WO2006064625A1 - ロボットの関節構造 - Google Patents
ロボットの関節構造 Download PDFInfo
- Publication number
- WO2006064625A1 WO2006064625A1 PCT/JP2005/020932 JP2005020932W WO2006064625A1 WO 2006064625 A1 WO2006064625 A1 WO 2006064625A1 JP 2005020932 W JP2005020932 W JP 2005020932W WO 2006064625 A1 WO2006064625 A1 WO 2006064625A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- motor
- robot
- joint structure
- rotating body
- output shaft
- Prior art date
Links
- 230000033001 locomotion Effects 0.000 claims abstract description 35
- 230000002093 peripheral effect Effects 0.000 claims description 8
- 238000010276 construction Methods 0.000 claims 1
- 210000000707 wrist Anatomy 0.000 description 23
- 230000007246 mechanism Effects 0.000 description 15
- 239000003638 chemical reducing agent Substances 0.000 description 11
- 239000000758 substrate Substances 0.000 description 3
- 210000003857 wrist joint Anatomy 0.000 description 3
- 230000009467 reduction Effects 0.000 description 2
- 238000004904 shortening Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 210000000544 articulatio talocruralis Anatomy 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/27—Arm part
- Y10S901/28—Joint
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20317—Robotic arm including electric motor
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20323—Robotic arm including flaccid drive element
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20329—Joint between elements
- Y10T74/20335—Wrist
Definitions
- the present invention relates to a joint structure of a robot, and more particularly to a joint structure of a robot that can shorten a link length.
- a first motor and a second motor for vertical and horizontal swinging operations are arranged along the axis of an arm (link), respectively, and are fed.
- the wrist By converting the rotational movement of each motor into a linear movement using screws, the wrist can be swung vertically or horizontally.
- a third motor is placed on the axis of the arm to allow the wrist to be twisted so that the wrist can be operated with three degrees of freedom.
- the present invention relates to a joint structure of a robot that operates a coupled body coupled to a robot link.
- the joint structure of the robot is such that the combined body is connected to the robot link.
- a first motor that performs a vertical swing operation and a second motor that performs a horizontal swing operation of the combined body are provided.
- the first motor and the second motor are configured such that the output shaft of the first motor and the output shaft of the second motor are parallel to each other and orthogonal to the robot link. It is preferred to be installed in!
- Coupled body refers to a coupling member such as a hand or an arm that is coupled to a robot link via a joint, and includes an intermediate member such as a link in addition to a terminal member coupled to the link. .
- the motor since the motor is arranged so that the output shaft of the first motor that performs the vertical swing operation and the output shaft of the second motor that performs the horizontal swing operation are parallel to each other,
- the second motor can be stored compactly.
- the output shaft of the first motor and the second motor are housed in a direction perpendicular to the robot link.
- the space efficiency in the longitudinal direction of the robot link can be increased and the link length can be shortened.
- the present invention further includes a third motor for causing the robot link to perform a twisting operation of the combined body, and the output shaft of the third motor has a central axial force for the twisting operation. I prefer to be shifted by a certain amount.
- the third motor force for performing the torsional operation of the combined body is enabled while the three-axis operation of the third motor is enabled, and the center axial force for the torsional operation is shifted by a predetermined amount.
- a new space can be secured in the vicinity of the central axis of operation.
- this space can be used effectively for the passage of noise, etc., so that the joint structure of the robot link can be made compact as a whole.
- a movable cover that can be rotated with respect to at least one of the combined body and the robot link, and between at least one of the combined body and the robot link and the movable cover. It is preferable to include an elastic member that generates a force and returns the movable cover to a predetermined position.
- FIG. 1 is a perspective view showing an overall configuration of a joint structure of a robot according to an embodiment of the present invention.
- FIG. 2 is an exploded perspective view for explaining the overall mechanism of the three-axis operation of the joint structure of the robot according to the embodiment of the present invention.
- FIG. 3 is a partially enlarged perspective view seen from below in FIG. 1 for explaining the vertical swing mechanism of the joint structure of the robot according to the embodiment of the present invention.
- FIG. 4 is a partially enlarged perspective view seen from above in FIG. 1 for explaining the horizontal swing mechanism of the joint structure of the robot according to the embodiment of the present invention.
