JP2006051568A - Joint robot - Google Patents

Abstract

An articulated robot capable of appropriately adjusting a preload of an ultrasonic motor by a small and simple mechanism.
SOLUTION: Piezoelectric bodies 11, 12, 13, and 14 are further laminated together with a stator flange 4 projecting from the outer peripheral end portion, and the piezoelectric bodies 11, 12, 13, and 14 and the stator flange 4 are laminated together. A stator 1 in which a hollow hole 1a is formed so as to pass through integrally and open at the center of both end faces, and is placed on the vibration end face of the stator 1 and penetrates over the extension of the hollow hole 1a of the stator 1. The rotor 2 in which the through-hole 2a is formed, the hollow hole 1a and the through-hole 2a are inserted in series, and both ends thereof can be transmitted to the stator 1 and the rotor 2 in cooperation with each other. Adoption of characteristic constituent means comprising: a wire 3 fixed and stretched to two fixing members facing each other.
[Selection] Figure 1

Description

  The present invention relates to an articulated robot, and more particularly to an articulated robot equipped with an ultrasonic motor and applying a preload to a stator and a rotor with a wire inserted in series through the ultrasonic motor.

  In recent years, as an actuator in parts that require high torque and high degree of freedom, such as a joint mechanism of a humanoid robot, in place of the conventional one-degree-of-freedom rotary electromagnetic servo motor, space saving and high Application of a multi-degree-of-freedom ultrasonic motor disclosed in Non-Patent Document 1 shown below, which is high in torque and quiet, is expected.

Takashi Maeno and Kenjiro Takemura, “Development of a multi-degree-of-freedom ultrasonic motor based on degeneration of longitudinal and lateral vibrations”, Journal of the Robotics Society of Japan, 1998, 116, 8, p. 1115-1122.

  This multi-degree-of-freedom ultrasonic motor includes a stator in which a plurality of piezoelectric bodies having different vibration directions are stacked, and a spherical rotor that is in close contact with the stator. When AC voltages with the same frequency and different phases are applied to the piezoelectric body of the stator of a multi-degree-of-freedom ultrasonic motor, natural vibrations are excited, and the rotor rotates in a predetermined direction by a combination of these natural vibration modes. To do.

  Thus, in order to drive a multi-degree-of-freedom ultrasonic motor having a rotor in close contact with the stator to obtain a high rotational torque, a preload mechanism in which the rotor receives a sufficiently strong vertical drag from the stator. If an appropriate preload is applied to the multi-degree-of-freedom ultrasonic motor, a high static torque can be obtained without special drive control when the rotor is stationary.

  For this reason, in the conventional multi-degree-of-freedom ultrasonic motor, as disclosed in Non-Patent Document 2 shown below, a preload material having a hole is arranged on the rotor, and the preload material is used to prevent the rotor. There are known a method of applying a preload in the vertical direction, and a method of incorporating an electromagnet in the stator and applying a preload by attracting the rotor by this electromagnet. A system is disclosed in which a preload is transmitted by a bearing attached to the shaft and passed through the shaft.

Yoonchorho, Shinichiro Niwano, James R. Friend, Takaaki Ishii, Kentaro Nakamura, Sadayuki Ueha, “Spherical rotor support mechanism of 3-DOF ultrasonic motor” 23rd Symposium on Basics and Applications of Ultrasonic Electronics, 2002 November. H. Kawano, T. Hirahara, “Three-DOFAngular Positioning Control using a Multi-DOF Ultrasonic Motor in the Pre-loaded Condition-Application to the Auditory Tele-Existence Robot“ TeleHead ”-”, Proc. Of 2003 IEEE / RSJ International Conference on Intelligent Robots and Systems, pp.2247-2253, October 2003.

  However, since the conventional preload mechanism of an ultrasonic motor occupies a large space, it is possible to avoid an increase in the size of the robot in order to create a robot having multiple degrees of freedom by configuring multiple multi-degree-of-freedom ultrasonic motors. It was unsuitable. In addition, since the torque generated by the ultrasonic motor depends on the magnitude of the preload, once the magnitude of the preload is set, there is a problem that it is difficult to control the torque of the ultrasonic motor. It was difficult to use it for controlling robots that frequently use impedance control.

  Here, the main objects to be solved by the present invention are as follows.

  That is, the first object of the present invention is to provide an articulated robot capable of appropriately adjusting the preload of the ultrasonic motor by a small and simple mechanism.

  The second object of the present invention is a joint that allows the ultrasonic motor to be driven to rotate in a predetermined manner without hindering the rotation of the rotor by the wire stretched to apply the pre-pressure of the ultrasonic motor. We are going to provide a robot.

