WO2022270177A1 - 電気液圧式ロボット - Google Patents
電気液圧式ロボット Download PDFInfo
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- WO2022270177A1 WO2022270177A1 PCT/JP2022/020228 JP2022020228W WO2022270177A1 WO 2022270177 A1 WO2022270177 A1 WO 2022270177A1 JP 2022020228 W JP2022020228 W JP 2022020228W WO 2022270177 A1 WO2022270177 A1 WO 2022270177A1
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- Prior art keywords
- hydraulic
- control device
- hydraulic pump
- robot
- manipulator
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- 239000012530 fluid Substances 0.000 claims abstract description 29
- 230000033001 locomotion Effects 0.000 claims abstract description 29
- 239000012636 effector Substances 0.000 claims description 49
- 238000006073 displacement reaction Methods 0.000 claims description 44
- 239000007788 liquid Substances 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 description 7
- 239000003638 chemical reducing agent Substances 0.000 description 5
- 238000010276 construction Methods 0.000 description 5
- 230000009467 reduction Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 230000003247 decreasing effect Effects 0.000 description 3
- 230000002542 deteriorative effect Effects 0.000 description 3
- 230000008602 contraction Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000036544 posture Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000037430 deletion Effects 0.000 description 1
- 238000012217 deletion Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Classifications
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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
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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
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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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
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
Definitions
- the present invention relates to an electrohydraulic robot with multiple manipulator joints.
- Articulated robots are being put into practical use at various work sites. Articulated robots include industrial robots, construction machinery, and the like. As an industrial robot, for example, a robot disclosed in Patent Literature 1 is known.
- the robot of Patent Document 1 includes a manipulator having a plurality of joints and an electric motor that drives each of the joints. Then, the robot moves the end effector at the tip of the manipulator by moving the joint with the electric motor. Thereby, the robot handles the workpiece with the end effector.
- the motor size ie, power
- the electric motor is provided with a speed reducer.
- the speed reduction ratio of the speed reducer is set high, the joint is moved with emphasis on torque.
- the speed reduction ratio of the speed reducer is set low, the joints are moved with emphasis on speed. Therefore, the speed reduction ratio is set according to the demand, which is torque-oriented or speed-oriented.
- the speed reduction ratio is set high, the speed may decrease when moving the joint, and if the speed reduction ratio is set low, the torque may be insufficient when moving the joint.
- the torque and speed required for each joint differ depending on the posture of the manipulator.
- an object of the present invention is to provide an electro-hydraulic robot capable of performing a desired motion at each joint when moving a plurality of joints.
- An electro-hydraulic robot of the present invention comprises a manipulator having a plurality of joints, a plurality of driving devices provided in association with each of the plurality of joints to move the corresponding joints, and a driving device for each of the plurality of driving devices.
- a control device for controlling movement wherein the drive device includes a hydraulic actuator that moves the corresponding joint, a variable displacement hydraulic pump that supplies hydraulic fluid to the hydraulic actuator, and the hydraulic pump. and a driving electric motor, and the control device controls the operation of the electric motor and the discharge capacity of the hydraulic pump in each of the plurality of driving devices.
- the control device drives the electric motor to discharge the hydraulic fluid from the hydraulic pump. Further, the control device controls the discharge pressure and the discharge flow rate by adjusting the discharge capacity of the hydraulic pump. This allows the control device to adjust the driving force (thrust or torque) and speed of the hydraulic actuator. That is, the control device can move each joint with emphasis on driving force or speed by adjusting the discharge capacity of the hydraulic pump. Therefore, when moving a plurality of joints, each joint can be made to perform a desired motion.
- each joint when moving a plurality of joints, each joint can be made to perform a desired action.
- FIG. 1 is a schematic diagram of an electrohydraulic robot according to an embodiment of the invention
- FIG. 2 is a circuit diagram showing a hydraulic circuit provided in the electrohydraulic robot of FIG. 1
- FIG. FIG. 2 is a diagram showing the relationship between the velocity and torque of hydraulic cylinders in the electrohydraulic robot of FIG. 1
- 2 is a diagram showing a state in which the electro-hydraulic robot of FIG. 1 operates based on a motion plan
- robot An electrohydraulic robot 1 (hereinafter simply referred to as "robot") according to an embodiment of the present invention will be described below with reference to the aforementioned drawings. It should be noted that the concept of direction used in the following description is used for convenience of explanation, and does not limit the orientation of the configuration of the invention to that direction. Also, the robot 1 described below is merely an embodiment of the present invention. Therefore, the present invention is not limited to the embodiments, and additions, deletions, and modifications can be made without departing from the spirit of the invention.
- the robot 1 shown in FIG. 1 is a robot that can be driven using electricity and hydraulic fluids (oil, water, or other liquids).
- the robot 1 is arranged at a work site such as a production line in a factory, for example.
- the robot 1 can perform various operations such as transportation, assembly, and painting.
- the robot 1 is an articulated robot.
- the robot 1 is, for example, an industrial robot, a construction machine such as an excavator and a crane, a tunnel excavator, a cargo handling vehicle, a service robot, a humanoid, or the like.
- the robot 1 is a vertically articulated industrial robot.
- the robot 1 includes a manipulator 11, a plurality of driving devices 12-15, a plurality of angular displacement sensors 16A-16D, an operating device 17, and a control device .
- the manipulator 11 has a plurality of joints JT0-JT4. In this embodiment, the manipulator 11 has five joints JT0-JT4. However, the number of joints JT0 to JT4 of the manipulator 11 is not limited to four, and may be three, four, or six or more. Also, the shape of the manipulator 11 is not limited to that described below. More specifically, the manipulator 11 has a revolving body 21 , a first arm 22 , a second arm 23 , a third arm 24 and an end effector 25 . Each arrangement 21-25 is connected to each other so as to be angularly displaceable. In the manipulator 11, portions where the components 21 to 25 are connected to each other constitute joints JT0 to JT4. The manipulator 11 can take various postures by moving a plurality of joints JT0-JT4. The manipulator 11 can perform various operations by operating the end effector 25 . Each configuration 21 to 25 will be described in detail below.
