Two-arm robot
By utilizing a mirror-copy design with symmetrical, shared components for the arms of a double-arm robot, the complexity of member variety is reduced, enabling efficient assembly and improved arm coordination.
Patent Information
- Application Number
- JP2023182770
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2023-10-24
- Publication Date
- 2025-05-09
AI Technical Summary
Existing double-arm robots face challenges in standardizing arm members while maintaining asymmetrical arm designs, leading to increased complexity and member variety.
The double-arm robot employs a design where the left and right arms are mirror-copies centered around the torso, with common members such as the arm cover, motor unit, and arm base, which are symmetrical and shared between arms.
This approach allows for efficient assembly using only common members, preventing an increase in the number of distinct members and enhancing coordination between the arms.
Smart Images
Figure 2025072187000001_ABST
Abstract
Description
[Technical field]
[0001] An embodiment of the present invention relates to a dual-arm robot. [Background technology]
[0002] Dual-arm robots are often symmetrical around the torso in order to be designed like humans. Therefore, the arms themselves are often designed symmetrically. In dual-arm robots where the arms themselves are asymmetrical, the left and right arms are often mirror images of the torso.
[0003] In addition, if the left and right arms are symmetrical in shape, it is easy to standardize the parts and simplify the structure of each arm, but the two arms are positioned above or to the side of the body in order to coordinate their movements, which means that such dual-arm robots tend to have arms that protrude outward.
[0004] On the other hand, in the case of a dual-arm robot, if the left and right arms are mirror images of each other around the torso, the motors and frame can be placed on the outside of the torso, leaving more space in the arms, which is advantageous for coordinated operation, but makes it difficult to standardize parts. [Prior art documents] [Patent documents]
[0005] [Patent Document 1] JP 2005-238350 A [Patent Document 2] JP 2007-118177 A [Patent Document 3] JP 2019-77031 A Summary of the Invention [Problem to be solved by the invention]
[0006] The objective is to standardize the components of the left and right arms of a dual-arm robot, thereby suppressing the increase in the number of component types. [Means for solving the problem]
[0007] According to one embodiment, the dual-arm robot includes a first arm. The dual-arm robot further includes a second arm having a mirror image of the first arm, with the torso at the center. Each of the arms further includes a motor unit for driving the arm. Each of the arms further includes an arm cover for protecting the motor unit, the arm cover having a first hole in a first direction and a second hole in a second direction, the second hole having an outer frame shape identical to that of the first hole. Each of the arms further includes a second arm base for mounting the motor unit. Each of the arms further includes a first arm base having one end connected to the second arm base and the other end rotatably connected to the torso. The arm cover, the motor unit, the first arm base, and the second arm base are common members in each arm. [Brief description of the drawings]
[0008] [Figure 1] FIG. 1 is a perspective view of a dual-arm robot 1 according to the present embodiment. [Diagram 2] 4A to 4C are diagrams illustrating the operation of the dual-arm robot in the first comparative example. [Diagram 3] 11A and 11B are diagrams illustrating the structure of a dual-arm robot 1' in a second comparative example. [Figure 4] FIG. 2 is an exploded view of the right arm member 13 in this embodiment. [Diagram 5] 2 is an external view of a right arm member 13 and a left arm member 14 in this embodiment. FIG. [Figure 6] FIG. 11 is an external view of a right arm member 13' and a left arm member 14' in a second comparative example. [Figure 7] 10 is a comparative diagram between the arm cover 20 of the present embodiment and a right arm cover 40 of a second comparative example. FIG. [Figure 8] 2 is an external view of a harness duct 21 and a blocking plate 22 in the present embodiment. FIG. [Figure 9]11 is an external view of the arm base 25 in this embodiment and the right arm base 42 in a second comparative example. FIG. [Figure 10] FIG. 2 is an exploded view of a left arm member 14 and a right arm member 13 in this embodiment. [Figure 11] 1 is another external view of the left arm member 14 in this embodiment. FIG. [Figure 12] FIG. 11 is an exploded view of a right arm member 13' and a left arm member 14' in a second comparative example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0009] Hereinafter, an embodiment of the present disclosure will be described with reference to the drawings. The present embodiment does not limit the present invention. The drawings are schematic or conceptual, and the ratio of each part is not necessarily the same as the actual one. In the specification and drawings, elements similar to those described above with respect to the previous drawings are given the same reference numerals, and detailed descriptions are omitted as appropriate.