  A third object of the present invention is to provide an articulated robot capable of connecting a plurality of ultrasonic motors to realize multi-joint driving.

  Other objects of the present invention will become apparent from the specification, drawings, and particularly the description of each claim.

  First, in the robot of the present invention, the piezoelectric body group and a stator flange having an outer peripheral end projecting on the outer periphery of the piezoelectric body group are laminated together, and the piezoelectric body group and the stator flange are integrally passed vertically. A stator of an ultrasonic motor having a hollow hole opened in the center of both end surfaces, and a through-hole that is placed on the vibration end surface of the stator and penetrates the extension of the hollow hole of the stator are formed. The rotor of the ultrasonic motor, the stator hollow hole and the rotor through-hole are inserted in series, and both ends of the rotor can cooperate with each of the stator and the rotor to transmit tension. A characteristic configuration means is provided in which a wire fixed to two fixing members facing each other and stretched is provided.

  More specifically, in order to solve the problem, the present invention achieves the above-mentioned object by adopting a new characteristic configuration means ranging from the superordinate concept listed below to the subordinate concept. .

  That is, a first feature of the robot of the present invention is an articulated robot equipped with an ultrasonic motor, in which a piezoelectric body group and a stator flange with an outer peripheral end projecting on the outer periphery of the piezoelectric body group are laminated together, The piezoelectric motor group and the stator flange are integrated on the stator of the ultrasonic motor in which a hollow hole is formed in the center of the both end surfaces, and placed on the vibration end surface of the stator. The ultrasonic motor rotor in which a through-hole penetrating on the extension of the hollow hole of the stator, the hollow hole of the stator and the through-hole of the rotor are inserted in series, An articulated robot comprising: two ends fixed to two fixing members whose opposite ends are capable of transmitting tension in cooperation with each of the stator and the rotor. Adopted.

  A second feature of the robot of the present invention is that the stator end surface on the opposite side of the rotor contact end surface side so that the fixing member in the first feature of the robot of the present invention is opposed to the stator flange in parallel. In the configuration of the joint robot, which is a stator-side wire fixing material in which the stator flange is separately suspended via another member at the position where the head faces.

  A third feature of the robot according to the present invention is that the other member according to the second feature of the robot according to the present invention is sandwiched between the end surface of the outer peripheral end of the stator flange and the wire fixing material on the stator side. The configuration of the joint robot is composed of a linear actuator.

  A fourth feature of the robot of the present invention is that the rotor according to the first, second, or third feature of the robot of the present invention has an outer sphere shape, and the bottom surface of the sphere has a rotational center as a symmetry point. The joint robot is configured to be opened from both the upper and lower directions so as to be open ends, and the through hole is formed so that the wire passes through the rotation center.

  A fifth feature of the robot according to the present invention is that the rotor according to the first, second, or third feature of the robot according to the present invention has a laterally lying outer cylindrical shape, and the center of gravity of the cylindrical shape is used as a symmetry point. Are opened from both the upper and lower directions of the peripheral side surface so that each becomes an open end, and the through-hole is formed so that the wire passes through the center of gravity.

  A sixth feature of the robot according to the present invention is that the ultrasonic motor according to the first, second, third, fourth, or fifth feature of the robot according to the present invention is configured such that the rotor is symmetrically arranged at the vibration end face. The joint robot is configured to include the two stators inserted in series by the wire and inserted in series.

  A seventh feature of the robot according to the present invention is that the stator flange according to the first, second, third, fourth, fifth, or sixth feature of the robot according to the present invention is configured so that the stator outer periphery extends from the outer peripheral end. The lower half of the stator is suspended and enclosed by a side peripheral portion made of the other member extending downward along the lower half of the surface and a bottom plate facing the stator end surface, and the hollow hole of the stator The joint robot is configured to include a stator intermediate connection member in which a connection bottom hole through which the wire is inserted is formed at a central portion of the bottom plate portion of the extension.

  An eighth feature of the robot according to the present invention is that the rotor according to the first, second, third, fourth, fifth, sixth, or seventh feature of the robot according to the present invention protrudes above the rotor. The configuration of the joint robot having the rotor intermediate connecting material is employed.

  According to a ninth feature of the robot of the present invention, the wire in which the fixing member in the eighth feature of the robot of the present invention is inserted through the through hole of the rotor in the final order directly connected to the hollow hole of the stator. It is in the configuration adoption of the joint robot which is the rotor side wire fixing material which locked the front end and fixed the rotor intermediate connection material of the rotor.

