JP2007015029A - Manipulator and articulated driving mechanism - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a manipulator and an articulated driving mechanism, using the respective arms as a gripper not to obstruct the operation of each arm. <P>SOLUTION: When the joint angle of a first frame 1 is a turning angle of -90°, the tip of a first projecting pawl C1 and the tip of a second projecting pawl C2 overlap each other, and when the joint angle of the first frame 1 is turned in the negative rotating direction from the turning angle of -90°, the tip of the first projecting pawl C1 and the tip of the second projecting pawl C2 are separated from each other to fulfill a function of a gripper AG. Thus, the articulated driving mechanism R is used for normal motion until the joint angle of the first frame 1 reaches the turning angle of -90°, and when the joint angle of the first frame 1 is turned in the negative rotating direction from the turning angle -90°, it enters a gripper mode to fulfill the function of the gripper AG. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a manipulator having a joint and a multi-joint drive mechanism.

  There exists a thing of patent document 1 as this kind of manipulator. Here, a plurality of arms are connected via respective joints, and when each arm is driven, the angle between the mutually connected arms is maintained at a predetermined narrow angle or more, and the arms are connected to each other. The arm of the worker is not caught.

Non-Patent Document 1 discloses a study of grasping an object using each leg as an operation of a four-legged work mobile robot.
Japanese Patent Laid-Open No. 11-123690 Toru Ogura, Kazuo Tsukakoshi, Osamu Mori, “Manipulation of objects using the whole body by a four-legged mobile robot: Avoiding singular postures with increased degrees of freedom”, Journal of the Robotics Society of Japan, Vol.20, No.7, 734-741. 2002)

  By the way, if the manipulator of Patent Document 1 is provided with a gripper, the gripper is specially attached to the most distal arm. In addition, although the four-legged work mobile robot of Non-Patent Document 1 can be said to be a gripper itself, the gripper function uses a plurality of legs, and therefore cannot be moved while using the gripper function. There is a restriction that cannot be used simultaneously.

  Therefore, if both an arm and a gripper are required, it is necessary to provide an arm mechanism and a gripper mechanism and to control these mechanisms separately.

  On the other hand, the inventors of the present invention have noticed that if the angle between the arms as in Patent Document 1 is sufficiently narrowed by changing the way of viewing, it becomes close to the function of a gripper for sandwiching objects. If each arm can be used as a gripper in this way, it has been inferred that a gripper can be realized only by the mechanism of the arm.

  However, there has never been a technical idea of using each arm as a gripper in this way. In addition, a configuration in which each arm can be used as a gripper is also required so as not to hinder the operation of each arm.

  Therefore, the present invention has been made in view of the above-described conventional problems, and a manipulator and a multi-joint that can use each arm also as a gripper so as not to hinder the operation of each arm. An object is to provide a drive mechanism.

  In order to solve the above problems, a manipulator of the present invention has a first frame on which a tip effector is mounted, and a second frame rotatably connected to the first frame via a rotation shaft, The first frame is provided with a first protrusion, and the second frame is provided with a second protrusion. When the rotation angle of the first frame with respect to the second frame is within a specified rotation angle range, The protrusion and the second protrusion constitute a gripper.

  In such a configuration, the rotation angle between the first protrusion and the second protrusion changes as the rotation angle of the first frame relative to the second frame changes. When the rotation angle of the first frame with respect to the second frame is within a specified rotation angle range, a gap is formed between the first protrusion and the second protrusion, and the first protrusion and the second protrusion It becomes a gripper to sandwich.

  In the present invention, one of the first and second protrusions has a shape for storing and enclosing the other. Alternatively, one of the first and second protrusions has a shape stored and enclosed in the other.

  Thereby, since at least one of the first and second projecting portions does not protrude unnecessarily, there is no gap constituting the gripper, and other objects are not accidentally sandwiched.