[0010] FIG. 1 is a perspective view of a dual-arm robot 1 in this embodiment.
[0011] Fig. 1 shows an X-axis, a Y-axis, and a Z-axis that are perpendicular to each other. The X-axis and the Y-axis correspond to the lateral direction (horizontal direction) perpendicular to the direction of gravity, and the Z-axis corresponds to the vertical direction (vertical direction) parallel to the direction of gravity. The +Z direction corresponds to the upward direction, and the -Z direction corresponds to the downward direction. The X-axis and the Y-axis do not have to strictly coincide with the horizontal direction, and the Z-axis does not have to strictly coincide with the vertical direction.
[0012] FIG. 1 shows a robot body 11, a right arm 10, and a left arm 12 in a dual-arm robot 1 of this embodiment. In this example, the dual-arm robot 1 has a shape in which the right arm 10 and the left arm 12 are mirror images of each other with the robot body at the center. In this embodiment, the dual-arm robot 1 uses common parts for the right arm member 13 in the right arm 10 and the left arm member 14 in the left arm 12, thereby suppressing an increase in the number of parts. Details of these structures will be described later. In this example, the dual-arm robot 1 has a structure including a robot body 11, a right arm 10, and a left arm 12, but may have other configurations such as a head, a waist, or legs. The right arm 10 is an example of a first arm, and the left arm 12 is an example of a second arm. In the following, the robot body 11 is also simply called the body.
[0013] FIG. 2 is a diagram illustrating the operation of the dual-arm robot in the first comparative example.
[0014] FIG. 2 shows the movement of a dual-arm robot in a first comparative example in which the individual shapes of the right arm and the left arm are symmetrical. In this example, in order to make the two arms move in coordination, each arm is placed laterally of the dual-arm robot. Due to this placement, when the dual-arm robot performs a chest movement, the arm performing the movement protrudes to the outside of the dual-arm robot. In the example of FIG. 2, the dual-arm robot shows a movement in which the left arm 12 protrudes to the outside of the dual-arm robot when performing a chest movement of the left arm 12.
[0015] FIG. 3 is a diagram illustrating the structure of a dual-arm robot 1′ in a second comparative example.
[0016] In FIG. 3, the right arm 10' and the left arm 12' are mirror images of each other with the robot body 11 at the center. With such a structure, the dual-arm robot can place the motor and frame on the outside of the robot body 11. This allows the dual-arm robot 1' to have a large space in its bosom, which is advantageous for cooperative operation. On the other hand, it is difficult to standardize components for such a dual-arm robot 1'. In this example, the dual-arm robot 1' uses different components for the right arm component 13' and the left arm component 14'.
[0017] FIG. 4 is an exploded view of the right arm member 13 in this embodiment.
[0018] In this embodiment, the right arm member 13 and the left arm member 14 use common members, so in FIG. 4, the components will be described using an exploded view of the right arm member 13 of both arms.
[0019] The right arm member 13 includes an arm cover 20, a harness duct 21, a blocking plate 22, a cable holder plate 23, a motor unit 24, and an arm base 25. The arm base 25 is divided into a first arm base 30 and a second arm base 31, and in this figure, the second arm base 31 is connected to the motor unit 24. The motor unit 24 and the second arm base 31 may be configured as an integrated member.
[0020] The arm base 25 is a member that serves as a base for the right arm member 13 or the left arm member 14. One side of the arm base 25 is rotatably connected to the robot body 11. The other side of the arm base 25 is equipped with a motor unit, and is further connected to the arm cover 20. As described above, the arm base 25 is divided into two members, the first arm base 30 and the second arm base 31. The second arm base 31 is equipped with the motor unit 24, and is further connected to the arm cover 20 so as to protect the motor unit 24. One side of the first arm base 30 is connected to the second arm base 31, and the other side is rotatably connected to the robot body 11. The first arm base 30 and the second arm base 31 each have a symmetrical structure.
[0021] The motor unit 24 includes, for example, a motor for driving the right arm 10 or the left arm 12, a gear box, and a motor housing.
[0022] The cable restraining plate 23 fixes the harness connected to the motor unit 24 and prevents the harness from shifting or twisting due to the movement of the arm.
