Source: https://patents.google.com/patent/JP2014188646A/en
Timestamp: 2020-01-18 17:52:01
Document Index: 766137742

Matched Legal Cases: ['art 12', 'art 13', 'art 8', 'art 28', 'art, 5', 'art, 21']

JP2014188646A - Robot hand and robot - Google Patents
JP2014188646A
JP2014188646A JP2013068267A JP2013068267A JP2014188646A JP 2014188646 A JP2014188646 A JP 2014188646A JP 2013068267 A JP2013068267 A JP 2013068267A JP 2013068267 A JP2013068267 A JP 2013068267A JP 2014188646 A JP2014188646 A JP 2014188646A
JP2013068267A
JP6277593B2 (en
俊雄 田中
2013-03-28 Application filed by Seiko Epson Corp, セイコーエプソン株式会社 filed Critical Seiko Epson Corp
2013-03-28 Priority to JP2013068267A priority Critical patent/JP6277593B2/en
2014-10-06 Publication of JP2014188646A publication Critical patent/JP2014188646A/en
2018-02-14 Publication of JP6277593B2 publication Critical patent/JP6277593B2/en
PROBLEM TO BE SOLVED: To provide a robot hand capable of reducing size even when the robot hand includes an encoder.SOLUTION: A robot hand comprises: a first motor 5a and a second motor 5b; an encoder for detecting a rotation angle of a rotation axis; and a circuit board 6 in which a control circuit is installed for controlling the first motor 5a and the second motor 5b. The encoder comprises: a first rotating plate 24 and a second rotating plate 26 in which a scale is installed and which is installed at the rotation axis; and a first detection unit 28 and a second detection unit 29 for detecting the movement of the scale. At the circuit board 6, the first detection unit 28 and the second detection unit 29 are installed. The first detection unit 28 and the second detection unit 29 detect the rotation angles of the first rotating plate 24 and the second rotating plate 26 respectively.
Due to recent advances in robot technology, many industrial robots are used in industrial product manufacturing sites. A robot hand for these robots to grip the object to be gripped needs to grip the object to be gripped in various environments. And a small robot hand can make it difficult to interfere with the apparatus for work.
A robot hand that opens and closes a plurality of fingers and grips an object to be gripped is disclosed in Patent Document 1. According to this, the robot hand has a plurality of fingers. Each finger is provided with a motor. Each motor is provided with an encoder for detecting the rotation angle of the rotation shaft. A signal is transmitted from each encoder to the control unit that controls the robot hand via a wire.
JP 2006-130580 A JP 60-251106 A
The robot of Patent Document 1 includes a plurality of motors, and wiring is installed between an encoder and a control unit installed in each motor. Patent Document 2 discloses that a cable is used for wiring between a motor and a control unit, and between an encoder and a control unit. In order to install the wiring, a space for the cable for wiring is generally required. Therefore, in order to provide a space for the cable, the robot hand must be enlarged. Therefore, a robot hand that can be made small even with an encoder has been desired.
The present invention has been made to solve the above-described problems, and can be realized as the following forms or application examples.
A robot hand according to this application example, comprising: a circuit board in which a plurality of motors, an encoder that detects a rotation angle of a rotation shaft of the motor, and a control circuit that controls the motor are installed on the same surface; The encoder includes a rotating plate installed on the rotating shaft, and a detection unit that detects a rotation angle of the rotating plate by detecting light reflected by irradiating the rotating plate with light. And
According to this application example, the robot hand includes a plurality of motors, and each motor rotates the rotation shaft. Then, the encoder detects the rotation angle of the rotation shaft. A rotating plate is installed on the rotating shaft, and a detector mounted on the circuit board irradiates the rotating plate with light. And a rotation angle is detected by a detection part detecting the light which reflected the rotating plate. A plurality of detection units are installed on the circuit board. And the control circuit which controls a motor is installed in the circuit board. The control circuit receives the output of the detection unit and obtains information on the rotation angle of the rotation shaft of the motor. The control circuit controls the motor to a target rotation angle. A control circuit and a detection unit are installed on the circuit board. Therefore, the signal is transmitted from the detection unit to the control circuit via the wiring installed on the substrate. As a result, a space for installing a cable for transmitting a signal from the detection unit to the control circuit becomes unnecessary, and thus the robot hand can be made small.
In the robot hand according to the application example described above, the plurality of rotating plates are arranged on one virtual plane.
According to this application example, the rotating plate is arranged on one virtual plane. Each detection part is arrange | positioned in the place away from the rotation board the same distance. Therefore, a plurality of detection units can be arranged on a flat circuit board.
In the robot hand according to the application example described above, a plurality of the rotation axes are arranged in parallel.
According to this application example, the rotation axes of the motors are arranged in parallel. Since the rotating plate is orthogonal to the rotation axis, the rotating plates can be arranged in parallel. Therefore, by adjusting the position of the rotating plate in the axial direction of the rotating shaft, the rotating plate can be arranged along the same virtual plane.
In the robot hand according to the application example described above, a base portion that guides the position of the motor and the position of the circuit board is provided.
According to this application example, the position of the motor and the position of the circuit board are guided to the base portion. Thereby, a circuit board can be arrange | positioned in a predetermined position with respect to a motor. A detection unit is set at a predetermined location on the circuit board. Therefore, the detection unit can reliably detect the rotating plate installed in the motor.
In the robot hand according to the application example described above, the circuit board has a hole at a location facing the rotation shaft.
