JP2002187090A - Manipulator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a manipulator which can characteristically control the turning action of a turning arm with a simple structure by connecting a supporting arm and the turning arm through a meshy shape memory alloy material formed into a mesh shape and controlling the expansion of the meshy shape memory alloy material by heating and cooling. SOLUTION: Disclosed is a serial link manipulator provided with a joint shaft comprising a turning shaft 3 supported by a turning action supporting member of the turning arm 1 and the turning arm 4 connected to the turning shaft 3 in a turnable manner, wherein the supporting arm 1 and turning arm 4 are connected through the meshy shape memory alloy material 6 formed into the mesh shape and the turning action of the turning arm is controlled by controlling the expansion of the meshy shape memory alloy material 6 by heating and cooling.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a serial link manipulator having a rotary joint, and more particularly to a miniaturized manipulator utilizing a shape memory alloy material, which is lightweight, compact, and acts safely on humans.

[0002]

2. Description of the Related Art Generally, in a manipulator represented by a conventional industrial robot, a motor, a hydraulic pressure, a pneumatic pressure, or the like is used as a drive source, and a gear, a link, a wire, and the like are widely used as a transmission mechanism. I have. However, these drive sources and transmission mechanisms are large, and have the disadvantage that the entire apparatus becomes heavy. Therefore, if an excessive load acts on the manipulator, the power and inertia of the manipulator may cause a great deal of damage to the device or a person. Further, if a small-sized device is developed, cost and design may be greatly restricted, so that there is a problem that it is difficult to incorporate it into a small product such as a lighting fixture.

Various attempts have been made to solve these problems, but as shown in FIG.
As disclosed in the articulated robot disclosed in Japanese Patent Application Laid-Open No. 9-102586, a wire-shaped shape memory alloy 50 that apparently expands and contracts or bends between a higher temperature side and a lower temperature side than the transformation temperature is provided. There is disclosed an apparatus in which the amount of bending and elongation is controlled by changing the amount of electric power supplied to the power supply. In some cases, when the shape memory alloy 50 is formed into a desired shape at a low temperature by stopping power supply, an elastic member 51 such as a spring that assists the shape is assisted.

However, when such a linear wire-shaped shape memory alloy is used, the joint can be bent with a large force, but only a small displacement can be operated due to a small displacement. In order to solve this problem, if an attempt is made to increase the amount of displacement, if the shape memory alloy is formed like a spring member, the amount of displacement will increase. As described above, there is a problem that the force decreases while the displacement amount increases.

Accordingly, the present invention has been devoted to the development of a manipulator capable of operating a large displacement with a large force by using a shape memory alloy, reducing the size of the entire apparatus, improving safety and reducing weight. It has been reached.

[0006]

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above-mentioned problems, and connects a supporting arm and a rotating arm through a stitch shape memory alloy material formed in a stitch shape. Another object of the present invention is to provide a manipulator characterized in that the expansion and contraction of the stitch shape memory alloy material is controlled by heating and cooling to control the turning operation of the turning arm with a simple structure.

[0007]

According to a first aspect of the present invention, there is provided a manipulator comprising: a rotating shaft held by a rotating support provided on a supporting arm; and a rotating shaft rotatably connected to the rotating shaft. A serial link manipulator having an articulated shaft composed of an arm, wherein the support arm and the rotating arm are connected to each other via a stitch-shaped stitch shape memory alloy material, so that the stitch-shaped shape memory alloy material can be expanded and contracted. By controlling the heating and cooling of the rotating arm, the rotating operation of the rotating arm is controlled.

Accordingly, since the stitch shape memory alloy material is used for the drive source, it is possible to operate a large displacement with a large force, and the whole device can be reduced in size and weight, and the manipulator collides with a person. The safety in case of doing is good. In addition, since it can be made thinner like a belt conveyor, it can be used as various joint shafts of lighting equipment and the like, and redundancy in design is increased.

A manipulator according to a second aspect of the present invention is formed by connecting a plurality of stitch shape memory alloy materials according to the first aspect in such a manner as to oppose the rotating arm.

Therefore, by arranging the stitch shape memory alloy material so as to antagonize the rotating arm, the stiffness of the joint changes by controlling the generation force of the stitch shape memory alloy material by variously changing it. Safety due to the impact of the manipulator on humans can be ensured.

According to a third aspect of the present invention, the manipulator is connected to the support arm and the rotating arm by passing a fixing pin through a stitch opening of the flat stitch shape memory alloy material according to the first or second aspect. Or the stitch shape memory alloy material is formed into an elliptical cylindrical shape with flexibility like a belt conveyor, and is connected to the support arm and the rotating arm by passing a fixing pin. is there.

Therefore, the stitch shape memory alloy material can be easily fixed by the fixing pin without wrinkling. Further, since two stitch shape memory alloy materials can be connected to each other with one connection pin, space can be saved.

A manipulator according to a fourth aspect of the present invention is characterized in that the stitch shape memory alloy material according to the first or second aspect is connected to the rotary arm via an insulating wire.

Therefore, by preventing the stitch shape memory alloy material from directly contacting the turning arm, the sliding friction resistance between the stitch shape memory alloy material and the turning arm can be reduced. In addition, the insulation of the stitch shape memory alloy material only needs to insulate the wire, and there is no need to insulate the stitch shape memory alloy material itself, and the insulation processing of the entire manipulator is simple.

