JP2005230949A

JP2005230949A - Multi-degree-of-freedom joint driving mechanism

Info

Publication number: JP2005230949A
Application number: JP2004041325A
Authority: JP
Inventors: Yasunao Okazaki; 安直岡▲崎▼; Masaki Yamamoto; 正樹山本
Original assignee: Matsushita Electric Industrial Co Ltd
Current assignee: Panasonic Holdings Corp
Priority date: 2004-02-18
Filing date: 2004-02-18
Publication date: 2005-09-02

Abstract

PROBLEM TO BE SOLVED: To provide a multi-degree-of-freedom joint driving mechanism with a small number of components capable of realizing the miniaturization and weight reduction. SOLUTION: A first rotating joint 5 is arranged to a first structure 1. A second rotating joint 7 is arranged to a second structure 2 connected with the first structure 1 by the first rotating joint 5. The first rotating joint 5 and a rotating shaft are nearly perpendicular to each other. The second structure 2 and a third structure 3 are connected by the second rotating joint 7. The first rotating joint 5 is driven by a first driving device 8-1 connected to the first structure 1 and the second structure 2. A first universal joint 14 is connected to the third structure 3. A direct acting joint 15 and a second universal joint 16 are connected. The second rotating joint 7 is driven by a second driving device 10-1 connected to the first structure 1 and the second universal joint 16. COPYRIGHT: (C)2005,JPO&NCIPI

Description

本発明は、ロボットアーム等の機械装置の関節機構に応用可能な多自由度関節駆動機構に関する。 The present invention relates to a multi-degree-of-freedom joint drive mechanism applicable to a joint mechanism of a mechanical device such as a robot arm.

ロボットアームにより複雑な作業を実現するためには、手先の位置・姿勢６次元の制御が可能な６自由度以上の多関節ロボットが必要とされる。多関節アームを実現しようとする場合、関節構造をどのような構造にするのか、関節をどのように駆動するかが課題となる。関節構造としては、制御性能やコスト等の点から、小型・軽量であることが必要とされ、一カ所で複数の自由度が実現できる多自由度関節が種々開発されている。こうした多自由度関節の従来技術としては、特許文献１において、曲げ駆動軸と回転軸間に曲げ軸用のユニバーサルジョイントを設け、ひねり駆動軸と回転軸間にひねり軸用のユニバーサルジョイントを設ける構成を開示している（例えば、特許文献１参照。）。 In order to realize complicated work by the robot arm, an articulated robot having 6 degrees of freedom or more capable of 6-dimensional control of the hand position / posture is required. When trying to realize a multi-joint arm, the problem is how to make the joint structure and how to drive the joint. The joint structure is required to be small and light in terms of control performance, cost, and the like, and various multi-degree-of-freedom joints that can realize a plurality of degrees of freedom at one place have been developed. As a conventional technique of such a multi-degree-of-freedom joint, in Patent Document 1, a universal joint for a bending shaft is provided between the bending drive shaft and the rotation shaft, and a universal joint for the twist shaft is provided between the twist drive shaft and the rotation shaft. (For example, refer to Patent Document 1).

特公平８−５０２６号公報Japanese Patent Publication No. 8-5026

しかしながら、上記特許文献１の構成では、手首の小型、簡易及び軽量化を目的としているが、傾斜面を有する回転軸や、複数の巻き掛け伝動部材等の多くの構成部材から構成されるため、小型・軽量化には限度がある。 However, in the configuration of Patent Document 1 described above, the wrist is intended to be small, simple, and lightweight, but is composed of a number of components such as a rotating shaft having an inclined surface and a plurality of winding transmission members. There is a limit to reducing the size and weight.

本発明の目的は、上記従来の関節機構の課題を解決し、部品点数が少なく、小型・軽量化可能な多自由度関節駆動機構を提供することにある。 An object of the present invention is to solve the above-described problems of the conventional joint mechanism and to provide a multi-degree-of-freedom joint drive mechanism that has a small number of parts and can be reduced in size and weight.

上記目的を達成するために、本発明は以下のように構成する。 In order to achieve the above object, the present invention is configured as follows.

本発明の１つの態様によれば、第１構造体と、
上記第１構造体に配設された第１回転関節と、
上記第１回転関節により上記第１構造体と相対的に回動可能に接続された第２構造体と、
上記第２構造体に配設され、上記第１回転関節と回転軸が略直交する第２回転関節と、
上記第２回転関節により上記第２構造体と相対的に回動可能に接続された第３構造体と、
一端が上記第１構造体に接続されかつ他端が上記第２構造体に接続され、上記第１回転関節を駆動して上記第１構造体と上記第２構造体とを相対的に回動させる第１駆動装置と、
上記第３構造体に接続された第１自在継手と、
上記第１自在継手と相対回転不可に接続された直動継手と、
上記直動継手と相対回転不可に接続された第２自在継手と、
一端が上記第１構造体に接続され、かつ、他端が上記第２自在継手に接続されることにより上記第２回転関節を駆動して上記第２構造体と上記第３構造体とを相対的に回動させる第２駆動装置とを有する多自由度関節駆動機構を提供する。 According to one aspect of the present invention, a first structure;
A first rotary joint disposed in the first structure;
A second structure that is rotatably connected to the first structure by the first rotary joint;
A second rotary joint disposed in the second structure, the first rotary joint and a rotation axis being substantially orthogonal;
A third structure that is rotatably connected to the second structure by the second rotary joint;
One end is connected to the first structure and the other end is connected to the second structure. The first rotary joint is driven to relatively rotate the first structure and the second structure. A first drive device for causing
A first universal joint connected to the third structure;
A direct acting joint connected to the first universal joint so as not to rotate relative to the first universal joint;
A second universal joint that is connected to the linear motion joint so as not to rotate relative thereto;
One end is connected to the first structure and the other end is connected to the second universal joint so that the second rotary joint is driven to make the second structure and the third structure relative to each other. A multi-degree-of-freedom joint drive mechanism having a second drive device that is rotated in an automatic manner.

本発明の別の態様によれば、第１構造体と、
上記第１構造体に配設された第１回転関節と、
上記第１回転関節により上記第１構造体と相対的に回動可能に接続された第２構造体と、
上記第２構造体に配設され、上記第１回転関節と回転軸が略直交する第２回転関節と、
上記第２回転関節により上記第２構造体と相対的に回動可能に接続された第３構造体と、
一端が上記第１構造体に接続されかつ他端が上記第２構造体に接続され、上記第１回転関節を駆動して上記第１構造体と上記第２構造体とを相対的に回動させる第１駆動装置と、
上記第３構造体に接続された第１自在継手と、
上記第１自在継手と相対回転不可に接続された第２自在継手と、
上記第２自在継手と相対回転不可に接続された直動継手と、
一端が上記第１構造体に接続され、かつ、他端が上記直動継手に接続されることにより上記第２回転関節を駆動して上記第２構造体と上記第３構造体とを相対的に回動させる第２駆動装置とを有する多自由度関節駆動機構を提供する。 According to another aspect of the present invention, a first structure;
A first rotary joint disposed in the first structure;
A second structure that is rotatably connected to the first structure by the first rotary joint;
A second rotary joint disposed in the second structure, the first rotary joint and a rotation axis being substantially orthogonal;
A third structure that is rotatably connected to the second structure by the second rotary joint;
One end is connected to the first structure and the other end is connected to the second structure. The first rotary joint is driven to relatively rotate the first structure and the second structure. A first drive device for causing
A first universal joint connected to the third structure;
A second universal joint connected to the first universal joint so as not to rotate relative to the first universal joint;
A direct acting joint connected to the second universal joint so as not to rotate relative to the second universal joint;
One end is connected to the first structure, and the other end is connected to the linear joint, thereby driving the second rotary joint to relatively connect the second structure and the third structure. A multi-degree-of-freedom joint drive mechanism having a second drive device that is pivoted to the right is provided.

本発明によれば、第２回転関節回りの回転運動を駆動するために第２構造体にアクチュエータを配設する構造ではないため、関節駆動機構の構造を小型・軽量にすることができる。また、多自由度関節駆動機構をロボットアームに応用する場合に、第１構造体をアームの根元に近い側のリンク、第３構造体をアームの先端に近い側のリンクとすることにより、重量物であるアクチュエータがアームの根元に近い側に配設されることになり、アームの動特性が改善され、制御性能の高いロボットアームとすることができる。 According to the present invention, the structure of the joint drive mechanism can be reduced in size and weight because the actuator is not provided in the second structure to drive the rotational motion around the second rotary joint. Further, when the multi-degree-of-freedom joint drive mechanism is applied to a robot arm, the first structure is a link closer to the base of the arm, and the third structure is a link closer to the tip of the arm. The actuator which is a thing will be arrange | positioned at the side close | similar to the base of an arm, the dynamic characteristic of an arm will be improved, and it can be set as a robot arm with high control performance.

