JPH0593780U - Fluid pressure articulated manipulator - Google Patents

Abstract

(57) [Abstract] [Purpose] A fluid pressure articulated joint with a compact drive unit, a small number of control fluid hoses, and a simple control program, which is excellent in device miniaturization, economy, and operability. Aim for a type manipulator. [Structure] A drive unit in which base ends of a plurality of arms connected in series and in a polygonal line shape via a joint portion are supported,
The drive unit and the fluid pressure type having the actuators attached to the respective arms, which are adjacent to each other and rotate relatively around their joints, and a fluid hose connected between the drive unit and the actuators. In an articulated manipulator, for hydraulic pressure supply extending along the manipulator,
The common hydraulic hoses 1 and 3 for discharging hydraulic pressure are provided, and the above actuators are operated via the common hydraulic hoses 1 and 3.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a fluid pressure articulated manipulator.

[0002]

[Prior Art]

 For example, as a fluid pressure type multi-joint type manipulator applied to a work robot or the like, as shown in a perspective view of FIG. A rear end fixed arm 03 having an intermediate portion extending horizontally and having a bifurcated joint portion 02 at the front end portion, a first intermediate arm 04a pivotally supported by this, and a bifurcated joint portion 02 at the front end portion; It is known that a second intermediate arm 04b pivotally supported by the robot and having a bifurcated joint portion 02 at the front end and a front end arm 06 pivotally supported by this and having a finger member 05 at the front end are connected in series. Has been. In this type of device, the rear end of the drive mechanism is pivotally attached to an eye plate 07 projecting from the center of the upper end of the drive unit 01, and the front end is pivotally attached to a vertical lever portion 08a at the rear end of the first intermediate arm 04a. A hydraulic cylinder 09a, a hydraulic cylinder 09b having a rear end pivotally connected to a vertical lever portion 08a and a front end pivotally connected to a vertical lever portion 08b at a rear end of the second intermediate arm 04b, and a rear end to a vertical lever portion 08b. The front end is formed of a hydraulic cylinder 09c and the like, which is pivotally mounted and whose front end is pivotally mounted to a vertical lever portion 08c at the rear end of the front end arm 06. Corresponding to the hydraulic cylinders 09a, 09b, 09c, a controller, a servo valve, a hydraulic pump, etc., which are not shown, are arranged in the drive unit 01, and each hydraulic pump and each hydraulic cylinder 09a, 09b, 09c are arranged. A hydraulic hose 010 for arm extension and a hydraulic hose 011 for arm contraction are connected between these and. Further, a lock brake 012 capable of preventing the horizontal axes of the first intermediate arm 04a, the second intermediate arm 04b, and the front end arm 06 from rotating is provided at the left end of each bifurcated joint 02, and each horizontal axis is provided at the right end. A position detector 013 for detecting the rotation angle of each is attached.

Further, as shown in a perspective view of FIG. 4, a rear end is attached to the front surface of a drive unit 014 having a rectangular parallelepiped shape, a middle portion extends horizontally, and a bifurcated joint 015 is formed at the front end. An arm 016, a first intermediate arm 017a that is pivotally supported by the arm and has a bifurcated joint 015 at the front end, and a second intermediate arm 017b that is pivotally supported by the arm 017a and has a bifurcated joint 015 by the front end. It is known that a front end arm 019 having a finger member 018 pivotally supported on the front end arm is connected in series. In this type of device, the drive mechanism is connected to the upper end of the rear end fixed arm 016 at the rear end and the front end is attached to the sprocket 020 fitted to the horizontal shaft of the bifurcated joint 015 of the rear end fixed arm 016. The upper pneumatic cylinder 022a locked to one end of the chain 021 to be meshed with the rear end is connected to the lower rear end of the rear end fixing arm 016, and the front end is to the other end of the chain 021 meshing with the sprocket 020. The locked lower pneumatic cylinder 022b and the rear end are connected to the upper rear end of the first intermediate arm 017a, and the front end is fitted to the horizontal shaft of the bifurcated joint 015 of the first intermediate arm 017a. The upper pneumatic cylinder 022c locked to one end of the chain 021 that meshes with the sprocket 020 and the rear end are connected to the lower rear end of the first intermediate arm 017a, and the front end is connected to the sprocket 020. The lower pneumatic cylinder 022d locked to the other end of the matching chain 021, the rear end is connected to the upper rear end of the second intermediate arm 017b, and the front end is the bifurcated joint of the second intermediate arm 017b. The upper pneumatic cylinder 0 22e locked to one end of the chain 021 that meshes with the sprocket 020 fitted to the horizontal shaft of 015, and the rear end is connected to the lower rear end of the second intermediate arm 017b and the front end is It is formed of a lower pneumatic cylinder 022f and the like that is locked to the other end of a chain 021 that meshes with the sprocket 020. In addition, a controller, a servo valve, a pump, etc., which are not shown, are provided in the drive unit 014 corresponding to each pair of upper and lower pneumatic cylinders, and each pump and each pair of pneumatic cylinders are connected to each other. The air gaps are connected by air hoses 023 and 024. Here, by increasing or decreasing the air pressure of each pneumatic cylinder composed of a bag whose outer shape is reinforced with a reinforced fiber net, the pneumatic cylinder can be contracted and extended in the front-rear direction.

