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WO2016068098A1 - Mécanisme d'entraînement en rotation dans des robots - Google Patents

Mécanisme d'entraînement en rotation dans des robots Download PDF

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Publication number
WO2016068098A1
WO2016068098A1 PCT/JP2015/080161 JP2015080161W WO2016068098A1 WO 2016068098 A1 WO2016068098 A1 WO 2016068098A1 JP 2015080161 W JP2015080161 W JP 2015080161W WO 2016068098 A1 WO2016068098 A1 WO 2016068098A1
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WO
WIPO (PCT)
Prior art keywords
shaft
rotation
support shaft
link portion
drive mechanism
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP2015/080161
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English (en)
Japanese (ja)
Inventor
正樹 永塚
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
THK Co Ltd
Original Assignee
THK Co Ltd
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
Priority claimed from JP2015208410A external-priority patent/JP6105024B2/ja
Application filed by THK Co Ltd filed Critical THK Co Ltd
Priority to DE112015004892.8T priority Critical patent/DE112015004892B4/de
Priority to US15/522,548 priority patent/US10576624B2/en
Priority to CN201580058754.5A priority patent/CN107073722B/zh
Publication of WO2016068098A1 publication Critical patent/WO2016068098A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints

Definitions

  • the present invention relates to a rotational drive mechanism for relatively rotationally driving members that are part of a robot.
  • FIG. 6 of Patent Document 1 discloses a joint structure of a leg portion of a robot. Specifically, a thigh located on the upper side of the leg and a lower leg located on the lower side are connected to the dish member so as to be rotatable. Each member is arranged so that the plate member, the thigh-side stopper, and the crus-side stopper come into contact with each other when the leg portion is in the most extended state. With such a configuration, when the robot extends its legs and stands upright, the stoppers and the dish members come into contact with each other due to the weight of the robot, so that the upright state of the robot can be maintained relatively stably. Is possible. Further, in order to maintain the contact state between the stopper and the plate member when standing upright, a configuration is also adopted in which springs are provided on the thigh side and the crus side, respectively, to apply an elastic force.
  • robot components In a configuration in which a plurality of members are rotatably connected by joints, such as legs and arms that are part of the robot (hereinafter referred to as “robot components”), the movable range of the robot is allowed. In order to widen as much as possible and increase its versatility, it is preferable that the rotation range of members at each joint is as wide as possible.
  • the rotation range of members at each joint is as wide as possible.
  • electrical components such as actuators, power cables and signal cables for driving each joint unit
  • Each member is also a structure having a certain size.
  • the movable range of each member is determined within the range where the outer surfaces defined by the respective sizes do not contact or interfere with each other. It is difficult to take a relatively wide range.
  • it is necessary to make a predetermined deformation such as going around the outer surface of each member at the interference location.
  • the structure of the skeleton and the arrangement of electrical components must be changed, which greatly reduces the degree of freedom in designing the robot.
  • the present invention has been made in view of the above-described problems, and is provided between two members that are relatively rotationally driven in a robot, and both members without greatly changing the shape of the outer surface of both members.
  • An object of the present invention is to provide a rotation drive mechanism that can take as wide a rotation range as possible.
  • the first member and the second member are configured to rotate freely in a configuration corresponding to a joint portion between the first member and the second member that relatively rotate.
  • the first link portion connected in such a manner and the second link portion that makes the inter-axis distance between the first support shaft on the first member side and the second support shaft on the second member side constant. Adopting the association configuration. As a result, a space for rotational driving can be secured between the first member and the second member, and interference between both members can be avoided.
  • the rotational drive mechanism is configured such that a first member and a second member, which are part of a robot, are relatively moved on a predetermined rotational drive surface by a linear motion actuator having a linear motion output shaft.
