Rotary axis module and robot

Abstract

The present invention provides a rotary shaft module and a robot capable of individually releasing the brake of a shaft that is to be quickly released on-site. The rotary shaft module includes: an actuator having a first component and a second component, and driving the second component to rotate relative to the first component about a predetermined axis; a DC power supply (11); and a switch (12). The actuator has a brake (5) that can be released by the supply of DC voltage. A first brake circuit (8) and a second brake circuit (9) are connected to the brake (5). The first brake circuit (8) is connected to a control device (10) that controls the actuator. The second brake circuit (9) is arranged in parallel with the first brake circuit (8) and is connected to the DC power supply (11) via the switch (12).

Description

Technical Field

[0001] This invention relates to rotary axis modules and robots. Background Technology

[0002] A known rotating module comprises an actuator having: a fixed part on which a first link is mounted; and a movable part on which a second link capable of rotating relative to the fixed part is mounted (see, for example, Patent Document 1).

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent No. 6506195 Summary of the Invention

[0006] The problem the invention aims to solve

[0007] In robots, when power is disconnected due to an unexpected power outage, the actuators are no longer energized. Therefore, to maintain the robot's posture, the brakes of the actuators in the rotary module are activated. However, depending on the timing of the power outage, the robot may sometimes stop in an undesirable posture, making it desirable to be able to individually release the brakes of the axes that need to be quickly released on-site.

[0008] Solution for solving the problem

[0009] One aspect of the present invention is a rotating shaft module comprising: an actuator having a first component and a second component, and driving the second component to rotate relative to the first component about a predetermined axis; a DC power supply; and a switch, wherein the actuator has a brake that can be released by the supply of a DC voltage, a first brake circuit and a second brake circuit connected to the brake, the first brake circuit being connected to a control device controlling the actuator, the second brake circuit being arranged in parallel with the first brake circuit and connected to the DC power supply via the switch. Attached Figure Description

[0010] Figure 1 This is a side view of a rotating shaft module according to one embodiment of the present invention.

[0011] Figure 2 It means Figure 1 Top view of the rotating axis module.

[0012] Figure 3 Yes Figure 1 A schematic diagram illustrating the brake circuit of the rotating shaft module.

[0013] Figure 4 It means Figure 3 A longitudinal sectional view of the switch in the free state of the brake circuit.

[0014] Figure 5 It means Figure 2 A longitudinal sectional view of the brake circuit in the state where the switch is pressed.

[0015] Figure 6 It means to Figure 1 A top view of a robot according to an embodiment of the present invention, comprising a rotation axis module having first to third axes.

[0016] Figure 7 It means Figure 3 A schematic diagram of a modified brake circuit.

[0017] Figure 8 It means Figure 1 A side view of a modified example of the rotating module.

[0018] Explanation of reference numerals in the attached figures:

[0019] 1: Rotary shaft module

[0020] 1a: First Rotation Axis Module (Rotation Axis Module)

[0021] 1b: Second Rotary Axis Module (Rotary Axis Module)

[0022] 1c: Third Rotation Axis Module (Rotation Axis Module)

[0023] 1d: Fourth Rotation Axis Module (Rotation Axis Module)

[0024] 1e: Fifth Rotation Axis Module (Rotation Axis Module)

[0025] 1f: Sixth Rotation Axis Module (Rotation Axis Module)

[0026] 2: Actuator

[0027] 4a: Hollow hole

[0028] 5: Brake

[0029] 6: Fixed component (first component)

[0030] 6a: Outer surface of the enclosure (outermost surface)

[0031] 6b: Large diameter part (outermost surface)

[0032] 7: Movable parts (second part)

[0033] 8: First brake circuit

[0034] 9: Second brake circuit

[0035] 10: Control device

[0036] 11: Battery (DC power supply)

[0037] 12: Switch

[0038] 12a: As follows

[0039] 14: Terminal

[0040] 100: Robot

[0041] A: First axis (axis)

[0042] B: Second axis (axis)

[0043] C: Third axis (axis)

[0044] D: Fourth axis (axis)

[0045] E: Fifth axis (axis)

[0046] F: Sixth axis (axis)

[0047] X: Axis Detailed Implementation

[0048] The following description, with reference to the accompanying drawings, illustrates a rotary axis module 1 and a robot according to one embodiment of the present invention.

