JPS62166982A - Detachable adapter for robot 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] [Field of Application of the Invention] The present invention relates to an arm attachment/detachment mechanism for a manipulator for maintenance work in an atomic couplant, and particularly relates to an arm attachment/detachment mechanism for a manipulator for maintenance work in an atomic couplant, and in particular, a mechanism for connecting a plurality of modules of the same structure having a plurality of degrees of freedom. This invention relates to a mechanism for attaching and detaching a manipulator.

[Background of the invention]

Conventional attachment/detachment is as described in Japanese Utility Model Publication No. 58-23595.
A movable steel ball that can protrude an appropriate amount is mounted on the same circumference inside six holes through which holes for mounting the mounting/detaching device are provided. The attachment/detachment device is provided with an insertion portion, and a semicircular groove is formed on the same circumference on the outside of the insertion portion.

When the insertion part is inserted into the hole, the steel ball mounted inside the hole is inserted into this semicircular groove and relocked. but,
In this case, the mechanism was only connected to and removed from the mechanism, and did not take into account the connection and removal of electrical signal lines.

[Purpose of the invention]

An object of the present invention is to provide a suitable means for attaching and detaching a robot arm, particularly when arbitrarily connecting a plurality of modules having the same structure and having a plurality of degrees of freedom.

[Summary of the invention]

In order to improve the maintainability of the arm, an arm 11 is being considered in which a plurality of modules having the same structure and having a plurality of degrees of freedom are connected. FIG. 7 shows one example. In this case, three modules, modules 2, 3, and 4, are connected, and the hand 5 is connected to the tip of module 2. As shown in FIG.
The support body 11 has a total of two degrees of freedom (pitch) in which it rotates around the axis 14 with respect to the main body 10. A feature of the robot arm 1 composed of these modules 1, 3.4 is that if the arm 1 breaks down, it can be replaced and repaired in module units, so the maintainability of the arm 1 can be improved. 2,3.
The work space of the band 5 can be arbitrarily set by combining the connections of the bands 5 and 4. Figure 9 shows the combination.

In any of the combination states (a) to (d), the module 2 must be connected so that the roll 16 is on the hand 5 side. The reason is that pitch 1 is on the hand 5 side.
5, in a certain case, hand 5 is moved to axis 1.
This is because it cannot be rotated around 7. From the figure, it is essential that both the modules 2 and 34 be connected without directionality. One module shown in FIG. 8 has an electrical system shown in FIG. 10. The pitch 15 includes a one-chip microcomputer 27 for controlling the actuator 21, a position detection encoder 23, and a current amplifier 25. Roll 16, pinch 15
Similarly, actuator 22, one-chip microcomputer 28,
It is composed of a position detection encoder 24 and a current amplifier 26.

At this time, the actuators 21, 22 and the current amplifier 2
5.26 drive power line 30, one-chip microcomputer 2
7.28 and encoder 23.24 drive power line 2
9. The control input/output signal lines 31, 32, 27, 32, . . . and input/output data line 33 of the one-chip microcomputer are required. Accordingly, modules 2 and 3
．． In connection No. 4, not only the structures but also the electrical signal lines must be connected at the same time, and connection without directionality is required.

The present invention satisfies the above requirements by providing a module 2.
, 3.4 is a connecting adapter having locking rings at both ends.

[Embodiments of the invention]

An embodiment of the present invention will be described using one drawing.

FIG. 1 is a cross-sectional view of an adapter 30 that constitutes the main part of the present invention. The adapter 30 has rings 32 and 33 at both left and right ends of the main body 31. Ring 32° 33 is the main body 31
It is designed to be able to slide and rotate around the shaft 38 relative to the shaft 38. Also, in order to prevent the rings 32 and 33 from moving in the direction of the axis 38, grooves 32g and 33g provided on the inner circumference of the rings 32 and 33 are inserted into the main body. Convex portions 31a and 31b provided on the outer circumference of 31 are fitted into each other. Further, the main body 31 includes an electrical signal line connector main body 34 and a shaft 3.
It is fixed around 8.

Connector pin groups 36a and 36b for electrical signal lines are fixed to both ends of this connector body 34. In FIG. 2, the adapter body 31 has circular holes 35a, 35b, and 35c on the same circumference.

