JPH0985650A - Manipulator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a manipulator which is excellent in reponsibility and can ease shock in case of stopping. SOLUTION: In a manipulator, a master arm 4 inside an operation chamber and a working arm 5 outside the operation chamber are interlockedly connected through interlocking mechanisms 27, 30, and an manual operation part 8 provided in the tip part of the master arm 4 is moved in a desired direction to move a working machine 16 attached to the tip part of the working arm 5 to a desired position through the master arm 4, the interlocking mechanisms 27, 30 and the working arm 5. Each of interlocking mechanisms 27, 30 is equipped with a hydraulic subrotary body 31a rotated interlockingly with the rotation of the master arm 4 and a hydraulic main rotary body 33a rotated interlockingly with the rotation of the subrotary body 31a, and the working arm 5 is rotated by hydraulic cylinders 18, 23 telescopically driven interlockingly with the rotation of the main rotary body 33a.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a manipulator for remotely controlling a casting operation in, for example, a foundry.

[0002]

2. Description of the Related Art An example of this type of manipulator is shown in FIGS. This is one in which a master arm 4 inside an operation room 3 arranged on a swivel base 2 on a machine frame 1 and a work arm 5 outside the operation room 3 are interlocked by an interlocking mechanism (not shown). , The master arm 4 is
A master lower arm 4 rotatable about a base pivot shaft 6
a and a master upper arm 4b whose base end is pivotally attached to the tip of the master lower arm 4a via an intermediate shaft 7, and a manual operation unit 8 is provided at the tip of the master upper arm 4b.
A parallel link 10 connects a master upper arm 4b and a projection 9a projecting from a rotary shaft 9 that is rotatably fitted onto the proximal pivot shaft 6. In addition, 11 is an operation seat and 12 is an operation panel.

The working arm 5 has a working lower arm 5a rotatable about a proximal pivot shaft 14 pivotally mounted on a side wall of the operation chamber 3, and a proximal end of the working lower arm 5a. Is provided with a work upper arm 5b pivotally attached via an intermediate shaft 15, a working machine 16 is attached to a tip end of the work upper arm 5b, and a projecting portion 17 protruding from the base end pivot shaft 14 is provided. A lower hydraulic cylinder 18 is connected, and a substantially triangular intermediate plate 19 rotatably supported by an intermediate shaft 15 and a work implement 16 are connected by an upper parallel link 20, and a rotary shaft 14 is rotated about the base end pivot shaft 14. Both ends of a substantially L-shaped rotary link 21 that is movably fitted to the work upper arm 5b and the intermediate plate 19 are connected by a pair of lower parallel links 22, 22, and the rotary link 21 has an upper hydraulic pressure. The cylinder 23 is connected.

As the interlocking mechanism, an electric type using a direct servo valve, a proportional high speed valve or a DC motor and a metering valve is conventionally used. In the above configuration, when a worker seated in the cockpit 11 grips the manual operation part 8 and moves the manual operation part 8 back and forth and up and down, the base is rotated via both arms 4a and 4b of the master arm 4. The rotation angles of the end support shaft 6 and the rotary shaft 9 are read by an electric interlocking mechanism, and based on the read information, the hydraulic cylinders 18 and 23 are driven to expand and contract to move both arms 5a and 5b of the working arm 5. Rotate by a predetermined angle,
The work machine 16 is moved to a desired position.

[0005]

SUMMARY OF THE INVENTION In the above conventional configuration,
An electric one is used as an interlocking mechanism for interlocking the work arm 5 with the master arm 4, and this is expensive and the rotation angle of the master arm 4 is read by the electric interlocking mechanism and read. It takes a relatively long time to rotate the master arm 4 based on the information, and the responsiveness is poor. In addition, the shock absorbing mechanism for stopping the work arm 5 has a complicated shock absorbing mechanism and is liable to malfunction, resulting in high manufacturing cost.

In view of the above problems, it is an object of the present invention to provide a manipulator having excellent responsiveness and capable of reliably cushioning an impact at the time of stopping with a simple structure.

