JP2568623Y2 - Multipurpose gripping mechanism - Google Patents

Description

[Detailed description of the invention]

[0001]

The present invention is useful for, for example, fixing a working robot arm mounted on a spacecraft system such as a satellite or a platform at the time of launching a rocket, opening and closing a door in the spacecraft system, and various experiments. And a multipurpose gripping mechanism used for multiple purposes.

[0002]

2. Description of the Related Art For example, when launching a rocket,
A large vibration load is applied to various devices such as a work robot mounted on the rocket. When such a large vibration load is applied, the working robot arm swings, so that the following problems occur.

[0003]

[Problems to be Solved by the Invention] For example, when launching a rocket, a large vibration load applied to a working robot or the like may cause the working robot arm or the like to swing and damage the robot arm. In order to prevent such inconveniences, it has been expected to provide a gripping mechanism for preventing a working robot arm or the like from swinging. On the other hand, in outer space and the like, it is necessary to substitute a machine for work in an area where humans cannot enter, and it has been expected to provide a device capable of performing such work smoothly. The present invention has been made in view of the above circumstances, and prevents a loaded robot arm from swinging at the time of launching a rocket, and provides another mechanism for preventing such arm swing. It is an object of the present invention to provide a multipurpose gripping mechanism that can be used for applications.

[0004]

In order to achieve the above object, the present invention provides a multi-purpose gripping mechanism having a robot arm mechanism for performing various operations and a base for supporting the robot arm mechanism. And the robot
A grip mechanism is provided at the tip of the
The base is gripped by the gripping mechanism.
A member is provided, and an intermediate portion of the robot arm mechanism is provided.
The gripping mechanism or the member to be gripped by it
One of them is provided and the base is
Either the lip mechanism or the member to be gripped is installed.
To be able to

[0005]

According to the invention, the tip of the robot arm mechanism is provided.
The part has a grip mechanism and is attached to the base.
Is provided with a member to be gripped by the grip mechanism.
A grip mechanism is provided at an intermediate portion of the robot arm mechanism.
Or one of the members to be gripped by this
And the grip mechanism is also provided on the base.
For example, if one of the members to be gripped is provided , for example, when launching a rocket equipped with a spacecraft system, if the gripping mechanism grips the member to be gripped, the robot arm mechanism Is fixed in two places on the base
As a result, it is possible to efficiently prevent the robot arm mechanism from swinging due to a large vibration load when launching the rocket. Further, in the present invention, by providing a grip mechanism at the arm tip of the robot arm mechanism, the arm tip can be fixed to the base, and the grip mechanism can be used to open and close a door in outer space. Various experiments and various experiments such as inserting a guide pin into an insertion hole can also be performed. In addition, a group for various tasks
Both the lip mechanism and the holding and fixing mechanism when launching the rocket
Through the use of a through-hole, a separate holding and fixing mechanism can be provided.
The total weight can be reduced as compared with.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to FIGS. FIG. 1 shows an overall view of a working robot 1 which is fixed to a base 50 which is an outer surface of a spacecraft system 2 mounted on a rocket (not shown). Various operations are performed on the outer surface of the system 2. FIG. 2 is a perspective view specifically showing the working robot 1 and a peripheral device 3 provided around the working robot 1 (a).
FIG. 3B is a plan view of the working robot 1 in addition to the first working device 4 and the second working device 5 that perform various works by being gripped by the working robot 1. It is composed of surveillance cameras 6 and 7 for monitoring the work posture and the entire work content, and a fixing mechanism 8 to be described later.

As shown in detail in the perspective view of FIG. 3, the working robot 1 has a base 10 fixed to a base 50 of the spacecraft system 2 and a two-axis rotary drive mechanism provided on the base 10. , A first arm 12 having a proximal end provided on the shoulder joint 11, and a first arm 12
An elbow joint 13 having a one-axis rotation drive mechanism provided at the distal end of the arm, a second arm 14 having a proximal end provided at the elbow joint 13, and a distal end of the second arm 14. It comprises a wrist mechanism 15 having a provided three-axis rotation drive mechanism, a grip mechanism 16 provided at a distal end of the wrist mechanism 15, and a grasped member 17 provided at the elbow joint 13. is there.

In the working robot 1, as shown by the solid line in the perspective view of FIG. 3, the relative rotation between the base 10 and the first arm 12 by the driving of the shoulder joint 11, and the elbow joint 13 1st arm part 12 and 2nd arm part 1 by drive
The grip mechanism 16 can be moved to a specific location by the relative rotation of the second arm portion 14 and the grip mechanism 16 by the relative rotation of the grip mechanism 16 and the drive of the wrist mechanism 15, and the grip mechanism 16 can be oriented at a specific angle. This allows the tip end of the gripping mechanism 16 to be gripped by the gripped member 18. As shown by a broken line in the perspective view of FIG. 3, the gripping member 17 is provided on the base 50 by the relative rotation of the base 10 and the first arm 12 by driving the shoulder joint 11. A similar gripping mechanism 19 can be gripped.

At the position indicated by A1 in FIGS. 1 and 2 (b), the gripping mechanism 16 of the working robot 1 grips the member 18 to be gripped on the base 50.
At the position indicated by A2 in (b), the gripping mechanism 19 on the base 50 grips the gripped member 17 on the work robot 1 side, whereby the work robot 1 is fixed to the base 50. .

The details of the grip mechanisms 16 and 19 will be described below with reference to FIGS. 4A and 4B, and the details of the gripped member 18 will be described with reference to FIGS. 5A to 5C. First,
Details of the grip mechanisms 16 and 19 will be described with reference to FIGS. The grip mechanisms 16 and 19 are provided with the motor 21 for rotating the lead screw 20, the nut 22 screwed to the lead screw 20 and raised and lowered by the rotation of the lead screw 20, and provided on the nut 22. Mechanism 23 driven by the vertical movement of
To be gripped member 1 described later, which is connected to link mechanism 23
And a gripper 24 for gripping the grip 8.

