WO2016098633A1 - Dispositif d'actionnement de liaison - Google Patents

Dispositif d'actionnement de liaison Download PDF

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Publication number
WO2016098633A1
WO2016098633A1 PCT/JP2015/084357 JP2015084357W WO2016098633A1 WO 2016098633 A1 WO2016098633 A1 WO 2016098633A1 JP 2015084357 W JP2015084357 W JP 2015084357W WO 2016098633 A1 WO2016098633 A1 WO 2016098633A1
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WO
WIPO (PCT)
Prior art keywords
link
end side
hub
distal end
torque
Prior art date
Application number
PCT/JP2015/084357
Other languages
English (en)
Japanese (ja)
Inventor
浩 磯部
山田　裕之
清悟 坂田
直哉 小長井
Original Assignee
Ntn株式会社
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Application filed by Ntn株式会社 filed Critical Ntn株式会社
Publication of WO2016098633A1 publication Critical patent/WO2016098633A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H21/00—Gearings comprising primarily only links or levers, with or without slides
    • F16H21/46—Gearings comprising primarily only links or levers, with or without slides with movements in three dimensions

Definitions

  • the present invention relates to a link actuating device used for equipment that requires high speed, high accuracy, and a wide working range, such as medical equipment and industrial equipment.
  • the parallel link mechanism used for various working devices is proposed in Patent Documents 1 and 2.
  • the parallel link mechanism of Patent Document 1 has a relatively simple configuration, but the operating angle of each link is small. Therefore, if the operating range of the traveling plate is set large, there is a problem that the link length becomes long and the overall size of the mechanism becomes large.
  • the parallel link mechanism of Patent Document 2 has a configuration in which a distal end side link hub is connected to a proximal end side link hub via three or more sets of four-link chains so that the posture can be changed. Thereby, it is possible to operate in a precise and wide range of operation while being compact.
  • An object of the present invention is to provide a link actuating device that can detect external forces from various directions acting on the front end of the device with a simple and inexpensive configuration and can improve the safety of the entire device. .
  • the link hub on the distal end side is connected to the link hub on the proximal end side through three or more sets of link mechanisms so that the posture can be changed.
  • the end link member on the proximal end side and the distal end side that is rotatably connected to the link hub on the side and the distal end side link hub, and both ends on the other end of the end link member on the proximal end side and the distal end side
  • Each of the link mechanisms is connected to a central link member, and a geometric model expressing the link mechanism as a straight line includes a proximal end portion and a distal end side portion with respect to a central portion of the central link member.
  • the link actuating device includes load estimation means for estimating the load acting on the distal end side link hub from detection signals of the torque detection means, each of the attitude control actuators having torque detection means. Yes.
  • the proximal-side link hub, the distal-side link hub, and the three or more sets of link mechanisms rotate the distal-side link hub around two orthogonal axes with respect to the proximal-side link hub.
  • a free two-degree-of-freedom mechanism is configured. Although this two-degree-of-freedom mechanism is compact, the movable range of the link hub on the distal end side can be widened. By controlling the operation of each posture control actuator, the posture of the distal link hub can be arbitrarily changed with respect to the proximal link hub.
  • each attitude control actuator is provided with torque detecting means, and load estimating means for estimating the load acting on the link hub on the distal end side from the detection signal of the torque detecting means is provided.
  • the load can be estimated without providing another sensor on the movable portion of the link hub on the distal end side. Since the load of the link hub on the distal end side is transmitted to each posture control actuator via each link mechanism, the load on the link hub on the distal end side can be calculated from the torque of each posture control actuator.
  • the torque detection means for detecting the torque of the attitude control actuator can be constituted by a simple detection means such as a sensor for detecting a current applied to the attitude control actuator.
