JPS63102886A - Rope drive type manipulator - Google Patents

Abstract

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

Description

[Detailed Description of the Invention] [Object of the Invention] (Industrial Application Field) The present invention relates to a rope-driven manipulator, and the present invention relates to a rope-driven manipulator that allows an effector to be attached and detached without impairing the characteristics of the rope-driven type. Regarding expression manipulators.

(Prior Art) As is well known, some manipulators have a power source such as a motor built into the arm, and others have the power source concentrated at the base of the arm.

An arm with a built-in power source not only has a thicker arm diameter, but also inevitably becomes heavier.

So this type of thing.

Not suitable for detailed work in confined spaces. on the other hand.

The power source is concentrated at the base of the arm.

The entire arm can be made thinner, and the weight of the arm can also be reduced. Therefore, it can be said that this type is suitable for detailed work in narrow spaces.

Manipulators in which the power source is concentrated at the base of the arm are classified into torque tube drive type, rope drive type, parallel link drive type, gear drive type, etc. depending on the power transmission element used. Among these, the rope-driven type has the inherent advantages of being able to significantly reduce the weight of the arm and smoothing out its movements.

By the way, rope-driven manipulators generally have a power source concentrated at the base of the arm.

It is constructed as shown in FIG. Namely.

Shoulder part (root part) 1, upper WI joint part, and upper arm part 3.

An arm 7 is constructed by connecting an elbow joint 4, a forearm 5, and one wrist interjoint 6 in series, and an effector, in this example, a hand 8, is attached to the tip of the wrist joint 6. Power sources 9a, 9b, . . . , represented by motors necessary for moving each arm and each joint, are located near the shoulder 1.
9g, and the rotational power given from these power sources 9a, 9b, . In FIG. 8(b), solid line arrows indicate allowable movable directions of each part.

The hand portion 8 is typically as shown in FIG.

The rope 11 extending from the arm 7 side is wound around the pulley 12 to rotate the pulley 12, and the pulley 12 rotates the gears 13 and 14 that are meshed with each other in the opposite direction, and the gears 13 and 14 rotate the parallel links 15 and 16. The parallel links 15 and 16 are configured to open and close the finger portions 17 and 18 by moving the finger portions linearly.

However, the conventional rope-driven manipulator configured as described above has the following problems. That is, the more types of work that can be performed with the manipulator, the more the range of use of the manipulator can be expanded. but,
It is usually difficult to perform all of these operations with a simple opening/closing hand. Therefore, it is desirable to be able to selectively use dedicated tools, that is, dedicated effectors, for each of the two types of work.

However, in the conventional rope-driven manipulator, the loaf 11 is extended to the hand part 8, and the rope 11 is used to rotate the pulley 12 that drives the parallel link 15, 16, so that it can be disassembled modularly.
It is difficult to assemble, and because of this, there is a problem in that a plurality of types of effect devices cannot be selectively attached to the hand section 8.

(Problems to be Solved by the Invention) As described above, the conventional rope-driven manipulator has a problem in that there are only a few types of work that can be performed.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a rope-driven manipulator that allows the effector to be freely replaced without impairing the characteristics of the rope-driven manipulator, thereby contributing to expanding the working range of the manipulator.

[Structure of the Invention] (Means for Solving the Problems) The rope-driven manipulator according to the present invention includes a hand base attached to the distal end side of one wrist joint, and a rope rotatably supported by the hand base. A rotation transmission mechanism includes a pulley that rotates with power transmitted through the pulley, and a rotation transmission mechanism that is rotatably supported by the hand base with the axis of the pulley perpendicular to the axis of the pulley, and has a meshing part at the tip. and.

A bevel gear mechanism is provided between the rotation transmission mechanism and the pulley and transmits the rotation of the pulley to the rotation transmission mechanism, and a rotation force receiving part that can mesh with the meshing part of the rotation transmission mechanism is provided. The rotational force receiving part meshes with the meshing part when selectively connected to the hand base, and the effector is operated by the power transmitted through the rotation transmission mechanism.

The above configuration will be explained as follows using the schematic diagram shown in FIG. 1 in which a hand portion is attached as an effector. That is, both ends of the loaf 21 for power transmission extending from the arm side are wound around pulleys 22a and 22b, and the movement of the loaf 21 causes the pulley 22a to move.

22b are rotated in opposite directions. Each booly 22a,
Umbrella mg for 22b! 23a, -23b are coaxially connected, and the axis of these bevel gears 23a, 23b is connected to the pulley 2.
It meshes with a bevel gear 24 that is perpendicular to the axes of 2a and 22b. One end of the shaft 25 is connected to the offer 1124,
A bevel gear 26 is connected to the other end of the shaft 25.

The bevel gear 26 is connected to the parallel link 2 with the shaft 27 as a fulcrum.
8a.

It meshes with bevel gears 29a and 29b that drive gear 28b. The parallel links 28a, 28b have finger portions 30a, 30.
b is installed. With this configuration.

When the loaf 21 is moved in the direction shown by the solid line arrow in the figure,
The bevel gears 29a, 29b rotate in the direction indicated by the solid line arrow in the figure, and as a result, the fingers 30a, 30b move in the closing direction. When the loaf 21 is moved in the opposite direction to the above case, the finger portions 30a.

30b moves in the opening direction. In such a configuration, two aspects of the present invention include the intermediate portion of the shaft 25 or the bevel gear 26 and the bevel gear 2.
9a, 29t) can be separated in the axial direction, allowing the effector side to be attached and detached.

