JP2003311667A - Robot arm, and robot arm operation system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a robot arm with a miniaturized actuator, upgraded rigidity and operation speeding in comparison with conventional ones, and expectable as well in upgrading end part's positioning precision. <P>SOLUTION: Between a base 2 and an end effector 3, a middle member 13 is arranged, each is connected with six operating part 5 between the base 2 and the middle member 14, and connected with six operating part 15 between the end effector 3 and the middle member 14. An operating part 5 is connected against the base 2 via a universal joint 6, and connected against the middle member 14 via a universal joint 10. The operating part 15 is connected to the middle member 14 via a universal joint 17, and connected to the end effector 3 via a universal joint 18. Each of the operating parts 5, 15 is extensible freely and operable separately. <P>COPYRIGHT: (C)2004,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot arm and a robot arm operating system including the robot arm, and more particularly to a robot arm and a robot arm operating system using a parallel mechanism.

[0002]

2. Description of the Related Art A conventional robot arm (robot manipulator) generally uses a serial link mechanism in which a plurality of links are connected in series. In this type of robot arm, actuators such as motors are provided at joints that are connecting portions of each link, and each joint is operated by driving these actuators.

[0003]

However, in the conventional robot arm as described above, the moment acting on the joint increases as the robot arm moves from the distal end portion to the proximal end portion. The actuator was upsized. In addition, since it has a cantilever structure, bending stress acts on each link, and in order to secure sufficient rigidity, a highly rigid link is required,
This has led to an increase in the mass of the link and an increase in the size of the actuator. Therefore, there is a demand for the actuator used for such a robot arm to be as small as possible while securing an output capable of operating the robot arm. There is a problem that it is difficult to speed up.

There is also a problem that the positioning accuracy of the tip portion is low due to the backlash of the speed reducer or the like connected to each actuator.

The present invention has been made in view of such circumstances, and by using a parallel mechanism, the actuator can be made smaller, the rigidity thereof can be improved, and the operation speed can be increased as compared with the conventional one. An object of the present invention is to provide a robot arm that can be expected to improve the positioning accuracy of the tip portion, and a robot arm operation system including the robot arm.

[0006]

A robot arm according to the present invention is a robot arm capable of changing the relative positions of a base end portion and a front end portion, and is substantially in series with the base end portion and the front end portion. As described above, one or a plurality of intermediate members arranged between the base end portion and the tip end portion and two adjacent ones of the base end portion, the tip end portion, and the intermediate member.
And an operating part that changes the relative position of each connection part, and two adjacent ones of the base end part, the distal end part, and the intermediate member are connected by a plurality of operating parts. It is characterized by

The robot arm according to the present invention has a base end portion,
One of the two, which will be described later, is formed by the adjacent two of the tip end portion and the intermediate member and the plurality of operating portions that connect them.
The structure has two parallel mechanisms. That is, the robot arm according to the present invention has a structure in which a plurality of parallel mechanisms are connected in series.

11A and 11B are conceptual diagrams illustrating the parallel mechanism. The parallel mechanism is a mechanical structure in which a first member 91 and a second member 92, which are spaced apart from each other and face each other, are connected by a plurality of links (operating units) 93. Such parallel mechanisms include telescopic type, rotary type, linear type, and wire type. FIG. 11A shows a telescopic parallel mechanism, and FIG. 11B shows a rotary parallel mechanism. As shown in FIG. 11A, the telescopic parallel mechanism has a structure in which the link 93 has a rod shape with both ends thereof connected to the first member 91 and the second member 92, respectively, and has a structure that expands and contracts in the longitudinal direction. There is.
In this parallel mechanism, the first member 9 of the link 93 is
A universal joint or the like is used at each of the connection portion with 1 and the connection portion with the second member 91 of the link 93, and the link 93 is at any angle within a predetermined range with respect to the first member 91 and the second member 92. It is possible to tilt. In such a telescopic parallel mechanism, the first member 91 and the second member 92 can be relatively moved in any direction within their operating range by independently controlling the expansion and contraction of each link 93. it can.

Further, as shown in FIG. 11 (b), in the rotary type parallel mechanism, the link 93 is constituted by two rod-shaped joints each of which one end is pivotally attached, and the other end of one joint is connected. The structure is such that it is connected to the first member 91 and the other end of the other joint is connected to the second member 92. Further, the joint on the first member 91 side is a base end portion (the other end portion) by a rotary actuator.
The second member 9
The joint connected to the second side can be tilted at any angle within a predetermined range by a universal joint or the like. In such a rotary type parallel mechanism, by independently controlling the swing of the joint on the side of the first member 91 of each link 93, the first member 91 and the second member 92 can be moved in any direction within their operating range. It can be moved relatively even to.

In such a parallel mechanism, even if the actuator for operating each link 93 is small, the output of each actuator acts in parallel, so that a large output can be generated as a whole of the parallel mechanism. There is an advantage. Further, no matter what direction force is applied to the first member 91 and the second member 92, almost no bending stress acts on each link 93, but only tensile stress or compressive stress acts on each link 93. Therefore, such a parallel mechanism is characterized in that it is easy to secure sufficient rigidity for the intended purpose even when each link is made of a lightweight material.

Since the robot arm according to the present invention is constructed by connecting a plurality of such parallel mechanisms in series, it is possible to secure a sufficient output as a whole for a purpose of use and to compare with a conventional one. Thus, the actuator can be downsized. Moreover, it is possible to secure sufficient rigidity while being lightweight for the purpose of use. Further, the lighter weight and higher output than the conventional one enables the operation to be speeded up.

Further, since the output of each operating unit (actuator provided in each operating unit) may be relatively small, a speed reducer or the like is not required in many cases. This enables further size reduction and weight reduction. Further, when a speed reducer or the like is not provided, backlash due to this hardly occurs, so that it is possible to improve the positioning accuracy of the tip portion. Further, by not requiring a speed reducer or the like, higher speed operation can be expected.

Further, by configuring a plurality of parallel mechanisms connected in series, it is possible to widen the operation range. The number of parallel mechanisms connected in series can be set arbitrarily, but the more parallel mechanisms there are, the more complicated the configuration becomes.Therefore, it is sufficient to ensure a sufficient operating range according to the purpose of use. .

In the above invention, it is preferable that only one intermediate member is provided between the base end portion and the tip end portion.

In the structure in which only one intermediate member is provided between the base end portion and the tip end portion, the range from the base end portion to the intermediate member is the upper arm portion, and the range from the intermediate member to the tip end portion is the forearm portion. The structure of the robot arm can be regarded as a structure similar to the structure of the human arm. By configuring the robot arm in this way, the motion of the human arm can be made to correspond to the motion of the robot arm, and by doing so, it is possible to easily realize that the robot arm is to perform the work that the human should do. And so on, it is possible to obtain excellent effects.

Further, by adopting such a configuration,
The structure of the robot arm does not become too complicated, and a relatively large movement range can be secured.

Further, in the above invention, the operating section may be configured to operate so as to change the separation distance of the connection point. Accordingly, each operating unit only needs to perform a simple operation of changing the separation distance of the connection point, and the configuration of each operating unit can be simplified.

In this case, it is also possible that the operating section has a rotary operating section that performs a rotary operation and a conversion means that converts the rotary motion of the rotary operating section into a linear motion. As a result, various known mechanisms such as a cam mechanism, a ball screw mechanism, a link mechanism, etc. can be used as the converting means, and an operating unit having a simple structure can be configured.

