JP6611356B2 - Wire-driven 3-DOF joint mechanism - Google Patents

Description

  The present invention generally relates to a wire-driven three-degree-of-freedom joint mechanism, and more particularly, to a wire-driven three-degree-of-freedom joint mechanism operated by four wires.

  As a joint mechanism of three degrees of freedom used for a robot arm or the like, a three degree of freedom joint mechanism that realizes three degrees of freedom with four wires is known. (Non-Patent Document 1)

  In the three-degree-of-freedom joint mechanism 100, as shown in FIG. 1, the hand portion 104 is supported via a ball joint 102 attached to the fixed portion, and the support plate 106 to which the base portion of the hand portion 104 is attached. In addition, the tips (one end) of four wires, that is, the first wire 108, the second wire 110, the third wire 112, and the fourth wire 114 are connected.

  In the three-degree-of-freedom joint mechanism 100, the base ends (the other ends) of the first to fourth wires 108, 110, 112, and 114 are connected to individual motors (not shown), respectively. Thus, the first to fourth wires 108, 110, 112, and 114 can be independently retracted or delivered.

  According to such a configuration, the first to fourth wires 108, 110, 112, and 114 are drawn by the motors by a predetermined amount downward in the Z-axis direction or sent upward in the Z-axis direction in the conceptual diagram of FIG. 2 so that the support plate 106 corresponding to the surface 106 ′ of FIG. 2 and the hand portion 104 attached to the support plate 106 are rotated around the respective axes of the XYZ three axes that intersect each other at one point. A joint mechanism is realized.

Yuichi Tsumaki, Fumiaki Ono, Taisuke Tsukuda, The 20-DOF Miniature Humanoid MH-2 for a Wearable Communication System, Proc. Of the IEEE International Conference on Robotics and Automation, St. Paul, Minnesota, pp. 3930-3935, May, 2012.

  However, such a three-degree-of-freedom joint mechanism has a problem in that the movable range cannot be increased due to the structure in which four wires are directly connected to the support plate of the hand supported via the ball joint. was there.

  Further, since such a three-degree-of-freedom joint mechanism has a structure in which each wire passes through the hole 116a of the plate 116 disposed on the wire path, the wire path length varies depending on the direction of the hand. . As a result, there is a problem that it is not easy to calculate the wire path length and it is difficult to realize an accurate operation of the hand.

  The present invention has been made in view of these points, and an object of the present invention is to provide a wire-driven three-degree-of-freedom joint mechanism that can take a large movable range and that can easily calculate a wire path length. To do.

According to the present invention,
A wire-driven three-degree-of-freedom joint mechanism,
A base member coupled to the fixed portion so as to be rotatable about the first rotation axis;
An intermediate member coupled to the base member so as to be rotatable about a second rotation axis that intersects the first rotation axis;
A tip member coupled to the intermediate member so as to be rotatable around a third rotation axis passing through an intersection of the first rotation axis and the second rotation axis;
A first base pulley, a second base pulley, and a third base, which are attached to the fixed portion and the base member so as to be rotatable about the first rotation shaft, and are independently rotatable about the first rotation shaft. A base pulley assembly having a pulley and a fourth base pulley;
Intermediate pulleys attached to the base member so as to be rotatable about the second rotation shaft, each being independently attached to the base member so as to be rotatable around the second rotation shaft An intermediate pulley having a pulley, a second intermediate pulley, a third intermediate pulley, and a fourth intermediate pulley;
A front end pulley assembly provided on the front end member, comprising a first front end pulley portion, a second front end pulley portion, a third front end pulley portion, and a fourth front end pulley portion that are integrated so as not to rotate relative to each other. A leading pulley assembly,
A first base auxiliary pulley rotatably attached to the base member;
A second base auxiliary pulley rotatably attached to the base member;
A third base auxiliary pulley rotatably attached to the base member;
A fourth base auxiliary pulley rotatably attached to the base member;
A first intermediate auxiliary pulley rotatably attached to the intermediate member;
A second intermediate auxiliary pulley rotatably attached to the intermediate member;
A third intermediate auxiliary pulley rotatably attached to the intermediate member;
A fourth intermediate auxiliary pulley rotatably attached to the intermediate member;
The first base pulley includes a first base stem portion extending along the first rotation axis, a first base proximal end pulley portion attached to a proximal end side of the first base stem portion, and the first base pulley. A first base distal end side pulley portion attached to the distal end side of the base stem portion,
The second base pulley includes a second base stem portion extending radially outward of the first base stem portion along the first rotation axis, and a distal end side of the first base proximal end pulley portion. A second base proximal end pulley portion attached to the second base stem portion; a second base distal end pulley portion attached to the second base stem portion on the proximal end side of the first base distal end pulley portion; Have
The third base pulley includes a third base stem portion that extends radially outward of the second base stem portion along the first rotation axis, and a distal end side of the second base proximal end pulley portion. A third base proximal end pulley portion attached to the third base stem portion; a third base distal end pulley portion attached to the third base stem portion on the proximal end side of the second base distal pulley portion; Have
A fourth base pulley portion disposed between the third base proximal end pulley portion and the third base distal end pulley portion on the radially outer side of the third base stem portion; Have
The joint mechanism further comprises:
A first base-side wire having a base end connected to the first winding means and a tip connected to the first base-side pulley section;
A proximal end is connected to the first base distal pulley section, and a distal end is connected to the first distal pulley section via the first base auxiliary pulley, the first intermediate pulley, and the first intermediate auxiliary pulley. 1 tip wire,
A second proximal end wire having a proximal end connected to the second winding means and a distal end connected to the second proximal proximal pulley section;
A base end is connected to the second base front end side pulley portion, and a front end is connected to the second front end pulley portion via the second base auxiliary pulley, the second intermediate pulley, and the second intermediate auxiliary pulley. Two distal wires,
A third base side wire having a base end connected to the third winding means and a tip connected to the third base base end side pulley portion;
A proximal end is connected to the third base distal pulley section, and a distal end is connected to the third distal pulley section via the third base auxiliary pulley, third intermediate pulley, and third intermediate auxiliary pulley. 3 tip side wires;
The proximal end is connected to the fourth winding means, and the distal end is connected to the fourth distal pulley portion via the fourth base pulley portion, the fourth base auxiliary pulley, the fourth intermediate pulley, and the fourth distal auxiliary pulley. And a fourth wire that is
A tip side portion of the first tip side wire, a tip side portion of the second tip side wire, a tip side portion of the third tip side wire, and a tip side portion of the fourth wire; Wound around the first tip pulley portion, the second tip pulley portion, the third tip pulley portion, and the fourth tip pulley portion;
The wire path of each wire includes the base member, the intermediate member, and the tip member by the tension of the first tip side wire, the second tip side wire, the third tip side wire, and the fourth wire. It is set so that it can be rotated independently around each of the first rotating shaft, the second rotating shaft and the third rotating shaft.
A wire-driven three-degree-of-freedom joint mechanism is provided.

