WO2022215172A1 - 関節装置及びロボット装置 - Google Patents
関節装置及びロボット装置 Download PDFInfo
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- WO2022215172A1 WO2022215172A1 PCT/JP2021/014648 JP2021014648W WO2022215172A1 WO 2022215172 A1 WO2022215172 A1 WO 2022215172A1 JP 2021014648 W JP2021014648 W JP 2021014648W WO 2022215172 A1 WO2022215172 A1 WO 2022215172A1
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- WIPO (PCT)
- Prior art keywords
- braking
- link
- shaft
- brake
- belt
- Prior art date
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- 230000007246 mechanism Effects 0.000 claims abstract description 72
- 230000005540 biological transmission Effects 0.000 claims abstract description 34
- 230000005856 abnormality Effects 0.000 claims description 11
- 238000001514 detection method Methods 0.000 description 23
- 230000005281 excited state Effects 0.000 description 4
- 230000005484 gravity Effects 0.000 description 4
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 229920002379 silicone rubber Polymers 0.000 description 1
- 239000004945 silicone rubber Substances 0.000 description 1
Images
Classifications
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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
- B25J19/0004—Braking devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
- B25J9/047—Revolute coordinate type the pivoting axis of the first arm being offset to the vertical axis
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- 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
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- 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
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- 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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0241—One-dimensional joints
- B25J17/025—One-dimensional joints mounted in series
-
- 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
- B25J19/021—Optical sensing devices
-
- 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
- B25J9/0024—Wrist motors at rear part of the upper arm
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40218—Check conditions before allowing unlocking of joint brake
Definitions
- the present invention relates to a joint device and a robot device.
- a mechanism is known in which power generated by a drive source such as a motor is transmitted to the joint shaft of a robot by a transmission mechanism such as a belt or gear to drive the robot.
- a transmission mechanism such as a belt or gear to drive the robot.
- torque cannot be applied to the joint shaft.
- Peripheral devices such as peripheral works and jigs may be damaged.
- co-workers may be harmed.
- Patent Document 1 discloses a configuration in which an output shaft is provided with a brake mechanism.
- a joint device includes an output shaft pivotally supported by a first link and connected to a second link, a rotational drive source installed on the first link, and outputting a rotational force of the rotational drive source.
- a first transmission mechanism that transmits to the shaft;
- a braking shaft that is installed on the first link;
- a second transmission mechanism that is separate and independent from the first transmission mechanism and transmits the rotation of the output shaft to the braking shaft; and a brake for braking the rotation of the braking shaft.
- FIG. 1 is an external view showing an example of a robot device provided with a joint device according to this embodiment.
- FIG. 2 is a front view of the internal structure of the joint device according to the present embodiment.
- 3 is a side view of the internal structure of the joint device shown in FIG. 2.
- FIG. 4 is a configuration diagram of a robot device provided with a joint device according to this embodiment.
- FIG. 5 is a front view of the internal structure of another example of the joint device according to the present embodiment.
- FIG. 6 is a front view of the internal structure of another example of the joint device according to the present embodiment.
- FIG. 7 is a diagram showing another example of the brake of the joint device according to this embodiment.
- a joint device is composed of a joint mechanism, which is a structural part, and a joint control device that controls the joint mechanism.
- the articulation mechanism can be used by itself or as a joint in a robot arm mechanism or the like.
- the joint mechanism that constitutes the joint device is applied to the joint of the robot arm mechanism, and the control device that controls the robot arm mechanism functions as a joint control device that constitutes the joint device.
- components having substantially the same functions and configurations are denoted by the same reference numerals, and redundant description will be given only when necessary.
- the robot device 1 including the joint device 20 includes a robot arm mechanism 10 and a control device 90 that controls the robot arm mechanism 10 .
- the robot arm mechanism 10 includes a base 11, a first link 13 connected to the base 11 via a joint J1, and a second link 15 connected to the first link 13 via a joint J2. , the third link 17 connected to the second link 15 via the joint J3, the fourth link 18 connected to the third link 17 via the joint J4, and the fourth link 18 as and an end effector 19 connected via a joint J5.
- the joint J1 is a rotary joint having a rotation axis parallel to the direction of gravity.
- Joint J2, joint J3, and joint J4 are rotary joints each having a rotation axis perpendicular to the direction of gravity.
- the joint J5 is a rotary joint having an axis of rotation orthogonal to the axis of rotation of the joint J4.