Further, in this case, the rotary motion part has a motor having a cylindrical rotary shaft having an internal thread part provided on the inner surface thereof, and the conversion means has a male thread part provided on the outer surface thereof. It is also possible to adopt a configuration having a moving shaft that penetrates in a state of being screwed with the rotating shaft of the motor. As a result, the moving shaft moves in the axial direction according to the rotation of the motor,
The separation distance of the connection point is changed. Therefore, the separation distance of the connection point can be changed only by controlling the operation of the motor.

Further, in the above-mentioned invention, the rotary motion portion has a motor having a rotary shaft having an external thread portion provided on an outer surface thereof, and the converting means has a female screw portion provided on an inner surface thereof, It is also possible to adopt a configuration having a moving shaft that is screwed onto the rotating shaft. As a result, the moving shaft moves in the axial direction according to the rotation of the motor, and the separation distance of the connecting portion is changed. Therefore, the separation distance of the connection point can be changed only by controlling the operation of the motor.

Further, in the above invention, the operating section may be configured to have a direct-acting actuator. This makes it possible to further simplify the structure of the robot arm.

Further, in this case, in the operation portion, one of the piston rod and the cylinder tube is connected to two adjacent ones of the base end portion, the tip end portion and the intermediate member, It is also possible that the other of the piston rod and the cylinder tube has a fluid cylinder connected to the other adjacent two. This not only simplifies the structure of each operating unit, but also allows the operating unit to operate at a relatively high speed and obtains relatively large power.

Further, in the above invention, in the operation portion, one of the stator and the runner is connected to two adjacent ones of the base end portion, the tip end portion and the intermediate member, The other of the stator and the runner may have a linear motor connected to the other of the two adjacent to each other. As a result, a complicated structure such as a ball screw is not required, and a so-called direct drive structure that directly transmits the output of the motor to each connection point can be obtained, and the motor output can be used with high efficiency.

Further, by having such a structure,
The occurrence of backlash can be eliminated.

Further, a robot arm operation system according to the present invention, the robot arm according to the above invention, an operation section for outputting an operation signal according to a given operation, and an operation signal according to the operation signal output by the operation section. And a control unit that controls a plurality of operation units included in the robot arm, respectively.

Further, in the above invention, the operation portion includes a base portion, a grip portion for being gripped by an operator, and an operation side intermediate member disposed between the base portion and the grip portion. An expansion / contraction part that is connected to two adjacent ones of the base part, the grip part, and the operation-side intermediate member and is expandable / contractible, and the expansion / contraction direction and expansion / contraction amount of the expansion / contraction part,
It is desirable to have a configuration including a detection unit that outputs an operation signal according to the detection result.

With this, the operator can move the gripper in any direction with respect to the base.
In addition, since the detection unit detects the direction and amount of movement of the gripper moved by the operator as the direction and amount of expansion and contraction of the expansion and contraction unit, the distal end of the robot arm is operated based on the detection result. Direction and amount (distance) desired by the person
It is possible to move only.

In this case, the same number of the extension / contraction parts as the operation parts provided in the robot arm are provided, and correspond to the base end part, the tip end part, the intermediate member, and the operation part of the robot arm. In the arrangement relationship, the base part, the gripping part, the operation side intermediate member, and the expansion / contraction part are arranged, and the control part operates each of the operation parts based on the operation signal output by the detection part. It is desirable to have a configuration in which it is controlled to operate in accordance with the expansion and contraction of the corresponding expansion and contraction section in the above-mentioned arrangement relationship.

Since the configuration of the operating section corresponds to the configuration of the robot arm, the operator can easily perform the operation of the robot arm by directly giving the operating section the operation desired by the operator. It becomes possible to instruct.

Further, for example, the operation of each operation unit is made so as to separate the connecting portions of the operation unit corresponding to each expansion / contraction unit by the direction and amount corresponding to the expansion / contraction direction and expansion / contraction amount of each expansion / contraction unit. By controlling, the robot arm can be caused to perform a required operation with very simple control.

Further, in the above invention, the state of the grip portion is adapted to change in response to a given operation, and the operation signal includes a signal indicating a change in the state of the grip portion. The tip of the robot arm has
It is said to be an end effector that can operate,
It is preferable that the control unit is configured to control the end effector to operate according to the state of the grip unit based on the operation signal.

With this, since the end effector and the other part of the robot arm can be operated by one operating section, the entire system can be made into a compact device configuration, and the configuration of the robot arm is also possible. And the configuration of the operation unit correspond to each other, the operator can more intuitively operate the robot arm.

[0033]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings.

(Embodiment 1) FIG. 1 is a perspective view showing a configuration of a robot arm according to Embodiment 1 of the present invention. As shown in FIG. 1, the robot arm 1 according to the first embodiment is mainly composed of a base (base end portion) 2, an end effector (tip portion) 3, operating portions 5, 15 and an intermediate member 14. . The base 2 has a disk shape with a round hole in the center, and is attached to an object to which the robot arm 1 is attached, such as a floor. The following six operating parts 5 are connected to the surface opposite to the mounting surface of the base 2 by universal joints 6, respectively.

Each operating unit 5 has an air cylinder 7. The above-mentioned universal joint 6 is attached to the base end portion of the cylinder tube 8 of the air cylinder 7, and the universal joint 10 is attached to the tip end portion of the piston rod 9. Further, a disc-shaped contact member 11 is attached to an intermediate portion of the piston rod 9. More specifically, the contact member 11
Has a disk shape with an outer diameter substantially the same as the outer diameter of the cylinder tube 8 of the air cylinder 7, and is fixed to the intermediate portion of the piston rod 9 with the piston rod 9 penetrating its center. Further, from the head cover of the cylinder tube 8 (the end surface from which the piston rod 9 projects),
Two round bar-shaped guides 12 substantially parallel to the piston rod 9
Has been extended. These guides 12 are the contact members 1
1 penetrates each with a proper play,
This allows the contact member 11 to slide on the guide 12.

The abutting member 1 is attached to the tip of the guide 12.
A disk-shaped stopper 13 having an outer diameter approximately the same as that of 1 is provided. At the center of the stopper 13, the piston rod 9
A hole having a diameter slightly larger than the diameter is provided, and the piston rod 9 is made to penetrate this hole. Therefore, the piston rod 9 is guided by the guide 12 and can move in the axial direction in a range from the state where the contact member 11 contacts the head cover of the cylinder tube 8 to the state where the contact member 11 contacts the stopper 13. It is possible.

The tip of the piston rod 9 is connected to the edge of the substantially disk-shaped intermediate member 14 by a universal joint 10. The intermediate member 14 has a substantially disk shape with a diameter slightly smaller than the diameter of the base 2, and has a round hole in the center thereof. in this way,
Since the operating unit 5 is connected to the base 2 and the intermediate member 14 by the universal joints 6 and 10, the operating unit 5 can be tilted with respect to the base 2 and the intermediate member 14 in any direction.

Further, both ends of the operating portion 5 are connected to the outer edge portion of the base 2 and the outer edge portion of the intermediate member 14 so as not to intersect each other. Moreover, two adjacent ones of the respective operating parts 5 are arranged so as not to be parallel to each other. That is, two operation units 5 adjacent to each other
In the above, the distance between the connection points for each base 2 and the distance between the connection points for each intermediate member 14 are different. With such a configuration, the expansion and contraction of each operation unit 5 enables, for example, an operation of twisting the intermediate member 14 with respect to the base 2, that is, an operation of relatively rotating the base 2 and the intermediate member 14. Has become.