  Preferably, when the rotation angle of the first frame with respect to the second frame is in a rotation angle range other than the specified rotation angle range, the first protrusion is stored in a shape that surrounds the second protrusion. Is good. Alternatively, when the rotation angle of the first frame relative to the second frame is in a rotation angle range other than the specified rotation angle range, the second protrusion is stored in a shape that surrounds the first protrusion. Is good.

  Thereby, except when the first projecting portion and the second projecting portion become a gripper sandwiching an object, at least one of the first and second projecting portions does not protrude unnecessarily, so there is no gap constituting the gripper, It won't accidentally pinch other objects.

  Specifically, the enclosing shape of the first or second protrusion includes a substantially fan-shaped range centering on the rotation axis of the first frame. Or The enclosed shape of the first or second protrusion includes a substantially fan-shaped range centering on the rotation axis of the first frame.

  In this case, at least one of the first and second protrusions is enclosed or enclosed within a sector shape.

  In the present invention, the second frame is provided with another rotating shaft parallel to the rotating shaft of the first frame, and the second protrusion is rotatably supported by the other rotating shaft.

  In this case, not only the rotation angle between the first protrusion and the second protrusion changes as the rotation angle of the first frame relative to the second frame changes, but also the second protrusion rotates to An object can be sandwiched between the first protrusion and the second protrusion.

  Furthermore, the first and second protrusions have the tips of the first and second protrusions equidistant from the respective rotation axes, and an intermediate plane that is equidistant from the respective rotation axes serves as a symmetry plane. May be driven symmetrically.

  As a result, the first protrusion and the second protrusion operate symmetrically, and the first protrusion and the second protrusion serve well as a gripper.

  Further, when the rotation angle of the first frame with respect to the second frame is in a rotation angle range other than the specified rotation angle range, the second protrusion is overlapped with the second frame and the first protrusion. Thus, it is desirable that the second protrusions are not protruded. As a result, the second protrusion does not protrude unnecessarily except when the first protrusion and the second protrusion become grippers that sandwich the object, so that other objects are not accidentally sandwiched.

  The second protrusion is interlocked by transmitting the rotation of the first frame relative to the second frame via a power transmission mechanism. The power transmission mechanism is a combination of a wire and a pulley. The power transmission mechanism is a combination of a belt and a pulley. Alternatively, the power transmission mechanism includes a gear.

  In the present invention, when the rotation angle of the first frame with respect to the second frame is within the specified rotation angle range, the tip effector of the first frame is housed in the second frame.

  In this case, when the first protrusion and the second protrusion become a gripper that sandwiches an object, the tip effector of the first frame is housed in the second frame, and the tip effector protrudes wastefully. There is no such thing as getting caught on other things.

  In the present invention, the tip effector of the first frame is connected to the first frame via another rotating shaft in a direction orthogonal to the rotating shaft of the first frame.

  Thereby, the freedom degree of a tip effector increases and the freedom degree of the whole manipulator also increases.

  Next, the multi-joint drive mechanism of the present invention includes the above-described manipulator of the present invention, and the rotation axis of the first frame in the manipulator as a second rotation axis. And a third frame that is rotatably connected via a third rotation shaft that is oriented orthogonally.

  In such a configuration, the third frame is rotatably connected to the second frame of the manipulator of the present invention, and the degree of freedom is increased.

  For example, the tip effector of the first frame in the manipulator is connected to the first frame via a first rotation shaft in a direction orthogonal to the second rotation shaft, and the first rotation shaft and the second rotation The shaft and the third rotating shaft are arranged in directions orthogonal to each other, and the second rotating shaft is arranged second from the tip end side of the manipulator among the rotating shafts.

  Such an articulated drive mechanism has a unique posture. In this singular posture, the solution of the inverse kinematic calculation for obtaining the joint angle from the tip position of the multi-joint mechanism is indefinite, and therefore, the singular posture is generally not used as the movable range of the multi-joint mechanism.

