Dual-arm robot

Abstract

This invention provides a dual-arm robot that can expand the range of motion around its torso. [Solution] The dual-arm robot according to this embodiment comprises a robot torso, a waist supporting the torso, a right shoulder attached to one side of the torso and rotatable about a first right axis substantially parallel to a central axis passing from the waist through the center of the torso, a left shoulder attached to the other side of the torso and rotatable about a first left axis substantially parallel to the central axis, a right arm attached to the right shoulder and rotatable about a second right axis intersecting the first right axis, and a left arm attached to the left shoulder and rotatable about a second left axis intersecting the first left axis.

Description

Technical Field

[0001] This embodiment relates to a dual-arm robot.

Background Art

[0002] In factories, various processes such as welding, painting, product assembly, transportation, and inspection have been automated by introducing industrial robots.

[0003] In recent years, humanoid robots equipped with human-like limbs that can walk and handle objects with their hands have been developed. Recently, against the backdrop of chronic labor shortages, the introduction of humanoid robots has been considered not only in the manufacturing industry but also in various fields.

[0004] Humanoid robots have a body structure similar to that of humans, so they are suitable for tasks that replace human work or collaborate with humans. Along with the improvement of computer performance and the development of control technology, dual-arm robots approaching the human arm have been developed.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

Patent Document 3

Patent Document 4

Patent Document 5

Patent Document 6

Patent Document 7

Patent Document 8

[0006] However, conventional dual-arm robots had a limited range of motion around the torso.

[0007] Therefore, this embodiment has been made in view of the above-mentioned problems, and aims to provide a dual-arm robot that can expand the range of motion around the torso. [Means for solving the problem]

[0008] The dual-arm robot according to this embodiment comprises a robot torso, a waist supporting the torso, a right shoulder attached to one side of the torso and rotatable about a first right axis substantially parallel to a central axis passing from the waist through the center of the torso, a left shoulder attached to the other side of the torso and rotatable about a first left axis substantially parallel to the central axis, a right arm attached to the right shoulder and rotatable about a second right axis intersecting the first right axis, and a left arm attached to the left shoulder and rotatable about a second left axis intersecting the first left axis.

[0009] The width between the first right axis and the first left axis is narrower than the width of the fuselage in the parallel direction of the first right axis and the first left axis.

[0010] The right arm includes a first upper right arm attached to the right shoulder and rotatable around a second right axis, and the left arm includes a first upper left arm attached to the left shoulder and rotatable around a second left axis.

[0011] The right arm further includes a second right arm attached to the first right arm and rotatable about an additional right axis intersecting the second right axis, a first right forearm attached to the second right arm and rotatable about a third right axis intersecting the additional right axis, a second right forearm attached to the first right forearm and rotatable about a fourth right axis intersecting the third right axis, a right wrist attached to the second right forearm and rotatable about a fifth right axis intersecting the fourth right axis, and right fingers attached to the right wrist and rotatable about a sixth right axis intersecting the fifth right axis, The left arm further includes a second left upper arm attached to the first left upper arm and rotatable about an additional left axis intersecting the second left axis; a first left forearm attached to the second left upper arm and rotatable about a third left axis intersecting the additional left axis; a second left forearm attached to the first left forearm and rotatable about a fourth left axis intersecting the third left axis; a left wrist attached to the second left forearm and rotatable about a fifth left axis intersecting the fourth left axis; and a left finger attached to the left wrist and rotatable about a sixth left axis intersecting the fifth left axis.

[0012] The second right axis is approximately perpendicular to the first right axis, and the second left axis is approximately perpendicular to the first left axis.

[0013] The additional right axis is approximately perpendicular to the second right axis, and the additional left axis is approximately perpendicular to the second left axis.

[0014] The third right axis is approximately perpendicular to the additional right axis, the fourth right axis is approximately perpendicular to the third right axis, the fifth right axis is approximately perpendicular to the fourth right axis, the sixth right axis is approximately perpendicular to the fifth right axis, the third left axis is approximately perpendicular to the additional left axis, the fourth left axis is approximately perpendicular to the third left axis, the fifth left axis is approximately perpendicular to the fourth left axis, and the sixth left axis is approximately perpendicular to the fifth left axis.

[0015] The system further comprises a plurality of motors that drive the first and second right shafts, and the first and second left shafts, and a plurality of speed reducers that reduce the rotation of the plurality of motors and transmit it to the corresponding shafts.

