JPS5877479A - Bending arm - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] The present invention relates to an arm of a robot or manipulator.

Robots and manipulators are required to have their arms (wrists) move as dexterously as human arms so that they can handle detailed and complex tasks. In other words,
Can be bent freely in all directions 1. Its range is from the straight-stretched state to the desired direction Ksofl
[It is desired that the arm be able to bend, and in addition, be able to realize these functions as an arm that is as thin and short as possible. Additionally, robots and manipulators must have a structure that allows rotational power to be transmitted to the end of the arm and wiring, etc. built into the arm, in order to attach a busy end (finger), etc. to the end of the arm. is also required.

In order to meet the above-mentioned demands, arms based on fill springs have been proposed, but they have the drawback of lacking rigidity against the load on the hand. Furthermore, a configuration in which only one universal dicointe is connected is being considered, but one leg requires a special shape, which is difficult to manufacture, and is also unsuitable for incorporating wiring, piping, etc. .

The present invention was made in view of the above circumstances, and it can be moved freely in any direction, bent by 90 degrees S from a straight state, and has high rigidity, and is suitable for wiring. The aim is to provide arms for robots and manipulators that meet various requirements, such as being able to have built-in robots and manipulators.

To achieve the above object, the arm according to the present invention has a spherical recess on one surface of the plate part, and a spherical surface on the other surface of a size that can be slidably fitted into the recess. The 41st image is that a plurality of aggregates each having a convex portion shaped like the above are connected by fitting the concave portions and the convex portions, and at least three traction members are passed through the plate portions of all the aggregates.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a detailed explanation will be given based on an embodiment of the present invention shown in the drawings.

FIG. 1 shows a cross section of one embodiment. The bent arm is connected to the tip of the arm of a robot or manipulator. The main part of this bending arm 1 consists of an aggregate chain body 3 formed by connecting a large number of aggregates 2, and three traction members 4 for tilting the aggregate chain body 3t.

The plane and cross section of the aggregate 2 constituting the aggregate chain 3t are shown in Figure 2.3. Aggregate 2 #i, a disk-shaped plate portion 5 whose thickness gradually decreases with an angle from the center to the periphery, and the recessed portion 6 protruding from one surface thereof.
It consists of a convex part 7 of a size that can be slidably fitted to Kf2.

The plate portion 5 may be a flat plate with no slope. Assuming that the radius of curvature of the concave portion 6 is tRs, and the radius of curvature of the convex portion 7 is t'Rx,
This is the R1 key. The central part Klfi of the aggregate 2, the recessed part 6
A shaft insertion hole 8 consisting of a parallel portion and a tapered portion that penetrates from the top surface of the convex portion 70 to the top surface of the convex portion 70 is opened.

In addition, three insertion holes 9 for the traction member 4 passing through the front and back sides of the aggregate 2 are provided at equal intervals on the same circumference in the plate portion 5 of the aggregate 2, and in addition to these through holes 9, A wiring, etc. insertion hole 1O for passing wiring, piping, etc. is provided. The number of the traction member insertion holes 9 may be three or more, but the number of traction member insertion holes 9 may be three or more.
Three or four is optimal depending on the number of. This aggregate 2
Prepare the number of tlI (seven in this example) and insert the insertion holes 9. lO
Align the positions of the aggregates 2 and fit the protrusions 7 of another aggregate 2 into the recesses 6 of one aggregate 2.
The aggregate chain body 3 is constructed by tying the aggregates together. Since the four parts 6 and convex parts 7 of the aggregates 2 of the aggregate chain body 3 are in spherical contact with each other, the plate parts 5 can freely tilt within the range where the plate parts 5 are in contact with each other. On the other hand, an end plate 11 for receiving the aggregate chain 3t is provided at the tip of the arm of the ribot or manipulator. A spherical seat 12 having the same curvature as the recess 7 of the aggregate 2 is formed on the end plate 11, and a shaft insertion holding hole 13 is provided in the center thereof. Hole 9
and the traction member through hole 14 in the same arrangement as the wiring etc. through hole lG.
There are also through holes (not shown) for wiring, etc. The convex portion 7 of the aggregate 2 located at the end of the aggregate chain body 3 is seated on the spherical seat 12 of the end plate 11. Further, on the other side of the aggregate chain body 3, an end plate 15 is provided to regulate the length direction of the aggregate chain body 3. This end plate! A shaft insertion hole 16 is also provided in the center of S, and a traction member insertion hole 1F and a wiring, etc. through hole (not shown) are provided in the same arrangement as the traction member insertion hole 9 and the wiring, etc. insertion hole 10 of the aggregate 2. ) is provided.

The three traction members 4 connected to the operation side of the robot or manipulator are each a traction member through hole in the end plate 11! 4,
The pulling member insertion holes 9 on the same line of the aggregate chain body 3 are passed through the pulling member insertion holes 11 of the end plate 15, and screws 18 or the like are used for fixing. Therefore, the arm 1t can be bent in any direction by pulling some of the traction members and loosening some of the traction members from the operating side of the rotor or manipulator.

