JPH05245784A - Manipulator unit - Google Patents

Abstract

PURPOSE:To provide a manipulator unit that is excellent in maintainability capable of shortening trouble of the rewriting and alteration of the like of a manipulator body for ease of assemblage and the driving control program with the alteration of freedom constitution in the assembly. CONSTITUTION:This manipulator unit is composed of plural pieces of articulated modules 3a-3g and plural pieces of arm modules 4a-4c in combination. In these articulated modules, a gravity switch is provided as a identifying signal generator outputting an identifying signal showing the degree of assembling freedom in the assembly connection order of the module itself or a coordinate system direction. In each arm module, a measuring signal generator is provided to output a measuring signal showing length of an arm and the bending angle, and moreover, a signal processor is provided to analyze each signal showing a state of each module. On the basis of the signal, the driving control program of the manipulator body is automatically rewritten so as to be optimally operated in the state that the body is assembled up.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a manipulator device, and more particularly to a manipulator device having a wide range of application and good maintainability.

[0002]

2. Description of the Related Art As is well known, among conventional manipulator devices, (1): a dedicated manipulator having a manipulator main body in which each part is designed for the work, and (2): standardized plural manipulators. There is a "module type manipulator" having a manipulator main body configured by combining joint modules and arm modules.

However, the former (1) causes various problems when the work target changes. For example, a manipulator device with a long arm configured for a large work area,
When used for work in a small work area only, it is necessary to always perform work with the long arm bent so that the long arm does not come into contact with surrounding obstacles during the work. Moreover, the output of the joint drive unit is wasted in order to support the long arm, and the output of the hand effector (end effector) attached to the tip cannot be efficiently converted into the required force. However, the latter (2) not only contributes to lowering the price of the manipulator device itself, but also can respond favorably to changes in the work target, and also has the advantage of contributing to easier maintenance.

By the way, a module incorporated in the above-mentioned "module type manipulator" is disclosed in JP-A-62-282.
The rotary joint module seen in No. 886 and Japanese Patent Publication No. 63-501
The link type arm module found in Japanese Patent Publication No. 55 is known. A plurality of these types of modules are connected through respective mounting portions and combined to provide a manipulator main body capable of performing a desired work.

[0005]

However, the above-mentioned modular manipulator device also has the following problems. That is, after assembling the manipulator main body by combining a plurality of modules, it is necessary to create dedicated software for driving and controlling the manipulator main body in order to cause the manipulator main body to perform some work. When creating the software, it is necessary to know in advance the direction of the degree of freedom of each joint module (that is, the degree of freedom of movement and combination) and the connecting direction and length of the arm in the reference posture of the manipulator body. However, when changing the number of joint modules and the direction of their degrees of freedom, or combining arms of different lengths in different directions each time the work content changes, the degree of freedom of each joint module is changed at the assembly site. In many cases, it takes an unexpected time to confirm the direction, the length of the arm, and the direction. Moreover, after the confirmation, a series of work operations for developing the dedicated software (for example, program creation,
Debugging, testing, etc.) must be done from the beginning. Therefore, there is a problem that it takes a lot of time and labor to make the manipulator device perform an actual desired work.

Therefore, in order to solve the above-mentioned problems, an identification signal generator for outputting a signal corresponding to the direction of the degree of freedom is attached to each joint module, and the joint module is freed from the output of this signal generator. It is possible to read the degree. However, even with such an improvement, when the length of the arm is changed or the direction is changed in accordance with the change of the operating range, it is necessary to remeasure the dimensions each time. Therefore, it turns out that it is difficult to realize automatic rewriting of software.

As described above, the conventional module type manipulator device requires a lot of labor and time for rewriting and changing the program for controlling the driving of the manipulator in accordance with the change of the operating range, which imposes a heavy burden on the operator. There was a problem such as calling.

An object of the present invention is to provide a manipulator device which can solve the above-mentioned problems, is highly maintainable, and can contribute to the expansion of the applicable range.

[0009]

In order to solve the above-mentioned problems, the present invention configures a device as follows. That is, the manipulator body is configured by combining a plurality of joint portions, a plurality of arms, and a mounting portion so that the degree of freedom of the overall configuration can be selected as desired, and further, (1): at least one of the plurality of arms is In addition to the shape variable unit that can arbitrarily set its own length or bending angle, it also has a measurement signal generating unit that generates a measurement signal corresponding to the length or bending angle. (2): Also, an identification signal indicating the direction of the degree of freedom of each joint (that is, "rotation axis" identification indicating which of the X-axis, Y-axis, and Z-axis of a coordinate system is rotating). Signal and manipulator
An identification signal generator that outputs a "connection order" identification signal indicating the order of connection of each joint in the main body. Further, as a preferred example of the present invention, (3): a signal processing device for automatically rewriting software for driving and controlling the main body of the manipulator based on the output of the measurement signal generating unit or the identification signal generating unit. Further prepare.

[0010]

In the manipulator apparatus of the present invention, at least one of the plurality of arms itself is provided with a shape variable portion whose length or bending angle can be arbitrarily set, and a signal corresponding to the length or bending angle. Since the measurement signal generating unit for outputting is provided, it is possible to change the size of the operating range of the manipulator body by changing the shape of the arm even after assembly. At this time, the length of the arm or the bending angle can be accurately recognized by the output of the measurement signal generator. Therefore,
For example, in the case of “change of arm shape”, it is possible to automatically rewrite the software for drive control of the manipulator main body based on the information before the change and the output of the measurement signal generating unit.

Further, when the manipulator body is newly assembled using a plurality of joint modules and arm modules which are present separately, or when the manipulator body is reassembled due to a change in work content, it is only necessary to select the type of mounting portion. 1
Since one joint can be used as a swivel joint around different axes (for example, around the X-axis, around the Y-axis, or around the Z-axis) in a coordinate system, it is easy to assemble. Similarly, since an identification signal generation unit that outputs an identification signal indicating the direction of the degree of freedom of each joint and an identification signal indicating the connection order of each joint is provided, the output of this identification signal generation unit is used as a basis. You can rewrite the software to. In other words, the series of software creation processes (for example, programming, compiling, linking, testing, etc.) that have been performed by humans at the work site have been completely eliminated, and the free configuration selected at the work site by the signal processing device has been eliminated. Required software (eg, relationship software between the position of each joint and the position of the hand part, relationship software between the speed of each joint and the speed of the hand part, relationship software between the force of each joint and the force of the hand part) Etc.) can be automatically rewritten (so-called customization).

[0012]

【Example】

(First Embodiment) A manipulator main body 1 according to a first embodiment of the present invention shown in FIG. 1 has six joint parts 3a to 3f modularized on a base 2 connected in series and is the most advanced. The effector 4 corresponding to the hand portion is attached to the joint portion 3f located at. Each joint 3a-
3f on the Cartesian coordinate shown in FIG.
Are connected to each other so as to have a degree of freedom in the direction shown as an equivalent diagram.

In the case of this embodiment, the respective joint portions 3a to 3f are formed to have the same size, and specifically, they are constructed as shown in FIG. 3 (a). That is, each of the joint portions 3a to 3f includes a motor portion 11 including a speed reducer, a feedback unit 12 directly coaxially connected to the motor portion 11, and a rotation center of the motor portion 11 from the feedback unit 12. A fixed shaft 13 provided coaxially with the wire and projecting outward, and a rotary shaft provided with the motor unit 11 projecting outward coaxially with the rotation center line of the motor unit 11. 14, an L-shaped member having one end side fixed to the fixed shaft 13 and the other end side extending in a direction orthogonal to the rotation center line and then extending along the outer surfaces of the feedback unit 12 and the motor unit 11 in parallel with the rotation center line. The connecting member 15 of the mold, one end side of which is fixed to the rotating shaft 14 and the other end side of which extends in a direction orthogonal to the rotation center line, and then is parallel to the rotation center line. It is composed of a connecting member 16 of the L-shaped extending along the outer surface of Kkuyunitto 12. Then, using a power supply cable (not shown) and a signal line (not shown), the motor unit 11
By operating the feedback unit 12 and the connecting unit 15, the connecting member 15 and the connecting member 16 can be relatively rotated about the rotation center line of the motor unit 11.

The portions 17, 18 and the portions 19, 20 which are orthogonal to the above-mentioned rotation center line of the connecting members 15, 16 are provided with three types of mounting portions which also serve as bolt insertion holes described below. That is, the portion 17 of the connecting member 15
As shown in Fig. 3 (c),
In addition, four attachment holes 21 are provided at each vertex position of the rectangle drawn such that the long side is orthogonal to the extending direction of the portion 17, and the four attachment holes 21 form the first attachment portion 22. Similarly, in the portion 18 of the connecting member 16, as shown in FIG. 3 (d), the apex positions of rectangles centered on the rotation center line and with the long sides orthogonal to the extending direction of the portion 18. Are provided with four mounting holes 23, and the four mounting holes 23 form a second mounting portion 24 corresponding to the first mounting portion 22. On the other hand, in the portion 19 of the connecting member 15, as shown in FIG. 3 (e), a rectangle centered on the center position 25 in the width direction of the portion 19 and having a long side orthogonal to the rotation center line. Four mounting holes 26 are provided at each apex position of, and the third mounting portion 27 is formed by the four mounting holes 26. Further, as shown in FIG. 3 (b), the portion 20 of the connecting member 18 is centered on a position 28 which is the center position in the width direction of the portion 20 and which is equal to the distance from the position 25 to the outer surface of the portion 18, Further, four attachment holes 29 are provided at each vertex position of the rectangle drawn such that the long side is orthogonal to the rotation center line, and the four attachment holes 29 correspond to the third attachment portion 27. 30 is formed. Further, at the portion 19 of the connecting member 15, as shown in FIG.
5, four attachment holes 31 are provided at each apex position of a rectangle drawn such that the long side is parallel to the rotation center line, and the four attachment holes 31 form the fifth attachment portion 3
2 is formed. Also, as shown in FIG. 3 (b), four attachments are provided on the portion 20 of the connecting member 18 at each apex position of a rectangle drawn so that the long side is parallel to the rotation center line. A hole 33 is provided, and the four mounting holes 33 correspond to the sixth mounting portion 32, which corresponds to the sixth mounting portion 32.
The mounting portion 34 is formed. Here, the vertical and horizontal dimensions of the rectangle defining the intervals of the four mounting holes forming the first to sixth mounting portions 22, 24, 27, 30, 32, 34 are set to equal values. ..

The joint portions 3a to 3 constructed as described above.
f is actually incorporated, for example, on the Cartesian coordinates shown in FIG. 4, when rotation about the X axis is realized, (a) in FIG.
When the third mounting portion 27 and the fourth mounting portion 30 are selected as shown in FIG. 3 and rotation about the Y axis is realized, the same figure (b) is used.
When the fifth mounting portion 32 and the sixth mounting portion 34 are selected and rotation about the Z axis is realized as shown in FIG.
As shown in (c), the first mounting portion 22 and the second mounting portion 24
And are selected. Since the joint portions 3a to 3f are configured as described above, even joint portions having different outputs, for example,
It is possible to configure the manipulator main body by connecting in any order, and by changing the connection order of the joints from the already configured manipulator main body, the flexibility of the manipulator main body can be arranged. Can be changed. Further, the joints can be divided and transported to the work site, and can be easily assembled on the spot where they are transported. Also, when the work content is decided, the manipulator main body can be configured by selecting the degree of freedom arrangement suitable for the work content, so that the performance of the joints of the manipulator main body can be efficiently adjusted by the effector. The speed and force can be transmitted, and even when the work content is changed, the manipulator main body can be easily reconfigured to have a degree of freedom suitable for the work content. In this way, one joint part can be used as both a swivel joint and a flexion joint, and the six joint parts 3a to 3 configured so that the flexion direction of the flexion joint can be selected in two directions orthogonal to each other.
The manipulator body 1 is configured by the combination of f.