According to this application example, the circuit board has a hole at a location facing the rotation axis. Therefore, it is possible to prevent the rotating shaft and the circuit board from interfering with each other even when the rotating shaft becomes longer toward the circuit board due to manufacturing reasons.
In the robot hand according to the application example, the base portion has a quadrangular shape in plan view from the axial direction of the rotation axis, and the quadrangular shape includes two lines passing through the midpoints of four sides from the center of gravity of the quadrilateral. When the motor is divided into four sections, the motors are respectively disposed in three sections, and the small circuit board is disposed in one section where the motor is not disposed.
According to this application example, the three motors and the small circuit board are arranged side by side. And a motor is arrange | positioned at three division when a square is divided | segmented into four, and the small circuit board is arrange | positioned at one division. Therefore, the motor and the small circuit board are arranged in all the spaces on the square. Therefore, since there is little wasted space inside the robot hand, a small robot hand can be obtained.
A robot according to this application example, comprising: a movable part; and a robot hand installed on the movable part, wherein the robot hand detects a rotation angle of a plurality of motors and a rotation shaft of the motor. And a control circuit for controlling the motor are provided on a same surface, and the encoder includes a rotary plate on which the scale is installed and installed on the rotary shaft, and a detector that detects the movement of the scale. The circuit board is provided with a plurality of the detection units, and each of the detection units detects a rotation of the different rotating plate.
According to this application example, the robot includes a movable part, and a robot hand is installed in the movable part. Therefore, the robot moves the robot hand by moving the movable part. The robot hand includes a motor, and the motor rotates a rotating shaft. Then, the encoder detects the rotation angle of the rotation shaft. A rotating plate is installed on the rotating shaft, and a scale is installed on the rotating plate. And the detection part mounted in the circuit board detects a scale. A plurality of detection units are installed on the circuit board. And each detection part detects the scale of a respectively different rotating plate. A control circuit for controlling the motor is installed on the circuit board. The control circuit receives the output of the detection unit and obtains information on the rotation angle of the rotation shaft of the motor. The control circuit controls the motor to a target rotation angle. A control circuit and a detection unit are installed on the circuit board. Therefore, the signal is transmitted from the detection unit to the control circuit via the wiring installed on the substrate. As a result, a space for installing a cable for transmitting a signal from the detection unit to the control circuit becomes unnecessary, and thus the robot hand can be made small.
In the robot hand according to the application example described above, the detection unit detects light reflected by irradiating the rotating plate with light.
According to this application example, the detection unit detects light reflected by irradiating the rotating plate with light. When the detection unit detects the transmitted light, the detection unit needs to arrange a part that emits light on one side of the rotating plate and a part that receives light on another side. Compared with this method, in the method of detecting reflected light, the light emitting portion and the light receiving portion can be arranged on the same surface side of the rotating plate. Accordingly, in this application example, the detection unit can be easily arranged and assembled on the rotating plate as compared with a detection unit that detects transmitted light.
1 is a schematic perspective view showing a structure of a robot hand according to a first embodiment. The schematic perspective view which shows the structure of a robot hand. (A) is a typical sectional side view showing the structure of the robot hand, (b) is a schematic enlarged sectional view of the main part showing the structure of the robot hand. (A) is a schematic side sectional view showing a structure of a robot hand, and (b) is a schematic diagram for explaining a detection unit. (A) is a schematic bottom view which shows the structure of a motor, (b) is a schematic bottom view which shows the structure of a motor. The electric control block diagram of a robot hand. In connection with the second embodiment, (a) is a schematic front view showing the structure of a scalar robot, and (b) is a schematic front view showing the structure of a double-arm robot.
In the present embodiment, characteristic examples of a robot hand and a robot including the robot hand will be described with reference to FIGS. Hereinafter, embodiments will be described with reference to the drawings. In addition, each member in each drawing is illustrated with a different scale for each member in order to make the size recognizable on each drawing.
The robot hand according to the first embodiment will be described with reference to FIGS. FIG. 1 is a schematic perspective view showing the structure of a robot hand. As shown in FIG. 1, the robot hand 1 includes a square substrate 2. The substrate 2 is a place where the robot hand 1 is attached to a robot (not shown). Of the four sides of the substrate 2, the direction in which the front side in the drawing extends is defined as the X direction. The four corners of the substrate 2 are right angles, and the direction perpendicular to the X direction among the four sides of the substrate 2 is defined as the Y direction. The vertical direction in the figure is the Z direction.
A support column 3 is erected at a location near the outer periphery of the substrate 2 and in the middle of each side. A transmission unit 4 is connected to the upper side of the support column 3 in the figure. A train wheel in which a plurality of gears are arranged is installed inside the transmission unit 4. Three motors 5 are installed on the substrate 2 side of the transmission unit 4. A gear is installed on the rotation shaft of each motor 5, and this gear meshes with the gear of the transmission unit 4. Thereby, the torque of the rotating shaft of the motor 5 is transmitted to the train wheel of the transmission unit 4.
The motor 5 on the −Y direction side and the −X direction side of the robot hand 1 is defined as a first motor 5a as a motor. The motor 5 on the −Y direction side and the + X direction side of the robot hand 1 is defined as a second motor 5b as a motor. The motor 5 on the + Y direction side and the + X direction side of the robot hand 1 is a third motor 5c as a motor.