- the axis parallel to the rotation axis of joint J1 is the Z axis
- the axis parallel to the rotation axes of joints J2, J3, and J4 is the Y axis
- the Y and Z axes are the axes.
- the orthogonal axis is defined as the X-axis.
- the structural part of the joint device 20 is applied to the joint J2 that connects the first link 13 and the second link 15.
- the structural portion of the joint device 20 can also be applied to joints J1, J3, J4, and J5 other than joint J2.
- the joint device 20 includes an output shaft 30 pivotally supported by the first link 13 and connected to the second link 15, and an output shaft 30 provided on the first link 13 that rotates. It has a driving mechanism 40 for driving, a braking mechanism 50 provided on the first link 13 for braking the rotation of the output shaft 30, and a breakage detection sensor 70 for detecting breakage of the drive belt 49 constituting the drive mechanism 40. .
- the output shaft 30 is rotatably provided on the first link 13 via a bearing or the like so that its rotation axis RA1 is parallel to the Y-axis.
- Two pulleys 47 and 57 are connected to the end portion of the output shaft 30 inside the first link 13 .
- the pulley 47 around which the driving belt 49 is wound is called a first output pulley 47
- the pulley 57 around which the braking belt 59 is wound is called a second output pulley 57, respectively.
- the two pulleys 47, 57 may be replaced with a single pulley having two belt grooves.
- the drive mechanism 40 has a motor unit 41 .
- the motor unit 41 has a servomotor (rotation drive source) that generates power to rotate the output shaft 30 and a speed reducer that reduces the rotation of the motor.
- the motor unit 41 is provided at a position offset with respect to the output shaft 30 in the XZ plane so that the rotation axis RA2 of the drive shaft 43 is parallel to the Y axis.
- a drive pulley 45 is connected to the drive shaft 43 .
- the driving pulley 45 has one belt groove.
- An endless drive belt 49 is stretched between the drive pulley 45 and the first output pulley 47 with a constant tension.
- the drive pulley 45 , the first output pulley 47 and the drive belt 49 constitute a first transmission mechanism that transmits the rotational force of the motor unit 41 to the output shaft 30 .
- the braking mechanism 50 has a shaft (braking shaft 53) rotatably provided on the first link 13.
- the braking shaft 53 may be pivotally supported by the first link 13, or may be rotatably supported by a member such as the electromagnetic brake 51 installed on the first link 13 via a bearing or the like.
- the braking shaft 53 is provided at a position offset with respect to the output shaft 30 in the XZ plane so that its rotation axis RA3 is parallel to the Y axis.
- a braking pulley 55 is connected to one end of the braking shaft 53 .
- the braking pulley 55 has one belt groove.
- An endless braking belt 59 is stretched between the braking pulley 55 and the second output pulley 57 with a constant tension.
- An electromagnetic brake 51 is provided on the other end side of the braking shaft 53 .
- the electromagnetic brake 51 may be of a type that brakes the rotation of the braking shaft 53 when not energized and releases the braking shaft 53 when energized.
- the solenoid presses the frictional braking member against the braking shaft 53 to brake the rotation of the braking shaft 53 by friction.
- the braking pulley 55 , the second output pulley 57 and the braking belt 59 constitute a second transmission mechanism for transmitting the rotational force of the output shaft 30 to the braking shaft 53 .
- the breakage detection sensor 70 detects breakage of the drive belt 49 .
- a reflective photoelectric sensor is typically used that emits light such as visible light or infrared light from a light projecting part and detects changes in the amount of light reflected by a detection target with a light receiving part. can do.
- the break detection sensor 70 is provided at a position facing the belt surface of the drive belt 49 .
- the break detection sensor 70 outputs a detection signal indicating that an abnormality such as a break has occurred in the drive belt 49 to the control device 90 when the amount of light received by the light receiving portion is equal to or less than a threshold value.
- a control device 90 of the robot device 1 has a processor 91 .
- a storage device 93, an output device 95, a motor driver 42 of the joint device 20, a brake circuit 52 of the joint device 20, and a fracture detection sensor 70 are connected to the processor 91 via a data/control bus.
- the output device 95 is a display device such as a liquid crystal display or an organic EL display.
- the output device 95 displays, under the control of the processor 91, a notification screen notifying that an abnormality such as breakage of the drive belt 49 has occurred.