[0007]

In order to achieve the above object, the invention according to claim 1 is such that a master arm inside the operation room and a work arm outside the operation room are interlockingly connected via an interlocking mechanism, and the master arm A manipulator configured to move a working machine attached to the tip of the working arm to a desired position via the master arm, the interlocking mechanism and the working arm by moving a manual operation section provided at the tip in a desired direction. In the above, the interlocking mechanism includes a hydraulic sub-rotating body that is rotated in association with the rotation of the master arm, and a hydraulic main rotating body that is rotated in conjunction with the rotation of the sub-rotating body. It is characterized in that the working arm is rotated by a hydraulic cylinder that is expanded and contracted in conjunction with the rotation of the rotating body.

In the above structure, when an operator seated in the cockpit of the operation room grasps the manual operation part and moves the manual operation part up, down, up and down, the master arm is rotated, and in conjunction therewith, the interlocking mechanism is operated. The hydraulic cylinder is driven to expand and contract via the main and sub rotating bodies, and the working arm can be rotated by the hydraulic cylinder to move the working machine to a desired position.

In this case, as the interlocking mechanism for interlocking the working arm with the master arm, a hydraulic type having a hydraulic sub-rotating body and a hydraulic main rotating body is used, which is inexpensive and at the same time master. The rotation of the arm can be directly transmitted to the work arm to precisely rotate the work arm, which is excellent in responsiveness and precision.

According to a second aspect of the invention, in the first aspect of the invention, a shock absorber is connected to the hydraulic cylinder. In the above configuration, since the shock when the working arm is stopped is buffered by the shock absorber, the master arm and the work arm can be smoothly operated, and a hydraulic valve having a simple structure is used as the shock absorber. It is possible to reduce the production cost because it is difficult to break down.

[0011]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows a schematic structure of a manipulator according to an embodiment of the present invention. A driven shaft 26 interlockingly connected to a base end pivot shaft 6 of a master lower arm 4a through a timing pulley mechanism 25. And a lower hydraulic cylinder 18 is provided with a lower interlocking mechanism 27,
The parallel link 10 and the protrusion 9 are provided on the master upper arm 4b.
The timing pulley mechanism 2 is attached to the rotary shaft 9 that is interlocked via a.
An upper interlocking mechanism 30 is provided between the driven shaft 29 and the upper hydraulic cylinder 23 that are interlocked and coupled via the upper hydraulic cylinder 23.

The lower interlocking mechanism 27 comprises a sub-orbit roll 31, a rotation speed amplifying hydraulic cylinder mechanism 32, and a main orbit roll 33. The sub-orbit roll 31 is a hydraulic type which is interlocked with the driven shaft 26. It has a sub-rotor 31a and a switching valve 31b connected to the sub-rotator 31a. Further, the rotation speed amplifying hydraulic cylinder 32 is connected to the hydraulic auxiliary rotary body 31 via the switching valve 31b.
hydraulic cylinder 32a connected to a, and rack 32b connected to the piston rod of the hydraulic cylinder 32a
And a pinion 32c that meshes with the rack 32b. Further, the main orbit roll 33 includes a hydraulic main rotating body 33a which is linked to the pinion 32c.
And a switching valve 33b connected to the hydraulic main rotating body 33a
And

A shock absorber 35 is provided between the main orbit roll 33 and the lower hydraulic cylinder 18, and is provided with a pair of electromagnetic switching valves 35a, 35b and reliefs for both electromagnetic switching valves 35a, 35b. It has a tank 35d connected via a valve 35c. Reference numeral 36 is a hydraulic pump connected to the switching valves 31b and 33b.
Since the configuration other than the above-described configuration is almost the same as the conventional example shown in FIGS. 2 and 3, the same portions are denoted by the same reference numerals and the description thereof will be omitted.

In the above structure, the master lower arm 4
When a is rotated back and forth, the hydraulic auxiliary rotary body 3 is moved through the base end pivot shaft 6, the timing pulley mechanism 25, and the driven shaft 26.
1a is rotated, the hydraulic cylinder 32a of the rotation speed amplification hydraulic cylinder 32 is driven to expand and contract by the hydraulic auxiliary rotary body 31a, and the hydraulic main rotary body 33a is rotated via the rack 32b and the pinion 32c. Rotating body 33
The lower hydraulic cylinder 18 is expanded / contracted by a, and the working lower arm 5a is rotated back and forth, whereby the working lower arm 5a can be integrally linked to the master lower arm 4a.

