WO2022097928A1 - Appareil bras robotisé - Google Patents

Appareil bras robotisé Download PDF

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Publication number
WO2022097928A1
WO2022097928A1 PCT/KR2021/013487 KR2021013487W WO2022097928A1 WO 2022097928 A1 WO2022097928 A1 WO 2022097928A1 KR 2021013487 W KR2021013487 W KR 2021013487W WO 2022097928 A1 WO2022097928 A1 WO 2022097928A1
Authority
WO
WIPO (PCT)
Prior art keywords
tubes
tube
grip
robot arm
pressure
Prior art date
Application number
PCT/KR2021/013487
Other languages
English (en)
Korean (ko)
Inventor
손형민
사디사지드
김의식
김형진
Original Assignee
삼성전자주식회사
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 삼성전자주식회사 filed Critical 삼성전자주식회사
Publication of WO2022097928A1 publication Critical patent/WO2022097928A1/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
    • B25J18/00—Arms
    • B25J18/06—Arms flexible
    • 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
    • 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
    • B25J15/0023—Gripper surfaces directly activated by a fluid
    • 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
    • B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor

Definitions

  • the present disclosure relates to a robot arm device, and more particularly, to a robot arm device having a high degree of freedom and increased work stability by a plurality of flexible tubes.
  • the conventional robot is implemented to be heavy and rigid, and the rigid body of the robot is driven by an electric motor having a high torque specification. Accordingly, if the robot does not properly recognize the user, the robot may collide with the user.
  • the conventional robot has a multi-joint structure and is designed with a hard material, so when grabbing an object that can be broken or easily broken, such as an egg or glass cup, the target object is often damaged.
  • an object that can be broken or easily broken such as an egg or glass cup
  • the target object is often damaged.
  • the present disclosure is in accordance with the above-described necessity, and an object of the present disclosure is to provide a robot arm device having a high degree of freedom and increased work stability by a plurality of flexible tubes.
  • the robot arm device for achieving the above object has one end closed and formed of a soft material, the volume is changed by the pressure of the internal space, and is connected along the longitudinal direction to be integrated with each other.
  • a plurality of tubes formed, a grip device disposed at the one end of the plurality of tubes to grip an object, and a pump device for regulating the pressure of each of the inner spaces of the plurality of tubes, wherein the plurality of tubes include the plurality of tubes. can be bent according to the volume change of each tube.
  • the pump device may include an air pump, an inlet pipe connecting the air pump and the plurality of tubes, and a discharge pipe connecting the plurality of tubes and the outside of the pump device.
  • the pump device may further include a plurality of first valves selectively communicating the inlet pipe and the plurality of tubes, respectively, and a plurality of second valves selectively communicating the discharge pipe and the plurality of tubes, respectively .
  • the plurality of first valves may be check valves that are closed when the pressure of the inlet pipe is smaller than the respective pressures of the plurality of tubes.
  • the pump device further includes a plurality of pressure sensors for respectively sensing pressures in the internal spaces of the plurality of tubes, and the robot arm device is configured to detect pressures in the internal spaces of the plurality of tubes based on the pressures sensed by the plurality of pressure sensors.
  • a processor for controlling at least one of the plurality of first valves and the plurality of second valves to have a preset pressure may be further included.
  • the plurality of tubes may include a first tube, a second tube, and a third tube.
  • the method may further include an adhesive member for bonding the plurality of tubes to each other, wherein the adhesive member may be disposed in a space between the plurality of tubes.
  • the plurality of tubes may be disposed to circumscribe each other.
  • the grip device may include an intermediate plate connected to one end of the plurality of tubes.
  • the grip device includes a fixing member coupled to the intermediate plate, a grip tube supported by the fixing member, and an auxiliary tube connecting the pump device and an inner space of the grip tube, wherein the grip tube is made of a flexible material. It may have a volume that is variable by the pressure of the internal space.
  • the intermediate plate may include a magnetic member.
  • the grip tube may be disposed on a side surface of the fixing member.
  • the fixing member may include a groove introduced toward the intermediate plate at one end.
  • the grip tube may be received in the groove.
  • the grip tube may have a ring shape.
  • the intermediate plate may include a through hole passing through it in a thickness direction, and the auxiliary tube may be disposed along a space between the plurality of tubes and may pass through the through hole.
  • FIG. 1 is a perspective view of a robot arm device according to an embodiment of the present disclosure.
  • FIG. 2 is a perspective view illustrating a state in which a plurality of tubes are bent.