以下に、本発明にかかる実施の形態を図面に基づいて詳細に説明する前に、本発明の種々の態様について説明する。 Before describing embodiments of the present invention in detail based on the drawings, various aspects of the present invention will be described below.

本発明の第１態様によれば、第１構造体と、
上記第１構造体に配設された第１回転関節と、
上記第１回転関節により上記第１構造体と相対的に回動可能に接続された第２構造体と、
上記第２構造体に配設され、上記第１回転関節と回転軸が略直交する第２回転関節と、
上記第２回転関節により上記第２構造体と相対的に回動可能に接続された第３構造体と、
一端が上記第１構造体に接続されかつ他端が上記第２構造体に接続され、上記第１回転関節を駆動して上記第１構造体と上記第２構造体とを相対的に回動させる第１駆動装置と、
上記第３構造体に接続された第１自在継手と、
上記第１自在継手と相対回転不可に接続された直動継手と、
上記直動継手と相対回転不可に接続された第２自在継手と、
一端が上記第１構造体に接続され、かつ、他端が上記第２自在継手に接続されることにより上記第２回転関節を駆動して上記第２構造体と上記第３構造体とを相対的に回動させる第２駆動装置とを有する多自由度関節駆動機構を提供する。 According to the first aspect of the present invention, the first structure,
A first rotary joint disposed in the first structure;
A second structure that is rotatably connected to the first structure by the first rotary joint;
A second rotary joint disposed in the second structure, the first rotary joint and a rotation axis being substantially orthogonal;
A third structure that is rotatably connected to the second structure by the second rotary joint;
One end is connected to the first structure and the other end is connected to the second structure. The first rotary joint is driven to relatively rotate the first structure and the second structure. A first drive device for causing
A first universal joint connected to the third structure;
A direct acting joint connected to the first universal joint so as not to rotate relative to the first universal joint;
A second universal joint that is connected to the linear motion joint so as not to rotate relative thereto;
One end is connected to the first structure and the other end is connected to the second universal joint so that the second rotary joint is driven to make the second structure and the third structure relative to each other. A multi-degree-of-freedom joint drive mechanism having a second drive device that is rotated in an automatic manner.

本発明の第２態様によれば、第１構造体と、
上記第１構造体に配設された第１回転関節と、
上記第１回転関節により上記第１構造体と相対的に回動可能に接続された第２構造体と、
上記第２構造体に配設され、上記第１回転関節と回転軸が略直交する第２回転関節と、
上記第２回転関節により上記第２構造体と相対的に回動可能に接続された第３構造体と、
一端が上記第１構造体に接続されかつ他端が上記第２構造体に接続され、上記第１回転関節を駆動して上記第１構造体と上記第２構造体とを相対的に回動させる第１駆動装置と、
上記第３構造体に接続された第１自在継手と、
上記第１自在継手と相対回転不可に接続された第２自在継手と、
上記第２自在継手と相対回転不可に接続された直動継手と、
一端が上記第１構造体に接続され、かつ、他端が上記直動継手に接続されることにより上記第２回転関節を駆動して上記第２構造体と上記第３構造体とを相対的に回動させる第２駆動装置とを有する多自由度関節駆動機構を提供する。 According to a second aspect of the present invention, a first structure,
A first rotary joint disposed in the first structure;
A second structure that is rotatably connected to the first structure by the first rotary joint;
A second rotary joint disposed in the second structure, the first rotary joint and a rotation axis being substantially orthogonal;
A third structure that is rotatably connected to the second structure by the second rotary joint;
One end is connected to the first structure and the other end is connected to the second structure. The first rotary joint is driven to relatively rotate the first structure and the second structure. A first drive device for causing
A first universal joint connected to the third structure;
A second universal joint connected to the first universal joint so as not to rotate relative to the first universal joint;
A direct acting joint connected to the second universal joint so as not to rotate relative to the second universal joint;
One end is connected to the first structure, and the other end is connected to the linear joint, thereby driving the second rotary joint to relatively connect the second structure and the third structure. A multi-degree-of-freedom joint drive mechanism having a second drive device that is pivoted to the right is provided.

本発明の第３態様によれば、上記第１駆動装置は直動アクチュエータであることを特徴とする第１又は２態様に記載の多自由度関節駆動機構を提供する。 According to a third aspect of the present invention, there is provided the multi-degree-of-freedom joint drive mechanism according to the first or second aspect, wherein the first drive device is a linear motion actuator.

本発明の第４態様によれば、上記第２駆動装置は直動アクチュエータであることを特徴とする第１又は２態様に記載の多自由度関節駆動機構を提供する。 According to a fourth aspect of the present invention, there is provided the multi-degree-of-freedom joint drive mechanism according to the first or second aspect, wherein the second drive device is a linear motion actuator.

本発明の第５態様によれば、上記第１自在継手又は上記直動継手又は上記第２自在継手のうち少なくとも１つが上記第２構造体内に配設されたことを特徴とする第１又は２態様に記載の多自由度関節駆動機構を提供する。 According to the fifth aspect of the present invention, at least one of the first universal joint, the direct acting joint, or the second universal joint is disposed in the second structure. A multi-degree-of-freedom joint drive mechanism according to an aspect is provided.

以下に、本発明にかかる実施の形態を図面に基づいて詳細に説明する。 Embodiments according to the present invention will be described below in detail with reference to the drawings.

（第１実施形態）
図１Ａ及び図１Ｂは本発明の第１実施形態にかかる多自由度関節の構造を示す全体図である。また、図２Ａ及び図２Ｂ及び図２Ｃは本発明の第１実施形態にかかる多自由度関節の構造を示す断面図及び斜視図である。図２Ａは図１Ａ中に記したＡ−Ａ線断面を示している。図２Ｂは図２Ａの部分拡大断面図であり、図２Ｃは第１自在継手１４と直動関節１５の斜視図である。図１Ａ及び図１Ｂ及び図２Ａにおいて、１は下端にＬ字状に屈曲した二股部１ａを有するロッド状の第１構造体、２は図１Ａ及び図１Ｂの右側半分以上が二股部２ａとなったコの字ブロック状第２構造体、３は図１Ａ及び図１Ｂの右端が第２構造体２内に回転自在に挿入されているロッド状第３構造体である。第１構造体１と第２構造体２は、ベアリング４−１、４−２で構成される第１回転関節５により接続されており、互いに回転可能である。すなわち、第２構造体２の二股部２ａ内に第１構造体１の二股部１ａが配置され、第１構造体１の二股部１ａの貫通穴１ｂ，１ｂにそれぞれ設けられたベアリング４−１、４−２に回転自在に支持される連結ピン２Ａが、第２構造体２の二股部２ａの貫通穴２ｂ，２ｂにそれぞれ固定されて、連結ピン２Ａの中心軸である第１回転関節５の回転軸５Ｃ回りに第１構造体１と第２構造体２がベアリング４−１、４−２で互いに回転可能となっている。 (First embodiment)
1A and 1B are general views showing the structure of a multi-degree-of-freedom joint according to the first embodiment of the present invention. 2A, 2B, and 2C are a cross-sectional view and a perspective view showing the structure of the multi-degree-of-freedom joint according to the first embodiment of the present invention. FIG. 2A shows a cross section taken along line AA in FIG. 1A. 2B is a partially enlarged cross-sectional view of FIG. 2A, and FIG. 2C is a perspective view of the first universal joint 14 and the linear joint 15. 1A, FIG. 1B, and FIG. 2A, 1 is a rod-shaped first structure having a bifurcated portion 1a bent in an L shape at the lower end, and 2 is a bifurcated portion 2a in the right half or more of FIGS. 1A and 1B. The U-shaped block-shaped second structure 3 is a rod-shaped third structure in which the right end of FIGS. 1A and 1B is rotatably inserted into the second structure 2. The 1st structure 1 and the 2nd structure 2 are connected by the 1st rotation joint 5 comprised by the bearings 4-1 and 4-2, and can mutually rotate. That is, the bifurcated portion 1a of the first structure 1 is disposed in the bifurcated portion 2a of the second structure 2, and the bearings 4-1 provided in the through holes 1b and 1b of the bifurcated portion 1a of the first structure 1, respectively. , 4-2 is rotatably supported by the coupling pin 2A, which is fixed to the through holes 2b and 2b of the bifurcated portion 2a of the second structure 2, respectively, and the first rotary joint 5 which is the central axis of the coupling pin 2A The first structure 1 and the second structure 2 can be rotated with each other by bearings 4-1 and 4-2 around the rotation axis 5C.