FIG. 1 shows a case where the lower traction member 4 is pulled from the state indicated by the two-dot chain line in FIG. 17, and the upper traction member 4 is loosened and bent downward. # in the figure is the bendable angle C>9f), the number tN of the aggregate 2, and the bone plate 20
With respect to the inclination angle a of the plate portion 5, the relationship -middle aM holds true. In other words, by increasing the number of aggregates 2, the bendable angle # can be further increased. As the type of traction member, a semi-flexible rope such as a p-p, a chain, or a chain of universal joints is used. Also, the traction member 4
Various types of traction means, such as an electric type and a fluid cylinder type, can be used as the traction means. Incidentally, it is preferable to provide a bellows-like cover or the like on the swivel of the bent arm 1 for dustproofing.

In addition, the shaft insertion hole 8 in the center of the aggregate chain body 3 in the bent arm IK
A bending shaft 19 for transmitting rotational driving force etc. from the arm side to the tip side of the bending arm l is inserted. The bending shaft 19 used in this embodiment is connected by a number of links 201i (universal joins) 21 and can be freely tilted in any direction, as shown in FIG. It becomes like you get it. In addition, universal joint 21
As shown in the F1% diagram, the ball 22 and one link 20
T-consists of two bins 23 connected to the ball 22, and the other link 20t - a bin 24 connected to the ball 22 shifted 90 degrees from the bins 23. This bending axis 19
A rotating shaft of a drive device is connected as an input shaft 26, which is passed through the shaft insertion holding hole 13 of the rear mu front end plate 1 and held particularly through a bearing 25e. Further, the tip of the bending shaft 19 is passed through the shaft insertion holding hole 16 of the end plate 15 and connected to the output shaft 28 held via a bearing 271. A working part such as a hand is connected to this output shaft 28. FIG. 5 shows an example of the -nd. This hand 29#'i has two sets of parallel links 31 and 32 whose rear m is supported with a slide on the hand cover 30, fingers 33 which are connected with a slide on the distal ends of these links, and the rear of the link 31. Gears 34 integrally attached to the ends thereof, gears 35 meshing with these gears 34, and a shaft 37 of the gear 35 supported by the hand cover 30 via a bearing 36.
It consists of The output shaft 28, which is connected to the bending shaft 19, is connected to this node shaft 37 via a coupling 38 or the like. In Figure 6, there is a throat 2 at the tip.
9T-Equipped shows a state in which the nine bent arms 1T-Arm 39 are attached. When the input shaft 26 is rotated from the arm 391 [1], the finger 33 of the arm 29 (via the bending shaft 1G and the output shaft 28t) is opened and closed. Incidentally, the bending shaft 19 may be a rope, a chain, or the like, and in that case, the handle is provided with fingers that can be opened and closed by pulling the rope or the like. Alternatively, the fingers of the hand may be opened and closed by the motor directly on the hand without using the bending shaft 19t. In this case, it is necessary to extend the cable etc. to the hand, but it is necessary to extend the cable etc. to the hand.
o etc. are used.

As described above in detail with reference to one embodiment, the bending arm according to the present invention has a spherical recess provided on one surface of the plate portion, and is slidably fitted into the recess on the other surface. A plurality of aggregates each having 40 spherical convex portions with a size that can fit together are connected by fitting the concave portions and the convex portions, and at least three traction members are passed through the plate portions of all the aggregates. With this structure, it can be bent 9f1 in any direction from the straight position and further if necessary, and the bending axis is also adjusted by the sliding movement between the spherical surfaces, so there are no restrictions on the operation method. It can be made smoothly without having to receive a pipe. [Furthermore, it has been made possible to incorporate wiring, piping, butterfly drive force transmission, materials, etc. into the aggregate, making it ideal as the arm or wrist of a robot or manipulator. Become. In addition, since the sliding surface of the aggregate in the bending arm has a structure similar to that of a ball-receiver, it not only has excellent sliding motion, but also has high resistance to tensile and bending, especially compressive loads. It provides rigidity and excellent durability. Furthermore, since the bending arm is composed of a combination K of aggregates having a simple shape, it is easy to assemble and can be mass-produced at low cost.

[Brief explanation of the drawing]

FIG. 1 is a sectional view of one embodiment of the bending arm according to the present invention, and FIG.
Figure 3 is a plan view of the aggregate, Figure 3 is a sectional view taken in the direction of the arrow L in Figure 2, Figure 4 is a partial sectional view of the bending shaft, Figure 5 is a partial sectional view of an example of a node, and Figure 5 is a partial sectional view of an example of a node. FIG. 6 is a side view of the bending arm with the no. In the drawing, IFi bending arm, 2 is aggregate, 4Fi traction member, 5Fi plate part, 6ti recess, 7 is convex part, 8 is shaft insertion hole, 9 is traction member insertion hole, NoFi wiring insertion hole, 14.15 is an end plate, 19 is a bending shaft, and 29 is a Fi hand. Patent Applicant Meidensha Co., Ltd. Agent Mitsuishi Shibu, Patent Attorney (and 1 other person) Figure 2 Figure 3 Figure 4 Figure 6

Claims (1)

[Claims] A plurality of aggregate tubes are provided on one surface of the plate part with a spherical recess and on the other surface a spherical convex part of a size that can be slidably fitted into the recess. The bent arm is characterized in that at least three traction members are passed through the plate portions of all the aggregates when the convex portions are fitted together and connected.