JPH0957676A - Gripping device of manipulator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To relaize highly reliable gripping releasing operation by realizing high holding power and high torque. SOLUTION: Three fingers 26 having locking claws 26a and guide parts 26b are rotatably arranged in a cylindrical body 11, and a driving roller 18 to be rectilinearly moved to the guide parts 26b of these fingers 26 is slidingly moved, and the fingers are opened and closed according to a slidingly movable position governed by this driving roller 18, and in its gripping condition, the locking claws 26a of the fingers 26 contact with locking parts 24, and a grip 30b of a gripping object 30 is brought into pressure contact with the locking parts 24 of the cylindrical body 11, and the gripping object 30 is gripped.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a manipulator gripping device used for constructing various structures in outer space, for example.

[0002]

2. Description of the Related Art In the recent field of space development, there is a concept of constructing a space navigation body in which humans can reside in space, a so-called space station. In such a space station construction concept, a manipulator system using a manipulator that performs transportation of construction materials and the like on behalf of humans is considered to be effective. In the manipulator used in such a manipulator system, a gripping device for holding a gripped object is provided as an end factor thereof. As this gripping device, a plurality of fingers, for example, two or three fingers, for gripping an object to be gripped are arranged on a manipulator base via a link mechanism, and a ball screw mechanism is connected to the link mechanism. Then, the rotational force of the rotary drive motor is transmitted to the ball screw mechanism, and the rotary force from the rotary drive motor is converted into a linear motion and transmitted to the link mechanism. The link mechanism is operated in conjunction with the drive of the ball screw mechanism,
The fingers are opened and closed to hold and release the object to be held.

However, in the above-mentioned manipulator gripping device, the use environment is an extreme environment different from the ground environment, and when the workability in various operations of the manipulator system is taken into consideration, it is satisfactory in terms of accuracy and performance. It wasn't.

Specifically, in the gripping state of the object to be gripped, a high holding force / high torque is realized, and then a highly reliable and highly accurate releasing operation is realized, which contributes to the safe operation of the manipulator system. To be able to do so.

[0005]

As described above, the conventional manipulator gripping device is not satisfactory in terms of the reliability of the holding and releasing operation. The present invention has been made in view of the above circumstances, and an object thereof is to provide a gripping device for a manipulator, which realizes a high holding force / high torque and can realize a highly reliable gripping release operation. To do.

[0006]

SUMMARY OF THE INVENTION According to the present invention, a grasped body in which a plurality of handles and a plurality of engagement guide portions are alternately arranged, and a plurality of engaging members attached to a manipulator base portion and inclined at an inner end in an inner diameter direction are provided. A tubular body provided with a stop portion and a grip guide portion corresponding to a handle and an engagement guide portion of the object to be grasped, and one end of which is rotatably supported in the tubular body, and A plurality of fingers each having a locking claw projecting to the outer diameter side of the tubular body and arranged to face the locking portion at the end, and a grip release guide on the inner diameter side of the middle portion; Energizing means for urging the plurality of fingers to move to the inner diameter direction release position of the tubular body, and the guide portions of the plurality of fingers slidably slidably, respectively, and moving in one end direction of the plurality of fingers. In this state, the plurality of fingers are allowed to move to the release position by the biasing means. In addition, a plurality of fingers for rotating and urging the plurality of fingers to the gripping position in the outer diameter direction of the tubular body against the urging force of the urging means in a state of moving in the other end direction of the plurality of fingers. A gripping release driving roller and a driving roller for moving the driving roller along a guide portion of the finger, and moving the driving roller in a direction of one end of the plurality of fingers to grip a gripping target of the gripping object of the finger. Release of the plurality of fingers, the plurality of fingers are moved in the other end direction, and the locking claws of the fingers are rotationally biased to the gripping position against the biasing force of the biasing means. The gripping device of the manipulator is configured to include a grip release driving section that presses the locking part of the cylindrical body and presses the handle of the gripped body with the locking claw to press the gripping part of the tubular body. .