  • the torque control means is provided in the attitude control actuator, and the load acting on the link hub on the tip side is estimated without providing another sensor on the movable part of the link hub on the tip side. Leads to downsizing and cost reduction. Further, the link actuating device having the above configuration has no singular point within its movable range and can move smoothly in all directions. Therefore, even if a load acts on the link hub on the tip side from various directions, the posture control actuator The torque is reliably transmitted to the load and the load can be estimated accurately.
  • the three or more sets of link mechanisms may be arranged at equal intervals in the circumferential direction in which the link mechanisms are arranged, and the posture control actuator may be provided for all of the link mechanisms.
  • the posture control actuator may be provided for all of the link mechanisms.
  • the attitude control actuators may be provided for all of the three sets of link mechanisms. If there are three link mechanisms, the interference between the link mechanisms is reduced, which not only increases the operating range, but also reduces the number of parts, leading to cost reduction. Further, when there are three link mechanisms and the posture control actuators are provided for all the three link mechanisms, torque transmission can be performed in a well-balanced manner. Therefore, when obtaining the load acting on the tip of the apparatus from the torque detection means of each attitude control actuator, it is easy to calculate and the load can be estimated more accurately.
  • the load estimating means has a function of detecting a collision that acts on the link hub on the distal end side based on a torque change amount detected by the torque detecting means.
  • the load estimating means has a function of detecting a collision that acts on the link hub on the distal end side based on a torque change amount detected by the torque detecting means.
  • the load estimating means has a function of detecting a load value acting on the link hub on the distal end side and a direction in which the load acts from each torque value of the torque detecting means. Measure the torque acting on each attitude control actuator against the load acting on the tip in advance, create a table that defines the relationship between the torque acting on each attitude control actuator and the load acting on the tip, or analyze the mechanism Thus, if a calculation formula for calculating the load acting on the tip from the torque acting on each posture control actuator is established, the load on the tip side can be estimated from the torque value detected by the torque detecting means. When the load acting on the tip is detected with high accuracy, the work by the end effector attached to the link hub on the tip side can be performed with high accuracy.
  • the link actuating device 1 includes a parallel link mechanism 9, an attitude control actuator 10 that operates the parallel link mechanism 9, and a controller 3 that controls the attitude control actuator 10 to change the attitude of the parallel link mechanism 9. 2).
  • FIG. 1 is a front view of a link actuator
  • FIGS. 4 and 5 are perspective views showing different states of the link actuator.
  • the parallel link mechanism 9 is configured such that a distal end side link hub 13 is connected to a proximal end side link hub 12 via three sets of individual link mechanisms 14 so that the posture can be changed. In FIG. 1, only one set of link mechanisms 14 is shown. In this embodiment, the three sets of link mechanisms 14 are arranged at equal intervals in the circumferential direction in which the link mechanisms 14 are arranged, and the posture control actuator 10 is provided for all of the link mechanisms 14.
  • the internal space of the three sets of link mechanisms 14 is the internal space S of the parallel link mechanism 9.
  • the number of link mechanisms 14 may be four or more.
  • Each link mechanism 14 has an end link member 15 on the proximal end side, an end link member 16 on the distal end side, and a central link member 17 and forms a four-joint link mechanism composed of four rotating pairs.
  • the end link members 15 and 16 on the proximal end side and the distal end side are L-shaped, and one ends thereof are rotatably connected to the link hub 12 on the proximal end side and the link hub 13 on the distal end side, respectively.
  • the central link member 17 is connected to both ends of the end link members 15 and 16 on the proximal end side and the distal end side so as to be rotatable.
  • the parallel link mechanism 9 has a structure in which two spherical link mechanisms are combined. That is, the central axis of each rotation pair of the base end side link hub 12 and the base end side end link member 15 and each rotation pair of the base end side end link member 15 and the central link member 17 is the base end. It intersects at the spherical link center PA (FIG. 3) on the side. Similarly, the center axis of each rotation pair of the link hub 13 on the front end side and the end link member 16 on the front end side, and the rotation pair of the end link member 16 on the front end side and the central link member 17 are spherical surfaces on the front end side. It intersects at the link center PB (FIG. 3).
