JPH08229871A - Robot neck-body mechanism device - Google Patents

Abstract

PURPOSE: To stabilize the center of gravity and attain compactness and weight reduction by taking such measures as to move the respective driving parts of neck, shoulder and body mechanism parts symmetrically and three- dimensionally and to connect six sets of area fluid pressure cylinders respectively between a shoulder part and a waist part and between the shoulder part and a head part. CONSTITUTION: The respective expansion and contraction strokes of six sets of fluid pressure cylinders 3-1-3-6 connected between a waist member 1 and a shoulder member 4-1 are combined to perform the omnidirectional inclination, three-dimensional parallel movement and turning action of both members 1, 4-1. The respective expansion strokes of six sets of fluid pressure cylinders 8-1-8-6 connected between a neck plate member 6 and a head plate member 11 are combined to perform the omnidirectional inclination, three-dimensional parallel movement and turning action of both members 6, 11 within the bendable area of spherical bodies 9-4a, 9-4b and spherical seats 9-1-9-3. At this time, both members 6, 11 are restored into coaxially upright state by a tension coil spring 10, and the neck plate member 6 is turned in a large angle by a turning driving part 5 additonally provided at the shoulder member 4-1.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot neck-body mechanism device suitable for maintenance and inspection robots in nuclear power plants.

[0002]

2. Description of the Related Art In the conventional neck-body mechanism of a robot, there are many drive transmission systems mainly composed of electric motors, and their operations are a single operation and a combination operation thereof.
Suitable for dynamic stabilizers.

[0003]

However, in the case of the drive transmission system mainly composed of such an electric motor,
Since the output / weight ratio is small and only simple movements (bending and rotation) are possible, the drive unit and its transmission unit become large and complicated, which imposes restrictions on layout and pressure on the installation space for other mounted devices. It often has a distorted structure and is an asymmetric device. Further, in an unstable motion device such as a walking leg robot, it is necessary to stabilize the position of the center of gravity by a three-dimensional motion, and a stabilization operation is difficult with a combination of the simple motions.

The present invention has been proposed in view of the above circumstances, and is a three-dimensional operation having a symmetrical structure, which is small and light in weight, can stabilize the position of the center of gravity during operation, has a simple structure, and achieves high output. An object of the present invention is to provide a robot-neck torso mechanism device that can be used.

[0005]

To this end, the present invention makes it possible to move the respective drive parts of the neck-shoulder-body part in three-dimensional symmetry with respect to the whole centerline, and to provide a hexagonal prism between the shoulder part and the waist part. Expandable and contractible parallel arm consisting of 6 sets of tilted fluid pressure cylinders connected in a truss form the body mechanism part of the link mechanism, and a plurality of magnet hollow spheres and their spherical seats can be bent between the shoulder part and the head part. , A tension coil spring for upright restoration is arranged on the outer periphery, and six sets of tilted fluid pressure cylinders capable of three-dimensional operation by the same parallel arm mechanism are connected and at the shoulder side. And a neck mechanism portion into which a wide-angle turning mechanism portion is inserted.

[0006]

According to such a structure, by operating by combining the respective pushing or pulling stroke amounts of the six sets of fluid pressure cylinders provided between the waist and the shoulder, the waist and the shoulder are inclined in all directions or Performs up / down, left / right, front / rear parallel movement or turning, and combinations of these. By combining and operating each pushing or pulling stroke amount of the six sets of fluid pressure cylinders provided between the shoulder and the head, the space between the shoulder and the head is inclined in all directions within the bendable region of the sphere and the spherical seat, or Vertical (excluding concentric lower part), left and right, front-rear parallel movement or turning (however, the angle is restricted by the torsional rigidity of the tension coil spring) and a combination of these operations performs narrow-range operation and stands upright with the tension coil spring. A restoring effect can be achieved. Further, the swivel mechanism inserted into the shoulder causes the entire neck mechanism to swivel at a wide angle.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Referring to the drawings, an embodiment of the present invention will be described. FIG. 1 is a front view showing the body mechanism portion thereof, FIG. 2 is a plan view of FIG. 1, and FIG. 3 is a longitudinal sectional view showing the neck-shoulder mechanism portion thereof. 4 and 5 are horizontal sectional views taken along the line IV-IV of FIG.