  • FIG. 3 is a cross-sectional view taken along line A-A of FIG. 1 .
  • FIG. 4 is a diagram schematically showing the structure of a pump device.
  • FIG. 5 is a functional block diagram of a robot arm device according to an embodiment of the present disclosure.
  • FIG. 6 is a perspective view illustrating a state in which a plurality of tubes are bent in various directions.
  • FIG. 7 and 8 are views illustrating a gripping device according to an embodiment of the present disclosure.
  • FIG 9 and 10 are views illustrating a gripping device according to another embodiment of the present disclosure.
  • expressions such as “have,” “may have,” “include,” or “may include” indicate the presence of a corresponding characteristic (eg, a numerical value, function, operation, or component such as a part). and does not exclude the presence of additional features.
  • the present specification describes components necessary for the description of each embodiment of the present disclosure, the present disclosure is not necessarily limited thereto. Accordingly, some components may be changed or omitted, and other components may be added. In addition, they may be distributed and arranged in different independent devices.
  • FIG. 1 is a perspective view of a robot arm device according to an embodiment of the present disclosure.
  • 2 is a perspective view illustrating a state in which a plurality of tubes are bent.
  • FIG. 3 is a cross-sectional view taken along line A-A of FIG. 1 .
  • the robot arm device 1 includes a plurality of tubes 100 , a grip device 200 , a pump device 300 , and an adhesive member 400 . can do.
  • the plurality of tubes 100 have one end 101 closed and formed of a soft material, so that the volume can be changed by the pressure of the internal space.
  • the plurality of tubes 100 may be formed of silicon, but the material is not limited thereto, and a flexible material with elasticity is sufficient.
  • the plurality of tubes 100 may have an inner space formed along the longitudinal direction. Since one end 101 of the plurality of tubes 100 is closed, the volume of the plurality of tubes 100 may be varied by the pressure of the internal space.
  • the other end of the plurality of tubes 100 opposite to one end 101 may be fixed to the pump device 300 .
  • the plurality of tubes 100 may extend based on a point fixed to the pump device 300 or may be freely bent in a specific direction.
  • the plurality of tubes 100 may be integrally formed by being connected to each other along the longitudinal direction. Accordingly, the plurality of tubes 100 may not have an independent shape, but may have the same shape. The plurality of tubes 100 may be arranged to circumscribe each other.
  • the plurality of tubes 100 may be bent into various shapes according to a volume change of each of the plurality of tubes 100 .
  • the plurality of tubes 100 may include a first tube 110 , a second tube 120 , and a third tube 130 .
  • the third tube 130 has a larger volume than the first and second tubes 110 and 120 , the first and second tubes 110 and 120 are formed by the third tube 130 . ), so that the plurality of tubes 100 integrally formed may be integrally bent in a direction away from the third tube 130 .
  • the grip device 200 may be disposed on one end 101 of the plurality of tubes 100 to grip an object.
  • the structure of the grip device 200 will be described in detail with reference to FIGS. 7 to 10 .
  • the gripping device 200 has been shown to have a shape of tongs, the present invention is not limited thereto, and any structure capable of gripping various objects is sufficient.
  • the gripping device 200 may grip the suction unit of the robot cleaner.
  • the pump device 300 may adjust the pressure of each of the inner spaces of the plurality of tubes 100 . Specifically, the pump device 300 may adjust the pressure of each of the inner spaces of the plurality of tubes 100 by introducing or discharging air into the inner space of the plurality of tubes 100 .
  • the structure of the pump device 300 will be described in detail with reference to FIG. 4 .
  • the adhesive member 400 may adhere the plurality of tubes 100 to each other.
  • the adhesive member 400 may be disposed in a space between the plurality of tubes.
  • the adhesive member 400 may be disposed along the longitudinal direction of the plurality of tubes 100 .
  • the adhesive member 400 may contain at least one of a silicone compound having adhesive properties, an epoxy resin, and a phenoxy resin, but the material is not limited thereto.
  • the adhesive member 400 may have a greater hardness than the plurality of tubes 100 .
  • FIG. 4 is a diagram schematically showing the structure of a pump device.
  • 5 is a functional block diagram of a robot arm device according to an embodiment of the present disclosure.
  • the pump device 300 includes an air pump 310 , an inlet pipe 320 , a discharge pipe 330 , a plurality of first valves 340 , and a plurality of second valves 350 . and a plurality of pressure sensors 360 .
  • the robot arm device 1 may include a processor 500 .
  • the air pump 310 may suck air in the atmosphere and compress it.
  • the air compressed by the air pump 310 may move into the inner space of the plurality of tubes 100 through the inlet pipe 320 .
