WO2023181204A1 - ロボット - Google Patents

ロボット Download PDF

Info

Publication number
WO2023181204A1
WO2023181204A1 PCT/JP2022/013615 JP2022013615W WO2023181204A1 WO 2023181204 A1 WO2023181204 A1 WO 2023181204A1 JP 2022013615 W JP2022013615 W JP 2022013615W WO 2023181204 A1 WO2023181204 A1 WO 2023181204A1
Authority
WO
WIPO (PCT)
Prior art keywords
arm
board
drive
substrate
robot
Prior art date
Application number
PCT/JP2022/013615
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
佑典 鈴木
Original Assignee
株式会社Fuji
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社Fuji filed Critical 株式会社Fuji
Priority to PCT/JP2022/013615 priority Critical patent/WO2023181204A1/ja
Priority to JP2024509539A priority patent/JPWO2023181204A1/ja
Publication of WO2023181204A1 publication Critical patent/WO2023181204A1/ja

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators

Definitions

  • This specification discloses technology related to robots.
  • the molded product take-out device in the injection molding machine described in Patent Document 1 includes a take-out machine main body. Further, the take-out machine main body is equipped with a substrate storage box.
  • the board storage box stores, for example, a power supply board, a servo driver board, and the like.
  • a joint section is assumed in which a first arm and a second arm that drives the first arm are connected, and a drive section that drives the second arm is housed.
  • the board that controls the drive unit is provided in the internal space of the first arm, the drive power supplied to the drive unit is limited due to the constraints of the internal space of the first arm, and the output of the drive unit is limited.
  • this specification discloses a robot with fewer restrictions on internal space.
  • the joint part is a part to which a first arm and a second arm that drives the first arm are connected, and includes a casing that accommodates a drive part that drives the second arm.
  • the board accommodating part is an end on one end side of the casing in the drive shaft direction, which is a direction along the axial direction of the output shaft of the drive part, and is a connection side where the output shaft and the second arm are connected.
  • the region protrudes outward in the direction of the drive shaft from the non-connection side end, which is the end on a different side from the end, and accommodates a board for controlling the drive unit.
  • the board has fewer restrictions on the internal space.
  • FIG. 1 is a perspective view showing an example of an ultrasound diagnostic system.
  • FIG. 2 is a side view of the robot of FIG. 1; It is a block diagram showing an example of a control block of an ultrasonic diagnostic system. It is a schematic diagram which shows the internal structure of the joint part of a comparative form. It is a schematic diagram showing an example of the internal structure of the joint part of an embodiment. It is a sectional view showing an example of the internal structure of the joint part of an embodiment.
  • FIG. 2 is a wiring diagram showing an example of wiring between a control device and a robot.
  • FIG. 1 shows an example of an ultrasonic diagnostic system 10 to which a robot 20 is applied.
  • the extending direction of the horizontal portion 21b of the first extending portion 21 is the X-axis direction.
  • the direction perpendicular to the X-axis direction on the horizontal plane is defined as the Y-axis direction.
  • the direction perpendicular to the X-axis direction and the Y-axis direction is defined as the Z-axis direction.
  • the ultrasound diagnostic system 10 holds a probe PB0, which is an end effector EF0, in a robot 20, and performs ultrasound diagnosis by driving the robot 20 so that the probe PB0 is pressed against the test target area (for example, the skin) of the subject.
  • This is a medical device that performs
  • the ultrasonic diagnostic system 10 is used for echo diagnosis in which an ultrasound is applied to a part to be examined of a subject, a cross-sectional image of the part to be examined is acquired, and the state of the part to be examined is confirmed from the acquired image.
  • the ultrasound diagnostic system 10 includes a robot 20 and an ultrasound diagnostic apparatus 100.
  • the ultrasonic diagnostic apparatus 100 includes a probe PB0 and a main body 102 to which the probe PB0 is connected via a cable.
  • the main body section 102 includes a control section 103, an input section 104, an image processing section 105, and a display section 106.
  • the control unit 103 controls the entire device.
  • the input unit 104 is used by the examiner to input instructions such as starting diagnosis.
  • the image processing unit 105 processes the signal transmitted from the probe PB0 to generate an ultrasound image.
  • the display unit 106 displays the ultrasound image generated by the image processing unit 105.
  • the robot 20 includes a robot arm 20a and a robot body 20b.
  • the robot main body 20b includes a base 26 and a lifting device 40.
  • the robot arm 20a includes a first extending section 21, a second extending section 22, a base 25, a first joint shaft 31, a second joint shaft 32, a third joint shaft 33, and a first extending section drive motor. 35, a second extending portion drive motor 36, a posture holding device 37, and a rotation three-axis mechanism 50.
