WO2015004731A1 - ロボットおよびロボットの関節機構 - Google Patents
ロボットおよびロボットの関節機構 Download PDFInfo
- Publication number
- WO2015004731A1 WO2015004731A1 PCT/JP2013/068753 JP2013068753W WO2015004731A1 WO 2015004731 A1 WO2015004731 A1 WO 2015004731A1 JP 2013068753 W JP2013068753 W JP 2013068753W WO 2015004731 A1 WO2015004731 A1 WO 2015004731A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- robot
- hollow
- arm
- driven body
- axis
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
Definitions
- the disclosed embodiment relates to a robot and a joint mechanism of the robot.
- a robot having an arm portion composed of a plurality of arms rotatably connected via a joint mechanism is known.
- a robot joint mechanism there is one in which a reduction gear, a motor, and an encoder are coaxially arranged in series on an output shaft of the motor (see, for example, Patent Document 1).
- the encoder detects the rotation of each arm.
- the encoder detects the rotation of the output shaft of the motor, strictly speaking. For this reason, it is insufficient to accurately detect the actual rotation of the arm connected to the final output shaft from the output shaft of the motor via the speed reducer.
- One aspect of the embodiments has been made in view of the above, and an object thereof is to provide a robot and a joint mechanism of the robot that can accurately detect the rotation of the arm.
- a robot includes a driving body, a driven body that is rotatably connected to the driving body, and a driving device that drives the driven body.
- the drive device is provided on the driven body, and an encoder is attached to the final output shaft of the drive device.
- the rotation of the driven body can be accurately detected.
- FIG. 1 is a schematic perspective view illustrating the configuration of the robot according to the embodiment.
- FIG. 2A is a schematic perspective view of the driving device.
- FIG. 2B is a schematic enlarged view around the third joint.
- FIG. 3A is a transparent plan view around the third joint.
- FIG. 3B is a schematic enlarged cross-sectional view of the periphery of the drive device taken along the XY plane.
- FIG. 1 is a schematic perspective view showing the configuration of the robot 1 according to the embodiment.
- FIG. 1 shows a three-dimensional orthogonal coordinate system including the Z axis with the vertical upward direction as the positive direction for easy understanding. Such an orthogonal coordinate system may be shown in other drawings used in the following description.
- the robot 1 is a single-arm multi-axis robot, and includes a base part 10, a turning part 11 that is pivotably connected to the base part 10, and an arm part 20.
- the arm unit 20 includes a plurality of arms that are rotatably connected via joints, a wrist unit, a tip movable unit, and the like.
- the arm part 20 includes a first joint part 21, a first arm 22, a second joint part 23, a second arm 24, a third joint part 25, a wrist part 26, and a movable tip.
- Part 27 The 1st joint part 21, the 2nd joint part 23, and the 3rd joint part 25 are examples of a joint mechanism.
- the base 10 is fixed to the floor surface or the like.
- the base end of the first arm 22 is connected to the turning part 11 via the first joint part 21. Accordingly, the first arm 22 is supported at the base end portion thereof so as to be able to turn around the axis S and to be rotatable around the axis L (see arrows A1 and A2 in the figure).
- the base end portion of the second arm 24 is connected to the distal end portion of the first arm 22 via the second joint portion 23. Thereby, the 2nd arm 24 is supported by the base end part so that rotation around the axis
- the second arm 24 is provided so as to be rotatable around the axis R (see arrow A4 in the figure).
- the proximal end of the wrist 26 is connected to the distal end of the second arm 24 via the third joint 25. Thereby, wrist part 26 is supported so that rotation in the circumference of axis B is possible in the base end part (refer arrow A5 in a figure).
- the wrist 26 supports the tip movable portion 27 at its tip so as to be rotatable around the axis T (see arrow A6 in the figure).
- the end effector such as a robot hand, a welding torch, or a laser cutting device is attached to the distal end movable portion 27.
- the third joint portion 25 will be described as a main example as a joint mechanism of the robot 1.
- FIG. 2A is a schematic perspective view of the driving device 250.
- FIG. 2B is a schematic enlarged view around the third joint portion 25.
- the driving device 250 includes a hollow actuator 251 such as a hollow motor and a hollow speed reducer 252.
- the hollow actuator 251 includes a hollow shaft 251a having a hollow portion, and rotates the hollow shaft 251a.
- the hollow actuator 251 may be not only an electric motor but also other types of motors such as a hydraulic motor.
- the hollow speed reducer 252 includes an input unit 252a (not shown; described later in FIG. 3B) and an output unit 252b.
- the input part 252a and the output part 252b have a hollow structure communicating with the hollow part 253 of the hollow shaft 251a. Therefore, the input unit 252a and the output unit 252b are also examples of a hollow shaft.
- the input unit 252a is connected to the hollow shaft 251a of the hollow actuator 251 and inputs the rotation of the hollow shaft 251a.