  • a rotational drive mechanism for rotationally driving wherein the output shaft of the linear actuator is connected, arranged to be rotatable with respect to the first member via the first rotational shaft, and second rotation A first link portion disposed so as to be rotatable with respect to the second member side via a shaft, wherein an inter-axis distance between the first rotation shaft and the second rotation shaft is A first link portion set at a predetermined distance enabling rotation of the first member and the second member on a predetermined rotation driving surface; and a first support shaft provided on the first member side; Connected to a second support shaft provided on the second member side, the first support shaft and the second support And a second link portion which the center distance constant between.
  • the predetermined rotational drive surface the first straight line connecting the first support shaft and the second support
  • the rotational drive mechanism is a mechanism for realizing relative rotational drive between the first member and the second member, and includes a first link portion and a second link portion.
  • a 1st link part is a link member connected so that a 1st member and a 2nd member may rotate freely via a 1st rotating shaft and a 2nd rotating shaft, respectively. Therefore, although the first member and the second member are driven to rotate relative to each other, the members are not directly connected so as to be rotatable relative to each other, but are connected via the first link portion.
  • the members are connected so as to be rotatable on different rotating shafts.
  • the rotation surface of each member corresponds to the predetermined rotation drive surface.
  • the first member that rotates about the first rotation shaft and the second member that rotates about the second rotation shaft are separated according to a predetermined distance that is the distance between the two rotation shafts. Since the space is formed, the first member and the second member are less likely to interfere with each other in the rotational drive on the predetermined rotational drive surface due to the existence of the separation space. Thereby, it is possible to realize relative rotational driving of the first member and the second member in a wider range.
  • both members are connected via the second link portion.
  • the second link portion is set so that the distance between the first support shaft provided on the first member side and the second support shaft provided on the second member side is constant.
  • These four axes are arranged so that a straight line connecting the first support shaft and the second support shaft intersects a straight line connecting the first rotation shaft and the second rotation shaft on a predetermined rotational drive surface.
  • the rotational drive mechanism when an output is applied from the linear actuator, for example, the first member is rotationally driven around the first rotational axis with respect to the first link portion. At this time, since the first member is connected to the second member via the second link portion, the second member is centered on the second rotation axis with respect to the first link portion in conjunction with the rotation of the first member. Therefore, relative rotation drive between the first member and the second member is realized.
  • a single linear actuator can realize relative rotational drive between the first member and the second member connected by two different rotational shafts.
  • the space volume required for the placement of the actuator can be reduced, and interference between both members can be avoided as much as possible.
  • the rotation range between the two members can be made as wide as possible without greatly changing the shapes of the outer surfaces of the first member and the second member.
  • a rotary drive mechanism that is provided between two members that are relatively rotationally driven in a robot and that can take as wide a rotational range as possible without greatly changing the shape of the outer surface of both members. be able to.
  • FIG. 1 is a front view of a robot to which a rotational drive mechanism according to the present invention is applied. It is a side view of the robot shown in FIG. It is a rear view of the robot shown in FIG. It is a figure which shows the state which removed the arm part and the drive unit in the robot shown in FIG.
  • FIG. 2 is an external view of a rotary drive mechanism according to a first embodiment, which is incorporated in the arm portion of the robot shown in FIG. 1. It is a 1st figure which shows the motion of the link member in the rotational drive mechanism shown in FIG. It is a 2nd figure which shows the motion of the link member in the rotational drive mechanism shown in FIG. It is a 3rd figure which shows the motion of the link member in the rotational drive mechanism shown in FIG.
  • FIG. 6 is a first external view of a rotary drive mechanism according to a second embodiment, which is incorporated in the arm portion of the robot shown in FIG. 1.
  • FIG. 10 is a second external view of the rotation drive mechanism according to the second embodiment, which is incorporated in the arm portion of the robot shown in FIG. 1.
  • FIG. 1 is a front view of the robot 10
  • FIG. 2 is a left side view of the robot 10
  • FIG. 3 is a rear view of the robot 10.
  • the traveling direction of the robot 10 is the positive direction of the x axis
  • the left hand direction when viewed from the robot 10 is the positive direction of the y axis
