JP2001260070A - Robot arm - Google Patents

Abstract

PROBLEM TO BE SOLVED: To secure a wide ranged working space, to simplify design and manufacture, and to facilitate diversification of operating forms while securing miniaturization of geometry in folded housing. SOLUTION: This robot arm is composed so that a first interface 18 is provided on a tip of an arm mechanism with first to third revolute joints 13, 15, and 17 and first to third arms 12, 14, and 16 connectively arranged in order, and a contractible and adjustable extension arm 20 provided with a second interface 22 can be selectively attached to this first interface 18 instead of an apparatus 19.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot arm mounted on, for example, a spacecraft and used for constructing various structures in outer space.

[0002]

2. Description of the Related Art In the field of space development, a plan is underway to construct a space station in which humans can reside in outer space and to use this space station as a space base for maintenance and inspection of other spacecraft. I have. For such a space station construction concept, it is effective to use a robot system for remotely transporting and assembling building materials by operating a working robot arm instead of a human. As a working robot arm in this robot system, for example, an articulated structure having six degrees of freedom is known.

[0003] By the way, such a robot arm is
After being positioned and held in the folded and housed state, it is transported to outer space, and when it reaches outer space, the positioning and holding is released and used for a desired operation. This robot arm is designed and manufactured into a geometric shape based on the allowable area when the spacecraft is stored, and is mounted on the spacecraft due to the restriction at the time of launch.

However, in the above robot arm,
Since the work area is determined by the geometrical shape determined at the time of folding accommodation, it is difficult to provide various operations from a narrow range to a wide range at the time of the work, and the operation form is restricted. There is a problem that.

Further, in the above-mentioned robot arm, since the working area has a restriction on the geometrical shape at the time of folding and accommodation, it is very troublesome to design and manufacture the robot arm so as to satisfy a required operation form. There is a problem that.

[0006]

As described above, the conventional robot arm has a problem that its design and manufacture are troublesome and its operation form is restricted.

[0007] The present invention has been made in view of the above-mentioned circumstances, and it has been made possible to secure a miniaturized geometrical shape at the time of folding and accommodating, and also to secure a wide working area, so that design and production can be ensured. It is an object of the present invention to provide a robot arm that simplifies and promotes diversification of operation modes.

[0008]

According to the present invention, there is provided an arm mechanism in which an arm is provided on a support structure via a joint so as to be controllable, and a base end is detachably mounted on a distal end of the arm mechanism. A telescopic extension arm provided with an interface for holding mounted equipment at its tip,
A robot arm is provided with arm extension / contraction driving means for driving the extension arm to extend / contract and variably adjust the length.

According to the above configuration, when the length dimension of the extension arm is variably adjusted via the arm extension / contraction drive means, the interface is extended / contracted to change the work area. As a result, an optimal operation mode according to the length dimension of the extension arm is made possible, and simplification of the design and manufacture can be promoted, and diversification of the operation mode can be promoted.

Further, the present invention is configured such that the arm of the arm mechanism is provided so as to be extendable and contractible, and can be operated by selectively performing expansion and contraction drive control.

According to this, the work area of the arm mechanism is changed in cooperation with the extension arm by adjusting the expansion and contraction of the arm. As a result, an operation mode according to each length dimension of the extension arm and the arm of the arm mechanism can be achieved, and furthermore, the simplification of design and manufacture and the diversification of the operation mode can be promoted.

[0012]

Embodiments of the present invention will be described below in detail with reference to the drawings.

FIG. 1 shows a robot arm according to an embodiment of the present invention. A support structure 10 is provided on a spacecraft 11. And, in this support structure 10,
One end of a first arm 12 formed of, for example, a composite material, which constitutes an arm mechanism having a multi-joint structure, is provided via a first joint 13 formed of a metal material such as titanium having degrees of freedom around two axes. Connected. At the other end of the first arm 12,
One end of the second arm 14 is connected via a second joint 15 having a degree of freedom about one axis.

The other end of the second arm 14 has a third
Is connected via a third joint 17 having degrees of freedom about two axes. At the other end of the third arm 16, a first interface 18 is provided, for example, with a degree of freedom about one axis. Either the mounting device 19 including the payload or the coupling mechanism 21 of the extension arm 20 which is a feature of the present invention is selectively attached to and detached from the first interface 18.

The first interface 18 is provided with a connection (not shown) that is electrically connected to a command operation unit (not shown) in the spacecraft 11, and the connection (not shown) is provided through the connection (not shown). It is electrically connected to a command operation unit (not shown). Thereby, the first interface 18
When the on-board device 19 (shown in FIG. 1 is attached to a later-described second interface 22 of the extension arm 20 for the sake of illustration in FIG. 1) is directly mounted, the on-board device 19 The spacecraft 11 is electrically connected to an internal device (not shown) of the spacecraft 11, so that the operation of the onboard device 19 can be controlled.

The extension arm 20 is provided with the coupling mechanism 201 at the base end thereof.
1 is selectively connected to the first interface 18 and is attached to and detached from the distal end of the third arm 16. The extension and contraction portion on the distal end side of the extension arm 20 has the second
Interface 22 is disposed so as to be able to expand and contract in the direction of the arrow.