  According to such a configuration, since each wire is wound around the pulley, by appropriately setting the winding length of the wire around the pulley, the rotation range (movable around each rotation axis) Range) can be increased.

  Furthermore, since the wire does not pass through the hole in the wire path, it is easy to accurately calculate the wire path length, and the amount of rotation about each rotation axis can be accurately controlled. As a result, accurate rotational position control of an operation target such as a hand attached to the joint mechanism is realized.

According to another preferred embodiment of the invention,
Two of the first tip side wire, the second tip side wire, the third tip side wire, and the fourth wire are respectively provided for each base pulley , each intermediate pulley, and each tip pulley portion. And the other two are wound in a second direction opposite to the first direction,
In each of the base pulleys , the intermediate pulleys, and the tip pulleys, a combination of winding directions of the first tip side wire, the second tip side wire, the third tip side wire, and the fourth wire is different. And not conjugated.

According to another preferred embodiment of the invention,
The fourth wire is divided into a fourth proximal end wire and a fourth distal end wire fixed to the fourth base pulley, respectively.

According to another preferred embodiment of the invention,
A first fixed auxiliary pulley disposed between the first base pulley and the first winding means;
A second fixed auxiliary pulley disposed between the second base pulley and the second winding means;
A third fixed auxiliary pulley disposed between the third base pulley and the third winding means;
A fourth fixed auxiliary pulley disposed between the fourth base pulley and the fourth winding means.

The distal end side of the first distal end side wire is connected to the first distal end pulley part so as to be wound around the first distal end pulley part by rotation of the first distal end pulley part in the first direction,
The second tip pulley so that the tip side of the second tip side wire is wound around the second tip pulley portion by rotation of the second tip pulley portion in a second direction opposite to the first direction. Is connected to the third tip pulley portion so that the tip end side of the third tip side wire is wound around the third tip pulley portion by the rotation of the third tip pulley portion in the first direction. ,
The tip end side of the fourth wire is connected to the fourth tip pulley portion so as to be wound around the fourth tip pulley portion by the rotation of the fourth tip pulley portion in the second direction.

  According to the present invention, it is possible to provide a wire-driven three-degree-of-freedom joint mechanism that can have a large movable range and that can easily calculate the wire path length.

It is a schematic perspective view which shows the structure of the wire drive type | mold 3 degree-of-freedom joint mechanism of a prior art. It is a conceptual diagram for demonstrating the operating principle of the wire drive type | mold 3 degree-of-freedom joint mechanism of FIG. 1 is a perspective view of a wire-driven three-degree-of-freedom joint mechanism 1 according to a preferred embodiment of the present invention. It is a perspective view from the reverse direction of FIG. 3 of the wire drive type | mold 3 degree-of-freedom joint mechanism 1 of preferable embodiment of this invention. It is sectional drawing along the VV line of FIG.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. FIG. 3 is a perspective view of the wire-driven three-degree-of-freedom joint mechanism 1 according to a preferred embodiment of the present invention, and FIG. 4 is a perspective view from the opposite direction to FIG. FIG. 5 is a cross-sectional view taken along line VV in FIG.