Further, when stopping the expansion / contraction drive of the lower hydraulic cylinder 18, each electromagnetic switching valve 3 of the shock absorber 35 is stopped.
5a and 35b are switched by a control device (not shown), the pressure oil is released to the tank 35b via the relief valve 35c, and the shock at the time of stop can be buffered.

The upper interlocking mechanism 30 has the same structure as the lower interlocking mechanism 27, and is capable of integrally interlocking the work upper arm 5b with the master upper arm 4b.
In the above configuration, when an operator seated in the cockpit of the operation room 3 grips the manual operation part 8 and moves the manual operation part 8 back and forth and up and down, the master arm 4 (the master lower arm 4a and the master upper part 4a) is moved. The arm 4b) is rotated, and the main and sub rotating bodies 31 of the two interlocking mechanisms 27 and 30 are interlocked with it.
The hydraulic cylinders 18.23 are driven to expand and contract via a and 33a, and the working arms 5 (the working lower arm 5a and the working upper arm 5b) are rotated by the hydraulic cylinders 18 and 23 to move the working machine 16 to a desired position. It can be moved.

In this case, as the interlocking mechanisms 27 and 30 for interlocking the working arm 5 with the master arm 4, a hydraulic type having a hydraulic auxiliary rotary body 31a and a hydraulic main rotary body 33a is used. In addition to being inexpensive, the rotation of the master arm 4 can be directly transmitted to the working arm 5 to precisely rotate the working arm 5, resulting in excellent responsiveness and precision.

Further, since the shock when the working arm 5 is stopped is buffered by the buffer device 35, the master arm 4 and the working arm 5 can be operated smoothly.

[0019]

According to the first aspect of the present invention, the hydraulic mechanism having the hydraulic auxiliary rotary body and the hydraulic main rotary body is used as the interlocking mechanism for interlocking the working arm with the master arm. However, this is inexpensive, and the rotation of the master arm can be directly transmitted to the working arm to precisely rotate the working arm, which is excellent in responsiveness and precision.

According to the second aspect of the present invention, since the shock when the working arm is stopped is damped by the shock absorber, the master arm and the work arm can be smoothly operated, and the shock absorber is used as the shock absorber. Since a hydraulic valve having a simple structure can be used, it is hard to break down and the manufacturing cost can be reduced.

[Brief description of drawings]

FIG. 1 is an explanatory diagram showing a schematic structure of a manipulator according to an embodiment of the present invention.

FIG. 2 is a side view of the manipulator.

FIG. 3 is a side view of the main part.

[Explanation of symbols]

 3 Operation room 4 Master arm 4a Master lower arm 4b Master upper arm 5 Working arm 5a Working lower arm 5b Working upper arm 16 Working machine 18 Lower hydraulic cylinder 23 Upper hydraulic cylinder 27 Lower interlocking mechanism 30 Upper interlocking mechanism 31a Hydraulic pressure Type sub rotary body 33a hydraulic main rotary body 35 shock absorber

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Ikuo Iizuka 1-247 Shikitsu Higashi, Naniwa-ku, Osaka City, Osaka Prefecture Kubota Corporation

Claims (2)

[Claims] 1. A master arm inside an operation room and a work arm outside the operation room are interlockingly connected through an interlocking mechanism, and a manual operation part provided at a tip end portion of the master arm is moved in a desired direction to thereby move the master. In a manipulator configured to move a working machine attached to a distal end of the working arm to a desired position via an arm, an interlocking mechanism and a working arm, the interlocking mechanism is rotated in association with rotation of a master arm. A hydraulic sub-rotor and a hydraulic main rotor that is rotated in association with the rotation of the sub-rotor,
A manipulator characterized in that a working arm is rotated by a hydraulic cylinder that is driven to expand and contract in conjunction with the rotation of the main rotating body. 2. The manipulator according to claim 1, wherein a shock absorber is connected to the hydraulic cylinder.