attached at a position directly above the first transmission gear 802, and a second pulley 808 is provided on the first support shaft 813 to which the first hook 81 is connected.
  • a first transmission belt 809 is stretched between the first pulley 807 and the second pulley 808.
  • a third pulley 810 is attached immediately below the second transmission gear 803, and a fourth pulley 811 is provided on the second support shaft 814 to which the second hook 82 is connected.
  • a second transmission belt 812 is stretched between the third pulley 810 and the fourth pulley 811.
  • the drive mechanism 800 serving as the time difference drive mechanism 9B includes a motor (not shown) serving as a single actuator that opens and closes the pair of first and second hooks 81 and 82 with a time difference.
  • the door opening maintaining unit 8 according to the present embodiment has the first hook 81, the second hook 82, and the like by interlockingly connecting the motor to the input shaft 804 and cooperating with the intermediate gear 801 serving as a clutch. Can be selectively driven with a time difference.
  • the robot 10 since the robot 10 according to the present embodiment can selectively drive the first and second hooks 81 and 82 with a single actuator, it can contribute to weight reduction and manufacturing cost reduction.
  • FIG. 14 is an explanatory diagram showing a mode in which the robot 10 pulls and opens the door 100 to move to another room.
  • the arm 2 and the hand 3 are omitted, but in FIG. 14A, the arm 2 and the hand 3 are already driven and the left-open door 100 is slightly opened. Show. Further, when gripping the knob 110 with the hand 3, it is assumed that the first hook 81 is previously rotated by a predetermined angle.
  • the robot 10 supports the back side of the door 100 in the vicinity of the leading edge by the first hook 81.
  • the 1st hook 81 is rotated in the closing direction, and the opening degree of the door 100 is expanded.
  • the second hook 82 is rotated in the opening direction, and the opening operation of the door 100 is inherited from the first hook 81, and the opening degree of the door 100 is further expanded as shown in FIG.
  • the first hook 81 is accommodated on the base portion 80 side.
  • the carriage 11 can be driven to move forward to another room.
  • FIG. 15 is an explanatory view showing a modified example of the door opening maintaining unit 8.
  • the first hook 81 and the second hook 82 are selectively driven by a single actuator (motor).
  • a first motor 85 for rotating the first hook 81 and a second motor 86 for rotating the second hook 82 are provided at the left and right ends of the base portion 80. Yes.
  • a shock absorber 83 made of an elastic member or the like is provided on the front side of the first hook 81 and the second hook 82.
  • first hook 81 and the second hook 82 have a linear configuration in accordance with the substantially rectangular cart 11, but for example, the cart 11 is configured to have a substantially circular shape in a plan view and its front side periphery.
  • a first hook 81 and a second hook 82 formed in an arc shape can be provided on the surface.
  • FIG. 16A to FIG. 16C are explanatory views showing the operation of the arm 2 of the robot 10 according to a modification of the second embodiment
  • FIG. 17 is an explanatory view showing the movement of the joint portion 210 of the arm 2.
  • the arm 2 provided in the robot 10 includes an arm rod 220 having a predetermined length with the hand 3 attached to the tip, and a joint portion in which the base end of the arm rod 220 is connected to be swingable up and down. 210. Then, by attaching the joint portion 210 to the arm linear motion rod 17 so as to be movable up and down, the entire arm 2 can be moved up and down while maintaining the horizontal posture.
  • a mechanism for raising and lowering the joint part 210 for example, a single motor and a known raising and lowering mechanism may be employed as appropriate.
  • an arm stopper rod 18 is erected in front of the arm linear motion rod 17 so as to have a predetermined height, and when the arm 2 is lowered, it comes into contact with the upper end of the arm stopper rod 18. That is, the arm 2 is basically at a higher position than the arm stopper rod 18 in the use state.
  • FIG. 16A a case where the arm 2 is in the extended position and in the uppermost position is set to the use state. Then, when some work is completed and the arm 2 is stored, when the arm 2 is lowered from the state shown in FIG. 16A, the vicinity of the base end of the arm rod 220 contacts the upper end of the arm stopper rod 18 as shown in FIG. 16B. Touch.
  • the arm rod 220 is further lowered as it is, the arm rod 220 swings upward about the joint portion 210, and the arm rod 220 is raised while the upper end of the arm stopper rod 18 traces the arm rod 220.
  • the joint portion 210 is positioned at the lower end of the arm linear motion rod 17, as shown in FIG. 16C, the arm rod 220 is in an upright state, and the arm 2 takes a very compact storage posture.
  • the joint portion 210 when the arm 2 is stored will be specifically described with reference to FIG. 17A, the joint portion 210 is provided with a pivot 213 that pivotally supports the arm rod 220, and includes a latch 214 whose tip is engaged with the pivot 213.
  • the drive mechanism of the arm 2 is remarkably simplified, and the arm structure of the robot 10 can be reduced in weight.
  • FIG. 18 is an exploded perspective view showing an example of the hand 3 provided in the robot 10, and FIG. 19 is an explanatory view showing the movement of the claw body 41 of the gripper 4 provided in the hand 3.
  • the hand 3 can have a structure including a gripper 4, a power transmission mechanism 5, and a motor 6 as a single actuator.
  • the gripper 4 includes three pairs of claw bodies 41, 41 formed in a pair of rectangular bars that move in opposite directions.
  • the claw body 41 is formed with a thick contact portion 411 at the tip of the claw body 41 in order to secure a sufficient contact area for clamping, for example, the knob 110 in cooperation with the other claw body 41.
  • the power transmission mechanism 5 can be configured to use a planetary gear mechanism as an example of a differential reduction mechanism.
  • the gripper 4 including the claw bodies 41 and 41 can be driven through the power transmission mechanism 5.
  • each planetary gear 53 is attached to the rotating shaft 530 so as to penetrate the rotating shaft 530, and meshes with the sun gear 52 and the inner teeth 54 a of the outer gear 54 at the same time.
  • a friction wheel 57 is attached to the rotating shaft 530 of each planetary gear 53 via a planetary carrier 55. It is assumed that the friction wheel 57 is formed of a material having a high friction coefficient on at least a peripheral surface that comes into contact with the claw body 41.
  • the planetary carrier 55 is formed in a shape in which a rectangular plate extends in a trifurcated shape in accordance with the arrangement of the three planetary gears 53, and the rotation shaft 530 is inserted through the shaft insertion hole 551 formed in each rectangular plate. ing. Note that the shape of the planetary carrier 55 is not limited, and may be formed in a disk shape, for example.
  • the planetary carrier 55 is provided with a linear guide 552 that supports the claw body 41 so as to move freely. That is, as shown in FIG. 18, the linear guide 552 is formed by bending both side edges of a rectangular plate formed in a trifurcated shape into a hook shape, and the nail body 41 is held by the linear guide 552. It is guided to move forward and backward in the longitudinal direction.
