JPH0911163A - Rotary machine and manipulator - Google Patents

Abstract

PURPOSE: To rotate a rotary machine by simple operation even at a trouble of a driving part by rotatably fitting an output side housing to an input side housing, fitting a circular spline of a harmonic drive speed reduer to the input side housing, and fitting a flexible spline to the output side housing. CONSTITUTION: A cylindrical input side housing 21 is fixed to an input member 3, and an output side housing 11 is fitted to the housing 21 through bearings 12, 13. A box body part 31 is provided movably in the parallel direction with a rotational center axis 4 of the input and output side housings 21, 11, a drive shaft 37 is rotatably fitted to the box body part 31 through bearings 32, 33 for drive shaft, and a drive motor 34 is fixed to the box body part 31. By rotation of the drive shaft 37 by this motor 34, a wave generator 43 is rotated, a flexible spline 41 is rotated at reduced speed by difference between the number of teeth of outside teeth of a flexible spline 41 and the number of teeth of inside teeth of a circular spline 42, and an output side member 2 is rotated against an input side member 3.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rotating machine used for joints of a space manipulator used in outer space and a manipulator such as a space manipulator.

[0002]

2. Description of the Related Art FIG. 5 is a perspective view showing a space manipulator device. As shown in the figure, a manipulator 60 is attached to an electronics box 61 equipped with a control device, and the manipulator 60 is composed of joints 1a to 1f composed of a rotary machine, members 62a and 62b, and an end effector 63 for grasping an object. There is.

In this space manipulator device, the end effector 63 can be freely moved by controlling the rotary machine constituting the joints 1a to 1f by the control device of the electronics box 61.

When the rotating machine constituting the joints 1a to 1f fails and the manipulator 60 stops operating, it is very difficult to disassemble the manipulator 60 in space and replace the parts. It is necessary to carry the 60 into the pressurized chamber with air before carrying out maintenance. However, since the passage from the outer space to the pressurizing chamber is usually narrow, it is necessary to rotate the joints 1a to 1f of the manipulator 60 by an external force before the recovery so that the manipulator 60 is folded into a small state as shown in FIG. There is.

[0005]

However, the joints 1a to 1 are to be solved.
When the manipulator 60 fails to operate due to seizure of the motor or bearing of the rotating machine constituting f, seizure, galling, etc., the joint 1a of the manipulator 60 becomes inoperable.
Since ~ 1f cannot be rotated by an external force, the manipulator 60 cannot be carried into the pressurizing chamber.

The present invention has been made to solve the above problems, and an object of the present invention is to provide a rotating machine which can be rotated by an external force with a simple operation even when a drive unit fails.

Another object of the present invention is to provide a manipulator which can be folded into a small state even when a rotary machine forming a joint fails.

[0008]

In order to achieve this object, according to the present invention, a rotary machine in which an output-side housing is rotatably attached to an input-side housing and a harmonic drive speed reducer is provided, A housing is attached to the housing so as to be movable in a direction parallel to a rotation center axis of the input housing and the output housing, and a first moving means for moving the housing is provided, A drive shaft is provided, the wave generator of the harmonic drive reducer is attached to the drive shaft, the circular spline of the harmonic drive reducer is attached to the input side housing, and the flexure of the harmonic drive reducer is attached to the output side housing. Install the spline.

In this case, the flexspline is movably attached to the output side housing in a direction parallel to the rotation center axis, and second moving means for moving the flexspline is provided.

In the manipulator, the above rotary machine is used as a joint.

[0011]

In this rotary machine, even if the rotary machine cannot be rotated due to a failure of the drive section, it can be rotated by moving the housing section by the first moving means.

Further, when the flexspline is movably attached to the output side housing in the direction parallel to the rotation center axis and the second moving means for moving the flexspline is provided, the outer teeth of the flexspline and the circular spline are moved. Even if the inner teeth are seized and cannot rotate, the flexspline can be moved with respect to the circular spline by the second moving means.

Further, in the manipulator, even if the joint becomes unrotatable due to a failure of the rotary machine constituting the joint, the joint can be rotated by an external force by a simple operation.

[0014]