  According to a tenth feature of the robot of the present invention, the joint robot according to the eighth or ninth feature of the robot of the present invention described above is the rotor intermediate connecting material protruding from each of the rotors. The bottom plate part of the stator intermediate connecting material for suspending the stator is continuously received and successively provided in a plurality of stages so that a predetermined number of the ultrasonic motors are connected in a plurality of stages with the wires. It is in the configuration adoption of the joint robot which is configured to be able to bend multiple joints by connecting with rosary.

  An eleventh feature of the robot according to the present invention is that the joint robot according to the seventh, eighth, ninth, or tenth feature of the robot according to the present invention is configured so that the joint bottom holes coincide with each other and the stator middle is back-to-back. A pair of stators each suspended on a connecting material are assembled and connected in the middle, and a plurality of stages are successively connected to connect a predetermined number of the ultrasonic motors in series with a plurality of stages of the wires to be articulated. It is in the configuration adoption of the articulated robot that can be configured.

  According to the present invention, the pre-pressure to be pressed against the stator and the rotor of the ultrasonic motor is applied by the tension of the wire inserted through the stator and the rotor. Ultrasonic motor can be miniaturized without occupying the space outside the ultrasonic motor, and the preload mechanism of the motor can be adjusted appropriately by adjusting the tension of this wire. Therefore, for example, an ultrasonic motor can be easily applied to control of a robot that frequently uses impedance control or the like.

  In addition, for example, by fixing both ends of the wire to the two fixing members facing each other in the joint robot, preload can be applied to the stator and the rotor constituting the ultrasonic motor. By installing a linear actuator between the stator flange and the stator side wire fixing material, it becomes possible to freely adjust the tension of the wire. For example, the adjustment of the tension of the wire made of an elastic member can be adjusted with a ball screw. It is also possible to efficiently carry out by means capable of maintaining the length without supplying external energy.

  Furthermore, a rotor having a spherical surface or a cylindrical side surface at the contact portion with the stator is opened with a conical shape having the rotation center of the rotor as a vertex, and a through hole is formed so that the bottom surface of the conical shape serves as an opening end. Since the wire is inserted through the wire, the wire for applying the pre-pressure to the ultrasonic motor does not hinder the rotational movement of the rotor, and the inclination range of the rotor can be increased.

  Therefore, in the joint robot of the present invention, the installation place of the preload applying mechanism for crimping the stator and rotor of the ultrasonic motor is not limited, and the ultrasonic motor can be mounted on various robots and the like. It becomes. Therefore, when such ultrasonic motors are connected in series in multiple stages and mounted on a joint robot, it becomes possible to configure a joint robot having multiple joints in a space-saving manner, and the joint having multiple joints according to the present invention. The robot can be applied as, for example, a disaster rescue snake robot or a finger robot.

  Hereinafter, according to an embodiment of the present invention, referring to the attached drawings, module examples 1 to 5 constituting an articulated robot, and subsequently, robot example 1 configured by connecting a plurality of module examples 1 to 5 ˜2 will be described in order.

  In this embodiment, robot examples 1 and 2 in which these module examples 1 to 5 are connected in series in multiple stages will be described. However, the present invention is not limited to this example, and the number of modules to be connected is arbitrary. As long as it is a module that can fix both ends of the wire 3 to be described later, the joint robot can be configured with one module without connecting other modules.

(Module example 1)
FIG. 1 is a cross-sectional view showing a main configuration of a module example 1 constituting an articulated robot which is an embodiment of the robot of the present invention.

  As shown in the figure, the module α1 according to this module example 1 is, for example, a group of piezoelectric bodies (a plurality of piezoelectric bodies 11 and 12 that excite a plurality of natural vibrations having the same natural frequency when AC voltages having different phases are applied). , 13, 14), and the outer peripheral end projecting in a bowl shape on the intermediate outer periphery of the piezoelectric bodies 11, 12, 13, 14 is supported and suspended by another member such as a case of a joint robot (not shown). The stator flange 4 is interleaved with the piezoelectric bodies 11, 12, 13, 14, and the piezoelectric bodies 11, 12, 13, 14 and the stator flange 4 are vertically penetrated integrally and opened at the center of both end faces. For example, the stator 1 in which the hollow hole 1a which passes the center line of the height direction of the cylindrical stator 1 was formed is comprised.

  The stator 1 is, for example, a cylindrical Langevin vibrator, and includes a piezoelectric body 11 for generating flexural vibration in the pitch direction, piezoelectric bodies 12 and 13 for generating longitudinal stretching vibration, and a piezoelectric body 14 for generating flexural vibration in the roll direction. The stator flange 4 may be constructed by bolting together.