- the revolving body 21 is fixed to the floor or the like via the base 20 .
- the revolving body 21 is provided on the base 20 so as to be revolvable about a predetermined axis L0.
- the revolving body 21 constitutes a joint JT0 at a connection portion with the base 30 .
- the shape of the base 20 is not limited as described above.
- the revolving body 21 may be provided in a travel device that travels on the floor, the ground, or the like.
- the revolving body 21 is revolved by a driving device (not shown) such as an electric motor or a hydraulic motor. Thereby, the orientation of the revolving body 21 (more specifically, the orientation of the manipulator 11) can be changed.
- the first arm 22 is rotatably connected to the revolving body 21 . More specifically, one end of the first arm 22 is rotatably connected to the front portion of the revolving body 21 .
- the first arm 22 constitutes a first joint JT1 at a connection portion with the revolving body 21 . More specifically, the first arm 22 extends obliquely upward and forward from the revolving body 21, for example.
- the first arm 22 can swing vertically with respect to the revolving body 21 at the first joint JT1.
- the second arm 23 is rotatably connected to the first arm 22 . More specifically, one end of the second arm 23 is rotatably connected to the other end of the first arm 22 .
- the second arm 23 forms a second joint JT2 at the joint with the first arm 22 . More specifically, the second arm 23 extends diagonally downward and forward from the other end of the first arm 22, for example.
- the second arm 23 can swing back and forth with respect to the first arm 22 at the second joint JT2.
- the third arm 24 is rotatably connected to the second arm 23 . More specifically, one end of the third arm 24 is rotatably connected to the other end of the second arm 23 .
- the third arm 24 forms a third joint JT3 at the joint with the second arm 23 . More specifically, the third arm 24 extends downward from the other end of the second arm 23, for example.
- the third arm 24 can swing back and forth with respect to the second arm 23 at the third joint JT3.
- the end effector 25 is rotatably connected to the third arm 24 . More specifically, the end effector 25 is connected to the other end of the third arm 24 so as to be rotatable about an axis orthogonal to the other end surface of the third arm 24 .
- the end effector 25 constitutes a fourth joint JT4 at the joint with the third arm 24 . Then, the end effector 25 can rotate about the above-described axis with respect to the third arm 24 at the fourth joint JT4.
- the end effector 25 arranged in this manner is a device for performing various operations on the work 2 (see work 2 in FIG. 4, which will be described later).
- the end effector 25 is a hand that grips the work 2, a suction device that sucks and lifts the work 2, a screwdriver that tightens screws on the work 2, a welding device that welds the work 2, and the like.
- the end effector 25 is a hand that grips the workpiece 2 by closing the pair of gripping portions 25a.
- a plurality of driving devices 12-15 are individually provided in association with each of the four joints JT1-JT4.
- the first to fourth driving devices 12-15 then move the corresponding joints JT1-JT4.
- the configurations of the first to fourth driving devices 12 to 15 will be described in detail below.
- the first through third drive units 12-14 have a similar construction. Therefore, regarding the first to third driving devices 12 to 14, mainly the configuration of the first driving device 12 will be described.
- the configurations of the second and third driving devices 13 and 14 the same components as those of the first driving device 12 are denoted by the same reference numerals, and the description thereof is omitted. explained.
- the first driving device 12 moves the first joint JT1. That is, the first driving device 12 swings the first arm 22 with respect to the revolving body 21 . More specifically, the first drive device 12 has a first hydraulic cylinder 31A, a hydraulic pump 32, an electric motor 33, and a hydraulic circuit 34, as shown in FIG.
- the first drive device 12 is an electro-hydraulic actuator. That is, the first driving device 12 drives the hydraulic pump 32 with the electric motor 33 .
- the first drive device 12 operates the first hydraulic cylinder 31A with the hydraulic fluid discharged from the hydraulic pump 32 .
- the configuration of the first driving device 12 will be described in more detail below.
- the first hydraulic cylinder 31A which is an example of a hydraulic actuator, moves the corresponding joint JT1, that is, the first joint JT1. More specifically, the first hydraulic cylinder 31A is provided so as to span the revolving body 21 and the first arm 22 as shown in FIG. Further, the first hydraulic cylinder 31A can be expanded and contracted by being supplied with hydraulic fluid. The first hydraulic cylinder 31A expands and contracts to swing the first arm 22 with respect to the revolving body 21, that is, to move the first joint JT1.
- the hydraulic pump 32 shown in FIG. 2 discharges hydraulic fluid to supply hydraulic fluid to the first hydraulic actuator 31A. More specifically, the hydraulic pump 32 discharges hydraulic fluid in one direction and the other direction depending on the direction of rotation.
- the hydraulic pump 32 is a variable displacement pump that changes its discharge capacity in accordance with a command from the control device 18, which will be described later.
- the hydraulic pump 32 is a variable displacement swash plate pump. That is, the hydraulic pump 32 has a regulator 32a and a swash plate 32b.
- the regulator 32a is driven by pilot pressure output from a control valve (not shown) or by a direct-acting motor. When the regulator 32a is driven, it changes the tilt angle of the swash plate 32b. As a result, the displacement of the hydraulic pump 32 changes.
- the hydraulic pump 32 is not limited to a variable displacement swash plate pump, and may be a variable displacement swash shaft pump, or any other pump capable of changing the discharge displacement. Also, the hydraulic pump 32 is attached to a corresponding arm, that is, a portion other than the first arm 22 . The hydraulic pump 32 is attached, for example, to a floor (not shown) to which the revolving body 21 and the base 20 are fixed. However, the mounting location is not limited to the location described above.