  • the antigravity direction of the robot 10 is the positive direction of the z axis
  • the x axis is the roll axis.
  • the y axis is the pitch axis
  • the z axis is the yaw axis. Therefore, rotation around the x axis is roll operation, rotation around the y axis is pitch operation, and rotation around the z axis is yaw operation.
  • the upward direction in the present embodiment is the positive z-axis direction, that is, the antigravity direction
  • the downward direction is the negative z-axis direction, that is, the gravitational direction
  • the horizontal direction is as viewed from the robot 10. It is the left-right direction
  • the y-axis positive direction is the left direction
  • the y-axis negative direction is the right direction.
  • the robot 10 is a humanoid robot and has a body imitating a human skeleton structure.
  • the backbone portion 14 extending in the z-axis direction in FIG. 1 and various bone portions 14a to 14d formed of sheet metal, which will be described later, are connected to the backbone portion 14 so as to support the backbone portion 14.
  • the skeleton structure of the upper body of the robot 10 (hereinafter simply referred to as “upper body skeleton structure”) is formed by the pelvis part 15 that supports the hip part 15 and the pelvis part 16 that supports the hip part 15 and is connected to a pair of legs of the robot 10 (not shown). ing. And the neck 13 of the robot 10 is connected to the spine 14, and the head 11 is further disposed thereon.
  • the head 11 is equipped with a camera 12 for photographing the outside.
  • a camera 12 for photographing the outside.
  • the robot 10 is provided with a drive unit 20 that controls the upper body of the robot 10 corresponding to the upper right body and the upper left body.
  • the front clavicle portion 14 a on the front side of the robot and the back clavicle portion 14 b on the back side of the robot are connected to the spine portion 14 at a portion located on the shoulder portion of the robot 10.
  • a front sternum portion 14c on the front side of the robot and a back sternum portion 14d on the back side of the robot are connected to the spine portion 14 at a portion located in the chest portion (a portion below the shoulder portion) of the robot 10.
  • the bone portions 14a to 14d and the spine portion 14 form a predetermined space on the left and right sides of the upper half of the robot 10 with the spine portion 14 interposed therebetween, and the drive units 20 are disposed in the left and right predetermined spaces, respectively.
  • the drive unit 20 is connected to each of the bone portions 14a to 14d.
  • the two drive units 20 are mounted in the robot 10. Since the bone portions 14a to 14d are formed of a flat metal plate with respect to the spine portion 14, the attachment of the drive unit 20 to the spine portion 14 is performed relatively elastically.
  • FIG. 4 shows a state in which the left arm 50 of the robot 10 and the corresponding upper left body driving unit 20 are integrally removed from the upper body skeleton structure of the robot 10.
  • the drive unit 20 is configured to be removable from the upper body skeleton structure of the robot 10 together with the corresponding arm unit 50, so that the assembly and maintenance of the robot 10 are preferably maintained.
  • the drive unit 20 includes an actuator for rotating the arm 50 and a transmission mechanism for transmitting the output of the actuator to the arm 50.
  • the drive unit 20 itself forms the core of the present invention. Since it is not a thing, the detailed description is abbreviate
  • FIG. 5 shows two arm members constituting the arm portion 50, which are joint portions that control the relative rotation of the first arm member 51 on the upper arm side and the second arm member 52 on the lower arm side, that is, the elbow joint.
  • FIG. 5 the description of the cover member covering each arm member shown in FIG. 1 and the like is omitted so that the configuration of the elbow joint portion 54 can be easily understood.
  • FIGS. 6 to 8 are views for explaining the movement of the first link portion 53 and the second link portion 55 that form the elbow joint portion 54.
  • the first arm member 51 and the second arm member 52 are shown in FIGS. 3 is a cross-sectional view showing the elbow joint 54 in a cross-section along the long axis direction of the arm 50.
  • the first arm member 51 has a pair of plate frames 51a along the long axis direction and a base frame 51b to which the pair of plate frames 51a are connected.
  • the second arm member 52 has a pair of plate frames 52a along the long axis direction and a base frame 52b to which the pair of plate frames 52a are connected.
  • the distance between the plate-like frames 52a on the second arm member 52 side is set to be substantially the same as the distance between the plate-like frames 51a on the first arm member 51 side.
  • the long axis direction opening side of the pair of plate frames 51a and the long axis direction opening side of the pair of plate frames 52a are arranged to face each other.
  • a space substantially surrounded by the pair of plate-like frames 51a and 52a and the base frames 51b and 52b is formed, and an actuator 57 for rotationally driving the elbow joint 54 in the enclosed space, and the actuator 57