  The wire-driven three-degree-of-freedom joint mechanism 1 of this embodiment is applied to a wrist joint of a fruit tree harvesting robot arm. However, the present invention is not limited to this application, and a wrist joint, a shoulder joint, another joint, or the like of a robot arm for other purposes can be applied.

  As shown in FIGS. 3 to 5, the wire-driven three-degree-of-freedom joint mechanism 1 of the present embodiment includes a base member 4 that is connected to a fixed portion 2 so as to be rotatable about a first rotation axis Z. The intermediate member 6 connected to the base member 4 so as to be rotatable about the second rotation axis Y intersecting the first rotation axis Z, and the third passing through the intersection of the first rotation axis Z and the second rotation axis Y. And a tip member 8 connected to the intermediate member 6 so as to be rotatable about the rotation axis X.

  The fixed portion 2 is a shaft-shaped portion extending along the first rotation axis Z, and a fixed shaft portion 2a and a plate-shaped fixed substrate 2b are fixed to the tip. As for the fixing | fixed part 2, the base end side will be connected with an elbow joint, for example.

  The base member 4 connects the substantially rectangular substrate 4a, the shaft portion 4b extending downward from the central portion of the substrate 4a, the side walls 4c and 4d extending upward from both ends of the substrate 4a, and the upper portions of the side walls 4c and 4d. And a horizontal shaft portion 4e extending in this manner. (Here, the vertical and horizontal directions are directions in the arrangement of FIG. 5.) The central axis in the longitudinal direction of the horizontal shaft portion 4e is the second rotation axis Y.

The intermediate member 6 includes a plate-like portion 6a, hanging portions 6b and 6c that hang downward from the left and right ends of the plate-like portion 6a, and an intermediate shaft portion 6d that extends upward from the approximate center of the plate-like portion 6a. ing. A central axis in the longitudinal direction of the intermediate shaft portion 6d becomes the third rotation axis X.
Through holes 6 e and 6 f are formed in the hanging portions 6 b and 6 c of the intermediate member 6. The horizontal shaft portion 4e of the base member 4 is inserted through the through holes 6e and 6f via bearings. With such a configuration, the intermediate member 6 is coupled to the base member 4 so as to be rotatable about the horizontal shaft portion 4e of the base member 4, that is, about the second rotation axis Y.

  Further, the tip member 8 is a columnar member having an opening 8a at the center, and the intermediate shaft portion 6d of the intermediate member 6 is inserted through the opening 8a through a bearing. With such a configuration, the tip member 8 is connected to the intermediate member 6 so as to be rotatable about the intermediate shaft portion 6d of the intermediate member 4, that is, about the third rotation axis X.

  The wire-driven three-degree-of-freedom joint mechanism 1 of this embodiment includes a base pulley assembly 10 attached to a fixed portion 2 and a base member 4 so as to be rotatable about a first rotation axis Z. The base pulley assembly 10 includes a first base pulley 12, a second base pulley 14, a third base pulley 16, and a fourth base pulley 18 that are each independently rotatable about a first rotation axis Z. ing.

  The first base pulley 12 has a cylindrical first base stem portion 12a extending along the first rotation axis Z, and a first end attached to the base end side (lower side in FIG. 5) of the first base stem portion 12a. It has a base proximal end pulley portion 12b and a first base distal end pulley portion 12c attached to the distal end side (upper side in FIG. 5) of the first base stem portion 12a.

  The first base stem portion 12a is rotatable via a bearing with respect to the fixed shaft portion 2a of the fixed portion 2 and the shaft portion 4b of the base member 4 arranged in series along the first rotation axis Z. It is connected to.

  The second base pulley 14 includes a cylindrical second base stem portion 14a extending along the first rotation axis Z on the radially outer side of the first base stem portion 12a, and a first base proximal end side pulley portion 12b. The second base proximal end pulley portion 14b attached to the second base stem portion 14a on the distal end side (upper side in FIG. 5) and the proximal end side (lower side in FIG. 5) of the first base distal end side pulley portion 12c. And a second base distal end side pulley portion 14c attached to the second base stem portion 14a.

  A bearing is disposed between the first base stem portion 12a and the second base stem portion 14a, and the second base stem portion 14a rotates about the first rotation axis Z with respect to the first base stem portion 12a. It is possible.

  The third base pulley 16 includes a cylindrical third base stem portion 16a extending along the first rotation axis Z on the radially outer side of the second base stem portion 14a, and a second base proximal end pulley portion 14b. The third base proximal end pulley portion 16b attached to the third base stem portion 16a on the distal end side (upper side in FIG. 5), and the proximal end side (lower side in FIG. 5) of the second base distal end side pulley portion 14c And a third base distal end side pulley portion 16c attached to the third base stem portion 16a.

  A bearing is disposed between the second base stem portion 14a and the third base stem portion 16a, and the third base stem portion 16a rotates about the first rotation axis Z with respect to the second base stem portion 14a. It is possible.

  The fourth base pulley 18 is a fourth base pulley portion disposed between the third base proximal end pulley portion 16b and the third base distal end pulley portion 16c on the radially outer side of the third base stem portion 16a. 18a.

