JPH0418796Y2 - - Google Patents

Description

[Detailed Description of the Invention] A. Field of Industrial Application The present invention relates to the hand structure of a master-side manipulator, and particularly relates to the hand structure of a manipulator whose power transmission is an all-gear type.

B. Summary of the idea In the hand structure of a manipulator where a grip is provided at the hand end of the arm, multiple shafts for power transmission are arranged inside the case of the arm, and a bevel gear is attached to the end of each multiple shaft guided to the hand end. The drive-side gear that meshes with the drive-side gear is arranged horizontally, and the power transmission mechanism to the drive-side gear is arranged vertically. By moving the center of rotation of the machine closer to the grip, power transmission is accurate and the machine can be made smaller.
Moreover, the hand structure of the master manipulator is well-balanced as a whole and is easy to operate with movements similar to a human wrist.

C. Technique of Invention There are two main ways to transmit power to each joint in a manipulator: a method that uses tape or wire, and a method that uses all gears.

Power transmission methods using tape or wire are suitable for reducing the inertia of each arm because these power transmission members are lightweight, but the tape or wire often breaks when overload occurs. Further, when the manipulator is operated at high speed, the tape or wire may come off the pulley, and there are also problems such as damage to parts and the need to replace them.

On the other hand, in the case of a power transmission system using all gears, the problems of the tape or wire system can be overcome. In this all-gear type manipulator, the power source is the motor, which is distributed to each joint such as the wrist, shoulder, and elbow (this is called a SCARA type). Most of them use this method.

D Problems to be solved by the invention However, in the case of the above-mentioned method of distributing the motors, in order to reduce the inertia of the manipulator, it is composed of a small motor and a high-reduction gear device.
It was suitable only for manipulators with relatively low load capacity or operating speed. Furthermore, since a motor, which is more easily damaged than a gear or the like, is disposed at each joint, it has been difficult to replace parts of the motor.

Furthermore, the structure of the grip at the manipulator's tip has conventionally tended to be large and not necessarily well-balanced, and furthermore, it has been difficult to operate it with a natural sensation similar to moving a human wrist.

The present invention improves the above-mentioned drawbacks and has an all-gear type power transmission mechanism that can be used even when the manipulator has a large load capacity and high operating speed, and has a highly mechanically reliable motor. death,
Furthermore, it is an object of the present invention to propose a hand structure of a master-side manipulator whose movement is natural and easy to operate, and which transmits an approximate movement of the operation movement to a slave-side manipulator via a motor.

E. Means for Solving Problems The hand structure of the master side manipulator according to the present invention is such that the hand structure of the manipulator is provided with a grip portion at the hand portion of the tip of the arm connected to the shoulder portion, and the case of the arm is A plurality of multiple shafts for power transmission are arranged inside the arm and guided to the wrist part, and a bevel gear is provided at the tip of each shaft of the multiple shaft, and the driven side bevel gear that meshes with each of these bevel gears is located at the center of the arm. The power transmission mechanism from the wrist part to the input operation part, which is provided in conjunction with the bevel gear on the driven side, is arranged in the upper and lower sides of the axis within the case of the hand part, and the power transmission mechanism is The forming gears are supported using a backlash adjustment mechanism, and the wrist joint has a single point of intersection as the center of motion.

F Action The operator grasps the grip and operates the master side of the manipulator in the direction of each degree of freedom as if it were one with his or her own hands, and the movement is controlled by the multiple axes and the bevel gear provided at the end of the grip. It is possible to operate the signal transmitter via the slave side and transmit a similar operation to the slave side.

G. Embodiment The present invention will be described below with reference to embodiments shown in FIGS. 1 to 5.

FIGS. 4 and 5 are external views of the master side of a manipulator with a large load capacity and a high operating speed. This manipulator has the shape of a human arm and is composed of a hand portion A, an elbow portion B, and a shoulder portion C. A motor 48 that converts the movement of the grip part of each joint of the arm into an electric signal and transmits it to the slave-side manipulator is centrally arranged in the shoulder part C, and the power transmission is housed in the case of the upper arm 51 and forearm 52. This is due to the shaft and the gear provided at the end of the shaft. Further, 90 is a balancer.

The structure of the hand portion A is shown in FIGS. 1 and 2, and will be explained below. FIG. 2 shows the operating grip portion 53 on the master side of the manipulator, as seen from the left side of FIG. The grip section 53 allows the wrist portion and tongs portion (not shown) on the slave side to each operate with two degrees of freedom, a total of four degrees of freedom, so that input operations can be performed with four degrees of freedom.

FIG. 1 shows a cross-sectional view of the distal end of the forearm 52 extending from the elbow portion B. As shown in FIG. First, the transmission of power from the elbow part B is performed by a separate power transmission system corresponding to the number of joints (degrees of freedom) of the hand, and specifically, one movement is transmitted corresponding to one axis. A total of four tubular shafts and four threaded shafts are inserted multiple times, and four powers are transmitted through each shaft. For example, power is transmitted by the tubular shaft 1 for grasping movements of the grip part 53, and by the tubular shaft 2 for vertical bending movements of the wrist part.

