JPH05139346A - Multi degree-of-freedom type transfer device - Google Patents

Abstract

PURPOSE:To realize the two-leg walking with the min imum. degree of motion freedom and provide a transfer device which is lightweight high in degree of freedom and simple in structure, by joining two base boards by a plurality of connecting members each having special structure, and setting the boards independently of each other. CONSTITUTION:A first base board 11 has a square frame form and a second base board 12 is arranged in the square space part. Suporting legs 131-134 and 141-144 each having a sucker 15 on the edge parts are arranged on the corner parts of the base boards 11 and 12. Further, the first-fourth connection members 161-164 which are formed by connecting a first and a second joint member 18 and 19 in turnable manner by a joint shaft 20 are installed at four positions as the objects of the first base board 11 so as to be turnable around the vertical axis by motors 171-174. The second joint member 19 is constituted of a pair of rod bodies 211 and 212, and can be freely turnable in the vertical direction to the surface of the base plate 11. Accordingly, walking operation can be obtained by two base boards 11 and 12 by drive-controlling the connecting members 161-164 individually.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a multi-degree-of-freedom moving device capable of moving not only on the ground but also on the wall.

[0002]

2. Description of the Related Art Many types of movement modes have been proposed as means for moving an uneven surface. Among them, the mechanism that utilizes walking motion is known as a desirable form that has the possibility of responding to considerable unevenness on the ground, but
In order to exhibit the ground adaptability peculiar to the leg structure, a high degree of freedom of movement is required for the leg, and as a result, the mechanism becomes complicated and its weight increases.

On the other hand, as a device for moving the wall surface, a device provided with a support mechanism for adsorbing to the wall surface by a suction cup is considered, and its moving means may be a moving system utilizing rotary motion or a walking system. For example, a structure in which a suction cup is attached to an endless track is conceivable as one utilizing the rotary motion. With such a mechanism, the forward and backward linear motions are easy, but the turning motion is difficult. That is, if the suction cups provided on the endless track try to change the direction in which the suction is performed on the wall surface, the suction portion slips and the wall suction state cannot be reliably retained. Therefore, it is necessary to add a mechanism for turning motion for changing the direction, which complicates the configuration and control and increases the weight.

When the walking method is adopted, for example, two sets of suction cup mechanisms are provided, one suction cup mechanism sucks the other suction cup from the wall surface, and the two suction cup mechanisms are moved relative to each other. By changing the target position, forward, backward, and turning motions are performed. However, in such a device, movement in the Z and Y directions corresponding to the wall surface as well as movement in the Z direction for lifting the suction cup from the wall surface are required. It is necessary to perform a turning motion for rotation, which complicates the structure of the drive system and also increases the weight.

[0005]

SUMMARY OF THE INVENTION The present invention has been made in view of the above points, and realizes bipedal locomotion with a minimum degree of freedom of movement, and a simple structure and lightweight movement with a large number of degrees of freedom. It is intended to provide a device.

[0006]

A multi-degree-of-freedom moving device according to the present invention is provided with first and second moving devices which are set independently of each other.
Are connected to each other by a plurality of connecting members, and each connecting member is connected to the first base by one rotating shaft, and is connected by a plane parallel to one surface corresponding to this base. A first coupling member that is rotatably set, and a tip end of the first coupling member that is rotatably coupled in a direction at least perpendicular to the one surface, and is specified by the second base. And a second coupling member coupled by a rotating shaft.

[0007]

In the multi-degree-of-freedom moving device configured as described above, by driving the plurality of connecting members respectively,
The relative angular position changes together with the relative positional relationship between the first base and the second base. Therefore, as the relative height between the first base and the second base changes, the relative positional relationship also changes,
The first and second bases allow the walking motion. In addition, a turning motion can be performed by changing the relative angular positions of the first and second bases. For example, if a suction cup mechanism is set on the support leg, it is possible to walk on a vertical wall surface, and the weight is reduced. It is also easy to do. In this case, walking can be performed by rotating the connecting member composed of the first and second connecting member members and the first connecting member, for example, and the structure is sufficiently simplified. Further, a function is set in which one base is used as a support and the other base is moved in multiple degrees of freedom in a stationary state. For example, it is possible to assist work by mounting a work device.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 shows the overall structure. It is located in a quadrilateral frame-shaped first base 11 and a quadrilateral space formed inside the first base 11. Then, the second base 12 is set.