According to the above construction, when the drive roller is moved along the guide portion of the finger, the finger is provided with the urging means when the drive roller is moved in the one end direction along the guide portion. By the urging force, the locking claw of the finger is moved and urged in the inner diameter direction, so that the holding claw is released from the handle of the object to be held, and the drive roller is moved toward the other end of the guide portion. And the locking claw is moved and biased in the outer diameter direction against the biasing force of the biasing means, and the locking claw is pressed against both the handle and the locking portion, so that the locking claw is covered. The grip of the gripping body is pressed against the locking portion of the tubular body and gripped to hold the gripped body.
As a result, a load path is formed via the rotation support portion of the locking claw, and it is possible to almost prevent external force from being applied to the rotation support portion of the finger itself, and it is possible to hold with high holding and high torque. A highly reliable grip release operation is realized.

Further, according to the present invention, a gripped body in which a plurality of handles and a plurality of engagement guide portions are alternately arranged corresponding to a rotated portion and a manipulator base are attached, and the tip is inclined in the inner diameter direction. A cylindrical body provided with a plurality of locking parts and grip guide parts corresponding to the handle and the engagement guide part of the object to be gripped, and one end rotatably supported in the cylinder body. A plurality of fingers having locking pawls projecting to the outer diameter side of the tubular body and arranged to face the locking portion at the other end, and a grip release guide portion on the inner diameter side of the intermediate portion. An urging means for moving and urging the plurality of fingers to a release position in the inner diameter direction of the tubular body; and one end of the plurality of fingers slidably slidably on the guide portions of the plurality of fingers. The plurality of fingers move to the release position by the urging means in the state of moving in the direction. In a state in which the fingers are allowed and moved in the other end direction of the plurality of fingers, the plurality of fingers are rotationally biased to the gripping position in the outer diameter direction of the tubular body against the biasing force of the biasing means. A plurality of gripping-release driving rollers for moving the driving rollers along a guide portion of the finger, wherein the driving roller is moved in a direction of one end of the plurality of fingers to hold the locking claw of the finger. Allowing the body to be released from the handle, moving the plurality of fingers in the other end direction to pivotally bias the locking claws of the fingers to the gripping position against the biasing force of the biasing means, A grip release driving unit that is pressed against the locking portion of the tubular body, and that grips the handle of the gripped body with the locking claw by pressing against the locking portion of the tubular body; and the plurality of drive rollers. It is provided so as to be movable integrally, and a rotational force is applied to the rotated portion of the grasped body at the grasping position controlled by the drive roller. A rotation operating portion that is movably engaged and that is disengaged from a rotated portion of the grasped body at a release position controlled by the drive roller; and a rotation portion of the grasped body that is rotationally driven to rotate the rotation operating portion. The manipulator gripping device is configured to include a rotation driving unit that rotates.

According to the above construction, when the drive roller is moved along the guide portion of the finger, the finger is provided with the biasing means when the drive roller is moved in the one end direction along the guide portion. By the urging force, the locking claw of the finger is moved and urged in the inner diameter direction, so that the holding claw is released from the handle of the object to be held, and the drive roller is moved toward the other end of the guide portion. And the locking claw is moved and urged in the outer diameter direction against the urging force of the urging means, so that the locking claw presses the handle of the grasped body against the locking portion of the cylindrical body. Then, the object to be grasped is held. Then, in the gripped state, the rotation operation portion is engaged with the rotated portion of the grasped body, and the rotation operation enables the rotation operation of the rotated portion of the grasped body. As a result, a load path is formed via the rotation support portion of the locking claw, and it is possible to almost prevent external force from being applied to the rotation support portion of the finger itself, and it is possible to hold with high holding and high torque. In such a highly reliable and highly accurate gripping state, stable rotation work is realized.

[0010]

Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 shows a manipulator gripping device according to an embodiment of the present invention. A cylindrical body is attached to a manipulator base 10. A rotation drive mechanism section 9 having a grip drive motor is arranged in the tubular body. One end of a ball screw 13 is coupled to the rotation drive mechanism 9 via a reduction mechanism 12 so as to be able to transmit a rotational force. The ball screw 13 is rotatably supported by the tubular body 11 via a support plate 11a and a bearing 14, and a nut member 15 is screwed at a predetermined position thereof so as to be movable in the directions of arrows A and B. . One end of a connecting rod 16 is connected to the nut member 15, and the connecting rod 1
A roller fitting 17 is coupled to the other end of 6.