- the electric motor 33 drives the hydraulic pump 32 . More specifically, the electric motor 33 rotates the hydraulic pump 32 to discharge pressure liquid from the hydraulic pump 32 . Also, the electric motor 33 can rotationally drive the hydraulic pump 32 in forward and reverse directions. Thereby, the electric motor 33 can cause the hydraulic pump 32 to discharge pressure liquid in one direction and the other direction.
- the electric motor 33 is a servomotor. Note that the electric motor 33 is not limited to a servomotor, and may be another motor. Also, the electric motor 33 is attached to, for example, a floor (not shown) to which the revolving body 21 and the base 20 are fixed. However, the mounting location is not limited to the location described above.
- the hydraulic circuit 34 connects the first hydraulic cylinder 31A and the hydraulic pump 32. More specifically, the hydraulic circuit 34 supplies hydraulic fluid discharged from the hydraulic pump 32 to the first hydraulic cylinder 31A and discharges the hydraulic fluid from the first hydraulic cylinder 31A.
- the hydraulic circuit 34 constitutes a closed circuit together with the first hydraulic cylinder 31A and the hydraulic pump 32 . That is, the hydraulic circuit 34 supplies the hydraulic fluid discharged from the hydraulic pump 32 to the first hydraulic cylinder 31A and returns the hydraulic fluid to the hydraulic pump 32 from the first hydraulic cylinder 31A.
- the hydraulic circuit 34 guides the hydraulic fluid discharged from the hydraulic pump 32 in one direction to the rod-side port 31a of the first hydraulic cylinder 31A, and the hydraulic fluid discharged from the hydraulic pump 32 in the other direction.
- the hydraulic circuit 34 also has a supply/discharge mechanism 34a.
- the supply/discharge mechanism 34a returns part of the hydraulic fluid discharged from the head-side port 31b of the first hydraulic cylinder 31A to the tank.
- the supply/discharge mechanism 34a compensates for insufficient hydraulic pressure when supplying the hydraulic fluid to the rod-side port 31a of the first hydraulic cylinder 31A. It should be noted that the supply/discharge mechanism 34a is not limited to the configuration shown in FIG.
- the electric motor 33 drives the hydraulic pump 32 .
- hydraulic fluid is discharged from the hydraulic pump 32 in either one direction or the other direction depending on the direction of rotation.
- the first hydraulic cylinder 31A contracts.
- the first arm 22 swings downward at the first joint JT1.
- the first hydraulic cylinder 31A extends.
- the first arm 22 swings upward at the first joint JT1.
- the second driving device 13 moves the second joint JT2. That is, the second driving device 13 swings the second arm 23 with respect to the first arm 22 . More specifically, the second drive device 13 has a second hydraulic cylinder 31B, a hydraulic pump 32, an electric motor 33, and a hydraulic circuit .
- the second hydraulic cylinder 31B which is an example of a hydraulic actuator, moves the corresponding joint JT2, that is, the second joint JT2. More specifically, the second hydraulic cylinder 31B is provided so as to span the first arm 22 and the second arm 23 as shown in FIG. In addition, the second hydraulic cylinder 31B can be expanded and contracted by being supplied with hydraulic fluid. The second hydraulic cylinder 31B expands and contracts to swing the second arm 23 with respect to the first arm 22, that is, to move the second joint JT2.
- the second driving device 13 configured in this way, when the hydraulic pump 32 is driven by the electric motor 33 and pressure fluid is discharged in one direction, the second hydraulic cylinder 31B is contracted. do. Then, the second arm 23 swings forward at the second joint JT2. On the other hand, when pressure fluid is discharged from the hydraulic pump 32 in the other direction, the second hydraulic cylinder 31B extends. Then, the second arm 23 swings backward at the second joint JT2.
- the third driving device 14 moves the third joint JT3. That is, the third driving device 14 swings the third arm 24 with respect to the second arm 23 . More specifically, the third drive device 14 has a third hydraulic cylinder 31C, a hydraulic pump 32, an electric motor 33, and a hydraulic circuit .
- a third hydraulic cylinder 31C which is an example of a hydraulic actuator, moves the corresponding joint JT3, that is, the third joint JT3. More specifically, the third hydraulic cylinder 31C is provided across the second arm 23 and the third arm 24 as shown in FIG. Further, the third hydraulic cylinder 31C can be expanded and contracted by being supplied with hydraulic fluid. The third hydraulic cylinder 31C expands and contracts to swing the third arm 24 with respect to the second arm 23, that is, to move the third joint JT3.
- the third driving device 14 configured as described above, when the electric motor 33 drives the hydraulic pressure pump 32 to discharge pressure liquid in one direction from the hydraulic pressure pump 32, the third hydraulic cylinder 31C contracts. do. Then, the third arm 24 swings backward at the third joint JT3. On the other hand, when pressure fluid is discharged from the hydraulic pump 32 in the other direction, the third hydraulic cylinder 31C extends. Then, the third arm 24 swings forward at the third joint JT3.
- the fourth driving device 15 moves the fourth joint JT4.
- the fourth drive device 15 rotates the end effector 25 with respect to the third arm 24 .
- the fourth drive device 15 has an electric motor and a speed reducer (not shown). When the electric motor is driven, the end effector 25 is rotationally driven via the speed reducer.
- Angular displacement sensors 16A to 16D which are examples of displacement amount detectors and position detectors, detect displacement amounts of the joints JT1 to JT4 of the manipulator 11, respectively. More specifically, the angular displacement sensors 16A-16D are provided in association with each of the joints JT1-JT4. Angular displacement sensors 16A to 16D detect the angular displacement amounts (that is, tilt angles) of the joints JT1 to JT4 of the manipulator 11, respectively.