By the way, the six joint portions 3a to 3f incorporated in the manipulator body 1 are provided with identification signal generators for outputting identification signals indicating the directions of the degrees of freedom of the joint portions. In this embodiment, as shown in FIG.
Changeover switch device 4 mounted on the outer surface of the motor unit 11
The identification signal generator is mainly composed of 1. In the changeover switch device 41, when the knob 42 is operated to move the pointer to the display of "X", the movable contact 43 moves and the resistance value between the output terminals 44 and 45 becomes Rx, as shown in FIG.
The resistance value becomes R when the pointer is adjusted to the "Y" display.
When the pointer is set to "Z", the resistance value becomes Rz. The output terminals 44 and 45 are connected to a two-pin type connector 46.

As described above, in this embodiment, by operating the knob 42 of the changeover switch device 41 provided on each joint portion 3a to 3f constituting the manipulator main body 1 at the time of assembling, the joint portion exists. On the Cartesian coordinates, an identification signal indicating whether it is operating as a joint around the X axis, a joint around the Y axis, or a joint around the Z axis is expressed in the form of a resistance value. It is possible to output. This identification signal is introduced into the signal processing system 51 shown in FIG. 7 after the assembly for changing the degree of freedom of the manipulator body 1 is completed.

In the signal processing system 51, each connector 4
6 to which connectors 52 are connected respectively, and these connectors 5
The resistance value at each joint is measured by the measuring device 53 via 2. In the manipulator device 1 shown in FIG. 1, the resistance value Rz in the joint portion 3a, the resistance value Rx in the joint portion 3b, the resistance value Rx in the joint portion 3c, the resistance value Rz in the joint portion 3d, and the joint portion 3e. Is measured as a resistance value Ry and the joint portion 3f is measured as a resistance value Rx. As shown in FIG. 8, the resistance value is measured by connecting a reference resistance R0 in series to the measurement line, applying a reference voltage Vi to both ends of the measurement line, and measuring the reference voltage R0 across the reference resistance R0.
Is measured. From this measurement, it can be seen that the joint portions 3a to 3f are in order around the Z axis, around the X axis, around the X axis, around the Z axis, around the Y axis, and around the X axis.
The axis information thus obtained is sent from the measuring device 53 to the information processing device 54 and processed. In the case of FIG. 7, since the resistance value measuring code extends in a one-to-one relationship from the measuring device 53 to the connectors 46 provided at the respective joints, the signal of the joint of which joint is present. You can distinguish whether you are entering. When only one resistance value measuring code is used, the keyboard attached to the measuring device 53 is attached each time the operator connects the resistance value measuring code to the connector 46 on each joint. It is possible to know which joint signal is being input by inputting the joint number from the command.

Next, in the manipulator device configured as described above, when it is known what joint about which axis in the Cartesian coordinate system with which joint there is, the method of utilizing the information will be described in detail. Describe.

As an example of a program required for driving control of the manipulator, coordinate conversion from each joint angle to the position / orientation of the hand is taken up. As an example of a program required for driving control of the manipulator, the coordinate conversion from each joint angle to the position / orientation of the hand is exemplified as follows.

(1) Coordinate conversion in the rotary joint section The coordinate system rotated by θ around the X axis of the coordinate system (i) is the coordinate system.
If (i-1), a vector is expressed in the coordinate system (i) [x (i), y (i), z (i)] T and the coordinate system (i-1)
The expression [x (i-1), y (i-1), z (i-1)] T is expressed by the following equation.

[0022]

[Equation 1] Ci−1, i at this time is a 3 × 3 matrix of coordinate conversion by a rotary joint around the X axis, and is called “C matrix around the X axis”.

Similarly, if the coordinate system rotated by θ around the y-axis of the coordinate system (i) is the coordinate system (i-1), the representation of a vector by the coordinate system (i) [x (i), y (i), z (i)] T,
Representation by coordinate system (i-1) [x (i-1), y (i-1), z (i
-1)] T is expressed by the following equation.

[0024]

[Equation 2] Ci−1, i at this time is a 3 × 3 matrix of coordinate conversion by the rotary joint about the Y axis, and is called “C matrix about the Y axis”.

Similarly, if the coordinate system rotated by θ around the z-axis of the coordinate system (i) is the coordinate system (i-1), the expression [x (i), y of a certain vector is represented by the coordinate system (i). (i), z (i)] T,
Representation by coordinate system (i-1) [x (i-1), y (i-1), z (i
-1)] T is expressed by the following equation.

[0026]

[Equation 3] Ci−1, i at this time is a 3 × 3 matrix for coordinate conversion by a rotary joint about the Z axis, and is called a “C matrix around the Z axis”.

(2) Synthesis of coordinate transformation Synthesis of coordinate transformation is expressed by the following equation by repeatedly using the above recurrence equation.

[0028]

[Equation 4] Here, the matrix Ai is a 3 × 3 composite transformation matrix for displaying the vector displayed in a certain joint coordinate system (i) in the base coordinate system (0), and is called "A matrix". In this way, in order to coordinate-convert a vector from a joint coordinate system (i) display to a base coordinate system (0) display, there are a number of joints from the base coordinate system to that joint. The A matrix may be created by knowing what axis the joint is about, and multiplying the corresponding C matrix in order.

(3) Calculation of Position The vector Li indicating the arm between joints is the arm in the joint coordinate system (i), regardless of the posture of the manipulator. Assuming that it is in the negative direction on the Z axis, it is expressed as follows.

[0030]

[Equation 5] The above-mentioned A matrix in order to convert the vector representing each arm when the manipulator takes a certain posture from the expression in the joint coordinate system (i) to the expression in the base coordinate system (0) Use to ask.

[0031]

[Equation 6] The position coordinates of each joint represented by Pi in the base coordinate system (0) is the sum of arm vectors represented in the base coordinate system from the base to the front of the joint. ..

[0032]

[Equation 7] In particular, the coordinates of the position of the tip portion expressed by the base coordinate system (0) are the sum of all arm vectors expressed by the base coordinate system.

[0033]

[Equation 8] In the drive control software, this equation (2) is programmed to calculate the position and orientation of the hand from the angle of each joint. In this equation (2), elements A0 (02), A0 ( 12), A0 (22), ..., An (02), An (1
2) and An (22) are used, but the A matrix is constructed by sequentially multiplying the C matrix representing the coordinate transformation in a plurality of revolute joints as shown in the equation (1). In the main body of the manipulator, three kinds of C matrices (that is, a C matrix around the X axis, a C matrix around the Y axis, and a Z axis around the Z axis are used by using a signal that indicates which joint has a relationship around which axis. (C matrix of) and create the A matrix by sequentially multiplying it, and further rewriting L0, L1, ... Ln by the measured signal, the calculation to obtain the position / orientation of the hand from each joint angle Can be rewritten. The information processing device 54 is provided with software capable of coping with the change of the degree of freedom of the manipulator, and the software used for drive control of the manipulator body is "automatically rewritten". (Actually, by changing the settings of the parameters of the subroutines that make up the software,
The program automatically changes to the desired operation control. ) As described above, a plurality of types in which the overall degree of freedom configuration can be selected, that is, the first to sixth mounting portions 22, 24, 2
A plurality of joint parts 3 each having 7, 30, 32, 34
The manipulator main body 1 is configured by a combination of a to 3f. Therefore, just by selecting the type of mounting part,
One joint can be used as a bending joint around the X axis, a bending joint around the Y axis, and a swiveling joint around the Z axis in a coordinate system, and the assembly can be facilitated. Also, each joint 3
Since an identification signal generator that outputs an identification signal indicating the direction of freedom in a coordinate system of a to 3f is provided, the software used for driving control of the manipulator can be rewritten from the output of this identification signal generator. You can get the information you need. Therefore, the software can be automatically rewritten using the signal processing system 51. As a result, it is possible to manually edit the program at the work site every time and then eliminate the series of operations that have been performed for software development such as compiling and linking. Moreover, according to the degree of freedom selected at the work site, for example, software for the relationship between the position of each joint and the position of the hand, software for the relationship between the speed of each joint and the speed of the hand, each joint It is possible to easily change the software of the relationship between the force of the hand and the force of the hand unit.

In the above embodiment, the manipulator main body 1 is constructed by combining only a plurality of modular joints.
However, it is often the case that the manipulator body must be constructed with an arm interposed between the joints. In such a case, an X-axis extension arm 61, a Y-axis extension arm 62 and a Z-axis extension arm 63 are prepared as shown in FIGS. 9 (a) to 9 (c). Then, a mounting hole 64 is provided in one end side of the X-axis extension arm 61 in the same arrangement as the mounting hole forming the above-mentioned first mounting portion 22 to form one mounting portion 65, and the other end side thereof is described above. The mounting hole 66 is provided at the same position as the mounting hole that constitutes the second mounting portion 24 of the above, and is used as the other mounting portion 67. Similarly, the first mounting portion 22 is attached to one end of the Y-axis extension arm 62.
The mounting holes 68 that are different in the arrangement direction from the mounting holes that configure the above-mentioned mounting holes are provided as one mounting portion 69, and the mounting holes that configure the above-described second mounting portion 24 on the other end side are The mounting holes 70 having the arrangement directions different by 90 degrees are provided, and the other mounting portion 7 is provided.
Set to 1. In addition, the Z-axis extension arm 63 has a first
The mounting holes 72 and 74 are provided in the same arrangement as the mounting holes forming the mounting portion 22 and the second mounting portion 24 of the mounting portion 7 of FIG.
3,75.

(Second Embodiment) FIG. 10 shows a second embodiment of the manipulator main body constructed by combining the above-mentioned arm and seven modularized joints 3a to 7f. Further, FIG. 11 shows the manipulator body 1
An equivalent diagram showing the directions of the degrees of freedom of the respective joint portions in a is shown. Also in this example, the joints 3a to
3g is provided with a changeover switch device for outputting an identification signal indicating the direction of the degree of freedom in the Cartesian coordinate system in which each of the joint portions 3a to 3g is present. Since the length of each arm is known, the same effect as that of the first embodiment can be obtained.

FIG. 12 shows an example of the joint portion 3 which constitutes the manipulator main body of the manipulator device according to this embodiment. In this example, the main body portion of the joint portion 3 has the same structure as that of the previous embodiment. The difference is the joint 3
The gravity switch is used as an identification signal generator that is attached to the device and generates an identification signal indicating the direction of the degree of freedom of the joint.

