JPS59134687A - Multi-joint mechanism - 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 a rod-like multi-joint mechanism such as a robot, and more specifically, it is capable of winding motion and meandering motion in any direction like a vertebra.

In recent years, the development of robots for tasks such as welding, painting, and assembly has been remarkable. However, these work robots are generally unable to work on a flat surface.
The reality is that all but a few tasks, such as dangerous work at heights, work on uneven surfaces, steep slopes, and work in narrow spaces, rely on human power.

As a result, accidents resulting in injury or death often occur, and despite strong social demand for robots to perform such dangerous work, robots that can perform tasks such as work at heights have not yet appeared. be.

In order to meet such social demands, the present invention has developed a rod-shaped robot capable of winding and meandering motions in any direction, like a vertebrae, which is necessary to create a robot capable of working at heights, etc. The purpose is to provide one pair of joint mechanisms.

Next, an embodiment of the multi-joint i-structure according to the present invention will be described in detail with reference to the drawings.

First, FIG. 1 is a longitudinal cross-sectional view along the center line of the multi-joint mechanism according to the present invention, and FIG. 2 is a cross-sectional view.

Several disc-shaped universal joints 1 (five in the figure) having four parts 1a1 on one surface of the central part and a convex part 1b on the other surface are connected to each other to form a unit A part. The uneven portion 1a
A through hole 4 through which the operating string 3 is passed is formed in the center of 11b and is continuous in a tubular shape.

Further, there are return springs 2, 2, 2', 2' on concentric circles facing the center of the disc-shaped universal joint 1, and connect the disc-shaped universal joint 1 to each other. Similarly, on a concentric circle opposite to the center of the disc-shaped universal joint 1, there are small holes 6.6.6', 6- through which the operating string 3.3' passes, and the operating string 3.3' passes therethrough. Both ends of the operating string 3 are fixed to the small holes of the disc-shaped universal joint at one end of the unit A portion by fasteners 7.7. The operating string 3 passes through a tube formed by connecting through holes 4 from the middle, and is hooked together so that mutual pulling operation can be performed by a rotary pulley A5. Rotating pulley A
5 in the direction of the arrow, the four pairs of return springs 2 located between the five disc-shaped universal joints 1 of the unit A section expand and contract in sequence, causing the unit A section to curve up and down. Further, in the direction perpendicular to the return spring 2.2, there are return springs 2', 2' and an operating string 3', and the operating string 3- has the same structure as the operating string 3 and is not hung on the rotary pulley A5-. It is matched.

When turning the rotary pulley A5- in the direction of the dotted arrow, unit A
4 pairs of return springs 2 between the 5 disk-shaped universal joints
- expands and contracts in sequence, causing the unit A section to curve left and right. Also, a pair of pulleys A5 and A5- are connected one to one at the same time.
By turning at a rate of , the unit A section can be bent at an oblique angle of 45 degrees. Furthermore, a pair of pulleys A5 and A
5” at the same time at a ratio of 2:1.
The part can be curved to a diagonal angle of 30 degrees or 60 degrees. By changing the rotation rate of the pair of pulleys Δ5 and A5' in this manner, the unit A section can be curved in any direction. Furthermore, when the pulleys A5 and A5- are returned to their original positions, the unit A section becomes straight due to the action of the return screw.

Incidentally, the pair of pulleys A5 and A5' are not necessarily pulleys, but may be of any type, such as rotating levers, which can be operated in tension with each other. Also, the return springs are two pairs of 2.2-, but these are 3 pairs.
It is also considered that the accuracy can be improved by using four pairs. The key is that they must be located at opposite locations on concentric circles. Further, the disc-shaped universal joint 1 does not necessarily have to be a disc, and may be a square plate or other shape.

Furthermore, in the drawings, one unit is composed of five plate-shaped universal joints, but in reality, six to eight joints are considered appropriate.

Next, let us explain about part 12718. Its structure is exactly the same as part A, and it can be bent in any direction by turning a pair of pulleys B5 and 85" at various ratios in the direction of the arrow and in the direction of the dotted line. I can do it.

Further, the boundary between the unit A part and the 12718 part is fixed by a fixing rod 6 instead of a return spring.

Therefore, the operation of the unit A section is not transmitted to the 12718 section, and the operation of the 12718 section is not transmitted to the unit A section. In other words, they each operate independently. Therefore, if you turn a pair of pulleys A5, A5' and another pair of pulleys B5.85' at the same rate and in the same direction, units A and 12718 will perform a winding motion, and if you turn them in the opposite direction, unit A will move. The parts 12,718 and 12718 will move in a meandering motion. In addition, unit A section and 1271
The boundary with part 8 does not have to have a structure as shown in the drawing (in short, it is sufficient if it is connected by a fixed structure).