[0016] The torso is rotatable around the central axis with respect to the waist, and tiltable in the front-rear direction around an axis substantially perpendicular to the central axis. It further includes a first torque sensor provided on the JB1 axis for detecting the force applied to the torso, a second torque sensor provided on the second right axis for detecting the force applied to the right arm, and a third torque sensor provided on the second left axis for detecting the force applied to the left arm.

Brief Description of the Drawings

[0017] [Figure 1] Front view showing a configuration example of the dual-arm humanoid robot according to this embodiment. [Figure 2] Top view showing a configuration example of the dual-arm humanoid robot according to this embodiment. [Figure 3] Schematic diagram showing an example of the links and drive system of the dual-arm humanoid robot according to this embodiment. [Figure 4] Schematic diagram showing an example of the drive system of the robot according to this embodiment. [Figure 5] Plan view showing the operating range of the left arm of the robot according to this embodiment. <00,00092> [Figure 6] Diagram showing the left arm of the robot according to the comparative example. [Figure 7] Diagram showing the left arm of the robot according to the comparative example [Figure 8] Diagram showing an operating example of the robot according to this embodiment. [Figure 9] Diagram showing an operating example of the robot according to this embodiment. [Figure 10] Diagram showing an operating example of the robot according to the comparative example. [Figure 11] Diagram showing an operating example of the robot according to the comparative example. [[ID=^41]]

Modes for Carrying Out the Invention

[0018] Embodiments of the present invention will be described below with reference to the drawings. These embodiments are not limiting to the present invention. The drawings are schematic or conceptual, and the proportions of each part may not necessarily be the same as those of actual objects. In the specification and drawings, elements similar to those described above with respect to previously shown drawings are denoted by the same reference numerals, and detailed explanations are omitted as appropriate.

[0019] Figure 1 is a front view showing an example configuration of the dual-arm humanoid robot 1 according to this embodiment. Figure 2 is a top view showing an example configuration of the dual-arm humanoid robot 1 according to this embodiment. Figure 3 is a schematic diagram showing an example of the links and drive system of the dual-arm humanoid robot 1 according to this embodiment. Figures 1 to 3 show the posture when all axes are at 0 degrees.

[0020] The dual-armed humanoid robot 1 (hereinafter referred to as robot 1) is a robot with a structure similar to that of a human body, comprising a waist 10, a torso 11, a right arm 12R, and a left arm 12L. The configuration of robot 1 below the waist 10 is arbitrary. Therefore, robot 1 may be fixed in place. Alternatively, robot 1 may be mounted on a cart or legs to make it mobile.

[0021] In Figure 1, the vertical direction refers to the up and down movement when the waist portion 10 is placed on a horizontal plane, and corresponds to the ±Z direction. The front-to-back direction refers to the ±Y direction, with the front of the torso 11 as the reference point and the back as the reference point. The left-to-right direction refers to the left-to-right direction with respect to the torso 11, and corresponds to the ±X direction.

[0022] In this embodiment, a portion of the waist portion 10 is fixed at an arbitrary position. The waist portion 10 supports the torso 11.

[0023] The torso 11 has a vertical central axis JB1 that runs from the waist 10 through the center of the torso 11 in the Z direction. The torso 11 is rotatable around the waist 10 about the central axis JB1. The torso 11 is also tiltable around a horizontal axis JB2 that extends left and right in the vicinity of the waist 10. Thus, the torso 11 has two degrees of freedom, consisting of the JB1 axis and the JB2 axis.

[0024] Next, I will explain the right arm 12R and the left arm 12L.

[0025] The right arm 12R comprises a shoulder portion 13R, a first upper arm portion 14R, a second upper arm portion 15R, a first forearm portion 16R, a second forearm portion 17R, a wrist portion 18R, and a finger portion 19R. Similarly, the left arm 12L comprises a shoulder portion 13L, a first upper arm portion 14L, a second upper arm portion 15L, a first forearm portion 16L, a second forearm portion 17L, a wrist portion 18L, and a finger portion 19L.

[0026] The right arm 12R has seven axes, JR1, JRadd, JR2-JR6, corresponding to the shoulder 13R to the finger 19R, and has a total of seven degrees of freedom. Similarly, the left arm 12L has seven axes, JL1, JLadd, JL2-JL6, corresponding to the shoulder 13L to the finger 19L, and has a total of seven degrees of freedom.

