DE4242575A1 - Motor driven joint module for multi degree of freedom remotely controlled manipulators - has motor in housing with bevel gear transmission to output section with built-in connections for coupling units together. - Google Patents

Abstract

A remote controlled manipulator with a number of degrees of freedom is constructed using servo controlled joint modules. Each module has a fixed housing (3) into which the motor (2) is set. The lower end of the unit has a housing (11) rotated through an arc and supported on a roller bearing (3B). The transmission to the unit is provided by a bevel gearing arrangement (5A,5B). Electrical communication is provided by connectors (9,16) with cables looped in a housing (12). Units may be coupled together. ADVANTAGE - Modules provide flexibility in construction of multi degree of freedom system.

Description

The present invention relates to a joint module for a remote manipulator, which instead of an operator perform various types of operations can In addition, the invention relates to a remote control ren manipulator, which consists of a certain number of joint motor Dulen of the above type is constructed.

Repair work on a remote manipulator, the different types of work instead of a human Operator runs with the help of another remotely operated manipulator made when it is is an environment unsuitable for direct access, for example a nuclear reactor, a space station or the same. If under the circumstances mentioned a manipulator for some reason has stopped working properly to go through the manipulator in the shortest possible time repair simple handles. To ensure that dam damaged or broken components of a manipulator have been replaced with new parts, tests have been carried out makes the damaged or broken components with so-called One time access to remove from the manipulator and new construction attach parts.

For work that is in an unsuitable for human access suitable environment by a manipulator there are situations in which repair work is not can be done by a single manipulator because a number of steps must be taken. Spe especially when a device or system with ver different types of components by handling a single one The manipulator is to be adequately maintained or repaired,  are the effective range, the number of degrees of freedom and the weight that can be carried by the manipulator Subject to restrictions. In this context on the part of the user claims, the above ge mentioned factors to improve. In view of the fact that the manipulator be in the confined space of a nuclear reactor is done while receiving a high dose of radio exposed to active radiation, and still in view on the shooting up of a heavy space station in the room is extremely expensive, it prohibits several Manipulators in the working area of the nuclear reactor or Bring space station.

With regard to the latter circumstances, the An expressed the wish to have a manipulator available to have the freedom to change specific factors freely, for example changing the number of degrees of freedom, the Length of the individual arm links or the like, namely by designing each joint section in the form of a Ge steering module and replacing an arrangement of articulation cut through other joint sections. In addition, Re repair work can be carried out in a simple manner can that one has damaged or broken joint sections replaced by new sections if the manipulator is not works more properly. To meet these requirements numerous proposals for mechanisms and con structures made with the help of the joint sections can be connected and detached.

However, since a Ka belbaum extends in the main body of the manipulator to the to be able to supply respective waves with electrical power and To transmit signals over the waves, it is not easy damaged or broken components due to new parts replace and the way of determining the number of Change degrees of freedom. Generally speaking, is a ge flexible manipulator in the form of a cantilevered beam  educated. For this reason, one for each Ge is reduced steering section in the manipulator required torque, if the location more and more towards the foremost end of each arm limb is shifted while at the base end of the arm limb a large torque value is required. With a manipu lator of any position and position with six or more degrees of freedom differs the degree of freedom of the arm limb strongly from the degree of freedom of an Wrist section, which is the position of an end active part at the foremost end of the arm link with respect to a required one Torque value determined.

In the known manipulator with that explained above Construction, the strength of a load torque increases when a hinge portion near the base end of the arm link is arranged. Because of this, it is necessary to take the lei Stability of a drive system for the joint section selectively depending on the position of the joint section to be determined. So if each joint section in the form of a Module is formed, can change the current degree of freedom to another value only within very reach narrow limits.

The invention is based on the problem of an articulated module for a remotely operated manipulator to specify which si ensures that a hinge mechanism is easy to use a remote control can be replaced by another, the current vacancy is also available on request degree of change.

In addition, the invention is intended to be a remotely operable mani pulator can be created from a single type of Joint modules is constructed and ensures that a jerk free and reliable operation can take place.

This task is solved by the specified in the claims bene invention.