As described above, the base 2, the operating portion 5, and the intermediate member 14 constitute a parallel mechanism.

FIG. 2 is a block diagram showing the configuration of the robot arm operating system according to the first embodiment of the present invention. As shown in FIG. 2, the robot arm 1 is provided with six air supply / exhaust units 7a, and each air cylinder 7 is connected with each air supply / exhaust unit 7a. The air supply / exhaust unit 7a is
For example, it is composed of a solenoid valve, a flow control valve, etc.,
The air discharged from an air pump (not shown) is supplied to the cylinder tube 8 and / or the air in the cylinder tube 8 is discharged to the outside (into the atmosphere). Therefore, the piston rod 9 is moved by the operation of the air supply / exhaust unit 7a.

Each air supply / exhaust unit 7a is connected to a drive circuit 7b. Each drive circuit 7b is connected to a power source (not shown), and as shown in FIG. 2, is connected to an input / output interface 51 of a controller 50 provided outside the robot arm 1. I / O interface 5
A control signal is output from 1 as described later, and this control signal is given to the drive circuit 7b. The drive circuit 7b drives the air supply / exhaust unit 7a based on this control signal.

A position sensor 7c such as an encoder, a potentiometer, and a magnetic sensor is attached to each air cylinder 7. These position sensors 7c are adapted to output electric signals corresponding to the positions of the piston rods 9 of the air cylinders 7 respectively attached thereto. And
Each position sensor 7c is connected to the input / output interface 51, so that the output signal generated by the position sensor 7c is given to the input / output interface 51.

On the other hand, as shown in FIG. 1, six operating portions 15 are connected to the surface of the intermediate member 14 opposite to the surface facing the base 2. Each of these operating parts 15 is equipped with an air cylinder 16, and is configured in substantially the same manner as the operating part 5. A universal joint 17 is attached to the base end of the cylinder tube of the air cylinder 16, which connects the air cylinder 16 to the intermediate member 14. A universal joint 18 is attached to the tip of the piston rod 16a of the air cylinder 16, and the air cylinder 16 is connected to the end effector 3 which will be described later. Both ends of the operating portion 15 are connected to the outer edge portion of the intermediate member 14 and the outer edge portion of the end effector 3 so as not to intersect each other. Moreover, two adjacent ones of the respective operating units 15 are arranged so as not to be parallel to each other. In addition, the configuration of the operating unit 15 is
Since the configuration is the same as that of the operation unit 5, detailed description will be omitted.

In this way, the intermediate member 14, the operating portion 15,
And the end effector 3 constitutes a parallel mechanism. That is, the robot arm 1 according to the first embodiment is configured by connecting two parallel mechanisms in series.

As shown in FIG. 2, the robot arm 1 is provided with six air supply / exhaust parts 16b, and each air cylinder 16 is connected with each air supply / exhaust part 16b. The air supply / exhaust unit 16b is composed of, for example, an electromagnetic valve, a flow control valve, and the like, supplies the air discharged from the air pump to the cylinder tube of the air cylinder 16, and / or the air in the cylinder tube to the outside (atmosphere). It operates to discharge to the inside). Therefore, when the air supply / exhaust portion 16b operates, the piston rod 16a moves.

Each air supply / exhaust section 16b has a drive circuit 16c.
It is connected to the. Each drive circuit 16c is connected to a power source (not shown), and is also connected to the input / output interface 51 of the control device 50 as shown in FIG.
A control signal is output from the input / output interface 51,
This control signal is given to the drive circuit 16c. And
The drive circuit 16c, based on this control signal,
6b is driven.

A position sensor 16d such as an encoder, a potentiometer, or a magnetic sensor is attached to each air cylinder 16. These position sensors 16d correspond to the piston rods 1 of the air cylinders 16 attached to them.
An electric signal corresponding to the position of 6a is output. Then, each position sensor 16d is connected to the input / output interface 51, whereby the position sensor 16d is
The output signal generated by d is applied to the input / output interface 51.

Next, the structure of the end effector 3 will be described. As shown in FIG. 1, the end effector 3 is
The base portion 19 has a shape such that a substantially cylindrical portion extends from a conical apex portion. This base part 1
A pivotal support member 20 having a shape obtained by bending a plate-like member into a channel shape is attached to a side portion of the columnar portion of 9, and is sandwiched between facing surfaces of the pivotal support member 20. In this state, the respective base ends of the three finger members 21 each having a finger shape are pivotally supported. The two finger members 21 are pivotally supported by the same pivot, and the other finger member 21 is pivotally supported by a pivot provided at a different position. In this way, the end effector 3 is shaped like a hand, and when the finger members 21 rotate about their respective pivots, the operation of gripping or releasing the object becomes possible. There is.

The end effector 3 has a motor 2
2 (see FIG. 2) is provided, and the finger members 21 can rotate about their respective pivots by operating the motor 22.

As shown in FIG. 2, a drive circuit 22a is connected to the motor 22. The drive circuit 22a is connected to a power source (not shown) and is also connected to the input / output interface 51 of the control device 50. The control signal output from the input / output interface 51 includes the motor 22
A signal for controlling the operation of is also included, and this signal is given to the drive circuit 22a. Then, the drive circuit 22a is
The motor 22 is driven based on this control signal.

Further, the end effector 3 is provided with a position sensor 22b for detecting the position of each finger member 21. The position sensor 22b includes an encoder, a potentiometer, a magnetic sensor, or the like,
An electric signal corresponding to the position of the finger member 21 is output. Such a position sensor 22b is connected to the input / output interface 51, and the output signal generated by the position sensor 22b is given to the input / output interface 51.

In the first embodiment, the configuration in which the end effector 3 is operated by the motor 22 has been described, but the present invention is not limited to this, and the configuration in which the end effector 3 is operated by, for example, an air cylinder or a hydraulic cylinder is used. May be In this case, the drive circuit 2
It goes without saying that the configuration of 2a is changed according to the actuator to be driven.

In the first embodiment, the end effector 3 has a hand-type structure capable of gripping an object, but the present invention is not limited to this. It goes without saying that a structure using an end effector for welding, drilling, screwing, or the like may be used.

FIG. 3 is a perspective view showing the configuration of the operating device according to the first embodiment of the present invention. As shown in FIG. 3, the operating device 23 according to the first embodiment includes a base portion 24 and a grip portion 2.
5, the elastic portions 26 and 27, and the operation-side intermediate member 28 are mainly configured. The pedestal portion 24 has a substantially disc shape, and one surface thereof is an attachment surface to be attached to an installation surface such as a floor. The following six expansion and contraction portions 26 are connected to the surface opposite to the mounting surface of the base portion 24 by universal joints 29, respectively.

Each expansion / contraction part 26 has a cylindrical part 30 and a substantially rod-shaped moving rod 31 protruding from one end surface of the cylindrical part 30.
It has and. A hole having a diameter slightly larger than the diameter of the moving rod 31 is provided at the center of one end surface of the cylindrical portion 30. The moving rod 31 is in a state of penetrating this hole. The other end surface of the cylindrical portion 30 is closed, and a spring (not shown) is provided inside. The moving rod 31 is biased by this spring so as to protrude from the cylindrical portion 30 by a predetermined length (hereinafter, this state is referred to as a neutral state). That is, when the moving rod 31 is released from the state of being inserted into the cylindrical portion 30 rather than the neutral state or being pulled out of the cylindrical portion 30 from the neutral state, the moving rod 31 is automatically in the neutral state. It is designed to return to.

