WO2020148100A1 - Dispositif d'entraînement d'un manipulateur - Google Patents

Dispositif d'entraînement d'un manipulateur Download PDF

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Publication number
WO2020148100A1
WO2020148100A1 PCT/EP2020/050050 EP2020050050W WO2020148100A1 WO 2020148100 A1 WO2020148100 A1 WO 2020148100A1 EP 2020050050 W EP2020050050 W EP 2020050050W WO 2020148100 A1 WO2020148100 A1 WO 2020148100A1
Authority
WO
WIPO (PCT)
Prior art keywords
drive device
drive
flange
ring
sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2020/050050
Other languages
German (de)
English (en)
Inventor
Tim Rokahr
Andreas SPENNINGER
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Franka Emika GmbH
Original Assignee
Franka Emika GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Franka Emika GmbH filed Critical Franka Emika GmbH
Publication of WO2020148100A1 publication Critical patent/WO2020148100A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/028—Piezoresistive or piezoelectric sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Program-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators

Definitions

  • the present invention relates to a drive device for a joint between two axle members of a manipulator of a robot system.
  • Drive units which are used in manipulators of robot systems or robot arms, serve to arrange an axis member of the robot arm, which is generally of multi-axis design, movable, preferably rotatable, relative to an adjoining axis member.
  • the resulting mobility between two adjoining axle links leads to the corresponding degrees of freedom of the robot system via the number of axle links of the manipulator.
  • Industrial robots use drive units that allow rotation of an axle link about an axis running transversely to its longitudinal extent. Further drive devices are designed to allow rotation about the longitudinal axis of the axle link. Correspondingly dimensioned electric motors are used for this purpose, which possibly interact with a corresponding reduction gear.
  • the drive devices are installed in the self-contained housing of the axle links, since the housings in the manipulators of such robot types are basically designed like an exoskeleton.
  • at least one independent sensor device is generally provided on the output side in order to detect the position, the torque and / or the speed of an output element which rotates one axle link relative to the other axle link.
  • a further independent sensor device is also provided on the motor or drive side.
  • German Patent No. 10 2016 004 810 in which both sensor devices for the drive and for the output are located on a single printed circuit board which is the Output side of the drive device is arranged axially opposite.
  • These sensor devices located on opposite sides of the printed circuit board are designed to detect the respective positions of the drive shaft of the motor and the output element of the drive device, for example by means of corresponding sensor or position rings and Hall elements.
  • the invention accordingly relates to a drive device for a joint arranged between two axle members of a manipulator of a robot system for the rotary drive of one axle member relative to the other axle member,
  • Torque sensor device is formed.
  • the flange body can have sections which are designed to deform under the action of a torque and which have corresponding sensor elements, such as strain gauges.
  • These sections are preferably formed in the radial direction between a flange inner ring and a flange outer ring of the flange body, the flange inner ring then being connected to the output element of the gear unit and the flange outer ring being connected to the driven element in a rotational test.
  • the flange body can be designed such that it closes the end of the drive device.
  • the advantage of the invention here is that the flange body itself forms part of the output element and, moreover, also part of the housing of the drive device itself, which further increases the overall compactness.
  • the flange body is preferably formed in one piece as a sensor flange with all the features, as described in the German Offenlegungsschrift No. 10 2016 012 324 A1 by the applicant, the disclosure content of which is hereby expressly incorporated by reference.
  • a sensor shaft can be provided which is arranged at a radial distance from the drive shaft and which extends through the drive device to a sensor device for position determination which is opposite the flange body.
  • the inner flange ring is non-rotatably connected to the sensor shaft.
  • the inner flange ring can have a guide section for the sensor shaft that extends axially inward into the drive device, in that the sensor shaft is at least partially pressed radially into the guide section.
  • This guide section also serves to receive screws which engage in an abutment ring and thereby clamp the output element of the transmission between this abutment ring and the guide section in a rotationally fixed manner.
  • the invention further relates to a robot with a manipulator consisting of a plurality of axle links, comprising a drive device according to the above-mentioned configurations in at least one joint arranged between axle links of the manipulator.
  • FIG. 1 shows an axial longitudinal section through a drive device according to an embodiment of the invention.
  • Fig. 2 is a partially cut perspective
  • FIG. 3 shows an exploded view in longitudinal section of this lower section of FIG
  • Fig. 4 is a plan view from L above of one
  • Fig. 5 is a perspective view of the
  • FIG. 1 shows an embodiment of a drive device according to the invention in a cross-sectional view along the axis of rotation, i. H .
  • the drive device is essentially made up of rotationally symmetrical components and components, with a modular construction being implemented in which several modules functionally interact and interlock in an axial orientation.
  • the modules are individually interchangeable and can be connected to one another using appropriately designed and designed connection technologies.
  • the drive device shown in FIG. 1 essentially consists of four functionally different drive modules.
  • a first drive module M1 serves to accommodate a gear unit and has a rotationally symmetrical housing 1.
  • the housing 1 can be produced as an aluminum casting or a turned part and has a shape that tapers downward toward a second drive module M2.
  • the first drive module M1 is used to connect the drive device to a housing or to housing halves of a first axle member of a manipulator or robot arm of a robot system, for example the lightweight construction.
  • the housing 1 of the first drive module M1 has on its largest circumference a connecting element in the form of a radially circumferential annular groove 2, which is integrally formed in the rotationally symmetrical housing 1.
  • the annular groove 2 is used for fastening with half-shell-shaped housing halves of the first axle link via connecting elements provided on the inside of the housing halves, such as slot nuts integrally molded on the housing halves, as described, for example, in German Patent Application No. 10 2015 012 960.0, the disclosure of which is hereby disclosed express reference should be made.
  • a second drive module M2 is arranged coaxially on the first drive module Ml and is used for output in relation to the first drive module Ml.
  • the second drive module M2 also has a rotationally symmetrical housing 3, which at its largest diameter also has a radially circumferential annular groove 4, which serves as an integral connecting element in an analogous manner for connection to housing halves of a second axle link, as previously described.