- the output device 95 may be a speaker, a lamp, or the like, as long as it can notify the operator that an abnormality has occurred in the drive belt 49 .
- the storage device 93 stores a robot control program for controlling the robot arm mechanism 10 and a brake control program for controlling the electromagnetic brake 51 .
- the processor 91 executes the robot control program, the processor 91 generates motor control command values such as position command values, speed command values and torque command values for each joint, and outputs them to the motor driver 42 .
- the motor driver 42 drives the motor according to the motor control command value from the processor 91 while referring to the output of a rotary encoder (not shown) that detects the rotation angle, rotation speed, rotation direction, etc. of the rotation shaft of the motor.
- a rotary encoder not shown
- the processor 91 By executing the brake control program, the processor 91 generates a switch command value for switching the electromagnetic brake 51 from an excited state to a non-excited state based on the output of the detection signal from the breakage detection sensor 70, and the brake circuit 52.
- the brake circuit 52 is, for example, an electric circuit configured by a transistor or the like.
- the brake circuit 52 can supply brake power to the electromagnetic brake 51 in a normal state in which the drive belt 49 is not broken, and can supply brake power to the electromagnetic brake 51 based on the output of the switch command value from the processor 91.
- the electromagnetic brake 51 When the driving belt 49 breaks, the electromagnetic brake 51 is switched from the excited state to the non-excited state, and the electromagnetic brake 51 brakes the rotation of the braking shaft 53 .
- a braking force generated on the braking shaft 53 by the electromagnetic brake 51 is transmitted to the output shaft 30 via the second transmission mechanism. That is, by braking the rotation of the braking shaft 53, the rotation of the output shaft 30 connected to the braking shaft 53 via the second transmission mechanism is braked, and the second link 15 connected to the output shaft 30 is stopped at the rotational position when the driving belt 49 is broken.
- the electromagnetic brake 51 is used only when the drive belt 49 is broken, but it can also be used for decelerating the output shaft 30 in a normal state where the drive belt 49 is not broken. By decelerating the rotation of the output shaft 30 in cooperation with the motor and the electromagnetic brake 51, the motor load associated with the deceleration can be reduced.
- the first transmission mechanism that transmits the rotational force of the motor unit 41 to the output shaft 30 and the second transmission mechanism that transmits the rotational force of the output shaft 30 to the braking shaft 53 By making the mechanism separate and independent from each other, even if the drive belt 49 breaks, the braking mechanism 50 can brake the output shaft 30 and the second link 15 connected to the output shaft 30, and the robot arm mechanism 10 safety can be improved.
- the joint device 20 transmits the rotational force of the motor unit 41 to the output shaft 30 through the first transmission mechanism, and transmits the rotational force of the output shaft 30 to the braking shaft 53 through the second transmission mechanism.
- the motor unit 41 (drive shaft 43) and the electromagnetic brake 51 (braking shaft 53) can be offset with respect to the output shaft 30, and the motor unit 41 and the electromagnetic brake 51 can be mounted freely. degree can be improved. Since the motor unit 41 and the electromagnetic brake 51 can be dispersed inside the first link 13 with respect to the output shaft 30, a configuration in which the output shaft 30 is directly braked by the electromagnetic brake 51, or a configuration in which the output shaft 30 is directly Larger joints can be suppressed compared to the drive configuration. In particular, since the electromagnetic brake 51 does not act directly on the output shaft 30, even if the output shaft 30 is a relatively large hollow shaft, there is no need to increase the size of the electromagnetic brake 51. It is possible to suppress the enlargement of the joint part.
- the motor unit 41 is located on the same side of the output shaft 30 as the electromagnetic brake 51. , is preferably located farther than the electromagnetic brake 51 .
- the motor unit 41 is longer than the electromagnetic brake 51 in the Y-axis direction.
- the electromagnetic brake 51 is positioned along the trajectory of the drive belt 49 . It is desirable to arrange them in the inner approximately oval area.
- the braking shaft 53 is arranged such that its rotational axis RA3 is on a straight line CL1 passing through the rotational axis RA1 of the output shaft 30 and the rotational axis RA2 of the drive shaft 43, and is aligned with the rotational axis RA1 of the output shaft 30. It is desirable to arrange it between the rotation axis RA2 of the drive shaft 43 and the rotation axis RA2.
