JP5428097B2 - Robot hand - Google Patents

Description

  The present invention relates to a robot hand attached to an arm mechanism of a manipulator.

  Conventionally, manipulators that replace human work have been introduced in various fields such as the manufacturing field and the medical field. Such a manipulator includes an arm mechanism whose posture can be changed, and a work tool attached to the tip of the arm mechanism. By changing the posture of the arm mechanism, the work tool attached to the tip of the arm mechanism is moved to the work position. Can be placed in.

  By the way, various types of work tools according to work contents are provided, and as one of them, robot hands that hold an object to be gripped are widely used.

  Such a robot hand has two or more gripping bodies arranged at regular intervals or substantially equal intervals around a planned gripping object placement position at which the gripped object is placed, and each gripping body at the center of the planned gripping object placement position. And a drive unit that is moved toward the vehicle.

  The drive unit includes a drive source such as a motor that outputs rotation and an actuator that outputs linear motion, and a drive mechanism that moves the gripper in response to the output of the drive source. As a driving mechanism, a lever having a grip body connected to the tip, a support for supporting the lever so as to be rotatable around a predetermined axis, and a base end side of the lever are operatively connected to each other. And a moving body provided to be movable in a direction orthogonal to the axis (an axial direction passing through the center of the position where the object is to be grasped) is provided (for example, see Patent Documents 1 and 2). ).

  In the drive unit, the drive source is fixed directly or indirectly to the support body to move the moving body in the axial direction, and the moving body rotates the end portion on the base end side with respect to the rotation center of the lever. It is supported so as to be able to be supported, or is rotatably connected to a link body that is rotatably connected to an intermediate position of the lever. This type of drive unit is connected to a moving body of a rod of an actuator (for example, an electric cylinder or an air cylinder) that outputs a linear motion, or to a male screw body that rotates with the output of a motor that is a drive source. The moving body is screwed or the like, and the moving body is configured to reciprocate in a direction orthogonal to the axis that is the rotation center of the lever in response to the output of the drive source.

  As a result, this type of robot hand rotates the lever around the axis by moving the moving body with the output (drive) of the drive source, and the gripping body connected to the tip of the lever is to be placed on the object to be gripped. It moves to the center side of the position.

  This type of robot hand is provided with a configuration in which each gripping body is rotated about the center of the object-to-be-held placement position set between the gripping bodies as a rotation center (for example, Patent Document 2).

  In such a robot hand, when the gripping body is rotated, the driving source is rotated together with the support body, and the energy supply line such as the power cable and the air hose connected to the driving source is twisted as the entire driving source is rotated. A rotary joint is interposed in the middle of the energy supply line, assuming that the body cannot be rotated indefinitely. In other words, the robot hand having the above-described configuration is provided with a rotary joint in the energy supply line, thereby preventing the energy supply line from being twisted and allowing continuous rotation of the support and the drive source. Yes.

JP 60-39089 A Japanese Utility Model Publication No. 3-65687

  However, if a rotary joint is interposed in the middle of the energy supply line connected to the drive source, it causes a trouble. That is, when the energy supply line is a power cable, contact failure is likely to occur at the rotary joint, and when the energy supply line is an air hose, air leakage is likely to occur at the rotary joint. In this case, the object to be grasped may not be grasped.

  In particular, when used in fields that require urgency, such as rescue robots that are remotely operated by workers (robots used in environments where workers are difficult to approach), the configuration that causes failure of the robot hand is eliminated. It is required to do. In addition, as described above, if a rotary joint is provided in the middle of the energy supply line, the layout of each component in the robot hand is restricted, resulting in an increase in size, and each component is required to be compact as in a rescue robot. It will not be suitable in the field.

  Therefore, the present invention provides a robot hand in which a drive source for rotating a gripping body can be installed at a fixed position, and the gripping body can be rotated around the planned position of the object to be gripped without limitation. Let it be an issue.

