JP2005193335A - Double arm robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a double arm robot which can execute lifesaving work or the like by remote control even in a dangerous place in danger of secondary disaster or the like, can smoothly execute work by a pair of articulated arms by stabilizing a machine body even on an irregular ground and an inclined ground, has a wider movable range of the articulated arm, is excellent in workability, and is suitable for executing various work. <P>SOLUTION: The double arm robot 1 is provided with a traveling part 2, a machine body part 3 arranged to the upper part of the traveling part 2, a mast support part 6 fixed to the front of the machine body part 3, a pair of mast parts 8, 8' erected to both end parts of the mast support part, a shoulder part rotating shaft 9, which is pivotally supported at the upper end part of each mast part 8, 8', a shoulder part 10, which is fixed to the shoulder part rotating shaft 9 and freely rotatably arranged on the outside part of the mast parts 8, 8', and the articulated arm 11 extended from the shoulder part 10. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a double-arm robot that includes a pair of articulated arms and that can perform a life-saving operation to rescue a person buried in rubble or earth and sand, a dismantling operation, a civil engineering operation, and a construction operation.

Conventionally, as a robot for rescuing people buried in rubble or earth and sand in a stricken area, etc., for example, a snake-shaped search robot equipped with a camera or the like to search for people buried under rubble by remote control There are also transport robots that autonomously travel and transport injured people. However, there is no robot that removes rubble or earth and directly rescues the victims, and rubble and earth are removed by workers on site, or hydraulic excavators used for demolition work, civil engineering work, construction work, etc. A working machine such as a backhoe was used.
Such a working machine includes a traveling unit such as a crawler or a wheel and a body part on the upper part thereof, and usually includes one front working machine at the front part of the body part. Examples of the front work machine include a boom, an arm, and a bucket, a grapple and the like at the tip of the arm.

On the other hand, since the conventional work machine has only one front work machine, there has been a problem that workability and safety are lacking in work such as debris removal or demolition work. In other words, when the bucket or the like collides with the object to be disassembled and is broken and disassembled, the object to be disassembled is not stable, and the object to be disintegrated suddenly collapses or jumps to the surroundings due to the impact of the collision and lacks safety. There was a problem of lack of workability. Also, when performing construction work, civil engineering work, etc., with a single front work machine, for example, when other work is performed on a work object gripped by a grapple, the work object is temporarily lowered. Work had to be done, and the work was complicated.
In order to solve such a problem, Japanese Patent Application Laid-Open No. H10-228867 discloses that an upper vehicle body is attached to a lower vehicle body provided with a traveling body, a driver's cab is provided in the vicinity of the center line in the front-rear direction of the upper vehicle body, Discloses a work machine having an articulated first front work machine and a second front work machine attached to the left and right sides of the section.

Japanese Patent Laid-Open No. 11-181815

However, the above conventional techniques have the following problems.
(1) In conventional work machines, when performing lifesaving work, if the ground on the site is a steep slope, the aircraft is not stable and cannot be used safely, and there are limited cases where it can be used depending on the situation on the site. Had.
(2) In addition, conventional work machines cannot be used at sites where gas leaks occur or where there is a risk of secondary disasters because the operator needs to board and operate the work machine. It was.
(3) Since the work machine of Patent Document 1 has two front work machines in the front part of the upper car body, the center of gravity position is on the front side of the car body and lacks stability. When the work was extended, it had the problem of becoming more unstable.
(4) When the front work machine is extended forward, for example, one front work machine must be grounded to ensure stability, and the grounded front work machine cannot be used for work. In this case, there has been a problem that work using two front work machines cannot be performed.
(5) The first and second front work machines are composed of a boom, an arm, and first and second work tools such as buckets and grapples disposed at the tip of the arm, and the arm rotates in front of the boom. Since it is attached so as to move, the first and second work tools cannot be moved to, for example, the side part or the rear part of the vehicle body, and there is a problem that the movable range is narrow and the workability is lacking.

  The present invention solves the above-described conventional problems, and can perform lifesaving work by remote control even in a dangerous place such as a secondary disaster, on an uneven terrain or an inclined ground. The arm can be stabilized and work with a pair of articulated arms can be performed smoothly, and the movable range of the articulated arm is wide and excellent in workability, making it suitable for performing various work, especially rescue work. The purpose is to provide a robot.

In order to solve the above problems, the double-arm robot of the present invention has the following configuration.
The double-arm robot according to claim 1 of the present invention is a double-arm robot including a traveling unit and a body part disposed above the traveling part, and is fixed to a front part of the body part. A mast support portion, a pair of mast portions erected on both ends of the mast support portion, a shoulder rotation shaft pivotally supported on an upper end portion of each mast portion, and the shoulder rotation shaft It has a configuration including a shoulder portion that is fixed and rotatably disposed on the outer side of the mast portion, and an articulated arm that extends from the shoulder portion.