  • the inlet pipe 320 may connect the air pump 310 and the plurality of tubes 100 . Accordingly, the air discharged from the air pump 310 moves to the plurality of tubes 100 through the inlet pipe 320 , and the pressure in the inner space of the plurality of tubes 100 may increase.
  • the discharge pipe 330 may connect the plurality of tubes 100 to the outside of the pump device 300 . Accordingly, the air in the inner space of the plurality of tubes 100 may move to the outside of the pump device 300 through the discharge pipe 330 , and the pressure in the inner space of the plurality of tubes 100 may decrease.
  • the plurality of tubes 100 may be connected to the inlet pipe 320 and the discharge pipe 330 by branching the other end connected to the pump device 300 into two, respectively.
  • the plurality of first valves 340 may selectively communicate the inlet pipe 320 and the plurality of tubes 100, respectively.
  • the air discharged from the air pump 310 is the plurality of tubes 100 through the inlet tube 320 . can be moved to
  • the plurality of first valves 340 may be solenoid valves operated by electrical signals. However, the present invention is not limited thereto, and the plurality of first valves 340 may be check valves that are closed when the pressure of the inlet pipe 320 is less than the respective pressures of the plurality of tubes 100 .
  • the processor 500 may not control the first valve 340 .
  • the plurality of first valves 340 may be implemented as one of a swing check valve, a wafer check valve, a disk check valve, a ball check valve, a lift check valve, and a Smorensky check valve.
  • the plurality of second valves 350 may selectively communicate the discharge pipe 330 and the plurality of tubes 100, respectively.
  • the plurality of second valves 350 are opened to communicate the discharge pipe 330 and the plurality of tubes 100 , the air in the inner space of the plurality of tubes 100 is supplied to the pump device 300 through the discharge pipe 330 . ) can be moved out of
  • the plurality of second valves 350 may be implemented as solenoid valves.
  • the plurality of pressure sensors 360 may respectively detect pressures in the inner space of the plurality of tubes 100 .
  • the pressure of the inner space of the first tube 110 may be determined by the operations of the first valve 340c , the second valve 350c , and the pressure sensor 360c corresponding to the first tube 110 .
  • the pressure of the inner space of the second tube 120 may be determined by the operations of the first valve 340b , the second valve 350b , and the pressure sensor 360b corresponding to the second tube 120 .
  • the pressure of the internal space of the third tube 130 may be determined by the operations of the first valve 340a , the second valve 350a , and the pressure sensor 360a corresponding to the third tube 130 .
  • the processor 500 based on the pressure sensed by the plurality of pressure sensors 360, a plurality of first valves 340 and a plurality of second valves so that the inner space of the plurality of tubes 100 has a preset pressure At least one of 350 may be controlled.
  • the processor 500 may include one or more of a central processing unit (CPU), an application processor (AP), and a communication processor (CP).
  • the processor may be a microcontroller (MCU).
  • the processor 500 may control hardware or software components connected to the processor 500 by driving an operating system or an application program, and may perform various data processing and operations. Also, the processor 500 may load and process commands or data received from at least one of the other components into the volatile memory, and store various data in the non-volatile memory.
  • the processor 500 may control the air pump 310 so that compressed air is first provided.
  • the processor 500 may control the first valves 340 to be all open and the second valves 350 to close all of them. Accordingly, in the plurality of tubes 100 , the compressed air of the air pump 310 may be introduced into the inner space through the inlet pipe 320 to expand.
  • the processor 500 may receive the pressure values measured by the plurality of pressure sensors 360 and determine whether the pressure values are the same as the preset pressure values. When the processor 500 determines that the measured pressure values of the plurality of pressure sensors 360 are the same as the preset pressure values, the processor 500 controls to close both the first and second valves 340 and 350, and accordingly, The tube 100 may continue to maintain a particular shape.
  • the processor 500 controls the first and second valves 340a and 350a corresponding to the third tube 130 to be closed last, so that the third tube 130 is the first and second tubes. It may have a higher pressure compared to 110 and 120, and the plurality of tubes 100 may have a shape as shown in FIG. 2 .
  • the processor 500 controls the opening and closing of the first and second valves 340 and 350 based on the pressure values measured by the plurality of pressure sensors 360 , so that the plurality of tubes 100 are air inflow or air As the flow rate is adjusted, it may have a different shape.
  • FIG. 6 is a perspective view illustrating a state in which a plurality of tubes are bent in various directions.
  • the plurality of tubes 100 may be extended or bent in various directions while one point is fixed to the pump device 300 .
  • the plurality of tubes 100 may extend along the center line CL.