[0023] The arm cover 20 incorporates a motor unit, a harness, and the like, and protects them. In this embodiment, the arm cover 20 has a first hole 32 in a first horizontal direction, and a second hole 33 in a second horizontal direction opposite to the first direction. The outer frame of the first hole 32 and the outer frame of the second hole 33 have the same shape. In the example of FIG. 4, the arm cover 20 has a first hole 32 and a second hole 33 in the -X direction and +X direction, respectively, and the harness duct 21 is attached to the first hole 32, and the blocking plate 22 is attached to the second hole 33. In this example, the first hole 32 is arranged in the -X direction, and the second hole 33 is arranged in the +X direction, but other configurations may be used as long as the arm cover 20 has a symmetrical structure, such as the first hole 32 being arranged in the -Y direction and the second hole 33 being arranged in the +Y direction.
[0024] Also, in this example, the right arm member 13 is configured such that the harness duct 21 is connected to the first hole 32 and the blocking plate 22 is connected to the second hole 33, but it may also be configured such that the blocking plate 22 is connected to the first hole 32 and the harness duct 21 is connected to the second hole 33.
[0025] As described above, the arm cover 20 is structured so that the harness duct 21 is attached to the first hole 32 and the blocking plate 22 is attached to the second hole 33, thereby enabling the arm cover 20 to be a symmetrical structure, and the arm cover 20 can be a common component for the right arm member 13 and the left arm member 14.
[0026] The harness duct 21 is a member connected to the protective tube and serves as a wiring hole for the harness including the signal line and power line to the motor. The duct diameter of the harness duct 21 is selected according to the width of the cables constituting the harness. The wiring introduced into the harness duct 21 is not limited to the harness, and various cables such as metal cables such as signal cables and power cables, as well as optical cables may be introduced.
[0027] The closing plate 22 is a member used to close the second hole of each arm, which is the side to which the harness duct 21 is not connected. The outer frame of the closing plate 22 has the same shape as the outer frame of the harness duct 21.
[0028] The harness duct 21 is an example of a first piece member, and the blocking plate 22 is an example of a second piece member.
[0029] FIG. 5 is an external view of the right arm member 13 and the left arm member 14 in this embodiment.
[0030] Fig. 5A shows an external view of the assembled state of the right arm member 13 in this embodiment, and Fig. 5B shows an external view of the assembled state of the left arm member 14. In Fig. 5 as well, the configurations of the right arm member 13 and the left arm member 14 are mirror images of each other with the robot body 11 at the center, so they will be described using Fig. 5A.
[0031] In the configuration of the right arm member 13 in Fig. 5A, a motor unit 24 is mounted on an arm base 25, which is further covered by an arm cover 20. Furthermore, the arm cover 20 has a harness duct 21 attached to a first hole 32 and a closing plate 22 attached to a second hole 33.
[0032] As described above, the arm base 25 is connected at one end to the robot body 11 and rotates around the axis JL.
[0033] FIG. 6 is an external view of a right arm member 13' and a left arm member 14' in a second comparative example.
[0034] Figure 6A shows an external view of a right arm member 13' in a second comparative example, and Figure 6B shows a left arm member 14'. In Figure 6, the portions that do not use common members will be mainly described.
[0035] The right arm member 13' includes a right arm cover 40, a harness duct 21, and a right arm base 42. Although not shown in Fig. 6A, the right arm member 13' includes a motor unit and a cable support plate inside the right arm cover 40.
[0036] The left arm member 14' includes a left arm cover 41, a harness duct 21, and a left arm base 43. Although not shown in Fig. 6B, the left arm member 14' includes a motor unit and a cable holder plate inside the left arm cover 41.
[0037] In this embodiment, the arm cover 20 is a common component for the right arm member 13 and the left arm member 14, whereas in the second comparative example, different types of components are required for the right arm cover 40 and the left arm cover 41.
[0038] Furthermore, in this embodiment, the arm base 25 is a common member, whereas in the second comparative example, the right arm base 42 and the left arm base 43 require different members.
[0039] FIG. 7 is a comparison diagram between the arm cover 20 of this embodiment and a right arm cover 40 of a second comparative example.
[0040] Fig. 7A shows an external view of the right arm cover 40 in the second comparative example, and Fig. 7B shows an external view of the arm cover 20 in this embodiment. As shown in Fig. 7A, the right arm cover 40 has a first hole 32 to which the harness duct 21 is attached. On the other hand, the right arm cover 40 does not have a second hole in a second direction opposite to the first direction in which the first hole 32 is provided, and does not have a symmetrical structure. Therefore, the double-arm robot 1' requires a right arm cover 40 and a left arm cover 41 as components of each arm member.