Further, as shown in FIG. 13, the gravity switch 76 is a case 77 formed of a metal material in the shape of a square cylinder with a bottom.
An insulating material 78 mounted so as to cover the opening of the case 77, a wire 79 having one end fixed to the insulating material 78 and the other end extending into the case 77 and having lateral rigidity, and the wire 79. A contact 80 made of a metal material is fixed to the free end portion of 79. The wire 79 and the case 77 are connected to the 2-pin type connector 120 via a lead wire. The gravity switch 76 configured as described above is
The wire 79 is fixed to the outer surface of the motor unit 11 so as to be parallel to the rotation center line of the joint unit 3. Therefore, FIG.
When the joint portion 3 shown in Fig. 13 is used as a bending joint about the X axis or the Y axis in Fig. 13 (a), the wire 7
The contactor 80, which is cantilevered by 9, contacts the conductive case 77 due to its own weight, and the two pins of the connector 120 are brought into conduction. On the other hand, the joint portion 3 is shown in FIG.
(b) When used as a swivel joint about the middle Z axis, the contact 80 does not come into contact with the case 77, and the two pins of the connector 120 become non-conductive. As can be seen from the above description, in this example, when a plurality of joint portions 3 are combined to form a manipulator main body, it is determined whether each joint portion operates as a bending joint or a swing joint. It can be shown externally by the conduction between the two pins of 120.

In FIG. 14, the manipulator main body is constructed by combining the six joint portions 3 provided with the above-described gravity switches 76 as shown in FIG. 1, and the signal processing system 51a transmits the information of each gravity switch 76. A figure is shown in which the software that is captured and rewritten for its control is rewritten. The information of each gravity switch 76 is introduced into the measuring device 53a through a dedicated connector 52a and a lead wire. In this case, the joint portion 3a is non-conductive,
It is measured that the joint portion 3b is conductive, the joint portion 3c is conductive, the joint portion 3d is non-conductive, the joint portion 3e is conductive, and the joint portion 3f is conductive. It is determined to be a flexion joint, a flexion joint, a turning joint, a flexion joint, or a flexion joint. Then, this information is sent to the information processing device 54a and is used for rewriting the software required for drive control. The method shown in the first embodiment satisfies the necessary condition for rewriting the software used for the drive control of the manipulator, but the method shown in this embodiment only provides information on the swing joint or the flexion joint. Therefore, although it is a necessary condition, it cannot be used for automatic rewriting of software used for drive control of a manipulator. However, in order to obtain the information for rewriting the software, it is necessary that at least the information obtained from both of them has no contradiction. Therefore, by using this embodiment together with the previous embodiment, the safety measure 2 It can be used for heavy check.

(Modification 1) FIG. 15 shows a modification of the joint portion 3 constituting the manipulator main body of the manipulator device of the present invention. Also in this example, the main body portion of the joint portion 3 has the same configuration as that of the previous embodiment. The difference lies in an identification signal generator that is attached to the joint section 3 and generates an identification signal indicating the direction of the degree of freedom of the joint section. In this example, when the manipulator main body is configured by combining a plurality of joint parts 3, it is possible to automatically generate an identification signal indicating how many axes on a certain rectangular coordinate are mounted for all the joint parts 3. I have to.

First, in this example, the connecting members 15 and 16 are formed of non-conductive members. Then, at the portion 19 parallel to the rotation center line of the connecting member 15, two lines are provided on the short side of the rectangle located on the plus side on the Y axis in the figure from the center of the rectangle that defines the third mounting portion 27. The connector 81 is provided in such a manner that the pins are exposed on the lower surface of the portion 19 in the drawing. In addition, in the portion 19 of the connecting member 15, two pins are provided on the short side of the rectangle located on the plus side on the X-axis in the drawing from the center of the rectangle defining the fifth mounting portion 32. The connector 82 is provided so as to be exposed on the inner and lower surfaces. Further, in the portion 17 orthogonal to the rotation center line of the connecting member 15,
The connector 83 is so arranged that two pins are exposed on the left outer surface of the portion 17 on the short side of the rectangle located on the plus side on the Y axis in the figure from the center of the rectangle that defines the first attachment portion 22. Is provided. In each of the connectors 81, 82 and 83, as shown in FIG. 16, resistors having resistance values R0, R1 and R2 are housed. That is, when the two pins of the connector 81 are short-circuited, the resistance value between the terminals 84a and 84b becomes R0, and when the two pins of the connector 82 are short-circuited, the resistance value between the terminals 85a and 85b becomes R1. When the two pins of the connector 83 are short-circuited, the resistance value between the terminals 86a and 86b becomes R2. And
Terminals 84a, 84b, 8 of each connector 81, 82, 83
5a, 85b, 86a, 86b are connected to each other in common and are connected to a 2-pin type connector 87.

On the other hand, the connecting member 16 is provided with one of the connectors 81, 82 and 83 provided at the joint corresponding to the degree of freedom of the joint connected to the connecting portion. A conductor is attached to short the two pins. That is, in the portion 20 parallel to the rotation center line of the connecting member 16, on the short side of the rectangle located on the plus side and the minus side on the Y axis in the drawing from the center of the rectangle defining the fourth mounting portion 30. Conductors 89 and 90 are provided. Further, in the portion 18 orthogonal to the rotation center line of the connecting member 16, on the short side of the rectangle located on the plus side and the minus side on the Y axis in the figure from the center of the rectangle defining the second mounting portion 24. Conductors 91 and 92 are provided. Further, as shown in FIG. 17, the conductor 93 is also provided on the base 2 on the short sides of the rectangle located on the plus side and the minus side on the Y axis in the figure from the center of the rectangle defining the mounting portion 36. , 94 are provided.

FIG. 18 shows each connector when the manipulator body shown in FIG. 1 is constructed by combining six joint parts 3 to which connectors 81, 82, 83 and conductors 89, 90, 91, 92 are attached. The positional relationship with the conductor is shown. In this figure, a white rectangle shows a connector and a black rectangle shows a conductor. Table 1 shows the resistance value obtained from the connector 87 provided at each joint at this time and the processing method thereof.

[0043]

[Table 1] As can be seen from these figures and tables, the joint portion 3a has a resistance value R2, the joint portion 3b has a resistance value R0, and the joint portion 3c has a resistance value R.
0, the joint portion 3d has a resistance value R2, and the joint portion 3e has a resistance value R1
, The joint portion 3f is measured as a resistance value R1. Therefore, a measuring device (not shown) unconditionally determines that the joint portion whose resistance value R2 is measured is a rotary joint about the Z axis.
Here, it is determined that the joints 3a and 3d are around the Z axis. Next, the joint having the resistance value R0 is identified by "0", the joint having the resistance value R1 is identified by "1", and the joint having the resistance value R2 is identified by "2". It is added sequentially from 0 "toward the hand part as a binary addition. Then, in the joints other than those determined to be around the Z-axis, if the lowest number is 0, it is determined to be a joint around the X-axis, and if the lowest number is 1, it is determined to be a joint around the Y-axis. Here, it is determined that the joint portion 3b, the joint portion 3c, and the joint portion 3f are around the X axis, and the joint portion 3e is around the Y axis. By the above method, the structure of the manipulator main body is "(Base) -Z" in order from the first joint.
-X-X-Z-Y-X- (Hand) ", and this information is introduced into an information processing device (not shown) and used for automatic rewriting of drive control software.

When the manipulator main body is constructed by using the joint portion 3 shown in FIG. 15 and interposing an arm in the middle as shown in FIG. 10, as shown in FIG.
Mounting portions 65, 67, 6 provided on the axis extending arm 61, the Y axis extending arm 62, and the Z axis extending arm 63.
The conductors 101 to 112 may be attached on the short sides of the rectangle defining 9, 71, 73 and 75.

20 and 21, connectors 81, 8 are shown.
10 is a combination of the seven joints 3 to which 2, 83 and conductors 89, 90, 91, 92 are attached and the X-axis extension arm 61 and the Z-axis extension arm 63 shown in FIG. The positional relationship between each connector and the conductor when the manipulator main body 1a shown in FIG. In this figure, the white rectangle shows the connector,
Black rectangles indicate conductors. Table 2 shows the resistance value obtained from the connector 87 provided at each joint at this time and the processing method thereof.

[0046]

[Table 2] As can be seen from these figures and tables, the joint part 3a has a resistance value R0, the joint part 3b has a resistance value R1, the joint part 3c is non-conductive, the joint part 3d has a resistance value R0, and the joint part 3e has a resistance value R2.
, The joint portion 3f has a resistance value R0, and the joint portion 3g has a resistance value R1.
Is measured.

Therefore, the measuring device (not shown) has a resistance value R
The measured joint portion of 2 and the joint portion that was not conducting are unconditionally determined to be rotary joints around the Z axis. Here, it is determined that the joint portions 3c and 3e are around the Z axis. Next, the joint having the resistance value R0 is the identification symbol "0", the joint having the resistance value R1 is the discrimination symbol "1", the joint having the resistance value R2 is the discrimination symbol "2", and the non-conducting joint is the discrimination symbol. "1"
As a result, binary numbers are sequentially added from "0" in the base portion toward the hand portion. If the lowest digit is 0 in joints other than those determined to be around the Z axis, X
The joint around the axis, if the lowest number is 1, it is determined to be the joint around the Y axis. Here, it is determined that the joint portion 3a, the joint portion 3d, and the joint portion 3e are around the X axis, and the joint portion 3b and the joint portion 3g are around the Y axis.

By the above method, the structure of the manipulator body 1a is "(Base) -X-" in order from the first joint.
YZXXZZXY- (Hand) ". Then, this information is introduced into an information processing device (not shown) and used for automatic rewriting of drive control software.

(Modification 2) FIG. 22 shows another modification of the joint portion 3 constituting the manipulator body of the manipulator device according to the embodiment of the present invention. Also in this example, the main body portion of the joint portion 3 has the same configuration as that of the previous embodiment. This embodiment differs from the previous embodiment in that the joint portion 3
And an identification signal generator attached to the device for generating an identification signal indicating the connection order of joints and an identification signal indicating the direction of the degree of freedom.

In this example, when the manipulator main body is assembled, the measurement lines are automatically connected from the base side to the most advanced joint portion, and the identification signal indicating the connection order of each joint portion and the joint portion are connected. And an identification signal indicating how many axes are mounted on a rectangular coordinate system. Also in this example, the connecting members 15, 1
6 is formed of a non-conductive member. Then, at the portion 19 parallel to the rotation center line of the connecting member 15, the third mounting portion 2
A connector 121 is provided on the short side of the rectangle located on the plus side on the Y-axis in the figure from the center of the rectangle defining 7 to expose each pin to the lower surface of the portion 19 in the figure.
Further, in the portion 19 of the connecting member 15, each pin is provided on the short side of the rectangle located on the minus side on the X axis in the drawing from the center of the rectangle defining the fifth mounting portion 32, and the bottom surface of the portion 19 in the drawing is shown. The connector 122 is provided so as to be exposed. Further, the portion 17 orthogonal to the rotation center line of the connecting member 15
Then, in a relation that the respective pins are exposed to the left outer surface of the portion 17 on the figure on the short side of the rectangle located on the plus side on the Y axis in the figure from the center of the rectangle that defines the first mounting portion 22, the connector 123 Is provided.

On the other hand, in the portion 18 orthogonal to the rotation center line of the connecting member 16, on the short side of the rectangle located on the plus side on the Y axis in the figure from the center of the rectangle defining the second mounting portion 24. A connector 124 is provided in such a manner that each pin is exposed on the right outer surface of the portion 18 in the drawing. Further, at the portion 20 parallel to the rotation center line of the connecting member 16, each pin is placed on the short side of the rectangle located on the minus side on the X axis in the drawing from the center of the rectangle defining the sixth mounting portion 34. The connector 125 is provided so as to be exposed on the upper surface of the portion 20 in the drawing. Further, in the portion 20, the relationship in which each pin is exposed on the upper surface of the portion 20 in the drawing on the short side of the rectangle located on the plus side on the Y axis in the drawing from the center of the rectangle defining the fourth mounting portion 30. Is provided with a connector 126. In the case of this example, each of the connectors 121 to 126 is provided with nine pins. One of these pins is labeled G to indicate ground, and the other eight pins are labeled 1 to 8, respectively. The corresponding pins of the connectors 121 to 126 are
As shown in FIGS. 23 and 24, they are commonly connected by a cable 127.

