WO2017094632A1 - Mécanisme de bras de robot et mécanisme d'articulation de rotation - Google Patents

Mécanisme de bras de robot et mécanisme d'articulation de rotation Download PDF

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Publication number
WO2017094632A1
WO2017094632A1 PCT/JP2016/085080 JP2016085080W WO2017094632A1 WO 2017094632 A1 WO2017094632 A1 WO 2017094632A1 JP 2016085080 W JP2016085080 W JP 2016085080W WO 2017094632 A1 WO2017094632 A1 WO 2017094632A1
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WO
WIPO (PCT)
Prior art keywords
stopper
attached
robot arm
rotating body
arm mechanism
Prior art date
Application number
PCT/JP2016/085080
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English (en)
Japanese (ja)
Inventor
尹　祐根
Original Assignee
ライフロボティクス株式会社
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Filing date
Publication date
Application filed by ライフロボティクス株式会社 filed Critical ライフロボティクス株式会社
Publication of WO2017094632A1 publication Critical patent/WO2017094632A1/fr

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    • 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

Definitions

  • Embodiments of the present invention relate to a robot arm mechanism and a rotary joint mechanism.
  • the multi-joint arm mechanism with a linear motion expansion / contraction joint that the inventors have put to practical use has no elbow joint and no singularity, thus realizing an environment where the robot device can work in cooperation with the operator. ing.
  • surrounding the robot with a safety fence may reduce the workability of a robot that cooperates with workers. Also, in situations where the robot is moved to perform different collaborative tasks, it is necessary to re-install the safety fence each time, which not only increases downtime but also increases the work load, which is very troublesome.
  • the purpose is to provide a robot arm mechanism and a rotary joint mechanism with a simple structure and high safety and reliability.
  • the robot arm mechanism is equipped with at least one rotary joint portion in which a rotary body is rotatably supported on a rotary base.
  • a stopper rod is attached to one of the rotating base and the rotating body.
  • At least one first stopper block is attached to the other of the rotating base and the rotating body.
  • At least one second stopper block is attached to the other of the rotating base and the rotating body. The rotation of the rotating body is locked when the stopper rod comes into contact with the first and second stopper blocks.
  • the first stopper block is attached at a position corresponding to the operating range on the mechanism of the rotary joint, and the second stopper block is attached at a position corresponding to a safe movable range of the robot arm mechanism.
  • FIG. 1 is a perspective view showing an appearance of the robot arm mechanism according to the present embodiment.
  • FIG. 2 is a side view showing the internal structure of the robot arm mechanism of FIG.
  • FIG. 3 is a diagram showing the configuration of the robot arm mechanism of FIG.
  • FIG. 4 is a perspective view showing the structure of the first rotary joint part with the cover of the column part of FIG. 1 removed.
  • FIG. 5 is a plan view showing an operation range on the mechanism of the first joint portion of FIG. 1 and a safe movable range of the robot arm mechanism.
  • FIG. 6 is a plan view showing a rotation limiting mechanism of the first joint portion of FIG.
  • FIG. 7 is a plan view showing another rotation limiting mechanism of the first joint portion of FIG.
  • FIG. 1 is an external perspective view of the robot arm mechanism according to the present embodiment.
  • This robot arm mechanism is a polar coordinate type.
  • the base 1 is provided with a column 2 that forms a cylindrical body.
  • pillar part 2 accommodates the 1st joint part J1.
  • the first joint portion J1 includes a torsional rotation axis RA1.
  • the rotation axis RA1 is parallel to the vertical direction.
  • the arm portion 5 pivots horizontally by the rotation of the first joint portion J1.
  • the column part 2 includes a lower part 2-1 and an upper part 2-2.
  • the lower part 2-1 is connected to the fixed part of the first joint part J1.
  • the upper part 2-2 is connected to the rotating part of the first joint part J1.
  • the first and second connecting frame rows 51 and 52 of the third joint portion J3, which will be described later, are housed in the hollow interior of the column portion 2 that forms a cylindrical body.
  • an undulating part 4 that houses the second joint part J2 is installed on the upper part 2-2 of the column part 2.
  • the second joint portion J2 is a bending joint.
  • the rotation axis RA2 of the second joint portion J2 is horizontal.
  • the second joint portion J2 is installed on the upper portion 2-2 of the column portion 2 so that the rotation axis RA2 does not intersect the rotation axis RA1 of the first joint portion J1.
  • the arm portion 5 undulates up and down by the rotation of the second joint portion J2.