1 is a sectional view showing a rotary machine according to the present invention. As shown in the figure, a cylindrical input side housing 21 is fixed to the input side member 3, and a cylindrical output side housing 11 is mounted on the input side housing 21 via bearings 12 and 13.
Is rotatably attached, and the input side member 3 is fixed to the output side housing 11. Further, an inner spline 22a is provided on the inner surface of the input side housing 21, an outer spline 22b is provided on the outer surface of a cylindrical casing 31, and the outer spline 22b meshes with the inner spline 22a. The input side housing 21 and the output side housing 21 are movable in a direction parallel to the rotation center axis 4 with respect to the input side housing 21. In addition, stoppers 24a and 24b for preventing the movement of the casing 31 are provided on the inner surface of the input-side housing 21.
1, a drive shaft 37 is rotatably attached via drive shaft bearings 32 and 33, and a motor 34 drives the drive shaft 37.
Is fixed to the housing portion 31, a brake 35 that brakes or holds the rotation of the drive shaft 37 is fixed to the housing portion 31, and an encoder 36 that detects the rotation angle of the drive shaft 37 is attached to the housing portion 31.
, The plate 23 is fixed to the input side housing 21, the bolt 51 is rotatably attached to the plate 23, and the male screw of the bolt 51 is screwed into the female screw provided in the housing portion 31. Further, the output side housing 11
A flex spline 41 is fixed to the inner side of the input side housing 21, and a circular spline 42 is fixed to the inner surface of the input side housing 21.
The outer teeth of the flex spline 41 and the inner teeth of the circular spline 42 mesh with each other, and the number of outer teeth of the flex spline 41 and the number of inner teeth of the circular spline 42. Is different from. The wave generator 43 is fixed to the end portion of the drive shaft 37 protruding from the housing portion 31 by key coupling, and a part of the outer surface of the wave generator 43 is in contact with the inner surface of the flexspline 41. A harmonic drive speed reducer 40 is configured by 41, the circular spline 42, and the wave generator 43. The output side housing 11, the input side housing 21, the housing portion 31, the motor 34, the drive shaft 37, and the harmonic drive speed reducer 40. A rotary machine 1 used for joints of a space manipulator is constituted by the above.

In this rotary machine, when the drive shaft 37 is rotated by the motor 34, the wave generator 4
3 rotates, and due to the difference between the number of outer teeth of the flexspline 41 and the number of inner teeth of the circular spline 42, the flexspline 41 is decelerated in the direction opposite to the rotation direction of the wave generator 43 and rotated. Therefore, the output side member 2 rotates with respect to the input side member 3. That is,
The rotation generated by the motor 34 is reduced by the harmonic drive reducer 40, and the flexspline 41
Is transmitted to the output side housing 11 connected to the output side member 11, and the output side member 2 is driven. Further, when the brake 35 is operated, the rotation of the drive shaft 37 is restrained, so that the rotation of the output side member 2 can be braked or held.
The rotation angle of the drive shaft 37 detected by the encoder 36 is processed into, for example, joint angle information and used as control data for the manipulator. And the bolt 51
1 is rotated clockwise, the casing 31 is moved to the right in the plane of FIG. 1, and when the casing 31 is moved to the plate 23 as shown in FIG. 2, the wave generator 43 is completely removed from the flexspline 41. It comes off. In this state, the outer teeth of the flexspline 41 and the inner teeth of the circular spline 42 are disengaged from each other, so that the flexspline 41 and the circular spline 4 are disengaged.
The input side housing 2
Since the output side housing 11 can freely rotate with respect to 1, the rotary machine 1 can freely change the angle. Further, in the state shown in FIG. 2, when the bolt 51 is rotated counterclockwise this time, the housing portion 31 moves to the left in the plane of FIG.
When the wave generator 43 is re-fitted to the flexspline 41 as shown in FIG. 5, the outer teeth of the flexspline 41 and the inner teeth of the circular spline 42 mesh with each other, and the input side housing 21 and the output side housing 11 are relatively moved. It will not rotate.

In such a rotary machine, a failure of the drive unit such as seizure or galling of any one of the motor 34, the brake 35, and the drive shaft bearings 32 and 33 causes the rotary machine 1 to be unable to rotate. Even if the housing portion 31 is moved by the bolt 51, the output side housing 11 can freely rotate with respect to the input side housing 21, so that the rotary machine 1 can be rotated by an external force with a simple operation. Further, when the output side housing 11 can freely rotate with respect to the input side housing 21, the input side housing 21
After the angle between the output side housing 11 and the output side housing 11 is set to a predetermined angle, the housing part 31 is moved in the opposite direction, so that the input side housing 21 and the output side housing 11 do not rotate relative to each other. The angle between the housing 21 and the output side housing 11 can be held at the above-mentioned predetermined angle.

FIG. 3 is a sectional view showing another rotary machine according to the present invention. As shown in the figure, the output side housing 11
An inner spline 15a is provided on the inner surface of the disc, and an outer spline 15b is provided on the outer surface of the disc-shaped plate 14.
The outer spline 15b meshes with the inner spline 15a, the plate 14 is movable in a direction parallel to the rotation center axis 4, and the plate 14 has a flex spline 41.
Is fixed, and the plate 1 is attached to the inner surface of the output side housing 11.
Stoppers 16a and 16b for preventing the movement of No. 4 are provided. Also, bolts 5 are attached to the output side housing 11.
2 is rotatably mounted, and the male screw of the bolt 52 is screwed into the female screw provided on the plate 14.