  • a base end portion of the first extending portion 21 is connected to the base 25 via the first joint shaft 31.
  • the main body of the first joint shaft 31 is fixed to the base 25 , and the rotating portion of the first joint shaft 31 is connected to the base end portion of the first extension portion 21 .
  • the first extension part drive motor 35 is built in the main body of the first joint shaft 31, and rotates the rotating part of the first joint shaft 31 around the rotation axis (axis along the Z-axis direction). , the first extending portion 21 is rotated (swiveled) along the horizontal plane (XY plane).
  • the first joint shaft 31 has a built-in position detector 35a, and the position detector 35a detects the position (rotational position) of the first extension portion drive motor 35.
  • the position detector 35a for example, a known position detector such as a rotary encoder can be used.
  • the first extending portion 21 includes a vertical portion 21a extending in the vertical direction (Z-axis direction) and a horizontal portion 21b extending in the horizontal direction from the upper end of the vertical portion 21a.
  • a lower end portion of the vertical portion 21 a is connected to a rotating portion of the first joint shaft 31 .
  • a base end portion of the horizontal portion 21b is connected to an upper end portion of the vertical portion 21a, and a distal end portion of the horizontal portion 21b is connected to a rotating portion of the second joint shaft 32.
  • the first extending portion 21 can also omit the vertical portion 21a.
  • the base end portion of the second extending portion 22 is connected to the distal end portion of the first extending portion 21 via the second joint shaft 32.
  • the main body of the second joint shaft 32 is fixed to the base end portion of the second extending portion 22 , and the rotating portion of the second joint shaft 32 is connected to the distal end portion of the first extending portion 21 .
  • the second extension part drive motor 36 is built in the main body of the second joint shaft 32, and rotates the rotating part of the second joint shaft 32 around the rotation axis (axis along the Z-axis direction). , the first extending portion 21 is rotated (swiveled) along the horizontal plane (XY plane).
  • the second joint shaft 32 has a built-in position detector 36a, and the position detector 36a detects the position (rotational position) of the second extension portion drive motor 36.
  • the position detector 36a for example, a known position detector such as a rotary encoder can be used.
  • the lifting device 40 is installed on the base 26 and raises and lowers the base 25 with respect to the base 26.
  • the base 26 is equipped with wheels 26a.
  • the elevating device 40 includes a slider 41, a guide member 42, a ball screw shaft 43, and an elevating drive motor 44.
  • the slider 41 is fixed to the base 25.
  • the guide member 42 is fixed to the base 26 and provided along the Z-axis direction, and guides the movement of the slider 41.
  • the ball screw shaft 43 is an elevating shaft provided along the Z-axis direction, and a ball screw nut fixed to the slider 41 is rotatably connected thereto.
  • the lift motor 44 rotationally drives the ball screw shaft 43 .
  • the lifting device 40 moves the base 25 fixed to the slider 41 in the Z-axis direction along the guide member 42 by rotationally driving the ball screw shaft 43 by the lifting drive motor 44.
  • the elevating device 40 has a built-in position detector 44a, and the position detector 44a detects the position (elevating position) of the elevating drive motor 44.
  • the position detector 44a for example, a known position detector such as a linear encoder can be used.
  • the three-axis rotating mechanism 50 is connected to the distal end of the second extending portion 22 via a third joint shaft 33 provided along the Z-axis direction.
  • the three-axis rotating mechanism 50 includes a first rotating shaft 51, a second rotating shaft 52, and a third rotating shaft 53 which are orthogonal to each other; a first rotating shaft drive motor 55 that rotates the first rotating shaft 51; A second rotary shaft drive motor 56 that rotates the second rotary shaft 52 and a tip shaft drive device 60 that drives the third rotary shaft 53 are provided.
  • the first rotating shaft 51 is supported in a position orthogonal to the third joint shaft 33.
  • the second rotating shaft 52 is supported in a position orthogonal to the first rotating shaft 51.
  • the third rotating shaft 53 is supported in a position orthogonal to the second rotating shaft 52.
  • a probe PB0 is held on the third rotating shaft 53 as an end effector EF0 so as to be located coaxially with the third rotating shaft 53.
  • the rotating three-axis mechanism 50 includes a position detector 55a and a position detector 56a.
  • the position detector 55a detects the position (rotational position) of the first rotating shaft drive motor 55.
  • the position detector 56a detects the position (rotational position) of the second rotating shaft drive motor 56.
  • the tip shaft drive device 60 includes a drive motor 60a that rotationally drives the third rotating shaft 53, and a position detector 60b that detects the position (rotational position) of the drive motor 60a.