This has the following effects.
(1) A pair of mast portions erected at both ends of a mast support portion fixed to the front portion of the airframe portion, a shoulder rotation shaft pivotally supported at the upper end portion of each mast portion, and a shoulder portion A shoulder portion fixed to the pivot shaft and rotatably disposed on the outer side of each mast portion and a multi-joint arm extending from the shoulder portion are provided. It can be moved over a wide range from the front to the rear, and the movable range of the articulated arm is wide and the workability is excellent.
(2) Since the movable range of the articulated arm is wide, it is less likely to change the orientation of the airframe or move and move the place, so that it can be quickly and safely even in a narrow place or an easily collapsed building. Work can be done.
(3) When the articulated arm has a wide range of movement and is articulated with at least 6 degrees of freedom, not only dismantling, civil engineering, and construction work, but also debris was removed and buried under the rubble. Various work such as lifesaving work to rescue a person can be performed, and it is excellent in versatility.
(4) Since the mast part is erected on both ends of the mast support part, the mast part is firmly fixed to the airframe part via the mast support part, and the balance between the left and right mast parts and the articulated arm is balanced. Excellent stability even if the size is increased.
(5) Since the articulated arm extends from the shoulder provided at the upper end of the mast, when the driver's seat is provided in the center of the upper part of the fuselage, the visibility of the operator seated in the driver's seat is It is not obstructed by the multi-joint arm and has excellent visibility of the work object and excellent workability.

Here, a crawler, a wheel, etc. are used as a traveling part. Further, the airframe unit can be turned horizontally with respect to the traveling unit.
In addition, a driver's seat can be provided between a pair of mast portions at the center of the upper part of the fuselage. As a result, the mast part is erected on both sides of the driver's seat, so that both sides of the operator seated on the driver's seat can be guarded by the mast part. Even if the aircraft flies toward the seat, the mast portion can prevent collision with the operator of the object to be disassembled, and is excellent in safety.
In addition, the articulated arm and the traveling unit can be driven by a mobile communication device such as a mobile phone or a remote operation using a wireless LAN or the like. You can also board and operate. Further, it is possible to appropriately switch between remote operation and operation at the driver's seat.

  The double-arm robot according to a second aspect of the present invention is the robot according to the first aspect, wherein the multi-joint arm includes the shoulder portion, a hand portion at a tip portion, and an abbreviation of the shoulder portion and the hand portion. The middle part has an elbow part.

With this configuration, in addition to the operation of the first aspect, the following operation is provided.
(1) Since the articulated arm has an elbow at the approximate middle between the shoulder and the hand, the elbow is grounded to the ground to stabilize the aircraft even on uneven or sloping ground. It is possible to work by moving the hand part with the elbow part touching the ground, and removing the rubble ahead and securing the work space and traveling path on rough terrain. it can.

  The dual-arm robot according to claim 3 of the present invention is the double-arm robot according to claim 2, wherein the multi-joint arm is supported by an upper arm portion pivotally supported on the shoulder portion by an upper arm rotation shaft, and the upper arm portion. A middle arm portion pivotally supported by a middle arm portion pivot shaft, a lower arm portion pivotally supported by the middle arm portion by a lower arm portion pivot shaft, and the lower arm portion pivot shaft of the lower arm portion The elbow part protruding from the lower part of the wrist, the wrist part pivotally supported on the wrist part by a wrist pivot axis, and the hand part pivotally supported by the wrist part on a wrist pivot axis; It has the composition provided with.

With this configuration, in addition to the operation of the second aspect, the following operation is provided.
(1) Since the articulated arm has a shoulder, an upper arm, a middle arm, a lower arm, a wrist and a hand, the articulated arm can be configured with at least 6 degrees of freedom and is movable. The range can be widened, various operations can be performed, and it can be used for various applications.

Here, a rotation angle detector for detecting the rotation angle of each rotation shaft can be provided. In the operation control for operating the articulated arm, servo control can be performed by inputting the rotation angle of the rotation axis detected by the rotation angle detection unit to the control unit. As the rotation angle detector, a timing pulley fixed to the rotation shaft, an encoder, a timing belt wound around the timing pulley and the encoder, and the like are used.
Moreover, as a hand part of the front-end | tip part of an articulated arm, various things, such as the grapple which has a clamping part, a bucket, and the thing of 3 fingers to 5 fingers, can be used. Further, by making the hand part freely attachable to and detachable from the wrist part, various hand parts can be exchanged to cope with various work.

  The dual-arm robot according to a fourth aspect of the present invention is the dual-arm robot according to the third aspect, in which the multi-joint arm rotates and drives the shoulder driving cylinder that rotates the shoulder and the upper arm. An upper arm driving cylinder for rotating the middle arm, a middle arm driving cylinder for rotating the middle arm, a lower arm driving cylinder for rotating the lower arm, and a wrist driving for rotating the wrist It has the structure provided with the cylinder and the hand part drive cylinder which rotationally drives the said hand part.

With this configuration, in addition to the operation of the third aspect, the following operation is provided.
(1) A multi-joint arm includes a shoulder drive cylinder, an upper arm drive cylinder, a middle arm drive cylinder, and a lower arm that drive the shoulder, upper arm, middle arm, lower arm, wrist, and hand. Since it has a drive cylinder, wrist drive cylinder and hand drive cylinder, it can rotate the shoulder, upper arm, middle arm, lower arm, wrist, and hand with high torque, It can be lifted and demolished, and it can handle upsizing.

  Here, double-acting cylinders such as hydraulic pressure and water pressure are used as the drive cylinders. Each drive cylinder is connected from an oil or water tank via a pump, a solenoid valve, or the like, and is driven by oil or water being controlled by controlling the solenoid valve.

  A double-arm robot according to a fifth aspect of the present invention is the dual-arm robot according to any one of the first to fourth aspects, wherein the mast portion is inclined 5 ° to 45 ° toward the rear side of the body portion. It has an upright configuration.

With this configuration, in addition to the operation of any one of claims 1 to 4, the following operation is provided.
(1) Since the mast part is erected at an angle of 5 ° to 45 ° on the rear side of the fuselage part, the center of gravity position is set to the rear side of the fuselage part, and the articulated arm is extended forward. Even if it exists, it is excellent in the stability of the aircraft.