According to a fifth aspect of the present invention, there is provided the manipulator according to the third aspect, wherein an anti-slip portion formed by embossing is formed on the surface of the fixing pin.

Therefore, the frictional resistance between the stitch shape memory alloy material and the fixing pin increases, and the connection of the stitch shape memory alloy material becomes more reliable. Further, the lateral displacement of the stitch shape memory alloy material can be prevented.

According to a sixth aspect of the present invention, there is provided the manipulator according to any one of the third to fifth aspects, wherein the stitch shape memory alloy material is connected to the plurality of stitch shape memory alloy materials by the fixing pins. It is characterized by being.

Therefore, the stitch shape memory alloy material can be easily and reliably connected to the fixing pin in a small space. If a stitch shape memory alloy material having a certain length is prepared, the length of the stitch shape memory alloy material can be selected by connecting freely, which is economical.

A manipulator according to a seventh aspect of the present invention is characterized in that either the supporting arm or the rotating arm according to the first aspect is provided with a brake mechanism for the rotating arm.

Therefore, it is possible to prevent the rotating arm from falling when the joint of the manipulator is not driven.

The manipulator according to claim 8 of the present invention is characterized in that the braking force of the turning arm according to claim 7 is calculated by a torque value generated in the turning arm.

Therefore, by using the braking force to cancel the maximum torque of the rotating arm such as gravitational drop and friction, the required force of the stitch shape memory alloy material itself when driving the manipulator does not consider gravity and friction. , It can be operated with a considerably small generating force.

According to the ninth aspect of the present invention, as described in the eighth aspect, the brake mechanism is provided via the support arm, and the friction plate for pressing the rotating arm and the pressing force adjusting section are provided. It is characterized by the following.

Therefore, it is possible to prevent the rotating arm from falling when the joint of the manipulator is not driven. Further, the rotating arm can be stopped at an arbitrary position.

According to a tenth aspect of the present invention, as described in the seventh aspect, the brake mechanism is provided with a two-way clutch mechanism serving as the rotation axis.

Therefore, in a two-way clutch,
Due to the wedge effect of the ball biting into the cam surface, a large amount of static torque can be obtained in a small space. Further, the locking direction can be selected.

According to the eleventh aspect of the present invention, when the manipulator is driven to reversely rotate the rotating direction of the rotating arm, the manipulator may temporarily move the rotating arm to a desired driving direction. After a minute amount of driving in the opposite direction, the rotating arm is driven in a desired direction.

Accordingly, the brake can be easily released by preventing the bite of the brake due to the wedge effect.

In the manipulator according to a twelfth aspect of the present invention, as described in the eighth aspect, the brake mechanism causes the rotating plate that rotates together with the rotating arm to be placed in a fluid whose viscosity changes by a magnetic field or an electric field. The sealed structure is provided on the rotating arm.

Therefore, by changing the viscosity of the fluid to change the resistance of the rotating plate, it is possible to realize a brake that is space-saving and has a variable braking force.

The manipulator according to a thirteenth aspect of the present invention is characterized in that, as described in the eighth aspect, the brake mechanism includes a drive source made of a shape memory alloy.

Therefore, the drive source of the brake mechanism can be shared by the same shape memory alloy material as the drive source of the manipulator, and the structure of the joint is simplified.

A manipulator according to a fourteenth aspect of the present invention is the manipulator according to any one of the first to third aspects,
The structure on at least one surface of the stitch shape memory alloy material is provided with a cooling layer made of a metal material or a paste material containing a metal.

Therefore, the cooling property of the stitch shape memory alloy material is improved by the cooling layer, and the operation speed is increased.

According to a fifteenth aspect of the present invention, there is provided the manipulator according to any one of the first to fourteenth aspects, wherein an illumination lamp is provided at one end of the arm having a joint, and the manipulator is disposed at the joint. It is characterized by the following.

Therefore, the degree of freedom in designing the lighting equipment can be increased, and the size of the lighting equipment can be reduced.
In addition, the impact force at the time of a collision with a human can be reduced.

[0037]

1 to 23 show an embodiment of a manipulator according to the first to fifteenth aspects of the present invention, which will be described below.

As shown in FIGS. 1 to 3, the present invention employs a rotating shaft 3 held by a rotating support 2 provided on a support arm 1.
A serial link manipulator A is provided with joint shafts 5a, 5b, 5c, and 5d each including a rotating arm 4 rotatably connected to the rotating shaft 3. Joint axis 5
a is horizontal rotation, 5b is overall vertical rotation,
5c and 5d are stitch shape memory alloy materials 6 formed in a stitch shape.
The support arm 1 and the rotating arm 4 are connected via
When electric current is applied to the stitch shape memory alloy material 6, Joule heat is generated. When the temperature increases, the stitch shape memory alloy material 6 shrinks to return to the memory shape, and when the temperature decreases, the stitch shape memory alloy material 6 decreases. Manipulator A
It expands and contracts repeatedly due to gravity. By controlling the heating and cooling of the stitch shape memory alloy material 6, the turning operation of the turning arm is controlled.

Therefore, in the manipulator A of the present invention, the supporting arm 1 and the rotating arm 4 are connected to each other by the rotating shaft 3,
The support arm 1 and the turning arm 4 are rotatably connected via a stitch shape memory alloy material 6, and the turning arm 4 is moved up and down by controlling heating and cooling of the stitch shape memory alloy material 6. Can be done.