[0027] The shoulder portion 13R is attached to the right side of the torso 11. The shoulder portion 13R is configured to rotate around the JR1 axis, which is a first right axis approximately parallel to the central axis JB1 of the torso 11. The shoulder portion 13L is attached to the left side of the torso 11. The shoulder portion 13L is configured to rotate around the JL1 axis, which is a first left axis approximately parallel to the central axis JB1 of the torso 11. The shoulder portions 13R and 13L are rotatable relative to the torso 11. Note that "parallel" includes not only strictly parallel but also cases where there is a certain degree of inclination from parallel. "Orthogonal" includes not only strictly orthogonal but also cases where there is a certain degree of inclination from orthogonal.

[0028] The rotating parts of the shoulder sections 13R and 13L are located inside the torso 11. Therefore, the width WJ1 between the JR1 axis and the JL1 axis is narrower than the width W11 of the torso 11. Both widths WJ1 and W11 are the widths in the alignment direction (X direction) of the JR1 axis and the JL1 axis. The rotational movement of the shoulder sections 13R and 13L allows them to move the entire right arm 12R and left arm 12L, respectively, to the front (forward) or back (rear) of the torso 11 without changing their height in the Z direction. In other words, the shoulder sections 13R and 13L rotate the right arm 12R and left arm 12L, respectively, in the XY plane. This allows the shoulder sections 13R and 13L to bring the right arm 12R and left arm 12L closer to each other on the front or back side of the torso 11 to a width of WJ1 or less.

[0029] The right arm 12R is attached to the shoulder portion 13R. The right arm 12R is configured to rotate around the JR2 axis, which is a second right axis intersecting the JR1 axis. The left arm 12L is attached to the shoulder portion 13L. The left arm 12L is configured to rotate around the JL2 axis, which is a second left axis intersecting the JL1 axis. In this embodiment, the JR2 axis is approximately perpendicular to the JR1 axis. The JL2 axis is approximately perpendicular to the JL1 axis.

[0030] The first upper arm 14R is attached to the shoulder 13R and is configured to rotate around the JR2 axis. The first upper arm 14L is attached to the shoulder 13L and is configured to rotate around the JL2 axis. As a result, the first upper arms 14R and 14L can swing the right arm 12R and the left arm 12L, respectively, from the front or back (±Y direction) in the Z direction around the JR2 axis and JL2 axis.

[0031] The second upper arm portion 15R is attached to the first upper arm portion 14R. The second upper arm portion 15R is configured to rotate around the JRadd axis, which is an additional right axis intersecting the JR2 axis. The second upper arm portion 15L is attached to the first upper arm portion 14L. The second upper arm portion 15L is configured to rotate around the JLadd axis, which is an additional left axis intersecting the JL2 axis. In this embodiment, the JRadd axis is approximately perpendicular to the JR2 axis. The JLadd axis is approximately perpendicular to the JL2 axis. As a result, the second upper arm portions 15R and 15L can rotate by twisting around their longitudinal direction as the central axis.

[0032] The first forearm 16R is attached to the second upper arm 15R. The first forearm 16R is configured to rotate around JR3, which is a third right axis intersecting the JRadd axis. The first forearm 16L is attached to the second upper arm 15L. The first forearm 16L is configured to rotate around JL3, which is a third left axis intersecting the JLadd axis. In this embodiment, the JR3 axis is approximately perpendicular to the JRadd axis. The JL3 axis is approximately perpendicular to the JLadd axis. By rotating the first forearms 16R and 16L around the JR3 axis and JL3 ​​axis, the second forearms 17R and 17L can be swung up in the Z direction from the front or back (±Y direction).

[0033] The second forearm 17R is attached to the first forearm 16R. The second forearm 17R is configured to rotate around the JR4 axis, which is a fourth right axis intersecting the JR3 axis. The second forearm 17L is attached to the first forearm 16L. The second forearm 17L is configured to rotate around the JL4 axis, which is a fourth left axis intersecting the JL3 axis. In this embodiment, the JR4 axis is approximately perpendicular to the JR3 axis. The JL4 axis is approximately perpendicular to the JL3 axis. As a result, the second forearms 17R and 17L can rotate in a twisting manner around the JR4 axis and the JL4 axis as their central axes.

[0034] The wrist portion 18R is attached to the second forearm portion 17R. The wrist portion 18R is configured to rotate around the JR5 axis, which is a fifth right axis intersecting the JR4 axis. The wrist portion 18L is attached to the second forearm portion 17L. The wrist portion 18L is configured to rotate around the JL5 axis, which is a fifth left axis intersecting the JL4 axis. In this embodiment, the JR5 axis is approximately perpendicular to the JR4 axis. The JL5 axis is approximately perpendicular to the JL4 axis. By rotating the wrist portions 18R and 18L around the JR5 axis and JL5 axis, the wrist portions 18R and 18L can be bent forward or backward (±Y direction) in the Z direction.