  The module α1 is rotationally driven by the frictional force applied to the vibration end surface 1b of the stator 1 based on the natural vibration generated in the stator 1, and penetrates the extension of the hollow hole 1a of the stator 1. The rotor 2 in which the through-hole 2a is formed is provided, and the stator 1 and the rotor 2 form an ultrasonic motor with a predetermined degree of freedom.

  In order to extract a high torque from the ultrasonic motor composed of the stator 1 and the rotor 2, the frictional force acting between the stator 1, the surface of the rotor 2 and the vibration end face 1b of the stator 1 is high. For this reason, a pre-pressure for pressing the stator 1 and the rotor 2 with a strong force is required.

  Therefore, the module α1 is an ultrasonic motor in which the hollow hole 1a of the stator 1 and the through hole 2a of the rotor 2 are inserted in series, and the tension acts in a direction in which the stator 1 and the rotor 2 are pressure-bonded. In order to act as a pre-pressure, both ends of the stator 1 and the rotor 2 cooperate with each of the stator 1 and the rotor 2 so as to be able to transmit tension relative to each other and fixed to two fixing members 22 or 6 to be described later and fixed tension. The wire 3 stretched in a state of having a gap is provided, and preload can be applied to the stator 1 and the rotor 2 without occupying a space near the outside of the ultrasonic motor.

  The module α1 according to this module example 1 has the same configuration in which the rotor 2 is sandwiched symmetrically by the vibration end face 1b, inserted in series by the wire 3, and the rotor 2 is pressed together and rotationally driven. However, at this time, the tension of the wire 3 is fixed to the stator intermediate connecting material 5 via the fixing members to which both ends of the wire 3 are fixed. 5 can be used as a preload in the direction of the arrow in the figure.

  Here, the rotor 2 has, for example, an outer sphere shape that is in contact with a spherical surface with a receiving opening 1c that is enlarged at the upper end of the hollow hole 1a of the stator 1, and the center (rotation center A) of the sphere is the apex. Assuming two conical shapes whose bottom surfaces are respectively open ends B and B, the taper is opened from both the upper and lower directions, and the through-hole 2a is formed so that the wire 3 passes through the spherical rotation center A. There is no direct constraint in the rotation and tilt direction from the stator 1 to the rotor 2. In addition, you may make it arrange | position the friction material 1d for enlarging the frictional force made to act between the rotors 2 to the seat 1c, for example.

  Further, the rotor 2 has its outer peripheral surface fixed to the through hole 2a in the vicinity of the rotation center A of the through hole 2a of the rotor 2 immediately below the connection point with the wire 3, while the wire is formed on the inner peripheral surface thereof. 3 is provided with a wire receiving ring 2b made of a low friction material that guides and grips 3 so as to pass through the rotation center A in the through hole 2a, thereby allowing the wire 3 to pass through the center of the wire receiving ring 2b. Thus, the wire 3 can be configured to be prevented from coming into contact with the rotor 2 at a point other than the connection point.

  Thereby, the Yaw rotation of the rotor 2 is not transmitted to the wire 3, and it is not necessary to rotate the means for pulling the wire 3 in conjunction with the Yaw rotation of the rotor 2. Further, since the wire 3 is stretched so as to pass through the rotation center of the rotor 2, there is no inclined rotational moment applied to the rotor 2 by pulling the wire 3.

  The operating range related to the tilt angle of the rotor 2 is such that the radius of the circle formed by the contact portion between the friction material 1d and the rotor 2 is made as large as possible below the radius of the rotor 2, and the open end B of the rotor 2 By making the angle D formed by the conical bus C and the wire 3 having a bottom surface of less than 45 degrees as much as possible, an inclination angle of 45 degrees at the maximum can be ensured.

  Further, by reducing the angle D formed by the conical bus C having the opening end B of the rotor 2 and the wire 3 and the wire 3, the upper limit of the inclination angle of the rotor 2 can be increased up to 90 degrees. However, at that time, when the inclination angle of the rotor 2 is larger than the angle D formed by the wire C 3 and the generatrix C of the conical hole opened in the rotor 2, the pulled wire 3 passes through the open end B or the penetration. Contact with the surface of the hole 2a causes load torque to be generated in the inclination direction.

