WO2022269693A1 - Mécanisme de liaison, bras de robot, et robot à double bras - Google Patents

Mécanisme de liaison, bras de robot, et robot à double bras Download PDF

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Publication number
WO2022269693A1
WO2022269693A1 PCT/JP2021/023428 JP2021023428W WO2022269693A1 WO 2022269693 A1 WO2022269693 A1 WO 2022269693A1 JP 2021023428 W JP2021023428 W JP 2021023428W WO 2022269693 A1 WO2022269693 A1 WO 2022269693A1
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WIPO (PCT)
Prior art keywords
drive
link
rotation shaft
driven
rotary
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Application number
PCT/JP2021/023428
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English (en)
Japanese (ja)
Inventor
雄希 松尾
Original Assignee
東京ロボティクス株式会社
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Publication date
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Priority to PCT/JP2021/023428 priority Critical patent/WO2022269693A1/fr
Publication of WO2022269693A1 publication Critical patent/WO2022269693A1/fr

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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

Definitions

  • the present invention relates to a link mechanism, particularly a link mechanism suitable for the joint mechanism of a robot.
  • Patent Literature 1 discloses a robot that employs a serial link mechanism for each joint.
  • FIG. 13 is an explanatory diagram schematically showing the motor arrangement for a part of the right half of the humanoid robot that employs the serial link mechanism.
  • the figure shows a neck joint 200 of the robot 800, a shoulder joint 300 associated with the right arm (R), and an elbow joint 500 associated with the right arm (R).
  • the neck joint 200 includes a vertical joint J00 for rotating the head about the vertical axis and a horizontal joint J01 for rotating the head about the horizontal axis.
  • the shoulder joint 300 includes a first shoulder joint J1 that rotates the base of the arm around a horizontal axis, a second shoulder joint J2 that rotates the arm laterally to open and close the arm, and an arm around the longitudinal axis. and a third shoulder joint J3 that rotates in a twisting manner.
  • the elbow joint 500 has a joint J4 that rotates to bend the elbow.
  • FIG. 13(A) shows a state in which the robot 800 has lowered its arm. From this state, the first shoulder joint J1 should be driven in order to raise the arm straight forward and horizontally.
  • the robot 800 drives the second shoulder joint J2 to raise the arm to the side until it becomes horizontal, and then horizontally swings the arm forward.
  • a transition cannot be realized because there is no suitable joint to move the arm from the side to the front while maintaining horizontality.
  • the serial link mechanism that is, a singular point. Due to the existence of such a singular point, when a serial link mechanism is employed, various measures have been required for its control.
  • FIG. 14 shows a 3-DOF parallel link mechanism 900 as an example of the parallel link mechanism.
  • the base 901 and the output link 905 are connected via a spherical joint 906 at their centers.
  • the base 901 and the link 905 are connected via three rectilinear joints (903a-903c) having spherical joints (902a-902c, 904a-904c) at both ends. Applying such a mechanism to a joint generally makes it possible to realize a joint structure that is less likely to fall into a singularity.
  • the present invention has been made in view of the above-mentioned technical background, and its object is to provide a compact link mechanism that is less likely to fall into a singularity even if it is used for the joints of a robot or the like. .
  • the link mechanism includes: an output link having a curved surface; a first rotary drive portion that is driven to rotate about the first drive rotary shaft by a first drive means; a first link that is rotatably connected to the inner peripheral surface of the curved surface of the extended output link about a first driven rotation shaft; a second link comprising a second rotary drive portion driven to rotate about a second drive rotary shaft; and a second connecting portion extending from the second rotary drive portion; rotatably connected to the inner peripheral surface of the second driven rotary shaft around the second driven rotary shaft, and at the other end, connected to the second connecting portion so as to rotate around the third driven rotary shaft, the third and a link, wherein the first drive rotation shaft, the second drive rotation shaft, the first driven rotation shaft, the second driven rotation shaft, and the third driven rotation shaft are located on the inner peripheral surface side of the curved surface. intersect at one point in the space of .
  • the link is arranged compactly in the space on the inner peripheral surface side of the curved surface of the output link, so a compact two-degree-of-freedom link mechanism can be provided. Further, it is possible to provide a link mechanism that is unlikely to fall into singularity even when used for a joint of a robot or the like.
  • the first driving rotation axis and the second driving rotation axis may be orthogonal.
  • the first rotary drive part has a first annular part concentric with the first drive rotary shaft, the inner periphery of the first annular part is rotatably supported with respect to the base link, and the second rotary drive part is The portion may include a second annular portion concentric with the second drive axis of rotation, the inner circumference of the second annular portion being rotatably supported on the base link.