- FIG. 5 (a) Force (c) is a front view of the wrist for explaining the vertical swing motion of the joint structure of the robot according to the embodiment of the present invention, and (d) to (f) are horizontal swing motions. It is a top view of the wrist part for demonstrating.
- FIG. 6 is a partially enlarged perspective view of FIG. 1 for explaining the torsion mechanism of the joint structure of the robot according to the embodiment of the present invention.
- FIG. 7 is a view for explaining a mounting state of the movable cover of the joint portion of the joint structure of the robot according to the embodiment of the present invention.
- FIG. 8 is a perspective view for explaining the structure of the movable cover of the joint part of the joint structure of the robot according to the embodiment of the present invention.
- the joint structure of the robot according to the present invention will be described by taking the wrist joint structure of a humanoid robot as an example, but the present invention is not limited to this. It can be an ankle joint of a robot or a link of an industrial robot. May be.
- the hand side in FIG. 1 is referred to as the front side
- the elbow side is referred to as the rear side
- the upper side is referred to as the upper side
- the lower side is referred to as the lower side.
- FIG. 1 is an explanatory diagram for explaining the joint structure of the robot according to the present embodiment.
- a hand 51 that is a combined body of parts constituting the hand
- a wrist 52 that rotatably connects the hand 51 and the arm 53
- an arm 53 that is a robot link
- an elbow 54 is provided.
- the joint structure of the robot according to the present embodiment is the joint structure of the wrist 52 of the humanoid robot.
- This joint structure includes a first motor 10 that performs a vertical swing motion of the hand 51, a second motor 20 that performs a horizontal swing motion of the hand 51, a third motor 30 that performs a twist motion of the hand 51, and a wrist.
- the movable cover 40 is configured to cover 52 joint portions.
- the first motor 10 swings the hand 51 around the first axis orthogonal to the central axis of the arm 53.
- the second motor 20 swings the hand 51 around the second axis orthogonal to the first axis on the central axis of the arm 53.
- the third motor 30 rotates the hand 51 around the central axis of the arm 53.
- the central axis of the arm 53 is an axis extending in the longitudinal direction of the arm 53 through the central portion of the arm 53.
- the central axis of the arm is also referred to as a rotational axis for twisting the hand.
- the first motor 10 and the second motor 20 are arranged side by side on the left and right of the central axis of the arm 53 so as to be parallel to each other.
- the first motor 10 and the second motor 20 are arranged so that the direction force of the output shaft is directed in the vertical direction.
- the first motor 10 is on the right side of the central axis of the arm 53.
- the third motor 30 is disposed on the rear side (close to the elbow) of the first motor 10 and the second motor 20 with its output shaft shifted to the right from the rotational shaft of the hand twisting operation.
- the joint structure of the wrist of the robot includes a vertical rotating body 1 for a vertical swing operation, a horizontal rotary body 2 for a horizontal swing operation, and a vertical rotary body.
- a motor base 3 and a driving pulley 35 are connected to 1 and the horizontal rotating body 2 to perform a twisting operation.
- the vertical rotary body 1 and the horizontal rotary body 2 are arranged at the front end of the arm 53, and the rear part of the vertical rotary body 1 and the horizontal rotary body 2 is connected to the first motor 10 installed side by side on the motor mount 3.
- a second motor 20 is arranged.
- the motor mount 3 is integrally fixed to a driving pulley 35 that is pivotally supported by a rib 36.
- the vertical rotating body 1 includes a substrate la having a circular central portion, side brackets lbl and lb2 erected on the left and right sides of the substrate la, and the side bracket lbl. , 1b2, bearings ldl, ld2, an arm lc formed by extending the lower force of the substrate la obliquely downward, and a connecting pin 4 serving as a hinge of the arm lc.
- the horizontal rotating body 2 is integrally formed in a U-shape by an upper link 2a, a lower link 2b, and a right frame 2c2, and the ends on the open side of the U-shape are connected to the left frame. Connected with 2cl, it is configured in a rectangular shape with a large central part. Therefore, it is also possible to dispose an accessory component such as a harness in the penetrating central portion.
- the upper link 2a and the lower link 2b are respectively formed with center holes 2d and 2d 'into which the lateral pivot shafts 6 and 6' serving as pivot points for the horizontal swing motion are inserted.
- 2c2 are formed with longitudinal pivot shafts 5 and 5 'projecting inward, which serve as pivot points for the longitudinal swing motion.
- the line segment connecting the horizontal rotation axes 6 and 6 ′ corresponds to the second axis
- the line segment connecting the vertical rotation axes 5 and 5 ′ corresponds to the first axis.
- the vertical rotation shaft 5 formed in the left frame 2cl is provided with a through hole 2e, and a harness guide 5a is fitted into the through hole 2e.
- the vertical rotating body 1 is pivotally supported by the left and right frames 2cl and 2c2 of the horizontal rotating body 2 so as to be rotatable.
- the vertical rotating body 1 is pivotally supported on the vertical rotating shafts 5 and 5 ′ formed on the left and right frames 2cl and 2c2 of the horizontal rotating body 2 through the bearings ldl and ld2, so that the vertical rotating body 1 It will be a swinging action.
- the motor mount 3 is formed in a substantially U-shape including an upper flange 3a and a lower flange 3b arranged in parallel and a mounting plate 3c connecting them.
- Center holes 3d and 3d ' serving as the central axes of the horizontal swing operation are formed at the end portions of the upper flange 3a and the lower flange 3b on the hand side.
- the center holes 3d and 3d ' are provided so as to penetrate vertically, and bearings 3e and 3e' for supporting the lateral rotation shafts 6 and 6 'are built in the center holes 3d and 3d'.
- the lateral rotation shaft 6 is directly screwed into the upper link 2a, and the lateral rotation shaft 6 'is fixed to the lower link 2b by a set screw 6'.
- a second motor mounting seat 3a is formed on the rear part (elbow side) of the upper flange 3a so as to project to the left side, and the first motor is projected on the right side of the rear part (elbow side) of the lower flange 3b.
- a mounting seat 3b ' is formed. That is, the second motor mounting seat 3a ′ and the first motor mounting seat 3b ′ extend in opposite directions.
- a second motor 20 is installed on the second motor mounting seat 3a with mounting bolts 8 so that the speed reducer 21 is located on the upper side, and a speed reducer (not shown) is installed on the first motor mounting seat 3b ′.
- the first motor 10 is installed so that
- the vertical rotating body 1 is connected to the left frame 2cl and the right frame 2c2 of the horizontal rotating body 2 so as to be rotatable around the vertical rotating shafts 5, 5 '. Therefore, the vertical rotating body 1 can swing vertically.
- the horizontal rotating body 2 is connected to the motor mount 3 so as to be rotatable around the horizontal rotating shafts 6 and 6 ′, the horizontal rotating body 2 can be swung horizontally.
- the motor mount 3 is integrally fixed to the drive-side pulley 35 rotatably supported on the rib 36 as described above (see FIG. 1), the rotation of the motor mount 3 is performed. Thus, the torsional motion of the motor mount 3 becomes possible.
- the vertical swing mechanism includes a first motor 10 as a drive source, a swing lever 12 connected to the speed reducer 11 of the first motor 10, and a swing lever 12 connected to the swing lever 12. Consists of a spherical joint 13 and a longitudinal rotating body 1 connected to the spherical joint 13! RU
- the first motor 10 is arranged on the right side of the central axis of the arm and is connected to the output shaft of the first motor 10! And is installed on the motor mount 3 so that the speed reducer 11 is on the lower side.
- a base 12a of the swing lever 12 is integrally fixed to the speed reducer 11 of the first motor 10, and a spherical bearing 13a having a centering function is provided at the distal end 12b of the swing lever 12.
- One end side of the spherical joint 13 is rotatably connected via the.
- the other end of the spherical joint 13 is rotatably connected to the connecting pin 4 installed on the arm lc of the vertical rotating body 1 through the spherical bearing 13b.
- a spherical joint is used, but the present invention is not limited to a spherical joint, and may be a universal joint or the like! /.
- the horizontal swing mechanism includes a second motor 20 as a drive source and a swing lever integrally connected to the output side of the speed reducer 21 of the second motor 20. 22 and this swing lever
- a rod 23 is rotatably connected to the rod 22, and a laterally rotating body 2 is rotatably connected to the rod 23.