  On the other hand, the stator flange 4 includes a side peripheral portion 51 made of another member extending downward from the outer peripheral end portion along the lower portion of the outer peripheral surface of the stator 1 and a bottom plate portion 52 facing the end surface of the stator 1. A connection bottom hole 5a is formed in the bottom plate portion 52 center portion of the stator 1 that includes the lower half portion and extends through the hollow hole 1a of the stator 1. For example, connection members of other modules, etc. It is good to have the stator intermediate | middle connection material 5 comprised so that connection with these members was possible.

(Module example 2)
Next, FIG. 2 is a cross-sectional view showing a main configuration of a module example 2 constituting an articulated robot which is an embodiment of the robot of the present invention. In the following drawings used in the description of the present embodiment, the same or equivalent components as those shown in FIG. 1 are assigned the same reference numerals, and detailed descriptions of the components are omitted. And

  As shown in the figure, the module α2 according to this module example 2 includes one stator 1 instead of including the two stators 1 and 1 of the module α1, and the rotor 2A includes A rotor intermediate connecting material that protrudes integrally on the rotor 2A and can be connected to other members (not shown) such as a stator intermediate connecting material 5 of another module or a fixing member in an articulated robot. 21 is comprised.

  Here, the module α2 is used as a fixing member for fixing one end of the wire 3, and the tip of the wire 3 inserted through the through hole 2a of the rotor 2A is connected to the hollow hole 1a of the stator 1 to connect the rotor intermediate connection. By having a rotor side wire fixing material 22 to be described later connected and fixed to the rotor 2A via the material 21, when a plurality of modules are connected to the joint robot, a wire is connected to the rotor side wire fixing material 22 It is also possible to employ a terminal module for fixing one end of the wire 3 and transmitting the tension of the wire 3 to another module.

  Further, the wires 3 fixed at both ends with a predetermined tension are used to connect the rotor intermediate connecting members 21 and 21 and the stator intermediate connecting member 5 through fixing members to which both ends of the wire 3 are fixed. The pre-pressure in the direction of the arrow in the figure can be applied.

(Module example 3)
Next, FIG. 3 is a cross-sectional view showing a main configuration of a module example 3 constituting an articulated robot which is an embodiment of the robot of the present invention.

  As shown in the figure, the module α3 according to the present module example 3 includes a stator flange 4 and a stator flange 4 as a fixing member to which one end of the wire 3 is fixed instead of the stator 1 in the module α1. There is a stator side wire fixing material 6 in which a stator flange 4 is separately suspended through another member at a position where the end surface of the stator 1 opposite to the rotor 2 contact end surface faces so as to face each other in parallel. Composed.

  At this time, the stator side wire fixing material 6 is suspended as another member in the suspension interval between the outer peripheral end portion of the stator flange 4 and the portion of the stator side wire fixing material 6 facing the outer peripheral end portion, for example. The members 7 and 7 are sandwiched, and the stator flange 4 and the stator-side wire fixing member 6 are fixed at a predetermined interval and suspended so as to be always separated. The module α3 is a joint robot in which a plurality of modules are connected. It can be employed as a termination module.

  Further, a stator intermediate wire transmitted from a stator-side wire fixing material 6 to which one end of the wire 3 is fixed and a fixing member (not shown) to which the other end is fixed by a wire 3 stretched with a predetermined tension. A preload in the direction indicated by the arrow in the figure can be applied via the connecting member 5.

  Although the module α3 in the present module example 3 has been described as having two stators 1 and 1A that sandwich the same rotor 2 in the same manner as the module α1, the present invention is not limited to this. If at least one stator 1A having a suspension member 7 mounted between the flange 4 and the stator side wire fixing member 6 is provided, for example, instead of the stator 1 and the rotor 2, the module α2 The rotor 2A having the rotor intermediate connecting member 21 described above may be provided.

(Module example 4)
FIG. 4 is a cross-sectional view showing a main configuration of a module example 4 constituting the joint robot which is an embodiment of the robot of the present invention.

  As shown in the figure, the module α4 according to the present module example 4 includes a stator flange 4 and a stator side wire fixing material 6 instead of the suspension material 7 of the stator 1A in the module α3. And a linear motion actuator that adjusts the tension of the wire 3 in an adjustable manner by adjusting the suspension interval to a predetermined interval, and can be employed as a terminal module of a joint robot in which a plurality of modules are connected. At this time, the wire 3 is good to be comprised with the elastic member from which the tension | tensile_strength can be adjusted by adjusting the expansion | extension amount.