  A bearing is disposed between the third base stem portion 16a and the fourth base pulley portion 18a, and the fourth base pulley portion 18a rotates about the first rotation axis Z with respect to the third base stem portion 16a. It is possible.

  The wire-driven three-degree-of-freedom joint mechanism 1 of this embodiment further includes an intermediate pulley 20 that is coupled to the horizontal shaft portion 4e of the base member 4 so as to be rotatable about the second rotation axis Y. The first intermediate pulley 20a and the second intermediate pulley attached to the horizontal shaft portion 4e of the base member 4 through bearings so that each of the intermediate pulleys can independently rotate about the second rotation axis Y. A pulley 20b, a third intermediate pulley 20c, and a fourth intermediate pulley 20d are provided.

  As shown in FIGS. 3 to 5, the first intermediate pulley 20 a and the third intermediate pulley 20 c are disposed between one side wall 4 d of the base member 4 and one hanging portion 6 b of the intermediate member 6. The three intermediate pulleys 20c are arranged in parallel so as to be positioned on the side wall 4d side of the base member 4.

  Further, the second intermediate pulley 20 b and the fourth intermediate pulley 20 d are arranged between the other side wall 4 c of the base member 4 and the other hanging portion 6 c of the intermediate member 6. They are arranged in parallel so as to be located on the side wall 4c side.

  The tip member 8 includes a tip pulley assembly having a first tip pulley portion 22a, a second tip pulley portion 22b, a third tip pulley portion 22c, and a fourth tip pulley portion 22d that are integrated so as not to rotate relative to each other. It is configured as a solid 22.

  The wire-driven three-degree-of-freedom joint mechanism 1 of the present embodiment further includes a first base auxiliary pulley 24a, a second base auxiliary pulley 24b, and a third base auxiliary that are rotatably attached to the base member 4, respectively. A pulley 24c and a fourth base auxiliary pulley 24d are provided.

  As shown in FIGS. 3 and 4, the first base auxiliary pulley 24a is arranged to be positioned below the first intermediate pulley 20a. Further, the third part auxiliary pulley 24c is arranged to be positioned below the third intermediate pulley 20c. And the 1st base auxiliary pulley 24a and the 3rd part auxiliary pulley 24c are attached to the opposite side position (position which counters in the direction of order) of one side wall 4d of base member 4, respectively.

  As shown in FIGS. 3 and 4, the second base auxiliary pulley 24b is disposed below the second intermediate pulley 20b. Further, the fourth part auxiliary pulley 24d is arranged to be positioned below the fourth intermediate pulley 20d. And the 2nd base auxiliary pulley 24b and the 4th part auxiliary pulley 24d are attached to the opposite side position (position which counters in the direction of order) of the other side wall 4c of base member 4, respectively.

  The wire-driven three-degree-of-freedom joint mechanism 1 of the present embodiment further includes a first intermediate auxiliary pulley 26a, a second intermediate auxiliary pulley 26b, and a third intermediate auxiliary that are rotatably attached to the intermediate member 6, respectively. A pulley 26c and a fourth intermediate auxiliary pulley 26d are provided.

  As shown in FIGS. 3 and 4, the first intermediate auxiliary pulley 26a is disposed above the first intermediate pulley 20a. Further, the third part intermediate pulley 26c is arranged to be positioned above the third intermediate pulley 20c. The first intermediate auxiliary pulley 26a and the third intermediate pulley 26c are attached to positions opposite to the front-rear direction on one side of the plate-like portion 6a of the intermediate member 6, respectively.

  Further, as shown in FIGS. 3 and 4, the second intermediate auxiliary pulley 26b is disposed above the second intermediate pulley 20b. Further, the fourth intermediate auxiliary pulley 26d is disposed so as to be positioned above the fourth intermediate pulley 20d. The second intermediate auxiliary pulley 26b and the fourth intermediate pulley 26d are each attached to the opposite side in the front-rear direction on the other side of the plate-like portion 6a of the intermediate member 6.

  In the wire-driven three-degree-of-freedom joint mechanism 1 of the present embodiment, the base end is connected to a first winding means (not shown) such as a motor, and the tip end is a predetermined amount to the first base base end side pulley portion 12b. The first base end side wire 28a is wound and connected (predetermined length). (In each drawing of the present application, each wire is not shown in a wound state for a predetermined amount (predetermined length) for clarity of the drawing.)

  Furthermore, the proximal end is provided with a first distal end side wire 30a that is wound and connected to the first base distal end side pulley portion 12c by a predetermined amount (predetermined length). The first distal end side wire 30a has a distal end side wound around the first distal end pulley portion 22a by a predetermined amount (predetermined length) via the first base auxiliary pulley 24a, the first intermediate pulley 20a, and the first intermediate auxiliary pulley 26a. Turned and connected.

  In the wire-driven three-degree-of-freedom joint mechanism 1 of the present embodiment, the base end is connected to second winding means (not shown) such as a motor, and the tip end is connected to the second base base end side pulley portion 14b by a predetermined amount. (Predetermined length) is provided with a second proximal-side wire 28b wound and connected.