  • the link mechanism for the elbow joint 54 corresponding to the rotational drive mechanism of the present invention for transmitting the output of the above to each arm member is housed.
  • the actuator 57 is a linear motion actuator having a servo motor, a main body, and an output shaft 57a that linearly moves in the axial direction of the actuator.
  • a spiral thread groove is formed on the outer peripheral surface of the output shaft 57a, and a ball screw nut (not shown) screwed into the thread groove of the output shaft 57a is only rotated around the axis line in the main body. It is stored in an allowed state. Since the servo motor is connected to the main body so as to rotate the ball screw nut, and the movement of the ball screw nut in the axial direction is restricted within the main body, the output shaft 57a is driven by the servo motor. Linear motion in the direction, that is, linear motion.
  • the output shaft 57 a of the actuator 57 is connected to the first link portion 53 of the first link portion 53 and the second link portion 55 that constitute the elbow joint portion 54.
  • the 1st link part 53 has the two wall parts 53a extended in the same direction from the both ends of the base 53c, as shown in FIG. 5, And the base 53c is connected so that both wall parts 53a may be connected. Is provided with a bridge 53b which is parallel to the.
  • the first link portion 53 is supported by a bearing so as to be rotatable with respect to the first arm member 51, and its rotation axis is represented by 61 and is referred to as a first rotation shaft 61.
  • first link portion 53 is supported by a bearing so as to be rotatable with respect to the second arm member 52, and its rotation axis is represented by 62 and is referred to as a second rotation shaft 62.
  • the first rotating shaft 61 and the second rotating shaft 62 are rotating shafts parallel to each other.
  • the output shaft 57a of the actuator 57 is connected to the bridge 53b so that the orientation with the first link portion 53 is variable, and the connection point is 57b (see FIGS. 6 to 8).
  • the actuator 57 is disposed between the pair of plate-like frames 51a of the first arm member 51.
  • the first link portion The actuator 57 is a bearing that is rotatable with respect to the first arm member 51, that is, the pair of plate frames 51a, so that the orientation of the output shaft of the actuator 57 is appropriately adjusted according to the posture of 53.
  • the rotation axis is supported by 56.
  • the rotating shaft 56 moves the actuator 57 to the first arm member 51 in accordance with the displacement of the connection point 57b between the output shaft 57a and the bridge 53b due to the rotation of the first link portion 53 around the first rotating shaft 61. It is for tilting properly.
  • the first link portion 53 configured as described above is a biaxial joint that rotatably connects the first arm member 51 and the second arm member 52 via the first rotating shaft 61 and the second rotating shaft 62, respectively.
  • first rotation shaft 61 and the second rotation shaft 62 is a predetermined distance
  • each of the first arm member 51 and the second arm member 52 rotating around each rotation shaft is , Placed in a situation where interference is difficult.
  • the output shaft 57 a of the actuator 57 is connected only to the first link portion 53 side, the output of the actuator 57 is not directly transmitted to the second arm member 62. Therefore, a second link portion 55 that connects the first arm member 51 and the second arm member 52 is provided.
  • the second link portion 55 is one of the link portions that form the elbow joint portion 54 as described above.
  • the second link portion 55 includes a first support shaft 63 provided so as to connect between the pair of plate frames 51 a of the first arm member 51, and a pair of plate frames of the second arm member 52. It connects with the 2nd support shaft 64 provided so that between 52a may be connected.
  • the first rotation shaft 61 is arranged such that the straight line connecting the first support shaft 63 and the second support shaft 64 intersects the straight line connecting the first rotation shaft 61 and the second rotation shaft 62.
  • the first support shaft 63 and the second support shaft 64 are arranged with respect to the second rotation shaft 62 and the first support shaft 63 and the second support shaft 64 are the first rotation shaft 61 and the second rotation shaft. 62 and an axis parallel to each other. Thereby, the rotation drive of the 1st arm member 51, the 2nd arm member 52, the 1st link part 53, and the 2nd link part 55 by the actuator 57 mentioned later is performed on the same rotation drive surface.
  • the second link portion 55 connects the first support shaft 63 and the second support shaft 64 with the link main body, thereby keeping the distance between the support shafts at a constant distance.
  • the elbow joint part 54 shown in FIG. 5 is formed. Then, the first support shaft 63 is inserted into the first link portion 53 in the axial length direction thereof, and the first guide through hole 53d through which the first support shaft 63 passes and the second support shaft 64 is inserted in the axial length direction thereof.