Exemplary embodiments of the invention are described below the drawing explained in more detail. Show it:

Figure 1 is a vertical sectional view of a joint module according to an embodiment of the invention, the structure of essential components of the joint module is shown.

Fig. 2a is a partial plan view of the joint module, spe cially a locking mechanism for the articulated module is shown;

Fig. 2b is a plan view of the joint module with a special representation of a connector portion of the joint module;

Fig. 3 is a wiring diagram illustrating the construction of a wire harness in the hinge module;

Fig. 4 is a front view of part of a remotely operable manipulator, which is constructed by a plurality of articulated modules each of the type shown in Figures 1 and 2, wherein in particular the structure of a finger-shaped front section of the remotely operable manipulator is emphasized;

. 5a is a front view of the remote-controlled manipulator, which especially the overall structure of the manipulator shows ge Figure,

FIG. 5b is a plan view of the remote-controlled manipulator;

Fig. 6 is a perspective view of the remotely operable Ma nipulator with a special representation of its six degrees of freedom; and

Fig. 7 is a block diagram of a control unit for the remote manipulator.

Fig. 1 is a vertical sectional view of a hinge module according to an embodiment of the invention. FIG. 2a is a partial plan view of a locking mechanism for the hinge module shown in FIG. 1, and Fig. 2b is a plan view of a connector section of the hinge module shown in FIG. 1.

Referring to FIG. 1, a drive motor 2 is mounted steering module 1 for driving a Ge fixed to a stationary housing 3. A brake 2 A is installed in the drive motor 2 , and on an output shaft 2 B of the drive motor 2 there is a bevel gear 5 B which meshes with a bevel gear 5 A, which is fixedly mounted on an input shaft 4 A of a harmonic speed reduction unit 4 . The input shaft 4 A of the reduction unit 4 is mounted by means of a bearing 7 on egg ner hollow axis 6 (hollow shaft) which is fixedly attached to the fixed housing 3 . An input shaft 8 A of an absolute position detector 8 is attached to the foremost end of the hollow axis 6 .

A joint surface 3 A inclined at an angle of 45 ° with respect to an axis of rotation X of the joint module 1 is formed at the upper end of the fixed housing 3 , while a connector 9 on the plug side is located in the central part of the joint surface 3 A. The upper end of a wire harness 10 is connected to the connector 9 . The wiring harness 10 extends through the hollow axis 6 and reaches a cable housing 12 which is so attached to a movable housing 11 that the lower end portion of the wire harness 10 belgehäuse in the Ka 12 is received, which is spirally extended in the cable housing 12th

A joint surface 11 A inclined at an angle of 45 ° with respect to the axis of rotation X of the joint module 1 is formed at the lower end of the movable housing 11 , and in the middle part of the joint surface 11 A, a socket-side connector 16 is rotatably supported via a bearing 13 . The buchsensei term connector 16 is a quick stop mechanism zugeord net, which consists of springs 14 and balls 15 , the latter being biased by the springs 14 . The lower end of the cable harness 10 extends from the cable housing 12 and is connected to the plug connector 16 .

Symmetrically with respect to the center of the socket-side connector 16 , a plurality of conical locating pins 17 are arranged which stand upright on the articular surface 11 A and form a right angle therewith. A Verriegelungsmecha mechanism 18 operates in conjunction with the locator pins 17 and the joint surface 11 A arranged around. On the other hand, a locking mechanism 18 'is arranged on the hinge surface 3 A and corresponds to the locking mechanism 18th Both locking mechanisms 18 and 18 'are formed in the manner described in the fol lowing.

As specifically shown in Fig. 2, the INTERLOCKS contains development mechanism 18 a plurality of projections 20, the 11 A are distributed in gleichmäßi gen intervals over the periphery of the joint surface and having conical surfaces which extend not only in radial but also in the circumferential direction. A ring 23 not only has a plurality of V-shaped grooves 21 which allow the projections 20 to come into close contact with the V-shaped grooves 21 , but also has a plurality of cutouts 22 which are in the same evenly spaced positional relationship as the projections 20 are formed so that the projections 20 fit into the cutouts 22 .

