JP-7856416-B2 - Robot, robot control method, method for manufacturing articles using a robot, control program, and recording medium

JP7856416B2JP 7856416 B2JP7856416 B2JP 7856416B2JP-7856416-B2

Inventors

福田潤一
中島洋二
尾形勝
浅野秀忠

Assignees

キヤノン株式会社

Dates

Publication Date: 20260511
Application Date: 20211206

Claims (20)

A robot comprising: a first link; a drive device for displacing the first link; a second link to which the drive device is provided; a member that is displaced together with the first link by the drive device; and torque sensors connected to the first link and the member, It comprises a first stopper provided on the first link, a second stopper provided on the member, and a third stopper provided on the second link, The first stopper and the second stopper are provided such that they come into contact when the first link is displaced and the first stopper and the third stopper come into contact, or when the first link is displaced and the second stopper and the third stopper come into contact. A robot characterized by the following features.
In the robot according to claim 1, The first stopper and the second stopper come into contact with each other due to the relative movement of the first link and the member. A robot characterized by the following features.
In the robot according to claim 1 or 2, The second stopper is provided with a space in which the first stopper is positioned, and the first stopper is positioned in the space with a predetermined clearance. A robot characterized by the following features.
In the robot according to claim 3, The aforementioned space is an opening. A robot characterized by the following features.
In the robot according to any one of claims 2 to 4, The first stopper is provided with a boss. A robot characterized by the following features.
In the robot according to claim 1 or 2, The first stopper is provided with a space for the second stopper to be positioned, and the second stopper is positioned in the space with a predetermined clearance. A robot characterized by the following features.
In the robot according to claim 6, The aforementioned space is an air gap. A robot characterized by the following features.
In the robot according to any one of claims 1 to 7, The first stopper or the second stopper is provided in a removable manner. A robot characterized by the following features.
In the robot according to claim 8, The first stopper or the second stopper is provided so that its position can be adjusted. A robot characterized by the following features.
In the robot according to claim 8 or 9, The first link or the member is provided with a mounting portion for attaching the first stopper or the second stopper. A robot characterized by the following features.
In the robot according to claim 10, Multiple mounting portions are provided on the first link or the member. A robot characterized by the following features.
In the robot according to any one of claims 8 to 11, The first stopper or the second stopper is removable by a bolt. A robot characterized by the following features.
In the robot according to any one of claims 8 to 12, The first stopper or the second stopper is positioned by a pin. A robot characterized by the following features.
In the robot according to any one of claims 1 to 13, A force-detecting sensor is provided between the first link and the member. The second stopper is provided between the sensors. A robot characterized by the following features.
In the robot according to claim 14, The second stopper is provided with a groove in which the first stopper is positioned with a predetermined clearance. A robot characterized by the following features.
In the robot according to claim 14 or 15, The sensor is divided into at least two parts and is provided between the first link and the member. A robot characterized by the following features.
In the robot according to any one of claims 1 to 16, The first stopper or the second stopper comes into contact with the third stopper with a predetermined force, causing the first stopper and the second stopper to come into contact. A robot characterized by the following features.
In the robot according to claim 17, When a force smaller than the predetermined force is acting on the first link and the member and the first link and the member are displaced, the first stopper and the second stopper do not come into contact. A robot characterized by the following features.
In the robot according to any one of claims 1 to 18, The second link is provided with a sliding part, The sliding portion includes a movable piece that is arranged to slide, moves together with the first link while in contact with the first stopper or the second stopper, and comes into contact with the third stopper. A robot characterized by the following features.
In the robot according to any one of claims 1 to 19, The drive device comprises a motor and a reduction gear for reducing the displacement of the motor. The aforementioned member is connected to the output shaft of the reduction gear. A robot characterized by the following features.

Description

This invention relates to a robot. In recent years, robots with linkages that operate via joints have attracted attention for their ability to perform control based on force information, achieved by placing sensors on the links to acquire force information. In particular, by placing torque sensors that can acquire torque information as force information, it has become easier to control the forces generated in the robot's links and the load or force applied to parts by end effectors placed at the robot's end. However, if the robot moves in an unintended direction during robot operation or teaching, there is a risk of collision with surrounding equipment, potentially damaging the robot or the equipment. To address this issue, Patent Document 1 describes placing stoppers on the joints to mechanically limit the range of motion of the robot's joints, and restricting the range of motion by arbitrarily changing the position of the stoppers. This reduces the risk of collision and damage to surrounding equipment, even if the robot moves in an unintended direction. Japanese Patent Publication No. 2019-166579 This figure shows the schematic configuration of the robot system 1000 in an embodiment.This is a control block diagram of the robot system 1000 in an embodiment.This is a schematic diagram of the link 201 and base 210 in the embodiment.This is a cross-sectional view of the torque sensor 221 in the embodiment.This is a detailed diagram showing the connection relationship between link 201 and base 210 in the embodiment.This is a detailed diagram showing the connection relationship between link 201 and base 210 in the embodiment.This figure shows the operation of the stopper 252 and the movable piece 254 in the embodiment.This is a detailed diagram showing the connection relationship between link 201 and base 210 in the embodiment.This is a detailed diagram showing the connection relationship between link 201 and base 210 in the embodiment.This is a detailed view of stoppers 252 and 253 in the embodiment.This is a detailed diagram showing the connection relationship between link 201 and base 210 in the embodiment. The embodiments for carrying out the present invention will be described below with reference to the examples shown in the attached drawings. The following embodiments are merely examples, and those skilled in the art may modify the details of the configuration as appropriate without departing from the spirit of the present invention. Furthermore, the numerical values used in these embodiments are for reference only and do not limit the present invention. In the following drawings, the arrows X, Y, and Z indicate the overall coordinate system of the robot system. Generally, the XYZ three-dimensional coordinate system represents the world coordinate system of the entire installation environment. In addition, a local coordinate system may be used for the robot hand, fingers, joints, etc., depending on control considerations. (First embodiment) Figure 1 shows a schematic configuration of the robot system 1000 of this embodiment. In Figure 1, the robot system 1000 includes a robot arm body 200 configured as a multi-joint robot, a control device 300 for controlling the robot arm body 200, and an external input device 400. The robot arm body 200 in this embodiment is composed of a 6-axis articulated joint. The robot arm body 200 consists of a base 210 and six links 201-206. Each link 201-206 is rotationally driven by six drive units 231-236, which rotate each joint axis A1-A6 around the arrows shown in the diagram. Each drive unit 231-236 is equipped with a motor and a reduction gear to reduce the motor's output. In this embodiment, a harmonic drive gear reduction gear is used. That is, the motors in the drive units 231-236 serve as drive sources that generate the driving force to displace each link 201-206, to which each joint is connected. Each motor also has a built-in encoder 211-216 that detects the rotation angle of the motor itself. Torque sensors 221-226, which detect force information, are provided between the output terminals of the drive units 231-236 and the links 201-206 that rotate with the output terminals. Each torque sensor 221-226 is equipped with an optical encoder that detects the structure described later and its relative movement. During joint drive of the robot arm body 200, the relative movement of the structures of the torque sensors 221-226, due to the relative displacement of the links of the robot arm body 200, is detected by the optical encoder. As shown in the figure, link 201 of the robot arm body 200 is connected to the base 210 by a drive unit 231 (shown in the figure) using a bearing (not shown) so that it can rotate together with the torque sensor 221. The drive unit 231 has a range of motion in the direction of the arrow from its initial position. Link 202 of the robot arm body 200 is connected to link 201 by a drive unit 232 (shown in the figure) using a bearing (not shown)