JP2016087761A - Multijoint manipulator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a multijoint manipulator which is used for a surgical robot or the like, and which has a small size and a good operation responsiveness.SOLUTION: A through hole or a non-penetration hole is formed on at least plural surfaces among constitution surfaces of an oscillative element of a polyhedral shape of a vibration actuator by vibration of which an output shaft is moved. A vibrator having a pattern type electrode is bonded to a portion on the constitution surface in which a hole is not formed. A rotatable or direct-acting possible first output shaft and a rotatable rotary output shaft are inserted into plural holes, and a voltage is sequentially applied to electrode patterns of the electrode thereby generating progressive waves in the oscillative element, and an operation claw of a multijoint manipulator is driven by rotation or axial displacement of the first output shaft.SELECTED DRAWING: Figure 2

Description

  The present invention provides a surgical robot or industrial robot with a new mechanism using a vibration actuator that individually applies vibration waves to a plurality of output shafts by vibration of a piezoelectric element or the like, and each output shaft rotates or linearly moves. It constitutes a multi-joint manipulator used for an industrial robot.

  The progress of medical devices is rapid, and surgery support robots that can perform operations by remote control have appeared. Operating nails are attached to the tips of the two manipulators of the surgery support robot, and the operating nails can be opened and closed at about 160 degrees, and the angle can be changed by ± 60 degrees so that the wrist can be folded. It is common. Conventionally, these operations are generally driven by pushing and pulling a plurality of long wires stretched in a tube-shaped arm with a plurality of electromagnetic motors provided on the main unit side (the opposite finger side). It was.

  In recent years, a small vibration actuator (or ultrasonic actuator) with a diameter of 5 mm or less has appeared, and by mounting this on the tip of the manipulator, it is possible to directly drive the work claw with a simple mechanism without using any wire, Articulated manipulators with a new mechanism that has better operability with 4 axes or 5 axes or more, which are closer to the sensation of human hands, are about to appear.

  Among the various drive principles such as electromagnetic motors, piezoelectric actuators, and shape memory alloy actuators, vibration actuators using piezoelectric elements or electrostrictive elements that can provide a large driving force with a small diameter are promising as the driving source required for manipulators. ing.

For example, in Patent Document 1, a pair of operating claws (4) for opening and closing a hand arranged at the tip of a robot arm is opened and closed by a linear motion of a center bar (21).
However, the robot hand shown in Patent Document 1 cannot perform multi-axis movement and has poor operability.

In Patent Document 2, a shaft-like actuator (12) is press-fitted or inserted into a hole of a prismatic stator (11), and voltage is applied to a plurality of piezoelectric elements (13) attached to the stator (11). An ultrasonic scanning device that rotates or moves an axial actuator in an axial direction by sequentially applying, is shown.
However, in the ultrasonic scanning device disclosed in Patent Document 2, the output shaft is limited to one, and although rotation and linear motion can be performed, the multi-axis motion of the operating claws of the manipulator cannot be performed and the operability is poor.

Japanese Patent Application Laid-Open No. 08-281586 JP 2013-183563 A

  The present invention has been made in view of the above-described conventional circumstances, and a problem to be solved by the present invention is that it is small in size and operated by a new mechanism using a vibration actuator that selectively rotates or linearly vibrates a plurality of output shafts. An object of the present invention is to provide an articulated manipulator with good performance.

  In a multi-joint manipulator having a plurality of joints, a through-hole or a non-through-hole is formed in at least a plurality of surfaces among the constituent surfaces of the polyhedral vibrating element of the vibration actuator in which the output shaft moves by vibration, A vibrator having a patterned electrode is attached to a portion of the component surface that is not formed with a hole. A rotating or linearly movable output shaft and a rotatable rotational output shaft are inserted into a plurality of holes. By sequentially applying a voltage to the electrode pattern of the electrode, a traveling wave is generated in the vibration element, and the displacement is displaced to the output shaft. It was comprised so that an action | operation nail | claw could be driven by giving.