Reference numeral 7 denotes an illumination lamp using an LED or the like. The wiring of the illumination lamp 7 is connected to the joint shafts 5d, 5c, 5c.
b, 5a and the motor side on the joint shaft 5d side are inserted into the casing 8 and wired. This is a stand lighting fixture B
The stitch shape memory alloy material 6 is used for vertical adjustment of the arm.

FIGS. 4 and 5 show the joint shaft 5c shown in FIG.
This is described below with reference to a diagram showing a specific structure of 5d.

The rotating arm 4 is rotatable on a side end surface of the rotating shaft 3 having a fixed bush 9 disposed on a peripheral surface thereof by a screw 11 via a flange 10 formed at the tip of the rotating arm 4. It is stuck to. At this time, the flanges 10, 10
A fixing pin 12 is fixed in between, and one end of the stitch shape memory alloy material 6 is fixed to the fixing pin 12. further,
The distal end 13 of the hollow support arm 1 having a rectangular parallelepiped shape is fixed to the fixed bush 9. A stitch shape memory alloy material 6 which is expandable and contractible by heating and cooling between the fixing pin 12 and the fixing pin 14 is provided in the hollow of the support arm 1. Therefore, when electricity is supplied to the stitch shape memory alloy material 6, Joule heat is generated. When the temperature increases, the stitch shape memory alloy material 6 shrinks to return to the memory shape, and when the temperature decreases, the stitch shape memory alloy material 6 decreases. It expands and contracts repeatedly due to the gravity applied to the manipulator A, so that the rotating arm 4 can be moved up and down.

The heating and heating of the stitch shape memory alloy material 6
When performing the cooling control, a control box may be provided to adjust the rotation by operating a button.
When controlling with a weak force, the stitch shape memory alloy material 6
Is designed to balance the force by adjusting the wire diameter, stitch pitch, etc. of the stitch shape memory alloy material 6 so that the fixing pin 12 fixed to one end of the stitch is free to resist the gravity of the rotating arm 4. It is good to do. Further, when controlling with a strong force, a tension spring or a compression spring is arranged on the fixing pin 12 fixed to one end of the stitch shape memory alloy material 6 in parallel with the joint of the stitch shape memory alloy material 6 (not shown). Instead, the design may be designed to balance the force of the stitch shape memory alloy material 6.

Further, as shown in FIG. 6, a stitch shape memory alloy material 6a connected between a fixed pin 12 fixed to the rotating arm 4 and a fixed pin 14 fixed to the support arm 1,
The stitch shape memory alloy material 6 connected between a fixed pin 15 fixed to the rotating arm 4 and a fixed pin 16 fixed to the supporting arm 1 so as to oppose the rotating arm 4.
b are arranged. In this manner, by attaching a plurality of stitch shape memory alloy materials 6a and 6b so as to oppose each other, the difference in the force generated by the shape memory effect becomes the driving force of the rotating arm 4. Therefore, the rigidity of the joint can be changed. For example, two stitch shape memory alloy materials 6
When the difference in the generation force due to the shape memory effect of a and 6b is 3 kg, various generation forces of the stitch shape memory alloy materials 6a and 6b are considered. Examples are as in the following 1) and 2). 1) Stitch shape memory alloy material 6a: 0 kg, stitch shape memory alloy material 6b: 3 kg 2) Stitch shape memory alloy material 6a: 3 kg, stitch shape memory alloy material 6b: 6 kg As described above, output torque of the rotating arm 4 Are the same, but the joint rigidity can be designed higher in 2) than in 1). Also, the stitch shape memory alloy materials 6a, 6b
As a method of controlling the generation force of the stitch, the same stitch shape memory alloy material 6a, 6b can be used to change the heating temperature, the wire diameter, the stitch pitch, or the like.
Therefore, by changing and controlling the generated forces of the stitch shape memory alloy materials 6a and 6b, the rigidity of the joint can be changed, and the safety of the manipulator A when it collides with a person is increased.

As shown in FIGS. 7A and 7B,
It relates to the connection structure of the stitch shape memory alloy material 6, and passes through the fixing pins 12 and 14 so that the stitches of the stitch openings 17 of the stitch shape memory alloy material 6 are alternately passed through the support arm 1 and the rotating arm 4. And can be connected. Further, the stitch shape memory alloy material 6 is formed into an elliptical cylindrical shape with flexibility and like a belt conveyor, and the fixing pins 12 and 14 are formed.
Can be connected to the support arm 1 and the rotating arm 4. At this time, horizontal holes are opened in the fixing pins 12 and 14 (not shown), a wire is passed through the horizontal holes, and the ends of the wires are caulked to pin the stitch shape memory alloy material 6 with the fixing pins 12 and 14. What is necessary is just to prevent the omission. Therefore, the stitch shape memory alloy material 6 can be easily fixed without wrinkling. Further, two stitch shape memory alloy materials 6 can be connected with one connection pin, and space can be saved.