  Here, since the inclination angle to the rear of the mast portion becomes smaller than 5 °, the position of the center of gravity becomes the front side of the airframe portion, which is not preferable. In addition, since the articulated arm is provided on the rear side of the side of the airframe as it becomes larger than 45 °, the movable range on the front side of the airframe of the articulated arm is narrowed and workability is not preferable. .

  A double-arm robot according to a sixth aspect of the present invention is the mast robot according to any one of the first to fifth aspects, wherein the mast portion is fixed on the upper surfaces of both end portions of the mast support portion. A base, a mast rotation shaft fixed to the lower end of the mast portion and pivotally supported by the mast base so as to be rotatable in the front-rear direction, and a mast portion drive cylinder that rotationally drives the mast portion. It has a configuration.

With this configuration, in addition to the operation of any one of claims 1 to 5, the following operation is provided.
(1) A mast base in which the mast portion is fixed to the upper surface of both ends of the mast support portion, and a mast rotation shaft fixed to the lower end portion of the mast portion and pivotally supported by the mast base so as to be rotatable in the front-rear direction. The mast unit drive cylinder for rotating the mast unit, and the mast unit drive cylinder can be driven to tilt the mast unit forward of the fuselage unit. Thus, the multi-joint arm can be operated, and a wide range of operations can be performed without traveling and moving.

As described above, according to the dual-arm robot of the present invention, the following advantageous effects can be obtained.
According to the invention of claim 1,
(1) A pair of mast parts erected on the upper surfaces of both ends of the mast support part fixed to the front part of the airframe part, a shoulder rotation shaft pivotally supported on the upper end part of each mast part, And a multi-joint arm extending from the shoulder so that the multi-joint arm is located on the side of the body part. It is possible to provide a double-arm robot that can be moved over a wide range from the front to the rear of the unit, has a wide range of movement of the articulated arm, and is excellent in workability.
(2) Since the movable range of the articulated arm is wide, it is less likely to change the orientation of the airframe or move and move the place, so that it can be quickly and safely even in a narrow place or an easily collapsed building. A dual-arm robot capable of performing work can be provided.
(3) When the articulated arm has a wide range of movement and is articulated with at least 6 degrees of freedom, not only dismantling, civil engineering, and construction work, but also debris was removed and buried under the rubble. It is possible to provide a dual-arm robot that can perform various operations such as a lifesaving operation to rescue a person and is excellent in versatility.
(4) Since the mast part is erected on both ends of the mast support part, the mast part is firmly fixed to the airframe part via the mast support part, and the balance between the left and right mast parts and the articulated arm is balanced. It is possible to provide a double-arm robot that is excellent in stability even if the size is increased.
(5) Since the articulated arm extends from the shoulder provided at the upper end of the mast, when the driver's seat is provided in the center of the upper part of the fuselage, the visibility of the operator seated in the driver's seat is It is possible to provide a double-arm robot that is not obstructed by a multi-joint arm and has excellent work object visibility and excellent workability.

According to invention of Claim 2, in addition to the effect of Claim 1,
(1) Since the articulated arm has an elbow at the approximate middle between the shoulder and the hand, the elbow is grounded to the ground to stabilize the aircraft even on uneven or sloping ground. It is possible to work by moving the hand part with the elbow part touching the ground, and removing the rubble ahead and securing the work space and traveling path on rough terrain. It is possible to provide a double-arm robot that can be used.

According to invention of Claim 3, in addition to the effect of Claim 2,
(1) Since the articulated arm has a shoulder, an upper arm, a middle arm, a lower arm, a wrist and a hand, the articulated arm can be configured with at least 6 degrees of freedom and is movable. It is possible to provide a double-arm robot that can widen the range and perform various operations and can be used for various applications.

According to invention of Claim 4, in addition to the effect of Claim 3,
(1) A multi-joint arm includes a shoulder drive cylinder, an upper arm drive cylinder, a middle arm drive cylinder, and a lower arm that drive the shoulder, upper arm, middle arm, lower arm, wrist, and hand. Since it has a drive cylinder, wrist drive cylinder and hand drive cylinder, it can rotate the shoulder, upper arm, middle arm, lower arm, wrist, and hand with high torque, It is possible to provide a double-arm robot that can lift or dismantle a building and can cope with an increase in size.

According to the invention of claim 5, in addition to the effect of any one of claims 1 to 4,
(1) Since the mast part is erected at an angle of 5 ° to 45 ° on the rear side of the fuselage part, a double-arm robot with excellent stability of the fuselage is provided by setting the center of gravity to the rear part side of the fuselage part. can do.

According to invention of Claim 6, in addition to the effect of any one of Claims 1 to 5,
(1) A mast base in which the mast portion is fixed to the upper surface of both ends of the mast support portion, and a mast rotation shaft fixed to the lower end portion of the mast portion and pivotally supported by the mast base so as to be rotatable in the front-rear direction. , A mast drive cylinder for rotating the mast, and the mast drive cylinder can be driven to tilt the mast forward to the front of the machine body. Thus, it is possible to provide a double-arm robot capable of performing work with a multi-joint arm and capable of performing a wide range of work without running and moving.