[0041] 7B, the arm cover 20 in this embodiment has a first hole 32 for attaching the harness duct 21, and a second hole 33 in the opposing direction. The first hole 32 and the second hole 33 have the same outer frame. Therefore, the arm cover 20 is structured so that the harness duct 21 can be attached to either the first hole 32 or the second hole 33, and can be a common member for the right arm member 13 and the left arm member 14.
[0042] FIG. 8 is an external view of the harness duct 21 and the blocking plate 22 in this embodiment.
[0043] Fig. 8A shows an external view of the harness duct 21 in this embodiment, and Fig. 8B shows an external view of the blocking plate 22 in this embodiment. The harness duct 21 used in this embodiment uses a material similar to that of the harness duct 21 in the second comparative example. Meanwhile, the blocking plate 22 has an outer frame portion similar to that of the harness duct 21 that contacts the first hole 32, and thus has a structure that blocks the second hole 33.
[0044] FIG. 9 is an external view of the arm base 25 in this embodiment and the right arm base 42 in the second comparative example.
[0045] Fig. 9A shows an external view of the right arm base 42 in the second comparative example, and Fig. 9B shows an external view of the arm base 25 in this embodiment. As shown in Fig. 9A, the right arm base 42 is not divided into upper and lower parts and does not have a symmetrical structure. Therefore, the right arm base 42 and the left arm base 43 are required in the configuration of each arm member.
[0046] 9B, the arm base 25 in this embodiment is divided into two parts, a first arm base 30 and a second arm base 31, each of which has a symmetrical structure, and is configured to be connectable at the dividing surface. The second arm base 31 is configured to be connectable to the first arm base 30 even when rotated 180 degrees around a vertical rotation axis and with a changed phase. This allows the dual-arm robot 1 to use the arm base 25 as a common member in the right arm member 13 and the left arm member 14.
[0047] FIG. 10 is an exploded view of the left arm member 14 and the right arm member 13 in this embodiment.
[0048] The left side of Fig. 10 shows an exploded view of the left arm member 14 shown in Fig. 5B, seen from the +Y direction. This figure also shows the arm base 25, motor unit 24, cable hold plate 23, blocking plate 22, harness duct 21, and arm cover 20 as an exploded view of the left arm member 14. For the sake of explanation in Fig. 10, the second arm base 31 is connected to the motor unit 24 and is described as being in an integrated state. In the example of Fig. 10, when the motor unit 24 is rotated, the second arm base 31 is also described as being rotated as an integrated unit.
[0049] In the following, differences in assembly of the arm components will be described with the orientation of the first arm base 30 in the left arm component 14 and the orientation of the first arm base 30 in the right arm component 13 aligned.
[0050] In the right arm member 13, the motor unit 24 is rotated 180° around a vertical rotation axis and connected to the first arm base 30 with the phase changed relative to the motor unit 24 in the left arm member 14. In this example, the motor unit 24 in the right arm member 13 is connected to the first arm base 30 in a state in which the motor unit 24 in the left arm member 14 is rotated 180° on the XY plane with the Z axis as the rotation axis.
[0051] In addition, in the right arm member 13, the cable holder plate 23 is rotated 180° around a vertical rotation axis and further rotated 90° around a horizontal rotation axis with respect to the cable holder plate 23 in the left arm member 14, and is arranged in a phase-shifted state. In this example, the cable holder plate 23 in the right arm member 13 is arranged in a state in which the cable holder plate 23 in the left arm member 14 is rotated 180° on the XY plane with the Z axis as the rotation axis and further rotated 90° clockwise on the XZ plane with the Y axis as the rotation axis.
[0052] Furthermore, the arm cover 20 on the right arm member 13 is rotated 180° around a vertical rotation axis and arranged in a phase-shifted state with respect to the arm cover 20 on the left arm member 14. In this example, the arm cover 20 on the right arm member 13 is arranged in a state where the arm cover 20 on the left arm member 14 is rotated 180° on the XY plane with the Z axis as the rotation axis.
[0053] In addition, in the right arm member 13, the harness duct 21 and the blocking plate 22 are connected to the arm cover 20 in the same orientation as the harness duct 21 and the blocking plate 22 in the left arm member 14.