On the other hand, the locking mechanism 18 'is formed from several ren projections 19 which are arranged on the articular surface 3 A of the type that they are in correct alignment with the projections 20 , wherein they have the same shape and the same dimensions as the respective cutouts 22nd .

Between the movable housing 11 and the stationary Ge housing 3 there is a cross roller bearing 3 B. In addition, 17 guide holes 17 A are formed on the hinge surface 3 A of the stationary housing 3 for taking the locating pins.

Fig. 3 shows a wiring diagram of the construction of the wire harness 10 can be seen in the hinge module. In the drawing, reference character P ₁ denote to P ₅ multicore power sup ply cable for supplying electric power to the on drive motor 2 to the hinge module 1 to be driven, reference characters S ₁ to S ₅ denote multicore signal cables that are connected to the absolute value of position sensor 8, and the reference numeral B denotes a two-wire power supply cable for feeding electrical power into the brake 2 A located in the drive motor 2. The wiring harness 10 with the mentioned, tied cables is inserted in such a way that the corresponding line wires are connected to the connections of plug-side connectors 9 _I to 9 _V and socket connectors 16 _I to 16 _V , which are located on the articulated surfaces 3 A _I to 3 A _V and 11 A _I to 11 A _V at the opposite ends of the respective joint modules 1 _I to 1 _V. are. The respective cables are only branched in a joint module 1 _n , so that they are connected to a drive motor 2 , an absolute position transmitter 8 and a brake 2 A within the joint module 1 _n .

Fig. 4 is a front view of a finger-shaped front part of a remotely operated manipulator according to an embodiment of the invention, in which a plurality of joint modules with the structure described above are used to form the manipulator. Fig. 5a is a front view of the manipulator, specifically the overall structure of the manipulator is Darge. Figure 5b is a top view of the manipulator. According to FIG. 4, a hinge module 1 _VII with the foremost end of an arm member 24 is connected such that it is capable with respect thereto to rotate coaxially, and then a Gelenkmo is brought dul 1 _VIII at the foremost end of the hinge module 1 _VII in such a way that it is capable of rotating about an axis extending perpendicular to the arm member 24 . In addition, a joint module 1 _IX provided with a hand part 25 is connected to the foremost end of the joint module 1 _VIII , so that it can rotate about an axis which extends at a right angle with respect to the joint module 1 _VIII .

As shown in Fig. 5a, hinge modules 1 _I and 1 _{II are} coupled to the front ends of a pair of base platforms 26 a and 26 b, which are fixedly attached to a support (not shown) so that their axes are aligned and lie on a common straight line. An arm member 27 is fixedly attached to the joint surfaces of both joint modules 1 _I and 1 _II on the output side of the latter. As shown in Fig. 5B, articulated modules 1 _III and 1 _{IV are} connected to the arm member 27 from both sides, so that their axes are offset from the axes of the articulated modules 1 _I and 1 _II and are on a common straight line extend at a right angle to the axes of the aforementioned modules. Arm members 28 A and 28 B are connected to the joint modules 1 _III and 1 _IV on their output side in such a way that they extend at right angles to the axes of the joint modules 1 _III and 1 _IV and parallel to one another.

Furthermore, functionally articulated modules 1 _V and 1 _VI are connected to the foremost ends of the arms 28 A and 28 B in such a way that they extend parallel to the articulated modules 1 _III and 1 _VI , whereby they lie opposite one another and their axes lie on a common straight line . An arm consisting of the arm member 24 , the joint modules 1 _VII , 1 _VIII and 1 _IX and the handle 25 for the joint module 1 according to FIG. 4 is coupled to the output sides of the joint modules 1 _V and 1 _VI at the uppermost end of the arm member 24 , which completes the desired remote manipulator.

Fig. 6 shows a schematic perspective view of the degrees of freedom of the manipulator according to the invention explained above and Fig. 7 shows a block diagram on the construction of a control unit for the manipulator.

In the following, the operation of the remotely operated manipulator according to the described embodiment of the inven tion will be explained with reference to FIGS . 6 and 7.