The roller fitting 17 includes three drive rollers 1
8 are radially mounted (see FIG. 2), and a rotary drive socket member 19 having, for example, a square hole is rotatably mounted between the drive rollers 18. A gear 20 is fitted on the rotating shaft of the socket member 19.
The worm gear 21 is meshed with this. Worm gear 2
1, a bearing 2 is provided on the support plate 11a at an intermediate portion of its rotating shaft.
It is rotatably supported via 2, and its end is rotatably driven by a rotary drive mechanism 23 including a drive motor, a speed reduction mechanism and the like.

Further, at the tip of the cylindrical body 11, three locking portions 24 are formed at predetermined intervals so as to project in the inner diameter direction, and between the locking portions 24, a grip guide portion 25 is provided. Is provided in a substantially conical shape corresponding to a grasped body 30 described later.
In addition, three fingers 26 are provided in the tubular body 11 corresponding to the locking portions 24. One end of the finger 26 is rotatably supported in the tubular body 11, and a locking claw 26 a protruding in the outer diameter direction of the tubular body 11 is formed at the other end. Then, the grip release guide portion 26 is provided at an intermediate portion of the finger 26 on the inner diameter side.
b is provided corresponding to the drive roller 18. The guide portion 26b is interlocked with the movement of the drive roller 18 in the direction of arrow A, and is urged to rotate in the outer diameter direction of the tubular body 11 by the drive roller 18, and interlocked with the movement of the drive roller 18 in the B direction. And is formed into a cam structure that allows movement in the inner diameter direction.

Further, a spring member 27 for urging the release is attached to the cylindrical body 11 so as to correspond to the finger 26. The spring member 27 urges the finger member 26 to move in the inner diameter direction.

The back of the object to be grasped 30 is attached to, for example, a space-mounted device (not shown), and the front thereof is
A concave insertion portion 30a is provided. Then, three handles 30b are provided around the insertion portion 30a, and
The engaging guide portions 30c are formed at predetermined intervals corresponding to the engaging portions 24 of the tubular body 11b.
It is provided in a substantially inverted conical shape corresponding to the grip guide portion 25 (see FIG. 3). Further, a rotated portion 30d is formed corresponding to the socket member 19 substantially in the center of the insertion portion 30a of the grasped body 30. The rotated part 30d is connected to a not-shown rotated operation part such as a handle part in the space-mounted device (not shown).

When the manipulator is used to grip the object to be grasped 30 in the above structure, first, as shown in FIG. 3, the grip guide portion 25 of the tubular body 11 is engaged with the insertion portion 30a of the object to be grasped 30. It is inserted so as to face the joint guide portion 30c.
At this time, the tubular body 11 is inserted into the insertion portion 30a of the grasped body 30 with the grasping guide portion 25 guided by the engagement guide portion 30c of the grasped body 30, and the finger 26 faces the handle 30b. . Here, when the rotary drive mechanism section 9 is driven, its rotational force is transmitted to the nut member 15 via the speed reduction mechanism section 12 and the ball screw 13, and the nut member 15 is moved in the arrow A direction. Then, in conjunction with this, the roller fitting 17
The drive roller 18 is moved in the same direction, and the drive roller 18 slides on the guide portion 26b of the finger 26. Here, the finger 26 is rotated around the one end thereof by the drive roller 18 in the outer diameter direction of the cylindrical body 11 against the biasing force of the spring member 27, and the holding claw 26a thereof holds the grasped body 30. Handle 3
Lock 0b. At this time, as shown in FIG. 4, the locking claw 26a of the finger 26 moves the handle 30b to the locking portion 24 of the tubular body 11.
The object to be grasped 30 is held in a so-called pre-loaded state by being pressed against and the load path is constituted by the finger 26, the handle 30b and the tubular body 11, and the grasping operation is completed. Therefore, the load path does not pass through the rotation support portion 26c of the finger 26.