  • the output link can be moved relative to the base link.
  • the first driving means and the second driving means may be hypoid mechanisms.
  • the first rotary drive section is provided with a first ring gear that constitutes the hypoid mechanism concentrically with the first drive rotary shaft
  • the second rotary drive section is provided with a first ring gear that is concentric with the second drive rotary shaft.
  • a second ring gear that constitutes the hypoid mechanism is provided, a first pinion gear that drives the first ring gear and constitutes the hypoid mechanism, and a second pinion gear that drives the second ring gear and constitutes the hypoid mechanism.
  • the pinion gears may be arranged parallel and adjacent to each other.
  • the two pinion gears that drive the ring gear can be arranged compactly, so the space around the link mechanism can be effectively used.
  • a housing that accommodates the first pinion gear and the second pinion gear is provided, and the first A first actuator for driving the pinion gear and a second actuator for driving the second pinion gear are arranged such that their drive axes are parallel to the first pinion gear and the second pinion gear. It may be placed.
  • the actuator is arranged in the vicinity of the compactly arranged pinion gear, so the drive mechanism can be arranged compactly.
  • a first reduction gear is arranged between the first actuator and the first pinion gear and inside the housing, and a first reduction gear is arranged between the second actuator and the second pinion gear and inside the housing
  • a second speed reducer may be arranged in the .
  • the first ring gear has a left-hand twist
  • the first pinion gear has a right-hand twist
  • the second ring gear has a right-hand twist
  • the second pinion gear has a left-hand twist
  • the first pinion gear has a left-hand twist.
  • the first pinion gear meshes with the first ring gear at a position closer to the curved surface than the first drive rotation shaft
  • the second pinion gear engages the second pinion gear at a position closer to the first rotary drive unit than the second drive rotation shaft. It may be one that meshes with the ring gear.
  • the pinion gear can be arranged compactly.
  • the first driving means and the second driving means may each be an orthogonal gear mechanism.
  • the first driving means and the second driving means may each be a bevel gear.
  • the first driving means and the second driving means may each be a worm gear.
  • the angle formed by the second driven rotation shaft and the third driven rotation shaft may be an acute angle.
  • the first driving means may be a first vane hydraulic rotary actuator
  • the second driving means may be a second vane hydraulic rotary actuator
  • the link mechanism can be driven using hydraulic pressure.
  • the first vane-type hydraulic actuator is provided on the first rotary drive part concentrically with the first drive rotation axis, and the second vane-type hydraulic actuator is provided with the second rotation drive concentrically with the second drive rotation axis.
  • the first vane type hydraulic actuator provided in the drive unit is configured to have a larger diameter and thinner profile than the second vane type hydraulic actuator, and the output of the first vane type hydraulic actuator and the second vane type hydraulic actuator It may be configured to have the same torque.
  • the hydraulic rotary actuator can be compactly arranged while the output torque of the first vane type hydraulic actuator and the second vane type hydraulic actuator are the same.
  • the first driving rotation shaft and the second driving rotation shaft may be arranged so as to coincide with each other.
  • the link is arranged compactly in the space on the inner peripheral surface side of the curved surface of the output link, so it is possible to provide a compact two-degree-of-freedom parallel link mechanism.
  • a link mechanism according to the present invention seen from another angle shows an output link having a curved surface, a first rotary drive portion driven to rotate about a first drive rotary shaft by a first drive means, the first a first link extending from a rotary drive portion and connected to the inner peripheral surface of the curved surface of the output link so as to be rotatable around a first driven rotation shaft; a second link comprising a second rotary drive portion driven to rotate about a second drive rotary shaft by two drive means; and a second connecting portion extending from the second rotary drive portion; , is connected to the inner peripheral surface of the curved surface so as to be rotatable about a second driven rotation shaft, and at the other end, is connected to the second connecting portion so as to be rotatable about a third driven rotation shaft.
  • the first drive rotation shaft, the second drive rotation shaft, the third drive rotation shaft, the first driven rotation shaft, the second driven rotation shaft, and the third driven rotation shaft are arranged on the inner peripheral surface of the curved surface. It is a thing that intersects at one point in the space on the side.
  • a 3-DOF link mechanism including a 2-DOF parallel link mechanism and a 1-DOF drive rotation shaft. According to such a 3-DOF link mechanism, it is difficult to fall into a singular point, and a wider movable range can be realized than a 3-DOF parallel link mechanism or the like.