(1) First, the trunk mechanism will be described with reference to FIG.
2, in FIG. 2, a waist plate member 1 formed of a horizontal rhombic plate having a front-rear symmetric and a left-right symmetric roundness is partly mounted on a waist formed of a generator, an oil / pneumatic unit, etc. shown in FIG. On its upper surface, arranged in a hexagonal column truss shape, there are 6 sets of relatively long lengths arranged in a standing manner along the same vertical cylindrical surface in the form of three columns in a W-shape in a side elevational view. Nearly vertical fluid pressure cylinders 3-1 to 3-6 and two sets of two forked hinges 2-1 to 2-3 which are freely and manually connected by spherical joints, etc., each set horizontally. It is installed at each vertex of the triangle.

(2) Left and right shoulder opening mechanism mounting members 4-2
On the lower surface of the box-shaped shoulder member 4-1 having a and 4-2b, three pairs of forked hinges 2-4 to 2-6 are provided, and the forked hinges 2-1, 2-2, 2-3 are provided. And 60 ° in phase difference of 60 ° and arranged and attached to the apex positions of concentric horizontal equilateral triangles, and two pairs of each of the fluid pressure cylinders 3-1 to 3-6 are rotatably connected to the upper end thereof.

(3) Next, referring to FIGS. 3 to 4, the box-shaped shoulder member 4-1 has a central hole on the upper surface thereof. The portion 5 (FIG. 3) is inserted and attached, and supports the horizontal diamond-shaped neck plate member 6 (FIG. 4) coaxially so as to be rotatable in the arrow direction. A hollow lower spherical seat 9-1 (FIG. 3) is attached to the central portion of the upper surface of the neck plate member 6 so that cables and tubes can pass therethrough, and the hollow lower spherical seat 9-4a and the middle spherical seat 9 are attached. -3, the upper spherical body 9-4b and the upper spherical seat 9-2 attached to the head plate member 11 side are connected in a bendable manner. Here, spherical seats 9-1 to 9-3 of the same size and spherical bodies 9-4a of the same size,
9-4b is made of a magnet, and each can attract magnetic force. Spherical seats 9-1 to 9-3 and spheres 9-4a, 9-
A conical tension coil spring 10 is disposed on the outer peripheral portion of 4b so as to coaxially surround these members so that they can be restored upright, and as shown in FIG. It is attracted to the upper horizontal rhombic plate-shaped head plate member 11.

(4) Further, as shown in FIG. 3, the outer peripheral portion is arranged in an approximate hexagonal column truss shape, and is vertically arranged in a three-column W shape in a side elevational view. 6 sets of relatively short hydraulic cylinders 8-1 to 8-6 are arranged, and are freely rotatable by a spherical joint or the like attached to the lower neck plate member 6 side and the upper head plate member 11 side. 6 hinges 7-1 to 7-6 and 7-7 to 7-12, respectively.

(5) On the upper surface of the head plate member 11, as shown by the chain line in FIG. 3, a head-face mechanism member (camera,
Lighting, gaze mechanism, etc.) are installed and connected.

(6) According to such an overall mechanism, first, as shown in FIGS. 1 and 2, the waist plate member 1 and the shoulder member 4 are formed.
-1-6 of the fluid pressure cylinders 3-1 to 3-6
By performing a combination operation of the push-out and pull-out stroke amounts of the set, both the waist plate member 1 and the shoulder member 4-1 can be tilted in all directions or moved up and down, left and right, back and forth, or swung, and a combination operation thereof. it can.

(7) Next, as shown in FIGS.
The neck plate member 6 is operated by combining and operating the respective pushing and pulling stroke amounts of six sets of fluid pressure cylinders 8-1 to 8-6 connected between the neck plate member 6 and the head plate member 11.
And the head plate member 11 are inclined in all directions within the bendable region of the spherical bodies 9-4a, 9-4b and the spherical seats 9-1 to 9-3, or vertically (excluding the concentric lower part), left and right, Front-rear parallel movement or rotation (however, the angle is restricted by the torsional rigidity of the tension coil spring 10) and a narrow range operation of the combination thereof are performed, and the tension coil spring 10 has an effect of restoring the coaxial upright of both. The neck plate member 6 can perform wide-angle turning by the turning drive unit 5 (FIG. 3) attached to the shoulder member 4-1.