Referring to FIG. 6, the set in the manner described above built remotely operated manipulator following six Liberty has grade:

• 1) rotation of the arm member 27 about a vertical axis, which is defined by the joint modules 1 _I and 1 _II ;
• 2) Rotation of the arm links 28 A and 28 B about axes which are defined by the joint modules 1 _III and 1 _IV and which extend at right angles to the above-mentioned vertical axis, ie are horizontal axes.
• 3) rotation of the arm link 24 about a horizontal axis defined by the 1 _V and 1 _VI articulated modules;
• 4) pivoting movement of the joint module 1 _VIII in a horizontal plane in connection with the joint module 1 _VII ;
• 5) rotation of the joint module 1 _IX about an axis perpendicular to the arm member 24 in cooperation with the joint module 1 _VIII ;
• 6) Rotation of the handle 25 in association with the joint module 1 _IX .

Because of the six degrees of freedom mentioned above, the handle 25 can be brought into the target position, which is within the permissible effective range of the respective components forming the manipulator, so that an element, a part or the like located in this position can be freely handled.

According to Fig. 7 30 includes the control unit several Regelab sections S _I to S _IX, a rake control section C for loading the speed agree each hinge module 1 in Depending ness of a one made by an operator display, for analyzing an operation program to Koordinatenum Conversion / calculation or output of position detection signals POS _I to POS _IX , supplied by the joint module 1 , and furthermore for the sequential output of speeds, commands Vref _I to Vref _IX to the control sections S _I to S _IX , an interface man-machine MMI with one Joystick J and a keyboard K for inputting an actuation signal COM, which the operator enters into the arithmetic control section C, and a memory section M, in which an operating program and other data are stored.

All coordinate conversion / calculation programs D1 to DN, which relate to the definition of a degree of freedom that can be achieved by data exchange, are stored in the memory section M. The arithmetic control section C includes a procedure for calculating speed commands Vref _I to Vref _VI for each joint module 1 , a procedure for calculating the movement of each joint module 1 based on position information specified by a program as an independent axis, or a target position which is specified by the operator depending on the articulated module position detection signals POS _I to POS _IX , and a function for changing the current control loop into another in order to follow a position detection signal POS _{I of} a special articulated module 1 _I , ie one Function for outputting a speed command Vref _{II of} a special joint module 1 _II to a control section S _{II of} the joint module 1 _II as a value which is related to a difference between a position detection signal POS _{II of} the joint module 1 _II and the position detection signal POS _{I of} the joint module 1 _I .

In the following, functions and advantageous effects of the remotely constructed according to this embodiment of the invention actuatable manipulator explained.

When the drive motor 2 is driven in the joint module 1 , the movable housing 1 rotates via the bevel gears 5 A and 5 B and the speed reduction unit 4 . At this time, the rotation angle of the movable case 11 is detected by the absolute position detector 8 attached to the hollow axis 6 . The with the plug-side connector 9 on the hinge surface 3 A of the fixed housing 1 connected wiring harness allows rotation of the movable housing 11 by changing its winding diameter within half of the cable housing 12 , in which it is taken up spirally. It is assumed here that the wiring harness 10 contains a desired number of power supply cable conductors and a desired number of signal conductors, accordingly a desired number of articulated modules 1 , which form a remotely operable manipulator with a desired number of degrees of freedom. For example, the remote-controlled manipulator shown in FIG. 6 with six degrees of freedom contains nine joint modules 1 _I to 1 _IX , so that the cable harness 10 has a number of conductor wires, the number of which corresponds to the number of joint modules.

The joint modules 1 are connected successively, starting at the base end and in accordance with the definition of the desired degrees of freedom. In the zone with a degree of freedom with respect to coaxial rotation, the orientation of the axis of rotation of the joint module 1 and the orientation of the joint surface 3 A with an inclination angle of 45 ° are determined such that the axis of the joint module 1 in the preceding stage or the arm member 24 is straight is aligned with the axis of rotation, and then the locating pins 17 are brought into engagement with the guide holes 17 A, so that both joint modules are connected to each other via the locking mechanisms 18 and 18 '. More specifically, a phase of each cutout 22 on the ring 23, supported by the projections 20 along the periphery of the joint surface 11 A of the movable housing 11 of the hinge module 1 of the previous stage, is aligned in the required manner so that the projections 19 on the outer periphery the hinge surface 3 A of the fixed housing 3 can engage with the cutouts 22 on the ring 23 , and then the ring 23 is rotated by a quarter turn, so that the projections 20 on the hinge module of the previous stage in pressure contact with the projections 19 the joint module of the subsequent stage can, with the help of the V-shaped grooves 21 on the inner circumference of the ring 23 , whereby both joint modules are fixed together. At this time, the connector-side connector 9 of the joint module in the subsequent stage is inserted into the socket-side connector 16 of the joint module in the previous stage, whereby the necessary electrical connection between the two joint modules is created.