  • the present invention is a robot joint mechanism comprising: an output link having a curved surface; a first connecting portion extending from the first rotary driving portion and connected to the inner peripheral surface of the curved surface of the output link so as to be rotatable around a first driven rotation shaft;
  • a second link comprising: a link; a second rotary drive portion that is driven to rotate about a second drive rotary shaft by a second drive means; and a second connecting portion that extends from the second rotary drive portion. and, at one end, it is connected to the inner peripheral surface of the curved surface so as to be rotatable about the second driven rotation shaft, and at the other end, it rotates about the third driven rotation shaft with respect to the second connecting portion.
  • the present invention is a robot shoulder joint mechanism comprising: an output link having a curved surface; and a first connecting portion extending from the first rotary drive portion and connected to the inner peripheral surface of the curved surface of the output link so as to be rotatable about a first driven rotation shaft.
  • the present invention is a robot wrist joint mechanism comprising: an output link having a curved surface; and a first connecting portion extending from the first rotary drive portion and connected to the inner peripheral surface of the curved surface of the output link so as to be rotatable about a first driven rotation shaft.
  • the present invention is a robot arm having the shoulder joint mechanism described above on the shoulder, the wrist joint mechanism described above on the wrist, and the elbow joint mechanism with one degree of freedom on the elbow. .
  • the central axis of rotation of the elbow is arranged offset from the line connecting the intersection of the axes of the shoulder joint mechanism and the intersection of the axes of the wrist joint mechanism to the front side of the robot arm. good.
  • the present invention is a dual-arm robot equipped with a pair of left and right robot arms.
  • a dual-arm robot that is unlikely to fall into a singularity, has a compact robot arm that has a compact joint structure with a human-like movable range, and is capable of performing human-like work. provided.
  • the third driving rotary shaft may be arranged so that an elevation angle with respect to the horizontal plane forms an acute angle.
  • FIG. 1 is an overall configuration diagram showing the appearance of a dual-arm robot.
  • FIG. 2 is an explanatory diagram relating to the arrangement of the drive shafts that drive the joints.
  • FIG. 3 is an external view of the arm observed from the side.
  • FIG. 4 is an external view of the shoulder joint.
  • FIG. 5 is an external view of the shoulder joint when the shoulder cover is removed.
  • FIG. 6 is a partially exploded perspective view of the shoulder joint;
  • FIG. 7 is an explanatory diagram of a driving mode by the hypoid mechanism.
  • FIG. 8 is an explanatory diagram relating to a meshing mode between a ring gear and a pinion gear.
  • FIG. 9 is an explanatory diagram showing the arrangement of the drive mechanism for the pinion gear inside the base link.
  • FIG. 1 is an overall configuration diagram showing the appearance of a dual-arm robot.
  • FIG. 2 is an explanatory diagram relating to the arrangement of the drive shafts that drive the joints.
  • FIG. 3 is an external view of
  • FIG. 10 is an explanatory diagram regarding the arrangement of the central axis of rotation.
  • FIG. 11 is a perspective view of a shoulder joint according to a modification.
  • FIG. 12 is an explanatory diagram of a rotation drive mechanism according to a modification.
  • FIG. 13 is an explanatory diagram showing the motor arrangement of a part of the right half of the humanoid robot that employs the serial link mechanism.
  • FIG. 14 is an explanatory diagram illustrating a 3-DOF parallel link mechanism.
  • FIG. 1 is an overall configuration diagram showing the appearance of the upper body of a dual-arm robot 100 according to this embodiment.
  • the dual-arm robot 100 has a substantially rectangular parallelepiped body part 8 at its center that narrows slightly downward in the vertical direction when viewed from the front.
  • a pair of arms (101(L), 101(R)) are provided symmetrically on the upper side of the body portion 8 .
  • a head 1 equipped with a camera or the like is provided at the upper central portion of the body 8 via a neck joint 2 .
  • the lower body of the dual-arm robot 100 may be simply equipped with a base, or may be equipped with any moving means including two legs and a mobile carriage.
  • the left and right arms (101 (L), 101 (R)) include shoulder joints (3 (L), 3 (R)), elbow joints (5 (L), 5 (R)), and wrist joints (6 ( L), 6(R)).
  • the shoulder joint (3(L), 3(R)) has 3 degrees of freedom
  • the elbow joint (5(L), 5(R)) has 1 degree of freedom
  • the wrist joint (6(L) , 6(R)) have three degrees of freedom.
  • L or R indicating left or right may be appropriately omitted from the reference numerals.
  • FIG. 2 is an explanatory diagram regarding the arrangement of the drive shafts that drive the joints.