[0035] The finger portion 19R is attached to the wrist portion 18R. The finger portion 19R is configured to rotate around the JR6 axis, which is a sixth right axis intersecting the JR5 axis. The finger portion 19L is attached to the wrist portion 18L. The finger portion 19L is configured to rotate around the JL6 axis, which is a sixth left axis intersecting the JL5 axis. In this embodiment, the JR6 axis is approximately perpendicular to the JR5 axis. The JL6 axis is approximately perpendicular to the JL5 axis. As a result, the finger portions 19R and 19L can rotate around the JR6 axis and the JL6 axis as their central axes.

[0036] As shown in Figure 2, on the top surface viewed from the Z direction, the JB1 axis, JR1 axis, and JL1 axis are substantially parallel to each other and extend in the Z direction. The JB2 axis extends in a direction substantially perpendicular to the JB1 axis, JR1 axis, and JL1 axis (X direction). In a plan view from the Z direction, it can be seen that the JR1 axis and JL1 axis are located inside the torso 11 (i.e., inside the torso 11). Furthermore, in a plan view from the Z direction, the JR1 axis and JL1 axis may be located inside the waist 10 (i.e., inside the waist 10). In this case, the width between the JR1 axis and the JL1 axis will be narrower than the width of the waist 10 in the Z direction.

[0037] The JRadd axis, JR4 axis, and JR6 axis are substantially parallel to each other and extend in the Z direction. The JRadd axis, JR4 axis, and JR6 axis may be located at approximately the same position in a plan view from the Z direction. The JLadd axis, JL4 axis, and JL6 axis are substantially parallel to each other and extend in the Z direction. The JLadd axis, JL4 axis, and JL6 axis may be located at approximately the same position in a plan view from the Z direction.

[0038] The JR2, JR3, and JR5 axes are substantially parallel to each other and extend in the X direction. The JR2, JR3, and JR5 axes may be located at approximately the same position in a plan view from the Z direction. The JL2, JL3, and JL5 axes are substantially parallel to each other and extend in the X direction. The JL2, JL3, and JL5 axes may be located at approximately the same position in a plan view from the Z direction.

[0039] In Figure 3, the JR4 axis is offset in the -X direction relative to the JRadd and JR6 axes. The JL4 axis is offset in the +X direction relative to the JLadd and JL6 axes. Thus, axes can be offset from each other.

[0040] Next, the drive system of the robot 1 according to this embodiment will be described.

[0041] Figure 4 is a schematic diagram showing an example of the drive system of robot 1 according to this embodiment. Robot 1 comprises motors M1, M2, M3R~M9R, M3L~M9L, reducers D1, D2, D3R~D9R, D3L~D9L, torque sensors T1, T2R, T2L, power transmission units P1R~P3R, P1L~P3L, and bearings B1, B2R, B2L.

[0042] Motor M1, gearbox D1, and torque sensor T1 are installed in the waist section 10. Motor M1 rotates the other parts of the waist section 10 (moving parts) and the torso 11 around the JB1 axis, relative to a part of the waist section 10 (fixed parts). The rotation of the torso 11 also causes the shoulder sections 13R, 13L, right arm 12R, and left arm 12L to pivot around the JB1 axis. Gearbox D1 reduces the rotational speed of motor M1, increasing the rotational torque of the other parts of the waist section 10 and the torso 11. Torque sensor T1 detects the torque applied to the JB1 axis via the other parts of the waist section 10 and the torso 11.

[0043] Motor M2, gearbox D2, and bearing B1 are installed on the other parts (moving parts) of the waist 10 and the torso 11. Motor M2 tilts the torso 11 forward and backward (±Y direction) relative to the other parts (moving parts) of the waist 10 around the JB2 axis. The tilting of the torso 11 causes the shoulders 13R, 13L and the right arm 12R and left arm 12L to tilt together with the torso 11. Gearbox D2 reduces the rotational speed of motor M2 to increase the tilting torque of the torso 11. Bearing B1 is installed on the torso 11 and supports the torso 11. Note that torque sensors are not provided on motor M2 and gearbox D2.

[0044] Motor M3R and reduction gear D3R are installed in the torso 11 and shoulder 13R. Motor M3R rotates the shoulder 13R in the XY plane, either forward or backward of the torso 11, while maintaining its height in the Z direction, around the JR1 axis. The rotation of the shoulder 13R causes the entire right arm 12R to move in the same way. Reduction gear D3R reduces the rotational speed of motor M3R and increases the operating torque of the shoulder 13R. Note that torque sensors are not provided in motor M3R or reduction gear D3R.