As shown in FIGS. 8A and 8B,
The present invention relates to a connection structure of a stitch shape memory alloy material 6 according to another embodiment, in which the stitch shape memory alloy material 6 is formed to have an elliptic cylindrical shape with flexibility and like a belt conveyor.
2 and 14, one end is connected to an insulated wire 18 via a fixed pin 12 of the rotating arm 4, and the other end is connected to the support arm 1. This is because the stitch shape memory alloy material 6 formed in an elliptical cylindrical shape is not directly fixed to the rotating arm 4 through the fixing pin 12, but is insulated by the insulating wire 18.
And is fixed to the rotating arm 4 via. At this time, the insulating wire 18 is made of a metal wire rope coated with an insulating resin such as an epoxy resin or a phenol resin, so that the insulating wire 18 does not directly and electrically contact the rotating arm 4. Therefore, the stitch shape memory alloy material 6 is prevented from directly contacting the turning arm 4, the frictional resistance between the stitch shape memory alloy material 6 and the turning arm 4 is reduced, and the sliding friction can be reduced. In addition, the insulation of the stitch shape memory alloy material 6 only needs to insulate the wire, so that it is not necessary to insulate the stitch shape memory alloy material 6, and the insulation processing of the entire manipulator is simplified.

Further, as shown in FIGS. 9 and 10, the present invention relates to a connection structure of a stitch shape memory alloy material 6 according to still another embodiment, in which knurls 19 and projections 20 are provided on the surfaces of fixing pins 12 and 14 to form an ellipse. These are connected as fixing pins 12 and 14 of a stitch shape memory alloy material 6 formed in a cylindrical shape. Further, the fixing pins 12, 14 provided with the projections 20 are provided.
In this case, the stitch shape memory alloy material 6 may be inserted into the gap between the stitches. Therefore, the frictional resistance between the stitch shape memory alloy material 6 and the fixing pins 12 and 14 is increased, the connection between the stitch shape memory alloy material 6 is strengthened, and the lateral displacement of the stitch shape memory alloy material 6 is prevented. Can be.

FIG. 11 relates to a connection structure between stitch shape memory alloy materials 6 according to still another embodiment. The stitch shape memory alloy material 6 is cylindrical (knitted).
A fixing pin 12 attached to the support arm 1 and the rotating arm 4 with the opening 9 of the stitch shape memory alloy material 6 attached thereto;
14, the supporting arm 1 and the rotating arm 4
Connected to In particular, when it is necessary to change the stroke of the joint, if the change of the stroke is small, it is possible to cope by changing the heating time of the stitch shape memory alloy material 6. If it is desired to greatly increase the stroke, it is necessary to connect a plurality of stitch shape memory alloy materials 6. In that case, the fixing pins 12, 1
The connecting pin 21 having the same shape as that of the stitch shape memory alloy material 6
The stitch shape memory alloy material 6 is connected to the stitch shape memory alloy material 6 by alternately passing the knitted stitches into the knitted stitches. The end of the connecting pin 21 is fixed by a stopper ring or the like (not shown) so as not to come off.

Therefore, the stitch shape memory alloy material 6 can be connected in a space-saving manner, and the stroke of the joint can be easily changed.

FIG. 12 shows a manipulator provided with a brake mechanism 22 for the rotating arm 4 on either the supporting arm 1 or the rotating arm 4. When the joint of the manipulator is not driven, it is necessary to turn off the heating of the stitch shape memory alloy material 6 from the viewpoint of heat generation and energy saving. However, when the heating of the stitch shape memory alloy material 6 is turned off, the stitch shape memory alloy material 6 is turned off. Is extended by being pulled by gravity due to its own weight, and the rotating arm 4 falls. At this time, in order to prevent the rotation arm 4 from falling, the stitch shape memory alloy material 6 may be held in a heated state, but it is more desirable to add the brake mechanism 22 from the viewpoint of heat generation and energy loss. . This brake mechanism 2
2 is a pair of solenoids 23a and 23b attached to the support arm 1, and a spring 2 is attached to the tip of the solenoids 23a and 23b.
The slidable pin 25 is attached at 4. Also, the rotating arm 4
Is provided with a pin hole 26 into which a pin 25 attached to the solenoids 23a and 23b can be fitted. Normally, the pin 25 is
As a result, the pin is pressed into the pin hole 26 and the rotation of the rotation arm 4 is locked. When the pins 25 are pulled toward the support arm 1 by the solenoids 23a and 23b from this state, the pins 25 are disengaged from the pin holes 26, and the rotation arm 4 is unlocked and can be rotated. In the present embodiment, the pin 25 and the solenoids 23a and 23b are provided in the support arm 1 and the pin hole 26 is provided in the rotary arm 4. On the contrary, the pin 25 and the solenoids 23a and 23b are provided.
b may be in the rotating arm 4 and the pin hole 26 may be in the support arm 1. Therefore, when the joint of the manipulator A is not driven, it is possible to prevent the turning arm 4 from dropping.

Further, when setting the braking force of the rotating arm 4, as shown in FIG. 13, the braking force is calculated based on the torque value generated in the rotating arm 4. In the present embodiment, a manipulator A having a variable braking force and a joint capable of braking at an arbitrary position is used, and the braking force is determined as follows. For example, considering the joint driving torque at the joint 1, the maximum joint driving torque value is a joint driving torque value in a state where the manipulators at the distal ends are all extended horizontally as in the posture 1. The requirement for generating the maximum torque value may be gravitational force applied to the manipulator A, frictional force of the joint, or the like. The braking force of the joint is set so as to balance the maximum torque value. Therefore, by using the braking force of the rotating arm 4 to cancel the maximum torque such as gravity drop and friction due to the weight of the rotating arm 4, the required force of the stitch shape memory alloy material 6 when driving the manipulator is: The manipulator A can be operated with a considerably small generated force without considering gravity or friction.