  • each rotation pair of the link hub 12 on the base end side and the end link member 15 on the base end side and the spherical link center PA on the base end side is the same, and the end link member 15 on the base end side is the same.
  • the distance between each rotation pair of the central link member 17 and the spherical link center PA on the base end side is also the same.
  • the distance between each rotation pair of the link hub 13 on the distal end side and the end link member 16 on the distal end side and the spherical link center PB on the distal end side is the same, and the end link member 16 on the distal end side and the center link are the same.
  • each rotation pair of the member 17 and the spherical link center PB on the tip side is also the same.
  • the central axis of each rotational pair of the proximal and distal end link members 15 and 16 and the central link member 17 may have a certain crossing angle ⁇ (FIG. 1) or may be parallel. Good.
  • FIG. 2 is a diagram in which a block of a conceptual configuration of the controller 3 is added to a sectional view of the link hub 12 on the base end side, the end link member 15 on the base end side, and the like.
  • the relationship between the central axis O1 of each rotation pair of the base end side link hub 12 and the base end side end link member 15 and the spherical link center PA is shown.
  • the shapes and positional relationships of the distal end side link hub 13 and the distal end side end link member 16 are also the same as those in FIG. In FIG.
  • the center axis O1 of each rotation pair of the base end side link hub 12 and the base end side end link member 15 and each rotation of the base end side end link member 15 and the central link member 17 Although the angle ⁇ formed by the paired central axis O2 is 90 °, the angle ⁇ may be other than 90 °.
  • the three sets of link mechanisms 14 have the same geometric shape.
  • the geometrically identical shape is represented by a geometric model in which each link member 15, 16, and 17 is represented by a straight line, that is, each rotational pair and a straight line connecting these rotational pairs.
  • a model says that the base end side part and front end side part with respect to the center part of the center link member 17 are symmetrical shapes.
  • FIG. 3 is a diagram representing a set of link mechanisms 14 by straight lines.
  • the parallel link mechanism 9 of this embodiment is a rotationally symmetric type, and includes a proximal end side link hub 12 and a proximal end side end link member 15, a distal end side link hub 13 and a distal end side end link member 16. The positional relationship is rotationally symmetric with respect to the center line C of the central link member 17.
  • the central portion of each central link member 17 is located on a common orbit circle D.
  • the link hub 13 on the distal end side can rotate about two orthogonal axes with respect to the link hub 12 on the proximal end side.
  • the degree mechanism is configured. In other words, the rotation of the link hub 13 on the distal end side with respect to the link hub 12 on the proximal end side is freely changeable in posture with two degrees of freedom. Although the two-degree-of-freedom mechanism is compact, the movable range of the distal end side link hub 13 relative to the proximal end side link hub 12 can be widened.
  • a straight line that passes through the spherical link centers PA and PB and intersects with the central axis O1 (FIG. 2) of each rotation pair of the link hubs 12 and 13 and the end link members 15 and 16 at right angles is the central axis of the link hubs 12 and 13.
  • the maximum value of the bending angle ⁇ (FIG. 3) between the central axis QA of the link hub 12 on the proximal end side and the central axis QB of the link hub 13 on the distal end side may be about ⁇ 90 °. it can.
  • the turning angle ⁇ (FIG.
  • the bending angle ⁇ is a vertical angle at which the central axis QB of the distal link hub 13 is inclined with respect to the central axis QA of the proximal link hub 12.
  • the turning angle ⁇ is a horizontal angle at which the central axis QB of the distal link hub 13 is inclined with respect to the central axis QA of the proximal link hub 12.
  • the posture change of the link hub 13 on the distal end side with respect to the link hub 12 on the proximal end side is performed with the intersection O between the center axis QA of the link hub 12 on the proximal end side and the center axis QB of the link hub 13 on the distal end side as a rotation center.