  Therefore, the prescribed rotation angle range in the manipulator is assigned around the joint origin of the first frame and outside the singular point angle where the multi-joint drive mechanism assumes a singular posture, and the rotation angle range other than the prescribed rotation angle range. The multi-joint drive mechanism is assigned to the inside of the singular point angle that does not assume a singular posture.

  According to the present invention as described above, the first protrusion of the first frame and the second protrusion of the second frame serve as a gripper that sandwiches an object. Therefore, the gripper can be used without adding a special mechanism or control such as an actuator. Can be added. Therefore, compared with the case where a special mechanism such as an actuator is added, the weight and the structure can be simplified by the mechanism and the control circuit of the actuator and the like. In addition, the performance of the manipulator or the multi-joint drive mechanism is improved. Furthermore, the first and second protrusions do not interfere with the rotation operation between the first frame and the second frame by devising the accommodation of the first and second protrusions.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
<First Embodiment>
FIG. 1 is a perspective view showing a first embodiment of the articulated drive mechanism of the present invention. FIG. 2 is a side view showing the multi-joint drive mechanism of the present embodiment.

  In the multi-joint drive mechanism R of the present embodiment, the tip effector T, the first frame 1 and the second frame 2 are referred to as a manipulator M. The multi-joint drive mechanism R includes a manipulator M, a third frame 3, and the like.

  The tip effector T may be any of a gripper, a welding gun, an inspection camera, and the like. The tip effector T is rotatably connected to the first frame 1 via the first rotating shaft 11. The first frame 1 is rotatably connected to the second frame 2 via the second rotating shaft 12. Further, the second frame 2 is rotatably connected to the third frame 3 via a third rotating shaft 13. Therefore, the multi-joint drive mechanism R has at least three orthogonal degrees of freedom.

  The tip effector T is rotationally driven around the first rotation shaft 11 by a drive mechanism built in the first frame 1. The first frame 1 is rotationally driven around the second rotation shaft 12 by a drive mechanism built in the second frame 2. The second frame 2 is rotationally driven around the third rotation shaft 13 by a drive mechanism built in the third frame 3.

  In the present embodiment, details of the drive mechanism of the tip effector T, the first and second frames 1 and 2 are not shown, but a drive mechanism formed by combining a motor, a gear, a pulley, a link, and the like. Any drive mechanism can be used.

  As shown in FIGS. 1 and 2, the tip effector T, the first frame 1, and the second frame 2 are arranged in a straight line, and the first rotating shaft 11, the second rotating shaft 12, and the third rotating shaft 13 are arranged. When the directions are orthogonal to each other, a rotation angle around the second rotation axis 12 of the first frame 1 with respect to the second frame 2 (hereinafter referred to as a joint angle of the first frame 1) is set to a basic angle of 0 °. Further, the rotation direction of the first frame 1 is the forward rotation direction when the tip effector T faces downward as shown in FIG. 3B, and the tip effector T is upward as shown in FIG. 3A. The direction to face is the negative rotation direction.

  The tip effector T is used when the joint angle of the first frame 1 is in the range from the basic angle 0 ° in FIG. 2 to the rotation angle + 90 ° in the positive rotation direction in FIG. Similarly, the tip effector T is also used when the joint angle of the first frame 1 is in the range from the basic angle 0 ° in FIG. 2 to the rotation angle −90 ° in the negative rotation direction in FIG. . For example, when the tip effector T is a gripper, a handling operation is performed, and when the tip effector T is a welding gun, a welding operation is performed.

  On the other hand, the first frame 1 is provided with a first protrusion claw C1. The second frame 2 is provided with a second protrusion claw C2.