However, these devices require a control mechanism such as a controller, a servo valve, and a pump according to each of the bifurcated joints 02 or 015, and therefore have the following drawbacks.

(1) The drive unit 01 or 014 accommodating the control mechanism becomes bulky, and therefore the device becomes large. (2) Since the number of hoses 010, 011 or 023, 024 through which the control fluid is passed is large, the manufacturing cost of the device increases. (3) The control program for operating the control mechanism becomes complicated, and thus the handling of the device becomes troublesome.

[0005]

[Problems to be solved by the device]

 The present invention has been proposed in view of the above circumstances, and has a compact drive unit, a small number of control fluid hoses, and a simple control program. An object is to provide a fluid pressure type multi-joint type manipulator having excellent properties.

[0006]

[Means for Solving the Problems]

 Therefore, in the present invention, a drive unit in which the base ends of a plurality of arms connected in series and in a polygonal line shape via a joint member are supported, and the drive unit and the arms are respectively attached to and adjacent to each other. An actuator that relatively rotates the arm around its joint, a fluid hose connected between the drive unit and each actuator, a lock brake mechanism attached to each joint member, and each joint member. In a fluid pressure type multi-joint type manipulator having a position detection mechanism attached to, a common longitudinal fluid hose for fluid supply and fluid discharge extending along the manipulator is provided. It is characterized in that each of the actuators is operated via the above.

[0007]

[Action]

 According to such a configuration, the working fluid hose connects the drive unit and each actuator in series, so that the following operation is performed. (1) Only one control mechanism is required in the drive unit, and the drive unit is compact. (2) The working fluid hose requires only one set of supply and discharge, which simplifies the device. (3) Only one control mechanism is required, which simplifies the control program.

[0008]

【Example】

 A first embodiment in which the present invention is applied to the known fluid pressure type articulated manipulator shown in FIG. 3 will be described with reference to the drawings. The same reference numerals as those in FIG. 3 denote the same members as those in FIG. In the perspective view of FIG. 1, 1 is a common hydraulic hose for arm extension connected in series from the hydraulic pump in the drive unit 2 to the rear oiling holes of the hydraulic cylinders 09a, 09b, 09c, 3 is each hydraulic cylinder 09a, It is a common hydraulic hose for arm reduction, which is connected in series from the front oiling holes of 09b and 09c to the oil tank in the drive unit.

In such a device, in order to pull the finger member 05, the common hydraulic hose 1 is supplied with pressure oil, and the first intermediate arm 04a, the second intermediate arm 04b, or the rear end arm 06 to be rotated. The front end is pivotally attached to the vertical lever portion 08a, 08b or 08c of the first intermediate arm 04a, the second intermediate arm 04b or the front end arm 06 to be rotated by loosening the lock brake 012 acting on the horizontal shaft fitted to the end portion. Extend the piston of the hydraulic cylinder 09a, 09b or 09c that has been set. At this time, the lock brake 012 is controlled while detecting the amount of rotation of the horizontal axis by the position detector 013, and the common hydraulic hose 3 discharges the pressure oil from the hydraulic cylinders 09a, 09b or 09c. On the contrary, the finger member 05 is pushed forward by supplying pressure oil from the common hydraulic hose 3 to the hydraulic cylinder 09a, 09b or 09c and discharging the pressure oil from the common hydraulic hose 1.