- the operating device 17 shown in FIG. 1 gives a position command regarding the position of the end effector 25 .
- the operation device 17 is, for example, a joystick, and has, for example, an operation lever (not shown).
- the operating device 17 outputs a position command according to the tilting direction and tilting angle (that is, the amount of operation) of the operating lever.
- the operation device 17 does not have to be a joystick, and may be a touch panel that can be operated on the screen. Further, the operation device 17 does not necessarily output a position command, but may input an operation plan, which will be described later.
- the control device 18 controls the movement of each of the driving devices that drive the revolving body 21 and the first to fourth driving devices 12-15.
- the controller 18 then moves the joints JT0 to JT4 of the manipulator 11.
- FIG. More specifically, the controller 18 causes the drive device to rotate the rotating body 21, that is, move the joint JT0.
- the control device 18 changes the orientation of the manipulator 11 .
- the control device 18 drives the electric motors 33 of the first to third drive devices 12 to 14 to cause the hydraulic pumps 32 to discharge hydraulic fluid.
- the hydraulic cylinders 31A-31C are operated.
- the first to third arms 22 to 24 swing, that is, the first to third joints JT1 to JT3 move.
- the controller 18 controls the position of the end effector 25 by moving the joints JT1-JT3. Further, the control device 18 grips the workpiece 2 by controlling the movement of the joint JT4 and the operation of the end effector 25 . Furthermore, the controller 18 adjusts the displacement of the hydraulic pump 32 . That is, the control device 18 adjusts the displacement of the hydraulic pump 32 by controlling the operation of the control valve of the regulator 32a or the direct-acting motor (not shown). The controller 18 controls the discharge pressure and discharge flow rate of the hydraulic pump 32 . Thereby, the control device 18 can adjust the driving force (thrust force in this embodiment) and speed of the hydraulic cylinders 31A to 31C (see FIG. 3).
- the control device 18 stores a motion plan for the manipulator 11 .
- the control device 18 controls the operation of the driving device according to the operation command or the operation plan from the operation device 17 . Thereby, the control device 18 changes the orientation of the end effector 25 .
- the control device 18 controls the operation of the electric motors 33 of the first to third drive devices 12 to 14 and the displacement of the hydraulic pumps 32 according to the operation command or operation plan from the operation device 17 . Thereby, the control device 18 controls the position of the end effector 25 .
- the motion plan is a plan relating to the movement path of the end effector 25 and the work of the end effector 25 (grasping work, releasing work, etc. of the workpiece 2 in this embodiment).
- the motion plan is stored in the control device 18 in advance as a program, or is selected and input from the operation device 17 .
- the control device 18 acquires detection results from the angular displacement sensors 16A-16C. Then, the controller 18 controls the discharge capacity of the hydraulic pump 32 of each drive device 12-14 based on the operation plan and the detection results of the angular displacement sensors 16A-16C. More specifically, the control device 18 calculates target displacement amounts (target angular displacement amounts in this embodiment) of the joints JT1 to JT3 based on, for example, a motion plan (for example, the trajectory of the end effector 25). , called “target value”). Note that the target value may be included in the operation plan.
- the control device 18 detects the displacement amounts of the joints JT1 to JT3 detected by the angular displacement sensors 16A to 16C (in the present embodiment, each detected angular displacement amount, hereinafter referred to as "actual value"). and the target value. Then, the control device 18 drives the electric motors 33 of the driving devices 12 to 14 so that the target value and the actual value match. Thereby, the control device 18 controls the position of the end effector 25 .
- control device 18 also controls the discharge capacity of the hydraulic pump 32 of each drive device 12-14 according to the difference between the target value and the actual value in the comparison result. For example, when the actual value is less than the target value, the displacement of the hydraulic pump 32 is increased. On the other hand, when the actual value exceeds the target value, the displacement of the hydraulic pump 32 is decreased. Thereby, the driving force generated in the hydraulic cylinders 31A to 31C is adjusted. In this embodiment, the control device 18 controls the output torque of the electric motor 33 to drive the hydraulic cylinders 31A to 31C. Adjust power.
- the control device 18 adjusts the driving force of the hydraulic cylinders 31A to 31C by adjusting the discharge capacity of the hydraulic pump 32.
- a predetermined torque for example, maximum torque
- the control device 18 does not necessarily need to adjust the discharge capacity of the hydraulic pump 32 when the output torque of the electric motor 33 reaches a predetermined torque (for example, maximum torque).
- the control device 18 may compositely control the output torque of the electric motor 33 and the discharge capacity of the hydraulic pump 32 according to the energy efficiency or the like.
- the control device 18 drives the electric motors 33 of the driving devices 12 to 14 while maintaining the maximum discharge capacity of the hydraulic pump 32 (hereinafter referred to as "maximum state"). Then, the control device 18 controls the position of the end effector 25 by driving the electric motors 33 of the driving devices 12 to 14 based on the result of comparing the target value and the measured value (comparison result).
- control device 18 automatically operates the manipulator 11 based on an operation plan in which the end effector 25 descends to grip the workpiece 2 and then lifts it vertically as shown in FIG. be done. That is, the control device 18 controls the position of the end effector 25 by the above-described method while the end effector 25 does not grip the workpiece 2 . After lowering the end effector 25 to the work 2, the control device 18 causes the end effector 25 to grip the work 2 by operating the fourth joint JT4 and the end effector 25.