  • One of the pair of claws 41, 41 in contact with the friction wheel 57 is moved inward by a frictional force as indicated by an arrow f9 in FIG.
  • the other nail body 41 is moved outward as indicated by an arrow f10.
  • the three claw bodies 41 move toward the center.
  • the hand 3 is moved and the knob 110 (see FIG. 5) is positioned at the approximate center of the gripper 4, the three claw bodies 41, 41, 41 move inwardly, and the peripheral surface of the knob 110 is moved. It can be gripped firmly.
  • the material of the friction wheel 57 may be set so that an appropriate frictional force for the friction wheel 57 to slip can be obtained.
  • the planetary gear 53 of the power transmission mechanism 5 is revolving while rotating. Therefore, the planetary carrier 55 holding the claw body 41 holding the knob 110 is rotated, and the knob 110 in the held state can be rotated and unlocked (unlatched).
  • the gripper 4 is rotated while the claw body 41 is moved. That is, the knob 110 is rotated around the knob axis while gripping the knob 110, and therefore the friction wheel 57 is used to move the claw body 41 forward and backward.
  • the present invention is not limited to this configuration, and the claw body 41 is advanced and retracted by a so-called “rack and pinion” in which a tooth row is formed on the inner surface of the claw body 41 and a pinion is used instead of the friction wheel 57. You can also. In that case, it is possible to uniquely determine the amount of movement of the nail body 41 and the gripping force.
  • one of the pair of claws 41 and 41 moves in the direction (inward direction) for gripping the knob 110 regardless of the rotation direction of the rotation shaft of the motor 6.
  • the knob 110 can be held regardless of the rotation direction of the rotation shaft.
  • the single motor 6 it is possible to realize a two-degree-of-freedom operation in which the knob 110 is gripped and the knob 110 is rotated. In addition, it is possible to obtain a force sufficient to grip the knob 110.
  • FIG. 20 is an explanatory view showing another example of the hand 3 provided in the robot 10
  • FIG. 21 is an explanatory view of the hand 3 in a sectional view
  • FIGS. 22A and 22B are views of the gripper 4 provided in the hand 3. It is explanatory drawing which shows a motion of the nail
  • FIG. 21 is an explanatory view showing another example of the hand 3 provided in the robot 10
  • FIG. 21 is an explanatory view of the hand 3 in a sectional view
  • FIGS. 22A and 22B are views of the gripper 4 provided in the hand 3. It is explanatory drawing which shows a motion of the nail
  • the hand 3 includes a gripper 4 including two claw bodies 41, a motor 6 that is a single actuator, and power transmission that transmits power from the motor 6 to the gripper 4. And a mechanism 5.
  • the power transmission mechanism 5 moves the two claw bodies 41 and 41 in, for example, the direction of contact with and away from the knob 110, and the grip 110 in which the contact portions 411 and 411 of the two claw bodies 41 and 41 are in contact with the knob 110. In this state, the gripper 4 can be rotated around the axis of the knob 110.
  • a planetary gear mechanism is also adopted here.
  • the sun gear 52 is interlocked and connected to the motor 6 through the input shaft 51, and the three planetary gears 53, 53, 53 are arranged in the outer gear 54 around the sun gear 52 so as to be able to rotate and revolve. Yes.
  • a planetary carrier 55 linked to the rotation shaft 530 of each planetary gear 53 is provided with a crank mechanism.
  • the crank mechanism includes a first link 58a connected to the planetary carrier 55 and second links 58b and 58b connected to both ends of the first link 58a.
  • the crank mechanism protrudes from the distal end side of the second link 58b.
  • the claw body 41 is connected through the connected pin 580.
  • a guide insertion hole is formed in the claw body 41 connected to each of the two second links 58b and 58b, and the slide guide 43 is inserted into the guide insertion hole. That is, the pair of claw bodies 41 and 41 are fitted to the slide guide 43 so as to be slidable.
  • the slide guide 43 extends in the orthogonal direction from the approximate center of the bowl-shaped guide holder 42 installed on the upper edge of the outer gear 54.
  • the slide guide 43 according to the present embodiment is formed integrally with the guide holding body 42, but may be formed separately and connected.
  • a spring portion 61 is provided between the motor 6 and the outer gear 54 via a bearing 65.
  • the spring portion 61 includes two torsion springs 62 a and 62 b that engage the coil shaft portion with a stepped boss portion 66 formed at the center of the base 64 and have both ends locked to the spring restricting pins 63 and 63. Yes. Then, one end sides of the two torsion springs 62a and 62b are crossed and locked to the spring restricting pins 63 and 63.
  • An interlocking pin 59 projects from the bottom plate portion of the outer gear 54 toward the base 64 so as to be positioned between the spring restricting pins 63 and 63.
  • the rotational force is transmitted to the outer gear 54 after the power is transmitted to the planetary carrier 55. That is, for example, after gripping the knob 110 at the contact portions 411 and 411 of the claw bodies 41 and 41, the entire gripper 4 can be rotated to rotate the knob 110.
  • the gripper 4 provided in the hand 3 grips the knob 110 with the nail bodies 41 and 41 that have been separated from each other, and then rotates the knob 110 to unlock it. (Latch release). That is, the power transmission mechanism 5 including the planetary gear mechanism and the crank mechanism can rotate the gripper 4 after moving the claw body 41 in cooperation with the spring portion 61.
  • the planetary carrier 55 is moved via the planetary gear mechanism. It rotates around the input shaft 51. Then, the first link 58 a of the crank mechanism also rotates together with the planetary carrier 55.
  • the second links 58b and 58b connected to both ends of the first link 58a are connected to the claw body 41 restricted by the slide guide 43 at the tip. Therefore, as shown in FIG. 22A, the claws 41 and 41 move on the slide guide 43 in a direction in which they approach each other.
  • the claws 41 and 41 move further toward each other. Then, when an appropriate force is generated in the claw body 41 so that the knob 110 can be firmly held between the claw bodies 41, 41, the spring portion 61 described above functions to rotate the outer gear 54. That is, the outer gear 54 rotates at the timing when the gripping force of the claw body 41 becomes larger than the value set by the torsion springs 62a and 62b. Thus, the gripper 4 can be unlocked (unlatched) by rotating the knob 110 while holding the knob 110.
  • the door 100 can be opened easily and smoothly to another room.
  • the robot 10 can handle all types, whether the door 100 pushes, pulls, or slides.
  • the configuration of the robot 10 is not limited to the above-described embodiment.
  • An arm provided with a carriage 11 having a two-wheel differential mechanism 9A, a main body 1 standing on the carriage 11, and a hand 3 attached to the main body 1 and capable of gripping a knob 110 provided on the door 100 at the tip. 2 and a door opening maintaining mechanism 7 that maintains the opening of the door 100 may be used.
  • the shapes of the carriage 11, the main body 1, the arm 2, and the like can be appropriately designed.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

