JPS60208664A - Arm mechanism - Google Patents

Abstract

PURPOSE:To provide an arm mechanism which can be connected in shaftable ways in three dimension with other members and in which the length of the arm can be expanded and contracted. CONSTITUTION:Three pairs of double screw type expandable levers 2 and 2 are fixed in erected state in parallel at the equally divided positions on the circumference onto a circular base 1. Each expandable lever 2 consists of a fixed cylinder 3 fixed onto the base 1 and the first and the second screw levers 5. A universal joint 6 is connected at the top edge of the second screw lever 5, and a circular top edge base 7 is installed through the universal joint. An expandable driving mechanism 8 for expanding and contracting each screw lever 4, 5 is installed into the upper edge part of each expandable lever 2. Said mechanism consists of a worm wheel 9 installed onto the first screw lever 4 in the female screw part 3a of the fixed cylinder 3 and a worm 10 meshed with the worm wheel 9 and a motor 11.

Description

[Detailed Description of the Invention] [Technical Field of the Invention] The present invention relates to an arm Ia, and can be used for manipulators used in nuclear fuel reprocessing plants, nuclear fusion reactors, etc., as well as other general manipulators. Regarding the arm mechanism.

[Technical background of the invention and its problems]

Generally, in reprocessing plants and nuclear fusion reactors, periodic inspections and maintenance of various equipment are performed remotely using robots or unmanned vehicles equipped with manipulators. This is to prevent workers from being exposed to radiation.

On the other hand, [1] Bottles, etc. must be transported into and out of the reprocessing plant through the limited access entrance during periodic inspections.9. Therefore, manipulators installed in robots, etc. are designed so that they can shrink and become small enough to pass through the loading/unloading entrance, and can extend and move within a wide work space. .

However, conventional manipulators have a large number of fixed-length arms connected to the phase H using joints, and there are limits to how compact the manipulator can be, and the movable range of each arm is limited. It was limited to the sum total of mechanical merits.

[Purpose of the invention]

The present invention has been made in view of these points, and provides an arm mechanism which can extend and contract the length of the arm and which can be connected to other members so as to be relatively movable in three dimensions. With the goal.

[Summary of the invention]

The 11 arm structures of the present invention include three sets of double-threaded telescoping rods arranged in parallel on a proximal base, a distal end base attached to the tip of each of these telescoping rods via a universal joint, and the telescoping rods are expanded and retracted. It is characterized in that a telescopic drive mechanism (V) is provided on each telescopic rod.

[Embodiments of the invention]

Embodiments of the present invention will be described below with reference to FIGS. 1 to 9.

FIGS. 1 and 2 show the entire arm Ia of the present invention. Reference numeral 1 in the figures indicates a circular proximal base. On this proximal base 1, three sets of double-threaded telescoping rods 2.2 are fixed in an upright state parallel to each other at positions equally dividing the circumference. Each telescoping rod 2 is formed by a fixation [13] fixed to the base end base 1, a first screw rod 4, and a second screw rod 5. A universal joint 6 is connected to the tip of each second screw 5, and a circular tip base 7 is attached via the universal joint 6. , So,
A telescopic drive mechanism 8 is provided at the upper width portion of each telescopic rod 2 to extend and retract each screw rod 4.5.
The first screw rod 4 is formed in the shape of a hollow space, and its male threaded portion 4a is screwed into an l-threaded portion 3a formed inside the upper end of the fixed tube 3. Further, a male threaded portion 4a and a female threaded portion 4b having opposite threads are formed inside the upper nine portions of the eleventh rod 4.

The second screw rod 5 has this female threaded portion 4b and male threaded portion 5a.
It is inserted into the first screw rod 4 so as to be screwed together.

In addition, one key groove 4 is provided in the axial direction on the outer circumference of the first screw rod 4.
C is engraved. The Oki Shukoku 1111 mechanism 8 includes a worm wheel 9 that is loosely fitted onto the first screw 4 at the thin thread all 3 a portion of the fixed cylinder 3 and is rotatably installed inside the worm wheel 9. The motor 11 rotates the worm 10 in forward and reverse directions. As shown in detail in FIG. 3, the worm wheel 9 and the first screw rod 4 are coupled so as not to rotate relative to each other by a key 12 engaged with the key iM 4 c. In addition, each universal joint G is
Figure 4; J3 J: and the second screw rod 5 as shown in Figure 5.
A ball joint 6a fixed to one end of the ball joint J
The pin 1-68 is slidably slidable in the axial direction, and the pin 6b is supported at both ends by an abbreviated pin receiver 6G fixed to the lower surface of the tip base 7. ing. Each of the three wooden bins 6b is formed parallel to each other, and one of the bins 6b (the topmost bin in Fig. 4) is extended to its pin holder 6C as shown in Fig. 6. Hole 6('' is also v'(':a).
1) and is mounted so as to be movable in a direction perpendicular to 1).