  Furthermore, the base end is provided with a second distal end side wire 30b wound and connected to the second base distal end side pulley portion 14c by a predetermined amount (predetermined length). The second distal end side wire 30b has a distal end side wound by a predetermined amount (predetermined length) around the second distal end pulley portion 22b via the second base auxiliary pulley 24b, the second intermediate pulley 20b, and the second intermediate auxiliary pulley 26b. Turned and connected.

  In the wire-driven three-degree-of-freedom joint mechanism 1 of the present embodiment, the proximal end is connected to third winding means (not shown) such as a motor, and the distal end is a predetermined amount to the third base proximal-end pulley portion 16b. A third base end side wire 28c is wound and connected (predetermined length).

  Furthermore, the base end is provided with a third distal end side wire 30c wound and connected to the third base distal end side pulley portion 16c by a predetermined amount (predetermined length). The third distal end side wire 30c has a distal end side wound around the third distal end pulley portion 22c by a predetermined amount (predetermined length) via the third base auxiliary pulley 24c, the third intermediate pulley 20c, and the third intermediate auxiliary pulley 26c. Turned and connected.

  In the wire-driven three-degree-of-freedom joint mechanism 1 of the present embodiment, the base end is further connected to fourth winding means such as a motor, and the fourth base pulley portion 18a, the fourth base auxiliary pulley 24d, and the fourth intermediate pulley. 20d, and a fourth wire 28d that is wound and connected to the fourth tip pulley portion 22d by a predetermined amount (predetermined length) via a fourth tip auxiliary pulley 26d.

  In the present embodiment, the predetermined amount (predetermined length) is appropriately set according to the movable range required for the rotational movement around each rotation axis, and is once or plural for the pulley. In addition to the case where the winding is wound, there is a case where the pulley does not go around, that is, the winding amount is less than one.

  The wire-driven three-degree-of-freedom joint mechanism 1 of the present embodiment further includes first to fourth fixed portion auxiliary pulleys 32a to 32d that are rotatably attached to the fixed substrate 4b of the fixed portion 2.

The first fixed portion auxiliary pulley 32a is disposed between the first base proximal end pulley portion 12b of the first base pulley 12 and the first winding means, and the second fixed portion auxiliary pulley 32b is connected to the second base pulley 14. The second base portion proximal end side pulley portion 14b and the second winding means are disposed.
The third fixed portion auxiliary pulley 32c is disposed between the third base proximal end side pulley portion 16b of the third base pulley 16 and the third winding means, and the fourth fixed portion auxiliary pulley 32d is connected to the fourth base pulley 18. Between the fourth base pulley portion 18a and the fourth winding means.

  As shown in FIGS. 3 and 4, in the wire-driven three-degree-of-freedom joint mechanism 1 of the present embodiment, the distal end side of the first distal wire 30a is the first distal pulley portion 22a (that is, the distal member 8). ) In the first direction (arrow A direction in FIG. 3) is wound and connected to the first tip pulley portion 22a so as to be wound around the first tip pulley portion 22a.

  Further, the distal end side of the second distal end side wire 30b is wound around the second distal end pulley portion 22b by the rotation in the second direction (arrow B direction in FIG. 3) opposite to the first direction of the second distal end pulley portion 22b. It is wound and connected to the second tip pulley portion 22b so as to be taken.

  Further, the distal end side of the third distal end side wire 30c is wound around the third distal end pulley portion 22c by the rotation of the third distal end pulley portion 22c in the first direction (arrow A direction in FIG. 3). It is wound and connected to the tip pulley portion 22c.

  Furthermore, the tip end side of the fourth wire 28d is wound around the fourth tip pulley portion 22d by the rotation of the fourth tip pulley portion 22d in the second direction (the arrow B direction in FIG. 3). It is wound and connected to the pulley portion 22d.

  As shown in FIGS. 3 and 4, in the wire-driven three-degree-of-freedom joint mechanism 1 according to the present embodiment, the first distal wire 30a is in the first direction of the first intermediate pulley 20a (the arrow in FIG. 3). It is wound and connected to the first intermediate pulley 20a so as to be wound around the first intermediate pulley 20a from the base end side by rotation in the C direction).

  Further, the second distal end side wire 30b is wound around the second intermediate pulley 20b from the proximal end side by rotation in a second direction (arrow D direction in FIG. 3) opposite to the first direction of the second intermediate pulley 20b. As a result, the second intermediate pulley 20b is wound and connected.

  Further, the third distal end side wire 30c is wound around the third intermediate pulley 20c from the proximal end side by the rotation of the third intermediate pulley 20c in the second direction (the arrow D direction in FIG. 3). It is wound and connected to the pulley 20c.

  Furthermore, the fourth wire 28d is wound around the fourth intermediate pulley 20d from the base end side by the rotation of the fourth intermediate pulley 20d in the first direction (the direction of arrow C in FIG. 3). It is wound and connected to 20d.