On the other hand, changeover switches 128 and 129 are attached to the outer surface of the motor section 11. Changeover switch 1
As shown in FIG. 24, the reference numeral 28 includes a group of eight fixed contacts 130 and a movable contact 131 for selecting one fixed contact from the group of fixed contacts 130. Then, when the knob 132 is operated and the pointer is set to any one of the numbers 1 to 8 drawn on the dial,
The movable contact 13 is attached to the fixed contact of the contact number corresponding to that number.
1 comes into contact. Each fixed contact constituting the fixed contact group 130 is connected to a connector pin having a number corresponding to that number. The changeover switch 129 is
As shown in FIG. 24, X fixed contact 133 and Y fixed contact 1
34 and Z fixed contacts 135, and a movable contact 136 for selecting one fixed contact from these. Then, when the knob 137 is operated and the pointer is aligned with any of the letters X, Y, Z drawn on the dial, the movable contact 136 comes into contact with the fixed contact corresponding to the letter. ing. The movable contact 136 is connected to the movable contact 131 of the changeover switch 128. To the X fixed contact 133, the Y fixed contact 134, and the Z fixed contact 135, one end sides of resistors having resistance values RX, RY, and RZ are connected, respectively, and the other end sides of these resistors are commonly connected. It is connected to the ground pin G of the aforementioned connector.

Further, as shown in FIG. 25, the connector 1 is also provided on the base 2 on the short side of the rectangle located on the plus side on the Y axis in the figure from the center of the rectangle defining the mounting portion 36.
A connector 138 having the same configuration as that of 21 to 126 is attached with each pin exposed. A cable 139 is connected to the connector 138, and the cable 139 is selectively connected to the signal processing system 51b shown in FIG. Since the joint portion 3 and the base 2 are configured as described above, when a plurality of joint portions 3 are combined to form a manipulator body, the connectors provided in the adjacent joint portions are automatically connected to each other. . When assembling, the order of the joint part 3 from the base 2 and the direction of the degree of freedom of the joint part 3 on a certain rectangular coordinate are confirmed, and the pointer of the changeover switch 128 is adjusted to the order number and the changeover switch 129 is set. Align the indicating needle with the axis showing the degree of freedom.

In FIG. 26, the manipulator main body 1 shown in FIG. 1 is shown by combining the six joint parts 3 to which the connectors 121 to 126 and the changeover switches 128 and 129 are attached.
The connection relationship of the measurement signal lines between the joint portion 3a and the joint portion 3b when the above is configured is shown. In this case, in the joint portion 3a, the pointer of the changeover switch 128 points to the 1 position on the dial, and the pointer of the changeover switch 129 points to the Z position on the dial. In the joint portion 3b, the pointer of the changeover switch 128 points to the position 2 on the dial, and the pointer of the changeover switch 129 points to the position X on the dial. Therefore, when the resistance value between the ground pin and the first pin is measured from the signal processing system 51b side via the cable 139, the resistance value RZ is measured, and when the resistance value between the ground pin and the second pin is measured, the resistance value RX is measured. Will be measured. From these resistance values, the joint portion 3a can be determined to be around the Z axis, the joint portion 3b can be determined to be around the X axis, and the axis rotation direction of each joint portion can be similarly determined. Then, the determination result is sent to the information processing device 54b for automatic rewriting of drive control software.

With such a configuration, it is possible to reduce the number of measurement cables to be laid around at the time of measurement, and it is possible to reduce the occurrence of a situation in which the connection order of each joint is wrong. Note that when the manipulator main body is constructed by using the joint portion 3 having the above-described configuration and interposing an arm in the middle as shown in FIG.
As shown in FIG. 9, the mounting portions 65, 67, 69, 71, 7
The connectors 140 to 145 are provided on the short side of the rectangle that defines 3, 75 in the illustrated relationship, and these are connected to the signal cable 1
The X-axis extension arm 61, the Y-axis extension arm 62, and the Z-axis extension arm 63 connected by 46 to 148 may be used.

(Modification 3) FIG. 30 shows a further modification of the joint portion 3 constituting the manipulator main body of the manipulator apparatus according to the embodiment of the present invention. Also in this example, the main body portion of the joint portion 3 has the same configuration as that of the previous embodiment. Also, in this figure, the same parts as those in FIG. 22 are denoted by the same reference numerals.

The difference of this example from the previous example is an identification signal generator which is attached to the joint 3 and generates an identification signal indicating the connection order of the joints and an identification signal indicating the direction of the degree of freedom. That is, in this embodiment, the changeover switch 129 used in the embodiment shown in FIG.
And, as shown in FIG. 32, a resistor 151 for interposing a resistor having a resistance value R is connected between the eight pins excluding the ground pin of the connector 121 and the eight pins excluding the ground pin of the connector 122. A resistor 152 for interposing a resistor having a resistance value R is connected between the eight pins excluding the ground pin 122 and the eight pins excluding the ground pin of the connector 123. In addition, the connector 123
Nine pins including the ground pin and connector 124, 1
The nine pins 25 and 126 are commonly connected to each corresponding pin.

In FIG. 33, the joint portion 3a when the manipulator main body 1 shown in FIG. 1 is constructed by combining the six joint portions 3 to which the connectors 121 to 126, the changeover switch 128 and the resistors 151 and 152 are attached. And joint 3
The connection relationship of the signal line for measurement with b is shown. With such a configuration, if the joint is connected as a rotary joint about the X axis, the resistance value increases by 2R on all the signal lines on the joint, and the joint moves about the Y axis. If it is connected as a revolute joint, the resistance value increases by 1R on all signal lines on that joint, and if the joint is connected as a revolving joint around the Z-axis, all signals on that joint are connected. The resistance value increases by 0R on the line, that is, it does not change. That is, on each joint,
A resistor indicating the rotation direction of the joint is connected in series to the signal line. If no more joints are connected, the measured resistance value is released and the difference in resistance values becomes infinite, so that the number of joint modules used can be known. Therefore, if the resistance value between the ground pin and each pin is measured through the cable 139 and the difference in the resistance values is checked in order from the first joint, the number of degrees of freedom of the main body of the manipulator can be obtained. The configuration (X direction or Z direction) can be known.

Table 3 shows the measurement results of the manipulator body 1 assembled as shown in FIG. 1 measured by the measuring device 53c and the determination result of the degree of freedom configuration.

[0060]

[Table 3] Further, Table 4 shows the measurement result measured by the measuring device 53c and the determination result of the degree of freedom configuration for the manipulator body 1a assembled as shown in FIG.

[0061]

[Table 4] The results of measurement and determination as described above are introduced into the information processing device 54c and provided for automatic rewriting of drive control software. Therefore, also in this embodiment, the same effect as that of the above embodiment can be obtained.

(Modification 4) FIG. 34 shows another modification of the joint portion 3 constituting the manipulator main body of the manipulator device according to the embodiment of the present invention. Also in this example, the main body portion of the joint portion 3 has the same configuration as that of the previous embodiment. Further, in this example, the signal generator that generates the identification signal indicating the connection order of the joints and the identification signal indicating the direction of the degree of freedom adopts exactly the same method as the joint shown in FIG.

This example differs from the previous example in that, as shown in FIGS. 35, 36, 37, 38 and 39, the connection order of the joints and the direction of the degree of freedom are set as the connectors 161 to 166. Portion 167a provided for measuring
And a connector part 167b used for connecting the joint part to the feedback unit 12 and a connector part 167c used for supplying electric power to the motor part 11 of the joint part are integrated. There is. Further, as shown in FIG. 38, the feedback unit 12 and the motor unit 11 of the joint are linked with the changeover switch unit 168 provided for measuring the connection order of the joints and the direction of the degree of freedom. Changeover switch unit 16 to be connected to the corresponding connector pin
A changeover switch 171 having 9,170 is used.
Even if such a configuration is adopted, it is possible to obtain the same effect as that of the previous embodiment.

(Modification 5) FIG. 40 shows still another modification of the joint portion 3 constituting the manipulator main body of the manipulator device according to the embodiment of the present invention. Also in this example, the main body portion of the joint portion 3 has the same configuration as in the previous example. Further, in this figure, the same parts as those in FIG. 30 are designated by the same reference numerals.

The present embodiment differs from the embodiment shown in FIG. 30 in that an identification signal is attached to the joint portion 3 to generate an identification signal indicating the connection order of the joint portions and an identification signal indicating the direction of the degree of freedom. Located in the signal generator. That is, in this embodiment, a resistor 182 for interposing a resistor having a resistance value Rx is connected between the eight pins excluding the ground pin of the connector 121 and the eight pins excluding the ground pin of the relay connector 181, and A resistor 183 for interposing a resistor having a resistance value Ry is connected between the eight pins of the connector 122 excluding the ground pin and the eight pins of the relay connector 181 excluding the ground pin, and the ground pin of the connector 123 is removed. A resistor 184 for interposing a resistor having a resistance value Rz is connected between the eight pins and the eight pins excluding the ground pin of the relay connector 181. And
The ground pins of the connectors 121, 122, 123 are commonly connected to the ground pins of the relay connector 181, and the nine pins including the ground pin of the relay connector 181 correspond to the nine pins of the connectors 124, 125, 126. Connected in common for each pin.

In FIG. 41, the connectors 121 to 126, the changeover switch 128 and the resistors 182, 183, 184 are shown.
6 shows the connection relationship of the measurement signal lines between the joint portions 3a and 3b when the manipulator main body 1 of FIG. 1 is configured by combining the six joint portions 3 attached to each other. With such a structure, if the joint is connected as a rotary joint around the X axis, the resistance value increases by Rx in all the signal lines on the joint. If the joint is connected as a rotary joint around the Y axis, the resistance value increases by Ry in all the signal lines on the joint. If the joint is connected as a rotary joint around the Z-axis, the resistance value increases by Rz in all the signal lines on the joint, and the joint is adjacent to the base side. If it is directly connected as a flexion joint in the same direction as without interposing an arm or the like, the resistance value of all signal lines on the joint increases by the resistance value when Rx and Ry are connected in parallel. . That is, on each joint, a resistor having a resistance value indicating the rotation direction of the joint is connected in series to the signal line. Therefore, if the resistance value between the ground pin and each pin is measured through the cable 139 and the difference in the resistance values is checked in order from the first joint, the number of degrees of freedom of the main body of the manipulator can be obtained. You can know the composition.

FIG. 42 shows the joint 3 shown in FIG.
The connection relationship between each connector and the resistor when the individual manipulator main body 1 as shown in FIG. 1 is configured is shown three-dimensionally, and FIG. 43 shows the connection relationship diagram. These figures show Rx, R according to the connection state of each joint.
This is for explaining which resistance value of y and Rz is added, and is shown as a single line for easy understanding.