  • Is called. 4 shows a state in which the central axis QA of the proximal-side link hub 12 and the central axis QB of the distal-side link hub 13 are on the same line
  • FIG. 5 shows the central axis QA of the proximal-side link hub 12.
  • a state in which the central axis QB of the link hub 13 on the distal end side takes a certain operating angle is shown. Even if the posture changes, the distance L (FIG. 3) between the spherical link centers PA and PB on the proximal end side and the distal end side does not change.
  • the central link member 17 and the proximal end and distal end end link members 15 and 16 are arranged with respect to the symmetry plane of the central link member 17. If the angular positional relationship is the same between the proximal end side and the distal end side, the proximal end side link hub 12 and the proximal end side end link member 15, the distal end side link hub 13 and the distal end side are geometrically symmetric. The end link member 16 on the side moves in the same way.
  • the proximal-side link hub 12 includes a base member 6 and three rotary shaft connecting members 21 provided integrally with the base member 6.
  • the base member 6 has a circular through hole 6a (FIG. 2) at the center, and three rotary shaft coupling members 21 are arranged at equal intervals in the circumferential direction around the through hole 6a.
  • the center of the through hole 6a is located on the link hub central axis QA on the base end side.
  • Each rotary shaft connecting member 21 is rotatably connected by a bearing 23 to a rotary shaft 22 whose axis intersects the link hub central axis QA.
  • the bearing 23 is installed on the rotary shaft connecting member 21 together with the spacer 24.
  • One end of the proximal end side end link member 15 is fastened and fixed to the rotary shaft 22 with a nut 20.
  • the rotary shaft 22 is arranged coaxially with the output shaft of the speed reduction mechanism 52.
  • one end of the end link member 15 on the base end side is connected to the output shaft of the speed reduction mechanism 52 by a bolt 29 via the spacer 28.
  • one end of the end link member 15 on the base end side rotates integrally with the output shaft of the speed reduction mechanism 52.
  • the bolt 29 is fastened from the inside of the notch 25 formed at one end of the end link member 15 on the base end side.
  • a notch 26 is provided at the other end of the proximal end link member 15, and a rotary shaft 35 is rotatably connected to one end of the central link member 17 disposed in the notch 26. Yes.
  • the link hub 13 on the tip side includes a flat plate-like tip member 40 and three rotating shafts provided on the bottom surface of the tip member 40 at equal intervals in the circumferential direction. And a connecting member 41.
  • An end effector (not shown) that is a working machine corresponding to the application of the link operating device 1 is attached to the tip member 40.
  • the center of the circumference where each rotary shaft connecting member 41 is arranged is located on the link hub central axis QB on the distal end side.
  • Rotating shafts 42 (FIG. 4) whose shaft centers intersect the link hub central axis QB are rotatably connected to the respective rotating shaft connecting members 41.
  • One end of the end link member 16 on the distal end side is connected to the rotation shaft 42 of the link hub 13 on the distal end side.
  • a rotating shaft 45 that is rotatably connected to the other end of the central link member 17 is connected to the other end of the end-side end link member 16.
  • the rotary shaft 42 of the link hub 13 on the distal end side and the rotary shaft 45 of the central link member 17 have the same shape as the rotary shaft 35 described above, and the rotary shaft connecting member 41 via two bearings (not shown). And the other end of the center link member 17 is rotatably connected to each other.
  • the attitude control actuator 10 of the link actuating device 1 is a rotary actuator provided with a speed reduction mechanism 52, specifically, a servo motor with a speed reduction mechanism, on the upper surface of the base member 6 of the link hub 12 on the base end side. It is installed coaxially with the rotating shaft 22.
  • the attitude control actuator 10 and the speed reduction mechanism 52 are provided integrally, and the speed reduction mechanism 52 is fixed to the base member 6 by a motor fixing member 53.