第２構造体２と第３構造体３は、ベアリング６−１、６−２で構成される第２回転関節７により接続されており、互いに回動可能である。すなわち、第２構造体２の二股部２ａ以外の左側の貫通穴にベアリング６−１、６−２を設け、第３構造体３の右端が第２構造体２内に挿入されてベアリング６−１、６−２に支持されて、第３構造体３が第２構造体２に対して第２回転関節７の回転軸７Ｃ回りに回転自在に支持されている。また、第１回転関節５の回転軸５Ｃと第２回転関節７の回転軸７Ｃは略直交している。 The 2nd structure 2 and the 3rd structure 3 are connected by the 2nd rotation joint 7 comprised by bearing 6-1 and 6-2, and can mutually rotate. That is, the bearings 6-1 and 6-2 are provided in the left through-holes other than the bifurcated portion 2 a of the second structure 2, and the right end of the third structure 3 is inserted into the second structure 2 and the bearing 6-6. 1 and 6-2, the third structure 3 is supported so as to be rotatable about the rotation axis 7 C of the second rotary joint 7 with respect to the second structure 2. The rotation axis 5C of the first rotation joint 5 and the rotation axis 7C of the second rotation joint 7 are substantially orthogonal.

８は、第１駆動装置の一例であり、例えば空気圧人工筋等の４本の第１直動アクチュエータ８−１、８−２、８−３、８−４で構成される第１直動アクチュエータ群であり、第２構造体２の二股部２ａにそれぞれの基端部が固定された回転ジョイント９−１、９−２、９−３、９−４の回動端に４本の第１直動アクチュエータ８−１、８−２、８−３、８−４の下端部がそれぞれ回転自在に連結されることにより、４本の第１直動アクチュエータ８−１、８−２、８−３、８−４が第１構造体１と第２構造体２に接続され、第１構造体１と第２構造体２の第１回転関節５における正逆回転運動を駆動する。すなわち、第２構造体２の二股部２ａの先端の貫通穴２ｃ，２ｃにロッド状の回転ジョイント９−３、９−４の基端部が固定され、当該ジョイント９−３、９−４の先端部に第１直動アクチュエータ８−３、８−４の下端部が回転自在に連結されている。同様に、第２構造体２の二股部２ａの基端部の貫通穴２ｃ，２ｃにロッド状のジョイント９−１、９−２の基端部が固定され、当該ジョイント９−１、９−２の先端部に第１直動アクチュエータ８−１、８−２の下端部が回転自在に連結されている。ジョイント９−３、９−４とジョイント９−１、９−２とは、第１回転関節５の回転軸５Ｃに対して対称に配置されている結果、第１直動アクチュエータ８−１、８−２の下端部が同期して大略同一距離だけ上昇しかつ第１直動アクチュエータ８−３、８−４の下端部が同期して大略同一距離だけ下降すると、第２構造体２は第１回転関節５の回転軸５Ｃ回りに時計回りに回動する。一方、逆に、第１直動アクチュエータ８−１、８−２の下端部が同期して大略同一距離だけ下降しかつ第１直動アクチュエータ８−３、８−４の下端部が同期して大略同一距離だけ上昇すると、第２構造体２は第１回転関節５の回転軸５Ｃ回りに反時計回りに回動する。 Reference numeral 8 is an example of a first drive device, for example, a first linear actuator comprising four first linear actuators 8-1, 8-2, 8-3, 8-4 such as pneumatic artificial muscles. The four first members at the rotating ends of the rotary joints 9-1, 9-2, 9-3, 9-4, each of which is a group and has a base end portion fixed to the bifurcated portion 2a of the second structure 2. The four first linear actuators 8-1, 8-2, 8-are connected by rotating the lower ends of the linear actuators 8-1, 8-2, 8-3, 8-4, respectively. 3 and 8-4 are connected to the first structure 1 and the second structure 2, and drive forward / reverse rotational movements of the first structure 1 and the second structure 2 in the first rotary joint 5. That is, the base ends of the rod-shaped rotary joints 9-3 and 9-4 are fixed to the through holes 2c and 2c at the distal ends of the bifurcated portions 2a of the second structure 2, and the joints 9-3 and 9-4 The lower ends of the first linear actuators 8-3 and 8-4 are rotatably connected to the distal end. Similarly, the base end portions of the rod-shaped joints 9-1 and 9-2 are fixed to the through holes 2c and 2c at the base end portion of the bifurcated portion 2a of the second structure 2, and the joints 9-1 and 9- The lower end portions of the first linear actuators 8-1 and 8-2 are rotatably connected to the tip ends of the two. As a result of the joints 9-3 and 9-4 and the joints 9-1 and 9-2 being arranged symmetrically with respect to the rotation axis 5C of the first rotary joint 5, the first linear actuators 8-1 and 8 are provided. -2 is moved up by approximately the same distance in synchronism and the lower ends of the first linear actuators 8-3 and 8-4 are moved down in synchronism by approximately the same distance. The rotary joint 5 rotates clockwise around the rotation axis 5C. On the other hand, the lower ends of the first linear actuators 8-1 and 8-2 are synchronously lowered by substantially the same distance and the lower ends of the first linear actuators 8-3 and 8-4 are synchronized. When the second structural body 2 is lifted by substantially the same distance, the second structural body 2 rotates counterclockwise around the rotation axis 5C of the first rotary joint 5.

１０は、第２駆動装置の一例であり、例えば空気圧人工筋やモータやシリンダ等の２本の第２直動アクチュエータ１０−１、１０−２（図１Ａでは重なって図示されているが、手前側の第２直動アクチュエータを１０−１、奥側の第２直動アクチュエータを１０−２とする。）で構成される第２直動アクチュエータ群であり、第２直動アクチュエータ１０−１、１０−２の下端にそれぞれの端部が固定されたワイヤー１１をプーリー１２に掛け回して接続されて、プーリー１２の正逆回転運動を駆動する。プーリー１２はベアリング１３により第１構造体１に対して相対的な回転運動が可能な状態で固定されている。よって、手前側の第２直動アクチュエータ１０−１の下端が上昇しかつ奥側の第２直動アクチュエータ１０−２の下端が下降すると、奥側の第２直動アクチュエータ１０−２の下端から手前側の第２直動アクチュエータ１０−１の下端に向けてワイヤー１１が移動して、プーリー１２が図１Ａでは下から上向きに回転する。一方、手前側の第２直動アクチュエータ１０−１の下端が下降しかつ奥側の第２直動アクチュエータ１０−２の下端が上昇すると、手前側の第２直動アクチュエータ１０−１の下端から奥側の第２直動アクチュエータ１０−２の下端に向けてワイヤー１１が移動して、プーリー１２が図１Ａでは上から下向きに回転する。 10 is an example of a second drive device. For example, two second linear actuators 10-1 and 10-2 (pneumatic artificial muscles, motors, cylinders, and the like) are overlapped in FIG. 1A. A second linear actuator 10-1 and a second linear actuator 10-2 on the back side), and a second linear actuator group 10-1. Wires 11 having respective end portions fixed to the lower ends of 10-2 are connected to the pulleys 12 so as to drive forward and reverse rotational movements of the pulleys 12. The pulley 12 is fixed by a bearing 13 in a state in which relative rotation with respect to the first structure 1 is possible. Therefore, when the lower end of the second linear motion actuator 10-1 on the near side rises and the lower end of the second linear motion actuator 10-2 on the rear side descends, the lower end of the second linear motion actuator 10-2 on the rear side starts. The wire 11 moves toward the lower end of the second linear motion actuator 10-1 on the near side, and the pulley 12 rotates upward from below in FIG. 1A. On the other hand, when the lower end of the second linear motion actuator 10-1 on the near side descends and the lower end of the second linear motion actuator 10-2 on the far side rises, the lower end of the second linear motion actuator 10-1 on the near side starts. The wire 11 moves toward the lower end of the second linear motion actuator 10-2 on the back side, and the pulley 12 rotates downward from above in FIG. 1A.