Hereinafter, an embodiment of the present invention will be described with reference to FIGS.
(Embodiment 1)
FIG. 1 is a front view of the main part of the double-arm robot in the first embodiment, FIG. 2 is a side view of the main part of the double-arm robot in the first embodiment, and FIG. 3 is a side view of the main part of the mast part. It is.
In the figure, 1 is a double-arm robot according to the first embodiment, 2 is a traveling unit made up of a crawler, 2a is a soil removal plate disposed at the front of the traveling unit 2, and 3 is a body swivel above the traveling unit 2. An airframe unit 3b arranged to be rotatable via a shaft 3a, 3b is an image pickup unit such as a CCD camera arranged at the front, rear and left and right sides of the airframe unit 3, and 4 is an upper part of the airframe unit 3. A driver's seat 5 is disposed in the substantially central portion, 5 is a protective frame portion disposed on the upper portion of the airframe portion 3 so as to surround the driver's seat 4, and 5 a is disposed on the top portion of the protective frame portion 5 so as to be rotatable left and right. The heads 5b and 5c are the illumination unit and the imaging unit disposed in the front part of the head part 5a, and the mast support part 6 is formed in a rectangular column shape extending in the left-right direction and fixed to the front part of the body part 3. , 6a is an emergency stop lever disposed in the center of the front surface of the mast support portion, and 7 is fixed to the upper surface of both ends of the mast support portion 6. The mast base 8, 8 ′ is a pair of masts whose lower ends are pivotally supported on the mast base 7 and are inclined rearward at a predetermined angle of 5 ° to 45 °, and 8 a is the lower end of the mast 8. The mast rotating shaft 9 is a shoulder rotating shaft 9 supported on the upper end portion of the mast portion 8, and 10 is fixed to the shoulder rotating shaft 9 and outside the upper end portion of the mast portion 8. Shoulder portions 11 and 11 ′ which are rotatably disposed in the direction indicated by reference sign B on the side portions are the shoulder portion 10 and the upper arm portion 20, the middle arm portion 30 and the lower arm portion 40 which are connected to the shoulder portion 10. , A pair of articulated arms including a wrist part 50, a hand part 60, and the like. Details of the articulated arm 11 will be described later. Reference numerals 11a and 11b denote an illumination unit and an imaging unit disposed on the upper portion of the hand unit 60, reference numeral 12 denotes a mast drive cylinder whose lower end is pivotally supported by the mast base 7, and reference numeral 13 protrudes from a substantially middle part of the mast 8. A fixed piston shaft support portion, 14 is a piston portion of a mast portion drive cylinder 12 whose tip portion is pivotally supported by the piston shaft support portion 13, 15 is a cylinder shaft support portion protruding from a substantially middle portion of the mast portion 8, and 16 is A shoulder drive cylinder supported by the cylinder support 15, 17 is a piston portion of the shoulder drive cylinder 16, 18 is a rotation link portion fixed orthogonally to the shoulder rotation shaft 9, and 19 a has one end. The first auxiliary link portion 19b is pivotally attached to the piston portion 17 and the other end portion is fixed to the rotation link portion 18. One end portion of the first auxiliary link portion 19b is axially attached to the piston portion 17 together with the first auxiliary link portion 19a. Is mounted near the upper end of the mast 8 A second auxiliary link portion curved.

Next, the articulated arm 11 will be described.
4 is a front view of main parts of the mast part and the articulated arm, FIG. 5 is a plan view of main parts of the lower arm part, the wrist part, and the hand part, and FIG. 6 is a main part of the mast part and the articulated arm. 7 is a side view, and FIG. 7 is a cross-sectional view taken along the line AA in FIG. 4 to 7, the mast portion 8 and the articulated arm 11 on the left arm side of the double-arm robot 1 will be described. The mast portion 8 'on the right arm side and the articulated arm 11' are the same as the left arm side in the left-right direction, and thus the description thereof is omitted.
In the figure, reference numeral 20 denotes an upper arm portion which is disposed at the lower portion of the shoulder portion 10 so as to be freely rotatable in the direction indicated by C, and 21 is an upper arm portion which is fixed to the upper end portion of the upper arm portion 20 and is pivotally supported by the shoulder portion 10. A moving shaft, 22 is an upper arm drive cylinder whose upper end is pivotally supported by the shoulder 10, 23 is a piston shaft projectingly projecting from the lower end of the upper arm 20, and 24 is a lower end supported by the piston shaft 23. It is the piston part of the upper arm part drive cylinder 22 made.

  Further, 30 is a middle arm portion disposed at the lower part of the upper arm portion 20 so as to be rotatable in the direction indicated by the reference numeral D, that is, the axial direction, and 31 is a middle arm portion coaxially fixed to the middle arm portion 30 and fixed to the upper end portion thereof. The middle arm rotation shaft 31 is a rotation shaft (FIG. 6), and is inserted into a hollow portion 32 formed in a hollow shape inside the upper arm portion 20, and is pivotally supported so as to be rotatable in the axial direction. Reference numeral 33 denotes a cylinder shaft support portion projecting and fixed on a side portion of the middle arm portion 20, reference number 34 denotes a middle arm portion drive cylinder that is supported by the cylinder shaft support portion 33 and arranged orthogonal to the upper arm portion 20, and reference numeral 35 denotes a middle arm. The piston part 36 of the part drive cylinder 34 is a rotation link part fixed orthogonally to the middle arm part rotation shaft 31 and having the tip part of the piston part 35 pivotally attached to the tip part.