  • the posture control actuators 10 are provided in all of the three sets of link mechanisms 14, but if the posture control actuators 10 are provided in at least two of the three sets of link mechanisms 14, the base end The posture of the link hub 13 on the distal end side with respect to the link hub 12 on the side can be determined.
  • the controller 3 is a device that controls the parallel link mechanism 9 of the link operating device 1.
  • the controller 3 has posture control means 4.
  • the posture control means 4 outputs a rotation angle command to each posture control actuator 10 in accordance with a posture change destination command given from a host control means (not shown) or a manual input operation means (not shown). To do.
  • the change destination orientation command to the controller 3 is given by, for example, a turning angle ⁇ (FIG. 3) and a bending angle ⁇ .
  • the posture control means 4 converts the given commands for the turning angle ⁇ and the bending angle ⁇ into commands for the rotation angles of the posture control actuators 10 according to a predetermined arithmetic expression, and outputs the commands to the posture control actuators 10.
  • the posture control means 4 performs feedback control by a servo mechanism (not shown) using a detection signal of a rotation angle detector (not shown) provided in each posture control actuator 10.
  • a rotation angle detector not shown
  • the end effector is also controlled by the controller 3.
  • the controller 3 further has load estimating means 5 for estimating a load acting on the link hub 13 (FIG. 1) on the distal end side.
  • Each of the posture control actuators 10 includes torque detection means 8, and the load estimation means 5 estimates the applied load of the link hub 13 on the distal end side from the detection signals of the torque detection means 8.
  • the torque detection means 8 is, for example, a current sensor that detects a current flowing through each attitude control actuator 10.
  • the estimation of the applied load of the link hub 13 on the distal end side by the load estimating means 5 does not necessarily have to be estimated as a numerical value. For example, it may be a stepwise estimation that can determine whether or not a collision has occurred. good.
  • FIG. 6 shows an example of collision detection, where the vertical axis indicates the torque value detected by each torque detection means 8, and the horizontal axis indicates the passage of time.
  • FIG. 6 shows the torque value at the time of acceleration of the attitude control actuator 10, and the torque value of each attitude control actuator 10 gradually increases, but rapidly increases at the time t1.
  • the load estimating means 5 may detect that the link hub 13 on the tip side has collided from the amount of torque change.
  • the torque change amount is a change amount of torque detected by each torque detection means 8 per unit time, and is represented by a gradient of a torque change curve in FIG.
  • the load estimation means 5 may determine that a collision occurs when the detection value of any one of the torque detection means 8 exceeds the threshold value among the detection values of the torque detection means 8. Further, the collision may be determined by comprehensively judging from the detection values of the plurality of torque detection means 8 according to a predetermined rule.
  • the controller 3 or its attitude control means 4 may be provided with a collision response control means (not shown).
  • the collision response control means frees the operation of each attitude control actuator 10 by servo-off or the like by the collision detection of the load estimation means 5.
  • safety is improved by allowing the parallel link mechanism 9 to freely move by servo-off or the like.
  • the load estimation means 5 detects the load value acting on the link hub 13 on the distal end side and the direction in which the load acts from the respective torque values of the torque detection means 8 in addition to the collision detection function. be able to. Specifically, the torque acting on each posture control actuator 10 with respect to the load acting on the link hub 13 on the distal end side is measured in advance, and the torque T1 acting on each posture control actuator 10 using the measurement result. , T2, T3 and a table 7 (FIG. 7) that defines the relationship between the load acting on the link hub 13 on the tip side is prepared, and the detected values of the torques T1, T2, T3 are collated with the table 7. Find the force and direction.
  • the direction in the table 7 is, for example, the turning angle ⁇ of the link hub 13 on the distal end side shown in FIG.
  • the load estimating means 5 includes a calculation formula for calculating a load acting on the link hub 13 on the distal end side from a torque acting on each attitude control actuator 10 by mechanism analysis instead of using the table 7 of FIG. You may make it estimate the load which acts on the link hub 13 of the front end side from torque value T1, T2, T3 which the means 8 detects.