  • the first tube 110 When the first tube 110 has a larger volume than the second and third tubes 120 and 130 , the first tube 110 may press the second and third tubes 120 and 130 in the D1 direction. can Accordingly, the plurality of tubes 100 may be bent so that the center line is changed from CL to CL1.
  • the second tube 120 when the second tube 120 has a larger volume than the first and third tubes 110 and 130 , the second tube 120 moves the first and third tubes 110 and 130 in the D2 direction. can be pressurized. Accordingly, the plurality of tubes 100 may be bent so that the center line is changed from CL to CL2.
  • the third tube 130 when the third tube 130 has a larger volume than the first and second tubes 110 and 120 , the third tube 130 moves the first and second tubes 110 and 120 in the D1 direction. can be pressurized. Accordingly, the plurality of tubes 100 may be bent so that the center line is changed from CL to CL3.
  • the plurality of tubes 100 may have three degrees of freedom for rotational motion and one degree of freedom for translational motion. Accordingly, the plurality of tubes 100 may be stretched or bent in various shapes so that one end may be easily located in various positions.
  • the robot arm device 1 since the robot arm device 1 according to an embodiment of the present disclosure is implemented by the plurality of tubes 100 formed of a soft material, the user can safely use the robot arm device 1 .
  • the robot arm device 1 since the robot arm device 1 is implemented with a plurality of tubes 100 and the pump device 300 without using a complex structure and a high-spec motor, it can be manufactured with a low manufacturing cost and a simple structure.
  • FIG. 7 and 8 are views illustrating a gripping device according to an embodiment of the present disclosure.
  • the grip device 200 may include an intermediate plate 210 , a fixing member 220 , a grip tube 230 , and an auxiliary tube 240 .
  • the intermediate plate 210 may be connected to one end 101 of the plurality of tubes 100 .
  • the intermediate plate 210 may be formed of plastic or metal, and may have rigidity above a certain level. Structures of various shapes may be coupled to one end of the intermediate plate 210 .
  • the intermediate plate 210 may include a magnetic member (not shown). Also, the fixing member 220 may include a magnetic material or may be formed of a metal to have magnetism. Accordingly, the intermediate plate 210 and the fixing member 220 may be coupled to each other by magnetic force.
  • the fixing member 220 may be coupled to the intermediate plate 210 .
  • the fixing member 220 may be elongated in a direction away from the intermediate plate 210 .
  • the grip tube 230 may be supported by the fixing member 220 .
  • the grip tube 230 may be formed of a soft material and have a volume that varies according to the pressure of the internal space.
  • the auxiliary tube 240 may connect the pump device 300 and the inner space of the grip tube 230 .
  • the intermediate plate 210 includes a through hole 211 penetrating in the thickness direction, and the auxiliary tube 240 is disposed along the space between the plurality of tubes 100 and may pass through the through hole 211 . . Accordingly, since the auxiliary tube 240 is invisible from the outside, the robot arm device 1 can implement a neat appearance.
  • the grip tube 230 may be disposed on a side surface of the fixing member 220 .
  • the grip tube 230 disposed on the side surface of the fixing member 220 may expand. Accordingly, since the grip tube 230 strongly comes into contact with the inner surface of the cup C, the grip device 200 can grip the cup C. Conversely, when the grip tube 230 is contracted, the grip tube 230 is no longer in contact with the inner surface of the cup C, so that the grip device 200 may drop the cup C.
  • the grip device having the grip tube 230 whose volume changes on the outside of the fixing member 220 can easily grip or drop an object having an empty space such as the cup C.
  • the grip tube 230 is shown to be formed in plurality while being spaced apart from each other, but the shape and number of the grip tube 230 are not limited thereto, and as shown in FIGS. 9 and 10 , the ring (ring) may have a shape.
  • FIGS. 7 and 8 are views illustrating a gripping device according to another embodiment of the present disclosure.
  • the grip device 200 has substantially the same structure as those illustrated in FIGS. 7 and 8 , but the position of the grip tube 230 may be different.
  • the fixing member 220 includes a groove that is drawn toward the intermediate plate 210 at one end, and the grip tube 230 may be accommodated in the groove.
  • the grip tube 230 may have a ring shape.
  • the grip tube 230 is illustrated as being formed of three, the number is not limited thereto and may be implemented with only one at the lowermost side.
  • the grip device 200 may stably support and grip the egg E. Conversely, when the grip tube 230 contracts, the grip tube 230 no longer comes into contact with the inner surface of the egg E, so that the grip device 200 may drop the egg E.
  • the grip device having the grip tube 230 whose volume changes inside the fixing member 220 can easily grip or drop a fragile object such as an egg (E).
  • the grip device 200 having the structure described in FIGS. 7 to 10 has a simple structure by additionally connecting the pump device 300 to the grip tube 230 without a separate electric motor or link structure. can be driven