  As shown in FIGS. 3 and 4, in the wire-driven three-degree-of-freedom joint mechanism 1 of the present embodiment, the proximal end side of the first distal end side wire 30a is the first end of the first proximal end distal end pulley portion 12c. It is wound and connected to the first base distal end side pulley portion 12c so as to be wound around the first base distal end side pulley portion 12c by rotation in one direction (arrow E direction in FIG. 3).

  Further, the proximal end side of the second distal end side wire 30b is wound around the second proximal distal end side pulley portion 14c by the rotation of the second proximal end distal end side pulley portion 14c in the first direction (the direction of arrow E in FIG. 3). Thus, the second base distal end side pulley portion 14c is wound and connected.

  Further, the base end of the third distal end side wire 30c is rotated by a third base distal end side pulley by rotation in the second direction (arrow F direction in FIG. 3) opposite to the first direction of the third base distal end side pulley portion 16c. It is wound and connected to the third base front end side pulley portion 16c so as to be wound around the portion 16c.

  As shown in FIGS. 3 and 4, in the wire-driven three-degree-of-freedom joint mechanism 1 of the present embodiment, the distal end side of the first proximal end wire 28 a is the first proximal proximal end pulley portion 12 b. By being rotated in the second direction (the direction of arrow F in FIG. 3), it is wound and connected to the first base base end side pulley section 12b so as to be wound around the first base base end side pulley section 12b.

  Further, the distal end side of the second proximal end side wire 28b is wound around the second proximal end proximal end pulley portion 14b by the rotation of the second proximal end proximal end pulley portion 14b in the second direction (arrow F direction in FIG. 3). As is taken, it is wound and connected to the second base proximal end pulley portion 14b.

  Further, the distal end side of the third base end side wire 28c is wound around the third base base end side pulley portion 16b by the rotation of the third base base end side pulley portion 16b in the first direction (the direction of arrow E in FIG. 3). It is wound and connected to the third base proximal end pulley portion 16b so as to be taken.

  Furthermore, the fourth wire 28d is wound around the fourth base pulley portion 18a from the base end side in the same direction as the third base end side wire 28c.

  In such a configuration, two of the first distal end side wire 30a, the second distal end side wire 30b, the third distal end side wire 30c, and the fourth wire 28d are the base distal end side pulley portions 12c, 14c, 16c or the fourth. Each of the base pulley 18a, each intermediate pulley (20a, 20b, 20c, 20d) and each tip pulley (22a, 22b, 22c, 22d) is wound in a certain direction, and the other two are It is wound in a direction opposite to a certain direction.

  Further, in such a configuration, the base front end side pulley portions 12c, 14c, 16c, the fourth base pulley portion 18a, each intermediate pulley (20a, 20b, 20c, 20d) and each front end pulley portion (22a, 22b, 22c). 22d) and three pulleys (that is, three pulleys provided so as to be rotatable about the first to third rotation axes X, Y, and Z), The combination of the winding direction of the 2nd front end side wire 30b, the 3rd front end side wire 30c, and the 4th wire 28d differs, and it is in the state which is not conjugate.

Here, the conjugate means that the winding direction of the wire has a front-back relationship in the pulleys of two of the three axes of the first to third rotation axes X, Y, and Z.
For example, as shown in Table 1 below, a wire is wound around the base distal end side pulley portions 12c and 14c, which are pulleys of the first rotating shaft, in the first direction, and the base distal end side pulley portion 16c and the fourth base pulley 18a are wired with wires. Is wound in the second direction, the wire is wound in the second direction around the tip pulley portions (22a, 22b) which are pulleys of the third rotating shaft, and the wire is wound in the first direction on the tip pulley portions (22c, 22d). In the state of being wound around, the combination in the winding direction of the wire is conjugate between the intermediate pulley of the first rotating shaft and the tip pulley portion of the third rotating shaft.

Table 1

  In the above-described embodiment, the wire path of each wire is changed between the base member 4, the intermediate member 6, and the tip by the tension of the first tip side wire 30 a, the second tip side wire 30 b, the third tip side wire 30 c, and the fourth wire 28 d. The member 8 is set so that it can be rotated independently around the first rotation axis Z, the second rotation axis Y, and the third rotation axis X.

  According to such a configuration, the first base end side wire 28a and the second base end side wire 28b are wound by each winding means, and the third base end side wire 28c and the fourth wire 28d are fed out, thereby The base member 4 can be rotated in the first direction (the direction of arrow E in FIG. 3) about the one rotation axis Z.

  On the other hand, each winding means winds up the third base end side wire 28c and the fourth wire 28d and feeds out the first base end side wire 28a and the second base end side wire 28b, whereby the first rotation axis Z The base member 4 can be rotated in the second direction (the direction of arrow F in FIG. 3) around the center.

  Further, according to such a configuration, the first base end side wire 28a and the fourth wire 28d are wound by each winding means, and the second base end side wire 28b and the third base end side wire 28c are fed out. The intermediate member 6 can be rotated in the second direction (the direction of arrow D in FIG. 3) about the second rotation axis Y.

