JPH029597A - Manipulator tip construction - Google Patents

Abstract

PURPOSE:To permit a single drive motive to simply turn door knobs by furnishing at least three grip levers, whose one end is borne by a grip lever supporting cylinder, middle part borne slidably by a drive shaft, and the other end equipped with a grasp part for suppression of slip. CONSTITUTION:Drive shaft 2 is rotated by a single drive motive, and three grip levers 6 are given a torque through a drive pin 8. This torque rotates each grip lever 6 round a hole inserted to a grip lever supporting cylinder 4, and the gap to a door knob 9 is lessened. Further, the drive shaft 2 is rotated to press the rubber 7 of each grip lever 6 to the periphery of door knob 9, and the grip lever 6 is stopped rotating round the insertion hole to the supporting cylinder 4. From this condition, further, a torque is given to the drive shaft 2 to rotate the supporting cylinder 4 against the friction force of a slip ring 5 in a single piece with the drive shaft 2 and grip lever 6, and the door knob 9 grasped by three grip levers 6 is turned so as to open the door.

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Industrial Application Field) The present invention relates to a tip structure of a manipulator having the function of grasping and turning a door knob.

(Conventional technology) Currently, various types of mobile robots are being developed.
Many mechanisms have been proposed for overcoming obstacles and climbing stairs. However, in order for these mobile robots to move freely around buildings, they not only need to be able to overcome obstacles and go up and down stairs, but they also need to be able to open and close doors freely. Doors are designed with the idea in mind that they are opened and closed by humans. Therefore,
In order to perform this operation, it is necessary to load a manipulator, which is a mechanical arm that simulates a human arm, onto the mobile robot.

Doors usually have a knob, and opening the door requires two movements: first grasping the knob, and then rotating the knob.

In order to perform this operation with a manipulator, it is necessary to have a gripping mechanism and its drive source at its tip to grasp the knob, and a rotation mechanism and its drive source to rotate the gripped knob. Ta.

(The problem that the invention aims to solve!) However, in the conventional proposal mentioned above, in order to have two mechanisms and a driving source at the tip of the manipulator, the overall mechanism was made *m, and the design conditions of the manipulator were extremely changed. It was relocated to .

Furthermore, the complication of this mechanism results in an increase in weight, and the increase in weight at the tip of the manipulator not only reduces the rigidity of the entire manipulator, but also has the risk of making its movement unreliable.

An object of the present invention is to provide a manipulator tip structure that can perform the operation of grasping and turning a door knob with a simple mechanism and using a single drive source.

[Structure of the invention]

(Means for solving problems) In order to achieve the above object, in the present invention.

A fixed shaft fixed to the manipulator body, a drive shaft surrounding the fixed shaft and rotatably supported with respect to the fixed shaft, and a drive shaft disposed on the outer peripheral side of the fixed shaft and sliding in the direction of rotation. At least three grip lever support tubes each having a movably supported grip lever support tube, one end supported by the grip lever support tube, an intermediate portion slidably supported by a drive shaft, and the other end having a grasping portion for suppressing slippage. Provided is a manipulator tip structure characterized by comprising a grip lever and a grip lever.

(Function) In the tip structure of the manipulator configured in this manner, when rotating the door knob, the door knob is first placed inside the grip lever. By rotating the drive shaft, the gripping portion of the grip lever moves inward using the drive shaft as a fulcrum and is fixed to the door knob. and.

Furthermore, by rotating the drive shaft, the door knob held by the grip lever rotates and the door can be opened.

Therefore, the operation of grasping and turning the door knob can be performed with a simple structure and a single driving source.

(Embodiment) The tip structure of a manipulator according to an embodiment of the present invention will be described below with reference to FIGS. 1 to 3. In addition, the first
The figure shows a perspective view of the tip structure of the manipulator.
The figure shows its longitudinal sectional view, and FIG. 3 shows its assembled view.

1 to 3, a cylindrical drive shaft 2 is mounted so as to cover the outside of a fixed shaft 1 fixed to a manipulator body (not shown).

