JP3165170B2 - Exercise transmission device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

 [Object of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motion transmitting device which can be used for positioning a wrist or a grip located at the tip of a manipulator.

[0002]

2. Description of the Related Art A master / slave manipulator is known as a machine for performing work in a dangerous environment or work for spatially moving a dangerous substance on behalf of a human.

A master / slave manipulator is composed of a master manipulator operated by an operator and a slave manipulator that performs an operation such as actually moving an object spatially based on a command signal detected by operation of the master manipulator. It is configured.

[0004] Further, each manipulator has a position drive shaft for driving and positioning the wrist three-dimensionally,
It is composed of a posture drive shaft that corresponds to a wrist and determines the posture of the wrist portion, and a hand and an operation grip provided at the tip of the posture drive shaft.

There are several types of master / slave manipulators or slave manipulators, such as an articulated type and a rectangular coordinate type, as the axis configuration. Various types of such shaft configurations are selected and used depending on the required form of motion transmission.

If the operation form of the position drive axis is an articulated type, the first axis, the second axis, and the third axis forming three dimensions affect each other, so that a coordinate conversion operation is performed to detect the position of the tip. Required. Generally, such a coordinate transformation operation imposes a burden on the control system. Therefore, it is desirable to adopt a configuration in which the coordinate transformation operation is reduced as much as possible to reduce the burden.

[0007] Therefore, if the position drive axes are all orthogonal, a rectangular coordinate system is used.
The third axes do not affect each other, and each axis can be driven independently. Therefore, the coordinate conversion operation becomes unnecessary, and the load on the control system is reduced.

When the rectangular coordinate system is employed, the position control axis and the attitude control axis can be mechanically separated from each other, so that the attitude does not change even if the position of the tip changes. Therefore, the coordinate exchange calculation is further reduced from this point. A conventional motion transmission apparatus as rectangular coordinate type position drive shaft, will be described with reference to FIG 5. FIG.
5 is a perspective view showing a state in which the motion transmitting device is applied to the master manipulator of the master / slave manipulator.

The master manipulator 200 has a support block 201 having side walls formed by bending both sides at right angles in the same direction, and a pair of guides 203 and a screw shaft 205 on the support block 201 in a first direction ( FIG. 15
(In the Y-axis direction). One side of the screw shaft 205 penetrates the side wall of the support block 201, and its tip is
23 and a drive shaft 23 via a belt 222.
An encoder 224 is provided at the rear end of the drive shaft of the motor 223.
Are connected. The encoder 224 detects the amount of rotation of the motor 223, thereby detecting the Y of the first movable base 207.
The moving distance in the axial direction is detected.

On the first moving table 207, a first support block 209 is mounted. This is the first support block 209 has a pair of guides 211 and screw shaft 213 is supported, to the second movable carriage 215 is the second direction by the rotation of the screw shaft 213 (Z-axis direction in FIG. 1 5) You will be guided. One end of the screw shaft 213 is the first support block 2
09, and its tip is connected to the drive shaft of the motor 225 via a belt 226. Motor 22
An encoder 228 is connected to the rear end of the drive shaft of No. 5 to detect the amount of rotation of the motor 225 so that the second
The moving distance of the moving table 215 in the Z-axis direction is detected.

A second support block 217 is fixed to the second movable table 215. Moving guide 219 and the screw shaft 221 penetrates so as to be movable to the second supporting block 217 to the third direction perpendicular to the screw shaft 213 (X axis direction in FIG. 1 5). The moving guide 219 is formed in a hollow cylindrical shape. Second support block 21
7, a motor 227 is disposed, and its drive shaft is a screw shaft 2 supported in a second support block 217.
The nut 21 is connected to a nut (not shown) screwed to the nut 21 via a belt or the like. An encoder 230 is connected to the rear end of the drive shaft of the motor 227. This encoder 230
Detects the amount of rotation of the motor 227 and
And the movement distance of the screw shaft 221 in the X-axis direction is detected.

An operation section 229 is supported at one end of the movement guide 219. The operation unit 229 includes a pair of U-shaped members 23 whose ends are rotatably connected to each other.
1, 233 and grip 2 supported by U-shaped member 233
35. Further, the grip 235, [theta] x shown in FIG. 1 5, [theta] y, is rotatable θz each direction.

A motor 241 and an encoder 249 are arranged at the other end of the moving guide 219. motor
The drive shaft 241 is connected to a connecting shaft (not shown) rotatably supported by a hollow portion in the moving guide 219. As a result, the drive shaft of the motor 241 is rotated by the drive force of the motor 241, and the amount of rotation of the U-shaped member 231 fixed to the other end of the connection shaft in the θx direction is detected.

A force detector (not shown) is embedded in the grip 235. For example, when the operator tries to rotate the grip 235 in the θx direction and applies a force (torque) in the θx direction, this force is detected by the force detector, and the motor 241 is driven based on the detection result, and the grip 235 is moved in the θx direction. To rotate.

A motor 237 and an encoder 243 are arranged at the connection between the U-shaped member 231 and the U-shaped member 233. The encoder 243 detects the amount of rotation of the grip 235 in the θy direction.

Further, a motor 239 and an encoder 245 are arranged on the lower surface side of the U-shaped member 233. The encoder 245 detects the amount of rotation of the grip 235 in the θz direction. The drive shaft of the motor 239 is connected to the grip 235.