  Reference numeral 40 denotes a lower arm portion disposed at the lower end portion of the middle arm portion 30 so as to be rotatable in the direction indicated by E, and 41 is fixed to one end portion of the lower arm portion 40 and is attached to the lower end portion of the middle arm portion 30. Rotating shaft of the lower arm part supported by the shaft, 42 is a cylinder shaft supporting part projectingly fixed to the side part of the middle arm part 30, 43 is a lower arm part driving cylinder supported by the cylinder shaft supporting part 42, 44 is the lower part The piston portion of the arm drive cylinder 43, 45 is an elbow protruding from the lower arm rotation shaft 41 at the base of the lower arm 40, and 46 is pivotally attached to the tip of the piston 44 at one end. A first auxiliary link portion whose other end portion is pivotally attached to the distal end portion of the elbow portion 45, and an end portion of 47 is axially attached to the distal end portion of the piston portion 44 together with the first auxiliary link portion 46, and the other end portion is centered. It is a curved second auxiliary link portion pivotally attached to the arm portion 30.

  Reference numeral 50 denotes a wrist portion that is rotatably disposed in a direction indicated by reference numeral F at a distal end portion of the lower arm portion 40, and 51 is a wrist that is fixed to the wrist portion 50 and is pivotally supported by the distal end portion of the lower arm portion 40. Part rotation shaft, 52 is a cylinder shaft support projectingly fixed to the side of the lower arm, 53 is a wrist drive cylinder supported by the cylinder support 52, 54 is a piston part of the wrist drive cylinder 53, Reference numeral 55 denotes a dogleg-shaped rotation link portion having one end fixed to the wrist rotation shaft 51 and the other end pivotally attached to the tip of the piston portion 54.

  Reference numeral 60 denotes a hand portion which is rotatably arranged in the direction indicated by the symbol G on the wrist portion 50, 61 is a hand rotation shaft fixed to the hand portion 60 and pivotally supported by the wrist portion 50, and 62 is a wrist. Cylinder shaft support portion projecting from the rear end portion of the portion 50, 63 is a hand drive cylinder supported by the cylinder shaft support portion 62, 64 is a piston portion of the hand drive cylinder 63, and 65 is a hand rotation at one end portion. A rotating link portion fixed to the moving shaft 61 and having the other end portion pivotally attached to the distal end portion of the piston portion 64, 66 is a pair of holding portions disposed opposite to the distal end portion of the hand portion 60, and 67 is both ends. The holding link portion 68 is a parallel link that is pivotally attached to the tip end side of the hand portion 60 and each holding portion 66 and connects the hand portion 60 and the holding portion 66, and 68 is each holding link portion 67, the hand portion 60, and the shaft It is an interlocking gear part fixed to the spindle 68a to wear, and the opposing interlocking gear part 68 meshes with each other.69 is a cylinder shaft projecting portion projecting from the side of the hand portion 60, 70 is a sandwiching portion drive cylinder pivotally supported by the cylinder shaft support portion 69, 71 is a piston portion of the sandwiching portion drive cylinder 70, and 72 is a piston at one end. This is a rotation link portion that is pivotally attached to the tip end portion of the portion 71 and the other end portion is fixed to any one of the support shafts 68 a of the holding portion 66.

  Here, the articulated arms 11 and 11 ′ can be driven by a remote control using a mobile communication device such as a mobile phone, a wireless LAN, or the like, or the articulated arms 11 and 11 ′ are attached to the driver's seat 4. An operation unit (not shown) for operation can be provided to board the driver's seat 4 for operation. As the operation unit, a pair of joysticks corresponding to each of the multi-joint arms 11 and 11 'can be used. Further, it is possible to switch between the remote operation and the operation at the driver's seat 4, and normally operate by the remote operation, and it is also possible to operate at the operation portion of the driver's seat 4 in an emergency or the like. Furthermore, when performing remote operation or operation in the driver's seat 4, images captured by the imaging units 5 c, 11 a, 3 b provided in the double-arm robot 1 are transmitted to a remote operator in real time, or to the driver seat 4. By displaying on the provided display unit (not shown), the operator can perform the operation smoothly and safely while confirming the periphery of the double-arm robot 1 and the periphery of the hand unit 60.

The operation of the double-arm robot 1 of the first embodiment configured as described above will be described below with reference to the drawings.
First, the operation of tilting the mast portion forward will be described.
FIG. 8 is a main part side view showing a state in which the mast part is tilted forward.
When the mast portion 8 is tilted forward, the mast portion 8 is tilted forward by driving the mast portion drive cylinder 12 and contracting the piston portion 14 as shown in FIG. As shown in FIG. 8, the mast portion 8 is tilted forward, and the multi-joint arm 11 disposed on the outer side of the tip portion of the mast portion 8 is used to work at a position away from the body portion 3. It can be carried out. Moreover, as shown in FIG. 8, the body part 3 can be stabilized by tilting the mast part 8 and grounding the elbow part 45 of the articulated arm 11 to the ground. With the elbow part 45 in contact with the ground, the lower arm part 40, the wrist part 50, the hand part 60, and the sandwiching part 66 are moved, and the work such as removing the rubble ahead and securing the work space and the traveling path is performed. be able to.