The operation described above can be summarized as follows. That is, according to such a structure of the trunk mechanism section, by performing a combination operation of the pushing or pulling stroke amounts of the six sets of fluid pressure cylinders provided between the waist and the shoulder, the space between the waist and the shoulder is moved in all directions. It is possible to perform tilting or up / down, left / right, front / rear parallel movement or turning, and a combination thereof. In addition, by performing a combination operation of the push-out or pull-up stroke amounts of the six sets of fluid pressure cylinders provided between the shoulder and the head, the space between the shoulder and the head is moved in all directions within the bendable region of the sphere and the spherical seat. Inclination or up / down (excluding concentric downwards), left / right, forward / backward parallel movement or turning (however, the torsion coil rigidity of the tension coil spring restricts the angle to a narrow range) and a combination of these operations It has an upright restoration effect. Furthermore, the neck mechanism portion as a whole can make a wide-angle turn by the turning mechanism portion with the shoulder portion inserted therein.

[0016]

According to such an apparatus, three sets of hydraulic equalizing cylinders are connected in a hexagonal column truss shape between the waist and shoulders.
A parallel arm mechanism type body mechanism that enables three-dimensional movement, and a plurality of bendable magnetic hollow spheres and spherical seats are connected between the shoulder and the head, and a tension coil spring for upright restoration is provided on the outer periphery. And a neck mechanism section in which 6 sets of fluid pressure cylinders capable of three-dimensionally operating in a narrow range are connected by a parallel arm mechanism similar to the above, and a wide-angle turning mechanism section is inserted on the shoulder side. Since it is equipped with a neck-body mechanism device, it is possible to achieve downsizing, simplification, weight reduction, high output, and symmetry. 3
Dimensional movements are possible, and stabilization operation of the entire robot can be performed easily.

In short, according to the present invention, the respective drive parts of the neck-shoulder-body part can be moved three-dimensionally symmetrically with respect to the whole centerline, and the shoulder part-the waist part are connected in a hexagonal column truss shape. An expandable parallel arm composed of 6 sets of tilted fluid pressure cylinders to a trunk mechanism part of a link mechanism, and a plurality of magnet hollow spheres and their spherical seats are flexibly connected between the shoulder part and the head part, and the outer periphery is connected. A tension coil spring for upright restoration is arranged in the section, and six sets of inclined fluid pressure cylinders capable of three-dimensional operation by the parallel arm mechanism similar to the above are connected, and a wide-angle turning mechanism section is provided on the shoulder side. The robot neck with a symmetric structure, which has a symmetrical structure, can stabilize the position of the center of gravity during operation, is small and lightweight, has a simple structure, and is capable of three-dimensional operation. Since the trunk mechanism device is obtained, the present invention It is extremely useful on the industry.

[Brief description of drawings]

FIG. 1 is a front view of a body mechanism portion showing an embodiment of the present invention.

FIG. 2 is a plan view of FIG.

FIG. 3 is a vertical sectional view showing a neck mechanism portion to a shoulder portion of the present invention.

FIG. 4 is a horizontal sectional view taken along the line IV-IV in FIG.

[Explanation of symbols]

1 Waist plate member 2-1, 2-2, 2-3 2-forked hinge 3-1, 3-2, 3-3, 3-4, 3-5, 3-6 Fluid pressure cylinder (long) 4- DESCRIPTION OF SYMBOLS 1 Shoulder member 4-2a, 4-2b Shoulder opening mechanism part mounting member 5 Turning drive part 6 Neck plate member 7,7-1 to 7-6 Hinge 8,8-1,8-6 Fluid pressure cylinder (short length) 9 Sphere 9-1, 9-2, 9-3 Spherical seat 9-4a, 9-4b Hollow sphere 10 Tensile coil spring 11 Head plate member

Claims (1)

[Claims] 1. A neck-shoulder-body mechanism part can be three-dimensionally moved and each drive part can be moved symmetrically with respect to the whole center line, and the shoulder part-
An expandable and contractible parallel arm consisting of six sets of tilted fluid pressure cylinders in which the waist portions are connected in a hexagonal truss shape, the trunk mechanism portion of the link mechanism, and a hollow spherical body made of magnet and its spherical seat between the shoulder portion and the head portion. A plurality of sets of tilted fluid pressure cylinders which are connected so as to be bendable, a tension coil spring for upright restoration is arranged on the outer peripheral portion, and three sets of tilted fluid pressure cylinders capable of three-dimensional operation by the same parallel arm mechanism are connected. , A neck-body mechanism device of a robot, comprising: a neck mechanism section having a wide-angle turning mechanism section inserted on the shoulder side.