Robotic device

Abstract

The processing of flanges integrally formed with a base portion of a robot device can be simplified, and corresponding multiple reducers can be coupled to each of the processed flanges using fewer adapter components. A robot device includes a base portion that accommodates a reducer that drives a first arm and a second arm having parallel links, the robot device comprising: two first reducers arranged in parallel so as to sandwich the first arms and drive the first arms; a second reducer arranged in parallel with the two first reducers and drive the second arm; two first adapter components respectively arranged between the base portion and the two first reducers and connecting the base portion and the first reducers; and a second adapter component arranged between the base portion and the second reducer and connecting the base portion and the second reducer.

Description

Technical Field

[0001] The present invention relates to robotic devices. Background Art

[0002] Conventionally, robotic devices designed to transport large, heavy objects (e.g., over 1 ton) typically employ large (large-capacity) reducers because the load applied to the reducers at the robot's joints (at the base of the first arm (J2 arm)) increases. Large-capacity reducers are also larger, increasing the size of the robot's joints. Patent Document 1 below discloses a robotic mechanism equipped with multiple arms and reducers.

[0003] In addition, as a method for miniaturizing the joints in this type of robot device, a structure has been proposed in which two small (small-capacity) reducers are arranged so as to sandwich the first arm from both sides, and each reducer is connected to the base. This structure allows the joints to be miniaturized without using large-capacity reducers. Furthermore, for example, by using two reducers in parallel, the rated capacity can be doubled, allowing the design of a robot capable of handling higher loads.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Laid-Open No. 57-021297 Summary of the Invention

[0007] Problems to be solved by the invention

[0008] On the other hand, in robotic devices equipped with parallel linkages, the speed reducer (J3 axis) of the second arm, which is rotationally driven by the parallel linkage, is generally arranged coaxially with the rotation axis (J2 axis) of the first arm. Therefore, even if the J2 axis and the J3 axis each have a single speed reducer, a structure is employed in which two speed reducers are coaxially arranged in parallel.

[0009] Furthermore, when two reducers are configured on the J2 axis, the three reducers are arranged in parallel on the same axis. In this case, the base (J2 base) that secures the reducers has three flanges integrally formed with the base. As the number of reducers increases, the flanges integrally formed with the base make it difficult to individually machine the interfaces (mounting surfaces, bolt holes, etc.) that connect the reducers to the base.

[0010] Specifically, in a robot device in which a plurality of flanges are integrally formed on a base portion, for example, three flanges are arranged in parallel, the inner flange cannot be processed with a tool unless the outer flange is hollow.

[0011] Even when three flanges are arranged in parallel as a plurality of hollow structures, if the distance from the outer flange to the innermost flange is long, sufficient flange processing is difficult due to limitations in tool strength.

[0012] Therefore, in a robot device in which a plurality of flanges are integrally formed on a base portion, it is preferable to simplify flange processing for arranging a plurality of reducers in parallel and to be able to couple the corresponding reducers to the processed flanges with fewer fitting parts.

[0013] Means for solving problems

[0014] The robot device disclosed in the present invention has a base portion that accommodates a reducer that drives a first arm and a second arm having parallel links, wherein the robot device has: two first reducers that are arranged in parallel in a manner of sandwiching the first arm and drive the first arm; a second reducer that is arranged in parallel with the two first reducers and drives the second arm; two first adapter components that are respectively arranged between the base portion and the two first reducers and connect the base portion and the first reducer; and a second adapter component that is arranged between the base portion and the second reducer and connects the base portion and the second reducer.

[0015] Effects of the Invention

[0016] According to one embodiment of the present disclosure, the processing of the flange formed integrally with the base portion of the robot device can be simplified, and a plurality of corresponding speed reducers can be coupled to the processed flanges with a small number of fitting components. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a side view showing an example of a robot device equipped with a parallel link.

[0018] Figure 2 yes Figure 1 The front view of the robotic device is shown.

[0019] Figure 3 This section explains the configuration of the reducer in the robot device. Figure 1 AA section view of the side view is shown.

[0020] Figure 4 It is a perspective view showing the appearance of the robot device.

[0021] Figure 5 yes Figure 4 A side view of the base portion is shown.