- the output unit 252b reduces and outputs the rotation of the hollow shaft 251a input to the input unit 252a, and rotates around the axis O (see the double arrow in the figure).
- such a driving device 250 is mounted on the third joint portion 25 with the axis O coaxially disposed on the axis B, for example. Then, the output portion 252b rotates around the axis O, thereby rotating the wrist portion 26 around the axis B.
- FIG. 3A is a plan transparent view around the third joint portion 25.
- FIG. 3B is a schematic enlarged sectional view of the periphery of the driving device 250 taken along the XY plane.
- the third joint unit 25 further includes an encoder 254.
- the encoder 254 is disposed in the hollow portion 253 of the hollow actuator 251 and the hollow speed reducer 252, and is directly connected to the final output shaft, that is, the axis B, which is the rotation shaft of the wrist portion 26.
- a drive device 250 including a hollow actuator 251 and a hollow speed reducer 252 is mounted on the third joint portion 25.
- the hollow actuator 251 further includes a stator 251b and a rotor 251c.
- the stator 251b is fixed to the frame of the hollow actuator 251.
- the rotor 251c is rotatably provided on the stator 251b via a bearing.
- the stator 251b and the rotor 251c are arranged to face each other in a radial direction with a predetermined gap.
- the hollow shaft 251a is connected to the rotor 251c.
- the hollow shaft 251a and the rotor 251c may be integrally formed instead of separate.
- the input portion 252a of the hollow speed reducer 252 is connected to the hollow shaft 251a.
- the main body part of the hollow speed reducer 252 including the input part 252a of the hollow speed reducer 252 and the hollow actuator 251 are fixed to the wrist part 26 which is a driven body.
- the output part 252b of the hollow speed reducer 252 is fixed to the second arm 24 which is a driving body.
- the encoder 254 disposed in the hollow portion 253 includes an input unit 254a and an output unit 254b.
- the input unit 254a is coaxially disposed on the axis B and connected to the wrist unit 26.
- the output unit 254 b is connected to the second arm 24.
- the output unit 252b of the hollow speed reducer 252 subtracts the rotation input to the input unit 252a, outputs it, and rotates.
- the output unit 252b is fixed to the second arm 24 which is a driving body, the main body unit of the hollow speed reducer 252 excluding the output unit 252b and the hollow actuator 251 are relatively rotated. That is, the wrist part 26 to which these are fixed is rotated around the axis B.
- the rotation of the wrist portion 26 around the axis B is input to the input portion 254a of the encoder 254 directly connected to the axis B by being coaxially arranged.
- the output unit 254b of the encoder 254 detects and outputs the rotation of the wrist unit 26 input to the input unit 254a.
- the encoder 254 is directly connected to the axis B, which is the rotation axis of rotation that is finally output from the hollow actuator 251 via the hollow speed reducer 252, that is, the final output shaft,
- the actual rotation of the unit 26 can be detected with high accuracy.
- the actual rotation of the wrist part 26 can be detected with high accuracy.
- the encoder 254 is disposed in the hollow portion 253 of the driving device 250, the joint mechanism of the robot 1 can be configured compactly. Therefore, the robot 1 can be made slim.
- the configuration in which the brake portion is not clearly shown in the hollow actuator has been described as an example.
- the brake function of such a brake part can be realized without a brake part, for example, by providing a self-lock function by using a worm gear or the like as a gear inside the reduction gear part.
- a brake part may be provided.
- the turning unit is a driving body
- the first arm is a driven body.
- the first arm is a driving body and the second arm is a driven body.
- a multi-axis robot having six axes per arm is illustrated, but the number of axes is not limited.
- a 7-axis multi-axis robot may be used.
- a single-arm robot is illustrated, but the present invention is not limited to this.
- a double-arm robot or a multi-arm robot including three or more arms may be used. Good.