また、第３構造体３は、第１自在継手１４を介して直動関節１５と相対回転不可にかつ屈曲自在に接続され、第１自在継手１４は直動関節１５を介し第２自在継手１６と相対回転不可にかつ伸縮自在に接続されている。さらに、直動関節１５は、第２自在継手１６を介してプーリー１２と相対回転不可にかつ屈曲自在に接続されている。したがって、回転軸５Ｃ回りの回転運動は、第１自在継手１４の屈曲自在の特性、直動関節１５の伸縮自在の特性、及び、第２自在継手１６の屈曲自在の特性により吸収され、かつ、第１自在継手１４、直動関節１５、及び、第２自在継手１６がそれぞれ相対回転不可であるため、回転軸５Ｃ回りの回転運動に関係なく、プーリー１２の回転運動が第３構造体３に伝達される。 Further, the third structure 3 is connected to the linear joint 15 via the first universal joint 14 so as not to rotate relative to the linear joint 15, and the first universal joint 14 is connected via the linear joint 15 to the second universal joint 16. Are connected to each other so that they cannot rotate relative to each other. Further, the linear motion joint 15 is connected to the pulley 12 via the second universal joint 16 so as not to rotate relative to the pulley 12 and to be freely bent. Therefore, the rotational motion around the rotary shaft 5C is absorbed by the bendable characteristics of the first universal joint 14, the expandable characteristics of the linear motion joint 15, and the bendable characteristics of the second universal joint 16, and Since the first universal joint 14, the linear motion joint 15, and the second universal joint 16 are not rotatable relative to each other, the rotational movement of the pulley 12 is applied to the third structure 3 regardless of the rotational movement around the rotation shaft 5 C. Communicated.

すなわち、第２直動アクチュエータ群１０の２本の第２直動アクチュエータ１０−１、１０−２により駆動されるプーリー１２の正逆回転運動は、第２自在継手１６、直動関節１５、第１自在継手１４により、第２構造体２と第３構造体３の第２回転関節７における正逆回転運動へと伝動される。 That is, the forward / reverse rotational motion of the pulley 12 driven by the two second linear actuators 10-1 and 10-2 of the second linear actuator group 10 is the second universal joint 16, the linear joint 15, The universal joint 14 is transmitted to the forward and reverse rotational motions of the second rotary joint 7 of the second structure 2 and the third structure 3.

以下に、第２自在継手１６、直動関節１５、第１自在継手１４などの構造について詳述する。 Hereinafter, the structures of the second universal joint 16, the linear motion joint 15, the first universal joint 14, and the like will be described in detail.

第１自在継手１４と第２自在継手１６は同一構造の一般的な十字継手であり、第１接続部材１０１と第２接続部材１０２と回転ピン１０３ａ、１０３ｂ、１０３ｃ、１０３ｄ（１０３ａは１０３ｂの手前に位置するため図示せず）と回転ピン保持部材１０４により構成される。回転ピン１０３ａと回転ピン１０３ｂは同一軸上に配置されるように回転ピン保持部材１０４に固定されて第１回転軸１０５を形成している。また、回転ピン１０３ｃと回転ピン１０３ｄは同一軸上に配置されるように回転ピン保持部材１０４に固定されて第２回転軸１０６を形成している。第１回転軸１０５と第２回転軸１０６は直交しており、第１接続部材１０１は、その対向する一対の突出連結部１０１ｂの嵌合穴１０１ｃに回転ピン１０３ａと回転ピン１０３ｂとがそれぞれ相対的に回転可能に嵌合されて、第１回転軸１０５回りに回動自在に配設されている。また、第２接続部材１０２は、その対向する一対の突出連結部１０２ｂの嵌合穴１０２ｃに回転ピン１０３ｃと回転ピン１０３ｄとがそれぞれ相対回転可能に嵌合されて、第２回転軸１０６回りに回動自在に配設されている。したがって、第１回転軸１０５及び第２回転軸１０６により、第１接続部材１０１と第２接続部材１０２は、第１接続部材１０１と第２接続部材１０２の長手軸回りに相対的に回転不可かつ屈曲自在に接続された構造となっている。 The first universal joint 14 and the second universal joint 16 are general cross joints having the same structure. The first connecting member 101, the second connecting member 102, and the rotating pins 103a, 103b, 103c, 103d (103a is in front of 103b). And the rotation pin holding member 104. The rotation pin 103a and the rotation pin 103b are fixed to the rotation pin holding member 104 so as to be arranged on the same axis to form a first rotation shaft 105. Further, the rotation pin 103c and the rotation pin 103d are fixed to the rotation pin holding member 104 so as to be arranged on the same axis to form a second rotation shaft 106. The first rotating shaft 105 and the second rotating shaft 106 are orthogonal to each other, and the first connecting member 101 has the rotating pin 103a and the rotating pin 103b relative to the fitting holes 101c of the pair of protruding connecting portions 101b facing each other. The first rotation shaft 105 is rotatably fitted so as to be rotatable. Further, the second connecting member 102 has a rotation pin 103c and a rotation pin 103d fitted in the fitting holes 102c of the pair of protruding coupling portions 102b facing each other so as to be relatively rotatable, and the second connection member 102 is rotated around the second rotation shaft 106. It is rotatably arranged. Accordingly, the first connecting shaft 101 and the second connecting member 102 are relatively unrotatable around the longitudinal axes of the first connecting member 101 and the second connecting member 102 by the first rotating shaft 105 and the second rotating shaft 106. It has a structure that is flexibly connected.

直動関節１５は、両端部がそれぞれＵ字形状となるように両端部に切欠溝１０７ａが形成された連結部材１０７より構成され、かつ、この連結部材１０７の両端部が、第１自在継手１４の第２接続部材１０２の穴部１０２ａ及び第２自在継手１６の第１接続部材１０１の穴部１０１ａにそれぞれ挿入された構造として実現されている。 The linear motion joint 15 is composed of a connecting member 107 in which notched grooves 107a are formed at both ends so that both ends are U-shaped, and both ends of the connecting member 107 are the first universal joint 14. This is realized as a structure inserted into the hole 102a of the second connecting member 102 and the hole 101a of the first connecting member 101 of the second universal joint 16, respectively.

第１自在継手１４と直動関節１５は、第１自在継手１４の第２接続部材１０２の対向する一対の貫通穴部１０２ｄを貫通するように配設された固定ピン１０９を、連結部材１０７の一方の端部の切欠溝１０７ａが挟み込むように配設されることにより、回転不可にかつ軸方向に許容範囲内で摺動自在に連結されている。また、第２自在継手１６と直動関節１５は、第２自在継手１６の第１接続部材１０１の対向する一対の貫通穴部１０１ｄを貫通するように配設された固定ピン１１０を、連結部材１０７の他方の端部の切欠溝１０７ａが挟み込むように配設されることにより、回転不可にかつ軸方向に許容範囲内で摺動自在に連結されている。この結果、連結部材１０７の２つの切欠溝１０７ａには、それぞれの接続部材１０２，１０１に固定された固定ピン１０９、１１０が挿入されて連結部材１０７のそれぞれの端部に挟み込むように位置することになるため、連結部材１０７は、第１自在継手１４の第２接続部材１０２及び第２自在継手１６の第１接続部材１０１それぞれに対して、長手軸方向には伸縮自在かつ連結部材１０７の長手軸回りには相対的に回転不可となっている。 The first universal joint 14 and the linear motion joint 15 are provided with a fixing pin 109 disposed so as to pass through a pair of opposed through holes 102 d of the second connection member 102 of the first universal joint 14. By arranging the notch groove 107a at one end so as to be sandwiched, it is non-rotatable and slidably connected within an allowable range in the axial direction. Further, the second universal joint 16 and the linear motion joint 15 are provided with a fixing pin 110 disposed so as to penetrate through the pair of through-hole portions 101d facing each other of the first connection member 101 of the second universal joint 16. By arranging the notch groove 107a at the other end of 107 so as to be sandwiched, it is non-rotatable and slidably connected within an allowable range in the axial direction. As a result, the fixing pins 109 and 110 fixed to the connection members 102 and 101 are inserted into the two cutout grooves 107a of the connection member 107 and positioned so as to be sandwiched between the end portions of the connection member 107. Therefore, the connecting member 107 is extendable in the longitudinal axis direction with respect to the second connecting member 102 of the first universal joint 14 and the first connecting member 101 of the second universal joint 16, and the length of the connecting member 107. The shaft is relatively unrotatable.