Next, the operation of the articulated arm 11 will be described.
As shown in FIGS. 3 and 4, in order to rotate the shoulder portion 10 in the direction indicated by the symbol B, the shoulder portion drive cylinder 16 is driven and the piston portion 17 is expanded and contracted. The shoulder rotation shaft 9 is rotated via the first and second auxiliary link portions 19 a and 19 b and the rotation link portion 18 by the expansion and contraction of the piston portion 17, and the shoulder portion 10 is centered on the shoulder rotation shaft 9. Rotate as
As shown in FIG. 4, in order to rotate the upper arm portion 20 in the direction indicated by the symbol C, the upper arm portion drive cylinder 22 is driven and the piston portion 24 is expanded and contracted. The upper arm 20 rotates about the upper arm rotation shaft 21 by the expansion and contraction of the piston 24.
As shown in FIGS. 4 and 6, in order to rotate the middle arm portion 30 in the direction indicated by the symbol D, the middle arm portion drive cylinder 34 is driven and the piston portion 35 is expanded and contracted. The middle arm portion rotation shaft 31 is rotated through the rotation link portion 36 by the expansion and contraction of the piston portion 35, and the middle arm portion 30 is rotated about the middle arm portion rotation shaft 31.
As shown in FIG. 6, in order to rotate the lower arm portion 40 in the direction indicated by E, the lower arm portion drive cylinder 43 is driven and the piston portion 44 is expanded and contracted. The lower arm 40 rotates about the lower arm rotation shaft 41 via the first and second auxiliary links 46 and 47 and the elbow 45 by the expansion and contraction of the piston 44.
As shown in FIG. 6, in order to rotate the wrist portion 50 in the direction indicated by the symbol F, the wrist portion driving cylinder 53 is driven and the piston portion 54 is expanded and contracted. Due to the expansion and contraction of the piston portion 54, the wrist rotation shaft 51 is rotated via the rotation link portion 55, and the wrist portion 50 is rotated around the wrist rotation shaft 51.
As shown in FIG. 5, in order to rotate the hand portion 60 in the direction indicated by the symbol G, the hand portion drive cylinder 63 is driven and the piston portion 64 is expanded and contracted. The wrist portion rotation shaft 61 rotates through the rotation link portion 65 due to the expansion and contraction of the piston portion 64, and the hand portion 60 rotates about the wrist portion rotation shaft 61.
Further, as shown in FIG. 5, in order to perform a clamping operation for bringing the pair of clamping parts 66 close to and away from each other, the clamping part drive cylinder 70 is driven and the piston part 71 is expanded and contracted. The support shaft 68a rotates through the rotation link portion 72 due to the expansion and contraction of the piston portion 71, and one holding portion 66 approaches the other holding portion 66 through the holding link portion 67 due to the rotation of the support shaft portion 68a. Alternatively, it moves in a parallel direction. The supporting shaft 68a is rotated by the rotation of the supporting shaft 68a through the interlocking gear portion 68, and the other holding portion 66 is held by the other holding portion 66 through the holding link portion 67 by the rotation of the supporting shaft portion 68a. It moves parallel to the direction approaching or separating from the portion 66. Thereby, a pair of clamping part 66 adjoins and separates.

Next, a hydraulic circuit for driving each drive cylinder will be described.
FIG. 9 is a circuit diagram showing a hydraulic circuit for driving each drive cylinder.
9, 81 is a solenoid valve, 82 is a drive cylinder driven by the solenoid valve 81 via ports 83a and 83b, and the drive cylinder 82 includes the mast drive cylinder 12 shown in FIGS. It corresponds to the part drive cylinder 16, the upper arm part drive cylinder 22, the middle arm part drive cylinder 34, the lower arm part drive cylinder 43, the wrist part drive cylinder 53, the hand part drive cylinder 63, and the clamping part drive cylinder 70. 84 is a piston portion of the drive cylinder 82, 85 is an oil tank, 86 is an oil filter that filters oil sucked from the oil tank 85, 87 is a pump that is driven by the engine 88 and discharges oil, 89 is hydraulic pressure in the power line 90 Is a pressure reducing valve, 91 is a reverse line, 92 is a relief valve for preventing a line from which oil is discharged from the pump 87 from becoming high pressure, 93 and 94 are pressure gauges, and 95 is a check valve. It is. A plurality of electromagnetic valves 81 are provided corresponding to each drive cylinder such as a shoulder portion and an upper arm portion, and each is connected to a power line 90 as shown in FIG. In addition, a hydraulic motor for the traveling unit 2, a hydraulic motor (not shown) that turns the machine unit 3 around the machine turning shaft 3 a, and the like are also connected to the power line 90 via the electromagnetic valve 81. To drive and turn. The oil tank 85 and the plurality of electromagnetic valves 81 are mounted on the body part 3 shown in FIGS. 1 and 2, and each electromagnetic valve 81 and each driving cylinder of the articulated arm 11 corresponding thereto are flexible serpentine tubes. (Not shown) or the like.
As shown in FIG. 9, the piston portion 84 of the drive cylinder 82 can be expanded and contracted by controlling the electromagnetic valve 81. That is, by controlling the solenoid valve 81 and connecting the port 83a to the power line 90, the oil discharged from the pump 87 passes through the check valve 95, the pressure reducing valve 89, the power line 90, the solenoid valve 81, and the port 83a. And flows into the drive cylinder 82, and the piston portion 84 moves in the extending direction, that is, in the right direction in FIG. The oil discharged from the port 83 b of the drive cylinder 82 returns to the oil tank 85 via the solenoid valve 81 and the reverse line 91. In addition, by controlling the solenoid valve 81 and connecting the port 83b to the power line 90, the oil discharged from the pump 87 passes through the check valve 95, the pressure reducing valve 89, the power line 90, the solenoid valve 81, and the port 83b. And flows into the drive cylinder 82, and the piston portion 84 moves in the shortening direction, that is, in the left direction in FIG. The oil discharged from the port 83 a of the drive cylinder 82 returns to the oil tank 85 through the electromagnetic valve 81 and the reverse line 91. When the power line 90 becomes a high pressure that is equal to or higher than a predetermined pressure set in advance, the pressure gauge 93 detects this and activates the pressure reducing valve 89 to maintain the predetermined pressure. Further, when the line from which the oil is discharged from the pump 87 becomes a high pressure that is equal to or higher than a predetermined pressure, the pressure gauge 94 detects this and activates the relief valve 92 to return the oil discharged from the pump 87 to the oil tank 85. High pressure can be prevented.