  According to the present invention, a multi-axis actuator that selectively rotates or linearly vibrates a plurality of output shafts by a plurality of piezoelectric elements provided on a vibration element is mounted on the distal end of a surgical robot manipulator capable of remote operation. Therefore, the operating claw can be directly driven without using any wire, and since it is small and has good responsiveness, an articulated manipulator excellent in operability that is closer to the kinesthetic sensation of a human hand can be obtained.

FIG. 3 is a plan view of the operating claw portion of the articulated manipulator according to the first embodiment of the present invention. Actuation claw perspective view of the articulated manipulator Perspective view of vibration actuator used for the articulated manipulator Electrode pattern explanatory drawing of the articulated manipulator Linear motion explanatory diagram of the first output shaft in the multi-joint manipulator Explanatory diagram of linear motion traveling wave of the first output shaft in the multi-joint manipulator Voltage application pattern to the electrodes in the multi-joint manipulator Rotation operation explanatory view of the first output shaft in the articulated manipulator Rotational traveling wave explanatory diagram of the first output shaft in the articulated manipulator Rotation operation explanatory drawing of the 2nd output shaft in the articulated manipulator Explanatory drawing of rotational vibration wave of the second output shaft in the articulated manipulator The perspective view of the articulated manipulator which concerns on the 2nd Embodiment of this invention. Configuration diagram of second joint part of the articulated manipulator Bending operation explanatory drawing of the 2nd joint part of the multi-joint manipulator Rotation operation explanatory drawing of the 2nd joint part of the articulated manipulator

The first feature of the multi-joint manipulator of the present embodiment is a multi-joint manipulator having a plurality of joints, and includes a first vibration actuator in which an output shaft moves by vibration. The first vibration actuator has a substantially polyhedral first vibration element, and through or non-through holes are formed in at least a plurality of surfaces of the substantially polyhedral shape. And the vibrator | oscillator which has a pattern-shaped electrode is affixed on the part which is on the surface of a structure surface, and the hole is not formed. Further, a first output shaft that can rotate and / or move linearly is inserted into one of the plurality of holes, and a hole in which the first output shaft is not inserted among the plurality of holes, A rotatable output shaft is inserted. A traveling wave is generated in the vibration element by sequentially applying a voltage to the electrode pattern, and the operating claw of the manipulator is driven by rotation or axial displacement applied to the output shaft.
This configuration eliminates the need for driving with many wires that have been used in the past, making it compact, and the vibrator directly opens and closes the operating claw, so there is no delay in operation, and it is compact and has a good operation response A manipulator can be obtained.

The second feature is that the operating claw is opened and closed by the linear displacement of the first output shaft of the first vibration actuator, and the opening and closing claw is rotated by the rotation operation of the first output shaft. ing.
According to this configuration, the operation pawl can be opened and closed and rotated only by the operation of one output shaft of the vibration actuator, and a multi-joint manipulator having a smaller size and good operation response can be obtained.

As a third feature, the opening / closing claw and the vibration element are configured to rotate integrally around the rotation output shaft.
According to this configuration, in addition to the operation of opening and closing and rotation of the operating claw, the total three-axis operation including the bending operation of the first joint corresponding to the wrist of the manipulator is performed only by the operation of one vibration actuator. Thus, it is possible to obtain a multi-joint manipulator having a smaller size and good operation response.

As a fourth feature, a second vibration actuator is provided separately from the first vibration actuator. The second vibration actuator has a substantially polyhedral second vibration element, and a hole is formed in the constituent surface of the second vibration element. In addition, a vibrator having a patterned electrode is attached to a portion where the hole is not formed on the surface of the second vibration element. And the 2nd output shaft which can be rotated and moved linearly is inserted in the hole formed in the structural surface of the 2nd vibration element. The second vibration actuator is housed in a tube having flexibility at least partially. A second vibration actuator that sequentially applies a voltage to the electrode pattern attached to the second vibration element to generate a traveling wave in the second vibration element and applies a rotation or axial displacement to the second output shaft. A linear displacement is given to the two output shafts, a bending force is given to the tube via the second link, and a bending angle is given.
According to this configuration, in addition to the opening / closing and rotation of the operating claw and the bending operation of the first joint, the total four-axis operation including the bending operation of the second joint corresponding to the elbow joint is made compact by two vibration actuators. An articulated manipulator that can be configured by movement and has a high degree of freedom can be realized.

