JPS63502734A - Grip hand for manipulator - Google Patents

Abstract

The gripping hand has a programming device on the arm and parallel to it a rigid connecting piece that has a coupling at the end away from the connecting piece. The end of the programming device awau from the arm is connected to the member of the hand facing the arm. The hand member is releasably connectable via the coupling to the connecting piece. The end of the programming device away from the arm has a scond coupling with which the programming device is releasably connected to the last member. The programming device has at least one sensor for each direction of movement of the arm.

Description

[Detailed description of the invention] Grip hand tree invention for manipulator is grip hand tree for manipulator. Regarding rip hands. The grip hand includes a plurality of hollow members imitating human hands. , the hollow members being articulated and interconnected with a positioning drive associated with each hollow member. The grip hand is reversibly driven by motion devices and sensors for programming A sensor detects the movement of the hollow member guided by the human hand inserted into the The sensor signal is carried out by a hollow member controlled by a separate positioning drive The grip hand program determines the grip hand programmable by the movement of the grip hunt when inserted into the handle The arm is arranged in an arm, and the arm is capable of translation and rotation in three axes perpendicular to each other. It has become a Noh performance.

Such a grip hand is described in International Publication No. WO3310224!3. There is. This grip hunt is articulated to a chest plate member carried by a trestle. It forms part of a manipulator that has several arm members imitating human arms. ing. A trestle is an articulated structure whose remote end rests on a rigid support. It is located above the department. Roller chain between its rigid support and grip hunt , a positioning drive and at least one sensor are associated with each chain link. It is carried. For programming manipulators and grip hands First, a person positions himself or herself on the gantry and performs the actions to be programmed. This movement The work consists of sensors that work with each part of the Grip Hunt and a sensor that works with the chain joint. sensors, and the signals generated by these sensors are recorded. and , in each case the manipulator is controlled via the positioning drive - and grip hand determine the action to be performed.

The manipulator is specially constructed.

More manifolds configured according to the method of 4 or 5 interlocking units purator is known. Such manipulators are used in Austria, for example. This is shown in African Patent No. 3655103. Program manipulator movement These manipulators are equipped with programmable grips to allow It is known that The program grip is the final component of the manipulator. will be placed. During programming, actuating the program grip will cause this The sensor generates a signal and this signal is recorded. This signal is simultaneously manipulated. The controller controls the positioning drive of the controller and has a program grip. Allows the final member of the nipulator to follow the desired path of motion. The above Stria Patent No. 365503 describes two examples of such a program grip. Examples are shown.

The problem is that the manipulation of the grip hand is programmed at the same time. The part of the manipulator where the controller is programmed and the grip hand is attached. Grip Hands - connect the two phands to a random manipulator.

This problem is solved by the characteristic structure set forth in claim 1. favorable response The uses may be recalled from the dependent claims.

Means for solving this problem will be explained below.

Each part of the grip hand is linked to a sensor.

The sensor cooperates with each member of the grip hand when it is moved by the hand. Detects the movement of members. This record of sensor signals is then linked to each of these members. control the associated positioning drive device.

It cannot be moved manually, and the movement during programming is performed by the positioning drive. The manipulator triggered by the programmed grip is performed in a different way. be exposed. Sensors placed inside the program grip detect hand-initiated movements. and converts them into electrical signals. These electrical signals are coordinate transformed and The control signals for the individual positioning drives of the controller are derived e.g. , if a vertical movement is performed, the sensor associated with this vertical movement is emits a signal which, after conversion, causes one or more of the cooperative relationships to cause vertical motion. This becomes a control signal that controls the positioning drive device.

The present invention combines these separate programming methods.

Two embodiments will be described below based on the drawings.

Figure 1 shows the gripping hand partially shown in cross section, and shows the grip hand on the manipulator. The connecting portion is provided with programming means according to the first embodiment.

FIG. 2 is a schematic diagram of the connecting section using a programming means according to a second embodiment.

The configuration and operation of the grip hand l are detailed in International Publication No. WO33102249. Described and illustrated. Therefore, only the operation of the thumb tip member 2 will be described below. shall be.

The thumb tip member 2 is connected to the intermediate finger member 4 by a joint or articulation 3. . Bowden cables 5 are installed on both sides of joint 3. , 6 are installed, and each Bowden cable 5.6 is a cylinder with a piston. The hydraulic positioning drive device 7 is extended to and fixed to the hydraulic positioning drive device 7. individual bode A sensor 8 that detects the movement of the cable is linked to the positioning drive device 7.