  • the third joint portion J3 is provided by a linear motion expansion / contraction mechanism.
  • the linear motion expansion / contraction mechanism has a structure newly developed by the inventors and is clearly distinguished from a so-called linear motion joint.
  • the third joint portion J3 causes the arm portion 5 to extend back and forth while maintaining linear rigidity along the central axis (moving axis RA3).
  • the wrist part 6 is attached to the tip of the arm part 5.
  • the wrist 6 is equipped with fourth to sixth joints J4 to J6.
  • the fourth to sixth joints J4 to J6 are each provided with three orthogonal rotation axes RA4 to RA6.
  • the fourth joint portion J4 is a torsional joint centered on the fourth rotation axis RA4 that substantially coincides with the third movement axis RA3.
  • the fifth joint portion J5 is a bending joint centered on the fifth rotation axis RA5 arranged perpendicular to the fourth rotation axis RA4.
  • the sixth joint portion J6 is a bending joint centered on the sixth rotation axis RA6 that is disposed perpendicular to the fourth rotation axis RA4 and the fifth rotation axis RA5.
  • the hand device is attached to an adapter provided on the movable part of the sixth joint part J6 of the wrist part 6.
  • the hand device is moved to an arbitrary position by the first, second, and third joint portions J1, J2, and J3, and is disposed in an arbitrary posture by the fourth, fifth, and sixth joint portions J4, J5, and J6.
  • the length of the extension / contraction distance of the arm portion 5 of the third joint portion J3 enables the hand device to reach a wide range of objects from the proximity position of the base 1 to the remote position.
  • the third joint portion J3 is characterized by a linear expansion / contraction operation realized by a linear motion expansion / contraction mechanism constituting the third joint portion J3 and a length of the expansion / contraction distance.
  • the column part 2 has a cylindrical shape.
  • the column part 2 is divided into a lower part 2-1 and an upper part 2-2.
  • the lower part 2-1 is covered with a cylindrical lower cover 12, and the upper part 2-2 is covered with a cylindrical upper cover 13.
  • the cover 14 of the undulating portion 4 includes four cover-shaped covers 21, 22, 23, 24.
  • the four covers 21, 22, 23, and 24 are configured in a nested structure. With the standing operation, the four covers 21, 22, 23, 24 are sequentially accommodated in the adjacent cover, and with the lowering operation, the four covers 21, 22, 23, 24 are sequentially pulled out from the adjacent cover.
  • FIG. 2 is a perspective view showing the internal structure of the robot arm mechanism of FIG.
  • the arm portion 5 of the third joint portion J3 includes a first connection top row 51 and a second connection top row 52.
  • column 51 consists of the some 1st connection top
  • the first connection piece 53 is formed in a substantially flat plate shape.
  • the second connection frame row 52 is composed of a plurality of second connection frames 54 that are connected so as to be freely bent.
  • the second connecting piece 54 has a U-shaped or U-shaped groove-like cross section. The second connection pieces 54 are connected to each other so that the bottom plates can be bent.
  • the bending of the second connecting piece row 52 is limited at a position where the end surfaces of the side plates of the second connecting piece 54 come into contact with each other. At that position, the second connected frame row 52 is linearly arranged.
  • the first first linked frame 53 in the first linked frame sequence 51 and the first second linked frame 54 in the second linked frame sequence 52 are connected by a linked frame 55.
  • the connecting piece 55 has a shape in which the second connecting piece 54 and the first connecting piece 53 are combined.
  • the injection unit 58 joins the first and second connecting piece rows 51 and 52 to form the columnar arm unit 5 and supports the arm unit 5 in the vertical and horizontal directions.
  • the injection unit 58 includes a plurality of rollers 59 supported by a rectangular tube-shaped frame 60.
  • the plurality of rollers 59 are dispersed vertically and horizontally by the frame 60 with the arm portion 5 interposed therebetween.
  • the plurality of rollers 59 that support the arm portion 5 from above are separated from the plurality of rollers 59 that support the arm portion 5 from below by a distance substantially equal to the thickness of the arm portion 5 or slightly shorter than the thickness of the arm portion 5. ing.
  • the plurality of rollers 59 that support the arm portion 5 from above are arranged along the arm central axis at an interval substantially equal to the length of the first connecting piece 53.
  • the plurality of rollers 59 that support the arm portion 5 from the lower surface are arranged along the arm central axis at an interval substantially equal to the length of the second connecting piece 54.