At the same time, the roller fitting 18 moves the socket member 19 in the direction of arrow A and engages with the rotated portion 30d of the gripped body 30. Here, when the rotary drive mechanism portion 23 is rotationally driven, the rotational force of the socket member 19 is transmitted through the worm gear 21 and the gear wheel 20, and the rotated portion of the gripped body 30 is rotated according to the rotation direction. 30d is rotationally driven and desired work is performed.

Further, in the gripping operation state, when the gripping is released, the rotary drive mechanism section 9 is reversely driven. Then, the rotational force is transmitted to the nut member 15 via the speed reduction mechanism portion 12 and the ball screw 13, and the nut member 1
5 is moved in the direction of arrow B, and in conjunction with this, the roller fitting 17 and the drive roller 18 are moved in the same direction, and the drive roller 18 is slid in the initial position direction along the guide portion 26b of the finger 26. It Here, the fingers 26 are respectively inverted by the spring members 27, and the locking claws 26 a thereof are held by the grasped body 30.
Is released from the handle 30b, and the grip is released.

At this time, the socket member 19 is disengaged from the rotated portion 30d of the object to be grasped 30 in association with the movement of the roller fitting 28 in the direction of arrow B, and the manipulator is operated there so that the tubular body 11 is indicated by the arrow. The fingers 26 of the tubular body 11 and the grip guide portion 25 are separated from the insertion portion 30a of the gripped body 30 by being separated so as to be pulled out in the B direction, and the releasing operation is completed.

As described above, in the gripping device for the manipulator, the three fingers 26 having the locking claws 26a and the guide portions 26b are rotatably arranged in the tubular body 11, and the fingers 26 are rotatably arranged.
Drive roller 18 linearly moved with respect to the guide portion 26b of the
Is slid to open and close the finger in accordance with the sliding position controlled by the drive roller 18, and in the gripped state, the locking claw 26a of the finger 26 contacts the locking portion 24, and The handle 30b of the grasping body 30 is configured to be pressed against the locking portion 24 of the tubular body 11 to grasp the grasped body 30.

According to this, in the gripped state by the finger 26, high holding and high torque holding are performed, and it is possible to almost prevent the external force from being applied to the finger 26 itself. A highly accurate and highly accurate gripping state is realized.

Further, a socket member 19 for rotating operation, which is moved in conjunction with the driving roller 18, is provided so as to face the rotated portion 30d of the object to be grasped 30, and the socket member 19 is held in the grasped state. The rotation operation of the gripped body 30 side is performed by engaging with the rotated portion 30d of 30.

According to this, it is possible to prevent the external force from being applied to the finger 26 itself, and it becomes possible to hold the finger 26 with high torque and high torque, and to achieve stable rotation in a reliable and highly accurate gripping state. Work becomes possible.

In the above embodiment, the ball screw 13 is used to convert the rotary motion of the rotary drive mechanism unit 9 into the linear motion. However, the present invention is not limited to this, and various other structures are possible. It is possible.

In the above embodiment, the three fingers 26
Although it has been described that the present invention is applied to a finger structure using, the present invention is not limited to this and can be applied to a finger structure having two or more fingers. Therefore, it is needless to say that the present invention is not limited to the above-described embodiment, and that various modifications can be made without departing from the spirit of the present invention.

[0025]

As described in detail above, according to the present invention, a gripping device for a manipulator is provided which realizes a high holding force / high torque and can realize a highly reliable grip release operation. be able to.

[Brief description of drawings]

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

FIG. 2 is a diagram showing the finger side of FIG.

FIG. 3 is a diagram showing a gripped state of FIG.

FIG. 4 is a diagram showing the external appearance of the finger and the object to be grasped in FIG. 1 in a grip released state.