  • the proximal end side link hub 12, the distal end side link hub 13, and the three or more sets of link mechanisms 14 are combined with the proximal end side link hub 12.
  • a two-degree-of-freedom mechanism in which the link hub 13 on the distal end side is rotatable around two orthogonal axes is configured.
  • this two-degree-of-freedom mechanism is compact, the movable range of the link hub 13 on the distal end side can be widened.
  • the attitude of the link hub 13 on the distal end side can be arbitrarily changed with respect to the link hub 12 on the proximal end side.
  • torque detecting means 8 is provided in the attitude control actuator 10, and load estimating means for estimating the load acting on the distal end side link hub 13 from the detection signal of the torque detecting means 8. 5 is provided. Thereby, a load can be estimated, without providing another sensor in the movable part of the link hub 13 of the front end side. Since the load of the link hub 13 on the distal end side is transmitted to each posture control actuator 10 via each link mechanism 14, the load on the link hub 13 on the distal end side can be calculated from the torque of each posture control actuator 10.
  • the torque detection means 8 can be constituted by a simple detection means such as a sensor for detecting a current applied to the attitude control actuator 10.
  • the torque detection means 8 is provided in the attitude control actuator 10 and the load acting on the distal end side link hub 13 is estimated without providing another sensor on the movable part such as the distal end side link hub 13. Therefore, it leads to downsizing of the whole apparatus and cost reduction. Further, since the link operating device 1 having the above configuration has a singular point within its movable range and can move smoothly in all directions, posture control is performed even when a load is applied to the link hub 13 on the distal end side from various directions. Torque is reliably transmitted to the actuator 10 and the load can be estimated accurately.
  • the load estimating means 5 detects a collision acting on the link hub 13 on the tip side from the torque change amount detected by the torque detecting means 8.
  • the torque acting on the attitude control actuator 10 changes abruptly (FIG. 6). Therefore, collisions in various directions can be detected by the torque fluctuation amount.
  • the load estimation means 5 with a collision detection function, even when the link actuating device 1 comes into contact with a person or an object, it is possible to take measures such as detecting it and stopping the device. As a result, the safety of the link operating device 1 is improved.
  • the load estimation means 5 further detects the load value acting on the link hub 13 on the distal end side and the direction in which the load acts from each torque value of the torque detection means 8. As described above, the load on the tip side can be estimated from the torque value detected by the torque detection means 8 by creating the table 7 or making a calculation formula. When the load acting on the tip is detected with high accuracy, the work by the end effector attached to the link hub 13 on the tip side can be performed with high accuracy.
  • the second embodiment is the same as the first embodiment shown in FIGS.
  • the proximal and distal link hubs 12 and 13 are formed in a polygonal shape, and the proximal link hub 12 is a spacer on the base member 6. 65 is installed. An end effector (not shown) is installed on the link hub 13 on the distal end side.
  • An attitude control actuator 10 that arbitrarily changes the attitude of the distal end side link hub 13 relative to the proximal end side link hub 12 in all three sets of link mechanisms 14 of the parallel link mechanism 9, and the attitude control actuator 10
  • a speed reduction mechanism 71 is provided that decelerates and transmits the operation amount to the end link member 15 on the base end side.
  • the attitude control actuator 10 arbitrarily changes the attitude of the distal end side link hub 13 by rotating the proximal end side end link member 15.
  • the attitude control actuator 10 is a rotary actuator, more specifically a servo motor with a speed reducer 52, and is fixed to the base member 6 by a motor fixing member 53.
  • the speed reduction mechanism 71 includes a speed reducer 52 of the attitude control actuator 10 and a gear type speed reduction portion 73.
  • a spur gear is used for the speed reduction mechanism 71, but other mechanisms such as a bevel gear or a worm mechanism may be used.