第３構造体３と第１自在継手１４は、図２Ａ及び図２Ｂにおける第３構造体３の右端の小径部３ａが第１自在継手１４の接続部材１０１の穴部１０１ａに挿入され、第３構造体３の右端の小径部３ａと第１自在継手１４の第１接続部材１０１に共通に開けられた貫通穴部１０１ｄなどに固定ピン１１１を通して固定することにより相対的に回転不可に連結されている。 In the third structure 3 and the first universal joint 14, the small diameter portion 3 a at the right end of the third structure 3 in FIGS. 2A and 2B is inserted into the hole 101 a of the connection member 101 of the first universal joint 14. The structure 3 is relatively non-rotatably connected by fixing it through a fixing pin 111 to a small-diameter portion 3a at the right end of the structure 3 and a through-hole portion 101d opened in common in the first connecting member 101 of the first universal joint 14. Yes.

一方、プーリー１２の軸１２ａと第２自在継手１６は、図２Ａ及び図２Ｂにおけるプーリー１２の軸１２ａの左端の小径部１２ｂが第２自在継手１６の第２接続部材１０２の穴部１０２ａに挿入され、プーリー１２の軸１２ａの左端の小径部１２ｂと第２自在継手１６の第２接続部材１０２に共通に開けられた貫通穴部１０２ｄなどに固定ピン１１２を通して固定することにより相対的に回転不可に連結されている。 On the other hand, in the shaft 12a of the pulley 12 and the second universal joint 16, the small diameter portion 12b at the left end of the shaft 12a of the pulley 12 in FIGS. 2A and 2B is inserted into the hole 102a of the second connecting member 102 of the second universal joint 16. The fixed pin 112 is fixed to the small diameter portion 12b at the left end of the shaft 12a of the pulley 12 and the through-hole portion 102d opened in the second connecting member 102 of the second universal joint 16 so as not to rotate relatively. It is connected to.

各アクチュエータを構成する空気圧人工筋は、図４に示すように、ゴム材料で構成された管状弾性体１７の外表面に繊維コードで構成された拘束部材１８が配設され、管状弾性体１７の両端部を封止部材１９でそれぞれ気密封止する構造となっている。流体注入出部材２０を通じて空気等の圧縮性流体を管状弾性体１７内に供給することにより内圧を管状弾性体１７の内部空間に与えると、管状弾性体１７が主に半径方向に膨張しようとするが、拘束部材１８の作用により、管状弾性体１７の中心軸方向の運動に変換され、全長が収縮する。この空気圧人工筋は主に弾性体で構成されるため、柔軟性があり、安全で軽量なアクチュエータであるという特徴を有する。 As shown in FIG. 4, the pneumatic artificial muscle constituting each actuator is provided with a restraining member 18 made of a fiber cord on the outer surface of a tubular elastic body 17 made of a rubber material. Both ends are hermetically sealed with a sealing member 19. When an internal pressure is applied to the internal space of the tubular elastic body 17 by supplying a compressive fluid such as air into the tubular elastic body 17 through the fluid injection member 20, the tubular elastic body 17 tends to expand mainly in the radial direction. However, due to the action of the restraining member 18, the tubular elastic body 17 is converted into a movement in the central axis direction, and the entire length contracts. Since this pneumatic artificial muscle is mainly composed of an elastic body, it has a feature that it is a flexible, safe and lightweight actuator.

図５は空気圧人工筋を駆動するための空気圧供給駆動系の構成を示す図である。図５において、２１は例えばコンプレッサー等の空気圧源、２２は空気圧フィルタ２２ａ、空気圧減圧弁２２ｂ、及び空気圧用ルブリケータ２２ｃが１組になった空気圧調整ユニットである。２３は例えば電磁石の力でスプール弁などを駆動することで流量を制御する５ポート流量制御電磁弁である。２４は例えば一般的なパーソナルコンピュータにより構成された制御コンピュータであり、Ｄ／Ａボード２４ａが搭載されており、５ポート流量制御電磁弁２３に電圧指令値を出力することにより、それぞれの流体注入出部材２０を流れるそれぞれの空気の流量を制御可能とする。 FIG. 5 is a diagram showing a configuration of an air pressure supply drive system for driving the pneumatic artificial muscle. In FIG. 5, 21 is an air pressure source such as a compressor, and 22 is an air pressure adjusting unit in which an air pressure filter 22a, an air pressure reducing valve 22b, and an air pressure lubricator 22c are combined. Reference numeral 23 denotes a 5-port flow rate control electromagnetic valve that controls the flow rate by driving a spool valve or the like with the force of an electromagnet, for example. Reference numeral 24 denotes a control computer constituted by, for example, a general personal computer, which is equipped with a D / A board 24a, and outputs a voltage command value to the five-port flow control solenoid valve 23, thereby allowing each fluid injection / discharge The flow rate of each air flowing through the member 20 can be controlled.

図５に示す空気圧供給駆動系によれば、空気圧源２１により生成された高圧空気は、空気圧調整ユニット２２により減圧され、例えば６００ｋＰａといった一定圧力に調整され、５ポート流量制御電磁弁２３に供給される。５ポート流量制御電磁弁２３の開度は、制御コンピュータ２４よりＤ／Ａボード２４ａを介して出力される電圧指令値に比例して制御される。５ポート流量制御電磁弁２３には、一対の空気圧人工筋２０１−３ａ，２０１−３ｂの管状弾性体１７の流体注入出部材２０がそれぞれ接続されている。一対の空気圧人工筋２０１−３ａ，２０１−３ｂは支持棒２０３沿いに大略平行に配置され、それぞれの管状弾性体１７の流体注入出部材２０側の端部が、支持棒２０３の端部に固定された支持板２０２に固定されている。一対の空気圧人工筋２０１−３ａ，２０１−３ｂの管状弾性体１７の他方の端部側には、支持棒２０３に回転関節軸２００で回転自在に支持されたＴ字状の回動部材２０４が支持され、この回動部材２０４に一対の空気圧人工筋２０１−３ａ，２０１−３ｂの管状弾性体１７の他方の端部が回転自在に支持されている。したがって、以下に述べるように、一対の空気圧人工筋２０１−３ａ，２０１−３ｂのそれぞれの管状弾性体１７が伸縮することにより、回動部材２０４が回転関節軸２００回りに正逆回転駆動される。 According to the air pressure supply drive system shown in FIG. 5, the high-pressure air generated by the air pressure source 21 is decompressed by the air pressure adjusting unit 22, adjusted to a constant pressure of, for example, 600 kPa, and supplied to the 5-port flow control electromagnetic valve 23. The The opening degree of the 5-port flow rate control electromagnetic valve 23 is controlled in proportion to the voltage command value output from the control computer 24 via the D / A board 24a. The 5-port flow rate control solenoid valve 23 is connected to the fluid injection member 20 of the tubular elastic body 17 of the pair of pneumatic artificial muscles 201-3a and 201-3b. The pair of pneumatic artificial muscles 201-3a and 201-3b are arranged substantially parallel along the support rod 203, and the end of each tubular elastic body 17 on the fluid injection member 20 side is fixed to the end of the support rod 203. The support plate 202 is fixed. On the other end side of the tubular elastic body 17 of the pair of pneumatic artificial muscles 201-3a and 201-3b, a T-shaped rotating member 204 supported rotatably on the rotary joint shaft 200 by the support rod 203 is provided. The other end of the tubular elastic body 17 of the pair of pneumatic artificial muscles 201-3a and 201-3b is rotatably supported by the rotating member 204. Therefore, as described below, the tubular elastic body 17 of each of the pair of pneumatic artificial muscles 201-3a and 201-3b expands and contracts, so that the rotating member 204 is driven to rotate forward and backward around the rotary joint axis 200. .