The arm mechanism thus formed is used, for example, as an arm member of a manibicolator, and other members may be C-connected to each base 1.7 using appropriate connecting means.

Next, the operation of this embodiment will be explained.

First, as shown in FIG. 7, when extending the arm with the distal end base 7 parallel to the proximal base 1, the motors 11 of each telescopic drive mechanism 8 are rotated at a constant speed in the same direction. J to this
: Each A-me wheel 9 rotates at a constant speed in the same direction via each A-me 10, and each first screw rod 4 also rotates at a constant speed in the same direction. At this point, the male screw portions 4a of the first screw rods 4 are screwed together (since the jilt screw portions 3a of the fixed tube 3 are in a fixed state, each of the first screw rods 4 extends upward while rotating.

On the other hand, each second gA rod 5 is in a non-rotatable state because its upper portion is connected to the tip base 7 via the universal joint 6. Therefore, the first screw +14 extends and rotates from A'C/J), and the second screw +15 extends upward from the first screw rod 4. In this case, each second screw rod 5 moves upward from each fixed image 3 at a constant speed, so that the first 0; 1: Heath 7 kl always maintains a state parallel to the proximal base 1. It can be stretched as it is.

On the other hand, each motor 11 is rotated at a constant speed in the opposite direction so that the screw rods 4 and 5 are contracted at a constant speed.

Next, as shown in FIG.
To avoid tilting the motor 1 of each telescopic drive mechanism 8
This is done by changing the drive of the second screw 5 of each telescoping rod 2 to make the length of extension of the second screw 5 of each telescoping rod 2 different. In this case, as shown in FIG. 9, as the tip base 7 inclines,
″1Iil between the centers of the ball joints 6a of each universal joint 6
liIth 0 is 1. It gradually changes from Oo to 91. However, in the case of J3 in this embodiment, each ball joint 6a slides on the bottle 6b in the axial direction, thereby absorbing this variation in the center-to-center distance. In addition, as shown in Fig. 6, in one universal joint 6, the pin 6b moves through the long hole 6d, and the change in center distance can also be absorbed. As a result, the tip base 7 can perform a full-angle tilting motion that allows it to freely tilt over the entire circumferential direction.

In this way, in this embodiment, the distal base 7 can be moved three-dimensionally relative to the proximal base 1, and the telescopic rod 2 can be extended and contracted by 1° from the shortest state to the longest state. The operating range is extremely wide, and it is suitable for use as the arm part of a manipulator, etc.

〔Effect of the invention〕

In this way, the arm structure of the present invention can extend and contract the length of the arm itself, can be connected to other members so as to be relatively movable in three dimensions, and can be contracted into a very small size. It is suitable for carrying in and out of C through a narrow entrance and exit, and since it is extended long, its operating range is wide, making it effective for use in manipulators etc. that need to avoid obstacles.

[Brief explanation of the drawing]

The drawings show an embodiment of the arm mechanism of the present invention, in which FIG. 1 is a partially cutaway side view, FIG. 2 is a cross-sectional view taken along line 1-11 in FIG. 1, and FIG. Fig. 4 is an enlarged sectional view taken along the line ■-■; Fig. 4 is an enlarged sectional view taken along the rv-tv line in Fig. 1;
The figure is an enlarged cross-sectional view taken along the line v-v in FIG. 4, FIG. 6 is an enlarged cross-sectional view taken along the line Vl-Vl in FIG. 4, FIG. The figure is a side view showing the tilted state, and FIG. 9 is a sectional view illustrating the movement state of the universal joint when it is tilted. DESCRIPTION OF SYMBOLS 1... Base end base, 2... Telescopic rod, 6... Universal joint, 7... Tip base, 8... Telescopic drive mechanism. Applicant's agent Ino II2 Kiyomi 1st mark 5 figure 7 Figure 4 6th mark

Claims (1)

[Scope of Claims] One or three sets of double-threaded telescoping rods are arranged in parallel on a proximal base, and the distal end base is attached to the tip of each of these telescoping rods via a universal joint, and the telescoping rods are expanded and contracted. A 1° arm mechanism characterized by a telescoping drive mechanism installed on each telescoping rod. 2. Each telescoping rod is provided at equal positions on the circumference, and the two sets of universal joints are connected so that they can move in the same direction with respect to the tip base, and the other set of universal joints 2. The arm mechanism according to claim 1, wherein the arm mechanism is connected to the distal end base so as to be movable in the moving direction and in a direction perpendicular thereto.