  • a second guide through hole 53e is formed (see FIGS. 6 to 8). More specifically, the first guide through hole 53d is provided in each of the two wall portions 53a of the first link portion 53, and the shape of the first link portion 53 is centered on the first rotation shaft 61.
  • the shape extends along the trajectory of the first support shaft 63 when it is rotated in the direction, and the length in the extending direction is the first predetermined length. Therefore, as shown in FIG. 6, for example, the first guide through hole 53d is a through hole having a finite length in the direction extending as the trajectory at the time of rotation. An end portion of the first guide through hole 53d exists. Therefore, the first support shaft 63 can move relative to the first link portion 53 only in the range in the extending direction of the first guide through hole 53d.
  • the second guide through hole 53e is provided in the base 53c of the first link portion 53, and the shape thereof is the second support shaft when the first link portion 53 rotates around the second rotation shaft 62.
  • the shape extends along the locus of 64, and the length in the extending direction is the second predetermined length. Therefore, as shown in FIG. 6, for example, the second guide through-hole 53e is a through-hole having a finite length in the direction extending as the locus at the time of rotation.
  • the end portion of the second guide through hole 53e exists. Therefore, the second support shaft 64 can move relative to the first link portion 53 only in the range of the extending direction of the second guide through hole 53e.
  • the first guide through hole 53d and the second guide through hole 53e correspond to the guide through hole according to the present invention.
  • FIG. 6 shows a state in which the arm portion 50 is extended straight, that is, a state in which the axial center of the first arm member 51 and the axial center of the second arm member 52 are positioned on a straight line on the rotational drive surface.
  • This state corresponds to the maximum extension state according to the present invention.
  • the output shaft 57a of the actuator 57 extends toward the first link portion 53, the second arm member 52 gradually rotates and bends with respect to the first arm member 51 (the state shown in FIG. 7). .
  • the second arm member 52 is most bent with respect to the first arm member 51, that is, the rotation inner side surface 51c of the first arm member 51 and the second arm.
  • a state is formed in which the angle formed by the rotation inner side surface 52c of the member 52 (hereinafter referred to as “bending angle”) is minimized.
  • bending angle the angle formed by the rotation inner side surface 52c of the member 52
  • the first arm member 51 and the second arm member 52 are in a state of extending straight.
  • the first support shaft 63 on the first arm member 51 side is in contact with the right end of the first guide through hole 53d in FIG. 6 (that is, the end near the second arm member 52). It has become.
  • the second support shaft 64 on the second arm member 53 side is in contact with the right end of the second guide through hole 53e in FIG. That is, in the maximum extension state, the first support shaft 63 and the second support shaft 64 abut against the end portions of the corresponding guide through holes 53d and 53e, and the movement is prevented. This is the state formed as the portion 50.
  • a point 57b is an extending direction of the output shaft 57a on the rotational drive surface (a direction indicated by a one-dot chain line in FIG. 6).
  • a perpendicular line from the first rotation shaft 61 to the one-dot chain line is indicated by a broken line in the drawing. The same applies to FIGS. 7 and 8 to be described later.
  • the movable range is located on the left side with respect to the first rotation shaft 61. Note that the movable range is such that, in the maximum extension state shown in FIG.
  • connection point 57b is one end thereof (the end on the left side of the intersection of the broken line and the alternate long and short dash line, in other words, the first rotation shaft 61 On the other hand, it is located on the first arm member 52 side, and in the maximum bent state shown in FIG. 8 to be described later, the connection point 57b is the other end (the end on the right side from the intersection of the broken line and the dashed line In other words, it is a range in which the connection point 57b specified by being located on the right side of the first rotation shaft 61 can be displaced. Therefore, the connection point 57b is configured to be displaced on both the left and right sides of the first rotation shaft 61 along the extending direction of the output shaft 57a on the rotation driving surface.
  • the inclination of the actuator 57 with respect to the first arm member 51 can be made as small as possible. It becomes easy to make the one arm member 51 compact and to avoid interference between the first arm member 51 and the second arm member 52 during bending.