  • the cover that constitutes the body portion 8 is removed.
  • the neck joint 2 has two degrees of freedom. That is, the neck joint 2 consists of a first neck joint J00 that rotates about the vertical axis to move the head 1 to the left and right, and a second neck joint that rotates about the horizontal axis to move the head 1 up and down. It has two drive joints of J01.
  • the shoulder joint 3 has 3 degrees of freedom. That is, the shoulder joint 3 includes three drive joints, a first shoulder joint J1, a second shoulder joint J2, and a third shoulder joint J3, and their rotation center axes are perpendicular to each other at one point ( P). In the figure, detailed structures (described later) of the second shoulder joint J2 and the third shoulder joint J3 are not shown because they are covered with the shoulder cover 36 .
  • the first shoulder joint J1 extends from the center of the body 8 toward the intersection of the rotation axes of the second shoulder joint J2 and the third shoulder joint J3 of the shoulder joint 3 from the horizontal plane (H).
  • a substantially cylindrical base link 32 is rotated with respect to the body portion 8 about an axis extending at an elevation angle ⁇ . That is, by rotating the base link 32, the arm 101 rotates around the axis extending at the elevation angle ⁇ from the horizontal plane (H).
  • the base link 32 is rotationally driven by a base link drive motor 31 arranged inside the cover of the body portion 8 and directly below the base link 32 via a predetermined transmission mechanism.
  • the second shoulder joint J2 rotates the upper arm link 34, which is the output link, about an axis extending in the longitudinal direction of the arm 101 and orthogonal to the axis extending from the horizontal plane (H) at the elevation angle ⁇ . That is, the second shoulder joint J2 rotates the arm 101 in a twisting manner.
  • the third shoulder joint J3 rotates the upper arm link 34, which is the output link, about an axis extending in the radial direction of the arm 101 and perpendicular to the axis extending at the elevation angle ⁇ from the horizontal plane (H). That is, the third shoulder joint J3 opens and closes the arm 101 laterally.
  • the elevation angle ⁇ is provided with respect to the rotation center axis of the base link 32 in this way, a spatial margin is created in the upper central portion of the torso portion 8 of the dual-arm robot 100 . Therefore, for example, a joint structure related to the neck and head can be arranged near the upper center, and the shoulder width of the dual-arm robot 100 can be reduced.
  • the elbow joint 5 has one degree of freedom. That is, the first elbow joint J4 rotates the first forearm link 51 with respect to the upper arm link 34 about the radial axis of the arm 101 .
  • a drive motor for the first elbow joint J4 is appropriately arranged in the arm 101. As shown in FIG.
  • the wrist joint 6 has 3 degrees of freedom. That is, the wrist joint 6 includes three drive joints, a first wrist joint J5, a second wrist joint J6, and a third wrist joint J7, and their rotation center axes are orthogonal to each other and are at one point ( Q).
  • the first wrist joint J5 rotates the second forearm link 61 with respect to the first forearm link 51 around the longitudinal axis of the arm 101 . This causes the hand to rotate about its longitudinal axis.
  • the second wrist joint J6 rotates the hand link 62 with respect to the second forearm link 61 around an axis extending in one direction orthogonal to the longitudinal axis of the arm 101 .
  • the third wrist joint J7 rotates the hand link 62 with respect to the second forearm link 61 around an axis orthogonal to the longitudinal axis of the arm 101 and orthogonal to the rotation axis of the second wrist joint. rotate.
  • a mounting portion for mounting an end effector such as a hand or a gripper is provided at the tip of the substantially spherical hand link 62 . Therefore, the hand position can be freely arranged.
  • FIG. 3 is an external view of the arm 101 (L) corresponding to the extended left arm that is straightly lowered vertically downward and observed from the outside.
  • the arm 101 (L) includes a shoulder joint 3 (L) where the rotation center axes of the joints (J1 to J3) constituting three degrees of freedom intersect at one point (P), Elbow joint 5 (L) in which the rotation center axis of the joint (J4) that constitutes one degree of freedom extends in the direction normal to the paper surface, and the rotation center axis of each joint (J5 to J7) that constitutes three degrees of freedom is one point (Q ), the wrist joints 6(L) intersect at .
  • the rotation center axis of the first elbow joint (J4) is a straight line ( It is offset by a distance D from the front side of the robot (the left side of the paper surface) from the dashed line in the figure).
  • FIG. 4 is an enlarged external view of the shoulder joint 3 having 3 degrees of freedom.
  • 1A is a front view
  • FIG. 1B is a perspective view.