  • a known position detector such as a rotary encoder can be used as the position detector 55a, the position detector 56a, and the position detector 60b.
  • the robot 20 can move the probe PB0 of the third rotation axis 53 to any position in any posture by a combination of translational movement and rotational movement.
  • the translational movement refers to movement in three directions, that is, the X-axis direction, the Y-axis direction, and the Z-axis direction, by the first stretching part drive motor 35, the second stretching part drive motor 36, and the lifting device 40.
  • the rotational movement refers to movement in three directions by the rotating three-axis mechanism 50 around the X axis (pitching), around the Y axis (rolling), and around the Z axis (yawing).
  • the posture holding device 37 is built into the third joint shaft 33 and includes a posture holding motor 37a.
  • the third joint shaft 33 has a built-in position detector 37b, and the position detector 37b detects the position (rotational position) of the posture holding motor 37a.
  • the position detector 37b for example, a known position detector such as a rotary encoder can be used.
  • the posture maintaining device 37 maintains the posture of the rotating three-axis mechanism 50 (orientation of the first rotating shaft 51) in a constant direction regardless of the postures of the first extending section 21 and the second extending section 22.
  • the posture holding device 37 rotates the third joint axis based on the rotation angle of the first joint axis 31 and the rotation angle of the second joint axis 32 so that the axial direction of the first rotation axis 51 coincides with the X-axis direction. 33 rotation angle is controlled. This makes it possible to independently control the translational movement in three directions and the rotational movement in three directions, making the control easier.
  • the control device 90 includes a calculation device 91 and a storage device 92.
  • the arithmetic device 91 is a known arithmetic device and can perform various arithmetic processes.
  • the storage device 92 is a known storage device and can store various information.
  • the control device 90 is sent from each position detector (position detector 35a, position detector 36a, position detector 37b, position detector 44a, position detector 55a, position detector 56a, and position detector 60b). Detection signals and the like are input via the input port.
  • control device 90 controls each motor (the first stretching part drive motor 35, the second stretching part drive motor 36, the posture holding motor 37a, the lifting drive motor 44, the first rotating shaft driving motor 55, the second rotating shaft A drive signal is output to the drive motor 56 and drive motor 60a) via the output port. Further, the control device 90 can communicate with the control unit 103 of the ultrasound diagnostic apparatus 100 via a communication port, and can send and receive various information.
  • FIG. 4 schematically shows the internal structure of a joint part 70 in a comparative form.
  • the joint portion 70 is connected to a first arm 70a and a second arm 70b.
  • the second arm 70b is driven relative to the first arm 70a.
  • the second joint shaft 32 shown in FIGS. 1 and 2 corresponds to the joint portion 70.
  • the second extending portion 22 corresponds to the first arm 70a
  • the horizontal portion 21b of the first extending portion 21 corresponds to the second arm 70b.
  • a driving section 73 that drives the second arm 70b is housed in a casing 71.
  • the drive section 73 includes a motor 73a and a speed reducer 73b.
  • the second extending portion drive motor 36 shown in FIG. 2 corresponds to the motor 73a.
  • the motor 73a rotates the rotating part 72 and the hollow shaft 77 via the reducer 73b.
  • the second arm 70b is connected to the rotating section 72 and driven by the driving section 73.
  • the joint portion 70 includes a position detector 78.
  • the position detector 78 detects the rotation angle (rotation position) of the hollow shaft 77.
  • the position detector 36a shown in FIG. 3 corresponds to the position detector 78.
  • the joint section 70 includes a base plate 75.
  • the substrate 75 controls the drive section 73.
  • the board 75 includes a power supply board 75a that supplies drive power to the drive unit 73, and a control board 75b that controls the drive unit 73.
  • the substrate 75 is electrically connected to the drive section 73, the position detector 78, and the control device 90 via a cable 81.
  • a substrate 75 is provided in the internal space of the first arm 70a. In this form, it is difficult to make the outer dimension of the substrate 75 larger than the inner diameter dimension of the first arm 70a. Therefore, the size of components (especially power elements such as FETs and switching power supplies) mounted on the board 75 may be limited.
  • the effective area of the board 75 decreases, making it increasingly difficult to increase the size of the above-mentioned components. Furthermore, since the substrate 75 is provided in the internal space of the first arm 70a, the heat dissipation of the above-mentioned components is likely to deteriorate. In this way, for example, when the substrate 75 is provided in the internal space of the first arm 70a, the driving power supplied to the driving section 73 is limited due to the restriction of the internal space of the first arm 70a, and the driving power of the driving section 73 is limited. Output (for example, output current, output torque, etc. of motor 73a) may be limited.