Abstract
Description
10 基台部
11 旋回部
20 アーム部
21 第1関節部
22 第1アーム
23 第2関節部
24 第2アーム
25 第3関節部
250 駆動装置
251 中空アクチュエータ
251a 中空軸
251b 固定子
251c 回転子
252 中空減速機
252a 入力部
252b 出力部
253 中空部
254 エンコーダ
254a 入力部
254b 出力部
26 手首部
27 先端可動部
A1~A6 矢印
B 軸
L 軸
O 軸
R 軸
S 軸
T 軸
U 軸
Claims (7)
- 駆動体と、
前記駆動体に回転自在に連結された被駆動体と、
被駆動体を駆動する駆動装置を有し、
前記駆動装置は、
前記被駆動体に設けられるとともに、
エンコーダを、最終出力軸に取付けること
を特徴とするロボット。 - 前記駆動装置は、
中空アクチュエータと、
前記中空アクチュエータに連結される減速機と、
前記減速機に連結される前記最終出力軸と
を備えることを特徴とする請求項1に記載のロボット。 - 前記最終出力軸は、
前記中空アクチュエータにおける中空軸の中空部内に配置されること
を特徴とする請求項2に記載のロボット。 - 前記中空軸と前記最終出力軸とが同軸配置されること
を特徴とする請求項3に記載のロボット。 - 前記駆動体は、第2アームであり、
前記被駆動体は、前記第2アームに回転自在に連結される手首部であること
を特徴とする請求項1に記載のロボット。 - 前記エンコーダは、
入力部と、出力部とを備え、
前記入力部は前記被駆動体に接続され、前記出力部は前記駆動体に接続されること
を特徴とする請求項1~5のいずれか一つに記載のロボット。 - 関節機構を介して回転可能に連結された駆動体と被駆動体とを備えるとともに、被駆動体を駆動する駆動装置を有し、
前記駆動装置が、前記被駆動体に設けられるとともに、
エンコーダが、前記駆動装置の最終出力軸に取付けられること
を特徴とするロボットの関節機構。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP13889258.3A EP3020519A1 (en) | 2013-07-09 | 2013-07-09 | Robot, and joint mechanism for robot |
CN201380076960.XA CN105246658B (zh) | 2013-07-09 | 2013-07-09 | 机器人及机器人的关节机构 |
JP2015526044A JP6191692B2 (ja) | 2013-07-09 | 2013-07-09 | ロボットおよびロボットの関節機構 |
KR1020167000183A KR20160018672A (ko) | 2013-07-09 | 2013-07-09 | 로봇 및 로봇의 관절 기구 |
PCT/JP2013/068753 WO2015004731A1 (ja) | 2013-07-09 | 2013-07-09 | ロボットおよびロボットの関節機構 |
US14/972,089 US20160101526A1 (en) | 2013-07-09 | 2015-12-17 | Robot and robot joint mechanism |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2013/068753 WO2015004731A1 (ja) | 2013-07-09 | 2013-07-09 | ロボットおよびロボットの関節機構 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US14/972,089 Continuation US20160101526A1 (en) | 2013-07-09 | 2015-12-17 | Robot and robot joint mechanism |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2015004731A1 true WO2015004731A1 (ja) | 2015-01-15 |
Family
ID=52279458
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2013/068753 WO2015004731A1 (ja) | 2013-07-09 | 2013-07-09 | ロボットおよびロボットの関節機構 |
Country Status (6)
Country | Link |
---|---|
US (1) | US20160101526A1 (ja) |
EP (1) | EP3020519A1 (ja) |
JP (1) | JP6191692B2 (ja) |
KR (1) | KR20160018672A (ja) |
CN (1) | CN105246658B (ja) |
WO (1) | WO2015004731A1 (ja) |
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JP2017035746A (ja) * | 2015-08-07 | 2017-02-16 | 株式会社安川電機 | ロボット |
JP2017177275A (ja) * | 2016-03-30 | 2017-10-05 | 日本電産サンキョー株式会社 | ロボット |
WO2017169605A1 (ja) * | 2016-03-30 | 2017-10-05 | 日本電産サンキョー株式会社 | ロボット |
TWI616273B (zh) * | 2016-07-19 | 2018-03-01 | 晉好科技有限公司 | 快速接頭 |
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JP6810102B2 (ja) * | 2018-07-04 | 2021-01-06 | ファナック株式会社 | ロボットの手首構造 |
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JP2017177275A (ja) * | 2016-03-30 | 2017-10-05 | 日本電産サンキョー株式会社 | ロボット |
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CN108883531A (zh) * | 2016-03-30 | 2018-11-23 | 日本电产株式会社 | 机器人 |
TWI704988B (zh) * | 2016-03-30 | 2020-09-21 | 日商日本電產股份有限公司 | 機器人 |
TWI706845B (zh) * | 2016-03-30 | 2020-10-11 | 日商日本電產股份有限公司 | 機器人 |
US11161255B2 (en) | 2016-03-30 | 2021-11-02 | Nidec Corporation | Robot |
US11224978B2 (en) | 2016-03-30 | 2022-01-18 | Nidec Corporation | Robot |
CN108883531B (zh) * | 2016-03-30 | 2022-05-17 | 日本电产株式会社 | 机器人 |
TWI616273B (zh) * | 2016-07-19 | 2018-03-01 | 晉好科技有限公司 | 快速接頭 |
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CN105246658A (zh) | 2016-01-13 |
JPWO2015004731A1 (ja) | 2017-02-23 |
CN105246658B (zh) | 2017-09-26 |
US20160101526A1 (en) | 2016-04-14 |
KR20160018672A (ko) | 2016-02-17 |
EP3020519A1 (en) | 2016-05-18 |
JP6191692B2 (ja) | 2017-09-06 |
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