  • the base link 32 rotates with respect to the body part 8 by the first shoulder joint J1 about the axis indicated by the horizontal dashed line in the figure.
  • the entire arm 101 including the second shoulder joint J2, the third shoulder joint J3, and the upper arm link 34 rotates.
  • a second shoulder joint J2 and a third shoulder joint J3 forming a two-degree-of-freedom parallel link mechanism are arranged in the space covered by the shoulder cover 36.
  • the link 34 is operated with two degrees of freedom.
  • FIG. 5 is an external view of the shoulder joint 3 when the shoulder cover 36 is removed.
  • the space provided inside the shoulder cover 36 and on the inner peripheral surface side of the curved surface of the end of the base link 32 and the end of the upper arm link 34 contains the second shoulder joint J2. and a plurality of members constituting the third shoulder joint J3.
  • a stepped disk portion 321b horizontally arranged in the figure and a connecting portion 321a (not shown in FIG. 5) extending vertically downward from one end thereof. and an annular first hypoid ring gear 326a coupled to the bottom surface of the first link 321 are arranged.
  • the first link 321 forms a first connecting mechanism 351 on the back side (not shown) and rotates with a part of the inner peripheral surface side of the curved surface provided at one end of the upper arm link 34 . freely connected.
  • the stepped disk portion 321b and the connecting portion 321a are orthogonal to each other and have a substantially L-shaped cross section.
  • a second link 324 including an annular portion 324b arranged vertically in the figure, and an annular second link 324 coupled to a plane perpendicular to the rotation axis of the second link 324
  • a hypoid ring gear 327a is arranged.
  • a third connecting mechanism 353 is formed at one end between the second link 324 and the inner peripheral surface of the curved surface of the end of the upper arm link 34 , and the inner peripheral surface of the curved surface provided at the end of the upper arm link 34 is provided.
  • An arc-shaped third link 322 is arranged, which is rotatably connected to a part of the peripheral surface and rotatably connected to a part of the second link 324 at the other end forming a second connecting mechanism 352.
  • a pair of flat fixing members 325 are fixed to the ends of the base link 32 in parallel with each other.
  • the flat plate-like fixing member 325 is configured to rotate the first link 321 and the second link 324 by a first hypoid ring gear 326a and a second hypoid ring gear 327a via members such as cross roller bearings 328 and 330, which will be described later. support.
  • hypoid mechanisms 326 and 327 each of which is composed of an annular ring gear and a pinion gear that meshes with the annular ring gear, are employed as the rotation drive mechanism. According to such a configuration, self-lock can be avoided to a certain extent by adopting a speed reduction ratio of about 1:30, for example, and a certain degree of back drivability can be ensured. In addition, it is possible to realize stable efficiency from low temperature to high temperature including the negative temperature range, which is difficult to achieve with a strain wave gear reducer or the like.
  • the drive mechanism is not limited to such a mechanism. Accordingly, other drive mechanisms such as bevel gears, worm gears, bevel gears, etc. may be utilized.
  • an orthogonal gear mechanism such as a worm gear or a bevel gear, that transmits rotation between two perpendicularly intersecting shafts can improve the efficiency of the speed reducer while maintaining a compact design.
  • FIG. 6 is a partially exploded perspective view of the shoulder joint 3.
  • FIG. 6 As is clear from the figure, on the bottom surface of the stepped disc portion 321b of the first link 321, there is an annular first hypoid ring gear 326a that meshes with a first hypoid pinion gear 326b projecting from the base link 32. The center axis of rotation thereof is coupled so as to be concentric with the center of the stepped disk portion 321b of the first link 321 .
  • the inner peripheral side of the first hypoid ring gear 326a is supported by a cross roller bearing 330, and the inner peripheral side (inner ring) of the cross roller bearing is fixed to the opposing surfaces of a pair of flat fixing members 325. It is supported by a rotating support member 331 which is attached. That is, the first link 321 rotates relatively to the rotation support member 331 and thus to the base link 32 .
  • An annular code disk 332 constituting an absolute encoder is fixed to the top surface of the rotation support member 331, and a part of the code disk 332 is attached to the bottom surface of the stepped disk portion 321b of the first link 321.
  • a reading element substrate 333 for reading the code is arranged so as to face the . With such a configuration, the absolute rotation angle of the first link 321 can be read.
  • annular second hypoid ring gear 327a that meshes with a second hypoid pinion gear 327b projecting from the base link 32 is provided. It is connected so as to be concentric with the center of the second link 324 .