In FIG. 1, inside the case 52a of the forearm 52, in addition to the aforementioned tubular shafts 2 and 1, there is a tubular shaft 54 and a shaft 5.
5 are inserted multiple times, and bevel gears 4, 3, 57, and 56 are attached to the tip of each shaft.
The bevel gears are supported through bearings 17.

75 is an axis, and the multiple axes 1, 2, 54, 55
The shaft 75 is disposed at right angles to the tip side of the shaft 75.
, bevel gears 59, 5 and bevel gears 60, 6 are arranged on both sides of the intermediate portion thereof, respectively. Bevel gears 59 and 3 are bevel gears 56 and 5, respectively.
The bevel gears 60 and 6 are in mesh with the bevel gears 57 and 4, respectively.

Above the shaft 75 shown in FIG.
9 is interlocked with a spur gear 64 via a connecting cylinder 66, and the spur gear 64 is further interlocked with the gear 15 via intermediate spur gears 58 and 65. Also, bevel gear 5
is connected to a spur gear 7, which is interlocked with a spur gear 13 via intermediate spur gears 9 and 11.

Furthermore, the lower side of the shaft 75 shown in FIG. It is interlocked with the spur gear 16 via 63. Further, a spur gear 8 is coupled to the bevel gear 6, and the spur gear 8 is interlocked with a spur gear 14 via intermediate spur gears 10 and 12. The spur gears 9 and 58 are connected to the shaft 68, the spur gears 65 and 11 are connected to the shaft 69, and the spur gear 1
0 and 62 are connected to the shaft 70, spur gears 12 and 63 are connected to the shaft 71
They are each supported on top of each other.

As mentioned above, the power is transmitted from the center of the arm to the top and bottom in the figure, but as a result, each member is distributed within the arm, and there is no wasted space within the arm, and the manipulator's arm It is effective in making it smaller.

Therefore, the spur gears 13, 14 in FIG.
Figure 2 shows 15 and 16 viewed from the left side. In the figure, four shafts 18, 74, 24, and 73 are arranged so that their axes intersect at one point. Further, spur gears 15 and 16 are disposed on the same axis of the spur gears 13 and 14, centering on shafts 74 and 18 that are on the same axis.

As shown in FIG.
It is used to perform rotational motion. That is, the spur gear 15 is fixed to the shaft 74, and the bevel gear 42 fixed to the inner end of the shaft 74 meshes with the bevel gear 41 fixed to the inner end of the shaft 73. The bevel gear 41 meshes with an intermediate spur gear 76 supported on a support shaft 77 within a case 78.
It is meshed with a gear 79 supported by. The shaft 28 is housed in a cylindrical case 80. A bevel gear 33 is coupled to the spur gear 79, and a bevel gear 34 meshed with the bevel gear 33 is coupled to a grip operating portion 35.
These are supported by a shaft 31. Therefore,
When the grip operating portion 35 is rotated, the power is transmitted to the spur gear 15 by the power system described above, and further to the shaft 56 by the power system shown in FIG.

Next, the spur gear 13 is used to cause the slave side to perform a gripping operation by operating the grip.
That is, the bevel gear 22 is pivotally attached to the spur gear 13, and each of these gears is supported by a shaft 74. A bevel gear 23 fixed to a shaft 24 meshes with the bevel gear 22 . Spur gear 2 fixed to shaft 24
5 is meshed with an intermediate spur gear 26, and the intermediate gear 26 is further meshed with a spur gear 27 fixed to a shaft 28. A bevel gear 29 is fixed to the other end of the shaft 28, and this bevel gear 29 meshes with a bevel gear 30 fixed to one end of the shaft 31. A bevel gear 32 is attached to the other end of the shaft 31.
gives the grip a grasping motion. Bevel gear 3
The structure of the grip that operates under the power of 2 will be omitted from explanation. Thus, the spur gear 13 and the bevel gear 32 are interlocked by the above-mentioned power transmission system.

Next, the spur gear 14 is supported by the shaft 18 and fixed to the wrist joint frame 47 with bolts, and the gear 12 meshing with the spur gear 14 is connected to the wrist joint frame 47.
(FIG. 1), when power is transmitted from the drive unit side to the spur gear 13, the wrist portion performs a vertical bending motion about axis A.

Next, the spur gear 16 is mounted on the shaft 18,
A bevel gear 19 provided at one end of the shaft 18 meshes with a bevel gear 20 rotatably supported on the shaft 73 by a bearing. A joint frame 21 is fixed to the bevel gear 20 with bolts, and provides a horizontal rotation movement of the wrist around the axis RO, and this movement is performed via a spur gear 63 (FIG. 1) that meshes with the spur gear 16. and is transmitted to the motor of the manipulator.

The above power transmission mechanism includes bevel gears 19 and 20, 23 and 22, and 4 that mesh with each other from the right angle direction.
A backlash adjustment mechanism is provided to adjust the engagement between the adjustment screw caps 36, 37, and 3.
9,81 fulfills that role.