  • a guide roller 57 and a drive gear 56 are provided behind the injection unit 58 so as to face each other with the first connecting piece row 51 interposed therebetween.
  • the drive gear 56 is connected to a stepping motor (not shown) via a speed reducer.
  • a linear gear is formed in the center of the back surface of the first connecting piece 53 along the connecting direction.
  • the drive gear 56 When the arm portion 5 is extended, the drive gear 56 is rotated forward, and the first connecting piece row 51 is guided to the inside of the injection portion 58 by the guide roller 57 in a posture parallel to the arm central axis.
  • the second connection frame row 52 is guided to the injection unit 58 by a guide rail (not shown) arranged behind the injection unit 58.
  • the first and second connecting frame rows 51 and 52 guided to the injection unit 58 are pressed (narrow pressure) to each other by a plurality of rollers 59 arranged vertically.
  • the first connection frame row 51 is joined to the second connection frame row 52, and the first and second connection frame rows 51 and 52 constitute a columnar rod (hereinafter referred to as a columnar body or an arm portion 5).
  • the columnar body formed by joining the first and second connecting piece rows 51 and 52 is firmly held by the injection unit 58, so that the joining state of the first and second connecting piece rows 51 and 52 is maintained.
  • the bending of the first and second connection frame rows 51 and 52 is constrained to each other. Thereby, the columnar body formed by joining the first and second connecting frame rows 51 and 52 has a certain rigidity.
  • the second connecting piece 54 and the first connecting piece 53 are formed into cylindrical bodies having various cross-sectional shapes as a whole.
  • the cylindrical body is defined as a shape in which the top, bottom, left, and right sides are surrounded by a top plate, a bottom plate, and both side plates, and a front end portion and a rear end portion are opened.
  • the columnar body formed by joining the first and second connecting piece rows 51 and 52 is sent out outward from the opening of the undulating cover 14 linearly along the third movement axis RA3 with the connecting piece 55 as the starting end. .
  • the drive gear 56 rotates in the reverse direction, and the first connecting top row 51 engaged with the drive gear 56 is pulled back to the hollow portion formed by the cover 13 and the undulating cover 14.
  • the first connecting frame row 51 moves, the columnar body is pulled back from the opening of the cover 14.
  • the pulled-back columnar body is separated behind the injection portion 58.
  • the first connecting piece row 51 constituting the columnar body maintains a horizontal posture by the guide roller 57 and the drive gear 56, and the second connecting piece row 52 constituting the columnar body is pulled downward by gravity, thereby
  • the second connected top row 52 and the first connected top row 51 are separated from each other.
  • the separated first and second connecting frame rows 51 and 52 are returned to a bendable state.
  • the first and second connecting frame rows 51 and 52 that have returned to the bendable state are housed in the housing portion inside the lower cover 12 while being bent in the same direction (inner side). At this time, the first connected frame row 51 is stored in a state substantially parallel to the second connected frame row 52.
  • FIG. 3 is a diagram showing the robot arm mechanism of FIG.
  • the robot coordinate system ⁇ b is a coordinate system having an arbitrary position on the first rotation axis RA1 of the first joint portion J1 as an origin.
  • three orthogonal axes (Xb, Yb, Zb) are defined.
  • the Zb axis is an axis parallel to the first rotation axis RA1.
  • the Xb axis and the Yb axis are orthogonal to each other and orthogonal to the Zb axis.
  • the hand coordinate system ⁇ h is a coordinate system having an arbitrary position (hand reference point) of the hand device attached to the wrist 6 as an origin. For example, when the hand device is a two-finger hand, the position of the hand reference point (hereinafter simply referred to as the hand) is defined as the center position between the two fingers.
  • three orthogonal axes (Xh, Yh, Zh) are defined.
  • the Xh axis is an axis parallel to the sixth rotation axis RA6.
  • the Xh axis is given as the front / rear axis of the hand.
  • the Yh axis and the Zh axis are orthogonal to each other and orthogonal to the Xh axis.
  • the Yh axis is given as the left / right axis of the hand.
  • the hand posture is a rotation angle around each of three orthogonal axes of the hand coordinate system ⁇ h relative to the robot coordinate system ⁇ b (rotation angle (roll angle) ⁇ h around the Xh axis, rotation angle (pitch angle) ⁇ h around the Yh axis, Zh axis It is given as the surrounding rotation angle (yaw angle) ⁇ h.
  • the rotation axis RA1 of the first joint portion J1 is provided in the vertical direction.
  • the rotation axis RA2 of the second joint portion J2 is provided in the horizontal direction.