  The robot hand according to the present invention includes two or more gripping bodies that are arranged at equal intervals or substantially equal intervals around a position where the object to be gripped is placed, and each gripping body is scheduled to be placed. A robot hand that is attached to an arm mechanism of a manipulator, and includes a first drive unit that moves toward the center of the position, and a second drive unit that rotates each gripping body around a position to be gripped. The first drive unit has a slide shaft extending in one direction, a drive source, slide means for reciprocating the slide shaft in the axial direction by the output of the drive source, and a rotary lever having a gripping body connected to the tip portion And a support body rotatably supported about an axis extending in a direction orthogonal to the slide shaft and rotatably provided around one end portion of the slide shaft in a state of being positioned at a predetermined position, The two drive units include a drive source and a transmission mechanism that transmits the output of the drive source to the support and rotates the support around the slide shaft. The slide shaft is a rotation lever supported by the support. An endless annular groove for accommodating the base end portion is formed on the outer periphery of the one end portion.

  According to the robot hand having the above-described configuration, when the slide shaft moves (slides) by the output of the drive source of the first drive unit (slide means), the base end portion of the rotary lever housed in the groove of the slide shaft is the slide shaft. It will be pushed and pulled in response to the movement. Therefore, when the slide shaft slides to the other end side, the base end portion of the rotary lever is pulled, the rotary lever rotates around the axis, and the gripping body connected to the tip end portion of the rotary lever is located at the position where the object is to be placed. It will move toward the center. On the other hand, when the slide shaft slides to one end, the base end of the rotating lever is pushed, the rotating lever rotates around the axis, and the gripping body connected to the tip of the rotating lever places the object to be gripped. It will move outward from the center of the planned position. Therefore, after the object to be grasped is arranged at the planned object arrangement position (between the objects to be grasped), and the object to be grasped is grasped by moving the object as described above, It is possible to switch to a state where the grip is released.

  Further, according to the robot hand having the above configuration, when the driving source of the second drive unit is operated in a state where the gripping body grips the object to be gripped or in a state where the gripping of the object to be gripped is released, the transmission mechanism is Thus, the output of the driving source is transmitted to the support, and the support rotates around the slide shaft. At this time, the rotating lever supported by the support rotates concentrically with the support. That is, in the robot hand having the above configuration, since the base end portion of the rotating lever is accommodated in an endless annular groove formed at one end portion of the slide shaft, the base end portion of the rotating lever slides when the support rotates. It moves in the circumferential direction within the groove of the shaft. Thus, the robot hand is supported by the support and connected to the tip of the rotary lever because the support can rotate without limitation (continuously) regardless of whether or not the object is held. The gripper can also rotate without limitation (continuously). As described above, since neither the drive source of the first drive unit nor the second drive unit is fixed to the rotating support, the energy supply line for supplying electric power or air to the drive source is not twisted. Therefore, a configuration that causes failure of the robot hand such as a contact failure on the energy supply line or air leakage is eliminated.

  As one aspect of the present invention, the slide shaft is formed with a hole opened on one end surface, and an image pickup device is provided in the hole, and the image pickup center of the image pickup device coincides with the center of the position where the object is to be held. Or it is preferable to be provided so that it may correspond substantially. In this way, it is possible to obtain an image with a clear positional relationship with the gripping body, and to easily grip the object to be gripped based on the image from the image sensor. Further, when grasping the object to be grasped, the image of the object to be grasped (image from the image sensor) can be moved to the center of the monitor, and the situation can be easily grasped.

  As another aspect of the present invention, the first drive unit includes a male screw body connected to the other end of the slide shaft, a screwing member screwed into the male screw body, a motor as a drive source, A transmission mechanism that transmits the output of the motor to the screwing member to rotate the screwing member may be provided. In this way, when the screwing member is rotated by the output of the drive source, the male screw body moves in the axial direction. Therefore, since the slide shaft connected to the male screw body also moves in the axial direction, the gripping body can be moved to smoothly switch between gripping and releasing the gripped object.

  As another aspect of the present invention, the transmission mechanism of the second drive unit preferably includes a torque guard that transmits an output torque of a motor as a drive source to a support body at a predetermined torque or less. In this way, it is possible to prevent the gripping body from being rotated more than necessary when the gripping body is to be rotated after gripping the object to be gripped. For example, when opening a closed door by operating the door knob, if the output of the drive source is transmitted to the support while maintaining the state where the door knob is held, the support rotates around the slide shaft, The rotating lever supported by the support also rotates integrally with the support and rotates around the slide shaft. When a predetermined load is applied, only a predetermined torque is applied to the support even if the drive source (motor) continues to rotate. It will be transmitted.