  Here, the linear actuator includes, for example, female screw holes 4a and 4a penetrating the outer peripheral end of the stator flange 4 sandwiching the stator 1 therebetween, and the stator-side wire fixing member 6. The ball screw 7 driven by the servo motor 9 may be screwed and connected to the female screw holes 6a and 6a at positions corresponding to the female screw holes 4a and 4a of the stator flange 4 that are provided through the wire. The length of 3 is variably configured so that the preload applied to the stator 1B and the rotor 2 can be adjusted.

  Therefore, the length of the wire 3 can be kept constant with a small amount of energy supply, and the servo motor 9 need only be driven when the length of the wire 3 is changed. Although the servo motors 9 and 9 have been described as being installed on the stator flange 4 and rotationally driving the ball screw 8, the present invention is not limited to this and is installed on the stator side wire fixing material 6. Then, the ball screw 8 may be rotationally driven.

  The linear actuator is not limited to the one using the ball screw 8. For example, instead of the ball screw 8, for example, a hydraulic jack (not shown) that expands and contracts by driving the servo motors 9 and 9 is used as the stator flange 4. The configuration may be such that it is interposed between the stator side wire fixing member 6. In this case, the servo motors 9 and 9 function, for example, by extending and contracting the hydraulic jack to a predetermined length. The distance between the stator flange 4 and the stator side wire fixing member 6 can be controlled.

  Further, the wire 3 is stretched in a state in which the tip is fixed to the stator side wire fixing member 6 and a fixing member (not shown) to give a predetermined tension, and the tension of the wire 3 is connected to the stator intermediate connection. It can act as a preload in the direction indicated by the arrow in the figure through the material 5.

  Further, although the module α4 in the present module example 4 has been described as having two stators 1 and 1A that sandwich the same rotor 2 in the same manner as the module α1, the present invention is not limited to this. If it is provided with at least one 1B, for example, instead of the stator 1 and the rotor 2, the rotor 2A having the rotor intermediate connecting member 21 described in the module α2 is provided. It doesn't matter.

(Module example 5)
FIG. 5 is a cross-sectional view showing a main configuration of a module example 5 constituting an articulated robot which is an embodiment of the robot of the present invention. FIG. 5 (a) is a front cross-sectional view thereof, and FIG. Is a side sectional view thereof.

  As shown in FIGS. 4A and 4B, the module α5 according to this module example 5 is expanded to the upper end of the hollow hole 1a of the stator 1 in place of the outer spherical rotor 2 in the module α1. A rotor 2 ′ having a side-by-side external cylindrical shape that is in contact with the opening receiving opening 1 c on the peripheral side surface is provided, and the rotor 2 ′ has the columnar center of gravity A as a vertex in the same manner as the rotor 2. The bottom surface is opened from both the upper and lower directions of the peripheral side surface that becomes the opening ends B and B, and a through hole 2a is formed so that the wire 3 passes through the center of gravity A.

  Further, in the module α5, similarly to the modules α1 to α4, the opening end of the hollow hole 1a of the stator 1 and the opening end B of the through hole 2a of the rotor 2 ′ are disposed so as to face each other. For example, the rotation axis of the rotor 2 ′ coincides with the center line E in the longitudinal direction of the cylindrical shape, and the rotation of the rotor 2 ′ is uniaxial rotation about the rotation axis E. .

  The module α5 in the present module example 5 has been described as having two stators 1 and 1 sandwiching the same rotor 2 ′ in the same manner as the module α1, but is not limited to this. By replacing the α2 to α4 rotor 2 with the rotor 2 ′, each of the modules α1 to α4 having the outer cylindrical rotor 2 ′ can be configured.

  The modules α1 to α5 described above are combined in series so that both ends of the wire 3 can be fixed to the stator side wire fixing material 6 or the rotor side wire fixing material 22, or connected in series. By providing a fixing member capable of fixing both ends of the wire 3 in one module, a joint robot described below is configured.

(Robot example 1)
FIG. 6 is a cross-sectional view showing a configuration of a main part of the robot example 1 which is an embodiment of the robot of the present invention, with a part between broken lines and broken lines being omitted. α2, the rotor 2A of the module α2, and the stator 1B of the module α4 are connected in series, and the stator intermediate connection member 5 and the rotor intermediate connection between the adjacent modules α2 are also omitted in the broken line. The material 21 is connected in series.

  As shown in the figure, the articulated robot β1 according to this robot example 1 is a rotor intermediate connecting member 21 that protrudes from each rotor 2A of the module α2, and is opposed to each other in order and suspended the stator 1. The bottom plate portion 52 of the stator intermediate connection member 5 to be connected is continuously received and continuously repeated one after another, so that a predetermined number of modules α2 are connected in tandem with a plurality of wires 3 in series. Thus, it is configured to be able to bend joints.