To properly define a degree of freedom with respect to the rotation around the axis extending perpendicular to the joint module 1 of the outgoing step or the arm member 24 , a type of teaching is used in the socket-side connector 16 , which is supported by a bearing 13 on the joint surface 11 A of the movable housing 11 of the joint module 1 of the preceding stage 1 or the arm member 24 is mounted, and the gauge is then rotated through an angle of 180 °. At this time, the socket-side connector 16 is held by the balls 15 biased by the springs 14 in an orientation that is taken after completion of the rotation. In this way, all adjacent joint surfaces are connected to each other in such a way that the axes of rotation in the joint modules intersect each other at a right angle, and then both joint modules are locked together using the locking mechanism 18 in the manner mentioned above. If the arm member 24 is equipped with the same connector mechanism as described above, adjacent joint modules can be connected in exactly the same way as the adjacent joint modules 1 .

In the manner explained, the articulated manipulator shown in FIGS . 5a and 5b and 6 can be built up by successively connecting an articulated module 1 and an arm member 24 to one another and selecting these parts in a suitable manner such that their axes run coaxially or they have a degree of freedom that allows them to extend perpendicular to the other part. Since joint modules to be connected to one another via line wires of the cable harness 10 in the manipulator remain unchanged regardless of the order in which they are connected, and moreover the control section S in the control unit 20 corresponds to each of the joint modules in a one-to-one relationship, not only no need to change a degree of freedom to another value, but also not to change a servo or control constant specific to each joint module if the current combination of joint modules with arm links is changed to another combination.

As shown in FIGS. 5a and 5b, with regard to the articulated module located at the base end of each arm link, the entire arm can be driven with a wide margin for a high load torque during the recording of a high load torque by arranging articulated modules parallel to one another and then drives their drive motors synchronously. Where a low load torque is absorbed, for example in a wrist shaft, the desired movement can be achieved by arranging only one joint module in the preceding area. Since one or two joint modules are used in accordance with the strength of the last moment, an articulated manipulator can be constructed using only one type of joint module, as explained above.

If the present coordinate conversion program D is changed upon receipt of an input from the "man / machine" interface MMI in the control unit 30 , which corresponds to an exchange of the current degree of freedom by another, the manipulator can be brought quickly into the operating state. If the articulated modules 1 _I · 1 _II , 1 _III · 1 _IV and 1 _V · 1 _VI are arranged in parallel at the base end of each arm link, the control unit 30 changes the existing structure of each control loop upon receipt of an input variable from the interface MMI in a different structure, so that one of the joint modules 1 _I and 1 _{II of} the modules in parallel arrangement, for example the Ge joint module 1 _I, serves as the main joint module, while the other module, that is to say the joint module 1 _{II in} the present example , works as an auxiliary joint module. With this structure, the speed command Vref ₁ , which is calculated on the basis of the position information set by the program or the target information entered by the operator in response to the position detection signal POS ₁ output from the joint module, is cut to the rule section as it is S _I , which corresponds to the joint module 1 _I , is output. On the other hand, the speed command Vref is _II propor tional to a value at which serves as auxiliary module Ge steering module 1 _II corresponding control section S _II issued, the value being obtained by a Positionserfas sungssignal POS _II of the hinge module 1 _II subtracted from the position detection signal POS _I of the joint module 1 _I. In this way, the joint modules 1 _I and 1 _II and other modules each have a common degree of freedom and can be driven by being correctly coordinated with a small phase difference between them.