[0049] like Figure 1 as well as Figure 2 As shown, the rotary shaft module 1 of this embodiment includes an actuator 2. The actuator 2 includes a motor 3 and a reducer 4, which reduces the rotational speed of the motor 3.

[0050] The motor 3 has a brake 5 and an encoder (not shown). The brake 5 is maintained in a braking state when no DC voltage is supplied, and the braking state can be released by the supply of DC voltage.

[0051] The reducer 4 includes: a fixed member (first member) 6, which fixes the motor 3; a movable member (second member) 7, which is supported and can rotate relative to the fixed member 6 about a predetermined axis X; and a hollow hole 4a that passes through the fixed member 6 and the movable member 7 in a direction along the predetermined axis X. The reducer 4 drives the movable member 7 to rotate relative to the fixed member 6 at a speed reduced from the rotational speed of the motor 3 according to the reduction ratio. The fixed member 6 is integrally formed by a large-diameter portion 6b and a small-diameter portion 6c.

[0052] like Figure 3As shown, the rotating shaft module 1 also includes a first brake circuit 8 and a second brake circuit 9, which are connected in parallel to the two terminals of the brake 5 of the motor 3. The first brake circuit 8 is connected to the control device 10 that controls the motor 3. The second brake circuit 9 is connected between the two terminals of the brake 5 via a DC power supply 11 and a switch 12 arranged in series.

[0053] Switch 12 is a momentary push-button switch, which is as follows: Figure 5 As shown, in the pressed state, the second brake circuit 9 is closed, and as... Figure 4 As shown, in the unpressed free state, it returns to the direction of opening the second brake circuit 9 via spring 13.

[0054] A DC power supply 11 and a switch 12 are fixed on the large-diameter portion (outermost surface) 6b of the fixing member 6 on which the motor 3 is fixed. The switch 12 is configured to be pressed radially inward toward the fixing member 6 relative to the outermost surface (outermost surface) 6a of the housing, and as... Figure 4 As shown, when the pressed side 12a of the switch 12 is in the free state, it is positioned at a location that is recessed radially inward from the outer surface 6a of the housing of the fixed member 6. The outer surface 6a of the housing is part of the outermost peripheral surface of the actuator 2. Furthermore, the large-diameter portion 6b of the fixed member 6 and the outer surface 6a of the housing constitute the outermost surface of the fixed member 6, and are positioned radially outward from the motor 3 and the movable member 7 in the direction along the predetermined axis X.

[0055] Next, a robot 100 according to one embodiment of the present invention will be described with reference to the accompanying drawings.

[0056] The robot 100 of this embodiment has a plurality of the above-described rotary axis modules 1.

[0057] like Figure 6 As shown, the robot 100 of this embodiment is, for example, a six-axis multi-joint type. The robot 100 includes: a base 110 disposed on a surface to which it is disposed; and a rotating body 120 supported to rotate relative to the base 110 about a vertical first axis (axis) A. Furthermore, the robot 100 includes: a first arm 130 supported to rotate relative to the rotating body 120 about a horizontal second axis (axis) B; and a second arm 140 supported to rotate relative to the first arm 130 about a horizontal third axis (axis) C. The robot 100 also has a three-axis wrist unit 150 at the front end of the second arm 140.

[0058] The fixed part 6 of the first rotating shaft module (rotating shaft module) 1a is fixed to the rotating body 120, and the movable part 7 is fixed to the base 110. The fixed part of the second rotating shaft module (rotating shaft module) 1b is fixed to the rotating body 120, and the movable part 7 is fixed to the first arm 130. The fixed part 6 of the third rotating shaft module (rotating shaft module) 1c is fixed to the first arm 130, and the movable part 7 is fixed to the second arm 140. The first to third rotating shaft modules 1a, 1b, and 1c are all based on the commonly used rotating shaft module 1 described above.