As can be seen from FIGS. 42 and 43, Rz is measured when the resistance value between the ground wire and the first pin is measured via the cable 139. When the resistance value between the ground wire and the 2nd pin is measured (Rz + R
x) is measured. Similarly, when the resistance value between the ground line and the 3rd pin and the resistance value between the 4th pin and the resistance value between the 6th pin and the like are sequentially measured, {Rz + Rx +
(Rx · Ry) / (Rx + Ry)}, {Rz + Rx +
(Rx · Ry) / (Rx + Ry) + Rz}, {Rz + R
x + (Rx · Ry) / (Rx + Ry) + Rz + Ry},
{Rz + Rx + (Rx · Ry) / (Rx + Ry) + Rz
+ Ry + Rx} is measured. When the difference between the resistance value obtained by the higher-order pin and the resistance value obtained by the one lower-order pin is calculated, Rz, Rx, (Rx · Ry) / (Rx + R
y), Rz, Ry, and Rx. Therefore, the degree of freedom configuration of the manipulator main body 1 is as follows in the coordinate system set at the place where the manipulator main body is provided.
From the base 2 side, "(Base) -Z-X-X-Z-Y-X-"
(Hand) "is determined. This determination is actually performed by the measuring device 53d shown in FIG. 41. The results of the measurement and determination thus performed are introduced into the information processing device 54d and drive control is performed. Therefore, the same effect as in the previous embodiment can be obtained in this embodiment, and in this case, the joints are connected in any relationship. However, the connection order of each joint and the direction of the degree of freedom can be reliably detected.

The present invention is not limited to the above-described embodiments and modified examples, and various modifications can be carried out without departing from the gist of the present invention.

(Third Embodiment) FIG. 44 shows a schematic structure of a manipulator main body 1 in a manipulator device according to a third embodiment of the present invention. This manipulator main body 1 has a structure in which seven joints 3a to 3g and three arms 4a to 4c modularized on a base 2 are connected in series, and the joint 3g located at the leading edge has an effect equivalent to a hand portion. This is a configuration in which the container 5 is attached. Each joint 3a-3
g is on the Cartesian coordinates shown in FIG.
5 are connected to each other so as to have a degree of freedom in a direction shown as an equivalent diagram. Each joint 3a to 3g is a module formed to have the same size in this embodiment as well. Basically, the specifications are almost the same as the joints used in the first and second embodiments described above. (reference,
3 (a) to 3 (e)) However, specifically, the joints 3a to 3g in the present embodiment are partly provided under the condition that the distance between the outer surfaces of the parts 17 and 18 is 20 cm and the parts 19 and 20 face each other. 19,
The distance between the outer surfaces of 20 is formed to a size of 20 cm.

Each joint 3a to 3g constructed as described above
Is actually installed, for example, as shown in FIGS. 4 (a) to 4 (c).
On the Cartesian coordinates XYZ shown in Fig. 4, when the rotation around the X-axis is realized, as shown in Fig. 7 (a), the third mounting portion 27 and the fourth mounting portion 27
When the mounting portion 30 of No. 6 is selected and rotation about the Y axis is realized, as shown in FIG.
And the first mounting portion 22 and the second mounting portion 24 are selected as shown in FIG. 7C when the rotation around the Z axis is realized.

Since each of the joints 3a to 3g is constructed as described above, it is possible to construct the manipulator main body even if the joints having different outputs are connected in any order. The degree of freedom of the manipulator body can be changed by changing the connection order of joints from the constructed manipulator body. Further, the joints can be divided and transported to a work site, and can be easily assembled on the spot where they are transported. Also, when the work content is decided, select the degree of freedom layout suitable for the work content,
Since the manipulator body can be configured, the performance of the joint of the manipulator body can be efficiently transmitted as the speed and force of the effector. Further, even when the work content is changed, the manipulator main body can be easily reconfigured into a structure having a degree of freedom suitable for the work content. As described above, one joint can be used as both a swivel joint and a flexion joint, and further, seven joints 3a to 3g and three joints 3a to 3g, which are configured so that the flexion direction of the flexion joint can be selected in two directions orthogonal to each other. The manipulator body 1 is configured by a combination with the individual arms 4a to 4c. An identification signal for outputting to the seven joints 3a to 3g incorporated in the manipulator main body 1 an identification signal indicating the order of connection of the joint from the base 2 and an identification signal indicating the direction of the degree of freedom of the joint. A generator is provided. For details, as shown in FIG.
This identification signal generator is constructed as follows. That is, in the portion 19 parallel to the rotation center line of the connecting member 15,
A connector 41 is provided on the short side of the rectangle located on the positive side on the Y-axis in the drawing from the center of the rectangle defining the third mounting portion 27 so as to expose each pin to the lower surface of the portion 19 in the drawing. There is. Further, in the portion 19 of the connecting member 15, each pin is provided on the short side of the rectangle located on the minus side on the X axis in the drawing from the center of the rectangle defining the fifth mounting portion 32, and the bottom surface of the portion 19 in the drawing is shown. The connector 42 is provided so as to be exposed. Further, in the portion 17 orthogonal to the rotation center line of the connecting member 15, each pin is placed on the short side of the rectangle located on the plus side on the Y axis in the figure from the center of the rectangle defining the first mounting portion 22. The connector 43 is provided so as to be exposed on the left outer surface of the portion 17 in the figure.

On the other hand, in the portion 18 orthogonal to the rotation center line of the connecting member 16, on the short side of the rectangle located on the plus side on the Y axis in the figure from the center of the rectangle defining the second mounting portion 24. A connector 44 is provided so as to expose each pin to the right outer surface of the portion 18 in the drawing. Further, at the portion 20 parallel to the rotation center line of the connecting member 16, each pin is arranged on the short side of the rectangle located on the minus side on the X axis in the figure from the center of the rectangle defining the sixth mounting portion 34. The connector 45 is provided so as to be exposed on the upper surface of the portion 20 in the drawing. Further, in the portion 20, the relationship in which each pin is exposed on the upper surface of the portion 20 in the drawing on the short side of the rectangle located on the plus side on the Y axis in the drawing from the center of the rectangle defining the fourth mounting portion 30. Is provided with a connector 46.

In the case of this example, as each of the connectors 41 to 46, one having nine pins is used. One of these pins is labeled G to indicate ground, and the other eight pins are labeled 1 to 8, respectively. A resistor having a resistance value Rx (= 10Ω) interposed between the eight pins of the connector 41 excluding the ground pin and the eight pins of the relay connector 47 excluding the ground pin. The body 48 is connected, and the resistance value Ry (characterizing that the Y axis is around each of the eight pins excluding the ground pin of the connector 42 and the eight pins excluding the ground pin of the relay connector 47) A resistor 49 having a resistance of 20 Ω) is connected, and between the eight pins excluding the ground pin of the connector 43 and the eight pins excluding the ground pin of the relay connector 47, the Z-axis rotation is provided. A resistor 50 interposing a resistor having a resistance value Rz (= 30Ω) to be characterized is connected. Connector 4
The ground pins 1, 42, and 43 are commonly connected to the ground pins of the relay connector 47, and the nine pins including the ground pin of the relay connector 47 and the corresponding nine pins of the connectors 44, 45, and 46 are connected. The pins are commonly connected by cables 51 as shown in FIG. 47.

On the other hand, a changeover switch 52 is attached to the outer surface of the motor section 11. The changeover switch 52 is shown in FIG.
As shown in FIG. 7, a fixed contact group 53 having eight in total,
The movable contact 54 is provided for selecting one fixed contact from the fixed contact group 53. And pick 55
When the pointer is moved to any of the numbers 1 to 8 drawn on the dial by operating, the movable contact 54 comes into contact with the fixed contact having the contact number corresponding to the number. The movable contact 54 is connected to the cable 5 as shown in FIG.
It is connected to the ground pin of the relay connector 47 at the position 1 and the eight fixed contacts forming the fixed contact group 53 are connected to the corresponding pins at the position of the cable 51.

Here, the knob 55 is operated at the time of assembly so as to select a fixed contact number corresponding to the order from the base 2. For example, in the case of the joint 3a, since it is provided first with respect to the base 2, the movable contact 54
And the fixed contact No. 1 are operated so as to be established.

As shown in FIG. 48, in the base 2, the connectors 41 to 46 are provided on the short sides of the rectangle located on the plus side on the Y axis in the figure from the center of the rectangle defining the mounting portion 56.
A connector 57 having the same configuration as the above is attached with each pin exposed. A cable 58 is connected to the connector 57.

The X-axis extending arm 4a is specifically constructed as shown in FIG. That is, four attachments are arranged on one end side in the same arrangement as the attachment holes forming the above-described first attachment portion 22, that is, at each vertex position of a rectangle drawn so that the long side is orthogonal to the X axis in the drawing. Hole 60
Is provided and four attachment holes 62 are provided at the other end side at each apex position of a rectangle drawn so that the long side is orthogonal to the X axis in the drawing. A mounting portion 63 is provided. A connector 64 is provided on the short side of the rectangle located on the negative side on the Y-axis in the drawing from the center of the rectangle defining the mounting portion 61 so as to expose each pin to the upper surface in the drawing. Similarly, the mounting portion 6
A connector 65 is provided on the short side of the rectangle located on the negative side on the Y-axis in the figure from the center of the rectangle defining 3 so as to expose each pin to the upper surface in the figure. Each of the connectors 64 and 65 is provided with one ground pin and eight signal pins, like the connectors 41 to 46. The ground pin of the connector 64 and the ground pin of the connector 65 are directly connected. Further, the eight signal pins of the connector 64 and the eight signal pins of the connector 65 are, as shown in FIG. 50, a resistor 66 and an arm for interposing a resistor having a resistance value rx characterizing the length Sx of the arm 4a. The inductors 67, which interpose the inductances of the inductance value Lx characterizing the extension direction of 4a, are connected in series. That is, the resistor 66 and the inductor 67 configure a measurement signal generator 68 that indicates the length and direction of the arm 4a.

In this example, 1 (Ω) per length 10 (cm)
Is adopted, Sx is 30 (cm), and rx is 3 (Ω)
Is set to. Also, as the inductance, X
10 (H) for axis extension, 20 (H) for Y axis extension, 30 for Z axis extension
The value of (H) is adopted. Therefore, Lx in the arm 4a is set to 10 (H).

The arms 4b and 4c for extending the Z axis are shown in FIG.
As shown in FIG. 3, the shape is variable, specifically, the length is variable. That is, the arms 4b, 4c
Is an outer cylinder 72 having a flange 71 on one end side, a flange 73 on one end side, and an outer cylinder 72 on the other end side.
Of the inner cylinder 74 and the outer cylinder 72, both of which are fitted to the other end of the outer cylinder 72, are divided into a plurality of pieces in the circumferential direction, and are formed in a shape that becomes thinner as they approach the tip. 52, a taper male screw 76 integrally formed on the outer surfaces of the pressing pieces 75, and a taper female screw 77 that is screwed to the taper male screw 76 on the inner surface as shown in FIG. 52. A tightening ring 78 that strongly presses the pressing piece 75 against the outer surface of the inner cylinder 74 as the number increases. As can be seen from the above configuration, the arms 4b, 4c
Is configured such that the fitting degree between the outer cylinder 72 and the inner cylinder 74 is changed, and the tightening ring 78 is tightened in this state so that the length Sz in the Z-axis direction can be freely adjusted.
In the figure, reference numeral 79 denotes a rotation-preventing screw mounted from the outer surface side of the outer cylinder 72, and reference numeral 80 denotes a slit provided in the inner cylinder 74 along the axial direction for fitting the tip portion of the screw 79. Shows.