  The second frame 2 has two side plates 2a that draw a substantially fan shape around the second rotation shaft 12, and the lower portion of each side plate 2a protrudes to form a second protruding claw C2. When the joint angle of the first frame 1 is in the range from the basic angle 0 ° to the rotation angle −90 °, the first projection claw C1 of the first frame 1 does not interfere with the second frame 2 and the second frame 2 Between the side plates 2a. Further, until the middle of the process in which the joint angle of the first frame 1 changes from the basic angle 0 ° to the rotation angle + 90 °, the first protrusion claw C1 of the first frame 1 is between the side plates 2a of the second frame 2. It is stored in. Furthermore, the directions of the tip effector T and the second protrusion claw C2 are always opposite. For this reason, when the rotation angle of the first frame 1 is in the range from the rotation angle −90 ° to + 90 ° and the tip effector T is used, the first protrusion claw C1 of the first frame 1 is connected to the tip effector T. The first projecting claw C1 of the first frame 1 is not caught by other objects in the vicinity of the tip effector T.

  Further, as shown in FIG. 4, when the joint angle of the first frame 1 is further in the negative rotation direction than the rotation angle −90 °, the first projecting claws C <b> 1 of the first frame 1 are connected to the side plates 2 a of the second frame 2. The gripper AG is composed of the first protrusion claw C1 of the first frame 1 and the second protrusion claw C2 of the second frame 2. A state in which the first frame 1 rotates in the negative rotation direction further than the rotation angle −90 ° is referred to as a gripper mode.

  In this gripper mode, the opening / closing angle of the gripper AG is controlled by changing the joint angle of the first frame 1. Accordingly, the gripper AG is driven by a drive mechanism built in the second frame 2 in the same manner as the first frame 1. The gripper AG itself is controlled to move by a joint mechanism having at least one degree of freedom, which is the third rotation shaft 13 of the third frame 3.

  By the way, since the multi-joint drive mechanism R has three orthogonal degrees of freedom composed of the first to third rotating shafts 11 to 13 oriented in directions orthogonal to each other, the joint angle of the first frame 1 is the rotation angle −90 ° ( When it becomes (singular point angle), it becomes a singular posture. In this singular posture, the solution of the inverse kinematic calculation for obtaining the joint angle (the rotation angle of the first to third rotating shafts 11 to 13) from the tip position of the multi-joint drive mechanism R becomes indefinite. For this reason, this unique posture is generally outside the range of motion of the joint and is not used in the normal motion mode of the multi-joint drive mechanism R.

  In the multi-joint drive mechanism R of the present embodiment, the joint angle range of the first frame 1 beyond −90 °, which is a peculiar posture when viewed from the basic angle 0 ° in FIG. 2, is used as the movable range in the gripper mode. When the joint angle of the first frame 1 is the rotation angle −90 °, the tip of the first projection claw C1 and the tip of the second projection claw C2 overlap each other, and the joint angle of the first frame 1 is the rotation angle −90. When the rotation direction is more negative than 0 °, the tip of the first projection claw C1 and the tip of the second projection claw C2 are separated from each other, and the function of the gripper AG is performed.

  Therefore, until the joint angle of the first frame 1 reaches the rotation angle of −90 °, that is, until immediately before the specific posture of the multi-joint drive mechanism R, the multi-joint drive mechanism R is used for normal motion. When the joint angle becomes a negative rotation direction with respect to the rotation angle of −90 °, that is, when the multi-joint drive mechanism R is in a posture exceeding the specific posture, the gripper mode is achieved and the function of the gripper AG is performed. For this reason, the movable range of the gripper AG in the gripper mode can be obtained without narrowing the movable range of the multi-joint drive mechanism R in the normal motion mode.

  Regarding the gripper AG of the multi-joint drive mechanism R of the present embodiment, the following usage can be considered.

  First, when the tip effector T is not a gripper but a welding gun, an inspection camera, or the like, the gripping object can be moved using the gripper AG.