  • the second joint portion J2 is offset with respect to the first joint portion J1 with respect to the two directions of the Xb axis and the Zb axis.
  • the rotation axis RA2 of the second joint portion J2 does not intersect the rotation axis RA1 of the first joint portion J1.
  • the movement axis RA3 of the third joint portion J3 is provided in a direction perpendicular to the rotation axis RA2.
  • the third joint portion J2 is offset with respect to the second joint portion J2 with respect to the two directions of the Xb axis and the Zb axis.
  • the rotation axis RA3 of the third joint portion J3 does not intersect the rotation axis RA2 of the second joint portion J2.
  • One bending joint part of the base three axes of the plurality of joint parts J1-J6 is replaced with a linear motion extension joint part, and the second joint part J2 is offset in two directions with respect to the first joint part J1, By offsetting the third joint portion J3 in two directions with respect to the two joint portions J2, the robot arm mechanism of the robot apparatus according to the present embodiment eliminates the singularity posture structurally.
  • FIG. 4 is a perspective view showing the internal structure of the first joint portion J1 with the cover 13 of the upper part 2-2 of the support column 2 removed.
  • FIG. 5 is a plan view showing the operating range on the mechanism of the first joint portion J1 of FIG. 1 and the safe movable range of the robot arm mechanism.
  • 6 is a plan view showing a rotation limiting mechanism of the first joint portion J1 of FIG.
  • the first joint portion J1 has a rotating base 201 having a cylindrical shape or an annular shape.
  • the rotating pedestal 201 is connected to the lower part 2-1 of the column part 2. Since the lower part 2-1 of the column part 2 is connected to the base 1, the rotary base 201 is a fixed part.
  • the rotating body 202 has a cylindrical shape or an annular shape.
  • the rotating body 202 has an outer diameter slightly shorter than the inner diameter of the rotating pedestal 201 and is rotatably fitted inside the rotating pedestal 201. Typically, a bearing is interposed between the rotating base 201 and the rotating body 202.
  • a cylindrical frame 3 is connected to the upper part of the rotating body 202. In the hollow inside of the frame 3, the first and second connecting frame rows 51 and 52 which are separated and can be bent are accommodated. As the rotator 202 rotates, the frame 3 rotates with the cover 13.
  • the rotating body 202 is connected to a rotating shaft of a motor (not shown) directly or indirectly through a power transmission mechanism.
  • the upper surface of the rotating body 202 is aligned at the same height as the upper surface of the rotating pedestal 201 or is slightly higher than the upper surface of the rotating pedestal 201.
  • a stopper structure for restricting the rotation of the rotating body 202 is provided on the upper surface of the rotating body 202 and the upper surface of the rotating base 201.
  • two types of mechanical stopper structures are provided. The two types of stopper structures share some structures.
  • one stopper structure is equipped to limit the rotation of the rotating body 202 within the operating range on the mechanism of the first joint portion J1.
  • the operating range on the mechanism includes “disconnection of a large number of cables routed inside the support column 2” due to the rotation of the rotating body 202, and “first and second accommodated in the support column 2”. This is the maximum rotation range assumed in the robot design for avoiding “part breakage due to contact between parts such as the connected top row 51, 52”.
  • the other stopper structure is equipped to limit the rotation of the rotating body 202 within a safe movable range that varies depending on the surrounding environment where the robot arm mechanism according to the present embodiment is installed.
  • This safe movable range is set to an arbitrary range by the user within the operating range of the mechanism.
  • the “safe movable range” should be distinguished from the general term “movable region”, and this “movable region” is defined as a three-dimensional region swept by the movable part of the robot. From this “movable area”, an area where the arm unit 5, the wrist unit 6, and further the hand device come into contact with other structures and interference objects such as workers in the environment around the position where the robot arm mechanism is installed.
  • the rotation range permitted for the first joint portion J1 in order to exclude and secure the region (safety region) given as a result is defined herein as the “safe movable range”.
  • one stopper structure protrudes radially outward on the upper surface of the rotating body 202 and a pair of stopper blocks 204, 205 installed on the upper surface of the rotating base 201 in a state of protruding upward.
  • the stopper rod 206 is installed in a state.
  • the stopper rod 206 is attached to the position of the rotating body 202 in front of the robot.