The flange 71 has the above-described first mounting portion 2
The mounting portion 82 is provided in the same arrangement as that of the mounting holes that form the structure No. 2, that is, four mounting holes 81 are arranged at each vertex of a rectangle drawn so that the long side is orthogonal to the X axis in the drawing. Further, the flange 73 is also provided with a mounting portion 84 in which four mounting holes 83 are arranged at each vertex position of a rectangle drawn so that its long side is orthogonal to the X axis in the drawing. A connector 85 is provided on the flange 71 so as to expose each pin to the upper surface in the figure on the short side of the rectangle located on the negative side on the Y axis in the figure from the center of the rectangle defining the mounting portion 82. ing. Similarly, a connector 86 is provided on the flange 73 so as to expose each pin to the lower surface in the figure on the short side of the rectangle located on the negative side on the Y axis in the figure from the center of the rectangle that defines the mounting portion 84. Has been. Each of the connectors 85 and 86 is provided with one ground pin and eight signal pins like the connectors 41 to 46. The ground pin of the connector 85 is the outer cylinder 72
Is connected to a ground wire 87 arranged on the inner surface of the parallel to the axis. Further, the eight signal pins of the connector 85 are connected to the outer cylinder 7 via an inductor 88 having an inductance value Lz that characterizes the extending direction of the arm.
Eight resistance wires 8 arranged on the inner surface of 2 parallel to the ground wire 87 to provide a resistance value rz characterizing the length of the arm.
9a to 89h.

On the other hand, on the inner surface of the upper end of the inner cylinder 74 in the figure,
The ground line 87 and the eight resistance lines 89a to 89h
9 contactors 90a that slide-contact in a one-to-one relationship with
A connector 91 having ~ 90i is provided. The nine signal pins of the connector 91 are connected to the corresponding pins of the connector 86 via the cable 92. As can be seen from the above configuration, the inductor 88 and the resistance wires 89a to 89h.
And constitute a measurement signal generator 93 which indicates the lengths and directions of the arms 4b and 4c.

FIG. 53 shows an electric circuit of the measurement signal generator 93. In this example, as described above, the length is 10 (cm).
A ratio of 1 (Ω) is used for each. Therefore,
When the length Sz of the arms 4b and 4c is, for example, 60 (cm), rz is set to be 6 (Ω).
Since the arms 4b and 4c are for Z-axis extension, Lz is set to 30 (H). When the manipulator main body 1 is configured as described above, after the manipulator main body 1 is assembled, what number joint is connected as a joint around which axis on a certain rectangular coordinate, and is interposed in the middle thereof. You can immediately see what the direction and length of the arm is doing. That is, when the manipulator body 1 is assembled as shown in FIG. 44, the identification signal generators mounted on the joints 3a to 3g and the measurement signal generators 68 mounted on the arms 4a to 4c, 93 is automatically connected as shown in FIGS. 54 and 55. Therefore, when the resistance between the ground pin and the 1st signal pin is measured using the cable 58 extending from the base 2, R =
Rx = 10 (Ω) is detected, and it is understood from this R that the first joint 3a is around the X axis. Next, when measuring the resistance between the ground pin and the second signal pin, R = Rx
+ Rx + Ry = 33 (Ω) is detected. This 33 (
If we take the difference between 10) and the previously detected value of 10 (Ω),
(Ω) is obtained, and if the first digit value is excluded from this value, 20 (
Ω) is obtained, and it can be seen from this value that the second joint 3b is around the Y axis. Similarly, by measuring the resistance between the ground pin and the signal pin, subtracting the resistance obtained last time from that value, and confirming the resistance value excluding the value of the first digit, joints 3c to 3g You can know what axis is connected around.

On the other hand, the first digit in the value obtained by measuring the resistance component between the ground pin and the signal pin and subtracting the resistance component obtained last time from the value is the arm interposed between them. Shows the length of. For example, if you take the difference between the resistance 33 (Ω) between the ground pin and the 2nd signal pin and 10 (Ω) detected earlier, you will get 23 (Ω), but the first digit of this value is The value of 3 (Ω) corresponds to the length 30 (cm) of the arm 4a. Therefore, the existence of the arm and its length can be known from the value of the first digit. Table 1 shows the axis around each joint and the length of each arm determined from the resistance.

[0085]

[Table 5] From the results in the above table, only the axis of each joint and the length of each arm are known, not the direction of each arm. Therefore, next, an alternating current is passed between the ground pin and each signal pin, the impedance of the closed circuit is measured, and the inductance in the closed circuit is measured using the obtained impedance and the resistance measured previously. . As described above, the measurement signal generator 6 mounted on each of the arms 4a to 4c
Inductors 8 and 93 characterizing the directions of these arms are inserted. Therefore, if the inductance value is known, the direction of the arm can be known.
As a method of measuring the inductance, for example, as shown in FIG. 56, when a series circuit of a resistance Ro and an inductance Lo is taken as an example, first, a DC voltage Vd is applied to the circuit, and a resistance id is used by using a current id at that time. To measure. Next, the alternating voltage Va is applied to the circuit, and the impedance Zo is measured using the current ia at that time. And Lo = (Z
o2 −Ro2) 0.5 / ω, the inductance Lo
To measure.

Table 2 shows the inductance value and the arm direction measured by the above method.

[0087]

[Table 6] From the above, the directions of the arms 4a to 4c were also found. On the other hand, since the sizes of the joints 3a to 3g, the thickness of the base 2, and the size of the effector 5 are known in advance, the specifications of the manipulator main body 1 shown in FIG. 44 are as shown in the following table. .

[0088]

[Table 7] The measurement of each value described above is performed by connecting the signal processing device 100 to the cable 58, as shown in FIG. In the signal processing device 100, the above-described measurement is performed by the measuring device 101. The information obtained by this measurement is given to the information processing device 102, and the information processing device 10
2 is processed in the same manner as the processing method of the first embodiment described above. Therefore, in the manipulator device configured as described above, detailed description about how to use the information about the axis of each joint, the position information of the arm, the direction and length of the arm when the information is obtained Avoid duplication and omit. (Reference: First Embodiment) As described above, also in the present embodiment, the joint signals 3a to 3g which are equipped with the discrimination signal generator that outputs the discrimination signal indicating the direction of the degree of freedom in a certain coordinate system and are modularized. ,
Measurement signal generator 6 for outputting a signal indicating direction and length
The manipulator main body 1 is configured by combining the arms 4a to 4c on which 8, 93 are mounted. Therefore, all the information necessary for rewriting the software used to control the drive of the manipulator main body 1 can be obtained, so that the signal processing system 100 can be used to automatically rewrite the software. as a result,
It is possible to eliminate the series of operations (eg, editing, compiling, linking, etc.) that were performed at the work site to create software, and, for example, according to the degree of freedom configuration selected at the work site, Software for the relationship between the position and the position of the hand effector (hand part), software for the relationship between the speed of each joint and the speed of the hand effector, software for the relationship between the force of each joint and the force of the hand effector, etc. It is possible to easily and automatically rewrite (that is, customize).

The present invention is not limited to the above embodiment. That is, in the above-described embodiment, the arm capable of electrically measuring the direction and the length from the base side is incorporated, but the gist of the present invention is not limited to the one configured in this way.

For example, it may be constructed as shown in FIG. That is, in the figure, a variable shape structure, specifically, a Z-axis extension arm 4d whose length can be changed.
It is shown. (Note that the same portions as those in FIG. 51 are denoted by the same reference numerals, and detailed description of the overlapping portions will be omitted.) In this arm 4d, the inner surface of the outer cylinder 72 is parallel to the axis and the flange. In the vicinity of 71, the resistance wire 111 is arranged in a folded relationship, and the connector 113 having the contacts 112a and 112b that slidably contact the resistance wire 111 is arranged on the inner surface of the upper end portion of the inner cylinder 74 in the drawing to make contact. The children 112a and 112b are connected to a 2-pin type connector 115 via a cable 114. That is, in this example, the resistance wire 111 and the connector 11
3, the cable 114 and the connector 115 constitute the measurement signal generator 116 so that the resistance value rz measured between the pins of the connector 115 corresponds to the length of the arm 4d. You may use the arm 4d comprised in this way. If the arm 4d having the above-mentioned configuration is used, the information of the joint arranged on the distal end side of this arm cannot be read on the base side. Therefore, a connection element for information transmission may be provided, or the joint on the distal end side may be provided. For the above, the structure of the identification signal generator may be changed so that they can be read individually.

FIG. 58 shows an arm according to another example. Shown here is a shape-variable structure, specifically, an arm 4e for extending the Z axis, the length of which can be changed.
In this figure, the same parts as those in FIG. 57 are designated by the same reference numerals. Therefore, detailed description of the overlapping portions will be omitted. In this arm 4e, a magnetic linear
The measurement signal generator 117 is composed of a scale. That is, a sensor amplifier 118 having a rod-shaped sensor body 118 arranged along the inner surface of the outer cylinder 72 and parallel to the axial center line, and an upper end portion of the sensor body 118 in the figure fixed to the inner surface of the outer cylinder 72 is provided. It is connected to 119. And
A sensor target 120 is arranged on the inner surface of the upper end portion of the inner cylinder 74 in the figure so as to fit with the sensor body 118, and a sensor amplifier 119 is connected to a connector 122 via a cable 121, and an arm is connected via this connector 122. Four
It is configured to output a signal corresponding to the length Sz of e.

FIG. 59 shows a variable shape structure according to another example, specifically, an arcuate arm 4f whose arc length can be changed. The basic structure of the arm body is shown in Fig. 51.
Same as shown in, but with flange 131 at one end
And an outer cylinder 132 formed in an arc shape having a center at one point and a flange 133 on one end side and formed in an arc shape having a center at the above point, and the other end side is fitted into the outer cylinder 132. Inner cylinder 134 and inner cylinder 134
And a fixing mechanism 135 for fixing the degree of insertion of the device to a desired value. Two sets of fixing mechanisms 135 are provided in a facing relationship, and each set includes a slit 136 provided in the outer cylinder 132, a screw hole (not shown) formed in the inner cylinder 134, and a slit from the outer surface side of the outer cylinder 132. It is composed of a set screw 137 which is attached to the screw hole through 136. It should be noted that the flanges 131, 133 have mounting portions 140, 1 constituted by four mounting holes 138, 139.
41 is provided. A measurement signal generator 142 is mounted in the arm 4f. This measurement signal generator 14
2 is a toothed belt 143 fixed to the inner surface of the outer cylinder 132 in a relationship along the axis, and a part of the toothed belt 143 protruding into the inner cylinder 134 through a slit provided in the inner cylinder 134; Is fixed to the inner surface of the toothed belt 143
A potentiometer 144 that meshes with and rotates, a 2-pin type connector 145 attached to the flange 133 with its connecting portion exposed on the upper surface in the drawing, and this connector 145.
146 that connects the potentiometer 144 with the
It consists of and. Then, a signal corresponding to the length between the flanges is output via the connector 145. An arm configured in this way can also be used.