As shown in FIG. 2, for example, the extension arm 20 is formed by folding a triangular frame 201 into a bendable vertical member 202.
It is composed of a stretchable mast structure with a telescopic frame. As shown in FIG. 3, a plurality of ball chain drive mechanisms 203 are assembled to the extension arm 20, and the ball chain drive mechanism 203 is connected to a drive motor 205 via a power transmission mechanism 204.

Thus, the ball chain drive mechanism 20
When the driving force of the driving motor 205 is transmitted through the transmission mechanism 204, the triangular frame 201
To extend and retract the extension arm 20 in the direction of the arrow. Thereby, the extension mast 20 is extended as shown in FIG. 4, and the second interface 22 is extended to the extension position.

At the base end of the extension arm 20, a cable accommodating section 23 and a telescopic control section 24 are provided. The telescopic control unit 24 is electrically connected to a command operating unit (not shown) in the spacecraft 11 and drives the drive motor 205 in response to command information from the command operating unit (not shown). Under control, the ball chain drive mechanism 203 is driven via the transmission mechanism 204 to variably set the extension dimension of the extension arm 20 to a desired length dimension.

A connection cable 231 is wound around the cable accommodating portion 23 so as to be freely taken up. The connection cable 231 has a proximal end electrically connected to an internal device (not shown) in the spacecraft 11 and a distal end electrically connected to a connection portion of the second interface 22. The connection cable 231 is sent out from the cable accommodating portion 23 and extended in conjunction with the extension operation of the second interface 22, and allows the extension movement of the second interface 22. In association with the contraction movement of the cable 22, the cable 22 is wound and stored in the cable storage unit 23.

When the on-board equipment 19 is mounted on the second interface 22, the on-board equipment 19 is connected to the spacecraft 11 via the connection portion, the connection cable 231 and the first interface 18. Is electrically connected to the command operation section (not shown). As a result, when the on-board device 19 is mounted, the on-board device 19 is electrically connected to the internal device (not shown) of the space navigation body 11, and the second interface 22 can control the operation of the on-board device 19. .

The on-board device 1 that is attached to and detached from the first interface 18 and the second interface 22
Reference numeral 9 includes a work tool, a payload, a visual device for monitoring and the like, various inspection devices, and the like, which are appropriately selected and mounted according to the operation mode.

In the above configuration, when the command information according to the operation mode of the arm mechanism is output from the command operating section (not shown), the first to third joints 1 based on the command information are output.
3, 15, and 17 are driven, and the on-board device 19 or the extension arm 20 is connected to the first interface 18.
Is selectively mounted.

Here, for example, the first interface 1
In a state in which the mounting device 19 is directly mounted on 8,
The command operation unit (not shown) includes the first and third joints 1.
Drive control of the first, third and third arms 1, 15 and 17
2, 14 and 16 are controlled to perform a desired operation using the on-board equipment 19 mounted on the first interface 18 thereof.

In the state where the connecting mechanism 21 of the extension arm 20 is mounted on the first interface 18,
First, the mounting device 19 is mounted on the second interface 22 of the extension arm 20. Here, the mounted device 19 is
It is electrically connected to a command operating unit (not shown) in the spacecraft 11 via the connection cable 231 and the first interface 18. At this time, the extension control unit 24 controls the drive of the drive motor 205 in response to the command information, and transmits the ball chain drive mechanism 203 to the transmission mechanism 2.
By controlling the operation via the unit 04, the length dimension is adjusted to expand and contract and set to a desired dimension according to the operation mode.

Here, the command operation section (not shown) includes:
The first to third joints 13, 15, and 17 are drive-controlled to execute a desired operation using the on-board device 19 mounted on the second interface 22 of the extension arm 20.

When the extension arm 20 receives different command information from the command operation unit (not shown) during operation, for example, the extension control unit 24 operates to drive the ball chain drive mechanism 203. Then, its length is variably adjusted. Here, again, the command operation unit (not shown) drives and controls the first to third joints 13, 14, and 15 to control the operation of the first to third arms 12, 14, and 16, The operation over a wide area is performed using the above-mentioned mounted device 19 mounted on the second interface 22 of the extended arm 20 that has been extended.

In the above description, the extension arm 20 is
The description has been given of the case where the connection mechanism 21 is operated so as to expand and contract while being attached to the first interface 18. However, the present invention is not limited to this. For example, before the extension arm 20 is attached to the first interface 18, The expansion and contraction may be adjusted.

As described above, the robot arm has the first
A first interface 18 is provided at the distal end of an arm mechanism in which the third to third joints 13, 15, 17 and the first to third arms 12, 14, 16 are sequentially connected and arranged. On the other hand, the extension arm 20 provided with the second interface 22 and capable of expansion and contraction can be selectively mounted in place of the mounted device 19.

According to this, the first interface 1
8 and an operation where the extension arm 20 is attached to the first interface 18 and the extension device 20 is attached to the second interface 22 of the extension arm 20 in different work areas. By enabling the mode, the operation can be diversified easily, and the usability can be improved.