A circuit board 6 is installed on the board 2 side of the motor 5. The circuit board 6 is provided with a drive circuit that drives the motor 5 and a detection unit that detects the rotation angle of the motor 5. Further, a control circuit for controlling the rotation angle of the motor 5 is installed.
On the upper side of the transmission unit 4 in the figure, a finger unit 7, a stage moving unit 8, and a stage 9 are installed. A stage moving unit 8 is arranged at the center of the transmission unit 4, and a stage 9 is arranged on the upper side of the stage moving unit 8 in the drawing. Then, the stage moving unit 8 reciprocates the stage 9 in the vertical direction in the figure.
Around the stage moving unit 8, finger units 7 are arranged in a square tube shape. The finger portion 7 includes fingertip support portions 10 that are rectangular parallelepipeds at four corners. A prismatic fingertip portion 11 is provided on the upper side of the fingertip support portion 10 in the drawing. The fingertip portion 11 extends obliquely from the fingertip support portion 10 toward the center of the finger portion 7. The four fingertip portions 11 are arranged in contact with each other at the center of the fingertip support portion 10.
When the place where the four fingertip support portions 10 are arranged when viewed from the Z direction side is set to the positions of the four corners of the quadrangle, the first finger movement guide unit 12 and the second finger movement guide unit are located at positions corresponding to the sides of the quadrangle. 13 is arranged. The first finger movement guide unit 12 is positioned in the + X direction and the −X direction of the stage movement unit 8, and the second finger movement guide unit 13 is positioned in the + Y direction and the −Y direction of the stage movement unit 8. The first finger movement guide unit 12 and the second finger movement guide unit 13 are each positioned between the fingertip support units 10.
A plurality of through holes are provided in the first finger movement guide part 12 and the second finger movement guide part 13, and a first finger guide bar 14 and a second finger guide bar 15 are inserted into the through holes. The first finger guide bar 14 extends along an imaginary line passing through a pair of fingertip support portions 10 sandwiching the first finger movement guide portion 12 and the second finger movement guide portion 13. The fingertip support 10 is provided with two through holes extending in the X direction and two through holes extending in the Y direction. A first finger guide bar 14 is inserted into each hole. One of the first finger guide bars 14 inserted into the fingertip support 10 and extending in the X direction is fixed to the fingertip support 10 and one slides through the through hole. Similarly, one of the first finger guide bars 14 inserted into the fingertip support 10 and extending in the Y direction is fixed to the fingertip support 10 and one slides through the through hole.
The first finger movement guide unit 12 and the second finger movement guide unit 13 are respectively arranged at positions sandwiching the stage moving unit 8. The first finger movement guide portion 12 is provided with two through holes extending in the X direction, and a second finger guide bar 15 is inserted into each through hole. One of the two second finger guide bars 15 is fixed to the first finger movement guide portion 12, and one slides through the through hole. The second finger movement guide unit 13 is provided with four through holes extending in the Y direction, and a second finger guide bar 15 is inserted into each through hole. Two of the four second finger guide bars 15 are fixed to the second finger movement guide portion 13 and two slide through the through holes.
Two second finger guide bars 15 passing through the first finger movement guide unit 12 sandwiching the stage moving unit 8 extend along an imaginary line in the X direction. The four second finger guide bars 15 extend along an imaginary line in the Y direction passing through the second finger movement guide unit 13 sandwiching the stage moving unit 8. The first finger guide bar 14 and the second finger guide bar 15 regulate the moving direction in which the fingertip support unit 10, the first finger movement guide unit 12, and the second finger movement guide unit 13 move.
FIG. 2 is a schematic perspective view showing the structure of the robot hand, and shows a state in which each fingertip portion 11 is separated. As shown in FIG. 2, a rack gear 15 a in which grooves are formed at equal intervals is provided on the side surface of the second finger guide bar 15. A pinion that meshes with the rack gear 15 a of the second finger guide bar 15 is installed near the stage moving unit 8.
Then, the torque of the rotating shaft of one motor 5 is transmitted to the pinion via the transmission unit 4. As the pinion rotates, the second finger guide bar 15 moves. By moving the second finger guide bar 15, the robot hand 1 can change the interval between the first finger movement guide unit 12 and the stage moving unit 8. The two first finger movement guides 12 approach the stage moving unit 8 at the same time, and are separated from the stage moving unit 8 at the same time. At this time, the four fingertip portions 11 are simultaneously approached in the X direction and are separated at the same time.
Similarly, the torque of the rotating shaft of another motor 5 is transmitted to the pinion via the transmission unit 4. The motor 5 is a motor 5 different from the motor 5 that moves the first finger movement guide unit 12. As the pinion rotates, the second finger guide bar 15 moves. By moving the second finger guide bar 15, the robot hand 1 can change the interval between the second finger movement guide unit 13 and the stage moving unit 8. The two second finger movement guides 13 simultaneously approach the stage moving unit 8 and are separated from the stage moving unit 8 at the same time. At this time, the four fingertip portions 11 simultaneously approach in the Y direction and are separated at the same time. Therefore, the torque of the motor 5 is transmitted to the transmission unit 4, and the fingertip unit 11 is opened and closed by the torque transmitted from the transmission unit 4.
A drive shaft 16 extending in the −Z direction, a first guide rod 17 as a guide portion, and a second guide rod 18 as a guide portion are installed from the stage 9. The drive shaft 16, the first guide rod 17 and the second guide rod are installed. 18 is inserted in the stage moving part 8. The stage moving unit 8 moves the drive shaft 16 in the Z direction. The drive shaft 16 is disposed between the first guide rod 17 and the second guide rod 18.
FIG. 3A is a schematic side sectional view showing the structure of the robot hand. FIG. 3B is a schematic enlarged cross-sectional view of the main part showing the structure of the robot hand, and is an enlarged view of the vicinity of the motor 5. As shown in FIGS. 3 (a) and 3 (b), a train wheel lower receiving plate 21 as a base portion is installed on the support column 3, and the train wheel upper receiving portion is placed on the wheel train lower receiving plate 21. 22 is installed. A plurality of gears are installed between the train wheel lower receiving plate 21 and the train wheel upper receiving portion 22. A train wheel is constituted by a plurality of gears. The motor 5 is fixed to the train wheel lower receiving plate 21.
The motor 5 has a substantially quadrangular prism shape, and four through holes 5d extending in the Z direction are formed near the four corners. The motor 5 is screwed to the train wheel lower receiving plate 21 using two through holes 5d located diagonally among the four through holes 5d. A substrate support column 21a serving as a base portion is provided on the train wheel lower receiving plate 21 at a location facing the remaining two through holes 5d. The substrate support column 21a passes through the through hole 5d. The circuit board 6 is fixed to the board support column 21a with screws.
A base body portion is constituted by the train wheel lower receiving plate 21, the substrate support column 21a, and the like. The first motor 5a is guided by the train wheel lower receiving plate 21, and the positions in the X direction and the Y direction are limited. Similarly, the circuit board 6 is guided by the board support column 21a, and the positions in the X direction and the Y direction are limited. Therefore, since the motor 5 and the circuit board 6 are accurately aligned by the train wheel lower receiving plate 21, the motor 5 and the circuit board 6 are assembled so that the positions in the X direction and the Y direction can be accurately aligned. Yes.
The method in which the train wheel lower receiving plate 21 guides the motor 5 can be realized, for example, by providing the train wheel lower receiving plate 21 with a protrusion that matches the through hole 5d. In addition, projections matched to the outer shape of the motor 5 may be provided on the train wheel lower receiving plate 21. The substrate support pillar 21a can guide the circuit board 6 by, for example, forming a hole in the circuit board 6 and providing a protrusion corresponding to the hole on the substrate support pillar 21a.
A first rotating plate 24 is installed on the rotating shaft 23 of the first motor 5a, and a second rotating plate 26 is installed on the rotating shaft 25 of the second motor 5b. The rotating shaft 23 and the rotating shaft 25 are arranged in parallel. The rotating shaft 23 and the first rotating plate 24 are orthogonal to each other, and the rotating shaft 25 and the second rotating plate 26 are orthogonal to each other. Accordingly, the first rotating plate 24 and the second rotating plate 26 are parallel to each other. Further, the first rotating plate 24 and the second rotating plate 26 are disposed along the same virtual plane 27. The virtual plane 27 and the circuit board 6 are arranged in parallel.
The first rotating plate 24 and the second rotating plate 26 are arranged at equal angles. The circuit board 6 is provided with a first detector 28 that detects the scale of the first rotary plate 24. Further, the circuit board 6 is provided with a second detection unit 29 that detects the movement of the scale of the second rotary plate 26. The distance between the first detector 28 and the first rotary plate 24 is the same as the distance between the second detector 29 and the second rotary plate 26. The first rotating plate 24 and the first detector 28 constitute an encoder of the first motor 5a. The second rotating plate 26 and the second detection unit 29 constitute an encoder of the second motor 5b.
The method for installing the first rotating plate 24 on the rotating shaft 23 is not particularly limited. For example, the first rotating plate 24 may be bonded to a ring-shaped hub, and the hub may be press-fitted into the rotating shaft 23. The method of installing the second rotating plate 26 on the rotating shaft 25 can also be installed in the same manner.
FIG. 4A is a schematic side sectional view showing the structure of the robot hand, as viewed from the −X direction. As shown in FIG. 4A, a first auxiliary board 30 as a small circuit board, a second auxiliary board 31 as a small circuit board, and a small circuit board are provided between the train wheel lower plate 21 and the circuit board 6. A third auxiliary board 32 is installed. The first auxiliary board 30 to the third auxiliary board 32 are supported by a support pillar 33, and the support pillar 33 is fixed to the circuit board 6. The first auxiliary board 30 to the third auxiliary board 32 are connected to the circuit board 6 by wiring 34.
FIG. 4B is a schematic diagram for explaining the detection unit. As shown in FIG. 4B, the first rotating plate 24 has protrusions 24a arranged at equal intervals on the circuit board 6 side, and the arrangement of the protrusions 24a forms a scale. The surface of the first rotating plate 24 facing the first detection unit 28 is a glossy surface or a mirror surface that easily reflects light. The first detection unit 28 includes a light emitting element 35 and a light projecting lens 36. The light emitting element 35 only needs to be able to irradiate light, and an LED (Light Emitting Diode), a light bulb, or the like can be used. The light projecting lens 36 condenses the irradiated light on the first rotating plate 24.
The first detection unit 28 includes a light receiving element 37 and a condenser lens 38. The condensing lens 38 condenses the light reflected by the first rotating plate 24 and irradiates the light receiving element 37. The light receiving element 37 outputs an electrical signal corresponding to the luminance of the irradiated light. When the light emitted from the light emitting element 35 irradiates the protrusion 24a, the light is irregularly reflected, so that the amount of light directed to the light receiving element 37 becomes small. On the other hand, when the light emitted from the light emitting element 35 irradiates between the protrusions 24a and 24a, the reflected light travels toward the light receiving element 37, so that the amount of light toward the light receiving element 37 increases. Therefore, when the first rotating plate 24 rotates, the light receiving element 37 outputs a waveform such as a sine wave. And the rotation angle of the 1st rotation board 24 is detectable by counting the number of the unevenness | corrugations of a waveform.