  • the pair of stopper blocks 204 and 205 are installed on the orbit of the stopper rod 206 at both limit positions of the operating range on the mechanism.
  • the rotation of the rotating body 202 is locked at a position where the stopper rod 206 contacts the stopper blocks 204 and 205.
  • the other stopper structure has a pair of stopper blocks 207 and 208 installed on the upper surface of the rotating base 201 so as to project upward, and a stopper rod installed on the upper surface of the rotating body 202 so as to project radially outward. 206.
  • the pair of stopper blocks 207 and 208 are disposed on the orbit of the stopper rod 206 and at both limit positions in the safe movable range.
  • the stopper blocks 207 and 208 of the other stopper structure are installed on the same circumference as the stopper blocks 204 and 205 of the one stopper structure.
  • the stopper rod 206 is shared by two types of stopper structures. The rotation of the rotating body 202 is locked at a position where the stopper rod 206 contacts the stopper blocks 207 and 208.
  • the stopper blocks 207 and 208 are detachable from a block mounting portion 209 provided on the upper surface of the rotary base 201.
  • the stopper blocks 207 and 208 are typically hexagon socket bolts, and the block mounting portion 209 is provided as a screw hole.
  • a plurality of block mounting portions 209 are disposed on the upper surface of the rotary base 201 and are evenly distributed on the orbit of the stopper rod 206, for example, at intervals of 5 degrees.
  • “0 degree” is written next to the block mounting portion 209 at the front position, and similarly, “+5 degrees”, “+10 degrees”,. “5 degrees”, “ ⁇ 10 degrees”,...
  • Stopper blocks 207 and 208 are mounted on a pair of block mounting portions 209 selected from a plurality of block mounting portions 209. By selecting the pair of block mounting portions 209, it is possible to flexibly cope with a safe movable range that changes according to the installation position of the robot arm mechanism.
  • the safe movable range is limited by the mechanical stopper structure, and improvement in safety and reliability can be expected.
  • the stopper blocks 207 and 208 can be visually confirmed and their positions can be visually confirmed, an erroneous setting of the movable range for safety can be avoided.
  • the movable range for safety can be easily changed simply by changing the mounting positions of the stopper blocks 207 and 208.
  • the stopper block is installed on the rotating base and the stopper rod is installed on the rotating body.
  • the stopper rod may be installed on the rotating base and the stopper block may be installed on the rotating body.
  • the two stopper blocks 204 and 205 and the two stopper blocks 207 and 208 are provided.
  • one stopper block is provided.
  • one stopper block 207 may be used.
  • the plurality of block mounting portions for mounting the stopper block have been described as being distributed on the circular orbit of the stopper rod.
  • An arcuate slit 210 extending from the stopper block 204 to the stopper block 205 may be provided in 201 along the circular orbit of the stopper rod 206.
  • the stopper blocks 207 and 208 can be mounted at arbitrary positions of the slit 210 without being limited to the position of the block mounting portion.
  • a mechanical stopper structure for limiting the rotation of the rotating body 202 to the operating range on the mechanism of the rotary joint and a machine for limiting the rotation of the rotating body 202 to the safe movable range of the robot arm mechanism A structure has been described in which the stopper rod 206 fixed to the rotating body 202 is shared by these two types of stopper structures with the same stopper structure installed at the same position. In essence, however, the rotation of the rotating body 202 is limited to the safe movable range of the robot arm mechanism separately from the stopper structure for limiting the rotation of the rotating body 202 to the operating range of the mechanism of the rotary joint. It is to equip the stopper structure for doing. You may make it equip these two types of stopper structures in a mutually different position.
  • the first stopper rod is attached to the rotating portion of the first joint portion J1
  • the first stopper block is attached to the fixed portion at an appropriate position on the orbit of the first stopper rod.
  • the first stopper block is attached at a position corresponding to the operating range on the mechanism of the first joint portion J1.
  • a second stopper rod is attached to the rotating part of the first joint part J1.
  • the second stopper rod is attached at a position different from the first stopper rod.
  • the second stopper rod orbits a different track from the orbit of the first stopper rod.
  • a second stopper block is attached to the position of the fixed portion on the orbit of the second stopper rod.
  • the second stopper block is attached at a position corresponding to a safe movable range of the robot arm mechanism.