A fifth feature is that the link is freely rotated by rotation of the second output shaft, and the direction in which the tube is bent is changed.
According to this configuration, in addition to the opening and closing and rotation of the operating claw, the bending operation of the first joint, the bending of the second joint corresponding to the elbow joint, a total of five axis operations including the rotating operation are performed by two vibration actuators. A multi-joint manipulator with better operability can be realized.

  Next, preferred embodiments of the present invention will be described with reference to the drawings.

  The configuration of the articulated manipulator according to the first embodiment of the present invention will be described with reference to FIGS.

FIG. 1 is a plan view of an operating claw portion of an articulated manipulator according to an embodiment of the present invention.
In FIG. 1, for example, a cylindrical arm 13 is provided with a first shaker 1 that can swing with respect to the rotation output shafts 2 c and 2 d. The rotation output shafts 2c and 2d are lightly press-fitted into the holes 3c and 3d of the first shaker 1. A first output shaft 2a is lightly press-fitted into the hole 3a in the center of the first vibration element 1 so as to be slidable and rotatable.

  A rotation guide 15 is fixed to the distal end side (the operation claw 18 side in FIG. 1) of the first vibration element 1, and the rotation plate 16 is engaged with the rotation guide 15, so that the first output shaft 2 a extends in the axial direction. Is configured to be freely rotatable 360 degrees as indicated by a symbol P in the drawing along with the first output shaft rotation.

  The links 17a and 17b are engaged with the tip of the first output shaft 2a, and the links 17a and 17b together with the operating claws 18a and 18b constitute a diamond-shaped link mechanism, and the first output shaft 2a slides. In some cases, the operating claws 18a and 18b are opened and closed within a range of about ± 80 degrees as indicated by a symbol M 'in the drawing, and a surgical needle or the like can be handled at the surgical site.

  Further, as the first output shaft 2a freely rotates, the rotary plate 16 together with the first output shaft 2a, and the operating claws 18a and 18b together with the links 17a and 17b freely rotate 360 degrees as indicated by symbol P in the figure. be able to.

  In the perspective view of the opening and closing claw portion of the articulated manipulator of the present invention shown in FIG. 2, the first vibration element 1 swings in the range of about ± 60 degrees in the direction of the symbol Q in the drawing around the rotation output shafts 2c and 2d. As a result, the first vibrator 1 is flexibly bent so that the wrist of the manipulator can be folded together with the operation claws 18a and 18b together with the first output shaft 2a, the rotation guide 15, the rotation plate 16, and the links 17a and 17b. As a result, the affected area can be sutured using the handled surgical needle at the surgical site.

  3 to 11 illustrate the configuration and operation of the vibration actuator used in the articulated manipulator of the present invention.

  In FIG. 3, a substantially polygonal first vibration element 1 (substantially cubic in FIG. 3) has holes 3a, 3c, 3d, 3e formed on the faces 1a, 1b, 1c, 1d, 1e, and 1f constituting the polygon. 3f are provided, and the first output shaft 2a, the rotation output shafts 2c and 2d, and the other operation shafts 2e and 2f are respectively inserted or lightly press-fitted.

  FIG. 4 is an explanatory diagram of an electrode pattern according to the first embodiment of the present invention, and shows a development view of each surface 1a, 1b, 1c, 1d, 1e, and 1f of the first vibration element 1. FIG. A plurality of piezoelectric elements 5 having electrodes 6 formed on the surface are affixed, each pattern electrode 6 is connected to an electric wire 11, and a voltage is applied from a drive circuit 12.