  • the gear type reduction unit 73 is fixed to the small gear 76 connected to the output shaft of the attitude control actuator 10 via the coupling 75 so as to be able to transmit the rotation, and to the end link member 15 on the base end side.
  • the small gear 76 and the large gear 77 are spur gears, and the large gear 77 is a sector gear having teeth formed only on a sector-shaped peripheral surface.
  • the large gear 77 has a larger pitch circle radius than the small gear 76, and the rotation of the output shaft of the attitude control actuator 10 is transmitted to the proximal end side end link member 15 at a reduced speed.
  • the load estimating means 5 of the controller 3 can be used from various directions acting on the front end of the apparatus, as in the first embodiment.
  • the external force can be detected with a simple and inexpensive configuration, and the safety of the entire apparatus can be improved.
  • the proximal-side link hub 12 and the distal-side link hub 13 each have a donut shape in which a through-hole is formed at the center and the outer shape is spherical.
  • the proximal-side end link member 15 and the distal-side end link member 16 rotate at equal intervals in the circumferential direction of the outer peripheral surfaces of the proximal-side link hub 12 and the distal-side link hub 13. It is connected freely.
  • FIG. 11 is a cross-sectional view showing a rotating pair portion of the base end side link hub 12 and the base end side end link member 15, and a base end side end link member 15 and the central link member 17. is there.
  • radial shaft holes 81 are formed at three positions in the circumferential direction on the outer periphery, and the shaft members 83 are rotatably supported by two bearings 82 provided in each shaft hole 81.
  • the central axis of the shaft member 83 coincides with the central axis of the rotational pair between the proximal-side link hub 12 and the proximal-side end link member 15.
  • the outer end portion of the shaft member 83 protrudes from the link hub 12 on the proximal end side, and a screw portion 83a is formed at the protruding portion.
  • An end link member 15 on the base end side is coupled to the screw portion 83 a and is fastened and fixed by a nut 94.
  • the bearing 82 is a rolling bearing such as a deep groove ball bearing, for example, and an outer ring (not shown) is fitted to the inner circumference of the shaft hole 81 and an inner ring (not shown) is fitted to the outer circumference of the shaft member 83. Match.
  • the outer ring is retained by a retaining ring 85.
  • a spacer 86 is interposed between the inner ring and the end link member 15 on the base end side, and the tightening force of the nut 94 is transmitted to the inner ring via the end link member 15 and the spacer 86 on the base end side.
  • a predetermined preload is applied to the bearing 82.
  • a rotating pair of the end link member 15 and the center link member 17 on the base end side is rotatable by two bearings 89 provided in communication holes 88 formed at both ends of the center link member 17 and these bearings 89. It is comprised with the front-end
  • the bearing 89 is fastened and fixed by a nut 92 via a spacer 91.
  • the bearing 89 is a rolling bearing such as a deep groove ball bearing, for example, and an outer ring (not shown) is fitted to the inner circumference of the communication hole 88 and an inner ring (not shown) is fitted to the outer circumference of the shaft portion 90. Match.
  • the outer ring is retained by a retaining ring 93.
  • a screw portion 90 a is formed at the tip of the shaft portion 90, and a nut 92 is fastened to the screw portion 90 a via a spacer 91. The fastening force of the nut 92 is transmitted to the inner ring via the spacer 91, and a predetermined preload is applied to the bearing 89.
  • a bevel gear 57 described later is omitted.
  • each link mechanism 14 that is, the rotation pair portions of the proximal end side link hub 12 and the proximal end side link member 15, the distal end side link hub 13 and the distal end side end.
  • the bearing 82 is connected to the rotating pair of the part link member 16, the end link member 15 and the central link member 17 on the base end side, and the rotational pair of the end link member 16 and the central link member 17 on the distal end side. , 89 are provided. Thereby, the frictional resistance at each rotational pair can be suppressed to reduce the rotational resistance, and smooth power transmission can be ensured and the durability can be improved.