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Manipulator (AREA)

Abstract

Un appareil bras robotisé est divulgué. L'appareil bras robotisé comprend : une pluralité de tubes, chacun étant fermé sur son extrémité, sont fabriqués en un matériau souple et présentent un volume variable par une pression dans leur espace interne et qui sont raccordés et intégrés les uns aux autres dans la direction longitudinale ; un dispositif de préhension qui est disposé sur une extrémité de la pluralité de tubes et qui saisit un objet ; et un dispositif pompe qui commande une pression dans chaque espace interne de la pluralité de tubes, la pluralité de tubes étant courbés en fonction de changements du volume de chaque tube de la pluralité de tubes.
PCT/KR2021/013487 2020-11-03 2021-10-01 Appareil bras robotisé WO2022097928A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2020-0145289 2020-11-03
KR1020200145289A KR20220059741A (ko) 2020-11-03 2020-11-03 로봇 암 장치

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WO2022097928A1 true WO2022097928A1 (fr) 2022-05-12

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KR (1) KR20220059741A (fr)
WO (1) WO2022097928A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20230173277A (ko) * 2022-06-16 2023-12-27 삼성전자주식회사 로봇 및 그 제어 방법

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3003702B2 (ja) * 1987-11-13 2000-01-31 株式会社東芝 アクチュエータ
JP2008161979A (ja) * 2006-12-28 2008-07-17 Bridgestone Corp つかみ装置
JP5387957B2 (ja) * 2009-04-22 2014-01-15 株式会社Ｉｈｉ 把持装置
US20180056526A1 (en) * 2012-10-26 2018-03-01 Other Lab, Llc Robotic actuator
JP2020168695A (ja) * 2019-04-04 2020-10-15 株式会社ダイフク 物品把持装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3003702B2 (ja) * 1987-11-13 2000-01-31 株式会社東芝 アクチュエータ
JP2008161979A (ja) * 2006-12-28 2008-07-17 Bridgestone Corp つかみ装置
JP5387957B2 (ja) * 2009-04-22 2014-01-15 株式会社Ｉｈｉ 把持装置
US20180056526A1 (en) * 2012-10-26 2018-03-01 Other Lab, Llc Robotic actuator
JP2020168695A (ja) * 2019-04-04 2020-10-15 株式会社ダイフク 物品把持装置

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