La présente invention vise à mettre en oeuvre un robot qui, facilement et en douceur, peut ouvrir une porte et se déplacer jusqu'à une autre pièce. Le robot comprend un chariot comportant un mécanisme différentiel à deux roues ; un corps principal installé sur le chariot ; un bras fixé au corps principal et comprenant, sur son extrémité, une main capable de saisir une poignée située sur la porte ; et un mécanisme de maintien d'ouverture de porte qui maintient la porte ouverte.
PCT/JP2012/066903 2012-07-02 2012-07-02 Robot WO2014006674A1 (fr)

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WO2014006674A1 true WO2014006674A1 (fr) 2014-01-09

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JP2022073058A (ja) * 2020-10-30 2022-05-17 カネテック株式会社 吸着型吊り上げ装置
US11433530B2 (en) 2020-12-16 2022-09-06 Tata Consultancy Services Limited Mobile robotic manipulator with telepresence system

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JP2007252734A (ja) * 2006-03-24 2007-10-04 Olympia:Kk 遊技機の演出装置
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JP2007252734A (ja) * 2006-03-24 2007-10-04 Olympia:Kk 遊技機の演出装置
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2022073058A (ja) * 2020-10-30 2022-05-17 カネテック株式会社 吸着型吊り上げ装置
JP7201257B2 (ja) 2020-10-30 2023-01-10 カネテック株式会社 吸着型吊り上げ装置
US11433530B2 (en) 2020-12-16 2022-09-06 Tata Consultancy Services Limited Mobile robotic manipulator with telepresence system

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