- the control device 18 raises the end effector 25 gripping the work 2 based on the operation plan. More specifically, the controller 18 raises the end effector 25 by driving the electric motors 33 of the drive devices 12-14. At this time, the control device 18 also controls the discharge capacity of the hydraulic pump 32 of each of the driving devices 12-14 according to the loads of the first through third joints JT1-JT3. That is, the control device 18 compares the target values and the measured values at the first to third joints JT1 to JT3. Then, the control device 18 first adjusts the output torque of the electric motors 33 of the driving devices 12 to 14 according to the difference between the target value and the measured value.
- the control device 18 can adjust the output torque of the electric motor 33 while maintaining the maximum state. Thereby, the control device 18 can secure the discharge flow rate while suppressing the discharge pressure of the hydraulic pump 32 . Therefore, the control device 18 can move the manipulator 11 with emphasis on speed.
- the control device 18 controls each drive device 12-15 as follows. That is, when the output torque of the electric motor 33 is maximized and the measured value is less than the target value, the control device 18 reduces the discharge capacity of the hydraulic pump 32 of each of the drive devices 12-14. Thereby, the control device 18 can increase the discharge pressure of the hydraulic pump 32 in each of the drive devices 12-15. That is, the control device 18 can generate a larger driving force in the hydraulic actuator. Therefore, the control device 18 can cause the manipulator 11 to lift the workpiece 2 with a large load. That is, the control device 18 can move the manipulator 11 with emphasis on driving force.
- the control device 18 increases the discharge capacity of the hydraulic pump 32 of each drive device 12-14 or controls the output torque of the electric motor 33 of the drive device 12-14. As a result, the driving force of the hydraulic cylinders 31A to 31C is reduced, so that the measured values can be brought closer to the target values.
- the control device 18 adjusts the discharge pressure and discharge flow rate by adjusting the discharge capacity of the hydraulic pump 32 of each drive device 12-14. to control.
- the control device 18 can adjust the driving force and speed of the hydraulic cylinders 31A to 31C. That is, the control device 18 can move the joints JT1 to JT3 by adjusting the discharge capacity of the hydraulic pump 32, either with emphasis on driving force or with emphasis on speed. Therefore, when moving a plurality of joints JT1 to JT3, desired motions can be performed at each of the joints JT1 to JT3. That is, the drive state of each joint JT1 to JT3 is selected to be either high speed low torque or low speed high torque. Therefore, the maximum torque required for the electric motor 33 can be suppressed. Thereby, the size of the electric motor 33 can be suppressed.
- the robot 1 by adjusting the discharge capacity of the hydraulic pump 32 when controlling the position of the end effector 25, it is possible to suppress the shortage of the driving force at each of the joints JT1 to JT3.
- the joints JT1 to JT3 can be interlocked according to the motion plan, so the end effector 25 can be moved along the desired path (that is, the path shown in the motion plan). Thereby, the working efficiency of the manipulator 11 can be improved.
- the control device 18 controls the discharge capacity of the electric motors 33 and the hydraulic pumps 32 of the drive devices 12-14 according to the motion plan stored in advance. Therefore, the control device 18 can move the joints JT1 to JT3 more appropriately. Thereby, the working efficiency of the manipulator 11 can be improved.
- the controller 18 controls the displacement of the hydraulic pump 32 based on target values and actual values for the positions of the joints JT1 to JT3. For example, when the actual value does not meet the target value due to insufficient driving force at each of the joints JT1 to JT3, the displacement of the hydraulic pump 32 can be decreased to increase the driving force. Therefore, it is possible to prevent the working efficiency of the manipulator 11 from deteriorating due to insufficient torque of the electric motor 33 .
- the hydraulic circuit 34 is configured as a closed circuit, pressure loss can be reduced and the number of parts can be reduced.
- set load Operaation based on operation plan
- the control device 18 changes the position of the end effector 25 based on the set load. That is, the control device 18 drives the electric motor 33 while controlling the discharge capacity of the hydraulic pump 32 according to the set load in each of the drive devices 12-14. More specifically, when the set load is equal to or less than a predetermined driving force, the output torque of the electric motor 33 is controlled while maintaining the maximum state.
- the predetermined driving force is, for example, the driving force generated in the hydraulic cylinders 31A to 31C when the output torque of the electric motor 33 reaches the maximum torque while in the maximum state.
- the control device 18 sets the output torque of the electric motor 33 to the maximum torque and controls the displacement of the hydraulic pump 32 according to the set load.
- the control device 18 can generate a desired driving force in each of the hydraulic cylinders 31A to 31C. That is, the control device 18 can generate torque corresponding to the set load at each of the joints JT1 to JT3. Then, the controller 18 can move the manipulator 11 according to the motion plan.
- the control device 18 moves the manipulator 11 based on the set load, it is possible to prevent the work efficiency of the manipulator 11 from deteriorating due to insufficient torque and reduced speed of the electric motor 33 .
- the control device 18 when the robot 1 automatically operates the manipulator 11 based on the set load, the control device 18 is set to I can judge. Therefore, in the operation plan, the method of changing the discharge capacity of the hydraulic pump 32 when controlling the driving force can also be incorporated into the operation plan.
- the robot 1 automatically operates the manipulator 11 based on the set load, it has the same effects as when automatically operating the manipulator 11 based on the motion plan.
- control device 18 moves the manipulator 11 based on the operation of the operation lever of the operation device 17 .
- the control device 18 moves the manipulator 11 as follows. That is, the control device 18 changes the position of the end effector 25 based on the position command from the operating device 17 when the operating lever is operated. More specifically, the control device 18 drives the electric motors 33 of the drive devices 12-14 in the maximum state.
- the controller 18 also calculates the target values of the joints JT1 to JT3 based on the position commands.
- the control device 18 drives the electric motors 33 of the drive devices 12 to 14 based on the comparison result between the position command (more specifically, the target value) and the actual measurement value, thereby driving the end effector. 25 positions.
- the command from the control device 18 is not limited to the position command, and may be a speed command (rotation speed command).