Further, the moving rod 31 penetrates through the center of a disk-shaped contact member 33 having a diameter approximately the same as the outer diameter of the cylindrical portion 30 at the longitudinal intermediate portion thereof, and in this state The contact member 33 is fixed to 31. Further, from the end surface of the cylindrical portion 30 where the moving rod 31 projects, two round bar-shaped guides 34 extending substantially parallel to the moving rod 31 are provided. Each of these guides 34 penetrates the contact member 33 in a state where appropriate play is provided, and thereby the contact member 33 can slide on the guide 34.

The contact member 3 is attached to the tip of the guide 34.
A disk-shaped stopper 35 having an outer diameter substantially the same as that of the stopper 3 is provided. A hole having a diameter slightly larger than the diameter of the moving rod 31 is provided at the center of the stopper 35, and the moving rod 31 penetrates this hole. Therefore,
The moving rod 31 is guided by the guide 34 and can move in the axial direction in a range from a state where the contact member 33 contacts the end surface of the cylindrical portion 30 to a state where the contact member 33 contacts the stopper 35. ing.

The above-mentioned universal joint 29 is attached to the other end surface of the cylindrical portion 30, so that the cylindrical portion 30 is connected to the base portion 24. Further, the universal joints 29 are attached to each other in the vicinity of the outer edge portion of the base portion 24 while being separated from each other.

Further, a universal joint 32 is attached to the tip of the moving rod 31, so that the tip of the moving rod 31 is connected to the operation side intermediate member 28. The operation-side intermediate member 28 has a substantially disk shape having a smaller diameter than the base portion 24, and the universal joints 32 are attached to the outer edge portions thereof at respective positions spaced apart from each other.

As described above, since the expansion / contraction part 26 is connected to the base part 24 and the operation side intermediate member 28 by the universal joints 29 and 32, each expansion / contraction part 26 is connected to the base part 24 and the operation side intermediate member 28. On the other hand, it is possible to lean in any direction.

Further, both ends of the expandable portion 26 are connected to the vicinity of the outer edge portion of the base portion 24 and the outer edge portion of the operation side intermediate member 28 so as not to intersect each other. Moreover, the two adjacent ones of the expandable portions 26 are arranged so as not to be parallel to each other. That is, 2 adjacent to each other
The two expansion / contraction parts 26 differ from each other in the interval between the connection points with respect to the respective base parts 24 and the interval between the connection points with respect to the respective operation-side intermediate members 28.

Also, as shown in FIG.
6 is provided with a position sensor 26a. The position sensor 26a is composed of an encoder, a potentiometer, a magnetic sensor, or the like, and outputs an electric signal according to the position of the moving rod 31 of the expansion / contraction part 26 attached thereto. Then, each position sensor 26a
Is connected to the input / output interface 51, whereby the output signal generated by the position sensor 26a is applied to the input / output interface 51.

Further, as shown in FIG. 3, six expansion / contraction parts 27 are connected to the surface of the operation side intermediate member 28 opposite to the connection surface of the expansion / contraction part 26. Each expandable part 27 is a cylindrical part 3
6 and a substantially rod-shaped moving rod 37 protruding from one end surface of the cylindrical portion 36. Elastic part 2
The configuration of No. 7 is substantially the same as the configuration of the expansion / contraction unit 26, and thus the description thereof is omitted.

The expandable portion 27 is connected to the operation side intermediate member 28 by a universal joint 38 attached to the other end surface of the cylindrical portion 36. The universal joints 38 are attached to each other in the vicinity of the outer edge of the operation-side intermediate member 28 while being separated from each other.

Further, a universal joint 39 is attached to the tip of the moving rod 37, so that the tip of the moving rod 37 is connected to the grip portion 25. The grip portion 25 has a bottom portion 25a having a shape such that three portions of the outer peripheral portion of the disk are linearly cut out,
Universal joints 39 are attached to the outer edge of the bottom portion 25a at respective positions spaced apart from each other.

With such a structure, the expandable portion 27 can be tilted in any direction with respect to the operation side intermediate member 28 and the grip portion 25.

Further, both ends of the expandable portion 27 are connected to the vicinity of the outer edge of the operation side intermediate member 28 and the outer edge of the bottom portion 25a of the grip portion 25 so as not to intersect each other. Moreover, the two adjacent ones of the expansion and contraction portions 27 are arranged so as not to be parallel to each other. That is, the two adjacent expansion / contraction parts 27 differ from each other in the distance between the connecting portions with respect to the respective operation-side intermediate members 28 and the distance between the respective connecting portions with respect to the respective grip portions 25.

As shown in FIG. 2, each expansion / contraction part 27 is provided with a position sensor 27a. Position sensor 27a
Has a configuration similar to that of the position sensor 26a, and outputs an electric signal corresponding to the position of the moving rod 37 of the expandable portion 27 attached thereto. Further, each position sensor 27a is connected to the input / output interface 51, and the output signal of the position sensor 27a is given to the input / output interface 51.

Next, the structure of the grip 25 will be described. As shown in FIG. 3, the grip portion 25 is the bottom portion 2 described above.
A grip body 25b is provided at the center of one surface of the 5a. The grip body 25b has a substantially rectangular parallelepiped shape, and an opening is provided on one side surface thereof. A button 25c projects forward and backward from the opening of the grip body 25b. The button 25c is the grip body 25b.
Grip body 2 by a spring (not shown) built in
It is urged in a direction in which it projects from 5b, and a stopper structure (not shown) prevents it from projecting beyond a predetermined amount from the grip body 25b. The operator grips the grip body 25b and changes the grip amount, so that the amount of protrusion of the button 25c from the grip body 25b can be adjusted.

Further, as shown in FIG. 2, the grip 25 is provided with a position sensor 25d. This position sensor 2
5d is composed of an encoder, a potentiometer, a magnetic sensor, or the like, and is adapted to generate an output signal according to the amount of protrusion of the button 25c from the grip body 25b. Further, the position sensor 25d is connected to the input / output interface 51, and the output signal of the position sensor 25d is given to the input / output interface 51.

Next, the configuration of the control device 50 will be described. As shown in FIG. 2, the control device 50 includes a CPU 52,
ROM53, RAM54, and input / output interface 5
It is mainly composed of 1.

The CPU 52 is a microprocessor and is connected to the ROM 53, the RAM 54, and the input / output interface 51 via the bus. CPU 52
It is possible to execute a computer program stored in the ROM 53 or a computer program loaded in the RAM 54.

The ROM 53 is a mask ROM, PROM,
It consists of EPROM, EEPROM, etc., CP
The computer program executed in U52 and the data used for this are recorded.

The RAM 54 is composed of SRAM, DRAM or the like. The RAM 54, when executing the computer program stored in the ROM 53,
This computer program is loaded and the CPU 52
Is used as a work area for.

The input / output interface 51 is, for example, US
Serial interface such as B, IEEE1394, RS-232C, SC
Parallel interface such as SI, IDE, IEEE1284, D /
It is composed of an analog interface such as an A converter and an A / D converter. The robot arm 1 and the operating device 23 are connected to the input / output interface 51.

Next, the operation of the robot arm operating system according to the first embodiment of the present invention will be described. The operator grips the grip body 25b of the operating device 23 to move the grip portion 25, or presses the button 25c on the grip body 2.
The robot arm 1 is moved back and forth with respect to 5b.
To give an operation instruction to.