  • the two ring grooves 2 and 4 have the same diameter and lie on a common imaginary cylindrical surface.
  • the second axle link should be rotatably supported with respect to the first axle link.
  • the second drive module M2 which provides the output of the drive device, is rotatably mounted with respect to the first drive module M1.
  • a rotary or radial bearing 5 is arranged, which holds both housings 1 and 3 in a rotatable connection.
  • the housing 3 acts as a final output element of the drive device.
  • a crossed roller bearing is preferably used for this, since this embodiment has proven to be particularly advantageous with regard to transverse stiffness, axial stiffness, weight and friction and with regard to simple installation.
  • double-row, preloaded ball bearings or angular contact ball bearings are also conceivable.
  • the radial bearing 5 which can have a suitable configuration, is fixed in its axial position by two fastening elements.
  • a first fastening element in the form of a fastening ring 6 is attached to the front end of the housing 1 of the first drive module M1, which is the second Drive module M2 is facing attached.
  • the radial bearing 5 is thereby clamped between a shoulder of the housing 1 and the mounting ring 6.
  • a second fastening element in the form of a flange or abutment ring 7 is fastened on the front, annular end of the housing 3 of the second drive module M2, which faces the first drive module Ml, by screws 8 passing through the housing section of the annular groove 4 of the housing 3 and thereby clamp the flange ring 7 on this housing section.
  • a third drive module M3 is provided coaxially opposite the second drive module M2 and is fastened to the first drive module Ml.
  • the housing 9 of the third drive module M3 is also rotationally symmetrical and serves to accommodate an electric motor 10 for the drive, the design of which need not be discussed in more detail here.
  • the housing 9 has a first axial bearing 11 radially on the inside, through which a drive shaft 12 which is driven by the electric motor 10 and is mounted on the inside is mounted at this point.
  • the drive shaft 12 is also rotatably supported by means of a second axial bearing 13, which is arranged in a housing cover 14, which closes off the third drive module M3 at the top.
  • the radially stepped drive shaft 12 which is designed as a hollow shaft, extends partially into the interior of the first drive module M1.
  • the first drive module M1 serves to accommodate a gear unit, by means of which the rotation of the drive shaft 12 is to be reduced.
  • this is a wave gear, which is known to offer high translation and rigidity and is preferably used in the field of robotics. In principle, however, other types of gears are also conceivable here that deliver the desired gear ratio.
  • the drive shaft 12 is rotatably connected to the input element of the wave gear, an inner ring 15 of the so-called wave generator.
  • the inner ring 15 has an elliptical shape and carries a roller bearing 16.
  • Radially on the outside, the so-called circular spline 17 is provided with a corresponding internal toothing, which is supported radially on the inside of the housing 1 of the first drive module Ml.
  • a section of the so-called flexspline 18 is provided, which has external teeth and is in engagement with the circular spline 17 and which forms the output element for the wave gear.
  • the mode of operation of a wave gear which is known per se, will not be discussed in more detail here.
  • the housing 3 of the second drive module M2 is closed at the end by an annular or disk-shaped flange body 19.
  • this flange body 19 is designed as a sensor flange of a torque sensor device, as is described, for example, in German Patent Application No. 10 2016 012 324, and shows, by way of example, FIG. 4 in a top view with the side facing inward toward the drive device.
  • the flange body 19 has a flange outer ring 20 which is screwed to the housing 3 and the abutment ring 7 by means of the screws 8.
  • the flange body 19 On the radially inner side, the flange body 19 has an inner flange ring 21.
  • the inner flange ring 21 is screwed to an abutment ring 23, which is located inside the Flexspline 18 of the wave transmission.
  • an annular output element 24 of the Flexspline 18 is clamped in a rotationally fixed manner between the abutment ring 23 and the inner flange ring 21.
  • the output from the drive shaft 12 is then transmitted via the wave gear via the flange body 19 to the housing 3 of the second drive module M1, which is thus rotated relative to the first drive module M1, the torque being applied via the annular groove 4 interacting with the corresponding slot nuts the housing of the second axle link is transmitted, which is thereby rotated relative to the first axle link which is in a rotationally fixed connection with the first drive module M1.
  • the inner flange ring 21 extends axially into the interior of the drive device and thus forms a type of guide section 25 for a hollow sensor shaft 26.
  • the sensor shaft 26 is connected to the guide section 25 in a rotationally fixed manner, for example via a press fit with the interposition of a tolerance ring if necessary, so that the rotation of the flange body 19 is transmitted to the sensor shaft 26.
  • the sensor shaft 26 traverses the drive shaft 12 of the motor 9 at a radial distance and extends to a fourth drive module M4 opposite the flange body 19, which also includes a sensor device 27 for position measurement has corresponding evaluation and power electronics.
  • strain gauges 29 are arranged on these sections 28, preferably on the outer end face of the sensor flange 19, so that these strain gauges 29 are opposite control and sensor electronics arranged on a printed circuit board 30, as shown by way of example in FIG. 5. wherein the strain gauges 29 are connected accordingly and are thus able to detect a deformation of the flange body 19 between the flange outer ring 20 and the flange inner ring 21 when torque is transmitted from the transmission to the housing 3.
  • the flange body 19 which provides the output from the gearbox to the housing 3 for transmission to an exoskeleton-like housing structure of an axle link simultaneously serves as a sensor flange of a sensor device for detecting the torques occurring in each case. Additional, independent sensor devices, which would otherwise have to be attached to suitable components of the drive device with appropriate wiring, are completely avoided.
  • the installation space, in particular in the axial direction, can hereby be reduced and the compactness of the entire drive device can be further increased.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un dispositif d'entraînement destiné à une articulation agencée entre deux éléments d'axe d'un manipulateur d'un système robotique, pour l'entraînement rotatif d'un premier élément d'axe par rapport à l'autre élément d'axe, comprenant un moteur (10) qui entraîne un arbre d'entraînement (12), un organe de sortie (3), qui est relié au premier élément d'axe et qui est mis en rotation directement ou indirectement par l'arbre d'entraînement (12), l'organe de sortie (3) étant accouplé avec un dispositif de capteur de couple (19).
PCT/EP2020/050050 2019-01-18 2020-01-02 Dispositif d'entraînement d'un manipulateur Ceased WO2020148100A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019000299.7A DE102019000299A1 (de) 2019-01-18 2019-01-18 Antriebsvorrichtung für einen Manipulator
DE102019000299.7 2019-01-18