- the electromagnetic brake 51 cannot be arranged inside the track of the drive belt 49, as shown in FIG. It is desirable to place it as close to 49 as possible.
- the electromagnetic brake 51 cannot be arranged inside the track of the drive belt 49, as shown in FIG. It is desirable to arrange the motor unit 41 closer to one side with respect to the center line CL2 passing through the center of the width of the 1 link 13, and arrange the electromagnetic brake 51 closer to the other side with respect to the center line CL2.
- the motor unit 41 is arranged such that its rotational axis RA2 is offset to one side (-X direction side) with respect to the center line CL2 of the first link 13, and the electromagnetic brake 51 is a braking shaft. 53 is arranged at a position offset to the other side (+X direction side) with respect to the center line CL2 of the first link 13 .
- the electromagnetic brake 51 is used to brake the rotation of the braking shaft 53, but the type of brake is not limited to the electromagnetic brake as long as it can brake the rotation of the braking shaft 53.
- the brake may be of a mechanical type that brakes the rotation of the braking shaft 53 by colliding another member against the rotating member connected to the braking shaft 53 .
- the brake has a disc 54 connected to a brake shaft 53 and an engaging arm 56.
- the disc 54 has a plurality of engaging recesses formed on its outer edge.
- the engaging arm 56 has its tip located away from the disk 54 in a normal state in which the drive belt 49 is not broken, and its tip moves toward the disk 54 when the drive belt 49 is broken. configured to move.
- a roller 58 that freely rotates in contact with the drive belt 49 is connected to the base end of the engagement arm 56 .
- the roller 58 is pivotally supported by the first link 13 .
- the end of the engaging arm 56 is biased toward the disk 54 by a spring material such as a leaf spring or an elastic resin member such as silicone rubber.
- a spring material such as a leaf spring or an elastic resin member such as silicone rubber.
- the breakage detection sensor 70 is not limited to this as long as it can detect at least the breakage of the drive belt 49 .
- a sensor for detecting an abnormality of the drive belt 49 a roller is urged toward the drive belt 49 and brought into pressure contact with the belt surface of the drive belt 49 to monitor changes in the position of the shaft of the roller, A device can be used that detects the tension in the drive belt 49 by the change in the position of the roller shaft.
- a sonic belt tension meter capable of sensing the sound wave (natural frequency) generated from the drive belt 49 and measuring the tension of the drive belt 49 is used. be able to.
- the two types of devices described above can detect not only breakage of the drive belt 49 but also abnormalities such as looseness of the drive belt 49 . If either of the two devices described above is used in place of the breakage detection sensor 70, the processor 91 controls the brake circuit so that the electromagnetic brake 51 operates when the breakage or slackness of the drive belt 49 is detected by the sensor. 52 outputs the switch command value. Since the drive belt 49 can be replaced when slackness of the drive belt 49 is detected, the risk of damage to the structural components inside the first link 13 due to the broken drive belt 49 can be reduced.
- the sensor is configured to distinguish between breakage and slackness of the drive belt 49, and when the breakage of the drive belt 49 is detected, the electromagnetic brake 51 is operated to cause the breakage of the drive belt 49. is notified to the operator through the output device 95, and when the slackness of the drive belt 49 is detected, the output device 95 is notified that the slackness of the drive belt 49 has occurred without operating the electromagnetic brake 51.
- the processing when the breakage of the driving belt 49 is detected and the processing when the slackness of the driving belt 49 is detected may be different, for example, by notifying the worker of the fact. For example, instead of replacing the driving belt 49 immediately when slackness is detected, the driving belt 49 is replaced when a series of tasks by the robot arm mechanism 10 is completed. A decrease in work efficiency due to 10 can be suppressed.
- breakage of the drive belt 49 is detected by directly monitoring the drive belt 49 with the breakage detection sensor 70.
- the rotational force of the motor is not transmitted to the output shaft 30. Therefore, the rotational speed of the driving shaft 43 calculated from the rotational speed of the motor and the reduction ratio of the speed reducer, the output shaft 30 and A difference occurs between the rotational speed of the braking shaft 53 and the rotational speed of the braking shaft 53 . Breakage of the drive belt 49 can be detected based on this difference.
- an encoder is provided on the braking shaft 53 as a position detection unit for detecting the rotational position of the braking shaft 53, and based on the output value of the encoder and the rotational speed of the motor, breakage of the drive belt 49 is detected. can be detected.