When the grip 25 is moved, the expandable parts 26 and 27 expand and contract. That is, in the expandable part 26, the moving rod 31 moves in the axial direction with respect to the cylindrical part 30, and in the expandable part 27, the movable rod 37 moves in the axial direction with respect to the cylindrical part 36. And these elastic parts 2
The signals 26b and 27b corresponding to the expansion and contraction amounts of 6 and 27 are transmitted to the position sensors 26 attached to the respective expansion and contraction portions 26 and 27.
a and 27a output.

Further, the button 25c enters the grip body 25b according to the gripping force with which the operator grips the grip body 25b. Then, the position sensor 25d outputs a signal 25e corresponding to the amount of entry (the amount of grip of the operator).

These output signals (operation signals) 26b, 2
7b and 25e are C via the input / output interface 51.
It is given to the PU 52.

In the ROM 53 or RAM 54, the expansion / contraction section 2
Lookup showing the correspondence between the position of the moving rod 31 of 6, the output signal value of the position sensor 26a, and the corresponding target position of the piston rod 9 of the operating unit 5, that is, the target output signal value of the position sensor 7c. A table 55 is stored.

In the ROM 53 or RAM 54, the position of the moving rod 37 of the expansion / contraction part 27, that is, the position sensor 27.
A look-up table 56 is stored which shows the correspondence between the output signal value of "a" and the target position of the piston rod 16a of the operating section 15 corresponding thereto, that is, the target output signal value of the position sensor 16d.

It is desirable that the relationship between the position of the moving rod 31 and the target position of the piston rod 9 and the relationship between the position of the moving rod 37 and the target position of the piston rod 16a are proportional, for example. As a result, the robot arm 1 can be caused to perform an operation substantially similar to the operation of the operating device 23, and the operator can operate the robot arm 1 more intuitively. The relationship between the position of the moving rod 31 and the target position of the piston rod 9 and the relationship between the moving rod 37 and the piston rod 16a are not limited to the proportional relationship. It goes without saying that any relationship may be adopted as long as the positions of the piston rods 9 and 16a are uniquely determined.

Further, in the ROM 53 or the RAM 54, the entering amount (position) of the button 25c with respect to the grip body 25b of the grip portion 25, that is, the output signal value of the position sensor 25d, and each finger member 21 of the end effector 3 corresponding thereto.
Also stored is a look-up table 57 indicating the correspondence with the target position of, ie, the target output signal value of the position sensor 22b.

The relationship between the position of the button 25c indicated by the lookup table 57 and the target position of the finger member 21 is also preferably proportional, but the target position of the finger member 21 is unique from the position of the button 25c. Any relationship may be used as long as it is defined by

Further, the six expanding / contracting portions 26 and the six operating portions 5 are associated with each other on a one-to-one basis. In the following computer program, in order to identify each expansion / contraction part 26, the identification information of 1-6 is matched with each expansion / contraction part 26, and similarly, the identification information of 1-6 is added to the operation part 5, 5. It is associated with each of the operation unit 15 and the expansion / contraction unit 27. Then, among the expansion / contraction unit 26 and the operation unit 5, those to which the same identification information is added are the expansion / contraction unit 26 and the operation unit 5 having the corresponding relationship, and the same in the expansion / contraction unit 27 and the operation unit 15. Those to which the identification information is added are the expansion / contraction part 27 and the operation part 15 having a corresponding relationship.

FIG. 4 is a flowchart showing a processing procedure of the CPU 52 included in the robot operating system according to the first embodiment of the present invention. The CPU 52 acquires the output signals 26b, 27b, 25e of the position sensors 26a, 27a, 25d from the input / output interface 51 (step S
1), the input / output interface 51 to the position sensor 7c,
Acquire output signals of 16d and 22b (step S
2).

Next, the CPU 52 substitutes 1 into the variable ID representing the identification information (step S3), and with reference to the lookup table 55, the position sensor 26a of the expansion / contraction section 26 to which the identification information of the variable ID is added. The target output signal value corresponding to the output signal value from is acquired and is set as the target output signal value of the position sensor 7c of the operation unit 5 to which the identification information of the variable ID is added (step S4).

Then, the CPU 52 refers to the look-up table 56 to obtain the target output signal value corresponding to the output signal value from the position sensor 27a of the expansion / contraction unit 27 to which the identification information of the variable ID is added, and this is obtained. Is set as the target output signal value of the position sensor 16d of the operation unit 15 to which the identification information of the variable ID is added (step S5).

Next, the CPU 52 determines whether or not ID <7 is satisfied (step S6). When ID <7 is satisfied (Yes in FIG. 4), the variable ID is incremented by 1 (step S7). , And moves the processing to step S4.

When ID <7 is not satisfied in step S6 (No in FIG. 4), the CPU 52 refers to the look-up table 57 and sets the target output signal value corresponding to the output signal value of the position sensor 25d. The target output signal value of the position sensor 22d is acquired (step S).
8).

Then, the CPU 52 obtains an output signal of the target output signal value of each position sensor 7c, that is, each piston rod 9 approaches the target position.
The operation information of each operating unit 5 whose identification information is 1 to 6 is controlled so that the output signal of the target output signal value of each position sensor 16d is obtained, that is, each piston rod 16a approaches the target position. Each operation unit 1 whose identification information is 1 to 6
The end effector 3 is operated and controlled so that the output signal of the target output signal value of the position sensor 22d is obtained, that is, each finger member 21 approaches the target position (step S9). Then, the CPU 52 returns the process to step S1.

In the process of step S9, for example, proportional control is used. When operating the operation unit 5 by proportional control, the CPU 52 obtains the difference between the output signal value of the position sensor 7c at that time and the target output signal value for each identification information, and the CPU 52 is approximately proportional to this difference. A control signal for supplying and / or discharging a flow of air to the air cylinder 7 is output from the input / output interface 51. The control signal related to one piece of identification information is given to the drive circuit 7b included in the operation unit 5 to which the identification number is given, and the air cylinder 7 having the identification number is driven by this. This causes the piston rod 9 to move closer to its target position. The control processing of the operation unit 15 and the end effector 3 is also the same, so description thereof will be omitted.

These control processes are performed by the respective operating units 5, 1
5, and each end effector 3 is independently performed. Also, the respective control processes are executed substantially at the same time by the multitask process or the like.

The air cylinder 7 and the air cylinder 1
Although the configuration in which the proportional control is used for the operation control of the motor 6 and the motor 22 has been described, the present invention is not limited to this, and other control such as PI control, PID control, or fuzzy control may be used.

In the first embodiment, the operating parts 5, 15 are provided with the air cylinders 7, 16, and the operating parts 5, 15 are expanded and contracted by the operation of the air cylinders 7, 16. It goes without saying that other fluid cylinders such as hydraulic cylinders may be used instead of the cylinders 7 and 16.

With the above configuration, the corresponding motion section 5 expands and contracts according to the expansion and contraction of each expansion / contraction section 26, and each expansion / contraction section 27.
The corresponding operation unit 15 expands and contracts according to the expansion and contraction of. The arrangement configuration of the expandable portions 26 and 27 of the operation device 23 is as follows.
Since the arrangement of the operating parts 5 and 15 of the robot arm 1 is substantially the same, when the operator deforms the operating device 23, the robot arm 1 will be deformed in response to this deformation. It is possible to cause the robot arm 1 to perform a desired operation by operating the operating device 23.