  • the inner peripheral side of the second hypoid ring gear 327a is supported by a cross roller bearing 328, and the inner peripheral side (inner ring) of the cross roller bearing is fixed to the opposing surfaces of a pair of flat fixing members 325. It is supported by a rotating support member 329 which is attached. That is, the second link 324 rotates relative to the base link 32 .
  • a ring-shaped code disk 336 constituting an absolute encoder is fixed to the ring-shaped portion 324b of the second link 324, while a flat plate-shaped fixed member 325 connected to the base link 32 has a stepped columnar portion 324b.
  • a rotary support member 329 having a shape and an annular fixing member 334 holding a reading element substrate 335 facing a code disk 336 and reading a code are fixed. That is, the second link 324, the code disk 336, and the second link 324, the code disk 336, and the second link 324 are connected to the base link 32, the rotation support member 329, the annular fixing member 334, the reading element substrate 335, and the like.
  • the hypoid ring gear 327a and the like rotate together. With such a configuration, the absolute rotation angle of the second link 324 can be read.
  • FIG. 7 is an explanatory diagram of a driving mode by the hypoid mechanisms 326 and 327.
  • FIG. 1A is a perspective view from a first angle close to a front view
  • FIG. 1B is a perspective view from a second angle looking up slightly from below.
  • the third connecting mechanism 353 connects a rod-shaped shaft portion 356 fixed so as to protrude from a portion of the inner peripheral side of the curved surface provided at the end of the upper arm link 34 to the second hole portion of the third link 322 . 322a and rotatably held via bearings (not shown).
  • the first connecting mechanism 351 includes a rod-shaped shaft portion 355 fixed so as to protrude from a portion of the inner peripheral side of the curved surface provided at the end of the upper arm link 34, and a hole provided in the connecting portion 321a. 321c and held rotatably via a bearing or the like (not shown).
  • the first to third connection mechanisms 351 to 353 may have any configuration as long as they can be rotated passively and can be rotatably connected, and are not limited to the example of this embodiment. .
  • FIG. 8 is an explanatory diagram relating to the meshing manner between the ring gears 326a, 327a and the pinion gears 326b, 327b in the hypoid mechanisms 326, 327.
  • the first hypoid ring gear 326a has a left-hand twist
  • the first hypoid pinion gear 326b has a right-hand twist
  • the second hypoid ring gear 327a has a right-hand twist
  • the second hypoid pinion gear 327b has a left-hand twist.
  • the first hypoid pinion gear 326a meshes at a position slightly below its horizontal center line (arrangement below center).
  • the second hypoid pinion gear 327b meshes at a position slightly above its horizontal center line (arrangement above center).
  • the two pinion gears 326b and 327b that drive the ring gears 326a and 327a can be arranged in parallel and close to each other in a compact manner. Space can be used effectively.
  • a motor for driving the pinion gear, a speed reducer, or the like can be arranged.
  • FIG. 9 is an explanatory diagram showing the arrangement of the driving mechanism of the pinion gears 326b and 327b inside the substantially cylindrical base link 32. As shown in FIG.
  • a first spur gear 326d is fixed near the center of the rod-shaped first hypoid pinion gear 326b, and the first spur gear 326d is the output shaft of a first motor 326c. and functions as a rotation transmission mechanism and a speed reducer. Therefore, the first hypoid pinion gear 326b is rotationally driven by the rotation of the output shaft of the first motor 326c.
  • a second spur gear 327d is fixed near the center of the second hypoid pinion gear 327b, and the second spur gear 327d is connected to the output shaft of a second motor 327c. functioning as a rotation transmission mechanism and a speed reducer. Therefore, the second hypoid pinion gear 327b is rotationally driven by the rotation of the output shaft of the second motor 327c.
  • Encoder boards 326e and 327e for detecting rotation are attached to the first motor 326c and the second motor 327c, respectively.
  • the motor also has a brake mechanism (not shown).
  • the spur gear is exemplified as the power transmission mechanism in this embodiment, other transmission mechanisms may be used. For example, pulleys or the like may be used.
  • the drive mechanism including the motor can be compactly arranged in the vicinity of the compactly arranged pinion gear.
  • the diameter of the base link 32, etc. it is possible to reduce the size of the base link 32 and thus the size of the joint structure.
  • FIG. 10 is an explanatory diagram regarding the arrangement of the two drive rotation shafts and the driven rotation shafts related to the three coupling mechanisms 351-353.
  • 1A and 1B are perspective views from different angles. In the figure, the hypoid mechanisms 326, 327 and the like for driving are omitted.
  • the two drive rotation shafts and the three passive rotation shafts are arranged in a space provided on the inner peripheral surface side of the curved surface provided at one end of the upper arm link 34. has one intersection point (P) at .