- the driving belt 49 breaks, the torque applied to the motor shaft, the driving shaft 43 and the output shaft 30 decreases. Breakage of the belt 49 can also be detected.
- a belt mechanism is employed as the first transmission mechanism for transmitting the rotational force of the motor to the output shaft 30, and a belt mechanism is employed as the second transmission mechanism for transmitting the rotational force of the output shaft 30 to the braking shaft 53.
- a gear mechanism formed by combining a plurality of gears may be employed, or a mechanism combining gears and belts may be employed. Even when the transmission mechanism is a gear mechanism, the same effects as when the transmission mechanism is configured with a belt mechanism can be obtained.
- an abnormality such as a chipping of a gear that constitutes the first transmission mechanism occurs, and the rotational force of the motor cannot be transmitted to the output shaft 30, the second link 15 is disengaged. There is a possibility that it will fall without being able to brake. Therefore, it is sufficient to make it possible to detect an abnormality in the first transmission mechanism, and to operate the electromagnetic brake 51 when an abnormality in the first transmission mechanism is detected.
- an abnormality in the first transmission mechanism can be detected by using the rotational speed of the motor and the rotational speed of the braking shaft 53 (output shaft 30) already described.
- the braking belt 59 may be monitored together with the driving belt 49 .
- the breakage of the braking belt 59 can be detected by using another breakage detection sensor that is the same as the breakage detection sensor 70 .
- the motor driver 42 stops driving the motor according to a command from the processor 91 .
- the second link 15 is braked at the position when the braking belt 59 is broken. Breakage of the braking belt 59 alone does not affect the driving of the second link 15, but if the driving belt 49 is further broken while the braking belt 59 is broken, the second link 15 is braked. I can't. Therefore, by stopping the rotation of the output shaft 30 by motor control when breakage of the braking belt 59 is detected, the safety of the robot arm mechanism 10 can be further improved.
- the driving belt 49 and the braking belt 59 are desirably designed so that the braking belt 59 has a longer life than the driving belt 49 .
- the braking belt 59 is made of a member thicker than the driving belt 49. As shown in FIG. Of course, the invention is not limited to this, and the braking belt 59 may be made of a highly rigid material. If the driving belt 49 and the braking belt 59 are replaced at the same time during maintenance, even if the driving belt 49 breaks due to factors such as aged deterioration, the life of the driving belt 49 is longer than that of the driving belt 49. There is a high possibility that the braking belt 59 is normal.
- Reference Signs List 11 Base 13 First link 15 Second link 20 Joint device 30 Output shaft 40 Drive mechanism 41 Motor unit 43 Drive shaft 45 Drive pulley 47 1st output pulley 49 drive belt 50 braking mechanism 51 electromagnetic brake 53 braking shaft 55 braking pulley 57 second output pulley 59 braking belt 70 ... break detection sensor.
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
- Braking Arrangements (AREA)
Abstract
Description
ロボット装置1の制御装置90はプロセッサ91を有する。プロセッサ91には、データ・制御バスを介して、記憶装置93、出力装置95、関節装置20のモータドライバ42、関節装置20のブレーキ回路52、及び破断検出センサ70が接続される。
Claims (9)
- ロボットの第1リンクと第2リンクとを連結する関節装置において、
前記第1リンクに軸支され、前記第2リンクに接続される出力シャフトと、