Further, when the tip effector T is a gripper, two gripping objects can be carried at a time by the following procedure. First, the first object to be grasped is grasped by the tip effector T, and in this state, the joint angle of the first frame 1 is rotated in the negative rotation direction from the rotation angle of −90 ° to shift to the gripper mode. Further, the joint angle of the first frame 1 is controlled to open and close the gripper AG composed of the first protrusion claw C1 and the second protrusion claw C2, and the second gripping object is gripped by the gripper AG. Then, in a state where the two gripping objects are gripped by the tip effector T and the gripper AG, the joint of the third rotating shaft 13 of the second frame 2 and the other joint at the rear stage of the joint are controlled to rotate, and the gripper The AG is moved, the gripper AG is opened, and the second gripping object is placed at the target position. Thereafter, the joint angle of the first frame 1 is rotated to the forward rotation direction side from the rotation angle of −90 °, the multi-joint drive mechanism R is shifted to the normal motion mode, and the first rotation shaft 11 of the first frame 1 is moved. And the joint of the third rotating shaft 13 of the second frame 2 are rotationally controlled to place the first grasped object at the target position. Accordingly, two gripping objects can be carried at the same time, and work efficiency is improved. The gripper AG is controlled to move with a smaller number of degrees of freedom than the tip effector T. Therefore, when applied to an articulated drive mechanism having a redundant degree of freedom, in particular, even in the gripper mode in which the degree of freedom is reduced, a sufficient degree of freedom can be given to the movement of the gripper AG, and the effectiveness becomes high.

  As described above, in the multi-joint drive mechanism R of the present embodiment, the first protrusion C1 of the first frame 1 and the second protrusion C2 of the second frame 2 serve as a gripper AG that sandwiches an object. The gripper AG can be added without adding a mechanism or control. Therefore, compared with the case where a special mechanism such as an actuator is added, the weight and the structure can be simplified by the mechanism and the control circuit of the actuator and the like. Further, the performance of the multi-joint drive mechanism R is improved.

  When the tip effector T is a gripper, it is preferable to use the gripper and the gripper AG of the tip effector T with different roles. For example, it is assumed that the gripper of the tip effector T has many degrees of freedom and moves dexterously, whereas the gripper AG can output a larger force than the gripper of the tip effector T. Thereby, the gripper and the gripper AG of the tip effector T can be selectively used according to the object to be grasped. In the multi-joint drive mechanism R that moves under the force of gravity, the gravitational torque with respect to the joint on the base side increases as the load position goes to the tip. For this reason, the gripper AG combined with the joint in the middle of the multi-joint drive mechanism R is less burdensome on the joint on the base side when a large load is supported than the gripper of the tip effector T, and can be operated without difficulty. .

  Further, the first projecting claw C1 of the first frame 1 is accommodated between the side plates 2a of the second frame 2, but the first frame 1 is composed of side plates on both sides. In addition, the second protrusion claw of the second frame 2 may be accommodated between the side plates of the first frame 1.

Further, when the joint angle of the first frame 1 is further in the negative rotation direction than the rotation angle −90 ° and the gripper mode is set, the tip effector T is accommodated between the side plates 2 a of the second frame 2. Similarly, the side plates 2a may be deformed.
Second Embodiment
FIG. 5 is a side view showing a second embodiment of the multi-joint drive mechanism of the present invention. In the articulated drive mechanism RA of the present embodiment, the second projecting claw CC is pivotally supported by the second frame 2 in place of the second projecting claw C2 of the second frame 2 in the articulated drive mechanism R of FIG. Then, the driving pulley P1 is fixed to one end of the second rotating shaft 12 of the first frame 1, the driven pulley P2 is fixed to one end of the rotating shaft 14 of the second protrusion claw CC, and the driving pulley P1 and the driven pulley P2 are fixed. The wire W is crossed over the figure 8 and is bridged.

  The second protrusion claw CC, the drive pulley P1, the driven pulley P2, and the wire W are provided on the side plates 2a on both sides of the second frame 2, respectively.

  The multi-joint drive mechanism RA of this embodiment is similar to the multi-joint drive mechanism R of FIG. 1, where the tip effector T, the first frame 1, and the second frame 2 are the manipulators M. It consists of 3 mags.