[0045] Motor M3L and reduction gear D3L are installed in the torso 11 and shoulder 13L. Motor M3L rotates the shoulder 13L in the XY plane, either forward or backward of the torso 11, while maintaining its height in the Z direction, around the JL1 axis. The rotation of the shoulder 13L causes the entire left arm 12L to move in the same way. Reduction gear D3L reduces the rotational speed of motor M3L and increases the operating torque of the shoulder 13L. Note that torque sensors are not provided in motor M3L or reduction gear D3L.

[0046] Motor M4R, gearbox D4R, and torque sensor T2R are installed on the shoulder portion 13R and the first upper arm portion 14R. Motor M4R rotates the first upper arm portion 14R back and forth in the YZ plane around the JR2 axis. The rotation of the first upper arm portion 14R allows the entire right arm portion 12R to be swung up or down back and forth. Gearbox D4R reduces the rotational speed of motor M4R to increase the operating torque of the first upper arm portion 14R. Torque sensor T2R detects the torque applied to the JR2 axis via the shoulder portion 13R and the first upper arm portion 14R.

[0047] Motor M4L, gearbox D4L, and torque sensor T2L are installed on the shoulder portion 13L and the first upper arm portion 14L. Motor M4L rotates the first upper arm portion 14L back and forth in the YZ plane around the JL2 axis. The rotation of the first upper arm portion 14L allows the entire left arm 12L to be swung up or down back and forth. Gearbox D4L reduces the rotational speed of motor M4L and increases the operating torque of the first upper arm portion 14L. Torque sensor T2L detects the torque applied to the JL2 axis via the shoulder portion 13L and the first upper arm portion 14L.

[0048] Motor M5R and gearbox D5R are installed in the first upper arm 14R and the second upper arm 15R. Motor M5R rotates the second upper arm 15R in the XY plane around the JRdd axis while maintaining its height in the Z direction relative to the first upper arm 14R. The rotation of the second upper arm 15R causes the components of the right arm 12R beyond the second upper arm 15R to move in the same way. Gearbox D5R reduces the rotational speed of motor M5R and increases the operating torque of the second upper arm 15R.

[0049] Motor M5L and gearbox D5L are installed in the first upper arm 14L and the second upper arm 15L. Motor M5L rotates the second upper arm 15L in the XY plane around the JLadd axis while maintaining its height in the Z direction relative to the first upper arm 14L. The rotation of the second upper arm 15L causes the components of the left arm 12L beyond the second upper arm 15L to move in the same way. Gearbox D5L reduces the rotational speed of motor M5L and increases the operating torque of the second upper arm 15L.

[0050] The motor M6R, the gearbox D6R, and the power transmission unit P1R are provided on the second upper arm 15R and the first forearm 16R. The motor M6R rotates the first forearm 16R back and forth in the YZ plane around the JR3 axis. The rotation of the first forearm 16R allows the components of the right arm 12R beyond the first forearm 16R to be swung up or down back and forth. The gearbox D6R reduces the rotational speed of the motor M6R and increases the operating torque of the first forearm 16R. The power transmission unit P1R may be, for example, a pulley that transmits the power of the motor M6R to the JR3 axis.

[0051] The motor M6L, the gearbox D6L, and the power transmission unit P1L are installed in the second upper arm 15L and the first forearm 16L. The motor M6L rotates the first forearm 16L back and forth in the YZ plane around the JL3 axis. The rotation of the first forearm 16L allows the components of the left arm 12L beyond the first forearm 16L to be swung up or down back and forth. The gearbox D6L reduces the rotational speed of the motor M6L and increases the operating torque of the first forearm 16L. The power transmission unit P1L is, for example, a pulley that transmits the power of the motor M6L to the JL3 axis.

[0052] Motor M7R, gearbox D7R, power transmission unit P2R, and bearing B2R are provided on the first forearm 16R and the second forearm 17R. Motor M7R rotates the second forearm 17R in the XY plane around the JR4 axis while maintaining its height in the Z direction relative to the first forearm 16R. The rotation of the second forearm 17R causes the components of the right arm 12R beyond the second forearm 17R to move in the same way. Gearbox D7R reduces the rotational speed of motor M7R and increases the operating torque of the second forearm 17R. Power transmission unit P2R may be a pulley that transmits the power of motor M7R to the JR4 axis. Bearing B2R is provided between the first forearm 16R and the second forearm 17R and rotatably supports the second forearm 17R.