FIG. 14 shows another embodiment of the brake mechanism 22, in which the brake mechanism 22 is installed via the support arm 1, and a friction plate 27 for pressing the rotating arm 4 and a pressing force adjusting section 28 are provided. It is a thing. A friction plate 27 serving as a movable brake is pressed from the support arm 1 to the rotating arm 4 by a spring 30, and the frictional force between the friction plate 27 and the rotating arm 4 by the spring force causes the rotating arm 4 to rotate. Has a structure to stop. At this time, the mounting length of the spring 30 can be changed by the pressing force adjusting device 31, and the pressing force of the friction plate 27 to the rotating arm 4 can be changed. Further, the friction plate 27 is
2 enables sliding in a direction away from the rotating arm 4. Further, a coil 33 is provided on the surface of the friction plate 27 opposite to the surface in contact with the rotating arm 4, and when the coil 33 is excited, the friction plate 27 is attracted to the coil 33 using the guide pins 32 as a guide. A gap is formed between the friction plate 27 and the turning arm 4 so that the turning of the turning arm 4 is free. Therefore, it is possible to prevent the turning arm 4 from dropping when the joint of the manipulator is not driven. Further, by setting the braking force to the maximum value of the force applied to the rotating arm 4, the rotating arm 4 can be stopped at an arbitrary position.

Further, the brake unit 3 of the brake mechanism 22
As a specific example of FIG. 4, FIG.
As shown in (b), a two-way clutch mechanism 35 having the rotating shaft 3 is provided. The two-way clutch mechanism 35 is a mechanism in which the direction of rotation lock / free rotation of the one-way clutch mechanism can be reversed by the lever 36. Further, when the lever 36 is in the neutral position, the lever 36 can completely lock the rotation. In short, by controlling the direction of the retainer 37 with the lever 36 using a two-way roller clutch having a forward / reverse rotation clutch function and a lock function,
These functions can be selected. This principle utilizes the wedge effect, and a large holding force can be obtained with a very small force.

FIGS. 16A and 16B show the structure when the two-way clutch mechanism 35 is assembled to the joint.
(B). The two-way clutch mechanism 35 is fixed to the support arm 1, and the rotating arm 4 is connected to the two-way clutch mechanism 3.
5 is connected to the rotating shaft 3 so as to be rotatable. The direction of the lever 36 of the two-way clutch mechanism 35 is switched by the solenoids 23a and 23a attached to the support arm 1.
b. When operating the rotating arm 4, the solenoids 23 a, 2
By operating the lever 3b, the lever 36 is switched to a desired direction, and the lock of the rotation shaft 3 on the rotation direction side is released. (At this time, rotation of the rotating shaft 3 in the direction opposite to the rotating direction is
Locked. When the rotating arm 4 is to be stopped, the rotating shaft 3 is locked by setting the lever 36 to the neutral position without operating the solenoids 23a and 23b.

Therefore, in the two-way clutch mechanism 35, a large amount of static torque can be obtained in a small space due to the wedge effect in which the rollers 38 bite into the cam surface 39. Further, the locking direction can be selected.

The locking principle of the two-way clutch mechanism 35 is that, as shown in FIG. 17, a strong locking force is generated by a wedge effect in which the rollers 38 bite into the cam surface 39. However, due to this principle, once the rotation is locked, it is difficult to release the lock. Therefore, when the rotation direction of the rotation arm 4 is driven in the reverse direction, the rotation arm 4 is once driven in a small amount in the direction opposite to the desired drive direction, and then the rotation arm 4 is driven in the desired direction. Is taking the method. Driving in a small amount in the opposite direction as described above has an effect that the rollers 38 that have digged into the cam surface 39 can easily come off. Further, the two-way clutch mechanism 35 has a structure in which a retainer 37 that is turned on and off by a spring force is moved by a lever 36 to change the lock direction, and the relative position between the roller 38 and the cam surface 39 is changed.

Therefore, the roller 38 can be prevented from biting into the cam surface 39 by the wedge effect, and the brake can be easily released by the retainer 37.

FIG. 18 relates to a different embodiment. The brake mechanism 22 has a structure in which a rotating plate 40 that rotates together with the rotating arm 4 is sealed in a fluid whose viscosity changes by a magnetic field or an electric field. It is arranged on the arm 4.
A fluid enclosing part 4 provided with a rotating plate 40 that rotates together with the rotating arm 4 and holding the rotating plate 40 on the support arm 1
Put in one. Further, an electrorheological fluid 42 is sealed in the fluid sealing part 41. By applying a voltage to the electrorheological fluid 42, the shear stress of the electrorheological fluid 42 changes, the rotation resistance of the rotation plate 40 increases, and the rotation of the rotation arm 4 can be stopped. The same effect can be obtained by using an electromagnetic viscous fluid (not shown) instead of the electrorheological fluid 42. This electromagnetic viscous fluid does not apply a voltage to the fluid, but applies a magnetic field to the fluid by arranging a coil around the fluid enclosing part 41.

Therefore, by changing the viscosity of the viscous fluid to change the resistance of the rotating plate 40, it is possible to realize a brake that is space-saving and has a variable braking force.