  Here, the module α2 connected to the end of the joint robot β1 is inserted through the through hole 2a of the rotor 2 of the final rank directly connected to the hollow hole 1a of the stator 1 as a fixing member for fixing the tip of the wire 3, for example. And a rotor-side wire fixing member 22 that fixes the tip of the wire 3 and fixes the rotor intermediate connecting member 21 of the rotor 2.

  Further, the other end of the wire 3 is fixed to the stator side wire fixing member 6 of the stator 1B connected to the other end of the joint robot β1, so that the wire 3 is stretched with a predetermined tension. It is possible to apply a preload to the stator 1 and the rotor 2A of each module α2, α2,..., Α4, and to adjust the extension amount of the wire 3 by the linear actuator of the module α4. The pressure can be configured to be variable.

(Robot example 2)
Next, FIG. 6 shows a cross-sectional view showing a configuration of a main part of a robot example 2 which is an embodiment of the robot of the present invention, partially omitting a portion between the broken line and the broken line. The module α1 and the module α3 and the module α4 are connected in series to the end of the module α1, and the stator intermediate connecting members 5 and 5 between the adjacent modules α1 are opposed to each other in series even in a place omitted by a broken line. Concatenated.

  As shown in the figure, the articulated robot β2 according to this robot example 2 passes the pair of stators 1 suspended on the stator intermediate connection material 5 which is connected back to back by matching the connection bottom holes 5a and 5a. As a result of being connected to and built in multiple times, a predetermined number of modules α1 are connected in a daisy chain with a plurality of stepped wires 3 in series so that they can be articulated.

  Here, both ends of the wire 3 are fixed to the stator side wire fixing members 6 and 6 of the module α3 and the module α4 respectively connected to the end of the joint robot β2, thereby giving a predetermined tension. It is possible to apply a preload to the stators 1, 1,..., 1A, 1B and the rotors 2, 2,. In addition, since the extension amount of the wire 3 can be adjusted by the linear actuator of the module α4, the preload applied to each module α1, α1,..., Α3, α4 can be adjusted.

  As mentioned above, although the module examples 1-4 and the robot examples 1-2 were sequentially mentioned and demonstrated about embodiment of this invention, this invention is not necessarily limited only to the means mentioned above, It mentioned above. For example, the module α2 in which the rotor-side wire fixing material 22 is connected to the both ends of the wire 3 or the stator-side wire fixing material 6 can be changed within the effective range. When the modules α3 and α4 are fixed, the module α1 and the module α2 can be combined.

  Further, although the linear motion actuator that adjusts the length of the wire 3 to change the preload has been described, the linear motion actuator is not limited to one that is directly installed on the stator flange 4. It is also possible to connect a wire protection tube that covers the wire 3 by inserting the wire 3 into the connecting bottom hole 5a, and to install a linear actuator so that the tension of the wire 3 can be adjusted at the tip of the wire protection tube. In this case, the wire protection tube may be flexible, but preferably does not expand and contract in the tangential direction along the wire 3, and for example, a flexible tube or the like is suitable.

  Further, when the joint robots β1 and β2 are configured by one module, both ends of the wire 3 are configured to be fixed to the stator-side wire fixing material 6 of the stator 1A or the stator 1B, or the wire 3 is fixed to the stator-side wire fixing member 6 and the other end is fixed to the rotor-side wire fixing member 22 fixedly connected to the rotor intermediate connecting member 21 of the rotor 2A. A single-joint joint robot having a preload adjustment function can be configured by two modules.

It is sectional drawing which shows the principal part structure of the module example 1 which comprises the joint robot which is an embodiment of this invention robot. It is sectional drawing which shows the principal part structure of the module example 2 which comprises the joint robot which is embodiment example of this invention robot. It is sectional drawing which shows the principal part structure of the example 3 of a module which comprises the joint robot which is an embodiment of this invention robot. It is sectional drawing which shows the principal part structure of the example 4 of a module which comprises the joint robot which is embodiment example of this invention robot. It is sectional drawing which shows the principal part structure of the module example 5 which comprises the joint robot which is an embodiment example of this invention robot, The figure (a) is the front sectional drawing, The figure (b) is the side sectional drawing FIG. It is sectional drawing which shows the principal part structure of the robot example 1 which is an embodiment of the robot of this invention. It is sectional drawing which shows the principal part structure of the robot example 2 which is embodiment example of this invention robot.