Next, FIG. 2 is a perspective view showing a second embodiment in which the present invention is applied to the known fluid pressure type articulated manipulator shown in FIG. 4, and 4 is each pneumatic cylinder above the drive unit 4a. 022a, 022c, and 022e are connected in series to the common pneumatic hose for arm extension / contraction, and 5 is an arm extension / contraction connected in series from the drive unit 4a to the lower pneumatic cylinders 022b, 022d, and 022f. It is a common air pressure hose.

In such an apparatus, in order to rotate the first intermediate arm 017a, the second intermediate arm 017b or the front end arm 019, for example, the first intermediate arm 017a in the counterclockwise direction 6, the rear end bifurcation Loosen the lock brake 012 of the joint 015 to reduce the internal pressure of the air pressure hose 4 for expansion and contraction, and to extend the air pressure cylinder 022c, while increasing the internal pressure of the air pressure hose 5 for extension and contraction, and contraction of the air pressure cylinder 022d. To do. At this time, the rotation angle control of the first intermediate arm 017a is performed by using the position detector 013 at the rear end. In addition, in order to rotate the first intermediate arm 017a in the clockwise direction 7, the above procedure is reversed. Even in such a device, the action and effect are substantially the same as those in FIG. 1, and since it is an air pressure cylinder, the return pipe system can be omitted.

According to these devices of the embodiments, the working fluid hose connects the drive unit and each actuator in series, and therefore the following effects are obtained. (1) Only one set of control mechanism is required in the drive unit, and the drive unit becomes compact, and therefore the device is downsized. (2) The working fluid hose needs only one set of supply and discharge, which simplifies the device and therefore reduces the manufacturing cost. (3) Only one set of control mechanism is required, which simplifies the control program and improves the operability of the device.

[0013]

[Effect of the device]

 In short, according to the present invention, the drive unit in which the base ends of a plurality of arms connected in series and in a polygonal line shape via the joint member are supported, and the drive unit and the arms respectively attached to the arms and adjacent to each other are provided. An actuator that relatively rotates around a joint, a fluid hose connected between the drive unit and each actuator, a lock brake mechanism attached to each joint member, and a joint member attached to each joint member. In the fluid pressure type articulated manipulator having the position detecting mechanism, a common longitudinal fluid hose for fluid supply and fluid discharge extending along the manipulator is provided, and the common longitudinal fluid hose is used to By activating each of the above actuators, the drive unit is compact and The present invention is extremely useful industrially because the number of control fluid hoses is small and the control program is simple, so that a fluid pressure type articulated manipulator with excellent downsizing, economy, and operability of the device can be obtained. It is a thing.

[Brief description of drawings]

FIG. 1 is a perspective view showing a first embodiment in which the present invention is applied to the known fluid pressure type articulated manipulator shown in FIG.

FIG. 2 is a perspective view showing a second embodiment in which the present invention is applied to the known fluid pressure type articulated manipulator shown in FIG.

FIG. 3 is a perspective view showing a fluid pressure type articulated manipulator using a known hydraulic cylinder.

FIG. 4 is a perspective view showing a fluid pressure type articulated manipulator using a known pneumatic cylinder.

[Explanation of symbols]

 1 common hydraulic hose 2 drive unit 3 common hydraulic hose 4 common pneumatic hose 4a drive unit 5 common pneumatic hose 6 counterclockwise 7 clockwise 02 bifurcated joint 03 rear end fixed arm 04a first intermediate arm 04b second intermediate arm 05 Finger member 06 Front end arm 07 Eye plate 08a Projection lever part 08b Vertical lever part 08c Vertical lever part 09a Hydraulic cylinder 09b Hydraulic cylinder 09b Hydraulic cylinder 012 Lock brake 013 Position detector 015 Bifurcated joint 016 Rear end fixed arm 017a 1 Middle Arm 017b Second Middle Arm 018 Finger Member 019 Front End Arm 020 Sprocket 021 Chain 022 Pneumatic Cylinder

Claims (1)

[Scope of utility model registration request] 1. A drive unit in which base ends of a plurality of arms connected in series in a polygonal line shape via a joint member are supported, and the drive unit and the arms respectively attached to the arms and adjacent to each other are connected to each other. An actuator that relatively rotates around, a fluid hose connected between the drive unit and each actuator, a lock brake mechanism attached to each joint member, and a position attached to each joint member. In a fluid pressure type articulated manipulator having a detection mechanism, a common longitudinal fluid hose for fluid supply and fluid discharge extending along the manipulator is provided, and each of the above-mentioned common longitudinal fluid hoses is used to A fluid pressure articulated manipulator, characterized in that an actuator is operated.