[0022] Figure 6 yes Figure 5 BB section view around the flange shown.

[0023] Figure 7 This is a cross-sectional view illustrating flange processing of the base portion of the robot device.

[0024] Figure 8 It is a cross-sectional view showing a machining state of the base portion of the robot device.

[0025] Figure 9 It is a perspective view illustrating the structure of the robot device.

[0026] Figure 10 yes Figure 9 A cross-sectional view of the main parts is shown.

[0027] Figure 11 This is a cross-sectional view illustrating flange processing of the base portion of the robot device. DETAILED DESCRIPTION

[0028] Hereinafter, embodiments of the present invention will be described in detail based on the drawings.

[0029] (First embodiment)

[0030] Figure 1 A side view illustrating the mechanism of a robot device equipped with a parallel link is shown. Figure 2 yes Figure 1 The front view of the robotic device is shown.

[0031] exist Figure 1 、 Figure 2 In the robot device 1 shown in this example, first-arm motors 12A and 12B are arranged on the base 11 to move the first arm 13. A parallel link 16 is configured to move freely in conjunction with the movement of the second arm 14 via two joints. The second arm 14 is configured to rotate about its rotation center (the J3 axis). The end effector 15 is configured to be able to attach and detach tools, etc.

[0032] Furthermore, as will be described later, the speed reducer (J3 axis) of the second arm 14 is arranged coaxially with the rotation axis (J2 axis) of the first arm 13 .

[0033] exist Figure 2 In the example of the robot device 1 shown, the number of motors per axis is two, but the number of motors per axis may be one or three.

[0034] Figure 3 This section explains the configuration of the reducer in the robot device. Figure 1 AA section view of the side view is shown. Figure 4 : is a perspective view showing the appearance of the robot device of this embodiment. Figure 1 、 Figure 2The same parts are denoted by the same reference numerals and their description is omitted.

[0035] exist Figure 3 In the embodiment, two first speed reducers 21 and 22 are arranged so as to sandwich the first arm 13 from both sides. One first speed reducer 21 is fastened to the first flange 23 using a first adapter member 20 with bolts (not shown). The other first speed reducer 22 is fastened to the second flange 25 using a first adapter member 24 with bolts (not shown). Here, the first speed reducer 22 transmits power via a drive shaft or the like.

[0036] The second speed reducer 26 is disposed between the parallel link 16 and the second adapter member 27 , and is fastened to the third flange 28 by bolts using the second adapter member 27 .

[0037] Furthermore, in the present embodiment, a case where the adapter member is configured as a single body is shown, but a configuration may be employed in which a plurality of adapter members are used to couple corresponding speed reducers to corresponding one flange.

[0038] Furthermore, the motors of the respective speed reducers may be directly connected to their respective adapters or connected via other components. In the application of this embodiment, the input method and structure of the motors, gears, etc. are not subject to any restrictions.

[0039] In the robot device shown in this embodiment, two first speed reducers 21 and 22 are arranged at positions where they house the first and second arms 13 and 14, respectively, with the first arm 13 sandwiched between the base 1 from both sides. Furthermore, by arranging the second speed reducer 26 for driving the second arm in parallel with the first speed reducers 21 and 22, multiple speed reducers can be accommodated in a space that saves space for the speed reducers.

[0040] The outer diameter of the second adapter member 27, which is a member for assembling the second speed reducer 26, is larger than the outer diameter of the first adapter member 24 for assembling the first speed reducer 22. The outer diameter of the hollow second flange 25 is smaller than the outer diameter of the third flange 28.

[0041] Thus, when the second reducer 26 is coupled to the base 11 relative to the second arm 14, the process of coupling the first reducer 21 and the first reducer 22 to the base 11 relative to the first arm 13 and the process of coupling the second reducer 26 to the base 11 relative to the second arm 14 can be performed without hindrance, thereby enabling the three reducers for the first arm 13 and the second arm 14 to be coupled to the base 11 in parallel.

[0042] Figure 52 is a cross-sectional view illustrating flange processing of the base portion 11 of the robot device according to this embodiment. Figure 6 is based on Figure 5 A cross-sectional view along line BB is shown.