[Explanation of symbols]

 9, 23 ... Rotational drive mechanism section. 10 ... Manipulator base. 11 ... Cylindrical body. 11a ... Support plate. 12 ... Deceleration drive mechanism section. 13 ... Ball screw. 14, 22 ... Bearings. 15 ... Nut member. 16 ... Connecting rod. 17 ... Roller fitting. 18 ... Drive roller. 19 ... Socket member. 20 ... Gear. 21 ... Worm gear. 24 ... Locking part. 25 ... Gripping guide section. 26 ... fingers. 26a ... Locking claw. 26b ... Guide section. 27 ... Spring member. 30 ... Object to be grasped. 30a ... insertion part. 30b ... handle. 30c ... Engagement guide portion. 30d ... Rotating part.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Shinichiro Nishida 1 Komukai Toshiba Town, Komukai-ku, Kawasaki City, Kanagawa Prefecture Komukai Factory, Toshiba Corporation

Claims (3)

[Claims] 1. An object to be grasped in which a plurality of handles and a plurality of engagement guide portions are alternately arranged, and a plurality of locking portions and grasping guide portions which are attached to a manipulator base portion and are inclined at an inner end in an inner diameter direction. A tubular body provided corresponding to the handle of the object to be grasped and the engagement guide portion, and one end rotatably supported in the tubular body, and the other end of the tubular body A plurality of fingers having locking claws protruding in the radial direction and arranged to face the locking portion, and having a grip release guide portion on the inner diameter side of the intermediate portion; Urging means for moving and urging to a release position in the inner diameter direction of the plurality of fingers, and the plurality of fingers in a state of being slidably slid by the guide portions of the plurality of fingers and moving in one end direction of the plurality of fingers. Is allowed to move to the release position by the biasing means, and the other ends of the plurality of fingers are A plurality of grip release driving rollers for urging the plurality of fingers to rotate to the outer radial direction grip position of the tubular body against the urging force of the urging means in a state of being moved in a direction; A drive roller is moved along the guide portion of the finger, and is moved in the direction of one end of the plurality of fingers to allow the locking claws of the fingers to be released from the grip of the grasped body,
Moving the plurality of fingers in the other end direction to pivotally bias the locking claws of the fingers to the gripping position against the biasing force of the biasing means,
A grip of a manipulator including a grip release driving unit that presses the locking portion of the tubular body and further presses the grip of the gripped body by the locking claw to the locking portion of the tubular body. apparatus. 2. A gripped body in which a plurality of handles and a plurality of engagement guide portions are alternately arranged corresponding to a rotated portion, and a plurality of locks attached to a manipulator base portion and inclined at an end toward an inner diameter direction. A cylindrical body having a grip portion and a grip guide portion corresponding to the handle and the engagement guide portion of the object to be gripped, and one end rotatably supported in the cylindrical body and the other end. A plurality of fingers having locking claws protruding toward the outer diameter side of the tubular body and arranged to face the locking portions, and having a grip release guide on the inner diameter side of the intermediate portion; Urging means for moving and urging the fingers of the finger to the releasing position in the inner diameter direction of the tubular body, and the guide portions of the plurality of fingers are slidably slid respectively and moved in one end direction of the plurality of fingers. State, permitting the plurality of fingers to move to the release position by the biasing means, and A plurality of grips for urging the plurality of fingers to rotate to the gripping position of the cylindrical body in the outer diameter direction against the urging force of the urging means in a state where the fingers move in the other end direction. A release driving roller, and a driving roller for moving the driving roller along a guide portion of the finger, the moving driving roller being moved in the direction of one end of the plurality of fingers from the handle of the grasped body of the locking claw of the finger. To allow the release of
Moving the plurality of fingers in the other end direction to pivotally bias the locking claws of the fingers to the gripping position against the biasing force of the biasing means,
A grip release driving unit that presses the locking portion of the tubular body and further presses the handle of the gripped body by the locking claw to the locking portion of the tubular body to grip the handle, and the plurality of drive rollers. It is provided so as to be movable integrally with
A rotation operation in which the drive roller is engaged with the rotated portion of the grasped body so as to be able to transmit a rotational force at the grasped position controlled by the drive roller, and is separated from the rotated portion of the grasped body at the release position controlled by the drive roller. A gripping device for a manipulator, comprising: a portion; and a rotation driving unit that rotationally drives the rotation operation portion to drive a rotated portion of the gripped body. 3. The manipulator gripping device according to claim 1, wherein the plurality of fingers is three or more.