  The tip effector T may be any of a gripper, a welding gun, an inspection camera, and the like. The tip effector T, the first frame 1, the second frame 2, and the third frame 3 are connected via a first rotating shaft 11, a second rotating shaft 12, and a third rotating shaft 13. Therefore, the multi-joint drive mechanism R has at least three orthogonal degrees of freedom.

  Also in the present embodiment, the tip effector T, the first frame 1 and the second frame 2 are arranged in a straight line, like the multi-joint drive mechanism R in FIG. When the directions of the third rotation shafts 13 are orthogonal to each other, the joint angle of the first frame 1 is set to a basic angle of 0 °. When the joint angle of the first frame 1 is in the range from the basic angle 0 ° to the rotation angle + 90 ° in the positive rotation direction of FIG. 6B, and from the basic angle 0 ° to the rotation in the negative rotation direction of FIG. The tip effector T is used when the angle is in the range up to -90 °.

  On the other hand, when the first frame 1 rotates around the second rotation shaft 12, the second rotation shaft 12 also rotates, and the drive pulley P1 rotates. The rotation of the drive pulley P1 is transmitted to the driven pulley P2 via the wire W intersecting with the figure 8, and the driven pulley P2, the rotating shaft 14, and the second protrusion claw CC rotate in the reverse direction.

  Further, the rotation shaft 14 of the second projection claw CC is provided in parallel with the second rotation shaft 12 of the first frame 1, and the tip of the first projection claw C1 and the tip of the second projection claw CC are the second rotation shaft 12 and Each exists at an equal distance from the rotating shaft 14. Therefore, if an intermediate plane that is equidistant from the second rotating shaft 12 and the rotating shaft 14 is a symmetrical plane (a plane perpendicular to the paper surface in FIG. 5), the first protruding claws C1 and the second protruding claws CC are symmetrical. Driven symmetrically with respect to the plane.

  The rotation shaft 14 of the second protrusion claw CC of the second frame 2 is at a position offset to the gripper side in the gripper mode. Further, the second frame 2 has a protruding portion H on the non-gripper side (upper side in FIG. 5) in the gripper mode. In order to ensure gripping by the gripper, as described above, the second protrusion claw CC, the drive pulley P1, the driven pulley P2, and the wire W are provided on each side plate 2a on both sides of the second frame 2, respectively. It has been.

  In such a configuration, when the joint angle of the first frame 1 is in the range from the basic angle 0 ° to the rotation angle −90 ° of FIG. The second protrusion claw CC of the frame 2 moves symmetrically, and rotates while maintaining the state where the first protrusion claw C1 and the second protrusion claw CC overlap with each other as shown in FIG. For this reason, neither the tip of the 1st projection claw C1 nor the 2nd projection claw CC protrudes.

  When the joint angle of the first frame 1 changes in the range from the basic angle 0 ° to the rotation angle + 90 ° in FIG. 6B, the rotation shaft 14 of the second protrusion claw CC is in the gripper mode. Since the second frame 2 has an overhanging portion H on the non-gripper side (upper side in FIG. 5) in the gripper mode, the tip of the second protrusion claw CC is moved as shown in FIG. Rotates without protruding to the non-gripper side in gripper mode. And even if the joint angle is moved to the limit of the movable range of the normal motion mode as shown in FIG. 6B, the tip of the second protrusion claw CC does not pop out.

  Therefore, when the rotation angle of the first frame 1 is in the range from the rotation angle −90 ° to + 90 ° and the tip effector T is used, the second protrusion claw CC of the second frame 2 is There is no hindrance to the work, and the second projecting claw CC of the second frame 2 is not caught by other objects near the tip effector T.

  In FIGS. 6A and 6B, the driving pulley P1, the driven pulley P2, and the wire W are omitted.

  In the gripper AG1 of the present embodiment, the first protrusion claw C1 and the second protrusion claw CC are opened and closed symmetrically as shown in FIG. 7, and the opening angle is easily increased. Thereby, the gripper excellent in usability can be provided.