  FIG. 5 is an explanatory diagram of the linear motion of the first output shaft 2a of the present embodiment. In FIG. 5, the substantially polygonal first vibration element 1 has a hole 3a penetrating from the opposed surface 1a to the surface 1b in a substantially flat surface constituting the polygon, and the first output shaft is provided in the hole 3a. 2a is lightly press-fitted. In the hole 3a, radially extending slits 4 for imparting spring properties to the first vibration element 1 are processed. The first vibration element 1 sandwiches the inserted first output shaft 2a with an appropriate force, and the first vibration element 1 A stable frictional force (for example, a force of about 1 Newton) is generated between the output shaft 2a and the first vibrator 1.

  Preferably, a shaft hole 3g is formed in the approximate center of the first output shaft 2a. The shaft hole 3g is an optical fiber, a CCD camera wire for an endoscope, or a cleaning water sprayed on an affected part during an operation, if necessary. A nozzle or the like that discharges is inserted.

  A piezoelectric element 5 is attached to one surface 1e on the outer periphery of the first vibration element 1 parallel to the first output shaft 2a and its opposing surface 1f. Patterned electrodes 6e1, 6e2, 6e3, 6e4 are formed on the surface of the piezoelectric element 5 attached to the surface 1e. Further, as shown in FIG. 4, patterned electrodes 6f1, 6f2, 6f3, and 6f4 are formed on the surface of the piezoelectric element 5 attached to the surface 1f.

  Each of the piezoelectric elements 5 is provided with a patterned electrode 6 by a noble metal sputtering method or a conductive ink printing method. In addition, the electrodes 6a1, 6a2, 6a3, 6a4 may be formed on one piezoelectric element 5, but an electrode may be formed on each of the four piezoelectric elements 5 divided into four.

  The piezoelectric element 5 having the electrode 6 is also attached to the surface 1a and 1b including the through hole 3a through which the shaft 2a is inserted preferably on the surface of the first vibration element 1. Electrodes 6a1, 6a2, 6a3, 6a4 are formed on the piezoelectric element 5 attached to the surface 1a, and electrodes 6b1, 6b2, 6b3, 6b4 are formed on the piezoelectric element 5 attached to the surface 1b.

  The linear motion of the first output shaft 2a of this embodiment shown in FIG. 5 will be described. FIG. 6 is an explanatory diagram of the linear traveling wave of the first output shaft of the first embodiment. 5 to 6, a substantially sinusoidal or sawtooth voltage is sequentially applied from the drive circuit 12 to the patterned electrode 6 through the electric wire 11, and will be described below by changing the application order. Further, the output shaft 2a can be operated in a linear motion direction or a rotational direction.

  FIG. 7 shows a voltage application pattern to the electrodes in the vibration actuator used in the articulated manipulator of the present embodiment. When the first output shaft 2a is moved linearly in the direction of the arrow M in FIG. 6, the voltage is first applied to a total of four electrodes 6a1, 6a2, 6a3, 6a4, and then the second , Electrodes 6e3, 6e4, 6f3, 6f4, and then applied to a total of four electrodes, thirdly, electrodes 6e1, 6e2, 6f1, 6f2, and then fourthly, , The electrodes 6b1, 6b2, 6b3, 6b4 are applied to a total of four electrodes. Then, the voltage is again applied to a total of four electrodes 6a1, 6a2, 6a3, and 6a4 that are first applied, and this is repeated. As a result, traveling waves are generated as indicated by N and O in the figure, which propagates to the output shaft 2a, and the output shaft 2a slides in the direction of arrow M.

  If the order of repeated application to these electrodes 6 is reversed, a traveling wave in the direction of rotation opposite to N and O in the figure is generated inside the first vibration element 1, and the output shaft 2a is in the direction opposite to the arrow M in FIG. To slide.

  Further, there are the following operation methods as a method for more easily operating. The voltage is first applied to a total of four electrodes, electrodes 6e3, 6e4, 6f3, and 6f4, and then the second is applied to a total of four electrodes, electrodes 6e1, 6e2, 6f1, and 6f2. Then, the voltage is applied to a total of four electrodes 6e3, 6e4, 6f3, and 6f4, which are first applied again, and this is repeated. This also causes the output shaft 2a to slide in the arrow M direction. In the case of this method, the electrodes 6 and the electric wires 11 can be reduced.