制御コンピュータ２４より正の電圧指令値がＤ／Ａボード２４ａから５ポート流量制御電磁弁２３に入力された場合には、図５に示すように空気圧回路記号のＡで示した状態になり、空気圧源２１側から空気圧人工筋２０１−３ａの管状弾性体１７の流体注入出部材２０側への流路が５ポート流量制御電磁弁２３を介して開通し、電圧指令値の絶対値に比例した流量の空気が空気圧人工筋側に供給される。また、空気圧人工筋２０１−３ｂ側は、管状弾性体１７の流体注入出部材２０から大気圧側への流路が５ポート流量制御電磁弁２３を介して開通し、電圧指令値の絶対値に比例した流量の空気流が空気圧人工筋２０１−３ｂ側から大気中へ排気される。したがって、図５に示すように、空気圧人工筋２０１−３ａの全長が縮み、空気圧人工筋２０１−３ｂの全長が伸びることにより、電圧指令値の絶対値に比例した速度で関節軸２００は矢印で示されるように右回転運動を行う。 When a positive voltage command value is input from the D / A board 24a to the 5-port flow control solenoid valve 23 from the control computer 24, the state shown by A of the pneumatic circuit symbol is obtained as shown in FIG. A flow path from the source 21 side to the fluid injecting member 20 side of the tubular elastic body 17 of the pneumatic artificial muscle 201-3a is opened through the 5-port flow rate control electromagnetic valve 23, and the flow rate is proportional to the absolute value of the voltage command value. Air is supplied to the pneumatic artificial muscle side. On the pneumatic artificial muscle 201-3b side, the flow path from the fluid injection member 20 of the tubular elastic body 17 to the atmospheric pressure side is opened via the 5-port flow control electromagnetic valve 23, and the absolute value of the voltage command value is set. A proportional air flow is exhausted from the pneumatic artificial muscle 201-3b side to the atmosphere. Therefore, as shown in FIG. 5, the total length of the pneumatic artificial muscle 201-3a is reduced and the total length of the pneumatic artificial muscle 201-3b is extended, so that the joint shaft 200 is indicated by an arrow at a speed proportional to the absolute value of the voltage command value. Perform a clockwise rotation as shown.

一方、制御コンピュータ２４より負の電圧指令値がＤ／Ａボード２４ａから５ポート流量制御電磁弁２３に入力された場合には、５ポート流量制御電磁弁２３が切り替えられて、空気圧回路記号のＢで示した状態になり、空気圧人工筋２０１−３ａの動作は逆となり、関節軸２００は左回転運動を行う。すなわち、空気圧源２１側から空気圧人工筋２０１−３ｂの管状弾性体１７の流体注入出部材２０側への流路が５ポート流量制御電磁弁２３を介して開通し、電圧指令値の絶対値に比例した流量の空気が空気圧人工筋側に供給される。また、空気圧人工筋２０１−３ａ側は、管状弾性体１７の流体注入出部材２０から大気圧側への流路が５ポート流量制御電磁弁２３を介して開通し、電圧指令値の絶対値に比例した流量の空気流が空気圧人工筋２０１−３ａ側から大気中へ排気される。したがって、空気圧人工筋２０１−３ｂの全長が縮み、空気圧人工筋２０１−３ａの全長が伸びることにより、電圧指令値の絶対値に比例した速度で関節軸２００は矢印とは逆方向で示される左回転運動を行う。 On the other hand, when a negative voltage command value is input from the D / A board 24a to the 5-port flow control solenoid valve 23 from the control computer 24, the 5-port flow control solenoid valve 23 is switched, and the pneumatic circuit symbol B , The operation of the pneumatic artificial muscle 201-3a is reversed, and the joint shaft 200 performs the left rotation motion. That is, the flow path from the air pressure source 21 side to the fluid injecting member 20 side of the tubular elastic body 17 of the pneumatic artificial muscle 201-3b is opened via the 5-port flow control electromagnetic valve 23, and the absolute value of the voltage command value is obtained. Proportional air flow is supplied to the pneumatic artificial muscle. On the pneumatic artificial muscle 201-3a side, the flow path from the fluid injection member 20 of the tubular elastic body 17 to the atmospheric pressure side is opened via the 5-port flow control electromagnetic valve 23, and the absolute value of the voltage command value is set. A proportional air flow is exhausted from the pneumatic artificial muscle 201-3a side to the atmosphere. Accordingly, when the total length of the pneumatic artificial muscle 201-3b is reduced and the total length of the pneumatic artificial muscle 201-3a is increased, the joint axis 200 is shown in the direction opposite to the arrow at a speed proportional to the absolute value of the voltage command value. Perform a rotational motion.

以上の構成の２自由度関節駆動機構の動作について説明する。 The operation of the two-degree-of-freedom joint drive mechanism having the above configuration will be described.

図３Ａ，図３Ｂは本発明の第１実施形態における多自由度関節駆動機構の動作をそれぞれ示す図である。図３Ａ，図３Ｂにおいては主要な構成要素のみ記し、他の部分は省略している。 3A and 3B are diagrams respectively showing the operation of the multi-degree-of-freedom joint drive mechanism in the first embodiment of the present invention. In FIG. 3A and FIG. 3B, only the main components are shown, and other parts are omitted.

上記したように、第１直動アクチュエータ群８の４本の第１直動アクチュエータ８−１、８−２、８−３、８−４は、図１Ａの左側の２本の第１直動アクチュエータ８−１、８−２と図１Ａの右側の別の２本の第１直動アクチュエータ８−３、８−４が第１構造体１を挟んで第１回転関節５に関して対向するように回転ジョイント９−１、９−２、９−３、９−４により第２構造体２に接続されている。したがって、図１Ａの左側の２本の第１直動アクチュエータ８−１、８−２が収縮し、図１Ａの右側の別の２本の第１第１直動アクチュエータ８−３、８−４が伸張すれば、図３Ｂに示されるように、第１回転関節５の回転軸５Ｃ回りの時計方向の回転運動が発生する。逆に、図１Ａの左側の２本の第１直動アクチュエータ８−１、８−２が伸張し、図１Ａの右側の別の２本の第１直動アクチュエータ８−３、８−４が収縮すれば、回転運動は逆回転すなわち反時計方向の回転となる。 As described above, the four first linear actuators 8-1, 8-2, 8-3, and 8-4 of the first linear actuator group 8 are the two first linear actuators on the left side of FIG. 1A. The actuators 8-1 and 8-2 and the other two first linear actuators 8-3 and 8-4 on the right side in FIG. 1A are opposed to each other with respect to the first rotary joint 5 with the first structure 1 interposed therebetween. The rotary joints 9-1, 9-2, 9-3, and 9-4 are connected to the second structure 2. Accordingly, the two first linear actuators 8-1 and 8-2 on the left side in FIG. 1A contract and the other two first first linear actuators 8-3 and 8-4 on the right side in FIG. 1A. As shown in FIG. 3B, a clockwise rotational motion around the rotational axis 5C of the first rotary joint 5 is generated. Conversely, the two first linear actuators 8-1 and 8-2 on the left side in FIG. 1A extend, and the other two first linear actuators 8-3 and 8-4 on the right side in FIG. If contracted, the rotational motion is reversed, that is, counterclockwise.

以上のように、第１直動アクチュエータ群８の４本の第１直動アクチュエータ８−１、８−２、８−３、８−４により、第１構造体１と第２構造体２の正逆回転運動が駆動されることにより、第１構造体１と第３構造体３の揺動運動すなわち角度θの運動が駆動される。この角度θは例えば±６０度の範囲内で駆動するのが好ましい。 As described above, the four first linear actuators 8-1, 8-2, 8-3, and 8-4 of the first linear actuator group 8 are used for the first structure 1 and the second structure 2. By driving the forward / reverse rotational motion, the swing motion of the first structure 1 and the third structure 3, that is, the motion of the angle θ is driven. The angle θ is preferably driven within a range of ± 60 degrees, for example.

上記したように、第２直動アクチュエータ群１０は、第２直動アクチュエータ１０−１と第２直動アクチュエータ１０−２がワイヤー１１を介し対向するように配設されている。ワイヤー１１はプーリー１２に掛けられ、第２直動アクチュエータ１０−１が収縮し、第２直動アクチュエータ１０−２が伸張することにより、プーリー１２が回転する。逆に、第２直動アクチュエータ１０−１が伸張し、第２直動アクチュエータ１０−２が収縮することにより、プーリー１２は逆回転する。 As described above, the second linear actuator group 10 is arranged such that the second linear actuator 10-1 and the second linear actuator 10-2 are opposed to each other with the wire 11. The wire 11 is hung on the pulley 12, and the second linear motion actuator 10-1 contracts and the second linear motion actuator 10-2 expands, whereby the pulley 12 rotates. Conversely, when the second linear motion actuator 10-1 expands and the second linear motion actuator 10-2 contracts, the pulley 12 rotates in the reverse direction.