  In the normal motion mode, the manipulator M performs work using the tip effector T. For example, when the tip effector T is a gripper, a handling operation is performed, and when the tip effector T is a welding gun, a welding operation is performed.

  When the joint angle of the first frame 1 is at the rotation angle of −90 ° in FIG. 6A, the joint angle of the first frame 1 is greater than the rotation angle of −90 °. When the rotation direction is negative, the movable range of the gripper mode is obtained. At this time, as shown in FIG. 7, the overlap between the tip of the first projection claw C1 and the tip of the second projection claw CC is eliminated, and the gripper AG1 is configured. The gripper AG1 is controlled to move by a joint mechanism having at least one degree of freedom, which is the third rotating shaft 13 of the third frame 3.

  In the multi-joint drive mechanism R, since it has three orthogonal degrees of freedom composed of the first to third rotating shafts 11 to 13 oriented in directions orthogonal to each other, when the joint angle of the first frame 1 becomes a rotation angle of −90 °, It becomes a peculiar posture. In this singular posture, the solution of the inverse kinematic calculation for obtaining the joint angle (the rotation angle of the first to third rotating shafts 11 to 13) from the tip position of the multi-joint drive mechanism R becomes indefinite. For this reason, this singular posture is generally not used in the normal motion mode of the multi-joint drive mechanism R outside the movable range of the joint.

  In the multi-joint drive mechanism R of the present embodiment, the joint angle range of the first frame 1 beyond −90 °, which is a specific posture when viewed from the basic angle 0 °, is used as the movable range in the gripper mode. That is, when the joint angle of the first frame 1 exceeds the rotation angle of −90 °, the overlap between the tip end of the first projection claw C1 and the tip end of the second projection claw CC is eliminated, and the gripper AG1 appears. Therefore, until the joint angle of the first frame 1 reaches the rotation angle of −90 °, that is, until immediately before the specific posture of the multi-joint drive mechanism R, the multi-joint drive mechanism R is used for normal motion. When the joint angle becomes a negative rotation direction with respect to the rotation angle of −90 °, that is, when the multi-joint drive mechanism R is in a posture exceeding the specific posture, the gripper mode is achieved and the function of the gripper AG1 is performed. For this reason, the movable range of the gripper AG1 in the gripper mode can be obtained without narrowing the movable body range of the multi-joint drive mechanism R in the normal motion mode.

  In the multi-joint drive mechanism RA of the present embodiment, the tip effector T and the gripper AG1 are used in the same procedure as the multi-joint drive mechanism R in FIG.

  In addition, in order to interlock the second protrusion claw CC with the first protrusion claw C1, a power transmission mechanism combining a pulley and a wire is used, but a belt is used instead of a wire, A gear may be combined or a link mechanism may be used.

  The present invention is applicable to a general articulated serial manipulator.

It is a perspective view which shows 1st Embodiment of the multi joint drive mechanism of this invention. It is a side view which shows the multi joint drive mechanism of FIG. (A) is a side view showing a state in which the tip effector is turned up in the normal motion mode in the multi-joint drive mechanism of FIG. 1, and (b) is a tip effect in the normal joint mode in the multi-joint drive mechanism of FIG. It is a side view which shows the state which turned the vessel down. It is a side view which shows the state at the time of gripper mode in the multi joint drive mechanism of FIG. It is a side view which shows 2nd Embodiment of the multi joint drive mechanism of this invention. (A) is a side view showing a state where the tip effector is turned up in the normal joint mode in the multi-joint drive mechanism of FIG. 5, and (b) is a tip effect in the normal joint mode in the multi-joint drive mechanism of FIG. It is a side view which shows the state which turned the vessel down. FIG. 6 is a side view showing a state in a gripper mode in the multi-joint drive mechanism of FIG. 5.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 1st frame 2 2nd frame 3 3rd frame 11 1st rotating shaft 12 2nd rotating shaft 13 3rd rotating shaft 14 Rotating shaft R, RA Articulated drive mechanism M Manipulator T Tip effector C1 1st protrusion nail | claw C2, CC 2nd protrusion claw AG, AG1 Gripper P1 Pulley P2 Pulley W Wire H Overhang