Also, the master manipulator 200 is set to Y,
Similarly, when trying to translate in the Z and X axis directions,
Grip 23 by force detector embedded in grip 235
5 is detected, and the motors 223, 225, 227 are rotationally driven based on the detection result.

In the conventional master manipulator 200 configured as described above, the operator operates the grip 235 with X, Y, Z
When the operation is performed in the axial direction, the θx, θy, and θz directions, the operation force in each direction is detected by the force detector. Then, based on the detection signal from the force detector, the motors 223, 225, 227,
237,239,241 are driven to rotate and encoders 224,228,230,
The rotation amount is detected by 243,245,249. This detection signal is sent to the slave manipulator as a command signal,
The slave manipulator is driven.

However, generally, a rectangular coordinate type manipulator needs to secure the length of the linear motion mechanism of the drive unit by the required operating range. Therefore, the length of each of the three orthogonal axes increases in the axial direction, and there is a problem that the manipulator is inevitably increased in size and weight.

[0020]

As described above, in a conventional motion transmission device used for a manipulator or the like, it is advantageous to employ an orthogonal coordinate type in order to reduce the amount of calculation for coordinate conversion. . However, the length of the linear motion mechanism of the drive unit must be ensured for the required operation range, and the axial length of each of the three orthogonal axes becomes longer. There is a problem that the weight increases.

The present invention has been made to solve such conventional problems, and an object of the present invention is to provide a motion transmitting apparatus which can secure a wide operating range while being small and lightweight. [Configuration of the Invention]

[0022]

In order to achieve the above object, according to the present invention, there is provided a first link member, and a second link member rotatably connected to the first link member by a first rotating portion. A third link member rotatably connected to an intermediate portion of the first link member by a second rotating portion; and a second link member rotatably connected to the third link member and the third rotating portion. A fourth link member rotatably connected to a fourth rotating portion at an intermediate portion of the first link member; and a fifth rotating portion formed on an extension line connecting the first rotating portion and the second rotating portion of the first link member. A sixth rotating portion formed on an extension of the first rotating portion and the fourth rotating portion of the second link member;
A first rotating link member that supports the third rotating portion and is rotatably connected to the third rotating portion about a direction perpendicular to an axial center direction of the third rotating portion; And a second rotating link member rotatably connected to the fifth rotating portion about a direction perpendicular to the axial center direction of the fifth rotating portion, and the sixth rotating portion. And a third rotating link member rotatably connected to the sixth rotating portion about a direction perpendicular to the axial center direction of the sixth rotating portion. arranged in parallel to a plurality of sets of the link mechanism, and before
The serial third rotary link member to each other and rotatably, respectively 1
A link mechanism connected by a connecting portion and provided in a plurality of sets.
The sixth rotation of one of at least two sets of link mechanisms;
Of the shaft center of the portion and the shaft of the sixth rotating portion of the other link mechanism
The motion transmission device was constructed in a state where the heart was out of alignment .

[0023]

According to the present invention thus constituted, each of the first
When the rotation link members or the respective second rotation link members are translated by the same amount in the same direction, a plurality of sets of link mechanisms perform the same movement. And the displacement of the third rotary link member is enlarged. This realizes a motion transmission device that can secure a wide operation range while suppressing the amount of movement of the first rotary link member and the second rotary link member.

[0024]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram of a motion transmitting apparatus according to the present invention. FIG. 1 is a perspective view showing a first embodiment of the motion transmission device. In FIG. 1, X,
The Y and Z axes represent each orthogonal drive shaft of the motion transmitting device.

The link mechanism 1 (movement transmitting device) is constituted by a pair of parallel links 3 and 5. 1st parallel link 3
As shown in FIG. 1, one end of the first link member 7 is rotatably connected to the second link member 9 via the first rotating portion 11.

The first link member 7 is rotatably connected to one end of the third link member 13 via a second rotating portion 15 at an intermediate portion in the longitudinal direction. The other end of the third link member 13
It is rotatably connected to one end of the fourth link member 17 via the third rotating portion 19. The other end of the fourth link member 17 is rotatably connected to the second link member 9 by a fourth rotating portion 21 at an intermediate portion in the longitudinal direction.

The third link member 13, the fourth link member
Reference numerals 17 are arranged in parallel with the first link member 7 and the second link member 9, respectively, and constitute pantograph-type parallel links.

A fifth rotating part 23 is provided on an extension line connecting the first rotating part 11 and the second rotating part 15 of the first link member 7. Further, the first rotating portion 11 of the second link member 9 and the fourth
A sixth rotating unit 25 is provided on an extension line connecting the rotating unit 21.

The fifth rotating portion 23, the sixth rotating portion 25, and the third rotating portion 19 have a second rotating link member 27, a third rotating link member 31, and a third rotating link member 31 whose axis centers cross each other at right angles.
A first rotating link member 29 is provided.

FIG. 2 is a perspective view showing the first parallel link 3. As shown in the figure, the center of the axis of the first rotating unit 11 is B,
The axis center of the second rotating section 15 is A, the axis center of the fourth rotating section 21 is C, the axis center of the third rotating section 19 is D, the axis center of the fifth rotating section is E, and the axis of the sixth rotating section 25 is The center is F, the second rotary link member 27
Is H, the axis of the first rotating link member 29 is G, and the axis of the third rotating link member 31 is I, the distance between the axes of each rotating part is set to the following condition. (Here, for example, “AB” means the distance between the axes of the first rotating unit 11 and the second rotating unit 15.)