  On the other hand, the second base end side wire 28b and the third base end side wire 28c are wound up by the respective winding means, and the first base end side wire 28a and the fourth wire 28d are fed out, so that the second rotation axis Y is centered. The intermediate member 6 can be rotated in the first direction (the direction of arrow C in FIG. 3).

  Furthermore, according to such a configuration, the first base end side wire 28a and the third base end side wire 28c are wound by each winding means, and the second base end side wire 28b and the fourth wire 28d are fed out. The tip member 8 can be rotated in the second direction (the direction of arrow B in FIG. 3) about the third rotation axis X.

  On the other hand, the second base end side wire 28b and the fourth wire 28d are wound up by the respective winding means, and the first base end side wire 28a and the third base end side wire 28c are fed out, so that the third rotation axis X is centered. The tip member 8 can be rotated in the first direction (the direction of arrow A in FIG. 3).

  Further, the posture is maintained by winding all of the first base end side wire 28a, the second base end side wire 28b, the third base end side wire 28c, and the fourth wire 28d by each winding means. However, the rigidity is improved.

  Without being limited to the above-described embodiment of the present invention, various changes and modifications can be made within the scope of the technical idea described in the claims.

  In the above embodiment, unlike the other wires, the fourth wire 28d is not divided into the proximal end side and the distal end side. However, like the other wires, the fourth wire is connected to the fourth winding means and the distal end is connected to the fourth base pulley, and the proximal end is the fourth base pulley. It may be configured to have a fourth tip side wire connected to the tip end and connected to the fourth tip pulley part.

Furthermore, the winding direction with respect to the pulley of each wire is not limited to the winding direction.
Specifically, two of the first distal end side wire 30a, the second distal end side wire 30b, the third distal end side wire 30c, and the fourth wire 28d are the base distal end side pulley portions 12c, 14c, 16c or the fourth base portion. Each of the pulley portion 18a, each intermediate pulley (20a, 20b, 20c, 20d) and each tip pulley portion (22a, 22b, 22c, 22d) is wound in a certain direction, and the other two are In addition, the base distal end pulleys 12c, 14c, 16c, the fourth base pulley 18a, the intermediate pulleys (20a, 20b, 20c, 20d) and the distal pulleys (22a) are wound in the opposite direction. 22b, 22c, 22d), the first tip side wire 30a, the second tip side wire 30b, the third tip side wire 30c, and the fourth wire 28d are combined in different winding directions, and Configuration in a state not a role is included in the present invention.

1: Wire-driven three-degree-of-freedom joint mechanism 2: fixed portion 4: base member 4b: shaft portion 4e: horizontal shaft portion 6: intermediate member 6d: intermediate shaft portion 8: tip member 10: base pulley assembly 12: first Base pulley 14: Second base pulley 16: Third base pulley 18: Fourth base pulley 20: Intermediate pulley 20a: First intermediate pulley 20b: Second intermediate pulley 20c: Third intermediate pulley 20d: Fourth intermediate pulley 22: Tip pulley assembly 22a: first tip pulley portion 22b: second tip pulley portion 22c: third tip pulley portion 22d: fourth tip pulley portion 24a: first base auxiliary pulley 24b: second base auxiliary pulley 24c: third Base auxiliary pulley 24d: fourth base auxiliary pulley 26a: first intermediate auxiliary pulley 26b: second intermediate auxiliary pulley 26c: third intermediate auxiliary pulley 26d: fourth intermediate auxiliary pulley 28a: first base end side 28b: second proximal end wire 28c: third proximal end wire 28d: fourth wire 30a: first distal end side wire 30b: second distal end side wire 30c: third distal end side wire 32a: first fixing portion auxiliary Pulley 32b: second fixed portion auxiliary pulley 32c: third fixed portion auxiliary pulley 32d: fourth fixed portion auxiliary pulley Z: first rotating shaft Y: second rotating shaft X: third rotating shaft

Claims (5)