  • the outer dimension of the substrate 75 can be increased.
  • the weight of the first arm 70a increases, and the required driving power increases.
  • the board 75 is provided in the internal space of the first arm 70a, it is necessary to install the board 75 with the cable 81 connected. Therefore, the length of the cable 81 tends to become long, and the cable 81 tends to come off easily. Furthermore, the visibility and operability of display devices such as LEDs, input/output ports for debugging, switches, various sensors, etc. provided on the board 75 are reduced. In view of such circumstances, in the embodiment, a substrate accommodating section 76 shown in FIG. 5 is provided.
  • the robot 20 includes a joint section 70 and a substrate accommodating section 76.
  • the joint part 70 is a part to which a first arm 70a and a second arm 70b that drives the first arm 70a are connected, and a casing 71 that houses a drive part 73 that drives the second arm 70b.
  • the board accommodating portion 76 is an end on one end side of the casing 71 in the drive shaft direction (arrow DA0 direction), and protrudes outward in the drive shaft direction (arrow DA0 direction) from the non-connection side end 71b. This is the area where A substrate 75 that controls the drive section 73 is accommodated in the substrate accommodating section 76 .
  • the drive shaft direction (arrow DA0 direction) refers to a direction along the axial direction of the output shaft 73s of the drive section 73.
  • the non-connection side end 71b refers to an end on a different side from the connection side end 71a to which the output shaft 73s and the second arm 70b are connected.
  • the output shaft 73s corresponds to the rotating section 72.
  • the robot 20 moves outward in the drive shaft direction (arrow DA0 direction) from the non-connection side end 71b in the drive shaft direction (arrow DA0 direction) in the casing 71 in which the drive unit 73 is housed.
  • a substrate accommodating portion 76 is provided in the protruding area. Therefore, the substrate 75 has fewer restrictions on the internal space described above.
  • the substrate 75 can be designed without being constrained by the internal space of the first arm 70a. Therefore, in the robot 20, it is easier to increase the drive power supplied to the drive unit 73, compared to the case where the substrate 75 is provided in the internal space of the first arm 70a.
  • FIG. 6 is a cross-sectional view of the casing 71 taken along the drive shaft direction (arrow DA0 direction).
  • the first arm 70a and the second arm 70b are illustrated in FIG. 5 for easy comparison.
  • the joint section 70 includes a casing 71, a rotating section 72, a driving section 73, a driving section accommodating section 74, a base plate 75, a hollow shaft 77, and a position.
  • a detector 78 is provided.
  • the joint portion 70 is a hollow type joint portion, and a cable 81 is inserted through the hollow portion.
  • a first arm 70a and a second arm 70b are connected to the casing 71.
  • the second arm 70b is driven relative to the first arm 70a.
  • the second arm 70b is a drive arm that rotates relative to the first arm 70a, which is a fixed arm.
  • the first arm 70a is fixed to the casing 71, and the second arm 70b rotates (swivels) with respect to the first arm 70a.
  • the casing 71 is formed into a cylindrical shape (for example, a cylindrical shape).
  • a drive section accommodating section 74 that accommodates the drive section 73 is formed in the internal space of the casing 71 .
  • a cover 76c forming a board accommodating portion 76 is attached to the non-connection side end 71b of the casing 71.
  • a stepped portion 71a1 formed in an annular and convex shape is provided at the center of the inner wall surface 71c of the casing 71 in the drive shaft direction (arrow DA0 direction).
  • the step portion 71a1 is provided with a bearing 73a4 that rotatably supports the rotor 73a2 of the motor 73a and the inner rotating member of the reducer 73b.
  • An opening 73a5 is provided in the side wall surface of the casing 71.
  • the opening 73a5 is formed in a semicircular shape.
  • the opening 73a5 is provided at a position adjacent to the motor accommodating portion 74a in the drive shaft direction (arrow DA0 direction), and communicates the motor accommodating portion 74a with the internal space of the first arm 70a.
  • the opening 73a5 is set to a size that allows the cable 81 to be routed therethrough.
  • the motor 73a is arranged at a predetermined distance in the radial direction from the inner wall surface 71c of the casing 71.
  • the predetermined distance is set to allow the cable 81 to be routed.
  • a wiring space 74a1 in which the cable 81 can be wired is formed between the drive portion housing portion 74 (motor housing portion 74a) and the inner wall surface 71c of the casing 71.
  • the wiring space 74a1 communicates with the opening 73a5 and the board accommodating part 76.
  • the base end of the first arm 70a is connected to the side wall surface of the casing 71, and the internal space of the first arm 70a is connected to the motor housing through an opening 73a5 formed in the side wall surface of the casing 71. It communicates with 74a.