[0059] The wrist unit 150 includes: a fourth rotation axis module 1d, which drives the first wrist housing 160 to rotate relative to the second arm 140 about a fourth axis (axis) D; and a fifth rotation axis module 1e, which drives the second wrist housing 170 to rotate relative to the first wrist housing 160 about a fifth axis (axis) E. Additionally, the wrist unit 150 also includes a sixth rotation axis module 1f, the fixed member 6 of which is fixed to the second wrist housing 170, and the movable member 7 capable of rotating about the sixth axis (axis) F forms a wrist flange 180.

[0060] As the fourth to sixth rotary shaft modules 1d, 1e, and 1f, a general-purpose rotary shaft module 1 smaller than the first to third rotary shaft modules 1a, 1b, and 1c is used. In this embodiment, the fourth to sixth rotary shaft modules 1d, 1e, and 1f are exemplified as having neither a brake 5 nor a first brake circuit 8 nor a second brake circuit 9 for the motor 3. However, it is not limited to this; the fourth to sixth rotary shaft modules 1d, 1e, and 1f may also be used, having the same structure as the first to third rotary shaft modules 1a, 1b, and 1c.

[0061] Although not shown, the drive cables for each motor 3, the brake control cables, and the encoder cables are connected to the control device 10. The brake cables are connected to the first brake circuit 8. Preferably, the reducers 4 of each rotary shaft module 1a, 1b, 1c, 1d, 1e, and 1f are configured as hollow structures, and each cable passes through the periphery of the axis X of the reducer 4 in the direction along the axis X.

[0062] The function of the rotary axis module 1 and the robot 100 configured in this embodiment will be explained.

[0063] According to the rotary axis module 1 of this embodiment, when the robot 100 is working, the braking state of the brakes 5 of the motors 3 of each axis is released by supplying DC voltage from the control device 10 to the first brake circuit 8. Therefore, based on the drive command signal from the control device 10, the motors 3 of each rotary axis module 1a, 1b, 1c, 1d, 1e, and 1f can be controlled, and the front end of the wrist flange 180 can be positioned in the desired position and posture.

[0064] In this case, the switches 12 of the second brake circuits 9 of each rotating shaft module 1a, 1b, 1c, 1d, 1e, 1f are in a free state where the switch 12a below is not pressed, the second brake circuit 9 is turned on, and the DC voltage from the DC power supply 11 is not applied to the brake 5.

[0065] Furthermore, during the operation of robot 100, when the power supply is disconnected due to an unexpected power outage, actuator 2 is no longer in an energized state. Therefore, the supply of DC voltage from control device 10 stops, and the brakes 5 of actuator 2 in each of the rotating axis modules 1a, 1b, 1c, 1d, 1e, and 1f are activated. As a result, the posture of robot 100 is maintained in the state when the power is disconnected.

[0066] In this situation, depending on when the power is cut off, the robot 100 may sometimes stop in an undesirable posture. For example, if the robot 100 is a collaborative robot that can move while a worker or object is present within its movable range, and the power is cut off while an object is caught between the first arm 130 and the second arm 140 of the robot 100, there may be a situation where you want to quickly remove this state.

[0067] In this configuration, according to the present embodiment, the second brake circuit 9 can be closed by pressing the switches 12 provided in each of the rotary axis modules 1a, 1b, 1c, 1d, 1e, and 1f, thereby applying a DC voltage from the DC power supply 11 to the brake 5. The braking state of the brake 5 with the applied DC voltage is then quickly released.

[0068] That is, it has the following advantages: by pressing the switch 12 of each of the rotating axis modules 1a, 1b, 1c, 1d, 1e, and 1f, the braking state of each motor 3 of the robot 100 that has stopped in an undesirable posture can be released individually and quickly, and the undesirable posture can be quickly eliminated.