- the second motor 20 is disposed on the left side of the center axis of the arm, and is installed on the motor mount 3 so that the output side of the speed reducer 21 connected to the output shaft of the second motor 20 is on the upper side.
- the base side 22a of the swing lever 22 is fixed to the output shaft of the speed reducer 21 of the second motor 20, and the one end side 23a of the rod 23 rotates around the tip side 22b of the swing lever 22. It is connected freely.
- the other end side 23b of the rod 23 is rotatably connected to the upper link 2a of the horizontal rotator 2.
- the rotation of the output shaft of the second motor 20 is transmitted to the speed reducer 21 and converted to the swing motion of the swing lever 22. Is done. Then, this oscillating motion is transmitted to the horizontal rotator 2 via the rod 23 to rotate the horizontal rotator 2 about the horizontal rotation shafts 6, 6 ′.
- the hand 51 is connected to the horizontal rotating body 2 through the vertical rotating body 1. Therefore, the hand 51 can be swung by the rotation of the horizontal rotating body 2.
- the vertical swing mechanism and the horizontal swing mechanism are configured by using a link mechanism with a lever or a joint.
- the present invention is not limited to this aspect, such as a gear or a belt. Various means can be used.
- the torsion mechanism is fixed to the output shaft of the third motor 30 as a drive source, the base 31 for fixing the third motor 30, and the speed reducer 32 of the third motor 30.
- the output side pulley 33, the belt 34, the drive side pulley 35, and the rib 36 are provided.
- the third motor 30 is arranged such that its output shaft is shifted to the right in parallel with the rotational shaft of the twisting operation (the rotational shaft of the driving pulley 35).
- a reduction gear 32 is connected to the output shaft of the third motor 30, and an output side pulley 33 is fixed to the reduction gear 32.
- the belt 34 is wound around the output pulley 33 and the outer peripheral surface of the drive pulley 35 so that the rotation of the output pulley 33 is transmitted to the drive pulley 35. Therefore, the drive side pulley 35 is configured to rotate according to the rotation of the output side pulley 33.
- the driving pulley 35 is formed in a cylindrical shape, and a large cavity 35a is formed on the inner peripheral side. Further, flanges 35bl and 35b2 are formed at both ends of the outer periphery of the driving pulley 35 to guide the rotation of the belt 34.
- the drive pulley 35 is pivotally supported via a bearing or the like, not shown, on a rib 36 formed in the direction of the cross section of the arm 53.
- the rotation of the third motor 30 is decelerated and transmitted from the output side pulley 33 to the driving side pulley 35 via the belt 34, and the driving side pulley 35 is rotated.
- a motor mount 3 is fixed to the front (hand end) end surface of the drive pulley 35. Therefore, the hand 51 connected to the horizontal rotator 2 and the vertical rotator 1 is twisted by rotating the motor mount 3 via the drive pulley 35.
- the joint structure of the robot in the present embodiment includes a wrist cover 41 fixed to the hand 51, an arm force bar 42 forming the outer shell of the arm 53, and both of them connected to each other. And a movable cover 40 interposed therebetween.
- the movable cover 40 is attached to the outer peripheral surface of the wrist cover 41 as shown in FIG. Yes.
- the movable cover 40 is locked to the wrist cover 41 using locking protrusions 41a (for example, six locking protrusions) provided around the wrist cover 41. Therefore, the movable cover 40 is formed in a short cylindrical shape so as to cover the outside of the wrist cover 41, and the outer peripheral surface 40a has a curvature in the front-rear direction, and the curvature is larger on the elbow side than on the elbow side. It is slightly smaller.
- FIG. 7 shows the left side of the central axis of the arm 53 (see FIG. 1), but the right side has the same configuration.
- the movable cover 40 is configured by integrally connecting an upper movable cover 401 and a lower movable cover 402, which are divided into two vertically, with a screw 44. .
- flat surfaces 40d and 40d are formed on both sides of the movable cover 40 along the axial direction of the screw 44 on the outer sides of the peripheral portions 40c and 40c on the elbow side of the movable cover 40 with the dividing surface of the movable cover 40 as a boundary. Yes.
- a spring stopper 40b is provided inside the peripheral portions 40c, 40c on the elbow side of the movable cover 40.