- the control device 18 drives the electric motors 33 of the driving devices 12 to 14 based on the result of comparison between the speed command and the measured value (that is, measured speed). This controls the speed of the end effector 25 .
- the control device 18 controls the movements of the driving devices 12 to 14 as follows. As in the case, the target value and the actual value are compared. Then, the control device 18 first adjusts the output torque of the electric motors 33 of the driving devices 12 to 14 according to the difference between the target value and the measured value. As in the operation plan, when the weight of the workpiece 2 is small, the control device 18 adjusts the output torque of the electric motor 33 while maintaining the maximum state.
- the control device 18 reduces the discharge capacity of the hydraulic pump 32 of each drive device 12-14. Thereby, the control device 18 can move the manipulator 11 with emphasis on the driving force. Then, when the measured value exceeds the target value, the control device 18 reduces the discharge capacity of the hydraulic pump 32 of each drive device 12-14 or controls the output torque of the electric motor 33 of the drive device 12-14. As a result, the driving force of the hydraulic cylinders 31A to 31C is reduced, so that the measured values can be brought closer to the target values.
- the control device 18 controls the discharge capacity of the hydraulic pump 32 based on the target value and the actual value based on the command position. do.
- the displacement of the hydraulic pump 32 can be decreased to increase the driving force. Therefore, it is possible to prevent the working efficiency of the manipulator 11 from deteriorating due to insufficient torque of the electric motor 33 .
- the form of the manipulator 11 in the robot 1 of this embodiment is merely an example. That is, the robot 1 is the vertical articulated robot of the present embodiment, but may be other articulated robots such as horizontal articulated robots. Further, the robot 1 may be a serial link type robot or a parallel link type robot such as other coordinate axis type robots. Also, the end effector need not be formed at the tip of the manipulator 11 and may be formed in the middle of the manipulator 11 . Furthermore, the end effector 25 is not limited to a hand, and may be a bucket, a breaker, or the like in a construction machine, or other end effectors and attachments. Further, the operation device 17 is not limited to having an operation lever, and may be a touch panel, a switch, or the like. That is, the operation device 17 may be any device that can be operated by inputting commands.
- the hydraulic actuators are the hydraulic cylinders 31A to 31C, but they may be hydraulic motors.
- the driving device 15 that moves the fourth joint JT4 and the turning device that turns the turning body 21 are configured to include a hydraulic motor, which is an example of a hydraulic actuator.
- the control device 18 then controls the operation of the electric motor based on the operation plan and the operating device 17 to cause the hydraulic pump 32 to supply hydraulic fluid to the hydraulic motor. Further, the controller 18 controls the torque of the hydraulic motor by adjusting the displacement of the hydraulic pump 32 . This allows the fourth joint JT4 and the revolving body 21 to generate a torque equal to or greater than the maximum torque of the electric motor.
- the hydraulic actuators that drive the first to third joints JT1 to JT3 are not limited to the hydraulic cylinders 31A to 31C.
- the hydraulic actuator may be a hydraulic motor.
- the first to third joints JT1 to JT3 are not limited to rotary joints, and may be prismatic joints. In the case of a prismatic joint, the position detector detects the amount of expansion and contraction of the arm, and the control device 18 controls the driving device so that the amount of expansion and contraction reaches the target value.
- the hydraulic pump 32 is a uni-tilt type swash plate pump, but the hydraulic pump 32 may be a double-tilt type swash plate pump.
- the hydraulic circuit 34 is configured as a closed circuit, but may be configured as an open circuit.
- the method by which the control device 18 controls the driving devices 12 to 14 is not limited to the method described above. Further, although the robot 1 is provided with the operation device 17, it does not necessarily have to be provided.
- the driving force is adjusted by maximizing the displacement of the hydraulic pump 32 and adjusting the torque of the electric motor 33 (emphasis on speed). Then, when the torque of the electric motor 33 exceeds the maximum, the displacement of the hydraulic pump 32 is changed (emphasis on driving force).
- the method of controlling the displacement of the hydraulic pump 32 and the torque of the electric motor 33 is not limited to such methods.
- the control device 18 adjusts the driving force by adjusting the torque of the electric motor 33 by minimizing the discharge capacity of the hydraulic pump 32 (emphasis on the driving force). Then, the control device 18 changes the discharge capacity of the hydraulic pump 32 when the torque of the electric motor 33 exceeds the maximum (emphasis on speed).
- control device 18 may change the discharge capacity of the hydraulic pump 32 before the torque of the electric motor 33 reaches its maximum. That is, the control device 18 may control the torque (or rotation speed) of the electric motor 33 and the discharge capacity of the hydraulic pump 32 so as to maximize the overall efficiency of the electric motor 33 and the hydraulic pump 32 ( efficiency). Alternatively, the operation of the electric motor 33 and the discharge capacity of the hydraulic pump 32 may be controlled by another control method.