As a result, the first to third arms 12, 1
In addition to the miniaturization of the geometrical shape in the folded and accommodated state of 4 and 16, the work area can be enlarged and the diversification of the operation mode can be realized.

Further, according to this, the first to third arms 12, 14, and 16 constituting the arm mechanism can be reduced in the geometric shape in the folded and housed state, and the working area can be enlarged. Is easily realized, thereby simplifying the manufacturing including the design.

Further, according to this, when maintenance and inspection around the spacecraft 11 is performed, the extension arm 20 is operated with the maximum extension, so that, for example, one spacecraft 11 can be maintained. Inspection work can be performed, and as a result, the number of robot arms provided on the spacecraft 11 can be reduced.

It should be noted that the present invention is not limited to the above-described embodiment, and that the fourth to sixth arms 30, 31, and 32 which can be extended and contracted as shown in FIGS. It is also possible to configure so as to be continuously arranged in a multi-joint structure via the third joints 13, 15, 17.

In the case of this embodiment, the above-mentioned first interface 18 is provided at a telescopic portion of the third arm 32 at the tip. In addition, the first interface 18 (see FIG. 1) is connected to the command operation unit (not shown) without being affected by, for example, the expansion and contraction operations of the first to third arms 30, 31, and 32. A connection portion for electrical connection is provided with a structure that can be expanded and contracted via a connection cable that can enter and exit. The mounting mechanism 19 of the mounting device 19 and the extension arm 20 is formed in the first interface 18 in a detachable structure, for example, in substantially the same manner as the connection mechanism 21 of the extension arm 20 or the mounting device. 19 is configured to be selectively attachable.

The first to third arms 30, 31, and 32 shown in FIGS. 5 and 6 are provided with, for example, the extension mast structure shown in FIG. 3 and the drive system shown in FIG. Are independently driven to expand and contract, and the length dimension is variably set.

According to the above configuration, by using the extension and contraction adjustment of the first to third arms 30, 31, and 32 and the extension and contraction adjustment of the extension arm 20, the miniaturization of the geometric shape in the folded and housed state is ensured. In addition, the working area can be further enlarged.

In the embodiment shown in FIGS. 5 and 6, the first to third arms 30, 31, and 32 are configured to be extendable and contractible, respectively. Any one of the third arms 30, 31, 32 may be arranged to be extendable and contractible.

In the above embodiment, the extension arm 2
Although the description has been given of the case where 0 is configured by the extension mast structure, the present invention is not limited to this, and it is also possible to configure by using an extension structure.

Further, in the above embodiment, the case where the present invention is applied to an arm mechanism having a multi-joint structure has been described. However, the present invention is not limited to this. The present invention is also applicable to other arm mechanisms. A substantially similar effect can be expected.

Therefore, it is needless to say that the present invention is not limited to the above-described embodiment, and that various changes can be made without departing from the scope of the present invention.

[0042]

As described above in detail, according to the present invention, it is possible to secure a miniaturized geometrical shape at the time of folding and accommodating, and also to secure a wide working area so that design and production can be performed. It is possible to provide a robot arm that simplifies and promotes diversification of operation modes.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing one operation mode of a robot arm according to an embodiment of the present invention.

FIG. 2 is a configuration diagram for explaining an extension mast structure constituting the extension arm of FIG. 1;

FIG. 3 is a configuration diagram illustrating a ball chain driving mechanism for extending and retracting the extension mast structure of FIG. 2;

FIG. 4 is a view showing an extended state of the extension mast structure of FIG. 2;

FIG. 5 is a configuration diagram showing an arm contracted state of a robot arm according to another embodiment of the present invention.

FIG. 6 is a configuration diagram illustrating an extended state of the arm of FIG. 5;

[Explanation of symbols]

 10. Supporting structure. 11 ... Spacecraft. 12 First arm. 13 First joint. 14 Second arm. 15 The second joint. 16 The third arm. 17 The third joint. 18 First interface. 19 ... Onboard equipment. 20 ... Extension arm. 201 ... triangle frame. 202 ... vertical member. 203 ... Ball chain drive mechanism. 204 ... transmission mechanism. 205 ... drive motor. 21 ... connecting mechanism section. 22 Second interface. 23 ... cable storage unit. 231 connection cable. 24 ... expansion / contraction controller. 30 First arm. 31 Second arm. 32 The third arm.

Claims (4)

[Claims] 1. An arm mechanism having an arm provided on a supporting structure via a joint so as to be controllable, and a base end detachably attached to a distal end of the arm mechanism. A robot arm comprising: a telescopic extension arm provided with an interface for holding mounted equipment; and an arm extension / contraction drive means for driving the extension arm to extend / contract to adjust the length dimension variably. 2. The robot arm according to claim 1, wherein the arm of the arm mechanism is provided so as to be extendable and contractible, and is selectively driven to expand and contract. 3. The robot arm according to claim 1, wherein the arm mechanism has a multi-joint structure in which at least one of a plurality of telescopic arms is connected via a joint. 4. An interface for holding the extension arm provided with an electrical connection means, and a mounted device held via the electrical connection means is electrically connected to an internal device in the support structure. The robot arm according to any one of claims 1 to 3, wherein: