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Frog-leg-arm robot and its control method

A control method and robot technology, which is applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., can solve problems such as unstable movements of robots

Inactive Publication Date: 2009-01-28
IHI CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, when the arm stops at a singular point or moves from a singular point to a desired posture, there is a problem that the movement of the robot becomes unstable.

Method used

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  • Frog-leg-arm robot and its control method
  • Frog-leg-arm robot and its control method
  • Frog-leg-arm robot and its control method

Examples

Experimental program
Comparison scheme
Effect test

no. 1 Embodiment approach

[0094] FIG. 1 is a plan view showing a schematic configuration of a frog-leg-arm robot R according to one embodiment of the present invention. FIG. 2 is a side view showing a schematic configuration of a frog-leg-arm robot R according to one embodiment of the present invention. FIG. 3 is a block diagram showing the functional configuration of a frog-leg-arm robot R according to one embodiment of the present invention.

[0095] As shown in each figure, the frog-leg-arm robot R according to this embodiment includes a main body 1 , an arm 2 , a hand 3 , and a control unit 4 .

[0096] The body portion 1 is rotatably provided on a base portion B such as a cage of a tower crane or the like. A driving device 5 for moving the hand 3 back and forth along a horizontal plane (reference plane) by swinging the arm portions 2 respectively is provided on the body portion 1 . The drive device 5 includes drive motors 51 and 52 . The drive motor 51 is connected to the shoulder rotation shaf...

no. 2 Embodiment approach

[0140] Next, a second embodiment of the present invention will be described. In addition, in the description of this embodiment, the description of the same parts as those of the above-mentioned first embodiment will be omitted or simplified.

[0141] FIG. 7 is a side view showing a schematic configuration of a frog-leg-arm robot in this embodiment. As shown in the figure, in the frog-legged arm robot according to this embodiment, the torque motor 10 is accommodated inside the forearm portion 24 .

[0142] According to the frog-legged robot of this embodiment, since the torque motor 10 is accommodated inside the forearm portion 24 , no parts protruding to the outside of the frog-legged robot can be formed. Accordingly, it is not necessary to secure a movement space for the torque motor outside the frog-arm robot, and the frog-arm robot of this embodiment can be installed in the same installation space as a conventional frog-arm robot.

[0143] In addition, the torque motor 1...

no. 3 Embodiment approach

[0145] Next, a third embodiment of the present invention will be described. In addition, in the description of this embodiment, the description of the same parts as those of the above-mentioned first embodiment will be omitted or simplified.

[0146] FIG. 8 is a side view showing a schematic configuration of a frog-leg-arm robot R according to one embodiment of the present invention. As shown in the figure, in the frog-arm robot R according to this embodiment, the torque motor 10 is connected to the wrist rotation shaft 6e connecting the forearm 24 of the first arm 21 and the hand 3 via the reducer 11 . Further, the drive motor 51 is connected to the shoulder rotation shaft portion 6 a via a reduction gear 53 , and the drive motor 52 is connected to the shoulder rotation shaft portion 6 c via another reduction gear (not shown). The reduction ratio of the reduction gear 53 is the same as that of the other reduction gear.

[0147] The torque motor 10 supplies a torque based on...

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Abstract

This frog-leg-arm robot includes a wrist rotary axis unit with which the robot is connected, a torque motor for supplying a torque to the wrist rotary axis unit with which the torque motor itself is connected, arm members composing the frog-leg-arm robot, a driving device, and a control unit, wherein the control unit electrically controls the torque motor to supply the torque to the wrist rotary axis unit and a direction for each arm to move to a desired posture when each arm is possible to move to every one of a plurality of postures including a desired posture from the present posture.

Description

technical field [0001] The present invention relates to a frog-leg-arm robot that transfers a conveyance object while being placed on a hand, and a control method thereof. [0002] The present invention is based on Japanese Patent Application No. 2006-304002 filed on November 9, 2006, Japanese Patent Application No. 2007-86492 filed on March 29, 2007, and Japanese Patent Application No. 2007-86493 filed on March 29, 2007 No. claims priority, the content of which is hereby cited. Background technique [0003] Conventionally, an arm-type robot that transfers a predetermined object to be conveyed while being placed on its hand has been used. Among such arm robots, there is a so-called frog-leg arm robot in which a hand is supported by two arms that move synchronously. [0004] Each arm of this frog-legged arm robot is composed of an upper arm and a forearm connected by a rotating shaft, and the upper arm of each arm is rotationally driven by a drive motor provided on the main...

Claims

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Application Information

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IPC IPC(8): B25J9/04
Inventor 松尾研吾今泉浩昭上田章雄安住一郎村上弘记天田弘之
Owner IHI CORP