As described above, the double-arm robot 1 according to the first embodiment is configured and thus has the following operation.
(1) By controlling the electromagnetic valve 81, the piston portion 84 of the drive cylinder 82 is expanded and contracted to rotate the shoulder portion 10, the upper arm portion 20, the middle arm portion 30, the lower arm portion 40, the wrist portion 50, the hand portion 60, and the like. The articulated arm can be moved. For example, in order to rotate the lower arm 40 with respect to the middle arm 30, that is, to bend and extend the elbow, the electromagnetic valve 81 corresponding to the lower arm drive cylinder 43 is controlled to connect the port 83a to the power line. 90, the oil discharged from the pump 87 flows into the lower arm drive cylinder 43 through the check valve 95, the pressure reducing valve 89, the power line 90, the electromagnetic valve 81, and the port 83a, and the piston portion. 44 extends. The extension of the piston portion 44 causes the lower arm portion 40 to rotate about the lower arm portion rotation shaft 41 through the first and second auxiliary link portions 46 and 47 and the elbow portion 45 in the upward direction in FIG. In addition, by controlling the solenoid valve 81 corresponding to the lower arm drive cylinder 43 and connecting the port 83b to the power line 90, the oil discharged from the pump 87 is removed from the check valve 95, the pressure reducing valve 89, and the power line. 90, the solenoid valve 81, and the port 83b flow into the lower arm drive cylinder 43, and the piston 44 is shortened. By shortening the piston portion 44, the lower arm portion 40 rotates about the lower arm portion rotation shaft 41 in the downward direction through the first and second auxiliary link portions 46 and 47 and the elbow portion 45.
(2) A pair of mast portions 8, 8 'standing on both ends of the mast support portion 6 fixed to the front portion of the body portion 3, and shoulders pivotally supported on the upper ends of the mast portions 8, 8' Part rotation shaft 9, shoulder part 10 fixed to shoulder part rotation shaft 9 and rotatably arranged on the outer side of mast parts 8, 8 ', upper arm part 20 extending from the shoulder part, middle arm part 30, lower arm portion 40, wrist portion 50, and hand portion 60, and articulated arms 11 and 11 ′. It can be moved over a wide range, and it is less likely to change the orientation of the airframe unit 3 with respect to the traveling unit 2 or to move around the traveling unit 2 during work, making it a narrow place or a building that tends to collapse It is possible to work quickly and safely even inside.
(3) The multi-joint arms 11 and 11 'are configured with six degrees of freedom including the shoulder portion 10, the upper arm portion 20, the middle arm portion 30, the lower arm portion 40, the wrist portion 50, and the hand portion 60, and the mast portion. 8 and 8 'are rotatably disposed on a mast base 7 fixed on the upper surface of both ends of the mast support portion 6 by a mast rotation shaft 8a and are rotationally driven by a mast portion drive cylinder 12. The parts 8 and 8 'can be tilted forward of the body part 3, and the 6-degree-of-freedom multi-joint arms 11 and 11' can be operated at a position away from the front of the body part 3. In addition to construction work, various work can be done such as lifesaving work to remove rubble etc. and rescue people buried under the rubble, and can perform a wide range of work without traveling and moving it can. Further, among the multi-joint arms 11 and 11 ′ having 6 degrees of freedom, the middle arm portion 30 is disposed so as to be rotatable in the axial direction with respect to the upper arm portion 20. The degree of freedom of posture is high, and it can cope with various situations.
(4) Since the multi-joint arms 11 and 11 ′ are provided with the elbow part 45 at a substantially middle part between the shoulder part 10 and the hand part 60, the lower arm part 40 is bent at a substantially right angle with respect to the middle arm part 30, By tilting the mast part 8 and grounding the elbow part 45 of the articulated arm 11 to the ground, the airframe part 3 can be stabilized, and the lower arm part 40 and the wrist part with the elbow part 45 grounded to the ground. 50, the hand part 60, and the clamping part 66 can be moved, and the operation | work etc. which remove a front rubble on rough terrain and ensure a work space or a traveling path can be performed.
(5) Since the driver's seat 4 is disposed between the mast portions 8 and 8 'at the center of the upper portion of the fuselage unit 3, both sides of the operator boarding the driver's seat 4 are guarded by the mast portions 8 and 8'. Excellent safety. Further, since the articulated arms 11 and 11 ′ extend from the shoulder portion 10 disposed at the upper end of the mast portions 8 and 8 ′, the field of view of the operator seated on the driver's seat 4 can be seen from the articulated arms 11 and 11. It is not obstructed by ′ and has excellent visibility of the work object and excellent workability.
(6) The articulated arms 11 and 11 ′ are a shoulder drive cylinder 16 that drives the shoulder 10, an upper arm drive cylinder 22 that drives the upper arm 20, and a middle arm drive cylinder that drives the middle arm 30. 34, a lower arm drive cylinder 43 that drives the lower arm 40, a wrist drive cylinder 53 that drives the wrist 50, a hand drive cylinder 63 that drives the hand 60, and a clamping unit 66. The holding part drive cylinder 70 is provided, so that the shoulder part 10, the upper arm part 20, the middle arm part 30, the lower arm part 40, the wrist part 50, the hand part 60, and the holding part 66 can be rotationally driven with high torque. , Can lift heavy objects, dismantle buildings, and cope with larger size.
(7) During normal operation, the mast parts 8, 8 'are erected at an angle of 5 ° to 45 ° on the rear side of the body part 3, so the center of gravity is lowered to the rear side of the body part to stabilize the body. Can be made.