- the spring stocko 40b has a triangular shape in a front view, and is provided in a state of protruding from the flat surfaces 40d and 40d toward the hand side.
- the spring stocko 40b is formed with an opening 40bl in which the torsion coil spring 43 is accommodated.
- a torsion coil spring 43 is used as an example of the “elastic member”, and the movable cover 40 is fixed to the wrist cover 41 via the torsion coil spring 43 so as to be freely rotatable. ing.
- the torsion coil spring 43 has a center portion and an end portion, and the center portion 43a is wound in a coil shape.
- two torsion coil springs 43 are used, and the end portions 43b and 43b are extended from the center portions 43a and 43a so as to extend in a U-shape.
- the central portions 43a, 43a of the torsion coil springs 43, 43 are inserted into and supported by the knob 41b formed on the wrist cover 41, and the torsion coilers 43, 43, 43c, 43c force S
- the power bar 40 is configured to abut against the flat surfaces 40d and 40d of the power bar 40 in a state of being biased toward the hand side elbow.
- the torsion coil springs 43, 43 have a sandwich angle formed by the respective end portions 43b, 43b.
- An elastic repulsive force (biasing force) is applied in the closing direction to press the back surface of the flat surface 40d, 40d with the curled portions 43c, 43c, and the inner peripheral surface of the movable cover 40 is formed on the wrist cover 41.
- the force using the torsion coil spring 43 is not limited to this, and may be a compression coil spring, a rubber string, or the like.
- the movable cover 40 is attached to the hand 51 (coupled body) side via an elastic member (torsion coil spring 43), but the arm 53 (robot link) side or the hand 51 side is attached.
- the arm 53 may be attached to both sides via an elastic member.
- the joint structure according to the present embodiment includes a longitudinal rotating body 1, a lateral rotating body 2, and a motor base 3 connected to the driving pulley 35. It consists of three degrees of freedom: the horizontal movement by the motor 20 and the torsional movement by the third motor 30.
- the output shafts of the first motor 10 and the second motor 20 are arranged side by side in parallel in the vertical direction, and the third motor 30 is arranged behind the first motor 10 in parallel with the central axial force of the twisting operation. ing.
- the first motor 10 and the second motor 20 are arranged in parallel in the vertical direction.
- the third motor 30 is arranged with the central axis force of the twisting operation shifted, a space can be secured in the vicinity of the central axis of the twisting operation, so that the harness is positioned near the central axis of the twisting operation. Can pass through.
- the harness passes through the cavity 35a (see FIG. 6) formed in the inner periphery of the drive pulley 35 from the elbow 54 portion, by the side of the third motor 30, and through the first motor 35. 1 Arrange it so that it passes between the motor 10 and the second motor 20 and further reaches the wrist 52 through the through hole (see Fig. 2) at the center of the horizontal rotating body 2 and the vertical rotating body 1. be able to.
- the left frame 2cl of the horizontal rotating body is provided with a through hole 2e to secure a passage for the harness!
- the curled portions 43c, 43c of the torsion coil springs 43, 43 urge the flat surfaces 40d, 40d formed on the movable force bar 40 toward the elbow side as well as the hand side force, Surface force Locked and held by locking protrusions 41a, 41a ' ⁇ formed on the wrist cover 41.
- the movable cover 40 is rotatably held by the wrist cover 41. Therefore, as the hand 51 rotates, the movable cover 40 also follows and rotates. However, even if the movable cover 40 interferes with a built-in object such as a motor, the rotational force of the hand 51 is twisted by the torsion coil spring 43. It is possible to overcome the elastic repulsive force, and to move the hand 51 by the positional force at which the movable cover 40 interferes with the built-in object.
- the movable cover 40 moves in a direction away from the interference, so that the elastic repulsive force of the torsion coil spring 43 The movable cover 40 can be returned to a predetermined position.
- the movable cover 40 also follows and rotates, and if the movable cover 40 interferes with the built-in object, the twisting that is fixed to the wrist cover 41 side.
- the curled portion 43c of the coil spring 43 comes into contact with the wall portion 40b2 of the spring stopper 40b, and then the rotational force of the hand 51 overcomes the elastic repulsive force of the torsion coil spring 43, and the positional force that the movable cover 40 interferes with the built-in object is also generated. Further, the hand 51 can be rotated.