Explanation of symbols

α1, α2, α3, α4, α5 ... Modules β1, β2 ... Articulated robots 1, 1A, 1B ... Stator 1a ... Hollow hole 1b ... Vibration end face 1c ... Seat 1d ... Friction material 11 ... For flexural vibration generation Piezoelectric (piezoelectric)
12, 13... Piezoelectric body for generating longitudinal stretching vibration (piezoelectric body)
14 ... Piezoelectric body for generating flexural vibration in the roll direction (piezoelectric body)
2, 2A, 2 '... Rotor 2a ... Through hole 2b ... Wire receiving ring 21 ... Rotor intermediate connection material 22 ... Rotor side wire fixing material 3 ... Wire 4 ... Stator flange 4a, 6a ... Female screw hole 5 ... Stator intermediate connecting member 51 ... Side peripheral part 52 ... Bottom plate part 5a ... Connection bottom hole 6 ... Stator side wire fixing member 7 ... Suspension member 8 ... Ball screw 9 ... Servo motor A ... Rotation center (center of gravity)
B ... Open end C ... Busbar D ... Corner E ... Centerline (rotary axis)

Claims (11)

An articulated robot equipped with an ultrasonic motor,
A hollow hole in which a piezoelectric body group and a stator flange with an outer peripheral end projecting on the outer periphery of the piezoelectric body group are laminated together, and the piezoelectric body group and the stator flange are vertically integrated to open at the center of both end faces. A stator of the ultrasonic motor formed with:
A rotor of the ultrasonic motor that is placed on the vibration end face of the stator and has a through hole formed through the extension of the hollow hole of the stator;
Two fixings through which the hollow hole of the stator and the through hole of the rotor are inserted in series, and both ends thereof are opposed to each other so as to transmit tension in cooperation with the stator and the rotor. A wire fixed to the member and stretched,
A joint robot characterized by that. The fixing member is
A stator-side wire fixing material in which the stator flange is suspended and arranged via another member at a position where the stator end surface opposite to the rotor contact end surface faces to face the stator flange in parallel with the stator flange. Is,
The joint robot according to claim 1. The other member is
It is composed of a linear motion actuator sandwiched between the outer peripheral end portion end face of the stator flange and the stator side wire fixing material,
The joint robot according to claim 2. The rotor is
It has an outer sphere shape,
With the spherical rotation center as a symmetric point, the bottom surface is opened from both the upper and lower directions so as to be open ends, and the through hole is formed so that the wire passes through the rotation center.
The joint robot according to claim 1, 2, or 3. The rotor is
It has a cylindrical shape on its side,
With the center of gravity of the cylindrical shape as a symmetric point, the bottom surface thereof is opened from both the top and bottom directions of the peripheral side surface so as to be open ends, and the through hole is formed so that the wire passes through the center of gravity.
The joint robot according to claim 1, 2, or 3. The ultrasonic motor is
The rotor is sandwiched symmetrically at the vibration end face, and includes the two stators inserted in series by the wire.
The joint robot according to claim 1, 2, 3, 4 or 5. The stator flange is
The lower half of the stator is suspended from a side peripheral portion made of the other member extending downward from the outer peripheral end portion along the lower half portion of the stator outer peripheral surface and a bottom plate portion facing the stator end surface. And having a stator intermediate connection material in which a connection bottom hole through which the wire is inserted is formed in the center part of the bottom plate portion of the hollow hole extension of the stator.
The joint robot according to claim 1, 2, 3, 4, 5, or 6. The rotor is
Having a rotor intermediate connecting material protruding on the rotor;
The joint robot according to claim 1, 2, 3, 4, 5, 6 or 7. The fixing member is
A rotor-side wire fixing material in which the tip of the wire inserted through the through-hole of the rotor of the last rank directly connected to the hollow hole of the stator is fixed and the rotor intermediate connection material of the rotor is fixed. Is,
The joint robot according to claim 8. The joint robot is
The rotor intermediate connecting material protruding from each rotor, the bottom plate portions of the stator intermediate connecting material facing each other in order and suspending the stator are successively received under the plurality of stages, By being sequentially continuous, a predetermined number of the ultrasonic motors are connected in a daisy chain with a plurality of stages of the wires in series, and configured to be able to be articulated.
The joint robot according to claim 8 or 9, wherein The joint robot is
A predetermined number of the ultrasonic motors are installed by connecting and connecting a pair of the stators suspended on the stator intermediate connection material, which are back-to-back by matching the connection bottom holes. It is configured to be able to bend multiple joints by connecting in a row with a plurality of stages of the wires in series,
The joint robot according to claim 7, 8, 9, or 10.

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