Next, the case where the 1st output shaft 2a is rotated is demonstrated using FIGS. 8-9.
FIG. 8 is an explanatory view of the rotation operation of the first output shaft (2a in the figure) of the first embodiment of the present invention, and the shape of the first output shaft 2a is operated in both directions of rotation and linear motion in this embodiment. Therefore, it has a cylindrical shape. When only the linear motion is performed, either a cylindrical shape or a prismatic shape may be used.

  FIG. 9 is an explanatory diagram of a state in which a rotational traveling wave is generated on the first output shaft 2a. When the output shaft 2a is rotated in the direction of the arrow P, the voltage is first applied to a total of four electrodes 6c3, 6c1, 6d3, and 6d1, and then secondly, the electrodes 6e4, 6e2, 6f4 and 6f2 are applied to a total of four electrodes, then third is applied to a total of four electrodes 6e3, 6e1, 6f3 and 6f1, and then fourth is applied to electrodes 6d4, 6d2, The voltage is applied to a total of four electrodes 6c4 and 6c2. Next, the voltage is again applied to a total of four electrodes 6c3, 6c1, 6d3, and 6d1 applied first, and this is repeated. As a result, a traveling wave in the direction of the arrow shown in FIG. 5 is generated inside the vibration element 1, and this propagates to the output shaft 2a, and the first output shaft 2a rotates in the direction of the arrow P.

  If the order of repeated application to these electrodes 6 is reversed, the first output shaft 2a rotates in the direction opposite to the arrow P in FIG.

  Further, there are the following operation methods as a method of rotating more simply. A voltage is first applied to a total of four electrodes, electrodes 6e4, 6e2, 6f4, and 6f2, and then a second is applied to a total of four electrodes, electrodes 6e3, 6e1, 6f3, and 6f1, Next, the voltage is again applied to a total of four electrodes 6e4, 6e2, 6f4, and 6f2 applied first, and this is repeated. As a result, the same traveling wave is generated inside the vibration element 1, and the output shaft 2a slides in the direction of the arrow M. In the case of this method, the electrodes 6 and the electric wires 11 can be reduced.

  FIG. 10 is a diagram for explaining the rotation operation of the output rotating shafts 2c and 2d according to the first embodiment of the present invention, and FIG. 11 is a diagram for explaining the rotational vibration wave of the output rotating shaft.

  The operation for rotating the output rotation shaft 2c will be described with reference to FIGS. A hole 3c is provided in the surface 1c of the first vibration element 1, and the output rotary shaft 2c is lightly press-fitted. When rotating the output rotating shaft 2c in the direction of the arrow Q, first, a voltage is first applied to a total of two electrodes 6a2 and 6b2, and then secondly, a total of two electrodes 6e4 and 6f1. Next, the third voltage is applied to a total of two electrodes 6e2 and 6f3, and the fourth voltage is applied to a total of two electrodes 6b4 and 6a4. Then, 6a2 and 6b2 applied first again are applied to a total of two electrodes, and this is repeated. As a result, a traveling wave in the direction of the arrow shown in FIG. 7 is generated inside the vibration element 1, and this propagates to the output rotation shaft 2c, and the output rotation shaft 2c rotates in the arrow Q direction.

  If the order of repeated application to these electrodes 6 is reversed, the output rotating shaft 2c rotates in the direction opposite to the arrow Q in FIG.

  Here, since the hole 3c and the output rotating shaft 2c provided in the surface 1c and the hole 3d and the output rotating shaft 2d provided in the surface 1d are driven by different electrodes 6, the operating shafts 2c and 2d are independent. Are driven separately.

  As described above, in the multi-joint manipulator of the first embodiment shown in FIGS. 1 to 11, through holes or non-through holes are formed in at least a plurality of surfaces among the constituent surfaces of the first polyhedron 1 having a polyhedral shape. A vibrator 5 having a patterned electrode 6 is affixed to a portion where the hole is not formed.