In the first embodiment, the target positions of the piston rods 9 and 16a and the finger members 21 are set to C
Although the configuration in which the PU 52 obtains by referring to the lookup tables 55 to 57 has been described, the present invention is not limited to this. For example, the correspondence between the position of the moving rod 31 and the target position of the piston rod 9 The correspondence between the rod 37 and the target position of the piston rod 16a and the correspondence between the amount of the button 25c entering the grip body 25b of the grip 25 and the target position of the finger member 21 are defined by functions, respectively, and the CPU 52 Using the respective functions, the piston rods 9 and 16a and the finger members 2
It goes without saying that the configuration may be such that the target position of 1 is acquired.

Further, in the first embodiment, the grip portion 25 is provided with the grip body 25b and the button 25c, and the operator inputs the button 25c into the grip body 25b to instruct the operation of the end effector 3. Although the configuration has been described, the present invention is not limited to this, and the end effector is configured by changing the state of the gripping part by the operator so as to change the state of the gripping part by an external force. It goes without saying that the grasping portion may have any configuration as long as it is a configuration for giving an operation instruction to the No. 3 device.

In the first embodiment, the operator operates the grip 25 provided on the top of the operating device 23 to give an instruction to operate the end effector 3. However, the present invention is not limited to this, and an operation panel or the like for giving an operation instruction of the end effector 3 may be provided outside the grip portion.

(Second Embodiment) FIG. 5 is a block diagram showing the configuration of a robot arm operating system according to a second embodiment of the present invention. As shown in FIG. 5, in the robot arm 58 according to the second embodiment, the operation unit 59 that connects the base 2 and the intermediate member 14 has a motor 60 and the motor 60.
A drive circuit 61 for driving the motor and a position sensor 62 are mainly configured, and an operating unit 63 connecting the intermediate member 14 and the end effector 3 has a motor 64 and a drive for driving the motor 64. It is mainly composed of a circuit 65 and a position sensor 66.

FIG. 6 is a perspective view showing the structure of the operating portion 59 of the robot arm 58 according to the second embodiment of the present invention. As shown in FIG. 6, the motor 60 included in the operation unit 59
Is a linear motor. The motor 60 includes a stator 60a and a runner 60b. Stator 60
One end of a is connected to the base 2 via a universal joint 67, and is engaged with the stator 60a so that the runner 60b can move in the axial direction.

A substantially rod-shaped connecting member 68 is attached to the runner 60b.
Has one end attached substantially parallel to the stator 60a. The other end of the connecting member 68 has a universal joint 6
It is connected to the intermediate member 14 via 9.

Further, the position sensor 62 provided in the operating unit 59
Outputs an electric signal according to the position of the runner 60b.

The structure of the operating unit 63 is the same as the structure of the operating unit 59, and the description thereof will be omitted.

ROM 53 or RAM 54 of controller 50
Includes the position of the moving rod 31 of the expansion / contraction unit 26, that is, the output signal value of the position sensor 26a, and the corresponding operation unit 59.
Table 7 showing the correspondence with the target position of the runner 60b, that is, the target output signal value of the position sensor 62.
0 is stored.

Further, in the ROM 53 or RAM 54, the position of the moving rod 37 of the expansion / contraction part 27, that is, the position sensor 27.
A look-up table 71 is stored which shows the correspondence between the output signal value of a and the corresponding target position of the runner of the operation unit 63, that is, the target output signal value of the position sensor 66.

In the second embodiment, the CPU 52 refers to the look-up tables 70, 71, 57 and outputs the target output signals of the position sensors 62, 66, 22b corresponding to the output signals (operation signals) 26b, 27b, 25e. Values are acquired, and the operation of the motors 60, 64, 22 is controlled by, for example, proportional control based on the acquired target output signal values and the output signal values of the position sensors 62, 66, 22b at that time.

Since the configuration and operation of the robot arm operating system according to the second embodiment are similar to those of the robot arm operating system according to the first embodiment, the same reference numerals are given and their description is omitted. Is omitted.

In the second embodiment, the operating parts 59 and 63 expand and contract by the operation of the motors 60 and 64 which are linear motors. However, the present invention is not limited to this. Each of the operating parts includes a motor having a cylindrical rotating shaft having an internal threaded portion on the inner surface thereof, and a moving shaft having an external threading portion provided on the outer surface thereof and penetrating in a threaded state with the rotating shaft. May be configured to move the moving shaft in the axial direction, whereby the moving parts expand and contract, and each moving part has a motor having a rotating shaft having a male screw part on a part of its outer surface. And a moving shaft which is provided with an internal thread portion on the inner surface thereof and which is screwed into the rotating shaft, and the moving shaft is moved in the axial direction by the operation of the motor, whereby the operating portion may expand and contract. .

Not limited to these, each operating unit
A rotary actuator such as a motor and a conversion means such as a rack and pinion, a belt, and a ball screw for converting the rotational movement of the motor into a linear movement are provided, and the base 2 and the intermediate portion of the operating unit are moved by the linear movement of the conversion means. Any configuration may be used as long as the distance between the connection points for the member 14 or the distance between the connection points for the intermediate member 14 and the end effector 3 changes.

Further, in the first and second embodiments, the respective operating parts are constituted by the air cylinder and the linear motor, but the respective operating parts are constituted by other direct acting actuators such as solenoids. By the operation of the direct-acting actuator, the separation distance between the connecting portions of the operating portion with respect to the base 2 and the intermediate member 14, or the intermediate member 14
Also, the separation distance between the connection points for the end effector 3 may be changed.

Further, the operating portion is not a direct-acting or rotating actuator, but is constituted by an actuator such as a shape memory alloy that performs a movement different from the rotational movement and the linear movement. The distance between the connection points for the base 2 and the intermediate member 14 or the distance between the connection points for the intermediate member 14 and the end effector 3 may be changed.

(Third Embodiment) FIG. 7 is a perspective view showing the configuration of an operating device according to a third embodiment of the present invention. Figure 7
As shown in FIG. 7, the operating device 72 according to the third embodiment is mainly composed of a base portion 73, a grip portion 74, and an expansion / contraction portion 75, and six expansion / contraction portions are provided between the base portion 73 and the grip portion 74. The structure is connected by 74. Also,
The structure of each expansion-contraction part 74 is the expansion-contraction part 2 which concerns on Embodiment 1.
Since the configuration is the same as that of Nos. 6 and 27, its description is omitted.

The grip portion 74 has a bottom portion 74a having a shape such that three portions of the outer peripheral portion of the disk are linearly cut out. In addition, a substantially cylindrical deformation portion 74b is provided at the center of one surface of the bottom portion 74a. This deforming portion 74
b has a flexible structure and is deformed when an external force is applied.

FIG. 8 is a block diagram showing the configuration of the robot arm operation system according to the third embodiment of the present invention. As shown in FIG. 8, the operating device 72 includes the respective expansion / contraction parts 7.
5, a position sensor 76 is provided. The respective position sensors 76 are the position sensors 26a and 27 according to the first embodiment.
Since the configuration is the same as that of a, the description thereof is omitted.

A position sensor 74c is provided on the above-mentioned deforming portion 74b. This position sensor 74c is
For example, it is composed of an encoder, a potentiometer, a magnetic sensor, or the like, and when a force is applied to the deformable portion 74b by an operator's hand or the like, an electric signal corresponding to the deformed amount is output. Each position sensor 74c is connected to the input / output interface 51, so that the output signal generated by the position sensor 74c is given to the input / output interface 51.

Next, the operation of the robot arm operating system according to the third embodiment of the present invention will be described. The operator holds the deformable portion 74b of the operating device 72, and holds the grip portion 74b.
The robot arm 1 is instructed to move by moving or deforming the deforming portion 74b.