FIG. 60 shows an arm according to another example. Here, a shape-variable structure, specifically, an arcuate arm 4g capable of changing the length of an arc is shown. The basic structure of the arm body is the same as that shown in FIG. Therefore, the same parts as those in FIG. 59 are designated by the same reference numerals. This example is different from that shown in FIG. 59 in the measurement signal generator 150. The measurement signal generator 150 basically has one ground line 151 and eight resistance lines 152a to 15h arranged on the inner surface of the outer cylinder 132, similarly to the one shown in FIG. A connector 1 having a total of nine contacts 153 which are fixed to the inner cylinder 134 and are in sliding contact with the above wires in a one-to-one relationship.
54, a 9-pin type connector 155 attached to the flange 131, a 9-pin type connector 156 attached to the flange 133, and a cable 157 for connecting each pin of the connector 156 to a corresponding pin of the connector 154.
And the ground line 151 and the eight resistance lines 152a15
2h to a corresponding pin of the connector 155 and a cable 158. And the connector 15
A resistance value signal corresponding to the length between the flanges is output via 5, 156.

FIG. 61 shows a bent arm 4h according to yet another example. The main body of the arm 4h includes a connecting member 161, a connecting member 162 rotatably connected to the connecting member 161, and both connecting members 161, 1.
Torsion dial 16 for fixing 62 at a predetermined rotation position
3, 164 (however, the twist dial 164 is not shown). Mounting plates 165 and 166 are mounted on the connecting members 161 and 162, respectively, and mounting plates 167 and 168 formed by four mounting holes are formed on the plates 165 and 166, respectively. Curved surfaces 169 and 17 having the same radius centered on the center of rotation are provided at the rotation connection portions of the connection members 161 and 162, respectively.
0 is formed. The measurement signal generator 171 is provided so as to use the curved surfaces 169 and 170.
The measurement signal generator 171 includes resistance wires 172, 173 provided on the curved surface 169 in parallel and in the circumferential direction, and contactors 174 mounted on the curved surface 170 for sliding contact with the resistance wires 172, 173. 175, a 2-pin type connector 176 attached to the plate 165 so as to expose the signal pin to the lower surface in the figure, and a 2-pin type connector 176 attached to the plate 166 so as to expose the signal pin to the upper side in the figure 177, a connection line 178 that connects one end side of the resistance lines 171 and 173 to the signal pin of the connector 176, and a connection line 179 that connects the contacts 174 and 175 to the signal pin of the connector 177. Therefore, in the arm 4h according to this example, the connecting members 161, 162
The measurement signal generator 171 is set to output a signal corresponding to the rotation angle of.

FIG. 62 shows an arm according to another example. A bent arm 4i is shown here, and the same portions as those in FIG. 61 are designated by the same reference numerals. Therefore, detailed description of the overlapping portions will be omitted. This example differs from the arm shown in FIG. 61 in that the measurement signal generator 181
In the configuration. The measurement signal generator 181 includes a toothed belt 182 provided on the curved surface 169 in the circumferential direction, and a curved surface 170 in which the rotation driving unit meshes with the toothed belt 182.
Connected to the signal pin of connector 184, and a two-pin type connector 184 attached to plate 166 so as to expose the signal pin to the upper surface in the figure. Connection line 185 to That is, the measurement signal generator 181 outputs a signal corresponding to the rotation angle of the connecting members 161 and 162 via the connector 184.

FIG. 63 shows a blocked arm unit 4j according to a further different example, and an arm 4k constituted by combining a plurality of the arm units 4j.
Is shown in FIG. The arm unit 4j has a main body composed of a tubular body 191, and mounting flanges 192, 193 attached to both ends of the tubular body 191. The arm unit 4j includes a measurement signal generator 1
94 is mounted. The measurement signal generator 194 is provided with a ground line 195 provided along the outer surface of the cylindrical body 191.
A signal line 197 disposed in parallel with the ground line 195 and having a resistor 196 having a resistance value r corresponding to the axial length L of the arm unit 4j interposed therebetween, the ground line 195, and the signal line 195. A two-pin type connector 198 mounted on a mounting flange 192 and a ground wire 1 so that the connected pins on one end side of 197 are exposed on the upper surface in the figure.
95 and the two-pin type connector 199 mounted on the mounting flange 193 so that the connected pin on the other end side of the signal line 197 is exposed on the lower surface in the drawing.
Therefore, as shown in FIG. 64, the arm unit 4j
When n pieces are connected in series to form the arm 4k, and the resistance value is measured through the connectors located at both ends of the arm 4k, the resistance value n times is measured. The length Ln of the arm 4k can be known. In order to be able to measure the resistance value from one end side of the arm 4k, a flange provided with a short-circuit connector may be attached to a mounting flange located on the side opposite to the position to be measured. .

FIG. 65 shows another block-shaped arm unit 4m. The arm unit 4m has a cylindrical body 200 similar to that shown in FIG.
And mounting flanges 201 and 202 mounted on both ends of the tubular body 200. The cylinder 200 is
Instead of being straight, it is formed by a curved cylinder that forms a part of an arc of radius L1 centered at a point P. Further, in this example, the length between the mounting flanges 201 and 202 is set to a value corresponding to θ = 15 ° centering on the point P. The arm unit 4m includes a measurement signal generator 20.
3 is installed.

Similar to the example shown in FIG. 64, the measurement signal generator 203 has a resistor 2 having a resistance value r corresponding to the angle θ forming the ground line 204 and the arm unit 4m.
Signal line 206 in which 05 is interposed and the ground line 2
04 and a signal line 206 are connected to a 2-pin type connector 207, 208. In this example, when a necessary number of arm units 4m are connected to form an arm, a flange 209 is connected to one end of this arm. The flange 209 is provided with a connector 210 which is connected to a connector on the arm side, and an inductor 211 having an inductance showing a radius L1 is connected to the connector 210. Therefore, in this example, the radius of curvature L1 of the arm can be known from the value of the measured inductance, the angular range of the arc of the arm can be known from the measured resistance value, and the arc of the arm can be determined from the relationship between the two. You can know the length of. An arm configured in this way can also be used.

The above-mentioned various arms are not limited to the manipulator main body using the module joints, but can also be used for a normal joint / arm integrated type.

(Fourth Embodiment) FIG. 66 shows a fourth embodiment of the present invention.
An example is illustrated. This embodiment discloses a desirable combination of the configurations of the above-described third embodiment (FIG. 44) as the shape of the actual manipulator main body in which the operating efficiency is improved by making the size of each module different. The joint modules (3a, 3b) connected to the base 2 of the main body are composed of modules having a large driving force even in the main body of the apparatus. On the other hand, the joint modules (3f, 3g) connected near the hand portion (end effector) 5 are composed of a lightweight module with a small driving force. Further, the arm modules and the like (4a, 4b, 4c,) are also composed of smaller, thinner and lighter modules as they are closer to the hand.

The method of detecting the size of this module is as follows. That is, by utilizing the fact that the size of the joint module and its torque are proportional to the length (that is, the resistance value) of the winding of the motor, a signal indicating the size of the joint module is supplied to this winding and the power supply. The relative module size can be easily recognized by detecting the resistance value to the line. Further, the arm module can be used for rewriting software regardless of its thickness (lightness) as long as it can output a measurement signal proportional to length at the same ratio.

[0102]

【The invention's effect】

(Effects of First and Second Embodiments) According to the present invention, one joint can be used as both a swivel joint and a flexion joint, and the flexion direction of the flexion joint can be selected in two directions orthogonal to each other. It is possible to construct the manipulator main body even in the case of joints having different outputs, or in any order. Also, from the already configured manipulator, you can change the degree of freedom of the manipulator body by changing the connection order of the joint parts, so you can divide each joint part and transport it to the work site,
The manipulator main body can be configured with the degree of freedom suitable for the work contents on the spot where it is transported. Further, even when the work content is changed, the manipulator having the freedom degree suitable for the work content can be easily reconfigured. Then, even if the joint portion fails, the manipulator main body can be operated normally by replacing only the failed joint portion. Moreover, since it is sufficient to prepare one kind of joint portion both when it is used as a swing joint and when it is used as a flexion joint,
It is possible to facilitate assembly and maintenance.
Further, an identification signal generator capable of generating three kinds of signals for identifying whether each joint is a rotation about an X axis, a rotation about a Y axis, or a rotation about a Z axis of a coordinate system. Since it has them, the work of rewriting the software used for the drive control of the manipulator main body can be facilitated by using these identification signals. Therefore, it is possible to reduce the labor and time required for rewriting and changing the drive control program of the manipulator due to the change of the configuration. It is also possible to provide a manipulator device capable of automatically rewriting the program if desired.

(Effects of Third and Fourth Embodiments) Further, according to the present invention, at least one of the plurality of arms has a shape varying means capable of arbitrarily setting its own length or bending angle. And a measurement signal generator that outputs a signal corresponding to the length or bending angle described above, the size of the operating range of the manipulator body can be changed by changing the shape of the arm even after assembly. Can be easily changed. Further, at this time, the length of the arm or the bending angle can be accurately known from the output of the measurement signal generator. Therefore, in the case of the change only by changing the shape of the arm, the software for driving and controlling the manipulator main body can be automatically rewritten using the information before the change and the output of the measurement signal generator.

Further, when the manipulator main body is newly assembled or reassembled in accordance with the change of the work content, the joint signal is provided with an identification signal generator for outputting a signal corresponding to the direction of the degree of freedom. By combining,
Information necessary for rewriting the drive control software of the manipulator body (for example, an essential signal, that is, an essential parameter) can be obtained. Therefore, it is possible to automatically rewrite desired software by the signal processing device.

In other words, it is possible to eliminate a series of operations for software creation (eg, editing a program, compiling, linking, etc.) at the work site. For example, according to the degree of freedom configuration selected at the work site, a program for the relationship between the position of each joint and the position of the hand part, a program for the relationship between the speed of each joint and the speed of the hand part, the force of each joint and the hand Instead of manually recreating a program relating to the power of the department, the system of the main body can easily, quickly and automatically change the program optimally.

Further, by appropriately combining the joint modules having different output magnitudes as in the fourth embodiment, it is possible to provide a practical module manipulator device having high driving efficiency.

[Brief description of drawings]

FIG. 1 is a perspective view of an entire manipulator main body in a manipulator device according to a first embodiment of the present invention,

FIG. 2 is an equivalent diagram of the manipulator body,

FIGS. 3 (a) to 3 (e) are examples of joints forming the manipulator body, FIG. 3 (a) is a front view thereof, FIG. 3 (b) is a top view, and FIG. d) is right side view, (e) is bottom view,

4A to 4C are explanatory views of three examples in which the directions of the degrees of freedom of the joint are changed,

FIG. 5 is an enlarged perspective view of the joint section,

FIG. 6 is a circuit diagram of an identification signal generator mounted on the joint section,

FIG. 7 is a connection diagram showing a connection state between an identification signal generator mounted on each joint and a signal processing system;

FIG. 8 is a circuit diagram showing a means for extracting information from an identification signal generator;

9A to 9C are perspective views showing three types of extension arms;

FIG. 10 is a perspective view of the entire manipulator body configured by combining the extension arm and the joint portion according to the second embodiment of the present invention;

FIG. 11 is an equivalent diagram of the manipulator body,

FIG. 12 is an enlarged perspective view of a joint portion that constitutes a manipulator main body in the manipulator device according to the second embodiment of the present invention;

13 (a) and 13 (b) are configuration explanatory diagrams of an identification signal generator mounted on the joint.