Next, to explain unit C section, unit A section,
It has exactly the same structure as the 12718 part, and can perform independent bending movements in any direction by operating a pair of pulleys C5 and C5-.

Also, is the connection between section 12718 and unit C also unit A? It has exactly the same fixed structure as the connecting part between P and 12718 parts.

Hereinafter, any number of unit parts such as unit 0 part, E part, etc. can be formed.

Although the bendable angle of one unit is approximately 90 degrees, four units can perform a winding motion of 360 degrees, that is, one rotation.

Further, if each unit is bent in the opposite direction, a fine meandering motion will be made, and if two units are made to be bent in the opposite direction, a large meandering motion will be made.

Furthermore, by bending each unit inward while changing its direction, it becomes possible to create spiral movements that allow snakes to climb up and down trees and steel towers.

An actual snake's vertebrae are made up of a large number of vertebrae, or universal joints, so they can perform a variety of complex movements.

In order to perform movements similar to those of a snake using the multi-joint mechanism according to the present invention, a small number of units are required. Although it is almost impossible to do such a thing, it is possible to at least perform movements equivalent to the neck of a snake.Also, using the principle of the multi-joint mechanism according to the present invention, it is possible to perform a movement that is equivalent to the neck of a snake. If you use a good muscle structure, you can imitate the movements of a snake.

Next is the operation of the equal number pairs of pulleys A5, A5', B5, B5-1C5, C5' - although this is not shown, multiple motors and an operation box to control the motors are used. It can be solved with

It is preferable that the operation box has a built-in computer, but a manually operated one is also conceivable.

However, since the mechanism is outside the scope of the present invention, a description thereof will be omitted.

FIG. 3 is an explanatory model diagram illustrating the meandering motion of the multi-joint mechanism according to the present invention in an easy-to-understand manner.

4 and 5 are partially enlarged vertical cross-sectional views of a plate-like universal joint used in the multi-joint mechanism according to the present invention.

FIG. 4 shows the case of using metal, and FIG. 5 shows the case of using elastic material such as reinforced plastic.

The four parts 1a on one side of the plate-shaped universal joint 1 are fitted with the convex part 1b of another plate-shaped universal joint 1, and their contact surfaces are spherical, so it is easy to It can be bent little by little in any direction. If several of these are connected, it will be possible to bend a considerable angle. In addition, since the one shown in FIG. 4 is made of metal, some allowance is made toward the entrance of the fourth part. Also, the center part is a hole 4 through which an operating string is passed. Although it looks like it will easily come off, the plate-shaped universal joint 1 is connected to each other by the return springs 2, 2, 2', 2-, and a tensile action is applied, so that it will not come off easily. Moreover, the case shown in FIG. 5 is a case where a resilient material such as reinforced plastic is used, and since the convex part 1b is pushed into the concave part 1a by pressure, it cannot be easily removed.

Although not shown in the drawings, it is obvious that if a buffer material such as Teflon is inserted into the contact surface between the concave portion 1a and the convex portion 1b, a universal joint that moves more smoothly can be obtained.

Furthermore, although not shown in the drawings, when the multi-joint mechanism of the present invention is put to practical use, it is covered with a bellows tube similar to the skin of a snake so that the inside cannot be seen, and considerations such as dustproofing and moistureproofing are also taken. Needless to say, we do this.

As explained above, by using the multi-joint mechanism of the present invention, it is possible to perform dangerous work at heights, work on uneven surfaces, steep slopes, and work in narrow spaces, which have not occurred until now. This makes it possible to create the basis for a work robot that can be developed.

We can also provide interesting dragon and snake toys.

[Brief explanation of the drawing]

FIG. 1 is an explanatory centerline vertical cross-sectional view of the multi-joint mechanism according to the present invention, and FIG. 2 is a cross-sectional explanatory view. FIG. 3 is a model explanatory view showing the meandering motion of the multi-joint mechanism according to the present invention, and FIGS. 4 and 5 are partially enlarged longitudinal sectional views of the plate-shaped universal joint. In the figure, 1 is a plate-shaped universal joint 1a is a concave portion of the plate-shaped universal joint 11 is a convex portion of the plate-shaped universal joint 2 is a return spring 3 is an operating string 4 is a through hole for the operating string 5 is a pulley 6 is a fixed structure. be.

Claims (1)

[Claims] In the rod-shaped multi-riJ joint ms of robots, etc., there is a concave part on the - side,
One unit is made up of several plate-shaped universal joints that are formed with a convex part in the center on the other surface and are fitted into each other and are connected on opposing concentric circles by return springs and operating strings. A through hole for the operating string is formed in the center, and the operating string is fixed on opposing concentric circles of the plate-shaped universal joint at one end of the unit to enable mutual pulling operation, and the operating string is fixed. A multi-joint mechanism comprising a plurality of the units structurally connected.