  • the output shaft 57a jumps out to the first link portion 53 side by driving the actuator 57, and the connection point 57b approaches the broken line in the figure. Then, when looking at the first arm member 51 as the center, the first link portion 53 rotates clockwise around the first rotation shaft 61 as shown in FIG. At this time, as described above, the four straight lines connecting the first support shaft 63 and the second support shaft 64 intersect with the straight line connecting the first rotation shaft 61 and the second rotation shaft 62. Since the shaft is disposed and the first support shaft 63 and the second support shaft 64 are connected by the second link portion 55, when the first link portion 53 rotates clockwise, the second arm member 52 On the other hand, a clockwise rotation moment about the second rotation shaft 62 acts.
  • the bending angle gradually closes.
  • the bending angle is approximately 90 degrees.
  • the first support shaft 63 is positioned approximately at the center of the extension length of the first guide through hole 53d
  • the second support shaft 64 is the extension length of the second guide through hole 53e. It is located in the middle part of
  • the position of the connection point 57b between the output shaft 57a of the actuator 57 and the bridge 53b is on the broken line in the drawing, and is compared with the position shown in FIG. Move upward.
  • the actuator 57 is attached so as to be tiltable with respect to the first arm member 51 around the rotation shaft 56, for example, as shown in FIG. 7, the connection point 57b moves upward. Even if it does, provision of the output from the actuator 57 to the 1st link part 53 is continued suitably.
  • the elbow joints 54 of the first arm member 51 and the second arm member 52 configured as described above correspond to the first arm member 51 and the second arm member 52 corresponding to the first link portion 53, respectively.
  • the rotary shaft 61 and the second rotary shaft 62 are connected. Since the inter-axis distance between the first rotating shaft 61 and the second rotating shaft 62 is set to a predetermined distance, an area where the rotation ranges of the arm members around the rotating shafts interfere with each other is allowed. It can be made as small as possible. As a result, as shown in FIG. 8, the maximum bending angle at the arm portion 50 can be made as small as possible without greatly changing the shapes of the outer surfaces of the first arm member 51 and the second arm member 52.
  • first arm member 51 and the second arm member 52 are connected by the second link portion 55, so that the first arm member 51 and the second arm member 51 that are biaxially coupled by the single linear actuator 57 are connected.
  • the relative rotational drive of the two-arm member 52 is realized. Thereby, the space volume which the actuator for the rotational drive of both arm members occupies can be made small.
  • connection point 57b and the first support shaft 63 are straight lines connecting the first rotation shaft 61 and the second rotation shaft 62 on the rotational drive surface. Is located on the same side.
  • the connection point 57 b is displaced from the state shown in FIG. 6 to the state shown in FIG. 8, the second link portion 55 rotates clockwise, and a straight line connecting the first rotating shaft 61 and the second rotating shaft 62.
  • the straight line which connects the 1st support shaft 63 and the 2nd support shaft 64 is comprised so that it may cross
  • the second link portion In the relative rotational drive of the first arm member 51 and the second arm member 52, the second link portion is in the maximum extended state where the arm portion 50 is extended most and the maximum bent state where the arm portion 50 is bent most. At least one of the first support shaft 63 and the second support shaft 64 to which 55 is connected is in contact with the end portion of the corresponding guide through hole.
  • a stopper that mechanically limits the range of relative rotational driving of the first arm member 51 and the second arm member 52. In other words, even with an easy stopper configuration, It is possible to appropriately suppress inconveniences in the relative rotational driving of the first arm member 51 and the second arm member 52, for example, the rotational collision between the first arm member 51 and the second arm member 52.
  • FIG.9 shows a state in which the arm portion 50 is placed in the maximum extended state as in FIG. 6
  • FIG. 10 shows a state in which the arm portion 50 is placed in the maximum bent state as in FIG. .
  • components that basically correspond to the components shown in FIGS. 6 to 8 are given the same reference numerals, and detailed descriptions thereof are omitted.
  • connection point 57b is connected to the output shaft 57a on the rotational drive surface as shown in FIG.
  • the connection point 57b is connected to the output shaft 57a on the rotational drive surface as shown in FIG.
  • the movable range along the extending direction (the direction indicated by the alternate long and short dash line in FIGS. 8 and 9, and the perpendicular to the alternate long and short dash line from the first rotation axis 61 is indicated by the broken line in the figure). It is located on the right side with respect to the shaft 61.