  • the link is compactly arranged in the space on the inner peripheral surface side of the curved surface of the output link, so a compact two-degree-of-freedom shoulder joint mechanism can be provided. Moreover, it is possible to provide a shoulder joint mechanism that does not produce a singular point. Furthermore, the small number of links required provides a compact and simple mechanism. In addition, compared to a three-dimensional parallel link or the like, the link length can be designed to be shorter, so the rigidity can be easily increased, and a relatively wide movable range can be achieved.
  • the central angle ⁇ formed by the driven rotation shafts extending from the second coupling mechanism 352 and the third coupling mechanism 353 is smaller than 90°. That is, the arc-shaped third link 322 extends along the curved surface with a length that allows the angle formed by the driven rotation shaft to be in an angle range smaller than 90°.
  • the wrist joints 6 include a first wrist joint J5 corresponding to the first shoulder joint J1, a second wrist joint J2 corresponding to the second shoulder joint J2, a second wrist joint J6 corresponding to the third shoulder joint J3, and a third wrist joint J6.
  • Three joints J7 are provided.
  • a mechanism corresponding to the second wrist joint J6 and the third wrist joint J7 is provided inside the hand link 62 .
  • the links are arranged compactly in the space on the inner peripheral surface side of the sphere of the hand link 62, so a compact two-degree-of-freedom wrist joint mechanism can be provided. Also, it is possible to provide a wrist joint mechanism that does not produce singular points. Furthermore, the small number of links required provides a compact and simple mechanism. In addition, compared to a three-dimensional parallel link or the like, the link length can be designed to be shorter, so the rigidity can be easily increased, and a relatively wide movable range can be achieved.
  • the two drive rotation shafts and the three driven rotation shafts have one intersection point (P ), where the axes were not coincident with each other.
  • P intersection point
  • FIG. 11 is a perspective view of a shoulder joint 7 according to a modification.
  • a substantially circular cover 725 fixed to extend from one end of the base link 72 is supported directly or indirectly on the base link 72 .
  • an annular seventh link 721 corresponding to the first link 321 and an annular eighth link 724 corresponding to the second link 324 are adjacent to each other with a common rotation center axis.
  • An arc-shaped ninth link 722 corresponding to the third link 322 is arranged along the outer circumference of the eighth link 724 .
  • the seventh link 721 is connected to the inner peripheral surface of the curved surface provided on the upper arm link 74 via a first connection mechanism 751 that is connected to be rotatably driven, and the ninth link 722 is connected to be rotatably driven. It is connected to the inner peripheral surface of the curved surface provided on the upper arm link 74 via the second connecting mechanism 752 and the third connecting mechanism 753 .
  • hypoid ring gears are coupled to the seventh link 721 and the eighth link 724 inside the cover 725 concentrically with the rotation center axis, and each hypoid ring gear is connected to the base link. Rotationally driven by a hypoid pinion gear protruding from 72 .
  • the two drive rotation shafts associated with the seventh link 721 and the eighth link 724 and the three driven rotation shafts associated with the first coupling mechanism 751, the second coupling mechanism 752 and the third coupling mechanism 753 are output links.
  • the curved surfaces of the upper arm link 74 intersect at one point on the inner peripheral surface side.
  • the driving central axes of the seventh link 721 and the eighth link 724 are aligned with each other (coaxial arrangement of the driving rotating shafts).
  • the link is compactly arranged in the space on the inner peripheral surface side of the curved surface of the output link, so a compact two-degree-of-freedom shoulder joint mechanism can be provided. Also, it is possible to provide a shoulder joint mechanism that is unlikely to fall into a singularity. Furthermore, the small number of links required provides a compact and simple mechanism. In addition, compared to a three-dimensional parallel link or the like, the link length can be designed to be shorter, so the rigidity can be easily increased, and a relatively wide movable range can be achieved.
  • hypoid mechanisms 326 and 327 are exemplified as the rotational drive mechanisms in the above-described embodiments, the present invention is not limited to such configurations. Therefore, other rotary drive mechanisms can also be employed.
  • FIG. 12 is an explanatory diagram of a rotation drive mechanism according to a modification.
  • the figure shows an example in which a hydraulic vane type (rotary) actuator is employed as the rotary drive mechanism.
  • (A) in the same figure is an example of the arrangement of hydraulic vane actuators.
  • the hydraulic vane type actuators 326' and 327' are schematically represented in a columnar shape.
  • a first hydraulic vane type actuator 326' is attached to the bottom surface of the first link 321 so as to be concentric with its central axis of rotation.