In the remote manipulator according to the explained Aus The following advantageous embodiment of the invention Achieve effects:

• 1) There are articular surfaces of a joint module with an An drive motor and a position detector in the form of inclined Surfaces with an inclination angle of 45 ° with respect to a  Axis of rotation of the joint module manufactured, and leave these modules connect with each other via locking mechanisms and separate from each other. So if one of the joint modules from ir due to a reason during remote operation works properly, it can be easily changed by another module change. Furthermore, the current degree of freedom change to another value if desired by changing the the timely arrangement of joint modules and arm links to one other arrangement changes.
• 2) Each joint module contains a wiring harness that consists of several ren signal transmission conductors and several power supply conductors, the number of each with the number of Ge steering modules agrees to be attached to the module under consideration are close. This makes a manipulator easier Make it operational by using the given Ge steering module with another joint module or arm link det. Since the cable harness in the joint module has several transmissions supply channels that be a one-to-one correspondence with regard to the other joint modules will suffice, for example a control section in the control unit is always correct assigned to the transmission channels without the necessity speed exists to set a control constant or the like len.
• 3) There are multiple hinge modules at a base end of each arm links arranged in parallel to cope with strong load moments to be able to. So you can use only one Type of articulated modules to build an articulated manipulator, not just joints with one acting on them has a large load moment, but also joints, to which only a small load moment is exerted. If two joint modules are arranged in a parallel position, so one of them serves as the main joint module and the other as Auxiliary joint module. In this case, a control loop is created in modified within the control unit so that the auxiliary ge steering module follows the main joint module. With that you can both  Joint modules synchronously with a small phase difference between drive them.

In the exemplary embodiment explained above, the positi onsdetektor designed as a type for a single revolution and is in the movable housing to be operational Assignment to the hollow axis together with the fixed one Housing is rotatable to detect an angle of rotation. Alternatively can also be used instead of the position end that makes a revolution tectors a position detector for several revolutions be set. In this case there is one, meh position detector in the fixed housing to the rotation of an input shaft To detect speed reduction unit.

Claims (6)

1. Articulated module for a remotely operable manipulator, characterized in that the articulated module has a stationary housing ( 3 ) with an attached to the drive motor ( 2 ), a rotatable on the stationary housing gela gertes movable housing ( 11 ) which is rotatable by the drive motor and has a position detector ( 8 ) serving to detect the angle of rotation of the movable housing ( 11 ),
the stationary housing ( 3 ) and the movable housing ( 11 ) have articulated surfaces ( 3 A, 11 A) which are inclined at 45 ° with respect to a rotatingly driven shaft ( 4 A, 6 ), and
on the articular surfaces ( 3 A, 11 A) locking mechanisms ( 18 ,, 18 ), for releasable connection with articulated mechanisms or arm members in previous and subsequent stages, and electrical connectors ( 9 , 16 ), for connecting to electrical connectors of the preceding and the following Stages are arranged. 2. Joint module according to claim 1, characterized in that a plurality of transmission channels aufwei sender cable harness ( 10 ) in the rotatably driven shaft ( 4 A, 6 ) is received, the number of transmission channels corresponds to the number of joint modules for the Building a single manipulator are required. 3. Joint module according to claim 1 or 2, characterized in that the electrical connector ( 16 ) to a predetermined position relative to the movable housing Ge ( 11 ) is freely rotatable. 4. Remote-operated manipulator, constructed by combining several joint modules with several arm members, as characterized by
that two joint modules ( 1 ) are provided in a parallel arrangement of the type, that they form a single joint at a base end of each arm link to accommodate a large load moment, and
the joint modules ( 1 ) are driven synchronously with one another. 5. Manipulator according to claim 4, that the joint modules arranged in parallel ( 1 ) are controlled such that one of them as the main joint module and the other module as auxiliary joint module, which follows the main joint module ( 1 ), driven will. 6. Manipulator according to claim 5, characterized in that the auxiliary joint module (1) when it follows the main hinge module (1) is controlled in accordance with a target velocity signal, which is propor tional to a value that is obtained by reacting the auxiliary hinge module (1) which is the main hinge module is driven following (1), hiert subtra a position detection signal from a position detection signal of the main hinge module (1).