When the gripping portion 74 moves, each of the expanding and contracting portions 75 expands and contracts. Then, the position sensor 76 attached to each of the expanding / contracting parts 75 outputs a signal 76a corresponding to the amount of expansion / contraction of the expanding / contracting parts 75.

Further, the deforming portion 74b is deformed according to the gripping force with which the operator grips the deforming portion 74b. Then, the position sensor 74c outputs a signal 74d according to the amount of deformation (the amount of grip of the operator).

These output signals (operation signals) 76a, 7
4d is a CPU 52 via the input / output interface 51.
Given to.

The ROM 53 or the RAM 54 has an expandable portion 7
4 is a look-up showing the correspondence between the position of the moving rod included in 4, that is, the output signal value of the position sensor 76 and the corresponding target position of the piston rod 9 of the operating unit 5, that is, the target output signal value of the position sensor 7c. A table 77 is stored.

In the ROM 53 or RAM 54, the position of the moving rod of the expansion / contraction part 74, that is, the position sensor 7
A look-up table 78 showing the correspondence between the output signal value of No. 6 and the target position of the piston rod 16a of the operation unit 15 corresponding thereto, that is, the target output signal value of the position sensor 16d is stored.

Such lookup tables 77, 7
The relationship between the position of the moving rod of the expanding / contracting portion 74 and the target position of the piston rods 9 and 16a indicated by 8 is that the target position of the piston rod 9 is uniquely determined from the position of the moving rod of the expanding / contracting portion 74. Any relationship may be used as long as the target position of the piston rod 16a is uniquely determined from the position of the moving rod 74, but a proportional relationship is preferable for each.

Further, in the ROM 53 or the RAM 54, the deformation amount of the deformation portion 74b of the grip portion 74, that is, the position sensor 25.
The output signal value of d and the end effector 3 corresponding thereto
Also stored is a look-up table 79 showing the correspondence with the target position of each finger member 21, that is, the target output signal value of the position sensor 22b.

It is desirable that the relationship between the deformation amount of the deforming portion 74b and the target position of the finger member 21 indicated by the look-up table 79 is also in a proportional relationship. However, from the deformation amount of the deforming portion 74b, the target of the finger member 21 is determined. Any relationship may be used as long as the position is uniquely determined.

In the third embodiment, the CPU 52 refers to the look-up tables 77, 78, 79 and the position sensor 7 corresponding to the output signals (operation signals) 76a, 74d.
The target output signal values of c, 16d, and 22b are acquired, and the acquired target output signal values and the position sensor 7 at that time are acquired.
Based on the output signal values of c, 16d and 22b, the operations of the air cylinders 7 and 9 and the motor 22 are controlled by, for example, proportional control.

Other than that, the configuration and operation of the robot arm operating system according to the third embodiment are the same as the configuration and operation of the robot arm operating system according to the first embodiment. Is omitted.

(Embodiment 4) FIG. 9 is a front view showing the configuration of an operating device according to Embodiment 4 of the present invention.
FIG. 0 is a block diagram showing the configuration of the robot arm operation system according to the fourth embodiment of the present invention. As shown in FIG. 9, the operating device 80 according to the fourth embodiment is mainly composed of a base end portion (stand portion) 81, a grip portion 82, expandable portions 83 and 84, and an operation side intermediate member 85. Proximal end 81
Has a plate shape and is provided with a hole for inserting an operator's arm. The base end portion 81 is adapted to be attached to the operator's shoulder by inserting the operator's arm into the hole.

The operation side intermediate member 85 also has a plate shape and is provided with a hole for inserting an operator's arm. Such an operation side intermediate member 85 is adapted to be attached to the operator's elbow by inserting the operator's arm into the hole.

Then, the base end portion 81 and the operation side intermediate member 85.
And are connected by six expansion / contraction parts 83. Position sensors 83a are provided on the respective expansion / contraction parts 83 (see FIG. 10), and these position sensors 83a output a signal 83b corresponding to the expansion / contraction of the attached expansion / contraction part 83. . Further, the structure of the expansion / contraction part 83 is the same as the structures of the expansion / contraction parts 26 and 27 according to the first embodiment, and therefore the description thereof will be omitted.

On the other hand, the grip portion 82 is a plate-shaped mounting plate 82a.
have. The attachment plate 82a is provided with a hole for inserting the operator's arm, and the operator's arm is inserted through the hole to attach the grip portion 82 to the operator's wrist. . A support portion 86 is provided on one surface of the mounting plate 82a, and the two handle members 86a are rotatably supported by the support portion 86. Each of these handle members 86a has a shape in which a rod-shaped member is bent into a substantially rectangular shape, and its end portion is pivotally attached to the support portion 86. Further, each handle member 86a is biased by a spring (not shown) so as to be separated by a predetermined distance. Then, the rectangular side portions of the respective handle members 86a are positioned in the vicinity of the holes of the mounting plate 82a, and the operator who has inserted the wrist portion through the holes grips this portion. Is able to. As a result, the operator can rotate the handle members 86a against the biasing force of the spring so as to bring them closer to each other.

Further, the grip portion 82 is provided with a position sensor 82b (see FIG. 10), and this position sensor 82b is provided.
Outputs a signal 82c corresponding to the position of the handle member 86a.

Then, the operating side intermediate member 85 and the mounting plate 82
It is connected to a by six elastic portions 84. A position sensor 84a is provided on each of the expansion / contraction parts 84 (see FIG. 10), and these position sensors 84a output a signal 84b according to the expansion / contraction of the attached expansion / contraction part 84. . In addition, the structure of the expansion / contraction part 84 is
Since the structure is the same as that of the expansion / contraction parts 26 and 27 according to the first embodiment, the description thereof is omitted.

Further, as shown in FIG. 10, the ROM 53 or the RAM 54 has an output signal value of the position sensor 83a of the expansion / contraction part 83 and a corresponding target position of the piston rod 9 of the operation part 5, that is, the position sensor 7c. A look-up table 87 showing the correspondence with the target output signal value of is stored.

Further, in the ROM 53 or RAM 54, the output signal value of the position sensor 84a of the expansion / contraction part 84 and the corresponding target position of the piston rod 16a of the operating part 15,
That is, the look-up table 88 showing the correspondence with the target output signal value of the position sensor 16d is stored.

Further, in the ROM 53 or the RAM 54, the output signal value of the position sensor 82b of the grip portion 82 and the corresponding target position of each finger member 21 of the end effector 3,
That is, a look-up table 89 showing the correspondence with the target output signal value of the position sensor 22b is also stored.

Other than that, the configuration and operation of the robot arm operating system according to the fourth embodiment are the same as the configuration and operation of the robot arm operating system according to the first embodiment. Is omitted.

Accordingly, when the operator wearing the operating device 80 performs an operation such as bending and stretching a joint of a shoulder, an elbow or a wrist, or grasping a hand, the same operation as this operation is performed. The device 80 will do this. Then, the operation signals 83b, 84b, 82c corresponding to these operations are output from the position sensors 83a, 84a, 82b, and the operation of the robot arm 1 is controlled so as to perform the operations according to these signals. As a result, the robot arm 1 performs substantially the same operation as the operation device 80, that is, the same operation as the operation of the operator's arm. Therefore, in the robot system according to the fourth embodiment, it is possible to provide the operator with a more intuitive operation of the robot arm 1.