The first detector 28 detects the angle of the first rotating plate 24 using the reflected light. A light emitting element 35 and a light receiving element 37 are installed in the first detection unit 28 installed on the circuit board 6. By disposing the circuit board 6 on one side of the first rotating plate 24, the first detection unit 28 can be installed. When using a detection element that detects transmitted light, the light emitting element 35 and the light receiving element 37 need to be arranged so as to sandwich the first rotating plate 24. The first detection unit 28 can be easily disposed in the first detection unit 28 as compared with the case where the detection element that detects the transmitted light is used.
FIG. 5A is a schematic bottom view showing the configuration of the motor, in which the board 2 and the circuit board 6 are removed from the robot hand 1. As shown in FIG. 5A, the train wheel lower plate 21 has a quadrangular shape when viewed from the axial direction of the rotating shaft 23. The first motor 5a, the second motor 5b, and the third motor 5c are respectively arranged in three sections when the quadrangle is divided into four sections along a line parallel to the side passing through the center of gravity. The first auxiliary substrate 30, the second auxiliary substrate 31, and the third auxiliary substrate 32 are arranged in the remaining one section. Therefore, the motor 5 and the first auxiliary board 30 to the third auxiliary board 32 are arranged so as to occupy the entire space between the train wheel lower plate 21 and the circuit board 6. Therefore, since there is little wasted space inside the robot hand 1, the robot hand 1 can be made small.
A third rotating plate 40 is installed on the rotating shaft 39 of the third motor 5c. The circuit board 6 is provided with a third detector 41 at a location facing the third rotating plate 40. The third rotating plate 40 and the third detector 41 constitute an encoder of the third motor 5c. The second rotating plate 26 and the third rotating plate 40 have the same structure as the first rotating plate 24 and have the same function. The second detection unit 29 and the third detection unit 41 have the same structure as the first detection unit 28 and have the same functions. The third motor 5c is connected to the train wheel lower plate 21 so that the rotation shaft 39 of the third motor 5c is parallel to the Z-axis direction in which the rotation shaft 23 of the first motor 5a and the rotation shaft 25 of the second motor 5b extend. Is installed. The third rotating plate 40 is orthogonal to the rotation axis 39, and the third rotating plate 40 is also disposed along the virtual plane 27. The distance between the third detector 41 and the third rotary plate 40 is the same as the distance between the first detector 28 and the first rotary plate 24.
FIG. 5B is a schematic bottom view showing the configuration of the motor, in which the substrate 2 is removed from the robot hand 1. As shown in FIG. 5A, a hole 6a is provided in the circuit board 6 at a location facing the rotation shaft 23 of the first motor 5a. Similarly, a hole 6a is installed in the circuit board 6 at a location facing the rotation shaft 25 of the second motor 5b, and a hole 6a is installed in the circuit board 6 at a location facing the rotation shaft 39 of the third motor 5c. . Therefore, even when the rotary shaft 23, the rotary shaft 25, and the rotary shaft 39 become longer on the circuit board 6 side for manufacturing reasons, the rotary shaft 23, the rotary shaft 25, the rotary shaft 39, and the circuit board 6 interfere with each other. Can be prevented. Further, a hole 6 b is provided in the circuit board 6 at a location facing the drive shaft 16. Therefore, the drive shaft 16 can be lengthened when the distance that the stage 9 moves is lengthened. At this time, it is possible to prevent the drive shaft 16 from interfering with the circuit board 6.
A first detection unit 28 to a third detection unit 41 are installed on the circuit board 6. The circuit board 6 is arranged in parallel with the virtual plane 27. Therefore, the distance between the first detector 28 and the first rotating plate 24, the distance between the second detector 29 and the second rotating plate 26, and the distance between the third detector 41 and the third rotating plate 40 are the same distance. It has become.
FIG. 6 is an electric control block diagram of the robot hand. As shown in FIG. 6, the robot hand 1 includes a circuit board 6, a first auxiliary board 30, a second auxiliary board 31, and a third auxiliary board 32, and each board is connected by a wiring 34. A first motor drive circuit 42 is installed on the circuit board 6, and a first motor 5 a is connected to the first motor drive circuit 42. The first motor drive circuit 42 is a circuit that drives the first motor 5a by supplying a drive current.
In addition, a first detection unit 28 and a first detection unit drive circuit 43 are installed on the circuit board 6. The first detection unit driving circuit 43 supplies power to the light emitting element 35 to cause the light emitting element 35 to emit light. The first detection unit drive circuit 43 is a circuit that receives a signal output from the light receiving element 37, removes a noise component, and converts an analog signal into a digital signal. The first motor drive circuit 42 and the first detection unit drive circuit 43 are connected to a first motor control circuit 44 as a control circuit. The first motor control circuit 44 receives the signal output from the first detector drive circuit 43 and compares the angle of the rotation shaft 23 of the first motor 5a with the target angle. And it is a circuit which outputs a drive condition to the 1st motor drive circuit 42 so that the angle of the rotating shaft 23 of the 1st motor 5a may turn into a target angle.