  • the base end portion of the first arm 70a is attached to a portion protruding from the side wall surface of the casing 71 by screwing or the like.
  • the internal space of the first arm 70a communicates with the wiring space 74a1 and the board accommodating portion 76.
  • the rotating part 72 is an output part of the driving part 73, and is rotatably provided with respect to the casing 71.
  • a second arm 70b is connected to the rotating portion 72.
  • the first extending portion 21 corresponds to the second arm 70b.
  • the rotating part 72 is attached to the attachment part 21b1 provided on the horizontal part 21b of the first extension part 21 by screwing, for example.
  • the rotating portion 72 is formed into a cylindrical shape with a bottom.
  • An opening 72a1 is formed in the bottom 72a of the rotating part 72, and the rotating part 72 is formed in a hollow shape.
  • the opening 72a1 communicates with the opening 21b2 provided in the mounting portion 21b1 via the internal space of the rotating portion 72.
  • the opening 21b2 communicates with an internal space 21b3 formed within the first extending portion 21.
  • one end of the hollow shaft 77 (the end on the connection side end 71a side) is connected to the peripheral end of the opening 72a1.
  • the other end of the hollow shaft 77 (the end on the side of the non-connection side end 71b) communicates with the internal space of the substrate accommodating part 76. Therefore, the internal space of the rotating section 72 communicates with the internal space of the substrate accommodating section 76 via the hollow shaft 77.
  • the drive unit 73 rotates the rotating unit 72.
  • the drive section 73 is a hollow type drive section and includes a motor 73a and a speed reducer 73b.
  • the motor 73a includes a stator 73a1 and a rotor 73a2.
  • a coil is provided in the stator 73a1.
  • a magnet 73a3 is arranged on the rotor 73a2 to face the stator 73a1.
  • the stator 73a1 is provided with an input/output terminal section 73a6.
  • the coil of the stator 73a1 is connected to the input/output terminal section 73a6, and a cable 81 is also connected thereto, and driving power distributed by the cable 81 is supplied to the coil.
  • the cylindrical rotor 73a2 rotates.
  • the reducer 73b includes a reducer casing 73b1, an outer rotating member, and an inner rotating member.
  • the reducer casing 73b1 is formed in a substantially cylindrical shape and is fixed to the casing 71 by screws or the like.
  • An outer rotary member formed in a cylindrical shape with a bottom is coaxially and rotatably accommodated in the inner space of the reducer casing 73b1.
  • a cylindrical inner rotating member is coaxially and rotatably accommodated in the outer rotating member. The rotation of the inner rotating member is decelerated and transmitted to the outer rotating member.
  • a rotating portion 72 and a hollow shaft 77 are fixed to the outer rotating member.
  • a rotor 73a2 of a motor 73a is fixed to the inner rotating member. When the rotor 73a2 rotates, the rotational force is reduced by the reducer 73b, and the rotating portion 72 and the hollow shaft 77 rotate at the reduced rotational speed.
  • the drive unit accommodating portion 74 accommodates the drive unit 73.
  • the drive unit accommodating portion 74 is formed in the internal space of the cylindrical casing 71.
  • the drive unit accommodating portion 74 includes a motor accommodating portion 74a that accommodates the motor 73a, and a reducer accommodating portion 74b that accommodates the reducer 73b.
  • the motor accommodating portion 74a is provided between the stepped portion 71a1 provided in the casing 71 and the non-connecting side end 71b
  • the reducer accommodating portion 74b is provided between the stepped portion 71a1 and the connecting side end 71a. It is provided.
  • the board 75 controls the drive section 73.
  • the substrate 75 can also supply drive power to the drive unit 73.
  • the substrate 75 only needs to have the above-mentioned functions, and can take various forms. For example, the shape and external dimensions of the substrate 75 can be set arbitrarily. Further, for example, in a configuration in which a single board 75 has both a power supply function for supplying drive power to the drive section 73 and a control function for controlling the drive section 73, the board 75 tends to be large. Therefore, the board 75 preferably includes a power supply board 75a and a control board 75b.
  • the power supply board 75a supplies drive power to the drive unit 73.
  • the control board 75b controls the drive section 73.
  • the arrangement of the power supply board 75a and the control board 75b can take various forms.
  • the power supply board 75a and the control board 75b are arranged along the drive shaft direction (arrow DA0 direction) such that the normal direction coincides with the drive shaft direction (arrow DA0 direction). It can be placed as follows.
  • the power supply board 75a and the control board 75b can be fixed by, for example, a spacer 75c.
  • the power supply board 75a and the control board 75b are arranged along the drive shaft direction (arrow DA0 direction) with the spacer 75c in between.