(Function) It becomes possible to perform the work by attaching the most suitable effect device to the work. In this case, there is no need to make any changes to the arm side, so the characteristics of the rope drive type are not impaired.

(Example) Examples will be described below.

FIG. 2 shows only the distal end of the wrist joint in a rope-driven manipulator according to an embodiment of the present invention, and the same parts as in FIG. 1 are designated by the same reference numerals. Therefore, detailed explanation of the two overlapping parts will be omitted. In the same figure.

31 is a housing-like hand base fixed to the wrist joint. Inside this handle base 31 are pulleys 22a, 22b and a bevel gear 23a.

23b (however, the pulley 22b and bevel gear 23b are not shown) is housed coaxially and rotatably. Furthermore, a bevel gear 24 that meshes with the bevel gears 23a and 23b is disposed within the hand base 31 with its axis line perpendicular to the axes of the pulleys 22a and 22b. connected to one end. Axis 25 is hand base 3
1 through a bearing 32, and the other end protrudes outside the hand base 31. And axis 25
A male portion 33 constituting a spline engagement mechanism is formed at the distal end portion of the hand base 31 that protrudes outside.

In the figure, reference numeral 34 indicates a hand portion as an effector selectively connected to the hand base 31 and the shaft 25. The hand portion 34 includes a holder 35 that is connected to the hand base 31 via a connection mechanism (not shown). A bevel gear 26 is rotatably mounted on this holder 35 via a bearing 36. The bevel gear 26 is mounted so as to be coaxial with the shaft 25 when the holder 35 is fixed to the hand base 31, and the portion located on the shaft 25 side has the shaft 2.
A female part 37 is formed into which the male part 33 provided in the second part 5 is fitted, and together with the male part 33 constitutes a spline engagement mechanism. And the umbrella 1!1l126 has parallel links 28a, 2
It meshes with semicircular bevel gears 29a and 29b that drive gear 8b.

With this configuration, the boundary between the shaft 25 and the bevel gear 26 serves as an axial fitting mechanism, so that the hand portion 3 can be connected from the hand base 31 side as shown in FIG.
4 can be removed to IIJI. In other words, it becomes possible to replace the effector. FIG. 4 shows the hand section 34.
5 shows a state in which a hexagonal spanner part 41 is attached in place of , and FIG. 5 shows a state in which this is removed.

In this way, the effect device is removable.

You can selectively install the effector suitable for your work.

Therefore, the working range of the rope-driven manipulator can be greatly expanded. In this case, since no mechanism requiring high precision is used, the configuration does not become complicated. Furthermore, since there is no need to change the configuration of the arm side, the characteristics of the rope drive type can be maximized.

Note that the present invention is not limited to the embodiments described above. That is, in the embodiment described above, the effector side is separated at the shaft 25, but as shown in FIGS. 6 and 7, the meshing portion between the bevel gear 26 and the bevel gears 29a and 29b is The hand portion 34a, that is, the effector may be separated. Further, the bearing 32 may be sealed to prevent deafening dust and the like from entering the hand base 31.

[Effects of the Invention] As described above, according to the present invention, it is possible to use effectors suitable for various types of work without impairing the special advantages of the rope-driven type, and the range of work can be greatly expanded. A rope-driven manipulator can be provided.

[Brief explanation of the drawing]

FIG. 1 is a schematic diagram of the distal side of the wrist joint in a rope-driven manipulator that is an essential part of the present invention, and FIG. 2 is a schematic diagram of the distal side of the wrist joint of the rope-driven manipulator according to an embodiment of the present invention. 3 is a diagram showing a state in which the hand part as an effector is removed from the tip part, and FIG. 4 is a diagram for explaining the state in which a hexagonal wrench part as an effector is attached to the tip part. , FIG. 5 is a diagram showing the state with the hexagonal wrench removed, FIG. 6 is a vertical sectional view of the main part of a rope-driven manipulator according to another embodiment of the present invention, and FIG. 7 is a diagram showing the main part of the rope-driven manipulator according to another embodiment of the present invention. FIG. 8 is a schematic diagram showing the general configuration of the rope-driven manipulator, and FIG. 9 is a schematic diagram illustrating the conventional configuration of the manipulator on the distal side of the wrist joint. It is. 6...Wrist joint part, 7...Arm, 9a, 9b,・
...9 to J...Power source, 10.22a, 22b.
...Pulley. 21... Rope, 23a, 23b, 24, 29a. 29b...Bevel gear, 25...Shaft, 31...Hand base. 33...Male part constituting the spline engagement mechanism, 34° 34a...Hand part as an effect device, 37...Female part constituting the spline engagement mechanism, 41...Hexagon spanner as an effect device Department. Applicant's agent Patent attorney Takehiko Suzue Figure 1 Figure 9

Claims (1)

[Claims] In a rope-driven manipulator that transmits power from multiple rotary power sources centrally located at the base to required locations via ropes and pulleys, the hand base and , a pulley rotatably supported by the hand base and rotated by power transmitted through a rope; a rotation transmission mechanism having a meshing part in the rotation transmission mechanism; a bevel gear mechanism provided between the rotation transmission mechanism and the pulley for transmitting the rotation of the pulley to the rotation transmission mechanism; and the meshing of the rotation transmission mechanism. The hand base has a rotational force receiving part that can be engaged with the engaging part, and upon selective connection to the hand base, the rotating force receiving part is engaged with the engaging part and the rotational force is transmitted via the rotation transmission mechanism. A rope-driven manipulator characterized in that it is equipped with an effector that operates with power.