Insert your hand into the grip hand l to program. for this purpose Each member of the grip hand l is hollow. When you move your thumb, you can say 5, for example, your parents. The movement of the finger tip member 2 is transmitted to a sensor 8 linked to Bowden cables 5 and 6. , the signal is recorded. When the grip hand is activated, these signals are For example, the finger tip member 2 controls the positioning drive device 7 that cooperates with the cables 5 and 6. Execute the action previously performed by the grip hand and now programmed.

All positioning drives 7 and sensors 8 are arranged in the hand rear part 9.

The end of the arm of the random manipulator is designated by lO, and this arm Connected to the program end 10 is a program means 11, the structure of which will be explained below.

A coupling member 27 is provided at the end of the programming means ll on the side remote from the arm end IO. The connecting member 27 connects the end of the programming means 11 to the hand rear member. It can be connected to 9. Arm end 1 parallel to programming means 11 A rigid connection 12 fixed at o is formed. °Away from arm end 1o At its end on the side, the connecting part 12 is connected to a connecting member 14 via a connecting member 13. This is then connected to the hand rear member 9 via the coupling member 15.

For the purpose of the program, the coupling member 15 is released and preferably the coupling By removing the material 13, the connecting member 14 is removed, and the hand rear member 9 and the connecting portion 12 are removed. and are not connected. However, the hand rear member 9 connects the coupling member 27. It is connected to programming means 11 via. Human hand 16 is grip hand l When inserted into the computer, its operation is transferred to the programming means 11 via the coupling member 27. be done. Therefore, as mentioned above, each member of the grip hand is programmable. There is also a manipulator in which the grip hand 1 is connected to the arm end 10. The controller will also be programmable. Programming the manipulator is This is done by ram means 11.

Once programming is complete, coupling member 14 is reinserted and hand rear member 9 is connected to the connecting part 12. through the connecting member 13.15. Therefore, it is firmly connected to the arm end 1o. tied. The signal emitted by the sensor of the programming means 11 is the recorded control It is converted as a signal and controls the positioning drive of the manipulator. However, Therefore, the movement of the arm end lO is given in advance by the human hand 16. Guri The finger tip member of the top hand is controlled by the sensor 8 emitted during programming. This is done by the positioning drive 7 as a function of prerecorded signals.

The connection between the arm end lO and the programming means 11 is preferably removable; A coupling member 17 is used for this purpose. The coupling member 27 is attached at the end of the programming process. Then, prior to insertion of the coupling member 14, it is released and the grip hand l is removed.

The programming means 11 is removed from the arm end 10 by removing the coupling member 17. can be used to program another manipulator. The above street The grip hand l is then connected via the coupling member 13.15 and the coupling member 14. 12.

In Figure 1, Austrian Patent No. 350503 shows the grip as a program grip. A programming means 11 as described is used. This program Lip 11 has an inner member 18 fixedly connected to arm end 10 . inside The member 18 is surrounded by a sleeve 19 which is fixedly connected to the coupling member 27. pickpocket Between the cable l9 and the inner member 18 are leaf springs 21, 21'.

26 are provided. Each leaf spring is disposed at one end in the inner member 18 and at the other end. It has a pole that engages a support member fixedly connected to the sleeve 19. 2 pieces A sensor is associated with each leaf spring. The coordinate center of the programming means 11 is indicated by the reference numeral 20. has been done. Programming in the X-axis direction will be explained below.

Two leaf springs 21, 21' are connected to the inner member 18, and these leaf springs 21, 21' ’ is 0, which is arranged perpendicularly to the X-axis direction on each side of the coordinate center 20. The poles of both leaf springs 21, 21' have supports connected to the sleeve 19 on each side. It is surrounded by materials 22.22' and 23.23'. On both sides of the leaf spring 21 Sensors 24, 24' are arranged, and sensors 25, 2 are arranged on both sides of the leaf spring 21'. 5' is provided. When the movement in the X direction is performed, the leaf springs 21, 21' When turning, sensors 24 and 25 give signals of the same magnitude, but sensor 24 ', 25' emits a different signal from the same magnitude signal in the opposite direction.

However, when the human hand 16 rotates around the Z axis by the amount dz, the sensors 24, 2 5' emits a signal of the same magnitude, and this signal is transmitted to the sensors 24' and 25 of the same magnitude. Different from traffic lights. In the case of the movement in the X-axis direction and dz above, the movement in the Y-axis direction is detected. There is no effect on the leaf spring 26, which is known to the user. Other configurations and functions of the program means are described above. This can be understood from Austrian Patent No. 365503 mentioned above.