The principle of the gear backlash adjustment mechanism will now be explained with reference to FIG. That is, the bevel gear 82,
When 83 is in mesh operation normally, thrust is generated and the meshing bevel gears 82 and 83 tend to separate from each other, but the adjustment screw member 85 pushes the bearing 84 that supports at least one of the bevel gears. The male screw 86 on the outer periphery of the adjusting screw member 85 is screwed into the female screw 88 of the fixing member 87, and the adjusting screw member 85
This is used to hold down the bevel gear and perform backlash adjustment.

Therefore, the adjustment screw caps 36, 3 shown in FIG.
7, 39, 81 all have screws on the outer periphery and are screwed into the outer case, and by screwing adjustment of each adjusting screw cover 36, 37, 39, 81,
The ends of the shafts 18, 24, 74, 78 are pressed against each other, and the bevel gears 19, 23, provided at the tips of the shafts are pressed against each other.
42 and 41 are pressed against the mating bevel gears in mesh with each other.

H. Effects of the invention According to the invention, power is transmitted from the shoulder to the tip of the arm using multiple shafts with gears at the ends, which makes it possible to transmit power from the shoulder to the end of the arm using multiple shafts, unlike conventional tapes, wires, etc. It has higher mechanical reliability than the transmission method, and the manipulator can withstand heavy loads.It is also easier to disassemble and reassemble as there is no electrical wiring inside the arm, unlike the conventional method in which the motor is installed in the joint. It is highly reliable as there is no need to worry about problems such as cutting of electric wires.

In addition, by dividing the power transmission mechanism from the elbow into left and right parts at the wrist, the space within the elbow can be used effectively, and each transmission mechanism can be assembled without wasting space. Since the arm of the manipulator can be made smaller and the tooth width of the gear can be relatively increased, it can withstand heavy loads. Furthermore, by dividing the power transmission mechanism from the wrist part to the grip part into upper and lower parts, the manipulator arm can be made smaller, and since it has a double-sided shaft structure, it has high mechanical reliability in this respect as well. Can withstand heavy loads. Furthermore, since the horizontal and vertical centers of rotation of the wrist joints are the same (one-point intersection), dexterous movements similar to those of a human wrist can be made. moreover,
Since each bevel gear has a backlash adjustment mechanism, the meshing of the bevel gear can be adjusted, and the operating position accuracy of the manipulator can be improved.

[Brief explanation of drawings]

Fig. 1 is an explanatory diagram showing the wrist on the master side of the manipulator, Fig. 2 is an explanatory diagram showing a diagram from the direction of the arrow in Fig. 1, Fig. 3 is a principle diagram of the backlash adjustment mechanism, and Fig. 4 is an explanatory diagram showing the wrist on the master side of the manipulator. FIG. 5 is an overall side view and front view of the master side manipulator. A... Hand part, C... Shoulder part, 1, 2, 54...
...Tubular shaft, 52a...Case, 55...Shaft, 53
...Grip part, 3, 5, 6, 41, 57, 5
6,59,60...Bevel gear, 18,74...Shaft,
51... Upper arm, 52... Forearm.

Claims (1)

[Scope of utility model registration request] Consists of the hand part, elbow part and shoulder part,
Each joint of the hand part is interlocked and connected by a power transmission mechanism consisting of a motor and all gears, which are centrally arranged in the shoulder part, and a grip part is provided in the hand part. The first to fourth shafts are arranged concentrically to form a multiple shaft, one end of each shaft of the multiple shaft is interlocked and connected to the motor, and the other end is extended to the center of the arm to form a multiple shaft. A bevel gear is provided at the tip, and a shaft perpendicular to the multiple shafts is provided at the center of the arm, and double connecting tubes are provided on both sides of the shaft with the intermediate portion sandwiched between them. A bevel gear that meshes with a bevel gear provided at the shaft end of the multi-shaft is provided at the inner end of the cylinder, a spur gear is provided at the outer end, and each spur gear has two rows of spur gear trains distributed on both sides. power is transmitted from the grip part through the grip part, and the grip part has first to fourth axes whose axes intersect at right angles and intersect at one point in the case of the grip part, and A bevel gear is provided at the inner end and a spur gear is provided at the outer end, and the first shaft and the second shaft coaxial with the first shaft are interlocked with the spur gear train distributed by the forearm. Two spur gears are each provided, one of the spur gears on the first shaft is fixed to the first shaft, the other spur gear is rotatably supported on the first shaft, and a bevel gear is connected. At the same time, one of the spur gears of the second shaft is fixed to the second shaft, and the other spur gear is rotatably supported on the second shaft to perform a vertical bending motion of the wrist. The bevel gear at the inner end of the second shaft is connected to the joint frame and is connected to the joint frame for horizontal rotation of the wrist, and the third shaft in the direction perpendicular to the first shaft is connected to the inner end of the second shaft The bevel gear meshes with the bevel gear of the first shaft, and the spur gear at the outer end is connected to a grip operating section that rotates the grip via the spur gear and the bevel gear,
A bevel gear on a fourth shaft coaxial with the third shaft meshes with a bevel gear rotatably supported on the first shaft. A hand structure of a master side manipulator, characterized in that it is connected to a member that provides a grasping motion.