FIG. 14 is a connection diagram showing a connection state between an identification signal generator mounted on each joint and a signal processing system;

FIG. 15 is an enlarged perspective view showing one of modified examples of the joint portion that constitutes the manipulator main body according to the embodiment of the present invention;

FIG. 16 is a circuit diagram of an identification signal generator mounted in the joint section,

FIG. 17 is a perspective view showing a base of a manipulator main body using the same joint section;

FIG. 18 is an explanatory diagram illustrating an operation relationship of the identification signal generator when the manipulator main body is configured by combining the joint parts;

19 (a) to (c) are perspective views showing three types of extension arms used when constructing a manipulator main body by combining the joint parts.

FIG. 20 is an explanatory view for explaining a part of the operation relation of the identification signal generator when the manipulator main body is configured by combining the joint portion and the extension arm.

FIG. 21 is an explanatory diagram illustrating the rest of the operation relationship of the same identification signal generator;

FIG. 22 is an enlarged perspective view showing still another modified example of the joint portion that constitutes the manipulator main body according to the embodiment of the present invention;

FIG. 23 is a connection diagram showing a connection example of an identification signal generator mounted on the joint section;

FIG. 24 is a specific circuit diagram of the same connection example;

FIG. 25 is a perspective view showing a base of a manipulator main body using the same joint section;

FIG. 26 is a connection diagram showing a connection state between an identification signal generator mounted on each joint and a signal processing system;

FIG. 27 is a perspective view showing an X-axis extension arm used when a manipulator main body is formed by combining it with the joint portion;

FIG. 28 is a perspective view showing a Y-axis extension arm used when the manipulator main body is configured by combining with the joint portion;

FIG. 29 is a perspective view showing a Z-axis extension arm used when a manipulator main body is formed by combining the same with a joint portion;

FIG. 30 is an enlarged perspective view showing still another modified example of the joint portion that constitutes the manipulator main body according to the embodiment of the present invention;

FIG. 31 is a connection example of an identification signal generator mounted on the joint part,

FIG. 32 is a specific circuit diagram of the same connection example,

FIG. 33 is a connection diagram showing a connection state between an identification signal generator mounted on each joint and a signal processing system;

FIG. 34 is an enlarged perspective view showing a different modified example of the joint portion that constitutes the manipulator main body of the embodiment of the present invention;

FIG. 35 is a perspective view of a connector mounted in the joint section,

FIG. 36 is a connection example of an identification signal generator mounted on the joint,

FIG. 37 is a connection diagram showing a part of a wiring system attached to the joint section;

FIG. 38 is a connection diagram from the line BB to the line C-C of the wiring system attached to the joint.

[Fig. 39] Fig. 39 is a connection diagram of a range after the line C-C of the wiring system attached to the joint.

FIG. 40 is an enlarged perspective view showing still another modified example of the joint portion that constitutes the manipulator main body of the embodiment of the present invention;

FIG. 41 is a connection example of an identification signal generator mounted on the joint,

42 is a combination diagram of connection examples of respective connectors and resistors when the manipulator device main body shown in FIG. 1 is configured by combining six joint parts.

FIG. 43 is a circuit diagram of the same connection example;

FIG. 44 is a perspective view of the manipulator main body in the manipulator device according to the third embodiment of the present invention,

FIG. 45 is an equivalent diagram of the manipulator body,

FIG. 46 is an enlarged perspective view of the joint,

FIG. 47 is a circuit diagram of an identification signal generator mounted on the joint,

FIG. 48 is a perspective view showing a base of the manipulator body,

FIG. 49 is a perspective view of an X-axis extension arm incorporated in the manipulator body;

FIG. 50 is a circuit diagram of a measurement signal generator incorporated in the X-axis extension arm,

FIG. 51 is a perspective view showing a Z-axis extension arm incorporated in the manipulator body with a part thereof cut away;

FIG. 52 is an enlarged sectional view showing a length adjusting portion of the Z-axis extending arm.

FIG. 53 is a circuit diagram of a measurement signal generator mounted on the Z-axis extension arm,

FIG. 54 is a diagram showing a part of the connection relation between the identification signal generator mounted on each joint and the measurement signal generator mounted on each arm and the connection relation of the signal processing system;

FIG. 55 is a diagram showing the rest of the connection relationship;

FIG. 56 is a view for explaining the measurement principle of arm length and direction;

FIG. 57 is a perspective view showing a modified example of a Z-axis extension arm with a part thereof cut away;

FIG. 58 is a perspective view showing another modification of the Z-axis extension arm with a part thereof cut away;

FIG. 59 is a perspective view showing an example of an arc-shaped arm with a part thereof cut away;

FIG. 60 is a perspective view showing another example of the arc-shaped arm with a part thereof cut away;

FIG. 61 is a perspective view showing an example of a bendable arm,

FIG. 62 is a perspective view showing another example of the bending arm,

FIG. 63 is a perspective view showing a block type arm unit;

FIG. 64 is a side view of an arm configured by combining the arm units;

FIG. 65 is a side view for explaining another example of the block type arm unit;

FIG. 66 is a perspective view of a realistic manipulator body in the manipulator device according to the fourth embodiment of the present invention.

[Explanation of symbols]

1, 1a ... Manipulator main body, 3, 3a-3g ... Joint part, 4, 5 ... Effector, 4a-4m ... Arm, 1
1 ... Motor part, 12 ... Feedback unit, 1
3 ... Fixed shaft, 14 ... Rotation shaft, 15, 1
6 ... Connection member, 22, 24, 27, 30, 32, 34 ...
First to sixth mounting portions, 41 to 46 ... Changeover switch and connector forming part of the identification signal generator, 48, 4
9, 50 ... Resistors forming part of the identification signal generator, 5
1, 51a, 51b, 51c, 51d ... Signal processing system, 52 ... Changeover switch forming a part of identification signal generator, 61 ... X-axis extension arm, 62 ... Y-axis extension arm, 63 ... Z-axis extension Arm, 76 ... Gravity switch as identification signal generator, 81, 82, 83 ... Connector forming a part of identification signal generator, 89-94, 101-111 ...
Conductors forming a part of the identification signal generator, 121 to 126 ...
Connector forming part of the identification signal generator, 128, 129
... Switches constituting the identification signal generator, 151, 1
52, 182-184 ... Resistors forming part of the identification signal generator, 68, 93, 116, 117, 142, 15
0, 171, 181, 194, 203 ... Measurement signal generator.

Continuation of the front page (51) Int.Cl. ⁵ Identification code Office reference number FI technical display location B25J 18/06 9147-3F 19/02

Claims (12)

[Claims] 1. A manipulator apparatus comprising a plurality of constituent modules which constitute an apparatus by combination and drive control means for controlling the operation of the modules, and further, predetermined information attached to the constituent modules and related to the module. An information output means for collecting and outputting, and performing a predetermined analysis process based on the information introduced from each information from the information output means, to the operation condition of the drive control means that defines the operation of each component module An information processing unit for converting; and a function realizing unit, which is stored and activated in the drive control unit and causes the constituent module to perform a new prescribed operation by introducing the above operating condition, Characteristic manipulator device. 2. The constituent module is selectively movable in a predetermined direction, which is composed of a plurality of types of mounting portions capable of selectively determining the degree of freedom of mounting and a drive source connected to the mounting portion at a predetermined position. A joint unit that can work, and an arm unit that is extended in a predetermined direction and that can selectively change its length or angle. Further, one of the units is selected from the selected current state of the unit. 2. The manipulator apparatus according to claim 1, further comprising identification display means that can be visually set and can be visually recognized. 3. The information output means is attached to at least one of the joint units or the arm unit, detects and collects unique unit type information of the unit itself and combination information indicating a degree of freedom of combination, An identification signal generating means for outputting as an identification signal, and a measurement signal generating means for detecting information about the shape of the unit itself such as length or bending angle by itself, or collecting from the identification display means and outputting as a measurement signal, The manipulator device according to claim 2, wherein the manipulator device is composed of: 4. A modular manipulator apparatus having a plurality of modules which can be freely selected in combination and a control means for controlling an intended operation corresponding to the combination, wherein a plurality of types of mounting units and the mounting unit are provided. A joint module consisting of a drive source mounted at a predetermined position and an arm module extending in a predetermined direction and capable of selectively changing its length or angle are mutually combined to form a part thereof. Manipulator main body, and at least one attached to any of the modules, the selected current state of the module, that is, unique unit type information of the module itself, and combination information indicating the degree of freedom of subsequent combinations. Can be selectively detected or manually set, and can be visually recognized and output that information. Identification display means, identification signal generation means that is connected to the identification display means, introduces the above-mentioned output information, converts the output information into an identification signal, and outputs the identification signal, and information about the shape such as the length or bending angle of the unit itself. Or a measurement signal generating unit that collects from the identification display unit, converts the measurement signal into a measurement signal, and outputs the measurement signal. Further, the manipulator defines each operation of each joint module. A rewritable drive control means for optimal drive control is stored as a main body, and the operation prescribing condition of the drive control means is defined based on each output signal from the identification signal generating means and the measurement signal generating means. And an information processing device which is selectively activated after being changed to the optimum combination. 5. The identification signal generating means and the measurement signal generating means automatically output the identification signal and the measurement signal each time the manipulator main body is assembled. Manipulator device. 6. The manipulator, wherein the information processing device sets a parameter as a condition for defining an operation of the drive control means on the basis of each signal output from the measurement signal generation means and the identification signal generation means. It has a signal processing means directly connected to each of the generating means for performing a predetermined analysis so that the main body operates as a whole and calculating and selectively resetting the drive control means by using a factor thereof. The manipulator device according to claim 4. 7. The identification signal generating means includes a first identification signal indicating, as the identification signal, a degree of freedom of each combination of the joint modules in a certain direction of a coordinate system, and the joint portions. The manipulator device according to claim 4, wherein the manipulator device outputs a second identification signal indicating a connection order. 8. The identification display means includes at least a first changeover switch including a dial for indicating the order of the joint from the base and an indicator needle for pointing a character on the dial, and a predetermined right angle of the joint. The second changeover switch comprising a dial for indicating a free direction of coordinate combination and a pointer for pointing a character on the dial, and a second changeover switch. Manipulator device. 9. The identification signal generator includes a metal case having a bottomed rectangular tube shape, an insulating member attached to the opening of the case, and one end fixed to the insulating member and the other end. A wire member extending into the case and having a predetermined rigidity, a conductor fixed to a free end of the wire member, and a connector for connecting the case and the wire member via lead wires, respectively. The manipulator device according to claim 4, wherein the manipulator device is a gravity switch. 10. The rod-shaped sensor, wherein the measurement signal generating means is fixed to one end in the longitudinal direction of the arm module whose length can be arbitrarily changed, and the other end is movably connected to the rod-shaped sensor. 5. The manipulator according to claim 4, wherein the magnetic linear scale comprises a sensor amplifier that amplifies a signal from the sensor and a connector that is connected to the sensor amplifier via a cable.
Device. 11. The plurality of arm modules, in a coordinate system, a first axis extending arm unit extending in a horizontal axis direction and an axis direction orthogonal to the horizontal axis and not in the vertical direction. The manipulator device according to claim 4, comprising a second axis extending arm unit and a third axis extending arm unit extending in a direction around the vertical axis. 12. The signal processing means generates a first parameter that defines a predetermined operating condition based on a first signal from the measurement signal generating means, and the identification signal generating means. Second parameter generating means for generating a second parameter that defines a predetermined operating condition based on a second signal from the first and second parameter generating means, respectively.
7. The manipulator apparatus according to claim 6, wherein a second parameter is selectively set in the drive control means to replace the initial operating condition.