前記第1リンクに設置される回転駆動源と、
前記回転駆動源の回転力を前記出力シャフトに伝達する第1伝達機構と、
前記第1リンクに設置される制動用シャフトと、
前記第1伝達機構とは分離独立して、前記出力シャフトの回転力を前記制動用シャフトに伝達する第2伝達機構と、
前記制動用シャフトの回転を制動する制動機と、
を具備する関節装置。 - 前記第1伝達機構はベルト機構である、請求項1記載の関節装置。
- 前記第2伝達機構はベルト機構である、請求項1又は2に記載の関節装置。
- 前記第2伝達機構はギア機構である、請求項1又は2に記載の関節装置。
- 前記制動機は電磁ブレーキである、請求項1乃至4のいずれか一項に記載の関節装置。
- 前記第1伝達機構の異常を検出するセンサと、
前記センサの出力に基づいて、前記制動機を制御する制御部と、
をさらに具備する、請求項1乃至5のいずれか一項に記載の関節装置。 - 前記回転駆動源は、前記出力シャフトに対して前記制動機と同一側であって、前記制動機よりも遠い位置に配置される、請求項1乃至6のいずれか一項に記載の関節装置。
- 前記回転駆動源は前記第1リンクの中心線に対して一方側に寄せて配置され、前記制動機は前記第1リンクの中心線に対して他方側に寄せて配置される、請求項1乃至7のいずれか一項に記載の関節装置。
- 請求項1乃至請求項8のうちいずれか一項に記載の関節装置を備えるロボット装置。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2023512554A JPWO2022215172A1 (ja) | 2021-04-06 | 2021-04-06 | |
DE112021006971.3T DE112021006971T5 (de) | 2021-04-06 | 2021-04-06 | Gelenkvorrichtung und Roboteranordnung |
CN202180096308.9A CN117098637A (zh) | 2021-04-06 | 2021-04-06 | 关节装置及机器人装置 |
PCT/JP2021/014648 WO2022215172A1 (ja) | 2021-04-06 | 2021-04-06 | 関節装置及びロボット装置 |
TW110133213A TW202239556A (zh) | 2021-04-06 | 2021-09-07 | 關節裝置以及機器人裝置 |
US18/280,790 US20240149475A1 (en) | 2021-04-06 | 2022-04-06 | Joint device and robot apparatus |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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PCT/JP2021/014648 WO2022215172A1 (ja) | 2021-04-06 | 2021-04-06 | 関節装置及びロボット装置 |
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WO2022215172A1 true WO2022215172A1 (ja) | 2022-10-13 |
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PCT/JP2021/014648 WO2022215172A1 (ja) | 2021-04-06 | 2021-04-06 | 関節装置及びロボット装置 |
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US (1) | US20240149475A1 (ja) |
JP (1) | JPWO2022215172A1 (ja) |
CN (1) | CN117098637A (ja) |
DE (1) | DE112021006971T5 (ja) |
TW (1) | TW202239556A (ja) |
WO (1) | WO2022215172A1 (ja) |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05185385A (ja) * | 1992-01-10 | 1993-07-27 | Mitsubishi Heavy Ind Ltd | 多関節形マニピュレータアーム |
JP2006218563A (ja) * | 2005-02-09 | 2006-08-24 | National Univ Corp Shizuoka Univ | ロボット機構 |
JP2008055550A (ja) * | 2006-08-31 | 2008-03-13 | Fanuc Ltd | 産業用ロボット |
JP2010142895A (ja) * | 2008-12-18 | 2010-07-01 | Toyota Motor Corp | 旋回関節機構及びその制御方法 |
JP2013248685A (ja) * | 2012-05-30 | 2013-12-12 | Mayekawa Mfg Co Ltd | ロボットの関節体 |
-
2021
- 2021-04-06 DE DE112021006971.3T patent/DE112021006971T5/de active Pending
- 2021-04-06 JP JP2023512554A patent/JPWO2022215172A1/ja active Pending
- 2021-04-06 WO PCT/JP2021/014648 patent/WO2022215172A1/ja active Application Filing
- 2021-04-06 CN CN202180096308.9A patent/CN117098637A/zh active Pending
- 2021-09-07 TW TW110133213A patent/TW202239556A/zh unknown
-
2022
- 2022-04-06 US US18/280,790 patent/US20240149475A1/en active Pending
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05185385A (ja) * | 1992-01-10 | 1993-07-27 | Mitsubishi Heavy Ind Ltd | 多関節形マニピュレータアーム |
JP2006218563A (ja) * | 2005-02-09 | 2006-08-24 | National Univ Corp Shizuoka Univ | ロボット機構 |
JP2008055550A (ja) * | 2006-08-31 | 2008-03-13 | Fanuc Ltd | 産業用ロボット |
JP2010142895A (ja) * | 2008-12-18 | 2010-07-01 | Toyota Motor Corp | 旋回関節機構及びその制御方法 |
JP2013248685A (ja) * | 2012-05-30 | 2013-12-12 | Mayekawa Mfg Co Ltd | ロボットの関節体 |
Also Published As
Publication number | Publication date |
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TW202239556A (zh) | 2022-10-16 |
US20240149475A1 (en) | 2024-05-09 |
CN117098637A (zh) | 2023-11-21 |
DE112021006971T5 (de) | 2023-11-16 |
JPWO2022215172A1 (ja) | 2022-10-13 |
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