On the other hand, the second parallel link 5 is a first parallel link.
It has the same configuration as 3. First link member 7a, second link member
9a is rotatably connected by a first rotating portion 11a. On the other hand, a third link member 13 rotatably connected by a third rotating portion 19a in parallel with the first link member 7a and the second link member 9a.
a and a fourth link member 17a are arranged respectively, and are rotatably connected by the second rotating portion 15a and the fourth rotating portion 21a to form a pantograph-type parallel link.

Further, the first rotating portion 11 of the first link member 7a
The fifth rotating part is provided on an extension line connecting the second rotating part 15a and the second rotating part 15a.
23a is formed, and a sixth rotating portion 25a is formed on a linear extension line connecting the first rotating portion 11a and the fourth rotating portion 21a of the second link member 9a.

The third rotating part 19a, the fifth rotating part 23a,
The first rotating link member 35, the second rotating link member 33, and the third rotating link member 37 are connected to the sixth rotating portion 25a. These rotary link members 33, 35, 37 are longer than the rotary link members 27, 29, 31 of the first parallel link. Each of the second rotary link members 27 and 33 is rotatably connected to a connecting member 39, respectively.
Are rotatably connected to the connecting member 41, respectively.
Further, the third rotating link members 31 and 37 are rotatably connected to the first connecting member 43, respectively.

Also, the center of each axis of the second parallel link 5 is set to A′〜 so as to correspond to the axis center A〜I of the first parallel link 3.
Assuming that I ′, as in the case of the first parallel link 3, the inter-axis distance of each rotating part is set under the following condition. Also, each rotating part of the first parallel link 3 and the second parallel link 5
Are set under the following conditions. That is, the first parallel link 3 and the second parallel link 5 are rotatably connected to the connecting members 39 and 41 and the first connecting member 43 at positions where the axial centers of the respective rotating parts are equally displaced.

Next, the connecting member 39 of the first parallel link 3 is
The operation when the connecting member 41 is translated in the X-axis direction and the Y-axis direction in the axial direction and the operation range S1 to S3 (however,
(S1 and S2 have the same size) will be described with reference to the schematic diagrams shown in FIGS. 3 (a), 3 (b) and 3 (c). In FIG. 3, the same components as those in FIG. 2 are denoted by the same reference numerals.

FIG. 3A shows the operation in the X-axis direction and XZ
The operating range S1 in the plane is shown. The third rotating unit 19 is moved by a distance n from the state where the third rotating unit 19 is located on the fifth rotating unit 23 side (the state shown by a solid line) to the right side (X-axis direction) of the drawing of FIG. Then, the first parallel link 3 is opened, and as shown by the dashed line, the sixth rotating part 25 is moved to the position shown in FIG.
To the right side of the drawing sheet by a distance (n × k). That is, the moving distance of the sixth rotating unit 25 is k of the moving distance of the third rotating unit 19.
It is enlarged twice.

FIG. 3B shows the operation in the Z-axis direction and X
The operating range S2 in the Z plane is shown. When the fifth rotating part 23 is moved from the state shown by the solid line by a distance n above the sheet of FIG. 3B (Z direction), the sixth rotating part 23 becomes the sixth part as shown by the chain line.
The rotating unit 25 moves downward (in the Z direction) in FIG. 3C by a distance (n × (k−1)). In other words, the moving distance of the sixth rotating unit 25 is equal to the fifth moving direction of the fifth rotating unit 23 in the opposite direction.
It is enlarged to (k-1) times the moving distance of the rotating unit 23.

FIG. 3C shows an operation in the Y-axis direction and an operation range S3 on the XY plane. When the first rotary link member 29 is moved downward (in the Y-axis direction) in FIG. 3C from the state shown by the solid line by a distance n, the third rotary link member 31 is moved to the distance (n × k) is moved downward (Y-axis direction) in FIG. 3C. That is, the moving distance of the third rotating link member 31 is expanded to k times the moving distance of the first rotating link member 29. The operating range of the tip of the third rotating link member 37 of the second parallel link 5 is also
3 (a), 3 (b) and 3 (c) show the operation ranges S1 to
S3. Next, the operation of the present embodiment will be described.

The first parallel link 3 configured as described above
When the third rotating parts 19, 19a are moved in the same direction by the same amount by moving the connecting member 41 by the distance n in the X-axis direction, the sixth parallel parts 25, 25a are connected. The member 41 moves in the same direction by k times the moving distance. Therefore, the first connecting member 43 connecting the sixth rotating parts 25, 25a moves by the distance (n × k) in the same direction while maintaining the posture.

When the connecting member 39 is moved by the distance n in the Z-axis direction and the fifth rotating parts 23 and 23a are moved by the same amount in the same direction, the sixth rotating parts 25 and 25a are moved by the connecting member 39. It moves in the opposite direction by (k-1) times the distance. Therefore, the first connecting member 43 also moves by the distance (n × (k−1)) in the opposite direction while maintaining the posture.

Further, when the connecting member 41 is moved by the distance n in the Y-axis direction, the first rotating link members 29, 35 are moved by the distance n, and the third rotating link members 31, 37 are moved by the moving distance of the connecting member 41. Move in the same direction by k times. Therefore, the first connecting member 43 also moves by the distance (n × k) in the same direction while maintaining the posture.

