JP2000308989A - Robot arm - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot arm that has joints modularized for easy mounting and demounting and for removal and replacement of broken joint modules. SOLUTION: A plurality of joint modules MO1,..., each have two practically cylindrical arms 11 and 12 interconnected for rotation in a preset direction. The opposed anus 11 and 12 of every two proximal joint modules MOL,..., are coupled via a releasable coupling mechanism with a dovetail tongue 15 and a dovetail groove.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an improvement in a robot arm suitable for performing on-orbit services such as replacement of equipment of a satellite, maintenance, and inspection in space.

[0002]

2. Description of the Related Art As is well known, a space robot arm such as the one described above has a multi-joint type in which a plurality of arms are connected in series via joints, so that the arm has a predetermined degree of freedom as a whole. It is configured.

[0003] Such a conventional articulated robot arm has a configuration in which the arm and the joint are firmly fixed by fasteners and cannot be easily disassembled.

[0004] Therefore, if a failure occurs in any joint, the joint must be used with the joint held, and it is necessary to compensate for the loss of freedom due to the failed joint with another joint. For example, there is a problem that the work is greatly restricted.

[0005]

As described above, in the conventional articulated robot arm, even if a failure occurs in any one of the joints, the joint is used while holding the joint. There is a problem that restrictions are added.

Accordingly, the present invention has been made in view of the above circumstances, and is an extremely good robot which has modularized joints, allows each joint module to be easily attached and detached, and enables removal and replacement of a failed joint module. The purpose is to provide an arm.

[0007]

A robot arm according to the present invention includes a plurality of joint modules formed by connecting two substantially cylindrical arms so as to be rotatable in a predetermined direction, The arms of each joint module are connected via a detachable connection mechanism.

According to the above configuration, the joints are modularized and the arms of each joint module are connected to each other via a detachable connecting mechanism. Removal and replacement of the joint module can be made possible.

[0009]

Embodiments of the present invention will be described below in detail with reference to the drawings. As shown in FIG. 1, the robot arm described in this embodiment has one linear motion unit UN0 having one linear motion axis and one degree of freedom, and two free axes having a roll axis and an oblique axis. 1 in degrees
The seven joint units UN1 to UN7 having a module configuration are connected in series, and have a total of 15 degrees of freedom.

FIG. 2 shows the appearance of the joint module MO1 constituting the joint unit UN1. Note that each of the joint modules MO2 to MO7 that constitute the other joint units UN2 to UN7 has the same configuration as the joint module MO1, and a description thereof will be omitted.

That is, this joint module MO1
The two arms 11 and 12 formed in a substantially cylindrical shape are rotatably connected with one degree of freedom by an oblique turning shaft mechanism 13 in a state where their axes are obliquely crossed. . The one arm 11 is supported by a roll shaft mechanism 14 so as to be rotatable around its axis.

As shown in FIG. 3A, a dovetail 15 is provided on the distal end surface of the arm 11 in a direction perpendicular to the axis of the arm 11. This ant type 15
Is formed in a dovetail shape in cross section, as shown in FIG. Further, a pair of electric connectors 16 and
16 are protrudingly provided.

Further, one end of a bolt support 17 is fixed to the circumferential side surface of the arm 11 at a position corresponding to one end of the dovetail 15 in the longitudinal direction. The other end of the bolt support 17 protrudes outward from the distal end surface of the arm 11, and the captive bolt 18
Are inserted in a direction along the longitudinal direction of the dovetail mold 11.

On the other hand, the tip of the arm 12
As shown in (b), a dovetail groove 19 is formed in a direction perpendicular to the axis of the arm 11. This dovetail groove 19
As shown in FIG. 4B, the dovetail mold 15 is formed in a shape to be inserted in the longitudinal direction. Arm 1
A pair of electrical connectors 20, 20 project from the front end surface of the pair 2 at a position sandwiching the dovetail groove 19 in the short direction.

Further, on the circumferential side surface of the arm 12, a screw hole 2 having a shape into which the captive bolt 18 can be screwed is provided at a position corresponding to one longitudinal end of the dovetail groove 19.
1 is formed.

Here, referring to FIG.
Joint module MO1 and joint unit U constituting N1
A description will be given of a case where the joint module MO2 constituting N2 is connected. That is, the dovetail mold 15 formed on the arm 11 of the joint module MO2 is inserted into the dovetail groove 19 formed on the arm 12 of the joint module MO1.

In this case, by inserting the dovetail mold 15 of the joint module MO2 into the dovetail groove 19 of the joint module MO1, the electric connectors 16, 16 supported by the arm 11 of the joint module MO1 and the joint module MO2
The electrical connectors 20 and 20 supported by the arm 12 are brought into contact with each other to perform electrical connection.

Thereafter, the arm 1 of the joint module MO2
1 is screwed into a screw hole 21 formed in the arm 12 of the joint module MO1 to prevent the captive bolt 18 from coming off, and the joint module MO1 and the joint module MO2 are mechanically and It will be electrically connected.

Note that the captive bolt 18 is screwed into the screw hole 2.
1 and the dovetail mold 15 is removed from the dovetail groove 19, whereby the joint module MO1 and the joint module M are removed.
Needless to say, O2 can be separated.

The other joint modules MO2 to MO7
Can be connected in the same manner.

According to the above-described embodiment, each of the joint units UN1 to UN7 has a module structure, the dovetail-shaped dovetail type 15 is inserted into the dovetail groove 19, and is screwed with the captive bolt 18 in the insertion direction. Is used to mechanically and electrically connect the joint modules MO1 to MO7 to each other.
O1 to MO7 can be easily attached and detached, and the failed joint module can be removed or replaced.