FIGS. 19 to 21 relate to still another embodiment of a brake mechanism 22 using a shape memory alloy.
Details will be described below.

(Example 1) As shown in FIG. 19, one end of a wire-shaped shape memory alloy 43 was
, And the wire-shaped shape memory alloy 43 is wound around the turning arm 4 in a coil shape, and then the other end of the wire-shaped shape memory alloy 43 is fixed to the turning arm 4.
Wire-shaped shape memory alloy 4 wound around a rotating arm 4
3 is a structure in which the rotation of the rotation arm 4 is stopped by contracting the rotation arm 3 by applying electric heating. Therefore, the drive source of the brake mechanism 22 can be shared by the same shape memory alloy as the drive source of the manipulator A, and the structure of the joint is simplified.

(Embodiment 2) As shown in FIG. 20, the connection between the rotating shaft 3 and the rotating arm 4 has a split fastening structure, and the split fastening interval of the split fastening structure uses a spring-type shape memory alloy 44. The structure is such that the connection between the rotating shaft 3 and the rotating arm 4 is released by unfolding. Therefore, the brake mechanism 22
Can be shared by the same shape memory alloy as the drive source of the manipulator, and the structure of the joint is simplified.

(Embodiment 3) In addition to the embodiment of the ninth embodiment, FIG. 21 shows that a brake mechanism 22 is installed via a support arm 1 and a friction plate 27 for pressing the rotating arm 4 and a pressing force adjusting section 28. Is provided. At this time, the pressing force adjusting unit 28 is constantly operated by the compression
7 is pressed. When the rotating arm 4 is released from the stopped state, the spring-type shape memory alloy 44 disposed between the springs 30 controls heating and cooling to control the expansion and contraction of the friction plate 27. Therefore, it is possible to prevent the turning arm 4 from falling when the joint of the manipulator is not driven by a simple structure. Further, by changing the memory setting of the shape memory alloy 44, the braking force can be made variable and the rotating arm 4 can be stopped at an arbitrary position. Further, the drive source of the brake mechanism 22 can be shared by the same shape memory alloy as the drive source of the manipulator, and the structure of the joint is simplified.

Further, as shown in FIG. 22, a cooling layer 45 made of a metal material or a paste material containing a metal is provided on the structure on the back surface of the stitch shape memory alloy material 6. The cooling layer 45 may be formed of a metal having a high thermal conductivity such as aluminum or copper as a metal material.
As the paste-like material containing a metal, a mixture of aluminum powder, copper powder and the like in oil or the like is used to form a layer.

Therefore, by improving the cooling performance, the stitch shape memory alloy material 6 is in a stretched state, and the operating speed is improved.

The above-mentioned manipulator has an ultra-thin LED light source 7 at the tip of the manipulator as shown in FIG.
Is a lighting fixture B to which links are added, and can be used for link joints. Further, as shown in FIG. 24, it can be used as bed lighting for hospitals, facilities and the like. In particular, the operation may be performed by a remote control so that a person with a handicapped person or a person who cannot get up can operate freely. Still other applications include monitor devices (human body data measurement and data collection devices) in hospitals and facilities, nurse call devices, audio-visual devices with a liquid crystal television or book stand attached to the tip of a manipulator, magic hands, and human living environments. Applications include safe and lightweight robotic manipulators for work, remote monitoring and remote control manipulators.

[0067]

As described above, in the manipulator according to the first aspect of the present invention, the rotating shaft held by the rotating supporting portion provided on the supporting arm and the rotating shaft rotatably connected to the rotating shaft. A serial link manipulator having an articulated shaft composed of an arm, wherein a support arm and a rotating arm are connected via a stitch shape memory alloy material formed in a stitch shape, and expansion and contraction of the stitch shape memory alloy material is performed. By controlling the heating and cooling, the turning operation of the turning arm is controlled.Since the stitch shape memory alloy material is used for the driving source, it is possible to operate a large displacement with a large force, The whole device can be reduced in size and weight, and the safety in the case where the manipulator collides with a person is improved. In addition, since it can be made thinner like a belt conveyor, it can be used as various joint shafts of lighting equipment and the like, and redundancy in design is increased.

In the manipulator according to the second aspect of the present invention, a plurality of stitch shape memory alloy materials are connected so as to antagonize the rotating arm, so that the generation force of the stitch shape memory alloy material is changed and controlled. Accordingly, the rigidity of the joint changes, and safety due to the impact of the manipulator on humans can be ensured.

According to the third aspect of the present invention, the manipulator is connected to the support arm and the rotating arm by passing a fixing pin through the stitch opening of the stitch shape memory alloy material, or the stitch shape memory alloy material is connected to the belt conveyor. It is flexible and formed in an elliptical cylindrical shape, and is connected to the support arm and the rotating arm by passing the fixing pin, so that the stitch shape memory alloy material does not wrinkle and can be easily fixed. It is possible to fix by. Also, one connection pin requires 2
Since the stitch shape memory alloy materials of the book can be connected to each other, space saving can be realized.

The manipulator according to the fourth aspect of the present invention is a manipulator in which a stitch shape memory alloy material is connected to a turning arm via an insulating wire, thereby preventing the stitch shape memory alloy material from directly contacting the turning arm. By doing so, the sliding friction resistance between the stitch shape memory alloy material and the rotating arm can be reduced. In addition, the insulation of the stitch shape memory alloy material only needs to insulate the wire, and there is no need to insulate the stitch shape memory alloy material itself, and the insulation processing of the entire manipulator is simple.