ここで、本発明の第１実施形態の特徴は、第３構造体３が、第１自在継手１４、直動関節１５、第２自在継手１６によりプーリー１２に接続され、第２直動アクチュエータ群１０の第２直動アクチュエータ１０−１、１０−２により、第２構造体２に対する第３構造体３の第２回転関節７の回転軸７Ｃ回りの回転運動φが駆動される点にある。第１自在継手１４、直動関節１５、第２自在継手１６により接続されることにより、第１回転関節５の回転軸５Ｃ回りの回転運動による角度θの変化に関わらず、第１構造体１に姿勢が固定された第２直動アクチュエータ群１０の第２直動アクチュエータ１０−１、１０−２により、第２回転関節７の回転軸７Ｃ回りの回転運動φが駆動可能となる。すなわち、第２回転関節７の回転軸７Ｃ回りの回転運動φを駆動するために第２構造体２にアクチュエータを配設する構造ではないため、関節構造を小型・軽量にすることができる。 Here, the first embodiment of the present invention is characterized in that the third structure 3 is connected to the pulley 12 by the first universal joint 14, the linear motion joint 15, and the second universal joint 16, and the second linear motion actuator group. The ten second linear motion actuators 10-1 and 10-2 drive the rotational motion φ around the rotation axis 7 C of the second rotary joint 7 of the third structure 3 relative to the second structure 2. The first structure 1 is connected by the first universal joint 14, the linear motion joint 15, and the second universal joint 16, regardless of the change in the angle θ due to the rotational movement of the first rotary joint 5 around the rotary shaft 5 C. The second linear motion actuators 10-1 and 10-2 of the second linear motion actuator group 10 whose postures are fixed to each other can drive the rotational motion φ around the rotational axis 7C of the second rotary joint 7. That is, since the actuator is not provided in the second structure 2 in order to drive the rotational motion φ around the rotation axis 7C of the second rotary joint 7, the joint structure can be reduced in size and weight.

また、図６は本２自由度関節駆動機構をロボットアームに応用した場合の例である。図６に示すロボットアームは、第１関節２７、第２関節２８、第３関節２９、第４関節３０、第５関節３１を有する５自由度アームであり、第２関節２８及び第３関節２９部分が本発明の第１実施形態の多自由度関節駆動機構となっている。このようなロボットアーム構造によれば、第１構造体１をアームの根元に近い側のリンク、第３構造体３をアームの先端に近い側のリンクとすることにより、重量物であるアクチュエータがアームの根元に近い側に配設されることになり、アームの動特性が改善され、制御性能の高いロボットアームとすることができる。 FIG. 6 shows an example in which the two-degree-of-freedom joint drive mechanism is applied to a robot arm. The robot arm shown in FIG. 6 is a five-degree-of-freedom arm having a first joint 27, a second joint 28, a third joint 29, a fourth joint 30, and a fifth joint 31, and the second joint 28 and the third joint 29. The portion is the multi-degree-of-freedom joint drive mechanism of the first embodiment of the present invention. According to such a robot arm structure, the first structure 1 is a link closer to the base of the arm, and the third structure 3 is a link closer to the tip of the arm. The robot arm is arranged on the side close to the base of the arm, the arm dynamic characteristics are improved, and a robot arm with high control performance can be obtained.

また、本発明の第１実施形態の多自由度関節駆動機構によれば、第１自在継手１４、直動関節１５、第２自在継手１６が第２構造体２の内側に配設された構造となっているため、可動機構部分が外側に露出することなく、安全性の高い構造となっている。 In addition, according to the multi-degree-of-freedom joint drive mechanism of the first embodiment of the present invention, the first universal joint 14, the linear motion joint 15, and the second universal joint 16 are disposed inside the second structure 2. Therefore, the movable mechanism portion is not exposed to the outside and has a highly safe structure.

また、本発明の第１実施形態の多自由度関節駆動機構によれば、動力伝達機構として歯車ではなく、第１自在継手１４、直動関節１５、第２自在継手１６といった耐衝撃性の強い剛結合的機構により駆動されるため、空気圧人工筋や空気圧シリンダ等の柔軟なアクチュエータと併用することにより、柔軟で耐衝撃性の強い構造を容易に構成することができる。 Further, according to the multi-degree-of-freedom joint drive mechanism of the first embodiment of the present invention, the power transmission mechanism is not a gear but a strong impact resistance such as the first universal joint 14, the direct acting joint 15, and the second universal joint 16. Since it is driven by a rigidly coupled mechanism, a flexible and highly shock-resistant structure can be easily constructed by using it together with a flexible actuator such as a pneumatic artificial muscle or a pneumatic cylinder.

また、本発明の第１実施形態の多自由度関節駆動機構によれば、動力伝達機構として摩擦の大きい歯車ではなく、ベアリング１３，４−１、４−２により保持された第１自在継手１４、直動関節１５、第２自在継手１６といった摩擦の小さい機構により駆動されるため、空気圧シリンダのような摺動摩擦が存在しない低摩擦な空気圧人工筋と併用することにより、駆動摩擦が少なく制御性の良い多自由度関節駆動機構とすることができる。 In addition, according to the multi-degree-of-freedom joint drive mechanism of the first embodiment of the present invention, the first universal joint 14 held by the bearings 13, 4-1, and 4-2 is used as a power transmission mechanism, not a gear with high friction. Since it is driven by a mechanism with low friction such as the linear motion joint 15 and the second universal joint 16, it can be used with a low-friction pneumatic artificial muscle that does not have sliding friction such as a pneumatic cylinder. A multi-degree-of-freedom joint drive mechanism.

（第２実施形態）
図７は本発明の第２実施形態における多自由度関節駆動機構の構造を示す断面図である。図７の多自由度関節駆動機構は、図２Ａに示した第１実施形態と比べ、自在継手と直動関節１５の接続の順序が異なる。第２実施形態では、第３構造体３に第１自在継手１４が接続され、第１自在継手１４に第２自在継手１６が接続され、第２自在継手１６が直動関節１５に接続される構成となっている。他の構成は第１実施形態の場合と同様であるので説明は省略する。 (Second Embodiment)
FIG. 7 is a sectional view showing the structure of the multi-degree-of-freedom joint drive mechanism in the second embodiment of the present invention. The multi-degree-of-freedom joint drive mechanism in FIG. 7 differs from the first embodiment shown in FIG. 2A in the order of connection between the universal joint and the linear motion joint 15. In the second embodiment, the first universal joint 14 is connected to the third structure 3, the second universal joint 16 is connected to the first universal joint 14, and the second universal joint 16 is connected to the linear motion joint 15. It has a configuration. Other configurations are the same as in the case of the first embodiment, and a description thereof will be omitted.

以上の構成の場合でも、第１回転関節５の角度変化による第２回転関節７の回転軸７Ｃの揺動角度θの変化を第１自在継手１４及び第２自在継手１６が吸収し、揺動角度θの変化に伴う第２自在継手１６とプーリー１２間の距離の変化を直動関節１５が吸収するため、同様の効果を発揮する。 Even in the case of the above configuration, the first universal joint 14 and the second universal joint 16 absorb the change in the swing angle θ of the rotary shaft 7C of the second rotary joint 7 due to the change in the angle of the first rotary joint 5 and swing. Since the linear motion joint 15 absorbs the change in the distance between the second universal joint 16 and the pulley 12 due to the change in the angle θ, the same effect is exhibited.

なお、上記の実施形態では、直動アクチュエータを空気圧人工筋としたが、これに限られるわけではなく、空圧シリンダ、油圧シリンダや電動リニアアクチュエータ等、その他の直動アクチュエータでも同様の効果を発揮する。 In the above-described embodiment, the linear motion actuator is a pneumatic artificial muscle. However, the present invention is not limited to this, and other linear motion actuators such as a pneumatic cylinder, a hydraulic cylinder, and an electric linear actuator also exhibit the same effect. To do.

また、上記の実施形態では、第２直動アクチュエータ群１０により、ワイヤー１１とプーリー１２を介し第１自在継手１４を駆動する構成としたが、これに限られるわけではなく、第１アクチュエータ群８と同様にリンク−ジョイント機構により駆動する構成でも同様の効果を発揮する。 In the above embodiment, the first universal joint 14 is driven by the second linear actuator group 10 via the wire 11 and the pulley 12. However, the present invention is not limited to this, and the first actuator group 8 is not limited thereto. The same effect can be achieved with a structure driven by a link-joint mechanism in the same manner as described above.

なお、上記様々な実施形態のうちの任意の実施形態を適宜組み合わせることにより、それぞれの有する効果を奏するようにすることができる。 It is to be noted that, by appropriately combining arbitrary embodiments of the various embodiments described above, the effects possessed by them can be produced.

本発明の多自由度関節駆動機構は、多関節ロボットアームの関節駆動機構として有用である。また、ロボットアームに限らず、生産設備等における回転機構のための関節駆動機構等、機械装置の関節駆動機構として適用が可能である。 The multi-degree-of-freedom joint drive mechanism of the present invention is useful as a joint drive mechanism of a multi-joint robot arm. Further, the present invention is not limited to a robot arm, and can be applied as a joint drive mechanism of a mechanical device such as a joint drive mechanism for a rotation mechanism in a production facility or the like.