That is, regardless of the direction in which the connecting member 41 is moved with the connecting member 39 fixed, the first connecting member 43 remains the same for a distance k times the moving amount of the connecting member 41 while maintaining the posture. Move in the direction.

Similarly, regardless of the direction in which the connecting member 39 is moved in a state where the connecting member 41 is fixed, the first connecting member 43 keeps the posture and the first connecting member 43 moves (k-1) of the moving amount of the connecting member 39. It moves twice as far in the opposite direction. Therefore,
A wide operating range can be ensured while suppressing the amount of movement of the first rotating link member 7 and the second rotating link member 9 to be small. Next, as a second embodiment of the present invention, a master manipulator to which the link mechanism 1 based on the above-described principle is applied.
45 will be described with reference to FIGS. FIG. 4 is a perspective view showing a master manipulator according to a second embodiment of the present invention, and FIG. 5 is a perspective view schematically showing the master manipulator of FIG.

As shown in FIG. 4, the master manipulator 45 is provided with a first parallel link 53 and a second parallel link 55 as members corresponding to the parallel links 3 and 5 of the parallel link mechanism 1. ing.

The first parallel link 53 includes a first link member 57 corresponding to the first link member 7 and a second link member
9 and a second link member 59 corresponding to the first rotating portion 11
Are rotatably connected to each other by a first rotating portion 61 corresponding to.

Further, a third link member 63 corresponding to the third link member 13 is rotatably connected to the first link member 57 via a second rotating portion 65 corresponding to the second rotating portion 15. . The third link member 63 and the fourth link member 67 corresponding to the fourth link member 17 are rotatably connected via a third rotating portion 69 corresponding to the third rotating portion 19. The fourth link member 67 is rotatably connected to the second link member 59 by a fourth rotating portion 71 corresponding to the fourth rotating portion 21.

Further, the first link member 57 is provided with a fifth rotating portion 73 corresponding to the fifth rotating portion 23, while
The link member 59 is provided with a sixth rotating portion 75 corresponding to the sixth rotating portion 25.

Further, a second rotary link member 77 corresponding to the second rotary link member 27 and a first rotary link member 79 corresponding to the first rotary link member 29 are connected to the third rotary link member 31. Corresponding third rotary link members 81 are provided.

On the other hand, the second parallel link 55 disposed in parallel with the first parallel link 53 has a first link member 57a, a second link member 59a, and a third link member corresponding to each part of the first parallel link 53. 63a and the fourth link member 67a are connected to the first rotating portion 61a.
, Second rotating part 65a, third rotating part 69a, fourth rotating part 71a
Are rotatably connected to each other.

The first rotating portion 61 of the first link member 57a
The fifth rotating part is located on an extension line connecting the second rotating part 65a and the second rotating part 65a.
73a is formed, and a sixth rotating portion 75a is formed on an extension line connecting the first rotating portion 61a and the fourth rotating portion 71a of the second link member 59a.

Further, a second rotating link member 83, which is longer than the second rotating link member 77, is connected to the fifth rotating portion 73a in correspondence with the second rotating link member 77. Also, the first
The rotating link member 79 is connected to the first rotating member 85 by a connecting member 91, and the third rotating link member 81 and the third rotating link member 87 are connected by a first connecting member 93.

Further, in this embodiment, the first parallel link 53
The first rotating portion 61 and the first rotating portion 61a of the second parallel link 55 are rotatably connected via a connecting member 95. For this reason, the mounting rigidity of the first parallel link 53 and the second parallel link 55 is larger than when the connecting member 95 is not provided.

On the side of the base 97, a U-shaped block 99 is provided.
However, it is arranged with one side wall fixed on the base 97. On both sides of this U-shaped block 99, a screw shaft
101 is rotatably supported.

The moving portion 103 is formed integrally with the connecting member 89, and has a nut (not shown) provided therein. The screw shaft 101 is screwed with the moving part 103 via the nut.

A linear guide 105 is disposed between both side walls of the U-shaped block 99. This linear guide 10
5 has a moving part 103 screwed with the screw shaft 101.
Are fitted so as to be movable in the longitudinal direction.

One end of the screw shaft 101 and the motor 107
And a drive shaft (not shown).
Then, the rotational driving force of the motor 107 is transmitted to the screw shaft 10.
1 rotates, and the moving section 103 moves along the linear guide 105.

Further, an encoder 109 is connected to a rear end of a drive shaft (not shown) of the motor 107. The encoder 109 detects the moving distance of the moving unit 103 by detecting the rotation amount of the motor 107.

An operation unit 12 to be described later is provided on the base 97.
A constant force spring device 161 is provided for compensating for the weight of the device. The constant force spring device 161 has a structure in which one end of a constant force spring 165 wound around a shaft 163 is fixed to the moving portion 103.

At the center of the base 97, a support block 111 having a U-shaped upper portion is disposed.
A screw shaft 113 is arranged between both side walls of the support block 111.

The moving section 115 is formed integrally with the connecting member 91, and has a nut (not shown) provided therein. The screw shaft 113 is screwed with the moving part 115 via the nut.

One end of the screw shaft 113 is connected to a motor 117.
The driving shaft of the motor is transmitted by a transmitting means (not shown), and the driving shaft of the motor is transmitted to rotate the screw shaft 113, and the moving portion 115 moves along the linear guide 118. An encoder 119 is connected to a drive shaft of the motor 117. The encoder 119 detects the amount of rotation of the motor 117 and detects the moving distance of the moving unit 115.