In this case, the first base 11 is provided with support legs 131 to 134 corresponding to the four corners thereof,
Support legs 141 to 144 are also provided for the second base 12. And these supporting legs 131-134 and 141-144
A suction cup 15 as shown, for example, in Japanese Patent Application No. 61-57087 is provided at the tip of each. This sucker 15
Is not shown in detail, but is connected to an air suction mechanism,
By controlling the suction air, the adsorption state and the desorption state are selectively set.

First to fourth connecting members 161 to 164 are attached to four symmetrical positions of the first base 11 by means of rotary shafts set perpendicular to the plane of the base 11.
Motors 171 to 174 are coaxially provided on the rotary shafts so that the connecting members 161 to 164 are rotated in parallel with the surface of the base 11.

FIG. 2 shows one of the connecting members 16 (161 to 164) taken out. The connecting member 16 is the first connecting member.
18 and the second coupling member 19 are rotatably coupled by a coupling shaft 20.

The first coupling member 18 includes a support shaft 181 which is vertically mounted on the surface of the first base 11, and the support shaft 1
81 is the first set to extend parallel to the surface of the base 11.
Link 182 is installed. And the support shaft 18
1 is directly rotated by the motor 171 (172 to 174). That is, the first link 18 by the motor
2 is rotationally driven in a state of being parallel to the surface of the first base 11.

The coupling shaft 20 is integrally attached to the rotatable free end of the first link 182 so as to be set parallel to the support shaft 18. A second link 191 constituting the second coupling member 19 is coupled to the coupling shaft 20, and a mounting shaft 192 is provided at the tip of the second link 191. It is rotatably mounted vertically on the surface of the second base 12.

Here, the second link 191 is a pair of trunks 21.
1 and 212, this link 211 and 212
One end of each of the trunks 211 and 212 is rotatably attached to the support 201 which is set on the coupling shaft 20 perpendicularly to the surface of the substrate 11 in the extending direction, and the other end of each of the trunks 211 and 212 is attached to the attachment shaft 192. It is rotatably attached to a support body 193 that extends coaxially with the support. And this trunk
211 and 212 are set parallel to each other and are rotatable in a direction perpendicular to the surface of the substrate 11, so that the support 201 and 193 are always kept in parallel.

That is, the first connecting member 18 is the first base.
The second connecting member 19 is driven to rotate parallel to the surface 11 and is a substrate.
The support shaft 181, the coupling shaft 20, and the mounting shaft 192 of the first coupling member 18 are rotatable in a plane parallel to the plane 11 and in a direction perpendicular to the plane. The axes J1, J2 and J3 are kept parallel to each other.

FIG. 3 is a plan view for explaining an operating state of the moving device having the above-mentioned structure.
Connecting members 161 to 164 are symmetrically arranged with respect to the center line XX set on the first base 11, and the first and second connecting members 161 and 162, and The third and fourth connecting members 163 and 164 are set as a pair and are controlled in each pair.

Then, the first to fourth connecting members 161 to 16
When the first coupling members 18 of 4 are respectively rotated in the direction of arrow a in the figure by motors 171 to 174 so as to be narrowed for each pair, these coupling members 161 to
164 Since the positional relationship of each end is specified by the second base 12, the second base 12 and the first base 11 are kept in a constant positional relationship on the plane. While moving down.

If the second base 12 is in contact with the wall surface by the support legs 141 to 144, for example, the first base 12
The eleven support legs 131 to 134 are moved in the direction of being lifted from this wall surface.

On the contrary, when the first connecting member 18 of each of the first to fourth connecting members 161 to 164 is rotated in the direction of the arrow b in the state shown in FIG. Second base
12 is driven in the rising direction, and the supporting leg of the first base 11
131-134 contact the wall surface and support legs 141- of the second base 12
144 will come off the wall.

Further, by setting the first to fourth connecting members 161-164 as shown in FIG. 4, the second base 12 can be moved on the plane with respect to the first base 11. By combining such movement with the movement of the second base in the vertical direction with respect to the first base 11 shown in FIG. 3, the moving device can be moved along a straight line.

Further, if the angular relationships of the first to fourth connecting members 161 to 164 are set as shown in FIGS. 5 and 6, the second base 12 is 45 ° and 90 ° from the state of FIG.
If this is combined with the vertical relative movement of the first base 11 and the second base 12 described in FIG. 4, this moving device is turned. By combining the turning motion and the rectilinear motion, the moving device can freely walk and move on a plane.

Here, the supporting legs 131 to 134 and 141 to 14
In combination with the control of the suction cups 15 set to 4 respectively, this moving device can move freely on, for example, a vertical wall surface.

FIG. 7 shows another example of the connecting member 16.
Although the configuration of the second link 19 part is different from the example shown in FIG. 2,
Basically the same operation is performed. The same parts as those in FIG. 2 are designated by the same reference numerals and the description thereof is omitted.