In addition, the circuit board 6 includes a second motor drive circuit 45, a second detector 29, a second detector drive circuit 46, and a second motor control circuit 47 as a control circuit. The second motor drive circuit 45 is connected to the second motor 5 b and the second motor control circuit 47. The second detection unit drive circuit 46 is connected to the second detection unit 29 and the second motor control circuit 47. The circuit board 6 further includes a third motor drive circuit 48, a third detection unit 41, a third detection unit drive circuit 49, and a third motor control circuit 50 as a control circuit. The third motor drive circuit 48 is connected to the third motor 5c and the third motor control circuit 50. The third detection unit drive circuit 49 is connected to the third detection unit 41 and the third motor control circuit 50.
The first motor 5a to the third motor 5c can be arranged to have the same structure, and an AC motor, a DC motor, a step motor, or the like can be used for the motor structure. In the present embodiment, for example, step motors are used for the first motor 5a to the third motor 5c. Accordingly, the first motor driving circuit 42 to the third motor driving circuit 48 for driving the first motor 5a to the third motor 5c are driving circuits for driving the step motor.
The second detection unit 29 and the third detection unit 41 have the same structure as the first detection unit 28. Therefore, the first detection unit drive circuit 43 to the third detection unit drive circuit 49 for driving the first detection unit 28 to the third detection unit 41 are drive circuits having the same configuration. Similar to the first motor control circuit 44, the second motor control circuit 47 controls the rotation shaft 25 of the second motor 5b to have a target rotation angle. Similarly, the third motor control circuit 50 controls the rotation shaft 39 of the third motor 5c to have a target rotation angle. The first motor control circuit 44 to the third motor control circuit 50 control the rotation speed so that the first motor 5a to the third motor 5c do not step out. Furthermore, the first motor control circuit 44 to the third motor control circuit 50 control the output torque of each motor by controlling the current that drives the first motor 5a to the third motor 5c.
The wiring from the first detection unit 28 to the first motor control circuit 44 is installed on the circuit board 6. Similarly, wiring from the second detection unit 29 to the second motor control circuit 47 is installed on the circuit board 6. The wiring from the third detection unit 41 to the third motor control circuit 50 is installed on the circuit board 6. Accordingly, since a space for installing cables from each detection unit to each motor control circuit is not required, the robot hand 1 can be made small.
The circuit board 6 further includes a first integrated control circuit 51 and an input / output circuit 52 as control circuits. The first motor control circuit 44 to the third motor control circuit 50 and the input / output circuit 52 are connected to the first integrated control circuit 51 by wiring installed in the first integrated control circuit 51. Therefore, since a space for installing cables from each motor control circuit to the first integrated control circuit 51 is not required, the robot hand 1 can be made small.
The input / output circuit 52 is connected to a robot controller 53 that controls a robot (not shown). The robot hand 1 is attached to this robot. An instruction signal for instructing the operation of the robot hand 1 is output from the robot control device 53 to the first integrated control circuit 51 via the input / output circuit 52. The operation of the robot hand 1 is an operation such as an operation of opening the finger 7, an operation of closing the finger 7, an operation of projecting the stage 9, an operation of retracting the stage 9.
When the finger unit 7 and the stage 9 are moved, the first integrated control circuit 51 calculates target values of the rotation angles of the rotation shafts 23 to 39 of the first motor 5a to the third motor 5c. Then, the target value is output to the first motor control circuit 44 to the third motor control circuit 50. The first motor control circuit 44 to the third motor control circuit 50 detect the angles of the rotating shaft 23 to the rotating shaft 39 and control the rotating shaft 23 to the rotating shaft 39 so as to reach the target angle.
A second integrated control circuit 54 is installed on the first auxiliary board 30, and a third integrated control circuit 55 is installed on the second auxiliary board 31. Further, a fourth integrated control circuit 56 is installed on the third auxiliary board 32. The first integrated control circuit 51 to the fourth integrated control circuit 56 share the functions and calculate signals indicating the first motor control circuit 44 to the third motor control circuit 50.
(1) According to the present embodiment, the first detection unit 28 to the third detection unit 41 and the first detection unit drive circuit 43 to the third detection unit drive circuit 49 are installed on the circuit board 6. Then, the signals are transmitted from the first detection unit 28 to the third detection unit 41 to the first detection unit drive circuit 43 to the third detection unit drive circuit 49 via wiring installed on the circuit board 6. Furthermore, a first motor control circuit 44 to a third motor control circuit 50 are installed on the circuit board 6. Therefore, the signals are transmitted from the first detection unit drive circuit 43 to the third detection unit drive circuit 49 to the first motor control circuit 44 to the third motor control circuit 50 through the wiring installed on the circuit board 6. As a result, a space for installing a cable for transmitting signals from the first detection unit 28 to the third detection unit 41 to the first motor control circuit 44 to the third motor control circuit 50 becomes unnecessary. Can be small. Similarly, the first motor control circuit 44 to the third motor control circuit 50 are connected to the first integrated control circuit 51 through wiring installed in the first integrated control circuit 51. Therefore, since a space for installing cables from each motor control circuit to the first integrated control circuit 51 is not required, the robot hand 1 can be made small.
(2) According to the present embodiment, the first rotating plate 24 to the third rotating plate 40 are arranged along the same virtual plane 27. The first detection unit 28 to the third detection unit 41 have the same structure and are disposed at the same distance from the first rotation plate 24 to the third rotation plate 40, respectively. Therefore, the first detection unit 28 to the third detection unit 41 can be arranged on the flat circuit board 6.