  The first output shaft 2a that can rotate or linearly move and the rotary output shafts 2c and 2d that can rotate are inserted into the plurality of holes, and a voltage is sequentially applied to the electrode patterns of the electrodes to advance to the first vibrator 1. A wave is generated, and the operation pawls 18a and 18b can be freely opened, closed, and rotated by rotation or axial displacement of the first output shaft 2a.

  Further, by the rotation of the rotation output shafts 2 c and 2 d, the operation claws 18 a and 18 b can be freely rotated so that the wrist is folded with respect to the arm 13 together with the first shaker. In this way, in addition to opening / closing and rotating operations of the operating claws 18a and 18b, a total three-axis operation including a bending operation corresponding to the wrist of the manipulator can be performed only by the operation of one vibration actuator. A small articulated manipulator with good operation response can be obtained.

  In FIG. 2, the arm 13 is a tube having an outer diameter of about 9 mm, for example, and the operating claws 18a and 18b are made of stainless steel or the like by pressing or cutting, and the length thereof is about 10 mm.

  12 to 15 are configuration diagrams of an articulated manipulator according to a second embodiment of the present invention, and are diagrams of a manipulator capable of a five-axis operation used at the tip of a manipulator used in a minimally invasive surgical instrument or the like.

  In FIG. 12, the arm 13 has at least a portion having flexibility, and a second vibration element 19 is accommodated therein. A second output shaft 20 that is rotatable and slidable is lightly press-fitted into the second vibration element 19, and a rotary sliding plate 21 is provided at the distal end side (first vibration element side) of the second output shaft 20. Are fixed together. A fulcrum plate 23 is fixed in the arm 13 at the distal end side of the rotary sliding plate 21, and a position away from the axis of the rotary sliding plate 21 and the fulcrum 23 are connected by a second link 22. . The operating portions of the operating claws 18 a and 18 b shown in FIGS. 1 to 2 are attached to the tip of the arm 13, and the flexible wire 14 is housed inside the arm 13. A voltage is applied to the second electrode 24 from the electric wire 11.

  In FIG. 13, it is a figure of the position where the 2nd output shaft 20 was pushed out, the 2nd link 22 has not pushed and pulled the fulcrum board 23, and the arm 13 which has a flexible part is not bent, but is a straight state Keep.

  In FIG. 14, the second output shaft 20 is pulled in the direction of the symbol T in the drawing, and the second link 22 pulls the fulcrum plate 23 so that the flexible portion of the arm 13 is in the range of about 60 degrees in the V direction in the drawing. The curved state can be maintained up to the desired angle.

  In FIG. 15, when the second output shaft 20 further slowly rotates 360 degrees freely in the direction U in the drawing, the rotary sliding plate 21 that rotates integrally with the second output shaft pulls the second link 22. Changes, and the rotation positions of the fulcrum plate 23 and the arm 13 change, and the joint portion (flexible portion of the arm 13) corresponding to the arm of the manipulator freely rotates in the direction of W in the figure. With this configuration, the opening and closing, rotation, and bending of the operating claws 18a and 18b, and the operation of a total of five axes in which bending and turning are applied to the joint corresponding to the joint of the elbow are performed in a compact manner using two vibration actuators. An articulated manipulator that can be configured and has better operability can be realized.

  Further, the flexible portion of the arm 13 is made of synthetic resin or fiber excellent in elasticity and resilience, and when the force drawn by the second link 22 is released, the bending is quickly released and the original shape is restored.

  12 to 15, the method of giving the linear motion and the rotational motion to the second output shaft 20 is determined by the method of applying the voltage to the second electrode 24 attached to the second vibrator 19. These are the same in the method of applying the voltage applied to the first vibration element shown in FIGS.

  The first vibration element 1 and the second vibration element 19 are made of a material of a piezoelectric element or an electrostrictive element. Thereby, it is possible to perform control with high accuracy and excellent responsiveness.

  The first output shaft 2 and the second output shaft 20 are made of metal or ceramics, and are finished by machining.

  Since it is desired that the first vibration element 1 and the second vibration element 19 have a spring property and that the difference in linear expansion coefficient from the piezoelectric element 5 is not large, stainless steel, alumina ceramics, or zirconia ceramics It is processed by etc.