In this rotating machine, the bolt 51 is rotated so that the wave generator 43 is completely removed from the flexspline 41. Then, when the bolt 52 is rotated clockwise, the plate 14 is leftward in FIG. When the plate 14 moves to the output side housing 11 as shown in FIG.
Comes out of the circular spline 42, so the flex spline 41 and the circular spline 4
The input side housing 2
Since the output side housing 11 can freely rotate with respect to 1, the rotary machine 1 can freely change the angle. In addition, when the bolt 52 is rotated counterclockwise this time in the state shown in FIG. 4, the plate 14 moves to the right in the plane of FIG. 4, and the outer tooth portion of the flex spline 41 is moved to the circular spline 42 as shown in FIG. After being positioned inside, the bolt 51 is rotated to re-engage the wave generator 43 with the flexspline 41.
The outer side teeth of the circular spline 42 mesh with the outer side teeth of the circular spline 42, and the input side housing 21 and the output side housing 11
And will not rotate relative to each other.

In such a rotary machine, even if the outer teeth of the flexspline 41 and the inner teeth of the circular spline 42 are burned, the flexspline 41 is forcibly separated from the circular spline 42 by forcibly separating the burned teeth. The rotary machine 1 can freely change its angle because it can be moved. Further, after the input side housing 21 and the output side housing 11 are freely rotated, the angle between the input side housing 21 and the output side housing 11 is set to a predetermined angle, and then the housing part 31 and the flexspline 41 are reversed. By moving in the direction
Since the input side housing 21 and the output side housing 11 do not rotate relative to each other, the angle between the input side housing 21 and the output side housing 11 can be maintained at the predetermined angle.

When the rotary machine shown in FIG. 1 or the rotary machine shown in FIG. 3 is used as a joint of a space manipulator, a failure such as seizure or galling of a motor or bearing of the rotary machine constituting the joint occurs. Even if you do so, the joints of the space manipulator can be rotated by an external force with a simple operation, so even if there is a seizure of the rotating machinery that makes up the joints, you can keep it in a small folded state, so you can use it in outer space. Since the space manipulator can be carried into the pressure chamber even if the passage leading to the pressure chamber from the space is narrow, and the space manipulator can be held in a small folded state, the space manipulator has good transportability. The space manipulator can be easily carried into the pressure chamber.

In the above embodiment, the rotary machine 1 used for the joint of the space manipulator has been described, but the present invention can be applied to other rotary machines. Further, although the space manipulator has been described in the above embodiments, the present invention can be applied to other manipulators. Further, in the above-described embodiment, the bolts 51 and 52 are used as the first and second moving means, but other first and second moving means may be used.

[0022]

As described above, in the rotating machine according to the present invention, even if the rotary machine cannot be rotated due to a failure of the drive section, it can be rotated by moving the housing section by the first moving means. Therefore, it can be rotated by an external force with a simple operation.

Further, when the flexspline is movably attached to the output side housing in a direction parallel to the central axis of rotation and the second moving means for moving the flexspline is provided, the outer teeth of the flexspline and the circular spline are moved. Even if the inner teeth are seized and cannot rotate, the flexspline can be moved with respect to the circular spline by the second moving means, so that the flexspline can be rotated by an external force with a simple operation.

Further, in the manipulator according to the present invention, even if the joint becomes unrotatable due to a failure of the rotary machine constituting the joint, the joint can be rotated by an external force by a simple operation, so that the joint is constructed. Even if the rotating machine malfunctions, it can be folded into a small state.

[Brief description of the drawings]

FIG. 1 is a cross-sectional view showing a rotary machine according to the present invention.

FIG. 2 is an operation explanatory view of the rotary machine shown in FIG.

FIG. 3 is a sectional view showing another rotating machine according to the present invention.

FIG. 4 is an explanatory diagram of an operation of the rotary machine shown in FIG.

FIG. 5 is a perspective view showing a space manipulator device.

FIG. 6 is an operation explanatory view of the space manipulator device shown in FIG.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Rotating machine 4 ... Rotation center axis 11 ... Output side housing 14 ... Plate 21 ... Input side housing 31 ... Housing part 37 ... Drive shaft 40 ... Harmonic drive reducer 41 ... Flexspline 42 ... Circular spline 43 ... Wave Generator 51 ... Bolt 52 ... Bolt

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Office reference number FI technical display location G05D 3/00 G05D 3/00 A

Claims (3)

[Claims] 1. In a rotary machine in which an output side housing is rotatably attached to an input side housing and a harmonic drive speed reducer is provided, a housing portion is provided in the input side housing and the input side housing and the output side housing. Is provided so as to be movable in a direction parallel to the central axis of rotation of the motor, and a first moving means for moving the housing is provided, a drive shaft is provided on the housing, and a wave of the harmonic drive speed reducer is provided on the drive shaft. A rotating machine, wherein a generator is attached, the circular spline of the harmonic drive reducer is attached to the input side housing, and the flexspline of the harmonic drive reducer is attached to the output side housing. 2. The output side housing is provided with the flexspline movably in a direction parallel to the rotation center axis, and second moving means for moving the flexspline is provided. The rotating machine described in 1. 3. A manipulator having the rotary machine according to claim 1 or 2 as a joint.