  • the power supply board 75a is preferably provided outside the control board 75b in the drive shaft direction (arrow DA0 direction).
  • the boards 75 are arranged in the drive shaft direction (arrow DA0 direction) away from the casing 71 in the order of the control board 75b and the power supply board 75a.
  • the power supply board 75a is preferably installed such that, for example, the surface on which the power element is mounted faces outward in the drive shaft direction (arrow DA0 direction).
  • the power supply board 75a can also be provided with a heat dissipation member such as a heat sink.
  • the heat sink is preferably provided on the side on which the power element is attached.
  • the substrate accommodating portion 76 accommodates the substrate 75.
  • the substrate accommodating section 76 only needs to be able to accommodate the substrate 75, and can take various forms.
  • the substrate accommodating portion 76 can be formed by a cover 76c that covers the substrate 75.
  • the distance from the inner wall surface of the cover 76c to the substrate 75 is set to ensure a predetermined separation distance.
  • the separation distance can be set to suppress physical interference between the cover 76c and the substrate 75.
  • the separation distance can be set to suppress electromagnetic interference between the metal cover 76c and the substrate 75.
  • the separation distance can be set in consideration of the heat dissipation properties of the components mounted on the board 75.
  • the board 75 (particularly the control board 75b) is provided with display devices such as LEDs, input/output ports for debugging, switches, various sensors, and the like.
  • display devices such as LEDs, input/output ports for debugging, switches, various sensors, and the like.
  • the cover 76c is removably fixed to the casing 71.
  • the cover 76c can be screwed to the casing 71. Thereby, the operator can remove the cover 76c as needed, and can visually recognize or operate the above-mentioned members.
  • the hollow shaft 77 is formed into a cylindrical shape.
  • One end of the hollow shaft 77 (the end on the side of the connection side end 71a) is connected to the rotating part 72 and is disposed to pass through the cylindrical rotor 73a2.
  • the other end of the hollow shaft 77 (the end on the non-connection side end 71b side) is connected to a position detector 78.
  • the position detector 78 detects the rotation angle (rotation position) of the hollow shaft 77.
  • a known position detector such as a rotary encoder can be used as the position detector 78.
  • the cable 81 includes a power cable 81a, a communication cable 81b, an individual power cable 82a, and an individual communication cable 82b.
  • the power cable 81a distributes driving power between the control device 90 and the board 75.
  • the communication cable 81b transmits and receives control signals between the control device 90 and the board 75.
  • the individual power cables 82a connect the board 75 and each motor (first extension part drive motor 35, second extension part drive motor 36, posture holding motor 37a, lifting drive motor 44, first rotating shaft drive motor 55, second Drive power is distributed between the rotary shaft drive motor 56 and the drive motor 60a).
  • the individual communication cable 82b connects the board 75 and each position detector (position detector 35a, position detector 36a, position detector 37b, position detector 44a, position detector 55a, position detector 56a, and position detector 60b). Control signals are transmitted and received between the two.
  • the joint portion 70 is explained using the second joint shaft 32 as an example.
  • the joint portion 70 is not limited to the second joint shaft 32.
  • the first joint shaft 31 , the third joint shaft 33 , the first rotation shaft 51 , and the second rotation shaft 52 can be formed by the joint portion 70 similarly to the second joint shaft 32 .
  • Each of the substrates shown in the figure (substrate 95a, substrate 95b, substrate 95c, substrate 95d, substrate 95e, substrate 95f, and substrate 95g) is formed in the same manner as the substrate 75 described above.
  • the substrate 95a supplies driving power and transmits and receives control signals between the lifting drive motor 44 and the position detector 44a.
  • the substrate 95b supplies driving power and transmits and receives control signals between the first extending portion drive motor 35 and the position detector 35a.
  • the substrate 95c supplies driving power and transmits and receives control signals between the second extension portion drive motor 36 and the position detector 36a.
  • the board 95d supplies driving power and transmits and receives control signals between the posture holding motor 37a and the position detector 37b.
  • the substrate 95e supplies driving power and transmits and receives control signals between the first rotating shaft drive motor 55 and the position detector 55a.
  • the substrate 95f supplies driving power and transmits and receives control signals between the second rotary shaft drive motor 56 and the position detector 56a.
  • the substrate 95g supplies drive power and transmits and receives control signals between the drive motor 60a and the position detector 60b.