  The articulated manipulator of the present invention operates without using any wires by mounting an actuator that selectively rotates or linearly vibrates a plurality of output shafts at the tip of the manipulator with a plurality of piezoelectric elements provided on the vibration element. The nail can be directly driven, and the multi-axis drive has good responsiveness, and a small multi-joint manipulator with excellent operability close to that of a human hand can be obtained.

Since it is multi-jointed, has good operation response, and is compact, it can be applied as a manipulator for minimally invasive surgical instruments that have rapidly advanced in recent years. It is also expected to be applied as an articulated manipulator for assembling various electronic devices made of microscopic parts under a microscope.

DESCRIPTION OF SYMBOLS 1 1st vibration element 1a, 1b, 1c, 1d, 1e, 1f Surface 2a 1st output shaft 2c, 2d Rotation output shaft 2e, 2f Output shaft 3a, 3c, 3d, 3e, 3f Hole 3g Shaft hole 4 Slit
5 Piezoelectric element 6a1, 6a2, 6a3, 6a4 (surface 1a) electrode 6b1, 6b2, 6b3, 6b4 (surface 1b) electrode 6c1, 6c2, 6c3, 6c4 (surface 1c) electrode 6d1, 6d2, 6d3, 6d4 (surface 1c) Electrode 6e1, 6e2, 6e3, 6e4 (on face 1d) 6f1, 6f2, 6f3, 6f4 (on face 1f) electrode 7 First vibration actuator 11 Electric wire 12 Drive circuit 13 Arm 14 Flexible electric wire
15 Rotating Guide 16 Rotating Plates 17a, 17b Links 18a, 18b Actuation Claw 19 Second Vibrator 20 Second Output Shaft 21 Rotating Sliding Plate 22 Second Links 22a, 22b Second Link End 23 Supporting Plate 24 Second Electrode 25 Second vibration actuator

Claims (5)

In an articulated manipulator having a plurality of joints,
A first vibration actuator in which an output shaft moves by vibration;
The first vibration actuator has a first oscillator having a substantially polyhedral shape,
A through-hole or a non-through-hole is formed in at least a plurality of surfaces of the substantially polyhedral-shaped component surface,
A vibrator having a patterned electrode is attached to a portion on the surface where the hole is not formed,
A first output shaft capable of rotating and / or moving linearly is inserted into one of the plurality of holes,
Among the plurality of holes, a rotation output shaft that is rotatable is inserted into a hole through which the first output shaft is not inserted,
A traveling wave is generated in the vibrating element by sequentially applying a voltage to the electrode pattern of the electrode,
An articulated manipulator characterized in that an operating claw is driven by a displacement applied to the output shaft.
2. The articulated manipulator according to claim 1, wherein the operating claw is opened and closed by a linear displacement of the first output shaft, and the opening and closing claw is rotated by a rotation operation of the first output shaft.
The multi-joint manipulator according to claim 1 or 2, wherein the opening / closing claw and the vibration element rotate integrally around the rotation output shaft.
A second vibration actuator is provided separately from the first vibration actuator,
The second vibration actuator has a substantially polyhedral second shaker,
A hole is formed in the constituent surface of the second pendulum,
A vibrator having a pattern-like electrode is attached to a portion where the hole is not formed on the surface of the second vibration element.
A second output shaft capable of rotating and linearly passing through a hole formed in the constituent surface of the second vibration element;
The second vibration actuator is housed in a tube having flexibility at least in part,
A second vibration actuator that generates a traveling wave in the second vibration element by sequentially applying a voltage to the electrode pattern attached to the second vibration element, and applies a rotation or axial displacement to the second output shaft The articulated manipulator according to any one of claims 1 to 3, wherein a bending force is given to the tube through a second link by a linear displacement of the second output shaft to give a bending angle.
  5. The articulated manipulator according to claim 1, wherein the second link is freely rotated by rotation of the second output shaft to change a direction in which the tube is bent. 6.

Images