This drive shaft 2 is combined with a fixed shaft 1 via a rolling bearing 3, and the drive shaft 2 is configured to be rotatable with respect to the fixed shaft 1.

A grip lever support cylinder 4 is installed between the fixed shaft 1 and the drive shaft 2, and is rotatably supported by the fixed shaft 1 via a slip ring 5 having an appropriate frictional force.

At least three crank-shaped grip levers 6 are mounted on the end surface 4a of the grip lever support tube 4.
The grip levers 6 are inserted at approximately equal intervals around the circumference of a, and the grip levers 6 are configured to be able to rotate smoothly around the insertion shaft. A rubber 7 is attached to the tip of the grip lever 6 to prevent slippage.

The middle part of this grip lever 6 is the end surface 2a of the drive shaft 2.
It has a structure in which a grip lever drive bin 8 disposed in the grip lever is slidably supported.

Next, the operation of the present invention will be explained with reference to FIGS. 2 and 4 to 7.

As shown in FIG. 2, the tip structure of the manipulator approaches the door knob 9 from the front so that the door knob 9 is positioned between the three grip levers 6.

FIG. 4 is a front view of the device in this state.

Next, when the drive shaft 2 is rotated, the grip lever 6 receives rotational force via the grip lever drive pin 8. The grip lever support tube 4, which serves as the fulcrum for the rotation of the grip lever 6, is fixed to the fixed shaft 1 via a slip ring 5 having a moderate frictional force, so the grip lever 6 is shown in FIG. The grip lever begins to rotate around the hole inserted into the grip lever support cylinder 4, and the gap between it and the doorknob 9 becomes smaller.

When the drive shaft 2 is further rotated, the rubber 7 of the grip lever 6 comes into contact with the outer periphery of the doorknob 9 and presses it down, as shown in FIG. As a result, grip lever 6
The rotation operation around the insertion hole into the grip lever support cylinder 4 is stopped.

If a rotational force is still applied to the drive shaft 2 in this state, the rotational force of the drive shaft 2 will exceed the frictional force of the slip ring 5 that was restraining the rotation of the grip lever support tube 4, and the grip lever support tube 4 will be rotated. 4 holds down (grasps) the doorknob 9 and moves the drive shaft 2. It starts rotating motion in unison with the grip lever 6. As a result, the doorknob 9 is rotated and the door is opened.

Therefore, the operation of grasping and turning the door knob can be performed with a simple mechanism and a single driving source.

〔Effect of the invention〕

As explained above, compared to the conventional door knob turning device that has two drive sources and a complicated mechanism, the door knob can be turned with a single drive source and a simple and lightweight mechanism. can perform actions.

Furthermore, because of its lightweight structure, its operation efficiency can be improved, and since the number of parts is reduced due to the simple mechanism, the tip structure of the manipulator can be made more reliable.

[Brief explanation of the drawing]

1 to 3 are perspective views and vertical sectional views 2 and 2 assembled views showing the tip structure of a manipulator according to an embodiment of the present invention, and FIGS. 4 to 7 respectively show the structure of the manipulator shown in FIG. 1. FIG. 3 is an operation explanatory diagram of the tip structure viewed from the tip direction. 1... Fixed shaft 2... Drive shaft 4.
...Grip lever support tube 6...Grip lever agent Patent attorney Nori Ken Chika Yudo Ken Daishimaru Fig. 1 Fig. 2 Fig. C Fig. Fig.

Claims (1)

[Claims] A fixed shaft fixed to the manipulator body, a drive shaft surrounding the fixed shaft and rotatably supported with respect to the fixed shaft, and a drive shaft disposed on the outer peripheral side of the fixed shaft and sliding in the direction of rotation. At least three grip lever support tubes that are movably supported, one end supported by the grip lever support tube, an intermediate portion supported by a drive shaft so as to be slidable, and a grasping portion for suppressing slippage at the other end. A manipulator tip structure comprising a grip lever.