35d, 35e, and 35f pass through. Also, through holes 35a and 35 are provided at the same positions on the circumference of the rings 32 and 33.
b, 35c, 35d, 35e.

Arcuate grooves 33a, 33b along 35f.

33 c, , 33 d, 33 e, 33
f is provided. These through holes 35a, ~35f
, the arcuate grooves 33a to 33f, and the electrical signal connector pin groups 36a and 36b are all located in point symmetry with respect to the axis 38. As shown in FIG. 2, when the ring 33 is turned in the direction of the arrow, the arcuate grooves 33a to 33f are shifted to the left in the circumference, and the through holes 35a to 35f are partially engaged in the circumferential portion of the ring 33.

FIG. 3 shows coupling mechanisms provided at both ends of the module.

The module body 41 includes guide pins 41a, 41b,
41c, 41d, 41e, and 41f are the adapter main body 31
It is fixed at the same location as the through holes 35a to 35f provided in the. The guide pins 41a to 41f are provided with grooves 42a to 42f on a tangent to the circumference centered on the shaft 38b.

These grooves 42a to 42f are formed by guide pins 41a to 41
They lie in the same vertical plane in the axial direction of f. Further, the electrical signal line connector main body 44 is attached to the module main body 41 with a shaft 4.
It is fixed around 8.

The connector body 44 has a connector pin insertion hole group 46c.
is provided.

FIG. 4 is a schematic diagram of a case where the connection mechanism explained in FIG. 3 is provided at both ends of one module.

FIG. 5 shows a state in which modules 2 and 3 are connected with an adapter 31 provided between them.
The explanation will be made using the connection between the adapter 31 and the adapter 31.

The ring 33 is held in the state shown in FIG. 2(a) in advance, and the guide pins 41a~ fixed to the module 2 are
41f into the through holes 35a to 35f of the adapter body 31. At this time, the connector pin group 36a provided on the adapter 31 side is inserted into the connector pin insertion hole group 46c provided on the module 2. Electrical conduction between the connector pin and the connector pin insertion hole is achieved through a contact surface between the two. Guide pin 41 of through holes 35a to 35f'A
After the insertion of a to 41f is completed, insert the ring 33 into the second
Rotate in the direction of the arrow shown in the figure. Ring 33 at this time
The relationship between the guide pin 41a and the guide pin 41a is shown in detail in FIG.

When the ring 33 is rotated in the direction of the arrow, the guide pin 41a
A circumferential portion having no grooves other than the arcuate groove 33a provided on the inner circumferential portion of the ring 33 is fitted into the groove portion 42a provided on the inner circumferential portion of the ring 33, and the module is inserted through the guide pin 41a and the ring 33. 2 and the adapter 30 are fixed.

Communication between the module 3 and the adapter 30 is also carried out in the same manner as described above.

By using such an adapter 30, any combination of modules shown in FIG. 9 is possible.

〔Effect of the invention〕

According to the present invention, grooved guide pins are provided at both ends of the module;
Connector pin insertion hole for electrical signal line.

In addition, by using two sliding and rotatable rings on the adapter that has a guide pin insertion hole and a connector pin for electrical signal lines, it is possible to connect modules without directionality, and the modules can be rearranged at will. This has the effect that the work space of the robot arm can be arbitrarily selected depending on the work content.

[Brief explanation of drawings]

Fig. 1 is a sectional view showing an embodiment of the present invention, Figs. 2 and 3 are schematic diagrams showing an embodiment of the invention, and Fig. 4 is a configuration diagram of an embodiment in which the present invention is applied to a module. , FIG. 5 is a sectional view of an example of connection between a module and an adapter, FIG. 6 is a detailed view of the present invention, FIG. 7 is a schematic diagram of a robot arm, FIG. 8 is a schematic diagram of a module, and FIG. 9 is a robot FIG. 10, which is an explanatory diagram of the arrangement of degrees of freedom of the arm, is an electrical system diagram in one module. 1... Robot arm, 2-4... Module, 3
0...Adapter, 31...Adapter body, 42a~
42f...Guide pin groove.

Claims (1)

[Claims] 1. Modules of the same structure with multiple degrees of freedom,
A detachable adapter for a robot arm, characterized in that a plurality of connected robot arms has two sliding and rotatable rings.