- the present invention is not limited to the above-described embodiments, and can be implemented with appropriate modifications.
- the first motor and the second motor are arranged side by side with respect to the central axis of the arm, and are not limited thereto. You may arrange so that it may become. In such an arrangement, the magnitude of the moment of inertia around the elbow can be adjusted as appropriate by bringing the weight of the motor closer to the elbow side than the tip side force.
- the third motor has a force arranged so that its output shaft is along the central axis of the torsional operation, but is not limited to this, so that the third motor is orthogonal to the central axis of the torsional operation. You may arrange. When arranged in this way, the length of the arm can be further shortened and the magnitude of the moment of inertia can be adjusted.
- the wrist-twisting operation of the humanoid robot has been described as an example.
- the robot continuously rotates like a drill. Even so.
- the third motor is arranged behind the first motor and the second motor, but the third motor is arranged in front and the first motor and the second motor are arranged behind the third motor. You can do it. By arranging in this way, the moment of inertia around the elbow can be adjusted.
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP05807077A EP1829651B1 (en) | 2004-12-14 | 2005-11-15 | Joint structure of a robot |
DE602005025400T DE602005025400D1 (de) | 2004-12-14 | 2005-11-15 | Gelenkkonstruktion für roboter |
US10/585,000 US7938038B2 (en) | 2004-12-14 | 2005-11-15 | Joint structure of robot |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004-362065 | 2004-12-14 | ||
JP2004362065A JP4589712B2 (ja) | 2004-12-14 | 2004-12-14 | ロボットの関節構造 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2006064625A1 true WO2006064625A1 (ja) | 2006-06-22 |
Family
ID=36587688
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2005/020932 WO2006064625A1 (ja) | 2004-12-14 | 2005-11-15 | ロボットの関節構造 |
Country Status (6)
Country | Link |
---|---|
US (1) | US7938038B2 (ja) |
EP (1) | EP1829651B1 (ja) |
JP (1) | JP4589712B2 (ja) |
KR (1) | KR100806966B1 (ja) |
DE (1) | DE602005025400D1 (ja) |
WO (1) | WO2006064625A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2016168645A (ja) * | 2015-03-12 | 2016-09-23 | 株式会社岩田鉄工所 | 多指ハンド装置 |
CN113910289A (zh) * | 2021-09-02 | 2022-01-11 | 宁波巾山微型精密机器人有限公司 | 一种环关节 |
Families Citing this family (25)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN100588512C (zh) * | 2006-02-01 | 2010-02-10 | 本田技研工业株式会社 | 自动机械的关节结构 |
KR100777115B1 (ko) | 2006-10-26 | 2007-11-19 | 강삼태 | 로봇용 팔 관절장치 |
WO2009051393A2 (en) * | 2007-10-16 | 2009-04-23 | Robomech Co., Ltd. | Joint apparatus with multi-degree of freedom |
KR101067688B1 (ko) * | 2007-10-16 | 2011-09-27 | 주식회사 로보멕 | 다자유도를 갖는 조인트 장치 |
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- 2005-11-15 WO PCT/JP2005/020932 patent/WO2006064625A1/ja active Application Filing
- 2005-11-15 DE DE602005025400T patent/DE602005025400D1/de active Active
- 2005-11-15 KR KR1020067013374A patent/KR100806966B1/ko active IP Right Grant
- 2005-11-15 US US10/585,000 patent/US7938038B2/en active Active
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CN113910289B (zh) * | 2021-09-02 | 2023-09-12 | 宁波巾山微型精密机器人有限公司 | 一种环关节 |
Also Published As
Publication number | Publication date |
---|---|
EP1829651A4 (en) | 2008-02-20 |
EP1829651A1 (en) | 2007-09-05 |
US7938038B2 (en) | 2011-05-10 |
JP4589712B2 (ja) | 2010-12-01 |
DE602005025400D1 (de) | 2011-01-27 |
JP2006167847A (ja) | 2006-06-29 |
US20090173177A1 (en) | 2009-07-09 |
EP1829651B1 (en) | 2010-12-15 |
KR100806966B1 (ko) | 2008-02-22 |
KR20070059003A (ko) | 2007-06-11 |
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