Claims (19)

A first frame on which a tip effector is mounted;
A second frame rotatably connected to the first frame via a rotation shaft;
Providing the first protrusion on the first frame and providing the second protrusion on the second frame;
The manipulator according to claim 1, wherein when the rotation angle of the first frame with respect to the second frame is within a predetermined rotation angle range, the first protrusion and the second protrusion constitute a gripper.   2. The manipulator according to claim 1, wherein one of the first and second protrusions has a shape that houses and surrounds the other.   2. The manipulator according to claim 1, wherein one of the first and second protrusions has a shape stored and enclosed in the other. 3.   When the rotation angle of the first frame with respect to the second frame is in a rotation angle range other than the specified rotation angle range, the first protrusion is stored in a shape that encloses the second protrusion. The manipulator according to claim 2.   When the rotation angle of the first frame with respect to the second frame is in a rotation angle range other than the specified rotation angle range, the second protrusion is stored in a shape that encloses the first protrusion. The manipulator according to claim 2.   3. The manipulator according to claim 2, wherein a shape of the first or second projecting portion to be enclosed includes a substantially fan-shaped range centering on a rotation axis of the first frame.   4. The manipulator according to claim 3, wherein the shape of the first or second projecting portion to be enclosed includes a substantially fan-shaped range around the rotation axis of the first frame. 5.   2. The second frame according to claim 1, wherein the second frame is provided with another rotation axis parallel to the rotation axis of the first frame, and the second protrusion is rotatably supported by the other rotation axis. Manipulator.   The tips of the first and second protrusions are equidistant from the rotation axes, and the first and second protrusions are symmetric with respect to an intermediate plane that is equidistant from the rotation axes. The manipulator according to claim 8, wherein the manipulator is driven by.   When the rotation angle of the first frame with respect to the second frame is in a rotation angle range other than the specified rotation angle range, the second protrusion is overlapped with the second frame and the first protrusion, The manipulator according to claim 8, wherein the second projecting portion does not project.   9. The manipulator according to claim 8, wherein the second protrusion is interlocked with the rotation of the first frame with respect to the second frame transmitted through a power transmission mechanism.   The manipulator according to claim 11, wherein the power transmission mechanism is a combination of a wire and a pulley.   The manipulator according to claim 11, wherein the power transmission mechanism is a combination of a belt and a pulley.   The manipulator according to claim 11, wherein the power transmission mechanism includes a gear.   The tip effector of the first frame is housed in the second frame when the rotation angle of the first frame with respect to the second frame is within the specified rotation angle range. Manipulator.   2. The manipulator according to claim 1, wherein the tip effector of the first frame is connected to the first frame via another rotation shaft in a direction orthogonal to the rotation shaft of the first frame. A manipulator according to claim 1;
Assuming that the rotation axis of the first frame in the manipulator is a second rotation axis, the third frame is rotatably connected to the second frame in the manipulator via a third rotation axis in a direction orthogonal to the second rotation axis. An articulated drive mechanism comprising a frame. A tip effector of a first frame in the manipulator is connected to the first frame via a first rotation shaft oriented perpendicular to the second rotation shaft;
The first rotating shaft, the second rotating shaft, and the third rotating shaft are arranged in directions orthogonal to each other, and the second rotating shaft is arranged second from the tip end side of the manipulator among the rotating shafts. The multi-joint drive mechanism according to claim 17. The specified rotation angle range in the manipulator is assigned around the joint origin of the first frame and outside the singular point angle where the multi-joint drive mechanism assumes a singular posture,
18. The multi-joint drive mechanism according to claim 17, wherein a rotation angle range other than the prescribed rotation angle range is assigned to the inside of the singular point angle where the multi-joint drive mechanism is not in a singular posture.

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