The programming means 11 shown in FIG. The sensors are arranged in a comparable manner for standard parallel packing. In each case, a pair of sensors is associated with the direction of motion, and the direction of movement of this pair of sensors is will now emit a signal when a motion is performed in the motion direction associated with it. ing. The programming means 11' shown schematically in FIG. 2 differs from this. Ru. In this embodiment, one side of the first leaf spring 28 that cooperates with the sensor is attached to the arm end lO. and the other side is connected to a connecting member. This connecting member is extended with senna and A cooperating second leaf spring 29 is provided, the plane of which is the same as the plane of leaf spring 28. It is at a right angle. This leaf spring 29 is further connected to a leaf spring 30 via a connecting member. The plane of this leaf spring 30 is perpendicular to the plane of the leaf springs 28, 29.

This leaf spring 30 is then connected to a coupling member 27 . to the programming means 11' When a movement of the hand 16 is initiated via the coupling member 27 while the leaf springs 28, 29 . Sensors associated with 30 emit signals which are superimposed on each other in the direction of motion. 0 For example, in the case of movement around the Z axis, the leaf springs 28 and 30 bend to correspond to this. The sensor emits a signal that subsequently needs to be deinteracted.

The programming means 11 is provided with a pushbutton switch 31. Chi31 is the dead switch, the other side of the person who works as Chi and programs during the program. It is operated with one finger of the hand. If the manipulator malfunctions during programming When this occurs, all drives of the manipulator are released by releasing the push button switch The movement will be stopped immediately.

Disgusted words and judgment by the court ANNEX To”L:IXrNTERNATIONAM5EARCHREP ORT ON

Claims (9)

[Claims] 1. It has a plurality of hollow members resembling a human hand, the hollow members being articulated and interconnected. and is reversibly driven by a positioning drive device and sensor that cooperate with each hollow member. , guided by a human hand inserted into the grip hand for programming A sensor detects the movement of the hollow member, and the signal from the sensor is sent to a separate positioning drive. Determine the program executed by the hollow member that is more controlled and the grip handle grip hand when the human hand performing the action is inserted into the grip hand. The movement of the hand positions the arms in a programmable manner, and the arms are perpendicular to each other. Grip for manipulators capable of straight 3-axis translation and rotational movement In Puhand, Said arm (10) has a programming means (11, 11') and a rigid parallel thereto. A connecting portion (12) is provided, the connecting portion (12) on the side remote from the arm (10). The end has a first coupling member (15) and the programmer on the side remote from the arm (10). The end of the arm means (11, 11') has a gripping hand (1) facing the arm (10). is connected to a final member (9) of said first connecting member (15), said final member (9) A manipulator characterized in that the manipulator is removably connected to the rigid connecting part (12) through the Grip hand for controllers. 2. At the end of the programming means (11, 11') on the side remote from the arm (10) 2 coupling members (27), by means of which the programming means (11, 11') as claimed in claim 1, characterized in that it is removably connected to the final member (9). Grip hand included. 3. Programming means (11, 11') are removably connected to the arm (10). The grip hand according to claim 1 or 2, characterized in that: 4. There are fewer programming means (11, 11') for each direction of movement of the arm (10). Must have at least one sensor (e.g. 24, 24', 25, 25') The grip handle according to any one of claims 1 to 3, characterized in that: Do. 5. The connecting portion (12) is connected to the connecting portion (12) via the third connecting member (13). This means that the triangular coupling member (14) that supports the first coupling member 15 is supported. A grip hand according to claim 3. 6. The coupling member (13, 15, 27) is a screw coupling member. A grip hand according to any one of claims 1 to 5. 7. Claim 1, characterized in that said final member (9) is a hand rear part. The grip hand according to any one of Items 1 to 6. 8. Said programming means (11) comprises an inner part ( 18) and a sleeve (19) that wraps and engages the inner portion (18); A loop (19) is connectable to said final member (19) and includes a sensor (e.g. 24, 24', 25, 25') are arranged between the inner part (18) and the sleeve (19). The grid according to any one of claims 1 to 7, characterized in that hand. 9. A pushbutton switch (31) is arranged on the programming means (11, 11') The grid according to any one of claims 1 to 8, characterized in that hand.