  • the base-side link hub 12 is fixed to the upper surface of the base member 6 via a spacer 65.
  • An attitude control actuator 10 is attached to the lower surface of the base member 6 in a suspended state.
  • the number of attitude control actuators 10 is three, which is the same as the number of link mechanisms 14.
  • the attitude control actuator 10 is a rotary actuator, and a bevel gear 56 attached to an output shaft of the posture control actuator 10 and a fan-shaped bevel gear 57 attached to a shaft member 83 (FIG. 5) of the link hub 12 on the proximal end side are engaged with each other.
  • the same number of posture control actuators 10 as the link mechanisms 14 are provided, but if at least two of the three sets of link mechanisms 14 are provided with the posture control actuators 10, The posture of the distal end side link hub 13 with respect to the proximal end side link hub 12 can be determined.
  • each attitude control actuator 10 by rotating each attitude control actuator 10, the rotation is transmitted to the shaft member 83 via the pair of bevel gears 56 and 57, and the link on the proximal end side.
  • the angle of the end link member 15 on the proximal end side with respect to the hub 12 is changed.
  • the position and posture of the distal end side link hub 13 with respect to the proximal end side link hub 12 are determined.
  • the angle of the end link member 15 on the base end side is changed using the bevel gears 56 and 57, but other mechanisms such as a spur gear and a worm mechanism may be used.
  • the load estimation means 5 of the controller 3 causes various directions acting on the front end of the apparatus, as in the first embodiment.
  • the external force can be detected with a simple and inexpensive configuration, and the safety of the entire apparatus can be improved.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)

Abstract

La présente invention concerne un dispositif d'actionnement (1) de liaison pouvant détecter des forces externes agissant sur la pointe du dispositif depuis différentes directions avec une précision élevée à l'aide d'une configuration simple et peu coûteuse, ce qui permet d'améliorer la sécurité pour l'ensemble du dispositif. Le dispositif d'actionnement (1) de liaison comprend un mécanisme de liaison parallèle (9) dans lequel un moyeu de liaison côté base (12) et un moyeu de liaison côté pointe (13) sont reliés entre eux au moyen de mécanismes de liaison (14) multiples. Des actionneurs (10) de commande d'orientation permettant d'entraîner les mécanismes de liaison (14) sont chacun pourvus d'un moyen de détection de couple (8). Un moyen d'estimation de charge (5) est prévu, lequel permet d'estimer une charge agissant sur le moyeu de liaison côté pointe (13) à partir de signaux de détection du moyen de détection de couple (8).
PCT/JP2015/084357 2014-12-15 2015-12-08 Dispositif d'actionnement de liaison WO2016098633A1 (fr)

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JP2014252744A JP6625322B2 (ja) 2014-12-15 2014-12-15 リンク作動装置
JP2014-252744 2014-12-15

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JP7189530B2 (ja) * 2018-12-07 2022-12-14 国立大学法人九州工業大学 リンク作動装置
JP7189528B2 (ja) * 2018-10-10 2022-12-14 国立大学法人九州工業大学 パラレルリンク機構およびリンク作動装置
CN112888878A (zh) * 2018-10-10 2021-06-01 国立大学法人九州工业大学 平行连杆机构和连杆致动装置
JP7189531B2 (ja) * 2018-12-07 2022-12-14 国立大学法人九州工業大学 リンク作動装置
KR102274201B1 (ko) * 2019-12-03 2021-07-07 한국도로공사 6자유도 모션플랫폼의 부하무게 및 위치 추정방법
JP7029681B2 (ja) * 2020-03-18 2022-03-04 株式会社安川電機 ロボット制御装置、ロボット制御システム、及びロボット制御方法
JP2023048813A (ja) * 2021-09-28 2023-04-07 Ntn株式会社 パラレルリンク機構およびリンク作動装置

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