The link mechanism 23 is shown in FIG.
, A plurality of links 25A to 25C, a connecting pin 26 for rotatably connecting these three links 25A to 25C, a connecting pin 27 for rotatably connecting the link 25C to the nut 22, and a link 25B. A connecting pin 28 rotatably connected to the gripper 24 and a fixing pin 30 rotatably connecting the link 25A to the grip mechanism body 29;
It is composed of Further, the gripper 24 connected to the link 25B of the link mechanism 23 via the connection pin 28,
1 rotatably supported. It should be noted that such a grip mechanism 16 is provided one by one with the lead screw 20 as the center, as shown in FIG.

In the grip mechanism 16 constructed as described above, when the nut 22 is lowered by the motor 21, the link mechanism 23 is arranged as shown by a solid line.
The pair of grippers 24 are closed. Also, when the nut 22 is raised by the motor 21, the link mechanism 2
3 are arranged as shown by a two-dot chain line, and a pair of grippers 2
4 is open. And like this gripper 2
4 is opened, the gripping mechanism 16 approaches the gripped member 18 shown in FIG. 5, and further closes the grip 24 while approaching the gripped member 18. Will be grasped.

On the other hand, the gripped member 18 is shown in FIGS.
As shown in (c), it is arranged in a casing 32 having an open upper part, and an overhang portion 32A is formed in the casing 32. In the casing 32 configured as described above, the overhang portion 3 formed inside is formed.
2A, the gripper 24 of the gripping mechanism 16 can be inserted with the gripper 24 opened, and the gripper 24 is closed in a state where the gripper 24 is inserted into the casing 32, so that the gripper 24 can be gripped by the gripper 24. Member 18
Can be gripped. The member to be gripped 17 is
As shown in FIG. 3, only the graspable member 18 shown in FIGS. 5A to 5C is attached to the elbow joint 13 of the working robot 1.

In the above embodiment, the grip mechanism 16 is used.
Although the gripped member 18 is gripped by the grip 24, the present invention is not limited to this. For example, as shown in FIG. 6, the grip mechanism 16 can open and close the door 40 in outer space.

As described in detail above, according to the multipurpose gripping mechanism shown in the present embodiment, the arm 1 of the working robot 1
2, 14 and the base 50, the robot arms 12, 1
Since the grip mechanisms 16 and 19 and the gripped members 17 and 18 for detachably gripping the base 4 on the base 50 are provided, for example, when launching a rocket equipped with a spacecraft system, these grip mechanisms 16 are provided. , 19,
If the arms 12, 14 of the working robot 1 are gripped by the base 50 by the gripped members 17, 18, it is possible to prevent the arms 12, 14 from swinging due to a large vibration load when launching a rocket. The effect of preventing breakage of the parts 12 and 14 can be obtained. In addition, in this multipurpose gripping mechanism, by providing the gripping mechanism 16 at the distal ends of the arms 12 and 14, the distal ends of the arms 12 and 14 can be gripped by the base 50. In a space, various operations such as opening and closing a door and various experiments such as inserting a guide pin into an insertion hole can be performed.

[0016]

[Effect of the Invention] As is apparent from the above description, according to the invention, the gripping device is provided at the tip of the robot arm mechanism.
And the base is provided with the gripping machine.
A graspable member to be grasped is provided, and the robot arm is provided.
Grip mechanism or grip on the middle part of the arm mechanism
One of the members to be gripped is provided and
The grip mechanism or the gripped portion is provided on the base.
Since either one of the members is provided , for example, when launching a rocket equipped with a spacecraft system, the robot arm
Since the mechanism is fixed at two places on the base, it is possible to efficiently prevent the robot arm mechanism from swinging due to a large vibration load when launching the rocket. Further, in the present invention, by providing a grip mechanism at the arm tip of the robot arm mechanism, the arm tip can be fixed to the base, and the grip mechanism can be used to open and close a door in outer space. Various experiments and various experiments such as inserting a guide pin into an insertion hole can also be performed. In addition, gripping mechanism and rocket driving for various tasks
By sharing with the holding and fixing mechanism at the time of lifting,
The overall weight is reduced compared to providing a separate holding and fixing mechanism.
Can be reduced.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a working robot provided in a spacecraft system.

FIG. 2 is a perspective view (a) and a plan view (b) showing an arrangement of a working robot 1 and a peripheral device 3;

FIG. 3 is a perspective view showing the working robot 1 in detail.

FIG. 4 is a grip mechanism 1 provided in the working robot 1;
6 is a front view (a) and a side view (b) showing FIG.

5A is a plan view showing the member to be gripped 18 provided on a base 50, and FIG. 5B is a cross-sectional view taken along line (b)-(b) of the plan view (a). Sectional drawing which follows the (c)-(c) line | wire of the top view (a).

FIG. 6 is a plan view showing a door opening / closing operation.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Working robot 12 1st arm part 14 2nd arm part 16, 19 Grip mechanism 17, 18 Grabbed member 50 Base

Claims (1)

(57) [Scope of request for utility model registration] And 1. A robot arm for performing various working mechanism, and a base for supporting the robot arm mechanism comprising
A multi-purpose gripping mechanism, wherein a gripping mechanism is provided at the tip of the robot arm mechanism.
And the base holds the grip mechanism.
A gripped member to be held is provided, and a grip mechanism is provided at an intermediate portion of the robot arm mechanism.
Or one of the members to be gripped is provided
And the base has the grip mechanism or
Is a multipurpose gripping mechanism provided with one of the other members to be gripped.