JPS59175967A - Manipulator - 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] Manipulators or robot arms can be divided into orthogonal coordinate axis types, cylindrical coordinate axis types, polar coordinate axis types, multi-joint types, or combination types thereof depending on their operation form, but the basics for configuring them are as follows: The units of motion are translation, rotation,
It is a turning and hand function. In conventional manipulators, the motion form and degree of freedom of movement are set to best suit the purpose of use, and once the units of motion are combined and configured to achieve this, subsequent changes to the structure are impossible. I recently had to rebuild most of it. If the purpose of use is not very narrowly fixed from the beginning, for example, for intelligent robot experiments, research, etc.
When the purpose of use changes, such as when one task is completed and the user wants to perform another task, it is convenient to be able to change the operating form and degree of freedom with some degree of ease. In order to meet this need, this invention treats each unit of motion as a single mechanical unit, and unifies the shapes and dimensions of the front and rear joints to facilitate the connection and separation of these units. ，
The purpose is to make it possible to change the combination of units of motion to some extent.

To achieve this purpose, for example, the following units are prepared. FIG. 1 shows an x-axis linear motion unit, in which an x-axis translation section (2) stands on an x-axis fixed base (1) and is supported by a slide rail (3). x-axis linear motion part (2
) is fixed with a rack (4) and meshes with a pinion (6) fixed on the motor (5). As a result, the x-axis linear motion section (2) is driven, and its movement amount or position is measured by the position detector (7).

Figure 2 shows the y-axis linear motion unit, with the y-axis linear motion section (1)
A slide rail (2) and a rack (3) are attached to the holder and are driven via a pinion (5) by a motor (4) attached to the fixed part.

The position detector (6) is used in the same way as for the x-axis.

Figure 3 shows the z-axis linear motion unit, with the z-axis fixed part (1)
A z-axis linear motion section (2) is attached to the slide rail (3) via a slide rail (3). A rack (4) is also attached to the z-axis fixed part (1), and the motor (5) is attached to the z-axis linear motion part (2) and meshes with its pinion (6). The shaft linear motion part (2) is the motor (5)
driven by. As in the previous case, a position detector (7) can be used.

Figure 4 shows a rotating unit in which the rotating shaft (2) rotates forward and backward relative to the case (1), thereby rotating the front end (3) fixed to the rotating shaft (2). It is something. This is because the torque around the shaft of the motor (4) fixed to the case (1) is transmitted to the rotating shaft (2) by the spur gear (5) and the bevel gear (6). This gear transmission system may be replaced by a worm gear or the like depending on the orientation of the motor shaft. A rotation angle detector (7
) can be attached.

Figure 5 shows a rotating unit, whereas the rotation axis of the rotating unit described above was parallel to the longitudinal direction of the case.
There is a pivot axis (2) in a direction perpendicular to the longitudinal direction of the case (1). A pivoting part (3) is fixed to this, and this tip becomes the front end for connection. The torque of the motor (4) fixed to the case (1) is transmitted to the pivot shaft (2) by the spur gear (5), but depending on the orientation of the motor shaft, this gear transmission system may be of any other type. It's possible. Rotation angle detector (
6) can be attached in the same manner as described above.

Figure 6 shows a hand unit in which the torque of a motor (2) fixed to a case (1) is generated by finger rotation by a worm (3) fixed to its shaft and gears (4) on both sides. It is transmitted to the finger (6) via the shaft (5), and the finger is opened and closed. The degree of opening and closing of the finger is measured by a rotation angle detector (7).

Figure 7 shows a joint between two units, where the front end (2) of one unit (1) and the rear end (4) of another unit (3) to be connected to it are connected to at least two planes. Align the connecting holes (5) and secure with screws, etc. so that they overlap.

FIG. 8 shows an example of the configuration of such a manipulator. The x-axis linear motion part (2) is placed on the x-axis fixed base (1),
A z-axis fixing part (3) is attached to it. The z-axis linear motion section (4) is also the y-axis fixed section, and inside this is the y-axis translation section (5).
) passes. The rear end of a rotating unit (6) is fixed to the front end of the y-axis linear motion part (5), and the rear end of a rotating unit (7) is fixed to the front end. Furthermore, the rear end of a hand unit (8) is fixed to the front end. As described above, a manipulator with three degrees of freedom for linear motion, two degrees of freedom for rotation, and so-called 51/2 degrees of freedom for the hand 1 is configured. Here, the rotating unit (6) and the rotating unit (7)
If they are swapped and combined, the degrees of freedom will be the same, but it will be possible to perform a slightly different form of motion, such as a trajectory of motion.

[Brief explanation of the drawing]

Figure 1 shows the x-axis direct-acting unit, Figure 2 shows the y-axis direct-acting unit, Figure 3 shows the z-axis direct-acting unit, and Figure 4 shows the rotating unit.
Fig. 5 shows an embodiment of the rotating unit, Fig. 6 shows the hand unit, Fig. 7 shows an embodiment of the mechanism of the joint between the units, and Fig. 8 shows an embodiment of the manipulator using these units and the joint. It shows. Patent applicant Tsunego Honda

Claims (1)

[Claims] One of the functions for the movement of the manipulator, such as x-axis movement, y-axis movement, z-axis movement, rotation, turning, and hand, is defined as one mechanical unit, and the front and rear ends of each unit are A manipulator characterized in that the overall motion function can be designed and changed to a certain degree by connecting and fixing the two parts with screws or the like.