In the manipulator according to the fifth aspect of the present invention, since the anti-slip portion formed by embossing is formed on the surface of the fixing pin, the frictional resistance between the stitch shape memory alloy material and the fixing pin increases, and the stitch shape memory is formed. The connection of the alloy material becomes more reliable. Further, the lateral displacement of the stitch shape memory alloy material can be prevented. Further, the length of the stitch shape memory alloy material can be selected by freely connecting the stitch shape memory alloy materials having a certain length.

In the manipulator according to the sixth aspect of the present invention, since the stitch shape memory alloy material is a connected body of a plurality of stitch shape memory alloy materials connected by fixing pins, the stitch shape memory alloy material can be easily and reliably saved in a small space. Can be connected to a fixing pin.

In the manipulator according to the seventh aspect of the present invention, since the brake mechanism of the rotating arm is provided on either the supporting arm or the rotating arm, it is possible to prevent the rotating arm from falling when the manipulator joint is not driven. Can be prevented. Further, the length of the stitch shape memory alloy material can be selected by freely connecting the stitch shape memory alloy materials having a certain length.

In the manipulator according to the eighth aspect of the present invention, the braking force of the rotating arm is calculated from the torque value generated in the rotating arm. When the manipulator is driven, the stitch shape memory alloy material itself can be operated with a considerably small generated force without considering gravity or friction.

In the manipulator according to the ninth aspect of the present invention, since the brake mechanism is installed via the support arm, and the friction plate for pressing the rotating arm and the pressing force adjusting unit are provided,
The pivot arm can be prevented from falling when the joint of the manipulator is not driven. Further, the rotating arm can be stopped at an arbitrary position.

In the manipulator according to the tenth aspect of the present invention, since the brake mechanism is provided with a two-way clutch mechanism having a rotating shaft, a large static torque can be obtained in a small space due to a wedge effect in which the ball bites into the cam surface. be able to. Further, the locking direction can be selected.

In the manipulator according to the eleventh aspect of the present invention, when the rotating direction of the rotating arm is reversely driven, once,
Since the rotating arm is driven in the desired direction after driving the rotating arm in a small amount in the direction opposite to the desired driving direction, it is possible to prevent the brake from biting by the wedge effect and easily release the brake. become.

According to a twelfth aspect of the present invention, in the manipulator of the present invention, the brake mechanism has a structure in which a rotating plate that rotates together with the rotating arm is sealed in a fluid whose viscosity changes by a magnetic field or an electric field, and the structure is arranged in the rotating arm. Therefore, by changing the resistance of the rotating plate by changing the viscosity of the fluid, it is possible to realize a brake that is space-saving and has a variable braking force.

In the manipulator according to the thirteenth aspect of the present invention, the brake mechanism includes a drive source made of a shape memory alloy, and the drive source of the brake mechanism can be used also as the drive source of the manipulator, and the structure of the joint is reduced. It's easy.

In the manipulator according to the fourteenth aspect of the present invention, a cooling layer made of a metal material or a paste material containing a metal is provided on at least one surface of the stitch shape memory alloy material. The cooling property of the stitch shape memory alloy material is improved, and the operation speed is increased.

In the manipulator according to the fifteenth aspect of the present invention, the illumination lamp is provided at one end of the arm having the joint and the manipulator is arranged at the joint, so that the degree of freedom in the design of the lighting equipment can be increased. Lighting equipment can be downsized. In addition, the impact force at the time of a collision with a human can be reduced.

[Brief description of the drawings]

FIG. 1 is a conceptual diagram of a manipulator used for a lighting fixture of the present invention.

FIG. 2 is a perspective view of a main part showing a knitted stitch made of a stitch shape memory alloy material of the manipulator of the present invention.

FIG. 3 is a perspective view of the stitch shape memory alloy material of FIG. 2 of the present invention wound in a cylindrical shape.

FIG. 4 is a sectional view of a main part of a rotating part of the manipulator of the present invention.

5 is a cross-sectional view of a main part of a rotating part of the manipulator as viewed from a side surface in FIG. 2 of the present invention.

FIG. 6 is a cross-sectional view of a main part in which the stitch shape memory alloy material of the present invention is provided in opposition.

7A is a plan view showing a connection state of a stitch shape memory alloy material of the present invention with a fixing pin, and FIG. 7B is a schematic side view of a main part of the stitch shape memory alloy material of FIG. FIG.

8A is a plan view showing a state in which the stitch shape memory alloy material of the present invention is connected using an insulating wire, and FIG. 8B is a side view showing the connection state of the stitch shape memory alloy material in FIG. FIG. 3 is a schematic side view of the main part.

FIG. 9 is a perspective view in which a knurl is applied to the surface of the fixing pin of the present invention.

FIG. 10 is a perspective view in which projections are formed on the surface of the fixing pin of the present invention.

11A is a plan view showing a connection state of a stitch shape memory alloy material of the present invention with a connection pin, and FIG. 11B is a plan view of a stitch shape memory alloy material in which a main part of FIG. .

FIG. 12 is a sectional view of a main part in which a brake mechanism is provided in the manipulator of the present invention.