(3) According to this embodiment, the rotating shaft 23, the rotating shaft 25, and the rotating shaft 39 of the first motor 5a to the third motor 5c are arranged in parallel. Since the first rotary plate 24 to the third rotary plate 40 are orthogonal to the rotary shaft 23, the rotary shaft 25, and the rotary shaft 39, the first rotary plate 24 to the third rotary plate 40 can be arranged in parallel. Therefore, by adjusting the positions of the first rotary plate 24 to the third rotary plate 40 in the axial direction of the rotary shaft 23, the rotary shaft 25, and the rotary shaft 39, the first rotary plate 24 to the third rotary plate 40 are made the same virtual. It can be arranged along the plane 27.
(4) According to the present embodiment, the first detection unit 28 detects light reflected by irradiating the first rotating plate 24 with light. When the detection unit detects the transmitted light, the detection unit needs to arrange a part that emits light on one side of the rotating plate and a part that receives light on another side. Compared to this method, the light emitting element 35 and the light receiving element 37 can be arranged on the same surface side of the first rotating plate 24 in the method of the present embodiment that detects reflected light. Therefore, the first detection unit 28 can be easily assembled as compared with a detection unit that detects transmitted light.
(5) According to the present embodiment, the positions of the first motor 5a to the third motor 5c and the position of the circuit board 6 are guided to the train wheel lower receiving plate 21 and the board support column 21a. And the base | substrate part has guided the motor and the circuit board so that the 1st detection part 28 may detect the 1st rotation plate 24 installed in the 1st motor 5a. Accordingly, the first detector 28 can reliably detect the rotation of the first rotating plate 24. Similarly, the second detector 29 can reliably detect the rotation of the second rotating plate 26, and the third detector 41 can reliably detect the rotation of the third rotating plate 40.
(6) According to the present embodiment, the circuit board 6 has the hole 6 a at a location facing the rotating shaft 23, the rotating shaft 25, and the rotating shaft 39. Therefore, even when the rotary shaft 23, the rotary shaft 25, and the rotary shaft 39 become longer on the circuit board 6 side for manufacturing reasons, the rotary shaft 23, the rotary shaft 25, the rotary shaft 39, and the circuit board 6 interfere with each other. Can be prevented.
(7) According to the present embodiment, the train wheel lower plate 21 has a quadrangular shape when viewed from the axial direction of the rotary shaft 23. The first motor 5a to the third motor 5c and the first auxiliary board 30 to the third auxiliary board 32 are arranged side by side. The first motor 5a to the third motor 5c are arranged in three sections when the quadrangle is divided into four sections, and the first auxiliary board 30 to the third auxiliary board 32 are arranged in one section. Therefore, the first motor 5a to the third motor 5c and the first auxiliary board 30 to the third auxiliary board 32 are arranged in all the spaces between the board 2 and the train wheel lower receiving plate 21. Accordingly, since the space inside the robot hand 1 is small, the robot hand 1 can be made small.
Next, a robot provided with the robot hand 1 of the above embodiment will be described with reference to FIGS. 7 (a) and 7 (b). FIG. 7A is a schematic front view showing the structure of a scalar robot. As shown in FIG. 7A, the robot 60 includes a first arm 61. And the 2nd arm 62 as a movable part is installed in connection with the 1st arm 61. As shown in FIG. A robot hand 63 is installed in connection with the second arm 62. Using the robot hand 63, the robot 60 can grip an object to be gripped. The robot hand 63 is the robot hand 1 in the first embodiment.
FIG. 7B is a schematic front view showing the structure of the dual-arm robot. As shown in FIG. 7B, the double-arm robot 64 as a robot includes a main body 65. A pair of arm portions 66 is connected to the main body portion 65. Each arm 66 is provided with a first link 67, a second link 68 as a movable portion, and a robot hand 69 in this order. The robot hand 69 is the robot hand 1 in the first embodiment.
(1) According to this embodiment, the robot hand 1 in the first embodiment is used as the robot hand 63 of the robot 60. In the robot hand 1, an encoder detection unit, a motor control circuit, and a first integrated control circuit 51 are installed on one circuit board 6. Therefore, since a space for installing a cable for transmitting a signal is unnecessary, the robot hand 1 has a small structure. As a result, the robot 60 can be a device having a small robot hand 63.
(2) According to this embodiment, the robot hand 1 of the first embodiment is used as the robot hand 69 of the double-arm robot 64. In the robot hand 1, an encoder detection unit, a motor control circuit, and a first integrated control circuit 51 are installed on one circuit board 6. Therefore, since a space for installing a cable for transmitting a signal is unnecessary, the robot hand 1 has a small structure. As a result, the double-arm robot 64 can be a device having a small robot hand 63.
Note that the present embodiment is not limited to the above-described embodiment, and various changes and improvements can be added by those having ordinary knowledge in the art within the technical idea of the present invention. A modification will be described below.
In the first embodiment, the first detection unit 28 detects the rotation of the first rotating plate 24 using reflected light. Magnetism may be used to detect the rotation of the first rotating plate 24. A radial magnetic pattern may be arranged on the first rotating plate 24 and a magnetic sensor may be arranged on the circuit board 6. Thus, a magnetic encoder may be used. Even if dirt that attenuates reflection of light adheres to the first rotating plate 24, it can be detected with good quality.