[0069] In particular, since switch 12 is provided in the first to third rotary axis modules 1a, 1b, and 1c, the operator can easily identify the switch 12 corresponding to the axis for which the braking state is to be released on-site, and can reliably release only the axis for which the braking state is to be released. Moreover, after the undesirable posture is eliminated by releasing the braking state, the switch 12 can be quickly returned to the braking state by removing the hand from the switch 12, thus maintaining the posture of the robot 100.

[0070] Furthermore, according to this embodiment, since the pressing surface 12a of the switch 12 is located at a position recessed from the outer surface 6a of the housing of the fixing member 6, it is necessary to hold the intention to press the switch 12. That is, even if an object accidentally touches the vicinity of the switch 12 without the intention to press it, the pressing surface 12a can be blocked by the surrounding fixing member 6.

[0071] Furthermore, by positioning the pressing surface 12a of the switch 12 in a position that is recessed radially inward from the outer surface 6a of the housing of the fixing member 6, the switch 12 can be easily accessed from the radially outward side of the reducer 4, and the switch 12 can be pressed from that direction. Thus, the switch 12 can be easily operated, and the switch 12 can be easily seen from the outside.

[0072] In addition, by passing the actuator driving line or tool driving line, which is located on the front end side of the wrist unit 150, which is closer to the rotating axis module 1 than the wrist unit 150, through the hollow hole 4a, the line can be contained within the first arm 130 and the second arm 140 without protruding from the outer surface of the robot 100 arm.

[0073] Furthermore, in this embodiment, a mechanism to prevent accidental operation of the switch 12 (not shown) may be provided on the switch 12. This can more reliably prevent the brake 5 from being released due to accidental pressing of the switch 12.

[0074] As a mechanism to prevent accidental operation, any cover that can be opened and closed, or a cover that can be destroyed, can be used as a cover switch 12. Preferably, the cover or cover is flush with or slightly recessed from the outer surface 6a of the housing of the fixing member 6.

[0075] In addition, in this embodiment, the DC power supply 11 is composed of a rechargeable battery, and a charging circuit (not shown) can be provided. This charging circuit charges the battery of the DC power supply 11 when the power supply of the control device 10 is not disconnected. Therefore, since the battery of the DC power supply 11 is charged during the operation of the rotating shaft module 1, the replacement frequency of the battery of the DC power supply 11 can be reduced, and the risk of accidental battery depletion can be reduced.

[0076] Furthermore, in the rotating shaft module 1 of this embodiment, as... Figure 7 As shown, a terminal 14 for detachably connecting to the second brake circuit 9 can also be provided in the first brake circuit 8. Furthermore, the second brake circuit 9, which includes a DC power supply 11 and a switch 12, can also be configured as a brake release unit that can be detached from the fixed component 6.

[0077] That is, for the rotary shaft module 1, where the possibility of manually releasing the brake 5 is low, it can be pre-set to a state where the brake release unit has been removed. Thus, for this rotary shaft module 1, the brake release unit can be fixed to the fixing member 6 as needed, and the second brake circuit 9 can be connected between the terminals 14 of the first brake circuit 8.

[0078] Furthermore, in this embodiment, a six-axis multi-joint robot 100 is illustrated, but it is not limited thereto and can be applied to any type of robot having at least one of the above-described rotary axis modules 1.

[0079] In this embodiment, a robot 100 is illustrated where each of the rotary axis modules 1a, 1b, 1c, 1d, 1e, and 1f is assembled with its outermost surface exposed. Alternatively, in the case of a housing (not shown) covering the radially outer side of the rotary axis module 1, even if the pressed side 12a of the switch 12 is not recessed relative to the outer surface 6a of the housing of the fixing member 6, it is sufficient to position it at a position recessed slightly from the outermost surface of the housing.

[0080] Additionally, while a push-button switch is exemplified as switch 12, other types of switches can also be used instead. Furthermore, as... Figure 1 as well as Figure 2 As shown, the switch 12 is positioned close to the motor 3, which is fixed to the large-diameter portion 6b of the fixing member 6, but the position of the switch 12 can be arbitrary.