[0043] like Figure 6 As shown, in this embodiment, when machining the base 11, the third flange 28 is machined to have a hollow diameter φB (measured from the tip of the protrusion protruding from the base 11) relative to the second reducer 26, larger than the outer diameter φA (measured from the tip of the protrusion protruding from the base 11) of the second flange 25. Furthermore, as shown in the figure, the first flange 23, the second flange 25, and the third flange 28 are integrally formed with the base 11 such that the hollow diameter φB > the outer diameter φA. In the following description, the outer diameter φA refers to the outer diameter of the machined surface.

[0044] Here, the outermost side of the hollow first flange 23 becomes the casting surface 23A. Similarly, the outermost side of the hollow second flange 25 becomes the casting surface 25A. Similarly, the outermost side of the hollow third flange 28 becomes the casting surface 28A.

[0045] Figure 7 This is a cross-sectional view illustrating the flange processing of the base portion 11 of the robot device of this embodiment. Figure 5 The BB section shown corresponds to Figure 6 The same parts are denoted by the same reference numerals and their description is omitted.

[0046] This example shows an example in which, when machining the base portion 11 , the hollow diameter φB of the third flange 28 relative to the second speed reducer 26 is enlarged to be larger than the outer diameter φA of the first and second flanges 23 , 25 , and the second flange 25 is further dimpled.

[0047] As mentioned above, the flange surface includes processing such as taps for securing the adapter components and pin holes for positioning as needed. Furthermore, the hollow diameter φB of the second flange 25 is preferably approximately the same as the outer diameter φA of the machined surface of the first flange 23. However, as described later, φB does not necessarily have to be ≥ φA. Furthermore, the cylindrical surface of the hollow diameter φB of the third flange 28 may be a machined surface or an unmachined surface.

[0048] In addition, in this embodiment, the outer end of the upper end surface of the second flange 25 (the cylindrical surface outside the outer diameter φA is the base casting surface, so the outer diameter φA includes the deviation of the actual size and shape of the casting blank and the deviation from the processing reference). Figure 7 In the case of the dimple processing shown, the outer diameter φA of the second flange 25 is the actual processing size.

[0049] Figure 8 : is a cross-sectional view showing the processing state of the base portion of the robot device of this embodiment. Figure 5 BB section shown.

[0050] exist Figure 8 In the diagram, φC is the tool radius, and φD is the diameter of the extended portion of the tool or the retaining portion of the processing machine (the outermost diameter during rotation). Although φD is drawn uniformly in the diagram, the diameter and shape may vary along the way.

[0051] In addition, Figure 8 In FIG, a case where φC>φD is depicted, but there is also a case where φC≤φD.

[0052] Here, the diameter φD (outermost diameter) within the range that interferes with the hollow diameter φB of the second flange 25 during machining of the machined surface of the first flange 23 becomes an issue.

[0053] At this time, the diameter φD portion must be arranged so as not to interfere with the inner wall of the hollow diameter φB.

[0054] In addition, the dimensions A to E must satisfy the relationship shown in the following mathematical formula (1). Figure 8 As shown, the distance E represents the distance between the center axis of the flange and the center of the processing tool.

[0055] E+φD / 2<φB / 2 and E+φC / 2≥φA / 2 (1)

[0056] Therefore, the distance E between the centers needs to be Figure 6 The center distance E is determined by taking into account the casting offset as shown in the base portion 11. Figure 7 As shown, in the case of a concave machined surface, there is an advantage in that the center distance E can be set without considering the deviation of the casting.

[0057] In addition, the two speed reducers 21 and 22 of the first arm 13 are of the same model in principle, but the speed reducer for the first arm and the speed reducer for the second arm do not necessarily have to be of the same model.

[0058] In addition, the same model means the same rated capacity, and differences in interface shape are recognized.

[0059] According to this embodiment, the processing of the flange formed integrally with the base portion of the robot device can be simplified, and the corresponding plurality of speed reducers can be coupled to the processed flanges using a small number of fitting components.

[0060] (Second embodiment)

[0061] In the above embodiment, a robot apparatus is described in which two speed reducers are arranged on the first arm and a speed reducer for the second arm is arranged in parallel therewith. However, a configuration in which two speed reducers for the second arm are arranged is also possible.

[0062] Figure 9 It is a perspective view illustrating the structure of the robot device according to this embodiment. Figure 10 yes Figure 9 This embodiment is characterized in that two speed reducers are arranged along the central axis of the motor so as to sandwich the first arm 13A and the second arm 14 via the central flange 30 .

[0063] exist Figure 10 To ensure space for the speed reducer, first arm 13A is shaped so that the thickness and width of the portion near base 11 are smaller than the thickness and width of the upper portion of the speed reducer. First adapter member 24 for first speed reducer 22 and third adapter 27A for second speed reducer 26A are coupled to base 11 in an opposing manner via central flange 30.

[0064] A second speed reducer 26A is disposed on the left side of parallel link 16 and is coupled to base 11 using a third adapter 27A. A second speed reducer 26B is disposed on the right side of parallel link 16 and is coupled to base 11 using a fourth adapter 27B.

[0065] Thus, even in a configuration in which the number of speed reducers increases, each speed reducer can be reliably coupled to the base portion 11 using a small number of fitting components.

[0066] In principle, the two reducers 21 and 22 of the first arm 13 or the two reducers 26A and 26B of the second arm 14 are of the same type. However, the reducers for the first arm and the reducers for the second arm do not need to be of the same model.

[0067] In addition, the same model means the same rated capacity, and differences in interface shape are recognized.

[0068] In this example, the center flange 30 is configured to sandwich the two speed reducers from both sides, but flanges for fixing the first speed reducer 22 and the second speed reducer 26A may be provided independently.

[0069] According to this embodiment, a small-sized robot device capable of carrying, for example, an ultra-high payload (for example, 2.5 tons or more) can be realized.

[0070] (Third embodiment)

[0071] In the above embodiment, a robot device is described in which two reducers are arranged on the first arm and a reducer for the second arm is arranged in parallel with these reducers. However, in a configuration in which four reducers are arranged in parallel, the number of adapter components can be reduced by modifying the structure of the base. This embodiment is described below using the accompanying drawings.

[0072] Figure 11 : is a cross-sectional view showing the structure of the base portion of the robot device of this embodiment. Figure 10 The same parts are denoted by the same reference numerals and their description is omitted.

[0073] like Figure 11 As shown, the first arm 13 and the machined surface 30A of the center flange 30 are arranged to sandwich the first speed reducer 22 and are coupled to the base 11. This reduces the number of adapter components required to couple each speed reducer to the base 11 even if the number of speed reducers increases.

[0074] In addition, the present disclosure is not limited to the above-described embodiments, and modifications and improvements within the scope that can achieve the purpose of the present disclosure are included in the present disclosure.

[0075] Description of Reference Numerals

[0076] 1 Robotic device

[0077] 11 base

[0078] 13 First Arm

[0079] 14 Second Arm

[0080] 16 parallel links

[0081] 20 first adapter component

[0082] 21 first reducer

[0083] 22 first reducer

[0084] 24 first adapter component

[0085] 26 Second reducer

[0086] 27 Second adapter component.

Claims

1. A robot device comprising a base portion for housing a speed reducer for driving a first arm and a second arm having parallel links, wherein: The robotic device has: a first flange, a second flange, and a third flange integrally formed on the base portion; two first speed reducers arranged in parallel so as to sandwich the first arm and driving the first arm; a second speed reducer arranged in parallel with the two first speed reducers and driving the second arm; two first adapter members respectively disposed between the base portion and the two first speed reducers and connecting the base portion and the first speed reducers; and a second adapter member disposed between the base portion and the second reducer and connecting the base portion and the second reducer, The first reducer is combined with the first flange and the second flange using the first adapter component. The second reducer is combined with the third flange using the second adapter component and is arranged between the parallel link and the second adapter component to drive the second arm via the parallel link. An outer diameter of the second adapter component is greater than an outer diameter of the first adapter component.

2. The robot device according to claim 1, wherein: The two second speed reducers are arranged in parallel so as to sandwich a link that drives the second arm in conjunction with each other.

3. The robot device according to claim 1 or 2, characterized in that: Of the two first adapter members, the outer diameter of the first adapter member disposed on the outer side opposite to the second adapter member side is larger than the outer diameter of the first adapter member disposed on the inner side of the second adapter member side.

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