The support block 111 is fixed to the moving section 153. The moving section 153 is screwed via a nut (not shown) to a screw shaft 157 disposed between both side walls of the support block 155 mounted on the base 97. Also,
The lower part of the moving part 153 is fitted to the linear guide 160 fixed to the support block 155 so as to be movable in the longitudinal direction of the screw shaft 157.

One end of the screw shaft 157 penetrates one of the side walls of the support block 155, and the distal end thereof is connected to the drive shaft of the motor 159 by transmission means (not shown). Accordingly, the screw shaft 157 is rotationally driven by the transmitted rotational driving force of the motor 159, and the moving unit 153 moves in the axial direction of the screw shaft 157.

The operation section 121 is connected to the first connection member 93. The operation unit 121 includes two L-shaped plates 12.
3,125 are rotatably connected to each other in the θy direction, and the other end of the plate 123 is connected to the first connecting member 93 by θx
It is connected rotatably in the direction. The other end of the plate 123 is connected to a drive shaft of a motor 127 via a belt (not shown), and the rotation of the motor 127 causes the plate 123 to rotate in the θx direction. An encoder 131 is connected to the motor 127, and the rotation angle of the plate 123 is detected by detecting the rotation amount of the motor 127.

The connection between the plate 123 and the plate 125
The driving shaft of the motor 133 is connected to the driving shaft of the motor 133 by a belt (not shown), and the plate 125 is rotated in the θy direction by the rotation of the motor 133.

A cylindrical grip 135 is fixed to an intermediate portion of the plate 125. The grip 135 is rotatably attached to the plate 125. The lower part of the grip 135 penetrates the plate 125 and is connected to the drive shaft of the motor 137 via a belt (not shown). In addition, as shown in FIG.
It is rotatable in each of x, θy, and θz directions.

A six-axis force sensor (not shown) is disposed inside the grip 135. The 6-axis force sensor is X,
The force in the Y and Z axis directions and the torque in the θx, θy and θz directions are detected. The result detected by the force sensor is transmitted to a control device (not shown), and the control device drives each motor based on the result. Next, the master manipulator
The operation of No. 45 will be described.

First, when a force in the X-axis direction is applied to the grip 135, this is detected by the force sensor. The detection result is transmitted to the control device, and the control device operates the motor 159. When the grip 135 is moved by the distance n in the X-axis direction, the connecting member 91 is moved by the distance (n / k) in the same direction. That is, when the connecting member 91 is moved by the distance n, the grip 135 is enlarged and moved to the distance (n × k). This moving distance is detected by the encoder 161. The signal indicating the detected moving distance becomes a command signal to the slave manipulator.

When a force in the Y-axis direction is applied to the grip 135, the force is detected by a force sensor, and the motor 117 is operated by the control device. And grip 13
When 5 is moved in the Y-axis direction by a distance n, the connecting member 91 is moved in the same direction by a distance (n / k).

By the operation of the motor 117, the moving block 115 moves in the longitudinal direction of the screw shaft 113. The amount of rotation of the motor 117 is detected by the encoder 119 and transmitted to the control device, and becomes a command signal to the slave manipulator. When a force in the Z-axis direction is applied to the grip 135, this is detected by the force sensor, and the motor 107 is operated. When the first connection member 93 moves by the distance n by this operation, it moves by the distance (n × (1−k)). The amount of rotation of the motor 107 is detected by the encoder 109, transmitted to the control device, and becomes a command signal to the slave manipulator.

Therefore, when the connecting members 91 and 89 are moved, this movement is enlarged and the grip 135 can be moved. Therefore, a wide operating range of the grip 135 can be ensured, and the size and weight can be reduced.

In this embodiment, a case where one set of parallel links (parallel links 3 and 5) is used has been described. However, the present invention is not limited to this, and a link mechanism may be constituted by a plurality of sets of parallel links. (Note that an example in which a plurality of parallel links are provided will be described in a later embodiment.)

In this embodiment, the first rotating portions 61 and 61a of the first parallel link 3 and the second parallel link 5 are connected by the connecting member 95. However, a structure without the connecting member 95 may be adopted. Further, other rotating parts may be connected by a connecting member.

In this embodiment, an example in which the bilateral servo system is applied to a master / slave manipulator has been described. Therefore, a driving means 96 is provided for force feedback from the slave manipulator to the master manipulator. However, the drive means 96 can be omitted by using the connecting members 89 and 91 as guide means such as rails, and the invention can be applied to a master / slave manipulator of a unilateral servo system.

In this embodiment, the connecting members 89 and 91 are Z,
Used for driving in the Y-axis direction.
The connecting member 91 is driven in the X, Y, Z-axis directions even if 89 is in the Y, Z-axis direction and the connecting member 91 is in the X-axis direction.
89 may be fixed and vice versa.
Alternatively, not all translations are required.

The operating section is operated by the constant force spring device 161.
When compensating the self-weight G [Kgf] of 121, the force acting on the constant force spring 165 can be set to (G × (k−1)) [Kgf]. Therefore, it is possible to reduce the operation force and facilitate the steering. Further, it is of course possible to apply this embodiment to a slave manipulator.