  • the communication cables 81b are connected in the above order to the board 95a, board 95b, board 95c, board 95d, board 95e, board 95f, and board 95g.
  • the side of the substrate 95f will be referred to as the upstream side
  • the side of the substrate 95a will be referred to as the downstream side.
  • the power cable 81a is connected between the control device 90 and the board 95a, between the control device 90 and the board 95b, and between the control device 90 and the board 95d.
  • the power cable 81a is connected between the substrate 95b and the substrate 95c.
  • the power cable 81a is connected to a board 95d, a board 95e, a board 95f, and a board 95g in this order.
  • the first arm 70a is provided upstream of the second arm 70b.
  • the power cable 81a includes an upstream power cable 81a1 and a downstream power cable 81a2.
  • the upstream power cable 81a1 is drawn in from the upstream side of the first arm 70a and connected to the power supply board 75a.
  • the downstream power cable 81a2 is pulled out from the power supply board 75a and wired downstream of the second arm 70b.
  • the upstream power cable 81a1 and the power supply board 75a can be connected by a connector.
  • the downstream power cable 81a2 and the power supply board 75a can be connected by a connector.
  • the communication cable 81b includes an upstream communication cable 81b1 and a downstream communication cable 81b2.
  • the upstream communication cable 81b1 is drawn in from the upstream side of the first arm 70a and connected to the control board 75b.
  • the downstream communication cable 81b2 is pulled out from the control board 75b and wired downstream of the second arm 70b.
  • the upstream communication cable 81b1 and the control board 75b can be connected by a connector.
  • the downstream communication cable 81b2 and the control board 75b can be connected by a connector.
  • the casing 71 includes a drive unit accommodating portion 74 that accommodates the drive unit 73.
  • the upstream power cable 81a1 and the upstream communication cable 81b1 are connected to the internal space of the first arm 70a, the wiring space 74a1 formed between the drive unit accommodating portion 74 and the inner wall surface 71c of the casing 71, and It is wired to the board 75 through the board accommodating portion 76 .
  • the downstream power cable 81a2 and the downstream communication cable 81b2 extend from the board 75 to the board accommodating section 76, the internal space of the drive section accommodating section 74 (internal space of the hollow shaft 77), and the internal space of the second arm 70b.
  • the second arm 70b is routed downstream of the second arm 70b. Thereby, the power cable 81a and the communication cable 81b are drawn in from the upstream side of the first arm 70a and are routed downstream of the second arm 70b.
  • the power cable 81a and the communication cable 81b are wired at the outer edge of the board occupied area 76a in the board housing section 76 where the power supply board 75a and the control board 75b are arranged.
  • the power cable 81a and the communication cable 81b can be wired without providing wiring through holes in the board 75 for wiring the power cable 81a and the communication cable 81b. Therefore, it is possible to suppress a decrease in the effective area of the substrate 75 due to the provision of through holes for wiring.
  • the robot 20 only needs to include a joint part 70 and a substrate accommodating part 76, and can take various forms.
  • the robot 20 includes a probe PB0 on an end effector EF0 that is moved via a first arm 70a and a second arm 70b.
  • the substrate 75 is capable of supplying the drive unit 73 with the drive power necessary for the drive unit 73 when the probe PB0 is pressed against the target portion.
  • the board accommodating portion 76 is a region that projects outward in the drive shaft direction (arrow DA0 direction) from the non-connection side end 71b of the casing 71, so the board 75 is provided in the internal space of the first arm 70a. In this case, it is easier to increase the size of the substrate 75 compared to the case. Therefore, it is easy to increase the size of components (especially power elements) mounted on the board 75. Moreover, the board accommodating portion 76 improves the heat dissipation of the above-mentioned components compared to the internal space of the first arm 70a. Therefore, as described above, when the drive power required by the drive section 73 increases, the substrate 75 can easily supply the necessary drive power to the drive section 73.
  • the robot 20 can be applied to various robots such as industrial robots.
  • the robot 20 is applied to an ultrasound diagnostic apparatus 100.
  • robot 20 is a medical robot.
  • the robot 20 can be applied to various medical robots.
  • the robot 20 is a medical robot that is operated by the examiner when the examiner diagnoses the test subject's part (for example, the skin).
  • the robot 20 is a collaborative robot that works with the inspector.
  • the substrate 75 has fewer restrictions on the internal space.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
PCT/JP2022/013615 2022-03-23 2022-03-23 ロボット WO2023181204A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/JP2022/013615 WO2023181204A1 (ja) 2022-03-23 2022-03-23 ロボット
JP2024509539A JPWO2023181204A1 (enrdf_load_stackoverflow) 2022-03-23 2022-03-23