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

Abstract

L'invention concerne un mécanisme de bras de robot et un mécanisme d'articulation de rotation, lesquels sont de structure simple et produisent une sécurité hautement fiable. Le mécanisme de bras de robot comporte au moins une articulation de rotation qui est formée par le fait d'avoir un corps rotatif (202) soutenu en rotation sur un socle rotatif (201), une tige d'arrêt (206) étant montée l'un ou l'autre du socle rotatif (201) et du corps rotatif (202). Au moins un premier bloc d'arrêt (204) est monté sur l'autre du socle rotatif (201) et du corps rotatif (202), et au moins un second bloc d'arrêt (207) est monté sur l'autre du socle rotatif (201) et du corps rotatif (202). Quand la tige d'arrêt (206) vient en butée avec les premier et second blocs d'arrêt (204, 207), la rotation du corps rotatif (202) est bloquée. Le premier bloc d'arrêt (204) est monté dans une position qui correspond à une plage de fonctionnement mécaniquement autorisée de l'articulation de rotation, et le second bloc d'arrêt (207) est monté dans une position qui correspond à une plage de déplacement du mécanisme de bras de robot dans laquelle la sécurité est assurée.
PCT/JP2016/085080 2015-11-30 2016-11-26 Mécanisme de bras de robot et mécanisme d'articulation de rotation WO2017094632A1 (fr)

Applications Claiming Priority (2)

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JP2015-233581 2015-11-30
JP2015233581A JP2019022913A (ja) 2015-11-30 2015-11-30 ロボットアーム機構及び回転関節機構

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6025677A (ja) * 1983-06-20 1985-02-08 三菱電機株式会社 ロボツトの駆動制御装置
JPH0224089A (ja) * 1988-07-06 1990-01-26 Fanuc Ltd 産業用ロボットにおける旋回体の旋回範囲規制装置
JP2013006241A (ja) * 2011-06-24 2013-01-10 Seiko Epson Corp 水平多関節ロボット
WO2013175554A1 (fr) * 2012-05-21 2013-11-28 株式会社安川電機 Robot et système robotisé

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6025677A (ja) * 1983-06-20 1985-02-08 三菱電機株式会社 ロボツトの駆動制御装置
JPH0224089A (ja) * 1988-07-06 1990-01-26 Fanuc Ltd 産業用ロボットにおける旋回体の旋回範囲規制装置
JP2013006241A (ja) * 2011-06-24 2013-01-10 Seiko Epson Corp 水平多関節ロボット
WO2013175554A1 (fr) * 2012-05-21 2013-11-28 株式会社安川電機 Robot et système robotisé

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