[0053] Motor M7L, gearbox D7L, power transmission unit P2L, and bearing B2L are provided on the first forearm 16L and the second forearm 17L. Motor M7L rotates the second forearm 17L in the XY plane around the JL4 axis while maintaining its height in the Z direction relative to the first forearm 16L. The rotation of the second forearm 17L causes the components of the left arm 12L beyond the second forearm 17L to move in the same way. Gearbox D7L reduces the rotational speed of motor M7L and increases the operating torque of the second forearm 17L. Power transmission unit P2L may be a pulley that transmits the power of motor M7L to the JL4 axis. Bearing B2L is provided between the first forearm 16L and the second forearm 17L and rotatably supports the second forearm 17L.

[0054] The motor M8R, the reducer D8R, and the power transmission unit P3R are installed in the second forearm 17R and the wrist 18R. The motor M8R rotates the wrist 18R back and forth in the YZ plane around the JR5 axis. The rotation of the wrist 18R allows the components of the right arm 12R beyond the wrist 18R to be swung up or down back and forth. The reducer D8R reduces the rotational speed of the motor M8R and increases the operating torque of the wrist 18R. The power transmission unit P3R may be, for example, a pulley that transmits the power of the motor M8R to the JR5 axis.

[0055] The motor M8L, the reducer D8L, and the power transmission unit P3L are installed in the second forearm 17L and the wrist 18L. The motor M8L rotates the wrist 18L back and forth in the YZ plane around the JL5 axis. The rotation of the wrist 18L allows the components of the left arm 12L beyond the wrist 18L to be swung up or down back and forth. The reducer D8L reduces the rotational speed of the motor M8L and increases the operating torque of the wrist 18L. The power transmission unit P3L may be, for example, a pulley that transmits the power of the motor M8L to the JL5 axis.

[0056] Motor M9R and gearbox D9R are installed in the wrist section 18R and finger section 19R. Motor M9R rotates the finger section 19R relative to the wrist section 18R around the JR6 axis. Gearbox D9R reduces the rotational speed of motor M9R and increases the operating torque of the finger section 19R.

[0057] Motor M9L and gearbox D9L are installed in the wrist section 18L and finger section 19L. Motor M9L rotates the finger section 19L relative to the wrist section 18L around the JL6 axis. Gearbox D9L reduces the rotational speed of motor M9L and increases the operating torque of the finger section 19L.

[0058] Here, torque sensors T1, T2R, and T2L are provided for the JB1, JR2, and JL2 axes shown in Figure 3, but not for all axes.

[0059] The torque sensor T1 is mounted on the JB1 axis, which extends in the Z direction, at the center of the fuselage 11. This allows the torque sensor T1 to detect external forces applied to the fuselage 11 and the shoulder portions 13R and 13L.

[0060] The torque sensor T2R is mounted on the JR2 axis, which extends in the X direction. This allows the torque sensor T2R to detect external forces mainly applied to the right arm 12R.

[0061] The torque sensor T2L is mounted on the JL2 axis, which extends in the X direction. This allows the torque sensor T2L to detect external forces mainly applied to the left arm 12L. Torque sensors T1, T2R, and T2L detect external forces applied to mutually orthogonal axes. Furthermore, torque sensors T2R and T2L are arranged symmetrically on the left and right (±X directions). Therefore, the three torque sensors T1, T2R, and T2L can efficiently detect external forces applied to robot 1 from the X, Y, and Z directions.

[0062] Next, the operation and effects of the robot 1 according to this embodiment will be described.

[0063] Figure 5 is a plan view showing the range of motion of the left arm of the robot according to this embodiment. With the waist 10 and torso 11 fixed, the left arm 12L is rotated 90 degrees forward from the 0-degree position around the JL2 axis. In this state, when the other JL1 axis, JLadd axis, and JL3 ​​to JL6 axes are driven arbitrarily, the range of motion A12L is the range in the XY plane that the center of the wrist 18L can pass through.

[0064] In this embodiment, by providing the JL1 axis, which is substantially parallel to the central axis JB1 of the torso 11, on the inside of the torso 11, the shoulder portion 13L can be rotated inside the torso 11. This allows the left arm 12L to rotate over a wide range without interfering with the torso 11. Therefore, the wrist portion 18L can be moved significantly to the right side of the torso 11 and also to the vicinity of the torso 11. Thus, the range of motion A12L extends to the right side of the torso 11 and the vicinity of the torso, making it relatively wide.