FIG. 13 is a front view showing a brake setting method for the manipulator of the present invention.

FIG. 14 is a sectional view of a main part in which a brake mechanism using a friction plate is provided on the manipulator of the present invention.

FIGS. 15A and 15B are schematic cross-sectional views showing an operation state of the two-way clutch mechanism of the present invention.

16A is a sectional view of a main part showing a structure when the two-way clutch mechanism of the present invention is assembled into a joint, and FIG. 16B is a side sectional view of FIG.

FIG. 17 is a longitudinal sectional view of a main part showing a structure for changing a relative position between a roller and a cam surface of the two-way clutch mechanism of the present invention.

FIG. 18 is a sectional view of a main part in which a brake mechanism using a viscous fluid is provided in the manipulator of the present invention.

FIG. 19 is a cross-sectional view of a main part in which a manipulator of the present invention is provided with a brake mechanism using a wire-shaped shape memory alloy.

FIG. 20 is a cross-sectional view of a main part in which a brake mechanism using a spring-shaped shape memory alloy is provided in the manipulator of the present invention.

FIG. 21 is a cross-sectional view of a main part in which a brake mechanism using a spring-shaped shape memory alloy is provided in the manipulator pressing force adjusting device of the present invention.

FIG. 22 is a cross-sectional view of a main part of the manipulator of the present invention in which a cooling layer is provided on a structure on the back surface of the stitch shape memory alloy material.

FIG. 23 is a perspective view showing a state where the manipulator of the present invention is mounted on a lighting fixture.

FIG. 24 is a perspective view showing a state in which the manipulator of the present invention is attached to a medical lighting fixture.

FIG. 25 is a sectional view of a main part showing a structure of a conventional articulated robot.

[Explanation of symbols]

 Reference Signs List A Manipulator B Lighting fixture 1 Support arm 2 Rotation support part 3 Rotation axis 4 Rotation arm 5 Joint axis 6 Stitch shape memory alloy material 7 Lighting lamp 8 Casing 9 Fixing bush 12 Fixing pin 14 Fixing pin 14 T-bar 18 Insulating wire DESCRIPTION OF SYMBOLS 21 Connecting pin 22 Brake mechanism 23 Solenoid 25 Pin 26 Pin hole 27 Friction plate 31 Pressing force adjusting device 32 Guide pin 33 Coil 35 2 Way clutch mechanism 36 Lever 37 Holder 39 Cam surface 40 Rotating plate 41 Fluid sealing part 42 Electroviscous fluid

Claims (15)

[Claims] 1. A serial link manipulator having an articulated shaft composed of a rotating shaft held by a rotating support portion provided on a supporting arm and a rotating arm rotatably connected to the rotating shaft. Then, the support arm and the rotating arm are connected via a stitch shape memory alloy material formed in a stitch shape, and the expansion and contraction of the stitch shape memory alloy material is controlled by heating and cooling, whereby the turning arm A manipulator for controlling a rotation operation. 2. The manipulator according to claim 1, wherein a plurality of the stitch shape memory alloy materials are connected so as to oppose the rotating arm. 3. A stitch opening of the plate-shaped stitch shape memory alloy material is connected to the support arm and the rotating arm by passing a fixing pin through the stitch opening portion, or the stitch shape memory alloy material is moved like a belt conveyor. The manipulator according to claim 1 or 2, wherein the manipulator is formed to have an elliptical cylindrical shape and is connected to the supporting arm and the rotating arm by passing a fixing pin. 4. The manipulator according to claim 1, wherein the stitch shape memory alloy material is connected to the rotating arm via an insulating wire. 5. The manipulator according to claim 3, wherein an anti-slip portion made of unevenness is formed on a surface of the fixing pin. 6. The manipulator according to claim 3, wherein said stitch shape memory alloy material is a connected body of a plurality of stitch shape memory alloy materials connected by said fixing pins and connecting pins. 7. The manipulator according to claim 1, wherein a brake mechanism for the rotation arm is provided on either the support arm or the rotation arm. 8. The manipulator according to claim 7, wherein the brake force of the rotating arm is calculated based on a torque value generated in the rotating arm. 9. The manipulator according to claim 8, wherein the brake mechanism is provided via a support arm, and a friction plate for pressing the rotating arm and a pressing force adjusting unit are provided. 10. The manipulator according to claim 7, wherein the brake mechanism is provided with a two-way clutch mechanism serving as the rotation axis. 11. When the rotation direction of the rotation arm is reversely driven, the rotation arm is once driven in a small amount in a direction opposite to a desired drive direction, and then the rotation arm is moved in a desired direction. The manipulator according to claim 10, wherein the manipulator is driven. 12. The brake arm, wherein the brake mechanism has a structure in which a rotation plate that rotates together with the rotation arm is sealed in a fluid whose viscosity changes by a magnetic field or an electric field. Item 8. The manipulator according to Item 8. 13. The manipulator according to claim 8, wherein the brake mechanism includes a drive source made of a shape memory alloy. 14. The cooling structure according to claim 1, wherein a cooling layer made of a metal material or a paste material containing a metal is provided on at least one surface of the stitch shape memory alloy material. The manipulator according to any one of the preceding claims. 15. The lighting device according to claim 1, wherein an illumination lamp is provided at one end of an arm having a joint, and a manipulator is provided at the joint.