[0054] FIG. 11 is another external view of the left arm member 14 in this embodiment.
[0055] Fig. 11 shows an external view of the left arm member 14 shown in Fig. 5B rotated 180° around a vertical rotation axis. Fig. 11 shows that simply rotating the left arm member 14 180° around the Z axis as the rotation axis and changing the phase does not result in a structure that matches the right arm member 13. Therefore, by performing the rotation operation of the members described in Fig. 10, the dual-arm robot 1 can use each member as a common member for the left and right arm members.
[0056] FIG. 12 is an exploded view of a right arm member 13' and a left arm member 14' in the second comparative example.
[0057] The left side of Fig. 12 shows an exploded view of a right arm member 13' in the second comparative example, and the right side shows an exploded view of a left arm member 14'. The right arm base 42 and the left arm base 43 are not common members, and therefore are arranged on each arm as different members without involving any rotational movement. Similarly, the right arm cover 40 and the left arm cover 41 are not common members, and therefore are arranged on each arm as different members without involving any rotational movement as described in Fig. 10.
[0058] According to this embodiment, in a dual-arm robot 1 in which the left and right arms are arranged in a mirror image shape centered on the robot torso 11, a first hole and a second hole are provided in the arm cover 20, and a blocking plate 22 having an outer frame similar to that of the harness duct 21 is attached, thereby making it possible to give the arm cover 20 a symmetrical structure.
[0059] Furthermore, according to this embodiment, by dividing the arm base 25 into two members, the first arm base 30 and the second arm base 31, each member can have a symmetrical structure.
[0060] Furthermore, according to this embodiment, the left and right arms are arranged on the outside of the robot body 11, and each arm is arranged in a mirror image shape with the body as the center, thereby making it possible to realize a dual-arm robot with excellent cooperative movement, and furthermore, by making the components constituting the left and right arms have a symmetrical structure, it is possible to realize common components.
[0061] According to this embodiment, the left and right arms can be assembled using only common parts by using common parts for the components constituting the left and right arms, such as the arm cover 20 and the arm base 25. Since the left and right arms are constructed using only common parts, an increase in the number of types of parts can be suppressed.
[0062] Although the present embodiment has been described above, this embodiment is presented only as an example and is not intended to limit the scope of the invention. The novel dual-arm robot 1 described in this specification can be embodied in various other forms. Furthermore, various omissions, substitutions, and modifications can be made to the form of the dual-arm robot 1 described in this specification without departing from the gist of the invention. The appended claims and equivalents are intended to include such forms and modifications that fall within the scope and gist of the invention. [Explanation of symbols]
[0063] 1: Dual-arm robot, 1': Dual-arm robot, 10: Right arm, 10': right arm, 11: robot body, 12: left arm, 12': left arm, 13: right arm member, 13': right arm member, 14: Left arm member, 14': Left arm member, 20: Arm cover, 21: harness duct, 22: blocking plate, 23: cable support plate, 24: motor unit, 25: arm base, 30: first arm base, 31: second arm base, 32: first hole, 33: second hole, 40: Right arm cover, 41: Left arm cover, 42: Right arm base, 43: Left arm base,
Claims
1. A first arm; The robot has a second arm that is a mirror image of the first arm and is centered around the body, Each of the first arm and the second arm includes: a motor unit that drives the first arm or the second arm; an arm cover for protecting the motor unit, the arm cover having a first hole in a first direction and a second hole in a second direction opposite to the first direction, the second hole having an outer frame shape identical to that of the first hole; a second arm base on which the motor unit is mounted; a first arm base, one end of which is connected to the second arm base and the other end of which is rotatably connected to a body; the arm cover, the motor unit, the first arm base, and the second arm base are common members of the first arm and the second arm. Dual-arm robot.
2. The dual-arm robot according to claim 1 , wherein the arm cover, the first arm base, and the second arm base have a symmetrical structure.
3. A first bridge member is attached to the first hole, A second piece member having the same outer frame as the first piece member is attached to the second hole. The dual-arm robot according to claim 1.
4. The dual-arm robot according to claim 3 , wherein the first piece member is a cable duct serving as a wiring hole.
5. The dual-arm robot according to claim 3 , wherein the second piece member is a closing plate.
Citation Information
Patent Citations
Humanoid double-arm robot
JP2005238350A
Double-arm robot
JP2007118177A
Double-arm working device
JP2019077031A