In the first embodiment, three motors are installed in the robot hand 1. The number of motors may be two, or four or more. Also in this case, a rotating plate is installed on the rotating shaft of each motor, and the rotating plate is arranged along the virtual plane 27. And the robot hand can be made small by installing in the circuit board 6 the detection part which detects rotation of each rotating plate.
In the first embodiment, a plurality of gears are arranged in the transmission unit 4. A belt and a pulley may be disposed in the transmission unit 4. Various torque transmission methods can be used.
In the first embodiment, four fingertip portions 11 are installed. The number of fingertip portions 11 may be two or three. Moreover, five or more may be sufficient. The number of objects to be grasped may be easily grasped.
In the first embodiment, the surface of the first rotating plate 24 is easily reflected, and the protrusion 24a is not easily reflected. The surface of the first rotating plate 24 may be difficult to reflect, and the protrusion 24a may be easily reflected. Also at this time, the first detector 28 can detect the rotation of the first rotating plate 24. For example, nickel plating may be applied to a blackened copper plate, and the scale pattern may be formed by etching nickel by photolithography. In this way, it may be easy to manufacture.
In the first embodiment, the fingertip portion 11 is moved by combining the rack and the pinion, but other mechanisms may be used. A cam may be used and a rotation mechanism may be used. You may rotate a power point using a lever structure. A mechanism adapted to the moving form of the fingertip may be used.
In the first embodiment, one light receiving element 37 is installed in the first detector 28. However, in order to know the rotation direction of the first rotating plate 24, a plurality of light receiving elements 37 may be installed. The two light receiving elements 37 may be arranged so as to output a first-phase square wave and a second-phase square wave whose phases are shifted from each other by 90 °. When the first rotating plate 24 rotates, if the first phase square waveform advances 90 ° from the second phase square wave, the second phase square wave rotates 90 ° from the first phase square waveform. If it is advancing, it is determined to be counterclockwise. In this way, the rotation direction of the first rotating plate 24 can be known.
In the method for detecting the protrusion 24a, the rising edge of the first phase square waveform and the rising edge of the second phase square wave are detected and counted. Further, the falling edge of the first phase square waveform and the falling edge of the second phase square wave are detected and counted. As a result, even when there are only 400 protrusions 24 a on one circumference of the first rotating plate 24, the angle of the rotating shaft 23 can be known with a resolution of 1600 divisions four times per revolution.
DESCRIPTION OF SYMBOLS 4 ... Transmission part, 5a ... 1st motor as a motor, 5b ... 2nd motor as a motor, 5c ... 3rd motor as a motor, 6 ... Circuit board, 6a ... Hole, 7 ... Finger part, 21a ... Base part A substrate support column as a base, 21 a train wheel lower plate as a base portion, 23, 25, 39 a rotating shaft, 24 a first rotating plate as a rotating plate and an encoder, 26 a second rotating plate and an encoder as a second encoder Rotating plate, 27 ... virtual plane, 28 ... first detector as detector and encoder, 29 ... second detector as detector and encoder, 30 ... first auxiliary board as small circuit board, 31 ... small circuit Second auxiliary board as substrate 32 ... Third auxiliary board as small circuit board, 40 ... Third rotary plate as rotary plate and encoder, 41 ... Third detection as detector and encoder , 44 ... a first motor control circuit as a control circuit, 47 ... a second motor control circuit as a control circuit, 50 ... a third motor control circuit as a control circuit, 51 ... a first integrated control circuit as a control circuit, 60 ... Robot, 64 ... Double-arm robot as a robot.
An encoder for detecting the rotation angle of the rotation shaft of the motor and a control circuit for controlling the motor are provided on the same surface;
The encoder includes a rotating plate installed on the rotating shaft, and a detection unit that detects a rotation angle of the rotating plate by detecting light reflected by irradiating the rotating plate with light. A robot hand.
The robot hand according to claim 1,
A robot hand, wherein the plurality of rotating plates are arranged on one virtual plane.
The robot hand according to claim 2,
A robot hand characterized in that the plurality of rotation axes are arranged in parallel.
The robot hand according to any one of claims 1 to 3,
A robot hand comprising a base portion for guiding the position of the motor and the position of the circuit board.
The robot hand according to any one of claims 1 to 4,
The robot hand according to claim 1, wherein the circuit board has a hole at a position facing the rotation shaft.
The robot hand according to claim 5,
The base portion has a quadrangular shape in plan view from the axial direction of the rotation axis,
The motor is arranged in three sections when the quadrilateral is divided into four sections with two lines passing through the midpoints of the four sides from the center of gravity of the quadrilateral, and small in one section where the motor is not disposed. A robot hand characterized by arranging a circuit board.
A robot hand installed on the movable part,
The robot hand is
The encoder is
A rotary plate with a scale installed on the rotary shaft;
A detection unit for detecting the movement of the scale,
A plurality of the detection units are installed on the circuit board, and each of the detection units detects a rotation of a different rotating plate.
JP2013068267A 2013-03-28 2013-03-28 Robot hand and robot Active JP6277593B2 (en)
JP2013068267A JP6277593B2 (en) 2013-03-28 2013-03-28 Robot hand and robot
JP2014188646A true JP2014188646A (en) 2014-10-06
JP6277593B2 JP6277593B2 (en) 2018-02-14
ID=51835507
JP2013068267A Active JP6277593B2 (en) 2013-03-28 2013-03-28 Robot hand and robot
JP (1) JP6277593B2 (en)
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