  • the movable range is such that, in the maximum extension state shown in FIG. 9, the connection point 57b is one end thereof (the end on the right side of the intersection of the broken line and the alternate long and short dash line, in other words, the first rotation shaft 61 On the other hand, it is located on the second arm member 52 side, and in the maximum bent state shown in FIG. 10 described later, the connection point 57b is the other end (the end on the left side from the intersection of the broken line and the dashed line In other words, it is the range in which the connection point 57b specified by being located on the first rotating shaft 61 and located on the first arm member 51 side can be displaced.
  • connection point 57b is configured to be displaced on both the left and right sides of the first rotation shaft 61 along the extending direction of the output shaft 57a on the rotation driving surface.
  • connection point 57b is at the left side of the broken line in the drawing, that is, at the leftmost end of the movable range. Located and the maximum bent state is formed.
  • connection point 57b and the first support shaft 63 sandwich the straight line connecting the first rotation shaft 61 and the second rotation shaft 62 on the rotational drive surface. Each is located on the opposite side.
  • connection point 57 b is displaced from the state shown in FIG. 9 to the state shown in FIG. 10
  • the second link portion 55 rotates counterclockwise and connects the first rotary shaft 61 and the second rotary shaft 62.
  • the straight line and the straight line connecting the first support shaft 63 and the second support shaft 64 are configured to intersect each other.
  • the actuator 57 can obtain favorable friction characteristics in a specific linear motion direction of the output shaft 57a
  • the linear motion direction of the output shaft is determined in consideration of the friction characteristics, and then the rotational drive in that case
  • the arrangement of the connection points 57b and the first support shafts 63 on the surface based on the above disclosure, it is possible to form the elbow joint portion 54 having a wide rotational drive range.
  • FIGS. 11 shows the arm portion 50 in the maximum extended state
  • FIG. 12 shows a state in which the second arm member 52 is driven to rotate relative to the first arm member 51 to some extent from the maximum extended state. That is, it shows a bent state.
  • the second link portion 55 forming the elbow joint portion 54 is disposed so as to be sandwiched between the two wall portions 53 a of the first link portion 53, and the elbow joint portion 54.
  • the device itself is housed in a space between the plate-like frame 51 a of the first arm member 51 and the plate-like frame 52 a of the second arm member 52.
  • the second link portion 55 that forms the elbow joint portion 54 is formed as a side plate on the side surface that is outside the space and orthogonal to the rotation inner side surfaces 51c and 52c.
  • the second link portion 55 formed as a side plate does not exist at a position where it interferes with the rotation inner side surfaces 51c and 52c even when the arm portion 50 is bent as shown in FIG. It becomes.
  • the second link portion 55 as a side plate is connected to the first support shaft 63 and the second support shaft 64, and the first support shaft 63 and the second support shaft are connected.
  • 64 is inserted into guide through holes 53d and 53e (not shown in FIGS. 11 and 12) provided in the first link portion 51 corresponding to the respective support shafts, as in the first embodiment. It is in the state.
  • the connection between the first link portion 51 and the first arm member 51 and the second arm member 52 via the rotation shafts 61 and 62 is the same as that of the first embodiment, but each of the rotation shafts 61. 62 are located below the second link portion 55 as a side plate, and are not shown in the state shown in FIGS.
  • the correlation between the contact state between the end portion of each guide through hole and each support shaft and the posture of the arm portion 50 (that is, the maximum extended state and the maximum bent state) is the same as in the first embodiment. Therefore, detailed description thereof is omitted.
  • the second link portion 55 is a side plate in this way, the shape of the outer surface of the first arm member 51 and the second arm member 52 is greatly changed as in the first embodiment. Therefore, the maximum bending angle of the arm portion 50 can be made as small as possible, and a stopper that mechanically limits the range of relative rotational driving of the first arm member 51 and the second arm member 52 can be easily formed. It becomes possible to do.
  • the elbow joint portion 54 in the arm portion 50 is exemplified as the rotational drive mechanism according to the present invention.
  • the knee joint portion in the leg portion of the robot 10 that is, the leg portion is the upper leg portion.
  • the present invention may be applied to a knee joint part for rotationally driving the upper leg part and the lower leg part. Further, the present invention can also be applied to other joint portions, that is, members constituting the robot and connecting members that are relatively rotationally driven.