Next, a third embodiment of the present invention will be described with reference to FIG.
This will be described with reference to FIG. Link mechanism 30 of the present embodiment
Reference numeral 1 denotes an arrangement in which an auxiliary link mechanism 303 is provided in the link mechanism 1 described as the first embodiment. Thereby, a new parallel link portion is formed by the parallel link 5 and the auxiliary link mechanism 303. FIG. 7 is a side view of the auxiliary link mechanism 303 as viewed from the direction of arrow a in FIG.

In order to illustrate the auxiliary link mechanism 303, the link mechanism 301 in FIG. 6 is a perspective view seen from the opposite direction to the link mechanism 1 in FIG. In FIG. 6, the same components as those of the link mechanism shown in FIGS. 1 and 4 are denoted by the same reference numerals and the description thereof will be omitted.

The auxiliary link mechanism 303 is a second rotary link member.
One end of the fifth auxiliary link member 305 is rotatably connected to the other end of the fifth auxiliary link member 305 via the eighth rotating portion 309, and the other end of the fifth auxiliary link member 305 is rotatably connected to the other end of the fifth auxiliary link member 305 via the eighth rotating portion 309. A sixth auxiliary link member 313, which is connected to the third rotary link member 37 via a ninth rotary portion 311 and is rotatably connected at the other end, to the first rotary portion 11a and the eighth rotary portion 309. And a second connecting member 315 rotatably connected.

The axial center of the seventh rotating section 307 is coaxial with the axial center E of the fifth rotating section 23.
The axis of 311 is coaxial with the axis F of the sixth rotating part 25. However, these axes need not be coaxial. Further, with respect to the axial centers A to E of the parallel link 3,
The axial centers A 'to E' of the parallel link 5 may or may not be coaxial.

Therefore, according to this embodiment, the connecting member
When the third rotating parts 19 and 19a are moved in the same direction by the same amount by moving the 41 in the X-axis direction, the sixth rotating parts 25 and 25a
Move in the same direction by k times the moving distance of. Therefore, the first connecting portion 43 keeps the posture, and the connecting member 41
Is moved in the X-axis direction by a distance that is k times the moving distance.

Further, the connecting member 39 is moved in the Z-axis direction by a distance n so that the fifth rotating parts 23 and 23a and the seventh rotating part 307 are separated by a distance n.
Is moved in the Z-axis direction, the sixth rotating part 25, 25a moves by a distance (n × (k−1)) in the opposite direction.
Therefore, the connecting member 43 moves in the opposite direction by a distance (n × (k−1)) while maintaining the posture.

Further, when the connecting member 41 is moved by the distance n in the Y-axis direction, the first rotary link members 29, 35 are moved by the distance n in the same direction, and the third link members 31, 37 are moved by the distance n in the same direction. Move by (n × k).

That is, even if the connecting member 41 is moved in any direction with the connecting member 39 fixed, the first connecting member 43 is moved by a distance k times the moving amount of the connecting member 41 while maintaining the posture. Move in the same direction as. At this time, the auxiliary link mechanism
The ninth rotating part 311 of 303 also moves in the same direction.

Similarly, regardless of the direction in which the connecting member 39 is moved in a state where the connecting member 41 is fixed, the first connecting member 43 maintains the posture and moves the moving amount of the connecting member 39 by (k−1). )
It moves twice the distance in the opposite direction. Further, in the link mechanism 301 of the present embodiment, by providing the auxiliary link mechanism 303, the assembly accuracy and rigidity of the device can be improved.

Next, a fourth embodiment of the present invention will be described with reference to FIGS. Link mechanism 31 of the fourth embodiment
Reference numeral 7 denotes an arrangement in which the link mechanism 1 shown in FIG. 1 is provided with an auxiliary link mechanism 319 different from the auxiliary link mechanism 301 of the third embodiment. As a result, a new parallel link portion is formed by a part of the parallel link 5 and the auxiliary link mechanism 319.
FIG. 9 is an auxiliary link mechanism viewed from the direction of arrow b in FIG.
319 is a side view of FIG.

The auxiliary link mechanism 319 of the fourth embodiment is similar to the tenth embodiment.
A seventh auxiliary link member 323 rotatably connected to the first rotary link member 35 via a rotary portion 321; and an eleventh rotary portion 325.
The eighth auxiliary link member 329 rotatably connected to the seventh auxiliary link member 323 via the twelfth rotating portion 327 and rotatably connected to the third rotary link member 37 via the twelfth rotating portion 327.
And a third connecting portion 331 for rotatably connecting the fourth rotating portion 21a and the eleventh rotating portion 325. Further, the axial centers A 'to E' of the parallel link 5 may or may not be coaxial with the axial centers A to E of the parallel link 3.

Therefore, regardless of the direction in which the connecting member 41 is moved in a state where the connecting member 39 is fixed, the first connecting member 43 is moved by a distance k times the moving amount of the connecting member 41 while maintaining the posture. Move in the same direction as. At this time, the twelfth rotating part 327 of the auxiliary link mechanism 317 also moves in the same direction.

Similarly, regardless of the direction in which the connecting member 39 is moved in a state where the connecting member 41 is fixed, the first connecting member 43 keeps the posture and the first connecting member 43 moves (k-1) of the moving amount of the connecting member 39. It moves twice as far in the opposite direction. Further, in the link mechanism 317 of this embodiment, the rigidity can be improved by providing the auxiliary link mechanism 319.