In the first to fourth embodiments, the operator operates the operating device and operates the robot arm in accordance with the operation. However, the present invention is not limited to this. When the target position of the end effector of is given, the operation amount of each actuator of each robot arm is calculated so that the end effector reaches this target position, and the robot arm may be operated according to the calculation result. Good.

Further, in the first to fourth embodiments, the configuration of the robot arm in which two parallel mechanisms are connected in series has been described, but the present invention is not limited to this, and three or more parallel mechanisms are connected in series. Then, a robot arm may be configured.

Further, in the first to fourth embodiments, the configuration in which each actuator of the robot arm is controlled substantially simultaneously by one control unit has been described. However, a control device is provided for each actuator and one actuator is controlled by one control unit. The device may be controlled independently.

[0142]

As described above in detail, according to the robot arm of the present invention, since the parallel mechanisms are connected in series, the total output is sufficient for the purpose of use. The actuator can be downsized as compared with the conventional one while securing the same. Moreover, it is possible to secure sufficient rigidity while being lightweight for the purpose of use. Further, the present invention has an excellent effect that the operation can be speeded up due to its light weight and high output as compared with the conventional one.

[Brief description of drawings]

FIG. 1 is a perspective view showing a configuration of a robot arm according to a first embodiment of the present invention.

FIG. 2 is a block diagram showing a configuration of a robot arm operation system according to the first embodiment of the present invention.

FIG. 3 is a perspective view showing the configuration of the operating device according to the first embodiment of the present invention.

FIG. 4 is a flowchart showing a processing procedure of a CPU included in the robot operating system according to the first embodiment of the present invention.

FIG. 5 is a block diagram showing a configuration of a robot arm operation system according to a second embodiment of the present invention.

FIG. 6 is a perspective view showing a configuration of an operation unit of the robot arm according to the second embodiment of the present invention.

FIG. 7 is a perspective view showing a configuration of an operating device according to a third embodiment of the present invention.

FIG. 8 is a block diagram showing a configuration of a robot arm operation system according to a third embodiment of the present invention.

FIG. 9 is a front view showing a configuration of an operating device according to a fourth embodiment of the present invention.

FIG. 10 is a block diagram showing a configuration of a robot arm operation system according to a fourth embodiment of the present invention.

FIG. 11 is a conceptual diagram illustrating a parallel mechanism, in which (a) shows a telescopic parallel mechanism,
(B) is a diagram showing a rotary parallel mechanism.

[Explanation of symbols]

1 robot arm 2 base 3 end effector 5,15 Working part 6,10,17,18 Universal joint 7,16 Air cylinder 7a, 16b Air supply / exhaust section 7b, 16c drive circuit 7c, 16d position sensor 14 Intermediate member 21 finger member 22 motor 22a drive circuit 22b Position sensor 23 Operation device 24 units 25 grip 25d position sensor 25e, 26b, 27b operation signal 26,27 telescopic part 26a, 27a Position sensor 27 Telescopic part 28 Operation side intermediate member 29, 32, 38, 39 Universal joint 50 controller 51 I / O interface 52 CPU 53 ROM 54 RAM 55,56,57 Look-up table 58 robot arm 59,63 Working unit 60,64 motor 60a stator 60b runner 61,65 drive circuit 62,66 Position sensor 67,69 Universal joint 70,71 Look-up table 72 Operating device 73 stand 74 grip 74c Position sensor 74d, 76a operation signal 75 Telescopic part 76 Position sensor 77,78,79 Look-up table 80 Operating device 81 Base end 82 grip 82b Position sensor 82c Operation signal 83,84 telescopic part 83a, 84a Position sensor 83b, 84b operation signal 85 Operation side intermediate member 87,88,89 Look-up table

   ─────────────────────────────────────────────────── ─── Continued front page    F-term (reference) 3C007 BS24 BT16 CY40 HS14 HS27                       JT10 KS16 KS20                 3J062 AA38 AB28 AC08 AC09 BA14                       BA16 BA31 CB04 CB12 CB15                       CB18 CB28 CB33

Claims (13)

[Claims] 1. A robot arm capable of changing the relative positions of a base end portion and a tip end portion, wherein the base end portion and the tip end portion are arranged so as to be substantially in series with the base end portion and the tip end portion. An operation unit that is connected to two adjacent ones of the one or more intermediate members arranged between them and the base end portion, the distal end portion, and the intermediate member, and that changes the relative position of each connection point. The robot arm, wherein two adjacent ones of the base end portion, the tip end portion, and the intermediate member are connected by a plurality of operating portions. 2. The robot arm according to claim 1, wherein only one intermediate member is provided between the base end portion and the tip end portion. 3. The robot arm according to claim 1, wherein the operation unit is configured to operate so as to change a separation distance of the connection point. 4. The robot arm according to claim 3, wherein the operation unit includes a rotation operation unit that performs a rotation operation, and a conversion unit that converts a rotation motion of the rotation operation unit into a linear motion. 5. The rotating operation unit includes a motor having a cylindrical rotating shaft having an internal thread portion provided on an inner surface thereof, and the converting means has a male screw portion provided on an outer surface of the rotating shaft of the motor. The robot arm according to claim 4, further comprising a moving shaft that penetrates in a state of being screwed into the robot arm. 6. The rotating operation unit includes a motor having a rotating shaft having an external threaded portion provided on an outer surface thereof, and the converting means is provided with an internally threaded portion provided on an inner surface thereof and screwed to a rotating shaft of the motor. The robot arm according to claim 4, wherein the robot arm has a moving axis. 7. The robot arm according to claim 3, wherein the operation unit has a linear actuator. 8. In the operating portion, one of a piston rod and a cylinder tube is connected to two adjacent ones of the base end portion, the tip end portion, and the intermediate member,
The robot arm according to claim 7, wherein the other one of the piston rod and the cylinder tube has a fluid cylinder connected to the other two adjacent ones. 9. In the operating part, one of a stator and a runner is connected to two adjacent ones of the base end part, the tip end part and the intermediate member, and the stator and the runner are connected. 8. The robot arm according to claim 7, wherein the other of the two has a linear motor connected to the two other adjacent ones. 10. The robot arm according to claim 1, an operation section for outputting an operation signal according to a given operation, and the robot according to the operation signal output by the operation section. A robot arm operation system comprising: a control unit that controls a plurality of operation units included in the arm. 11. The operation section includes a base section, a grip section for being gripped by an operator, an operation-side intermediate member disposed between the base section and the grip section, the base section, and The gripping part and the two adjacent adjoining ones of the operation-side intermediate members, which are capable of expanding and contracting, the direction of expansion and contraction of the expanding and contracting part, and the amount of expansion and contraction are detected, and according to the detection result. The robot arm operation system according to claim 10, further comprising a detection unit that outputs an operation signal. 12. The robot arm is provided with the same number of the expanding / contracting portions as the operating portions, and the robot arm has a base end portion, a distal end portion, an intermediate member, and an operating portion in a positional relationship corresponding thereto. , The base part, the gripping part, the operation side intermediate member, and the expandable part are arranged, and the control part, based on the operation signal output by the detection part, arranges the respective operation parts in the arrangement relationship. 12. The robot arm operation system according to claim 11, wherein the robot arm operation system is controlled so as to operate according to expansion and contraction of the corresponding expansion and contraction section. 13. The grip section is configured to change its state in response to a given operation, and the operation signal includes a signal indicating a change in the state of the grip section, and which the robot arm has. The tip part is an operable end effector, and the control part controls the end effector to operate according to the state of the grip part based on the operation signal. 11. The method according to claim 11 or 1, wherein
2. The robot arm operation system according to 2.