Publications (1)

Publication Number Publication Date
WO2020148100A1 true WO2020148100A1 (fr) 2020-07-23

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2020/050050 Ceased WO2020148100A1 (fr) 2019-01-18 2020-01-02 Dispositif d'entraînement d'un manipulateur

Country Status (2)

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WO (1) WO2020148100A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102023115242A1 (de) 2023-06-12 2024-12-12 Deutsches Zentrum für Luft- und Raumfahrt e.V. Robotergelenk

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2113449A2 (fr) * 2008-05-01 2009-11-04 Sony Corporation Dispositif de contrôle d'actionneur, procédé de contrôle d'actionneur, actionneur, appareil de robot, et programme informatique
US20130257230A1 (en) * 2012-03-30 2013-10-03 Korea Institute Of Machinery & Materials Hollow driving module
DE102015012960A1 (de) 2015-08-14 2017-02-16 Sami Haddadin Robotersystem und Gehäuseteil für ein solches Robotersystem
DE102016004810B3 (de) 2016-04-20 2017-06-14 Sami Haddadin Antriebsvorrichtung für einen Manipulator
DE102016012324A1 (de) 2016-10-17 2018-04-19 Franka Emika Gmbh Drehmomentsensorvorrichtung und Verfahren zum Erfassen von Drehmomenten

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4305390B2 (ja) * 2003-03-05 2009-07-29 三菱電機株式会社 産業用ロボットの旋回装置
JP6271343B2 (ja) * 2014-05-30 2018-01-31 ナブテスコ株式会社 歯車装置
US9915319B2 (en) * 2014-09-29 2018-03-13 Delbert Tesar Compact parallel eccentric rotary actuator

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2113449A2 (fr) * 2008-05-01 2009-11-04 Sony Corporation Dispositif de contrôle d'actionneur, procédé de contrôle d'actionneur, actionneur, appareil de robot, et programme informatique
US20130257230A1 (en) * 2012-03-30 2013-10-03 Korea Institute Of Machinery & Materials Hollow driving module
DE102015012960A1 (de) 2015-08-14 2017-02-16 Sami Haddadin Robotersystem und Gehäuseteil für ein solches Robotersystem
DE102016004810B3 (de) 2016-04-20 2017-06-14 Sami Haddadin Antriebsvorrichtung für einen Manipulator
DE102016012324A1 (de) 2016-10-17 2018-04-19 Franka Emika Gmbh Drehmomentsensorvorrichtung und Verfahren zum Erfassen von Drehmomenten

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
B. SCHÄFER ET AL: "Light-Weight Mechatronics and Sensorics for Robotic Exploration: a DLR Perspective", 25 February 2008 (2008-02-25), XP055358610, Retrieved from the Internet <URL:http://elib.dlr.de/55362/1/i-sairas2008_Sch?fer.pdf> [retrieved on 20170324] *

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