  • a second hydraulic vane-type actuator 327 ′ is attached to the center hole of the annular second link 324 .
  • the first hydraulic vane-type actuator 326' has a larger diameter and a shorter (thinner) shape in the axial direction than the second hydraulic vane-type actuator 327'.
  • the second hydraulic vane type actuator 327' has a shape that is small in diameter but long (thick) in the axial direction.
  • the first hydraulic vane-type actuator 326' can avoid interfering with the second link 324 or the second hydraulic vane-type actuator.
  • the second hydraulic vane-type actuator 327' can avoid interference with the first hydraulic vane-type actuator 326' and the like while utilizing the space near the center.
  • the product of the effective diameter of the hydraulic vane type actuator contributing to the output torque and the effective height in the axial direction is the same for both actuators.
  • Figure (B) is a principle diagram using a cross-sectional view of a hydraulic vane type actuator.
  • the chamber of the hydraulic vane type actuator has two spaces provided by the vane, and by applying pressure to one side of the space, the central shaft rotates and rotational force (rotational torque) is output. be done. That is, as is clear from this principle, the output torque depends on the effective diameter and axial effective height of the hydraulic vane actuator, and if the product of them is the same, the output torque will be the same. I understand.
  • the limited space can be effectively used to realize a compact arrangement of the actuators, and the output torque of the first vane-type hydraulic rotary actuator and the second vane-type hydraulic rotary actuator can be the same. can do.
  • the present invention can be used at least in industries that manufacture robots and the like.

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

Abstract

L'invention concerne un mécanisme de liaison comprenant : une première liaison pourvue d'une liaison de sortie ayant une surface courbée, une première partie d'entraînement en rotation qui est entraînée en rotation autour d'un premier axe de rotation d'entraînement par un premier moyen d'entraînement, et une première partie d'accouplement qui s'étend à partir de la première partie d'entraînement en rotation et qui est accouplée à la surface interne de la surface courbée de la liaison de sortie de manière à pouvoir tourner autour du premier axe de rotation entraîné ; une deuxième liaison pourvue d'une deuxième partie d'entraînement en rotation qui est entraînée en rotation autour d'un deuxième axe de rotation d'entraînement par un deuxième moyen d'entraînement, et une deuxième partie d'accouplement qui s'étend à partir de la deuxième partie d'entraînement en rotation ; et une troisième liaison qui, à une extrémité de celle-ci, est accouplée à la surface interne de la surface courbée de manière à pouvoir tourner autour d'un deuxième axe de rotation entraîné et, à l'autre extrémité, est accouplée à la deuxième partie d'accouplement de manière à pouvoir tourner autour d'un troisième axe de rotation entraîné, le premier axe de rotation d'entraînement, le deuxième axe de rotation d'entraînement, le premier axe de rotation entraîné, le deuxième axe de rotation entraîné et le troisième axe de rotation entraîné se croisant en un point dans un espace sur le côté de la surface interne de la surface courbée.
PCT/JP2021/023428 2021-06-21 2021-06-21 Mécanisme de liaison, bras de robot, et robot à double bras WO2022269693A1 (fr)

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PCT/JP2021/023428 WO2022269693A1 (fr) 2021-06-21 2021-06-21 Mécanisme de liaison, bras de robot, et robot à double bras

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PCT/JP2021/023428 WO2022269693A1 (fr) 2021-06-21 2021-06-21 Mécanisme de liaison, bras de robot, et robot à double bras

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6165790A (ja) * 1984-09-05 1986-04-04 新明和工業株式会社 ３次元手首装置
JPH11188668A (ja) * 1997-12-24 1999-07-13 Honda Motor Co Ltd 人型作業ロボットの腕体構造
JP2009524530A (ja) * 2006-01-25 2009-07-02 インテュイティブ サージカル インコーポレイテッド ５バーリンク球面機構を有するロボットアーム
JP2017193009A (ja) * 2016-04-20 2017-10-26 Ntn株式会社 作動装置および双腕型作動装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6165790A (ja) * 1984-09-05 1986-04-04 新明和工業株式会社 ３次元手首装置
JPH11188668A (ja) * 1997-12-24 1999-07-13 Honda Motor Co Ltd 人型作業ロボットの腕体構造
JP2009524530A (ja) * 2006-01-25 2009-07-02 インテュイティブ サージカル インコーポレイテッド ５バーリンク球面機構を有するロボットアーム
JP2017193009A (ja) * 2016-04-20 2017-10-26 Ntn株式会社 作動装置および双腕型作動装置

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