FIG. 8 shows still another example of the connecting member 16.
In this embodiment, the first connecting member 18 is the same, but the second connecting member 19 has a degree of freedom.

That is, the link 191 constituting the second connecting member 19 is connected so as to rotate in the direction perpendicular to the surface of the base 11 with respect to the connecting shaft 20, and further the mounting shaft is attached.
A shaft 194 is rotatably connected to 192. Therefore, the axis of the mounting shaft 192 is not constrained to be kept parallel to the axis of the support shaft 181, and
The surface of the second base 12 is not constrained to be parallel to the surface of the base 11.

By using such a connecting member 16, the second base 12 is released from being constrained so as to be set in a plane parallel to the first base 11. Therefore, for example, even when the surface on which the moving device moves is not a flat surface, the moving device can move following the uneven surface.

FIGS. 9 and 10 show a second embodiment, in which the first base 11 and the second base 12 are each formed in a substantially triangular shape, and their vertices are opposite to each other. It is arranged so that it faces the direction. Support legs 131 to 133 and 141 to 143 are provided at the apexes of the triangles corresponding to the positions radially extending from the central positions of the first and second bases 11 and 12, respectively.

In the vicinity of the positions of the vertices of the first base 11,
The rotary shafts 301 to 303 are provided in a state of being perpendicular to the first surface corresponding to the surface of the substrate 11, respectively.
One end of each of connecting members 161-163 is rotatably attached to 03. The other ends of the connecting members 161-163 are respectively attached to the rotating shafts 311-313 set in a state perpendicular to the second base 12.

The connecting members 161 to 163 have the same structure, and FIG. 11 shows one of the connecting members 161 as a representative.
Is composed of a first connecting member 18 and a second connecting member 19. Then, the tips of the second coupling members 18 are attached so as to correspond to the central portions of the side portions of the second base 12, respectively.

The first connecting member 18 of the connecting member 161 is a first link whose one end is rotatably attached to the rotary shaft 301.
32, and a telescopic mechanism set parallel to the first link 32
33 and. The telescopic mechanism 33 has a rotating shaft at one end.
It is rotatably connected to the first base 11 by a shaft 331 in the vicinity of 31, and the other end is rotatably connected by a shaft 34 to the free end of the first link 32. In response to expansion and contraction, the first link 32 is driven to rotate around the rotary shaft 301.

Here, the expansion / contraction mechanism 33 is constituted by a screw shaft 35, a screw drive mechanism 36 including a motor for driving the screw shaft forward and backward, and a bearing 37 to which the tip of the screw shaft 35 is rotatably coupled. The bearing 37 part is fixedly set to the shaft 34 part. That is, the screw shaft 36 is driven forward and backward by rotating the motor of the screw drive mechanism 36 in response to an external command, and the bearing 37 connected to the screw shaft 36 moves as the screw shaft 36 moves forward and backward. Lever extension mechanism 33
The length of is changed. Then, as indicated by θ1 in FIG. 11, the first link 32 is rotationally driven around the rotary shaft 301.

The tip end of the first coupling member 18 thus constructed has a second end by a shaft 39 set parallel to the rotation shaft 301.
Is rotatably connected to the end portion of the second link 40 constituting the coupling member 19 of FIG. That is, the second coupling member 19 is
A plane parallel to the plane of the first base 11 is rotatably set as indicated by φ1. Further, by the rotary coupling mechanism 41, the link 40 is rotatable about the axis as indicated by φ2.
Further, it is rotatable by a shaft 42 in a direction perpendicular to the surfaces of the substrates 11 and 12 as indicated by φ3.

The other end of the second link 40 is integrally provided with a rotary shaft 311 which is perpendicular to the surface of the second base 12, and is rotated by an auxiliary coupling member 42 coaxially set with the shaft 311. The second link 40 is connected by a shaft 43 orthogonal to the shaft 311 so that the second link 40 has a diameter of φ4.
As shown by, it is rotatably set parallel to the surface of the second substrate 12.

The auxiliary coupling member 42 is provided with a shaft 44 together with a shaft 43 at different positions in the longitudinal direction, and the end of the second link 40 is rotatably connected to the shaft 43. One end of a telescopic mechanism 45 is rotatably coupled to the shaft 44, and the other end of the telescopic mechanism 45 is rotatably coupled to the base end portion of the second link 40 by a shaft 46. And the second link 40 should be set in parallel.