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Abstract
Description
図1に示すロボット1は、電気と作動液(油、水、又はその他の液体)を用いて駆動することができるロボットである。ロボット1は、例えば工場の製造ライン等の作業現場に配置されている。そして、ロボット1は、搬送、組付け、及び塗装等の様々な作業を行うことができる。ロボット1は、多関節ロボットである。また、ロボット1は、例えば産業用ロボット、ショベル及びクレーン等の建設機械、トンネル掘削機、荷役搬送車、サービス用ロボット、及びヒューマノイド等である。本実施形態において、ロボット1は、垂直多関節型の産業用ロボットである。そして、ロボット1は、マニピュレータ11と、複数の駆動装置12~15と、複数の角変位センサ16A~16Dと、操作装置17と、制御装置18と、を備えている。
マニピュレータ11は、複数の関節JT0~JT4を有している。本実施形態において、マニピュレータ11は、5つの関節JT0~JT4を有している。但し、マニピュレータ11の関節JT0~JT4の数は4つに限定されず、3つ又は4つであってもよく、また6つ以上であってもよい。また、マニピュレータ11の形状も以下で説明するものに限定されない。より詳細に説明すると、マニピュレータ11は、旋回体21と、第1アーム22と、第2アーム23と、第3アーム24と、エンドエフェクタ25と、有している。各構成21~25は、互いに角変位可能に連結されている。そして、マニピュレータ11において、各構成21~25が互いに連結される部分が関節JT0~JT4を構成している。マニピュレータ11は、複数の関節JT0~JT4を動かすことによって様々な姿勢をとることができる。そして、マニピュレータ11は、エンドエフェクタ25を動作させることによって様々な作業を行うことができる。以下では、各構成21~25について詳しく説明する。
変位量検出器及び位置検出器の一例である角変位センサ16A~16Dは、マニピュレータ11の各関節JT1~JT4の変位量を検出する。より詳細に説明すると、角変位センサ16A~16Dは、関節JT1~JT4の各々に対応付けて設けられている。そして、角変位センサ16A~16Dは、マニピュレータ11の各関節JT1~JT4の角変位量(即ち、傾転角)を検出する。
図1に示す操作装置17は、エンドエフェクタ25の位置に関する位置指令を与える。操作装置17は、例えばジョイスティックであって、例えば、図示しない操作レバーを有している。操作装置17は、操作レバーの傾倒方向及び傾倒角度(即ち、操作量)に応じた位置指令を出力する。なお、操作装置17は、ジョイスティックである必要はなく、画面上で操作可能なタッチパネルであってもよい。また、操作装置17は、必ずしも位置指令を出力するものではなく、後述する動作計画を入力するものであってもよい。
制御装置18は、旋回体21を駆動する駆動機器、及び第1乃至第4駆動装置12~15の各々の動きを制御する。そして、制御装置18は、マニピュレータ11の各関節JT0~JT4を動かす。より詳細に説明すると、制御装置18は、駆動機器によって旋回体21を旋回させる、即ち関節JT0を動かす。これにより、制御装置18は、マニピュレータ11の向きを変える。また、制御装置18は、第1乃至第3駆動装置12~14の電動機33を駆動して液圧ポンプ32から作動液を吐出させる。これにより、液圧シリンダ31A~31Cが作動する。そうすると、第1乃至第3アーム22~24が揺動する、即ち第1乃至第3関節JT1~JT3が動く。そして、制御装置18は、各関節JT1~JT3を動かすことによってエンドエフェクタ25の位置を制御する。また、制御装置18は、関節JT4の動き及びエンドエフェクタ25の動作を制御することによってワーク2を把持させる。更に、制御装置18は、液圧ポンプ32の吐出容量を調整する。即ち、制御装置18は、レギュレータ32aの制御弁又は直動モータ(図示せず)の動作を制御することによって液圧ポンプ32の吐出容量を調整する。そして、制御装置18は、液圧ポンプ32の吐出圧及び吐出流量を制御する。これにより、制御装置18は、液圧シリンダ31A~31Cの駆動力(本実施形態において、推力)及び速度を調整することができる(図3参照)。
[動作計画に基づく動作(角変位センサ)]
ロボット1において、動作計画と角変位センサ16A~16Cに基づいて制御装置18がマニピュレータ11を自動運転する場合について説明する。例えば、エンドエフェクタ25がワーク2を保持していない状態において、制御装置18は、以下のようにマニピュレータ11を動かす。即ち、制御装置18は、動作計画に基づいてエンドエフェクタ25の位置を変える。より詳細に説明すると、制御装置18は、各駆動装置12~14の電動機33を駆動することによってエンドエフェクタ25の位置を変える。制御装置18は、例えば動作計画を開始する前の待機状態において液圧ポンプ32の吐出容量を最大にしている。制御装置18は、液圧ポンプ32の吐出容量を最大にした状態(以下、「最大状態」という)まま各駆動装置12~14の電動機33を駆動する。そして、制御装置18は、目標値と実測値とを比較した結果(比較結果)に基づいて各駆動装置12~14の電動機33を駆動することによってエンドエフェクタ25の位置を制御する。
ロボット1において、動作計画にて設定される負荷(以下、「設定負荷」という)に基づいて制御装置18がマニピュレータ11を自動運転する場合について説明する。即ち、制御装置18は、設定負荷に基づいてエンドエフェクタ25の位置を変える。即ち、制御装置18は、各駆動装置12~14において設定負荷に応じて液圧ポンプ32の吐出容量を制御しながら電動機33を駆動する。より詳細に説明すると、設定負荷が所定の駆動力以下である場合、最大状態のまま電動機33の出力トルクを制御する。ここで、所定の駆動力とは、例えば最大状態のまま電動機33の出力トルクが最大トルクとなった際に、液圧シリンダ31A~31Cに発生する駆動力である。他方、制御装置18は、設定負荷が所定の駆動力を超える場合、電動機33の出力トルクを最大トルクとし且つ設定負荷に応じて液圧ポンプ32の吐出容量を制御する。これにより、制御装置18は、各液圧シリンダ31A~31Cに所望の駆動力を発生させることができる。即ち、制御装置18は、各関節JT1~JT3において設定負荷に応じたトルクを発生させることができる。そうすると、制御装置18は、マニピュレータ11を動作計画に沿って動かすことができる。