A wire-driven three-degree-of-freedom joint mechanism,
A base member coupled to the fixed portion so as to be rotatable about the first rotation axis;
An intermediate member coupled to the base member so as to be rotatable about a second rotation axis that intersects the first rotation axis;
A tip member coupled to the intermediate member so as to be rotatable around a third rotation axis passing through an intersection of the first rotation axis and the second rotation axis;
A first base pulley, a second base pulley, and a third base, which are attached to the fixed portion and the base member so as to be rotatable about the first rotation shaft, and are independently rotatable about the first rotation shaft. A base pulley assembly having a pulley and a fourth base pulley;
Intermediate pulleys attached to the base member so as to be rotatable about the second rotation shaft, each being independently attached to the base member so as to be rotatable around the second rotation shaft An intermediate pulley having a pulley, a second intermediate pulley, a third intermediate pulley, and a fourth intermediate pulley;
A front end pulley assembly provided on the front end member, comprising a first front end pulley portion, a second front end pulley portion, a third front end pulley portion, and a fourth front end pulley portion that are integrated so as not to rotate relative to each other. A leading pulley assembly,
A first base auxiliary pulley rotatably attached to the base member;
A second base auxiliary pulley rotatably attached to the base member;
A third base auxiliary pulley rotatably attached to the base member;
A fourth base auxiliary pulley rotatably attached to the base member;
A first intermediate auxiliary pulley rotatably attached to the intermediate member;
A second intermediate auxiliary pulley rotatably attached to the intermediate member;
A third intermediate auxiliary pulley rotatably attached to the intermediate member;
A fourth intermediate auxiliary pulley rotatably attached to the intermediate member;
The first base pulley includes a first base stem portion extending along the first rotation axis, a first base proximal end pulley portion attached to a proximal end side of the first base stem portion, and the first base pulley. A first base distal end side pulley portion attached to the distal end side of the base stem portion,
The second base pulley includes a second base stem portion extending radially outward of the first base stem portion along the first rotation axis, and a distal end side of the first base proximal end pulley portion. A second base proximal end pulley portion attached to the second base stem portion; a second base distal end pulley portion attached to the second base stem portion on the proximal end side of the first base distal end pulley portion; Have
The third base pulley includes a third base stem portion that extends radially outward of the second base stem portion along the first rotation axis, and a distal end side of the second base proximal end pulley portion. A third base proximal end pulley portion attached to the third base stem portion; a third base distal end pulley portion attached to the third base stem portion on the proximal end side of the second base distal pulley portion; Have
A fourth base pulley portion disposed between the third base proximal end pulley portion and the third base distal end pulley portion on the radially outer side of the third base stem portion; Have
The joint mechanism further comprises:
A first base-side wire having a base end connected to the first winding means and a tip connected to the first base-side pulley section;
A proximal end is connected to the first base distal pulley section, and a distal end is connected to the first distal pulley section via the first base auxiliary pulley, the first intermediate pulley, and the first intermediate auxiliary pulley. 1 tip wire,
A second proximal end wire having a proximal end connected to the second winding means and a distal end connected to the second proximal proximal pulley section;
A base end is connected to the second base front end side pulley portion, and a front end is connected to the second front end pulley portion via the second base auxiliary pulley, the second intermediate pulley, and the second intermediate auxiliary pulley. Two distal wires,
A third base side wire having a base end connected to the third winding means and a tip connected to the third base base end side pulley portion;
A proximal end is connected to the third base distal pulley section, and a distal end is connected to the third distal pulley section via the third base auxiliary pulley, third intermediate pulley, and third intermediate auxiliary pulley. 3 tip side wires;
The proximal end is connected to the fourth winding means, and the distal end is connected to the fourth distal pulley portion via the fourth base pulley portion, the fourth base auxiliary pulley, the fourth intermediate pulley, and the fourth distal auxiliary pulley. And a fourth wire that is
A tip side portion of the first tip side wire, a tip side portion of the second tip side wire, a tip side portion of the third tip side wire, and a tip side portion of the fourth wire; Wound around the first tip pulley portion, the second tip pulley portion, the third tip pulley portion, and the fourth tip pulley portion;
The wire path of each wire includes the base member, the intermediate member, and the tip member by the tension of the first tip side wire, the second tip side wire, the third tip side wire, and the fourth wire. It is set so that it can be rotated independently around each of the first rotating shaft, the second rotating shaft and the third rotating shaft.
A wire-driven three-degree-of-freedom joint mechanism. Two of the first tip side wire, the second tip side wire, the third tip side wire, and the fourth wire are respectively provided for each base pulley , each intermediate pulley, and each tip pulley portion. And the other two are wound in a second direction opposite to the first direction,
In each of the base pulleys , the intermediate pulleys, and the tip pulleys, a combination of winding directions of the first tip side wire, the second tip side wire, the third tip side wire, and the fourth wire is different. And not conjugated,
The wire-driven three-degree-of-freedom joint mechanism according to claim 1. The fourth wire is divided into a fourth proximal end wire and a fourth distal end wire fixed to the fourth base pulley, respectively.
The wire-driven three-degree-of-freedom joint mechanism according to claim 1 or 2. A first fixed portion auxiliary pulley disposed between the first base pulley and the first winding means;
A second fixed portion auxiliary pulley disposed between the second base pulley and the second winding means;
A third fixed portion auxiliary pulley disposed between the third base pulley and the third winding means;
A fourth fixed portion auxiliary pulley disposed between the fourth base pulley and the fourth winding means;
The wire drive type | mold 3 degree-of-freedom joint mechanism of any one of Claim 1 thru | or 3. The distal end side of the first distal end side wire is connected to the first distal end pulley part so as to be wound around the first distal end pulley part by rotation of the first distal end pulley part in the first direction,
The second tip pulley so that the tip side of the second tip side wire is wound around the second tip pulley portion by rotation of the second tip pulley portion in a second direction opposite to the first direction. Is connected to the third tip pulley portion so that the tip end side of the third tip side wire is wound around the third tip pulley portion by the rotation of the third tip pulley portion in the first direction. ,
The distal end side of the fourth wire is connected to the fourth distal pulley portion so that the fourth distal pulley portion is wound around the fourth distal pulley portion by the rotation of the fourth distal pulley portion in the second direction.
The wire-driven three-degree-of-freedom joint mechanism according to any one of claims 1 to 4.

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