[0065] Although the range of motion of the right arm 12R is not shown, by providing the JR1 axis, which is approximately parallel to the central axis JB1 of the torso 11, inside the torso 11, the shoulder portion 13R can also be rotated inside the torso 11. As a result, the wrist portion 18R, like the wrist portion 18L, can be moved significantly to the left side of the torso 11 and also to the vicinity of the torso 11. Therefore, the range of motion of the right arm 12R extends considerably to the left side of the torso 11 and the vicinity of the torso, making it relatively wide. Consequently, the overlapping area of ​​the range of motion of the left arm 12L and the right arm 12R is large, and the range of work that can be performed by the left arm 12L and the right arm 12R working together is also wide.

[0066] Figures 6 and 7 show the left arm of a robot according to the comparative example. The left arm 112L of the comparative example has 7 axes, JL11 to JL17. The left arm 112L also has 7 links: shoulder 113L, upper arm 114L, elbow 115L, joint 116L, forearm 117L, wrist 118L, and finger 119L. The number of axes and links of the comparative example are the same as those of the embodiment. In other words, the degrees of freedom of the comparative example are the same as those of the embodiment.

[0067] However, in the comparative example, the JL11 axis between the shoulder portion 113L and the torso 111 is perpendicular to the central axis JB1 of the torso 111. That is, of the JL11 to JL17 axes, the JL11 axis closest to the torso 111 is perpendicular to the central axis JB1 of the torso 111.

[0068] Furthermore, the shoulder portion 113L, which is closest to the torso 111 among the links mentioned above, is located on the left side of the torso 111. Therefore, the JL12 axis that rotates the shoulder portion 113L is also located on the left side of the torso 111. Consequently, as shown in Figure 7, it is difficult to move the wrist portion 118L to the right side of the torso 111, and the range of movement near the torso 111 is also narrow. Thus, the operating range A112L is narrower than the operating range A12L in this embodiment. The same can be said for the right arm as for the left arm. Consequently, the overlapping portion of the operating ranges of the left and right arms in the comparative example is considerably narrower than that of this embodiment.

[0069] In contrast, in this embodiment, the JL1 axis, which is substantially parallel to the central axis JB1 of the torso 11, is provided inside the torso 11. This allows the right arm 12R and the left arm 12L to be controlled by a first axis parallel swivel, similar to the scapula of a human. As a result, the range of motion A12L extends significantly to the right side of the torso 11 and its vicinity, becoming wide-ranging. The range of motion of the right arm 12R is similarly wide. Therefore, the overlapping portion of the range of motion of the left arm 12L and the right arm 12R is wider than that of the comparative example, and the range of work that can be performed by the left arm 12L and the right arm 12R working together is also wider.

[0070] Figures 8 and 9 show examples of robot operation according to this embodiment. Figure 8 shows the state in which the wrist portions 18R and 18L are moved forward (+Y direction). At this time, the maximum width of the robot 1 is the width W15_1 between the outer ends of the second upper arm portions 15R and 15L, which correspond to the elbows on both sides in the X direction.

[0071] Figure 9 shows the wrists 18R and 18L moved further back (-Y direction) than their positions in Figure 8. In this state, the maximum width of the robot 1 is the width W15_2 between the outer ends of the second upper arm 15R or second forearm 17R and the outer ends of the second upper arm 15L or second forearm 17L, which correspond to the elbows on both sides in the X direction. Because the second upper arms 15R, 15L or second forearms 17R, 17L protrude to both sides, the width W15_2 is wider than the width W15_1.

[0072] Figures 10 and 11 show examples of robot operation using comparative examples. Figure 10 shows the state in which the wrists 118R and 118L are moved forward (+Y direction). At this time, the maximum width of the robot is the width W115_1 between the outer ends of the elbows 115R and 115L on both sides in the X direction.

[0073] Figure 11 shows the state where the wrist sections 118R and 118L have been moved further back (-Y direction) than their positions in Figure 10. At this time, the maximum width of the robot is the width W115_2 between the outer ends of the elbow sections 115R and 115L on both sides in the X direction. Because the elbow sections 115R and 115L protrude to both sides, the width W115_2 is wider than the width W115_1.

[0074] The width W115_2 of the comparative example is wider than both the widths W15_1 and W15_2 of this embodiment. Therefore, the robot 1 according to this embodiment can reduce the amount of protrusion of the elbow portion (second upper arm portion 15R, 15L or second forearm portion 17R, 17L) and reduce the area that interferes with peripheral equipment or humans. Thus, robot 1 is suitable as a collaborative robot.