Next, a fifth embodiment of the present invention will be described with reference to FIG. In the link mechanism 333 of this embodiment, two sets of parallel links 3 are provided with respect to the link mechanism 1 shown in FIG. 1, and the parallel links 5 are arranged between them with the sixth rotating parts 25 and 25a being displaced from each other. This is an example.

In the link mechanism 33 of this embodiment, a second parallel link 5 is disposed between a pair of parallel links 3. The pair of parallel links 3 are arranged so that the respective sixth rotating parts 25 are coaxial, while the parallel link 5 is arranged so as to be shifted from the axial center of the sixth rotating part 25 of the pair of parallel links 3. ing.

Third rotating link member of a pair of parallel links 3
The third rotating link member 37 of the parallel link 5 is connected to the first connecting member 43 for connecting the 31 to each other. Similarly, connecting members 41 for connecting the first rotating link members 29 respectively include first rotating link members 35 of the parallel link 5.
Are rotatably connected.

Further, a second rotating link member 33 of the parallel link 5 is rotatably connected to a connecting member 39 for connecting the second rotating link members 27 of the pair of parallel links 3 respectively.

Therefore, no matter what direction the connecting member 41 is moved with the connecting member 39 fixed, the first connecting member 43
Moves in the same direction by a distance k times the moving amount of the connecting member 41 while maintaining the posture.

Similarly, even if the connecting member 39 is moved in any direction with the connecting member 41 fixed, the amount of movement of the connecting member 39 (k-1) is maintained while the first connecting member 43 maintains its posture. It moves twice as far in the opposite direction.

In the link mechanism 333 of this embodiment, the rigidity can be improved by providing the pair of parallel links 3 and the parallel link 5 disposed between them.

Next, a sixth embodiment of the present invention will be described with reference to FIGS. Link mechanism 337 of this embodiment
Is provided with a link mechanism 339 different from the link mechanism 301 of the third embodiment shown in FIG. FIG. 12
12 is a side view of the auxiliary link mechanism 339 viewed from the direction of arrow c in FIG.

The auxiliary link mechanism 339 includes a ninth auxiliary link member 343 having one end rotatably connected to the second rotary link member 33 via a thirteenth rotary part 341, and a ninth auxiliary link member 343 via a nineteenth rotary section 361. A tenth auxiliary link member 345 having one end rotatably connected to the other end of the auxiliary link member 343 and the other end rotatably connected to the third rotary link member 37 via the fourteenth rotating portion 349.
And one end is rotatably connected to the intermediate portion of the tenth auxiliary link member 345 via the fifteenth rotating portion 351 and the other end is rotatable to the first rotating link member 35 via the sixteenth rotating portion 353. An eleventh auxiliary link member 347 connected to the
One end of a twelfth auxiliary link member 355 is rotatably connected to the other end of the eleventh auxiliary link member 347 via
And a twelfth auxiliary link member 355 connected to an intermediate portion of the ninth auxiliary link member 343 via an 18 rotation portion 359.

The axial center of the fourteenth rotating part 349 is coaxial with the axial center of the sixth rotating part 25 of the second link member 9.
Further, the thirteenth rotating part 341 is coaxial with the axial center of the fifth rotating part 23. However, these axes do not have to be coaxial.

The link mechanism 339 forms a two-dimensional pantograph-type parallel link. Rotating parts 359,361,35
1,353,341,349 respectively correspond to the first to sixth rotating parts, and the distances between the axes are AB, BC, CD, AD, EA, E
B, equal to EF.

Therefore, regardless of the direction in which the connecting member 41 is moved in a state where the connecting member 39 is fixed, the first connecting member 43 is moved by a distance k times the moving amount of the connecting member 41 while maintaining the posture. Move in the same direction as. At this time, the link mechanism
The fourteenth rotating part 349 of 337 also moves in the same direction.

Similarly, fixing the connecting member 41,
Whatever direction the 39 is moved, the first connecting member 43 moves in the opposite direction by a distance (k-1) times the moving amount of the connecting member 39 while maintaining the posture. In the link mechanism 337 of this embodiment, the rigidity can be improved by providing the auxiliary link mechanism 339 as in the fifth embodiment.

[0103]

[0104]

[0105]

[0106]

[0107]

[0108]

[0109]

[0110]

[0111]

[0112]

[0113]

[0114]

[0115] Next, FIG 3 seventh embodiment of the present invention
And it will be described with reference to FIG 4. The link mechanism 501 of the seventh embodiment is different from the link mechanism 1 of FIG. 1 in that an auxiliary link mechanism 503 different from the auxiliary link 301 of the third embodiment is used.
This is an example in which is provided. Thereby, a new parallel link portion is formed by a part of the parallel link 5 and the auxiliary link mechanism 503.

The auxiliary link mechanism 503 of the seventh embodiment includes a second auxiliary link member 521 rotatably connected to the second rotary link member 33 via a twenty-ninth rotary portion 511, and a thirtyth rotary portion 512. 21st auxiliary link member 521
The other end is rotatably supported and the first rotating part 11a
And a second rotating member 315 rotatably connected to the second connecting member 315 via a 31st rotating section 513, and a third rotating link at the other end via a 32nd rotating section 514. 22nd member rotatably connected to the member 37
And an auxiliary link member.