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2022/013615 WO2023181204A1 (ja) 2022-03-23 2022-03-23 ロボット

Publications (1)

Publication Number Publication Date
WO2023181204A1 true WO2023181204A1 (ja) 2023-09-28

Family

ID=88100526

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2022/013615 WO2023181204A1 (ja) 2022-03-23 2022-03-23 ロボット

Country Status (2)

Country Link
JP (1) JPWO2023181204A1 (enrdf_load_stackoverflow)
WO (1) WO2023181204A1 (enrdf_load_stackoverflow)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017184430A (ja) * 2016-03-30 2017-10-05 日本電産サンキョー株式会社 回転アクチュエータおよびロボット
JP2019165840A (ja) * 2018-03-22 2019-10-03 株式会社デンソー 治療装置
JP2020025999A (ja) * 2018-08-09 2020-02-20 東京ロボティクス株式会社 ロボットアーム及びロボット
CN111070208A (zh) * 2019-12-20 2020-04-28 西安电子科技大学 重组化协作机器人关节一体化驱动控制系统、方法及应用
WO2021013912A1 (de) * 2019-07-25 2021-01-28 Beckhoff Automation Gmbh Industrieroboter
CN212736068U (zh) * 2020-07-21 2021-03-19 尔智机器人(珠海)有限公司 一种带力矩传感器的关节

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017184430A (ja) * 2016-03-30 2017-10-05 日本電産サンキョー株式会社 回転アクチュエータおよびロボット
JP2019165840A (ja) * 2018-03-22 2019-10-03 株式会社デンソー 治療装置
JP2020025999A (ja) * 2018-08-09 2020-02-20 東京ロボティクス株式会社 ロボットアーム及びロボット
WO2021013912A1 (de) * 2019-07-25 2021-01-28 Beckhoff Automation Gmbh Industrieroboter
CN111070208A (zh) * 2019-12-20 2020-04-28 西安电子科技大学 重组化协作机器人关节一体化驱动控制系统、方法及应用
CN212736068U (zh) * 2020-07-21 2021-03-19 尔智机器人(珠海)有限公司 一种带力矩传感器的关节

Also Published As

Publication number Publication date
JPWO2023181204A1 (enrdf_load_stackoverflow) 2023-09-28

Similar Documents

Publication Publication Date Title
US11077549B2 (en) Robot and robot system
WO2021062636A1 (zh) 机器人及其集成关节
US20100313694A1 (en) Apparatus for holding cables in rotary shaft of robot
CN104029213B (zh) 双关节模块
CN109571430B (zh) 机器人
US10737399B2 (en) Robot
JP7451889B2 (ja) ロボット
US10525586B2 (en) Robot
KR20200016029A (ko) 다관절 로봇의 케이블 가이드 장치
WO2023169299A1 (zh) 支链组件、并联操作臂、主操作手、操控台以及机器人
JP2025103039A (ja) コンパクトなトラバースロボット
CN114918971A (zh) 关节驱动装置和关节组件
WO2023181204A1 (ja) ロボット
WO2023093218A1 (zh) 用于手术机器人的器械驱动器和手术机器人
CN114543846A (zh) 编码器单元、驱动装置以及机器人
CN114931439B (zh) 手术机器人及保持位姿形态的主手机械臂
JP3896093B2 (ja) 産業用ロボット
CN108381541B (zh) 机器人
CN113618700B (zh) 遥操作机械手及其手柄传动结构、遥操作设备
JP7720907B2 (ja) ロボット
CN111660293B (zh) 水平多关节机器人
CN212170392U (zh) 底座装置和多轴机器人
JP7069757B2 (ja) 水平多関節ロボット
CN216962630U (zh) 一种主操作手
US20250256397A1 (en) Robot And Robot System

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22933346

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2024509539

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 22933346

Country of ref document: EP

Kind code of ref document: A1