Like the expanding / contracting mechanism 33, the expanding / contracting mechanism 45 is composed of a screw shaft 47, a screw drive mechanism 48, and a bearing 49, and the screw drive mechanism motor is rotationally driven by an external command to rotate the screw shaft. 47 is driven back and forth, and the length of the expansion / contraction mechanism 45 is variably adjusted. Then, the second connecting member 19 is driven to rotate about the axis 43 in the direction perpendicular to the surface of the substrate 12 as indicated by θ2.

In the moving device configured as described above,
The first coupling member 18 is rotationally driven in parallel to the surface of the first substrate 11, and the second coupling member 19 is driven in the direction perpendicular to the surface of the second substrate 12 and the second substrate. Since it is set so as to be rotatable parallel to the plane of 12, the walking motion and the turning motion can be executed as in the first embodiment.

At the same time, since the second link 40 is rotatable as indicated by φ2, the parallel relationship between the first substrate 11 and the second substrate 12 is not particularly restricted and, for example, an uneven surface is formed. Correspondingly, the supporting legs 131 to 133 of the first substrate 11 and the second
The supporting legs 141 to 143 of the base plate 12 are surely grounded, and a moving device having 6 mobilities that enables walking movement on the uneven surface is configured.

[0038]

As described above, according to the moving device of the present invention, the first and second bases which are independently set by simply controlling the rotation of the respective connecting members by the motor mechanism or the like. The mutual height position of the platform, the mutual position in the same plane, and the turning position can be freely set, and the movement can be controlled in any direction by combining such operations. In this case, if a suction cup mechanism is provided on the support legs set on the first and second bases, the vertical wall surface can be moved.

[Brief description of drawings]

FIG. 1 is a diagram showing a moving device according to an embodiment of the present invention.

FIG. 2 is a view showing a connecting member of the moving device taken out.

FIG. 3 is a diagram illustrating an example of an operation mode of the moving device.

FIG. 4 is a diagram illustrating another example of an operation mode of the moving device.

FIG. 5 is a diagram for explaining still another example of the operation mode of the moving device.

FIG. 6 is a diagram illustrating still another example of the operation mode of the moving device.

FIG. 7 is a diagram showing another example of the connecting member.

FIG. 8 is a view showing still another example of the connecting member.

FIG. 9 is a side view illustrating a configuration of a moving device according to a second embodiment of the present invention.

FIG. 10 is a view showing the arrangement of the connecting members, particularly when viewed from the back surface of the first substrate.

FIG. 11 is a view showing one of the connecting members used in the above-mentioned embodiment in an extracted manner.

[Explanation of symbols]

11 ... 1st base, 12 ... 2nd base, 131-134, 141-
144 ... Support legs, 16, 161-166 ... Connecting members, 171-174
... motors, 18, 32 ... first link, 19,40 ... second link. 33, 45 ... Telescopic mechanism

Claims (2)

[Claims] 1. A first base and a second base, each of which is provided with a support leg and is set independently of each other, and the first and the second base are mutually radiated from a center of each of the bases. A plurality of connecting members connected at corresponding positions on a plurality of extending lines; these connecting members are attached to the first base, and the first surface is set corresponding to the base surface. A first coupling member having a first rotating shaft set at a right angle to the first rotating shaft and provided with a first link rotatably connected to the first rotating shaft; and attached to the second base. A second rotation axis that is set at a right angle to a second surface that is parallel to the first surface and that is provided on the second rotation axis and that is parallel to the second surface. Auxiliary coupling member rotatably coupled to the shaft, and rotatably coupled to the auxiliary shaft of the auxiliary coupling member It is,
The second with the second link which is rotated around this auxiliary axis
And the tip of the first link and the tip of the second link are rotatably coupled in three degrees of freedom, and the first link corresponds to an operation command around the first rotation axis. The multi-degree-of-freedom moving device is characterized in that the second link is rotationally driven around the auxiliary shaft in response to another operation command. 2. A first and a second base, each of which is provided with supporting legs and set independently of each other, and the first and the second base are mutually radiated from the center of each of the bases. A plurality of connecting members connected at corresponding positions on a plurality of extending lines, the connecting members being attached to the first base and being set at a right angle to one surface; A first coupling member having a shaft and having a first link rotated in a plane parallel to the one plane, and the first link at the tip of the first link of the first coupling member. A rotatably coupled parallel to one surface and rotatably coupled to the one surface at a right angle
And a second coupling member that has a second rotation axis that is provided at the tip of the second link and that is coupled to the second base and that is parallel to the first rotation axis. The moving device is characterized in that the first rotation shaft of the first coupling member is rotationally driven and controlled in response to an operation command.