The axis distance between the fifth rotating section 23a and the 29th rotating section 511 is equal to the axis distance between the first rotating section 11a and the 30th rotating section 512, and the 29th rotating section 511 and the 30th rotating section 512 Is equal to E'B '. Further, the distance between the axes of the thirtyth rotation part 512 and the thirty-first rotation part 513 is the sixth rotation part 25a and the thirty-second rotation part
31st rotating section 513 and 32nd rotating section 51
4 is equal to B'F '. Therefore, a part of the parallel link 5 and the 21st auxiliary link member 521 and the 22nd auxiliary link member 522 form a plurality of parallel link portions.

As described above, the fifth auxiliary link member 305 and the sixth auxiliary link member 313 shown in the third embodiment are rotatably connected by the eighth rotating portion 309 (with the same rotating portion).
When the two auxiliary link members are connected by different rotating parts as in the present embodiment, a wider operation range in which the posture of the first connecting member 43 is maintained can be secured.

That is, since each auxiliary link member can be installed at an arbitrary position, it is necessary to independently set each parallel link portion formed by a part of the parallel link 5 and the auxiliary link member so as not to have a peculiar posture. Can be.

Similarly, the seventh auxiliary link member 323 and the eighth auxiliary link member 329 shown in the fourth embodiment are connected to the eleventh rotating part 32.
5, the plurality of auxiliary link members are connected by different rotating portions of the third connecting member 331 without being connected by the same rotating portion, and the auxiliary link members are connected by different rotating portions of the first rotating link member 35 and the third rotating link member 331. Alternatively, the third rotary link member may be connected to the first rotary link member 35.

Note that the motion transmission device of the present invention can be applied to, for example, leg driving of a walking robot. In this case, the ground contact surface of the leg can always be level with the ground.

[0122]

As described above, according to the motion transmitting apparatus of the present invention, it is possible to secure a wide operating range while suppressing the amount of movement of the first rotating link member and the second rotating link member.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a first embodiment of a motion transmission device.

FIG. 2 is a perspective view showing a first parallel link used in the motion transmitting device .

FIG. 3 is a schematic diagram showing an operation range of the motion transmission device.

FIG. 4 is a perspective view showing a state where the motion transmitting device is applied to a master manipulator according to a second embodiment of the motion transmitting device.

FIG. 5 is a perspective view schematically showing the master manipulator of FIG. 4;

FIG. 6 is a perspective view showing a third embodiment of the motion transmission device.

FIG. 7 is a side view of the auxiliary link mechanism as viewed from the direction of arrow a in FIG. 6;

FIG. 8 is a perspective view showing a fourth embodiment of the motion transmission device.

FIG. 9 is a side view of the auxiliary link mechanism as viewed from the direction of arrow b in FIG. 8;

FIG. 10 is a perspective view showing a fifth embodiment of the motion transmission device.

FIG. 11 is a perspective view showing a fifth embodiment of the motion transmission device.

FIG. 12 is a side view of the auxiliary link mechanism as viewed in the direction of arrow c in FIG. 11;

FIG. 13 is a perspective view showing a seventh embodiment of the motion transmission device.

FIG. 14 is a side view showing a seventh embodiment of the motion transmission device.

FIG. 15 shows a conventional motion transmission device as a master / slave machine.
The state applied to the master manipulator of the manipulator
FIG.

[Explanation of symbols]1 Li Link mechanism (motion transmission device) 3,5 parallel link7, 7a First link member  9,9a No.2 link members 13, 13a No.3 link members 17, 17a No.4 link members29, 35 1st rotation link member  27,33rd2-turn link member 31,3Seventh3-turn link member39, 41 connecting member 43 1st connection member11, 11a First rotating member  15,15a No.Two rotating members 19, 19a No.3 rotating members 21, 21a No.4 rotating members 23,23a No.5 rotating members 25, 25a No.6 rotating members

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) B25J 3/00 B25J 9/06 F16H 21/44

Claims (2)

(57) [Claims] A first link member, a second link member rotatably connected to the first link member at a first rotating portion, and a rotatable member at an intermediate portion of the first link member and a second rotating portion. A third link member connected to the third link member and a fourth link rotatably connected to the third link member at a third rotating portion and rotatably connected to a fourth rotating portion at an intermediate portion of the second link member. A link member; a fifth rotating portion formed on an extension line connecting the first rotating portion and the second rotating portion of the first link member; and the first rotating portion and the fourth rotating portion of the second link member. A sixth rotating portion formed on an extension of the rotating portion; supporting the third rotating portion; and rotatable with the third rotating portion around a direction perpendicular to the axial center direction of the third rotating portion. A first rotating link member connected to the first rotating link member, and supporting the fifth rotating portion; A second rotating link member rotatably connected to the fifth rotating unit about a direction perpendicular to the axial center of the rotating unit; a second rotating link member supporting the sixth rotating unit; and an axis of the sixth rotating unit. A third rotating link member rotatably connected to the sixth rotating portion about a direction perpendicular to a center direction. A motion transmitting device having a link mechanism comprising: Disposing, and said third
Rotary link member to each other and connected respectively rotatably first connecting part, also among the plural sets provided link mechanism, at least 2
The shaft center of the sixth rotating part of one of the link mechanisms and the other
State in which the axis of the sixth rotating part of the link mechanism is displaced from the center.
In movement transmission apparatus characterized by being configured. Wherein among the plurality of sets provided link mechanism, an auxiliary link mechanism to at least one pair of the link mechanism, the link to the <br/> first link member does not change the posture be moved The motion transmission device according to claim 1, wherein each link member of the mechanism is connected to the auxiliary link member.