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

Abstract

L'invention concerne un mécanisme d'entraînement en rotation pour entraîner en rotation, sur une face d'entraînement en rotation prescrite, un premier élément et un second élément, qui sont des parties d'un robot, l'un par rapport à l'autre par l'intermédiaire d'un actionneur linéaire ayant un arbre de sortie de mouvement linéaire. Le mécanisme d'entraînement en rotation comprend : une première unité de liaison qui est reliée à l'arbre de sortie, qui est disposée de façon à tourner librement par rapport au premier élément par l'intermédiaire d'un premier arbre rotatif, et qui est disposée de façon à tourner librement par rapport au côté de second élément par l'intermédiaire d'un second arbre rotatif ; et une seconde unité de liaison qui est reliée à un premier arbre de support situé sur le côté de premier élément et un second arbre de support qui est situé sur le côté de second élément, et qui maintient une distance constante entre les axes du premier arbre de support et du second arbre de support. De plus, les arbres sont disposés de telle sorte que la ligne droite reliant le premier arbre de support au second arbre de support coupe la ligne droite reliant le premier arbre rotatif au second arbre rotatif. Ainsi, la plage de rotation entre les deux éléments peut être rendue aussi grande que possible sans provoquer de changements significatifs de la forme de la surface extérieure des deux éléments dans un robot entraînés en rotation l'un par rapport à l'autre.
PCT/JP2015/080161 2014-10-28 2015-10-27 Mécanisme d'entraînement en rotation dans des robots Ceased WO2016068098A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
DE112015004892.8T DE112015004892B4 (de) 2014-10-28 2015-10-27 Drehantriebsmechanismus in einem Roboter
US15/522,548 US10576624B2 (en) 2014-10-28 2015-10-27 Rotational driving mechanism in a robot
CN201580058754.5A CN107073722B (zh) 2014-10-28 2015-10-27 机器人中的旋转驱动机构

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2014219175 2014-10-28
JP2014-219175 2014-10-28
JP2015-208410 2015-10-22
JP2015208410A JP6105024B2 (ja) 2014-10-28 2015-10-22 ロボットにおける回転駆動機構

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WO2016068098A1 true WO2016068098A1 (fr) 2016-05-06

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12064875B2 (en) 2016-10-20 2024-08-20 Mitsubishi Electric Corporation Robot

Citations (4)

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Publication number Priority date Publication date Assignee Title
JP2004141976A (ja) * 2002-10-22 2004-05-20 Honda Motor Co Ltd ロボットの関節構造
JP2008307310A (ja) * 2007-06-18 2008-12-25 Hitachi Ltd マニピュレータおよびこれを用いたマニピュレータ装置
WO2012042949A1 (fr) * 2010-09-30 2012-04-05 オリンパス株式会社 Mécanisme d'articulation souple, instrument chirurgical possédant ce mécanisme d'articulation souple, et manipulateur possédant ce mécanisme d'articulation souple
US20130263685A1 (en) * 2010-06-10 2013-10-10 Mark Doyle Flexible wrist-type element

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004141976A (ja) * 2002-10-22 2004-05-20 Honda Motor Co Ltd ロボットの関節構造
JP2008307310A (ja) * 2007-06-18 2008-12-25 Hitachi Ltd マニピュレータおよびこれを用いたマニピュレータ装置
US20130263685A1 (en) * 2010-06-10 2013-10-10 Mark Doyle Flexible wrist-type element
WO2012042949A1 (fr) * 2010-09-30 2012-04-05 オリンパス株式会社 Mécanisme d'articulation souple, instrument chirurgical possédant ce mécanisme d'articulation souple, et manipulateur possédant ce mécanisme d'articulation souple

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12064875B2 (en) 2016-10-20 2024-08-20 Mitsubishi Electric Corporation Robot
US12233546B2 (en) 2016-10-20 2025-02-25 Mitsubishi Electric Corporation Robot

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