  As described above, the present invention has a pair of articulated arms, and can perform life-saving work to rescue a person buried in rubble or earth and sand, dismantling work, civil engineering work, construction work, etc. Regarding robots, in particular, according to the present invention, it is possible to perform lifesaving work by remote control even in a dangerous place such as a secondary disaster, and the aircraft can be operated even on rough terrain or inclined ground. Provides stable and smooth work with a pair of multi-joint arms, wide range of movement of multi-joint arms and excellent workability, providing a double-arm robot suitable for various work, especially rescue work can do.

Front view of main parts of double-arm robot in Embodiment 1 Side view of main part of dual-arm robot in embodiment 1 Side view of the main part of the mast Front view of main parts of mast part and articulated arm Plan view of main parts of lower arm, wrist, and hand Side view of main parts of mast part and articulated arm FIG. 6 is a cross-sectional view taken along the line AA in FIG. Side view of essential parts showing the mast portion tilted forward Circuit diagram showing hydraulic circuit for driving each drive cylinder

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Double-arm robot 2 Traveling part 2a Earth discharging board 3 Airframe part 3a Aircraft turning axis 3b Imaging part 4 Driver's seat 5 Protective frame part 5a Head part 5b Illumination part 5c Imaging part 6 Mast support part 6a Emergency stop lever 7 Mast base part 8, 8 'mast section 8a mast rotation shaft 9 shoulder rotation shaft 10 shoulder section 11, 11' articulated arm 11a illumination section 11b imaging section 12 mast section drive cylinder 13 piston shaft support section 14 piston section 15 cylinder shaft support section 16 shoulder section Drive cylinder 17 Piston part 18 Rotating link part 19a First auxiliary link part 19b Second auxiliary link part 20 Upper arm part 21 Upper arm part rotation shaft 22 Upper arm part drive cylinder 23 Piston shaft support part 24 Piston part 30 Middle arm part 31 Middle arm part rotation shaft 32 Hollow part 33 Cylinder shaft support part 34 Middle arm part drive cylinder 35 Piston part 36 Rotation Link part 40 Lower arm part 41 Lower arm part rotation shaft 42 Cylinder shaft support part 43 Lower arm part drive cylinder 44 Piston part 45 Elbow part 46 First auxiliary link part 47 Second auxiliary link part 50 Wrist part 51 Wrist part rotation Moving shaft 52 Cylinder shaft support portion 53 Wrist portion drive cylinder 54 Piston portion 55 Rotation link portion 60 Hand portion 61 Hand portion rotation shaft 62 Cylinder shaft support portion 63 Hand portion drive cylinder 64 Piston portion 65 Rotation link portion 66 Nipping portion 67 Link part 68 Interlocking gear part 69 Cylinder shaft support part 70 Clamping part drive cylinder 71 Piston part 72 Rotation link part 81 Solenoid valve 82 Drive cylinder 83a, 83b Port 84 Piston part 85 Oil tank 86 Oil filter 87 Pump 88 Engine 89 Pressure reducing valve 90 Power line 91 Reverse line 92 Relief valve 93,9 Pressure gauge 95 check valve

Claims (6)

A dual-arm robot comprising a traveling part and a body part disposed above the traveling part,
A mast support portion fixed to the front portion of the airframe portion;
A pair of mast portions erected at both ends of the mast support portion;
A shoulder rotation shaft pivotally supported at the upper end of each mast;
A shoulder portion fixed to the shoulder rotation shaft and rotatably disposed on the outer side of the mast portion;
An articulated arm extending from the shoulder;
A dual-arm robot characterized by comprising:   2. The twin according to claim 1, wherein the multi-joint arm includes the shoulder portion, a hand portion at a distal end portion, and an elbow portion at a substantially intermediate portion between the shoulder portion and the hand portion. Arm robot.   The articulated arm includes an upper arm portion pivotally supported on the shoulder portion by an upper arm rotation shaft, a middle arm portion pivotally supported on the upper arm portion by a middle arm rotation shaft, and a lower arm on the middle arm portion. A lower arm portion pivotally supported by an arm rotation shaft; an elbow portion projecting from a lower portion of the lower arm rotation shaft of the lower arm portion; and a wrist rotation shaft on the lower arm portion. The dual-arm robot according to claim 2, further comprising: a wrist portion that is pivotally supported, and the hand portion that is pivotally supported on the wrist portion by a hand rotation shaft.   The articulated arm includes a shoulder drive cylinder that rotationally drives the shoulder, an upper arm drive cylinder that rotationally drives the upper arm, and a middle arm drive cylinder that rotationally drives the middle arm. A lower arm driving cylinder for rotating the lower arm; a wrist driving cylinder for rotating the wrist; and a hand driving cylinder for rotating the hand. The dual-arm robot according to claim 3, wherein:   5. The dual-arm robot according to claim 1, wherein the mast portion is erected at an angle of 5 ° to 45 ° to the rear side of the airframe portion.   The mast part is a mast base fixed to the upper surface of both ends of the mast support part, and a mast rotation shaft fixed to the lower end of the mast part and pivotally supported by the mast base so as to be pivotable in the front-rear direction. The dual-arm robot according to claim 1, further comprising: a mast unit drive cylinder that rotationally drives the mast unit.

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