ロボット1において、操作装置17の操作レバーに対する操作に基づいて制御装置18がマニピュレータ11を動かす場合について説明する。例えば、エンドエフェクタ25がワーク2を把持していない状態において、制御装置18は、以下のようにマニピュレータ11を動かす。即ち、制御装置18は、操作レバーが操作されると、操作装置17からの位置指令に基づいてエンドエフェクタ25の位置を変える。より詳細に説明すると、制御装置18は、最大状態のまま各駆動装置12~14の電動機33を駆動する。また、制御装置18は、位置指令に基づいて各関節JT1~JT3の目標値を演算する。そして、制御装置18は、自動運転する場合と同様に、位置指令(より詳しくは目標値)と実測値との比較結果に基づいて各駆動装置12~14の電動機33を駆動することによってエンドエフェクタ25の位置を制御する。なお、制御装置18からの指令は、位置指令に限定されず、速度指令(回転数指令)であってもよい。この場合、制御装置18は、速度指令と実測値(即ち、実測速度)とのの比較結果に基づいて各駆動装置12~14の電動機33を駆動する。これによって、エンドエフェクタ25の速度が制御される。
本実施形態のロボット1におけるマニピュレータ11の形態は、あくまで一例である。即ち、ロボット1は、本実施形態の垂直多関節ロボットであるが、水平多関節ロボット等の他の多関節ロボットであってもよい。また、ロボット1は、他の座標軸型ロボット等のようなシリアルリンク型のロボットやパラレルリンク型のロボットであってもよい。また、エンドエフェクタもマニピュレータ11の先端部に形成されている必要はなく、マニピュレータ11の途中に形成されていてもよい。更に、エンドエフェクタ25は、ハンドに限定されず、建設機械におけるバケットやブレーカ等であってもよく、その他のエンドエフェクタ及びアッタッチメントとであってもよい。また、操作装置17も操作レバーを有しているものに限定されず、タッチパネルやスイッチ等であってもよい。即ち、操作装置17は、指令を入力な操作可能なものであればよい。
Claims (8)
- 複数の関節を有するマニピュレータと、
前記複数の関節の各々に対応付けて設けられ、対応する前記関節を動かす複数の駆動装置と、
前記複数の駆動装置の各々の動きを制御する制御装置とを備え、
前記駆動装置は、対応する前記関節を動かす液圧アクチュエータと、前記液圧アクチュエータに作動液を供給する可変容量形の液圧ポンプと、前記液圧ポンプを駆動する電動機とを有し、
前記制御装置は、前記複数の駆動装置の各々における前記電動機の動作及び前記液圧ポンプの吐出容量を制御する、電気液圧式ロボット。 - 前記マニピュレータは、エンドエフェクタを有し、
前記制御装置は、前記複数の駆動装置の各々における前記電動機の動作及び前記液圧ポンプの吐出容量を制御することによって、前記マニピュレータを動かして前記エンドエフェクタの位置を制御する、請求項1に記載の電気液圧式ロボット。 - 前記駆動装置は、前記液圧アクチュエータと前記液圧ポンプとを繋ぐ液圧回路を更に有し、
前記液圧回路は、前記液圧アクチュエータ及び前記液圧ポンプと共に閉回路を構成している、請求項1又は2に記載の電気液圧式ロボット。 - 前記制御装置は、前記マニピュレータに関する動作計画を記憶し、前記動作計画に応じて前記複数の駆動装置の各々における前記電動機の動作及び前記液圧ポンプの吐出容量を制御する、請求項1乃至3の何れか1つに記載の電気液圧式ロボット。
- 前記マニピュレータの各関節の変位量を検出する変位量検出器を更に備え、
前記動作計画は、前記各関節の位置の目標値を含み、
前記制御装置は、前記動作計画の目標値と前記変位量検出器の検出結果と基づいて前記複数の駆動装置の各々における前記液圧ポンプの吐出容量を制御する、請求項4に記載の電気液圧式ロボット。 - 前記制御装置は、前記動作計画において設定される前記関節の各々の負荷が所定の駆動力以上である場合、前記複数の駆動装置の各々における前記液圧ポンプの吐出容量を制御する、請求項4に記載の電気液圧式ロボット。
- 前記エンドエフェクタの位置に関する位置指令を出力する操作装置と、
前記マニピュレータの各関節の位置を検出する位置検出器を更に備え、
前記制御装置は、前記操作装置の前記位置指令と前記位置検出器の検出結果とに基づいて前記複数の駆動装置の各々における前記液圧ポンプの吐出容量を制御する、請求項2に記載の電気液圧式ロボット。 - 前記液圧アクチュエータは、前記液圧ポンプからの作動液の供給に応じて伸縮する液圧シリンダであって、
前記液圧シリンダは、伸縮することによって前記マニピュレータの前記複数の関節を動かす、請求項1乃至6の何れか1つに記載の電気液圧式ロボット。
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JP2017196681A (ja) * | 2016-04-26 | 2017-11-02 | 川崎重工業株式会社 | 産業用ロボット |
JP2019027410A (ja) * | 2017-08-02 | 2019-02-21 | 川崎重工業株式会社 | 液圧駆動装置 |
JP2020143481A (ja) * | 2019-03-05 | 2020-09-10 | 日立建機株式会社 | 自動運転作業機械 |
JP2021024025A (ja) | 2019-08-05 | 2021-02-22 | 川崎重工業株式会社 | 制御装置、制御システム、ロボットシステム及び制御方法 |
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JP2017196681A (ja) * | 2016-04-26 | 2017-11-02 | 川崎重工業株式会社 | 産業用ロボット |
JP2019027410A (ja) * | 2017-08-02 | 2019-02-21 | 川崎重工業株式会社 | 液圧駆動装置 |
JP2020143481A (ja) * | 2019-03-05 | 2020-09-10 | 日立建機株式会社 | 自動運転作業機械 |
JP2021024025A (ja) | 2019-08-05 | 2021-02-22 | 川崎重工業株式会社 | 制御装置、制御システム、ロボットシステム及び制御方法 |
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