[0075] Furthermore, in this embodiment, the robot 1 has the JR1 axis and JL1 axis of the shoulder portions 13R and 13L arranged to be approximately parallel to the central axis JB1, so that the right arm 12R and left arm 12L extend vertically (-Z direction) at the 0-degree position. As a result, external forces in the horizontal and vertical directions can be detected using only the torque sensors T1, T2R, and T2L. Consequently, the size of the robot 1 can be reduced, and costs can be lowered. [Explanation of Symbols]

[0076] 1. Dual-armed humanoid robot 10 Lower back 11 Torso 12R Right arm 12L Left Arm 13R, 13L Shoulder 14R, 14L 1st upper arm 15R, 15L 2nd upper arm 16R, 16L First forearm 17R, 17L Second forearm 18R, 18L wrist part 19R, 19L fingers JR1, JRadd, JR2~JR6, JL1, JLadd, JL2~JL6 axis M1, M2, M3R~M9R, M3L~M9L motors D1, D2, D3R~D9R, D3L~D9L reducer T1, T2R, T2L Torque Sensors P1R~P3R, P1L~P3L Power transmission section B1, B2R, B2L bearings

Claims

1. The robot's torso and The waist portion that supports the torso, A right shoulder portion is attached to one side of the torso and is rotatable about a first right axis which is substantially parallel to the central axis passing from the waist through the center of the torso, A left shoulder portion attached to the other side of the torso, which is rotatable about a first left axis substantially parallel to the central axis, A right arm attached to the right shoulder and rotatable about a second right axis that intersects the first right axis, A left arm attached to the left shoulder and rotatable around a second left axis that intersects the first left axis, A dual-armed robot equipped with these features.

2. The dual-arm robot according to claim 1, wherein the width between the first right axis and the first left axis is narrower than the width of the torso in the parallel direction of the first right axis and the first left axis.

3. The aforementioned right arm includes a first right upper arm portion that is attached to the right shoulder portion and is rotatable about the second right axis, The dual-arm robot according to claim 1, wherein the left arm includes a first left upper arm that is attached to the left shoulder and rotatable about the second left axis.

4. The aforementioned right arm, A second right arm is attached to the first right arm and is rotatable about an additional right axis that intersects with the second right axis, A first right forearm is attached to the second right upper arm and is rotatable about a third right axis that intersects with the additional right axis, A second right forearm is attached to the first right forearm and is rotatable about a fourth right axis that intersects the third right axis, A right wrist portion attached to the second right forearm and rotatable around a fifth right axis that intersects with the fourth right axis, The present invention further includes a right finger portion attached to the right wrist portion and rotatable about a sixth right axis that intersects the fifth right axis, The aforementioned left arm, A second left upper arm is attached to the first left upper arm and is rotatable around an additional left axis that intersects with the second left axis, A first left forearm is attached to the second left upper arm and is rotatable about a third left axis that intersects with the additional left axis, A second left forearm is attached to the first left forearm and is rotatable about a fourth left axis that intersects with the third left axis, A left wrist portion attached to the second left forearm and rotatable around a fifth left axis that intersects with the fourth left axis, The dual-arm robot according to claim 3, further comprising a left finger portion attached to the left wrist portion and rotatable about a sixth left axis intersecting the fifth left axis.

5. The second right axis is substantially perpendicular to the first right axis, The dual-arm robot according to claim 1, wherein the second left axis is substantially perpendicular to the first left axis.

6. The aforementioned additional right axis is substantially perpendicular to the second right axis, The dual-arm robot according to claim 4, wherein the additional left axis is substantially orthogonal to the second left axis.

7. The third right axis is substantially perpendicular to the additional right axis, The fourth right axis is substantially perpendicular to the third right axis, The fifth right axis is substantially perpendicular to the fourth right axis, The sixth right axis is substantially perpendicular to the fifth right axis, The third left axis is substantially perpendicular to the additional left axis, The fourth left axis is substantially perpendicular to the third left axis, The fifth left axis is substantially perpendicular to the fourth left axis, The dual-arm robot according to claim 4, wherein the sixth left axis is substantially perpendicular to the fifth left axis.

8. Multiple motors that drive the first and second right shafts, and the first and second left shafts, The dual-arm robot according to claim 1, further comprising a plurality of speed reducers that reduce the rotation of the plurality of motors and transmit them to the corresponding axes.

9. The torso is rotatable around the central axis relative to the waist, and is tiltable in the front-rear direction around an axis substantially perpendicular to the central axis. A first torque sensor is provided on the central axis and detects the force applied to the body, A second torque sensor is provided on the second right axis and detects the force applied to the right arm, The dual-arm robot according to claim 1, further comprising a third torque sensor provided on the second left axis for detecting the force applied to the left arm.

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