Further, the connection structure in which the dovetail-shaped dovetail mold 15 is inserted into the dovetail groove 19 is not easily rattled, and is strong against a moment applied during the operation of the robot arm, and provides a mechanically strong connection. be able to.

The present invention is not limited to the above-described embodiment, but can be variously modified and implemented without departing from the spirit and scope of the invention.

[0024]

As described in detail above, according to the present invention,
It is possible to provide a very good robot arm that modularizes joints, makes it easy to attach and detach each joint module, and enables removal and replacement of a failed joint module.

[Brief description of the drawings]

FIG. 1 shows an embodiment of a robot arm according to the present invention, and is a schematic view showing the entire robot arm for convenience.

FIG. 2 is an external view showing one joint unit in the embodiment.

FIG. 3 is a diagram showing details of a joint portion of the joint unit in the embodiment.

FIG. 4 is a cross-sectional view showing a dovetail type and a dovetail groove which form a connecting portion in the embodiment.

FIG. 5 is an exemplary side view for explaining the connection operation between the joint units according to the embodiment;

[Explanation of symbols]

 11, 12: arm, 13: oblique rotation axis mechanism, 14: roll axis mechanism, 15: dovetail type, 16: electric connector, 17: bolt support, 18: captive bolt, 19: dovetail groove, 20: electric connector, 21: screw hole, UN0: linear motion unit, UN1 to UN7: joint unit, MO1 to MO7: joint module.

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[Procedure amendment]

[Submission date] July 31, 2000 (2007.3.
1)

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] Claims

[Correction method] Change

[Correction contents]

[Claims]

[Procedure amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0007

[Correction method] Change

[Correction contents]

[0007]

A robot arm according to the present invention includes a plurality of joint modules formed by connecting two substantially cylindrical arms so as to be rotatable in a predetermined direction, The arms of each joint module are connected via a detachable connection mechanism.
The tip of one arm should be perpendicular to the axis of the arm.
The dovetail-shaped dovetail protruding from the other arm
Pigeon tail formed on the end face so as to be orthogonal to the axis of the arm
The dovetail is inserted into the dovetail groove.
A taper is formed at the tip of the entry direction to guide insertion into the dovetail groove.
The dovetail of one arm and the dovetail groove of the other arm.
And then tighten it in the insertion direction.
Equipped with a screwing mechanism to prevent the
The dovetail of one arm is attached to the tip of the arm.
The electrical connector that comes into contact with the
Each is installed .

[Procedure amendment 3]

[Document name to be amended] Statement

[Correction target item name] 0014

[Correction method] Change

[Correction contents]

On the other hand, the tip of the arm 12
As shown in (b), a dovetail groove 19 is formed in a direction perpendicular to the axis of the arm 11. This dovetail groove 19
As shown in FIG. 4B, the dovetail mold 15 is formed in a shape to be inserted in the longitudinal direction. In addition, ant type 1
5 is provided at the tip of the dovetail groove 19 in the insertion direction.
As shown in (a), it guides the insertion into the dovetail groove 19.
The taper is formed like this. In addition, a pair of electrical connectors 20, 20 protrude from the distal end surface of the arm 12 at positions that sandwich the dovetail groove 19 in the short direction.

[Procedure amendment 4]

[Document name to be amended] Statement

[Correction target item name] 0022

[Correction method] Change

[Correction contents]

Further, the connection structure in which the dovetail-shaped dovetail mold 15 is inserted into the dovetail groove 19 is not easily rattled, and is strong against a moment applied during the operation of the robot arm, and provides a mechanically strong connection. be able to. Further
The tip of the dovetail mold 15 in the insertion direction into the dovetail groove 19 is
So that it guides the insertion into the dovetail groove 19
Therefore, the connecting operation is facilitated.

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Shinichi Kimura Inventor, Communications Research Laboratory, 4-2-1 Nukikitamachi, Koganei-shi, Tokyo (72) Shinichiro Nishida, Inventor Shinichiro Nishida 1 Komukai-Toshiba-cho, Saiwai-ku, Kawasaki-shi, Kanagawa-ken Address Co., Ltd. Toshiba Komukai Plant (72) Inventor Tomoki Takegai 1 Kokomu Toshiba-cho, Koyuki-ku, Kawasaki-shi, Kanagawa Prefecture F-term (reference) 3F060 AA09 EA10 HA02

Claims (5)

[Claims] 1. A plurality of joint modules each comprising two substantially cylindrically formed arms connected so as to be rotatable in a predetermined direction, and the arms of each joint module are connected to each other.
A robot arm connected via a detachable connection mechanism. 2. The connecting mechanism includes a dovetail-shaped dovetail projecting from the distal end surface of one arm so as to be orthogonal to the axis of the arm, and the axial center of the arm on the distal end surface of the other arm. The robot arm according to claim 1, wherein the robot arm is configured to be inserted into a dovetail-shaped dovetail groove formed so as to be orthogonal to. 3. The connecting mechanism according to claim 1, further comprising: a screwing mechanism for preventing a disengagement by tightening the dovetail of one arm into the dovetail groove of the other arm in a direction in which the dovetail is inserted. The robot arm according to claim 2, wherein: 4. An electric connector for connecting both arms in a state where both arms are connected to each other, on each end surface of both arms to be connected.
The described robot arm. 5. The distal end surfaces of both arms to be connected include:
4. The robot arm according to claim 2, wherein an electrical connector is provided which comes into contact with the dovetail of one arm inserted into the dovetail groove of the other arm.