[0081] In addition, as actuator 2, an actuator having a motor 3 and a reducer 4 is exemplified, but instead, a direct drive motor with a hollow hole can also be used.

[0082] Alternatively, in this embodiment, at least one of a torsion measuring device, a torque measuring device, and a force sensor may be provided on the movable part 7, which serves as the second component. The torsion measuring device, torque measuring device, or force sensor may be mounted on the end face of the movable part 7, which serves as the output shaft of the rotation shaft module 1, or may be built into the interior of the movable part 7.

[0083] Therefore, it is possible to perform: conduction operations that guide the robot 100 by directly operating the first arm 130 or the second arm 140 based on feedback from sensor information detected by the torsion measuring device, torque measuring device and force sensor, or contact determination using sensor information.

[0084] In addition, in this embodiment, such as Figure 8As shown, the outer surface 6a of the housing can also be made to be the largest inner surface diameter, and a cylindrical cover 15 with rounded corners can be provided. Thus, the outermost peripheral surface of the actuator 2 is the outer peripheral surface of the fixing member 6 including the outer surface 6a of the housing. Therefore, by covering the actuator 2 with the cover 15, it is relatively easy to provide a smooth and edgeless arm surface, such as the arm surface required by a collaborative robot.

Claims

1. A rotating shaft module, characterized in that, have: An actuator having a first component and a second component, and driving the second component to rotate relative to the first component about a predetermined axis; DC power supply; and switch, The actuator includes a brake that can be released by the supply of a DC voltage. A first brake circuit and a second brake circuit are connected to the brake. The first brake circuit is connected to a control device that controls the actuator. The second brake circuit is connected in parallel with the first brake circuit and is connected to the DC power supply via the switch. The brake, the DC power supply, and the switch are disposed on the first component. The rotating shaft module is configured to release the brake located on the first component only by closing a switch located on the first component.

2. The rotary shaft module according to claim 1, characterized in that, The switch is a push-button switch, which is closed when pressed and open in the free state when not pressed.

3. The rotating shaft module according to claim 2, characterized in that, In the free state, the pressed surface of the switch is positioned at a location that is recessed from the outermost surface of the first component.

4. The rotating shaft module according to claim 3, characterized in that, The pressing surface is positioned at a location that is radially recessed inward from the outermost surface of the first component, in a manner that allows it to be pressed radially inward.

5. The rotating shaft module according to claim 1, characterized in that, The switch is equipped with a mechanism to prevent accidental operation and disable its operation.

6. The rotating shaft module according to claim 1, characterized in that, The first brake circuit has terminals that can be detachably connected to the second brake circuit. The second brake circuit, which includes the DC power supply and the switch, constitutes a brake release unit that can be attached to and detached from the actuator.

7. The rotating shaft module according to claim 1, characterized in that, The DC power source is a rechargeable battery. The rotating shaft module includes a charging circuit that charges the DC power supply during the process of energizing the actuator.

8. The rotating shaft module according to claim 1, characterized in that, A hollow hole is provided near the predetermined axis for the line body to pass through.

9. The rotating shaft module according to claim 1, characterized in that, The second component is provided with at least one of a torsion measuring device, a torque measuring device, and a force sensor.

10. The rotating shaft module according to claim 4, characterized in that, The actuator includes a motor. Along the predetermined axis, the outermost surface of the first component is positioned radially outward than the motor and the second component.

11. A rotating shaft module, characterized in that, The rotating shaft module includes an actuator comprising a first component and a second component, and drives the second component to rotate relative to the first component about a predetermined axis. The actuator has a brake that is released by the supply of DC voltage. A first brake circuit is connected to the brake, and the first brake circuit is connected to a control device that controls the actuator. The first brake circuit is provided with terminals that can be connected in parallel to a second brake circuit that is connected to a DC power supply via a switch. The brake, the DC power supply, and the switch are disposed on the first component. The rotating shaft module is configured to release the brake located on the first component only by closing a switch located on the first component.

12. A robot, characterized in that, The robot has at least one rotary axis module as described in any one of claims 1 to 11.

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