本発明の第１実施形態における多自由度関節駆動機構の構造の大略全体を示す平面図である。It is a top view which shows the substantially whole structure of the structure of the multi-degree-of-freedom joint drive mechanism in 1st Embodiment of this invention. 本発明の第１実施形態における多自由度関節駆動機構の構造の大略全体を示す底面図である。It is a bottom view which shows the whole structure of the multi-degree-of-freedom joint drive mechanism in 1st Embodiment of this invention. 本発明の第１実施形態における多自由度関節駆動機構の構造を示す図１ＡのＡ−Ａ線の断面図である。It is sectional drawing of the AA line of FIG. 1A which shows the structure of the multi-degree-of-freedom joint drive mechanism in 1st Embodiment of this invention. 図２Ａの部分拡大断面図である。It is a partial expanded sectional view of Drawing 2A. 本発明の第１実施形態における多自由度関節駆動機構の第１自在継手と直動関節の斜視図である。It is a perspective view of the 1st universal joint and linear motion joint of the multi-degree-of-freedom joint drive mechanism in a 1st embodiment of the present invention. 本発明の第１実施形態における多自由度関節駆動機構の動作を示す図である。It is a figure which shows operation | movement of the multi-degree-of-freedom joint drive mechanism in 1st Embodiment of this invention. 本発明の第１実施形態における多自由度関節駆動機構の動作を示す図である。It is a figure which shows operation | movement of the multi-degree-of-freedom joint drive mechanism in 1st Embodiment of this invention. 空気圧人工筋の構造を示す図である。It is a figure which shows the structure of a pneumatic artificial muscle. 上記空気圧人工筋を駆動するための空気圧供給駆動系の構成を示す図である。It is a figure which shows the structure of the air pressure supply drive system for driving the said pneumatic artificial muscle. 本発明の第１実施形態における多自由度関節駆動機構を応用したロボットアームの構造を示す図である。It is a figure which shows the structure of the robot arm which applied the multi-degree-of-freedom joint drive mechanism in 1st Embodiment of this invention. 本発明の第２実施形態における多自由度関節駆動機構の構造を示す断面図である。It is sectional drawing which shows the structure of the multi-degree-of-freedom joint drive mechanism in 2nd Embodiment of this invention.

Explanation of symbols

１第１構造体
１ａ二股部
１ｂ貫通穴
２第２構造体
２Ａ連結ピン
２ａ二股部
２ｂ貫通穴
３第３構造体
４−１、４−２ベアリング
５第１回転関節
５Ｃ第１回転関節の回転軸
６−１、６−２ベアリング
７第２回転関節
７Ｃ第２回転関節の回転軸
８第１直動アクチュエータ群
８−１、８−２、８−３、８−４第１直動アクチュエータ
９−１、９−２、９−３、９−４ジョイント
１０第２直動アクチュエータ群
１０−１、１０−２第２直動アクチュエータ
１１ワイヤー
１２プーリー
１２ａ軸
１２ｂ小径部
１３ベアリング
１４第１自在継手
１５直動関節
１６第２自在継手
１７管状弾性体
１８拘束部材
１９封止部材
２０流体注入出部材
２１空気圧源
２２空気圧調整ユニット
２２ａ空気圧フィルタ
２２ｂ空気圧減圧弁
２２ｃ空気圧用ルブリケータ
２３５ポート流量制御電磁弁
２４制御コンピュータ
２４ａＤ／Ａボード
２７第１関節
２８第２関節
２９第３関節
３０第４関節
３１第５関節
１０１第１接続部材
１０１ａ穴
１０１ｂ突出連結部
１０１ｃ嵌合穴
１０１ｄ貫通穴部
１０２第２接続部材
１０２ａ穴
１０２ｂ突出連結部
１０２ｃ嵌合穴
１０２ｄ貫通穴部
１０３ａ，１０３ｂ，１０３ｃ，１０３ｄ回転ピン
１０４回転ピン保持部材
１０５第１回転軸
１０６第２回転軸
１０７連結部材
１０７ａ切欠溝
１０９、１１０、１１１、１１２固定ピン
２００関節軸
２０１−３ａ, ２０１−３ｂ空気圧人工筋
２０２支持板
２０３支持棒
２０４回動部材
DESCRIPTION OF SYMBOLS 1 1st structure 1a Bifurcated part 1b Through-hole 2 2nd structure 2A Connection pin 2a Bifurcated part 2b Through-hole 3 3rd structure 4-1, 4-2 Bearing 5 1st rotation joint 5C 1st rotation joint rotation Axis 6-1, 6-2 Bearing 7 Second rotary joint 7C Rotary axis of second rotary joint 8 First linear actuator group 8-1, 8-2, 8-3, 8-4 First linear actuator 9 -1, 9-2, 9-3, 9-4 Joint 10 Second linear actuator group 10-1, 10-2 Second linear actuator 11 Wire 12 Pulley 12a Shaft 12b Small diameter portion 13 Bearing 14 First universal joint DESCRIPTION OF SYMBOLS 15 Linear motion joint 16 2nd universal joint 17 Tubular elastic body 18 Restraint member 19 Sealing member 20 Fluid injection member 21 Air pressure source 22 Air pressure adjustment unit 22a Air pressure filter 22b Air Pressure reducing valve 22c Pneumatic lubricator 23 5-port flow control solenoid valve 24 Control computer 24a D / A board 27 First joint 28 Second joint 29 Third joint 30 Fourth joint 31 Fifth joint 101 First connecting member 101a Hole 101b Projection Connecting portion 101c Fitting hole 101d Through-hole portion 102 Second connecting member 102a Hole 102b Protruding connecting portion 102c Fitting hole 102d Through-hole portion 103a, 103b, 103c, 103d Rotating pin 104 Rotating pin holding member 105 First rotating shaft 106 First Two rotating shafts 107 Connecting member 107a Notch groove 109, 110, 111, 112 Fixing pin 200 Joint shaft 201-3a, 201-3b Pneumatic artificial muscle 202 Support plate 203 Support rod 204 Rotating member

Claims

A first structure (1);
A first rotary joint (5) disposed in the first structure;
A second structure (2) connected rotatably with respect to the first structure by the first rotary joint;
A second rotary joint (7) disposed in the second structure, the first rotary joint and a rotation axis being substantially orthogonal;
A third structure (3) connected rotatably with the second structure by the second rotary joint;
One end is connected to the first structure and the other end is connected to the second structure. The first rotary joint is driven to relatively rotate the first structure and the second structure. A first driving device (8-1, 8-2, 8-3, 8-4)
A first universal joint (14) connected to the third structure;
A direct acting joint (15) connected to the first universal joint so as not to rotate relative to the first universal joint;
A second universal joint (16) connected to the linear motion joint so as not to rotate relative thereto;
One end is connected to the first structure and the other end is connected to the second universal joint so that the second rotary joint is driven to make the second structure and the third structure relative to each other. A multi-degree-of-freedom joint drive mechanism having a second drive device (10-1, 10-2) that is rotated in an automatic manner.

A first structure (1);
A first rotary joint (5) disposed in the first structure;
A second structure (2) connected rotatably with respect to the first structure by the first rotary joint;
A second rotary joint (7) disposed in the second structure, the first rotary joint and a rotation axis being substantially orthogonal;
A third structure (3) connected rotatably with the second structure by the second rotary joint;
One end is connected to the first structure and the other end is connected to the second structure. The first rotary joint is driven to relatively rotate the first structure and the second structure. A first driving device (8-1, 8-2, 8-3, 8-4)
A first universal joint (14) connected to the third structure;
A second universal joint (16) connected to the first universal joint so as not to rotate relative to the first universal joint;
A direct acting joint (15) connected to the second universal joint so as not to rotate relative to the second universal joint;
One end is connected to the first structure, and the other end is connected to the linear joint, thereby driving the second rotary joint to relatively connect the second structure and the third structure. A multi-degree-of-freedom joint drive mechanism having a second drive device (10-1, 10-2) to be rotated.

The multi-degree-of-freedom joint drive mechanism according to claim 1, wherein the first drive device is a linear motion actuator.

The multi-degree-of-freedom joint drive mechanism according to claim 1, wherein the second drive device is a linear motion actuator.

3. The multi-degree-of-freedom joint according to claim 1, wherein at least one of the first universal joint, the linear motion joint, or the second universal joint is disposed in the second structure. Drive mechanism.