  Therefore, even if the door knob gripped by the gripping body is rotated to the rotation limit, the door knob is not further rotated, so that the door knob is not damaged and the door cannot be opened. In other words, since the rotation limit of the doorknob and the rotation range for unlocking vary depending on the manufacturer, if the rotation range of the gripping body is set to a certain range, excessive torque is applied to the doorknob at the rotation limit and the doorknob is damaged. Or the amount of rotation of the doorknob may be insufficient and the lock may not be released, but according to the above configuration, the gripping body can rotate indefinitely and the torque management of the gripping body is performed. Any manufacturer's doorknob can be opened without damage.

  As described above, according to the robot hand of the present invention, the drive source for rotating the gripping body can be installed at a fixed position, and the gripping body can be rotated around the planned object placement planned position without limitation. An excellent effect of being able to do so can be achieved.

1 shows an overall side view of a rescue robot equipped with a manipulator according to an embodiment of the present invention. FIG. It is the whole figure of the state which extended the arm mechanism of the rescue robot which concerns on the embodiment, (a) shows a side view, (B) shows a rear view. The longitudinal cross-sectional view of the arm body (1st arm body) which is one structure of the arm mechanism which concerns on the embodiment is shown. It is a general | schematic partial cross-sectional view of the arm mechanism which concerns on the same embodiment, Comprising: The general | schematic partial cross-sectional view containing the one end part and base of a 1st arm body is shown. The schematic partial cross-sectional view containing a part of connection base of the arm mechanism and work tool which concern on the embodiment is shown. The schematic partial cross-sectional view except the connection base of the work tool which concerns on the embodiment is shown.

  Hereinafter, a manipulator according to an embodiment of the present invention will be described with reference to the accompanying drawings. In the present embodiment, a case where the present invention is employed in a rescue robot introduced for rescue work at a disaster site will be described as an example.

  The rescue robot according to the present embodiment includes a traveling carriage 2 and a manipulator unit 3 mounted on the traveling carriage 2 as shown in FIGS. 1 and 2.

  The traveling carriage 2 includes a chassis frame 20 and a traveling device 21 connected to the chassis frame 20. Since the rescue robot 1 according to the present embodiment is required to travel in an inferior environment, the traveling cart 2 according to the present embodiment is provided as a traveling device 21 at four locations on the front, rear, left, and right sides of the chassis frame 20. A crawler (endless track) is provided. The crawler 21 is configured such that a crawler belt 23 is stretched over moving wheels 22 and 22 arranged at intervals in the front-rear direction, and the crawler belt 23 is rotated by the rotation of the moving wheels 22 and 22 so as to run. It has become. The crawler 21 according to the present embodiment is rotatable as a whole around one moving wheel 22, and the crawler belt 23 is grounded by changing the posture according to the traveling environment.

  The manipulator unit 3 includes a base 4 configured to be detachable from the chassis frame 20 of the traveling carriage 2 and a manipulator 5 mounted on the base 4. Further, the manipulator unit 3 according to the present embodiment has the suction device V mounted on one end portion of the base 4 that is on the front side when mounted on the traveling carriage 2.

  The base 4 is disposed on the chassis frame 20 of the traveling carriage 2 and is configured to be detachable from the chassis frame 20. A base 40 for connecting the manipulator 5 is attached to the upper surface of the base 4.

  The base 40 according to the present embodiment is connected to the main base 41 via a main base 41 fixed to the upper surface of the base 4 and a connecting shaft 42 extending in a direction coinciding with the front-rear direction of the traveling carriage 2. A sub-base 43. The sub-base 43 is tilted about the connecting shaft 42 by receiving a drive from a drive source (not shown) mounted on the base 4. That is, the sub-base 43 tilts in a direction (left-right width direction) orthogonal to a direction that coincides with the front-rear direction of the traveling carriage 2.

  The manipulator 5 includes at least one arm body 500, 501 extending in one direction, the base end portion is connected to the base 40, and the arm mechanism 50 to which the work tool 6 is mounted at the front end portion; Arm driving mechanisms 51 and 52 (see FIG. 3) for changing the posture of the arm mechanism 50 are provided.

  The arm bodies 500 and 501 are connected to the proximal end side member 40 (43) and the distal end side members 6 and 501 via shafts S1 and S2 whose both ends extend in the other direction orthogonal to one direction. The connected arm bodies 500 and 501 and members connected to both ends of the arm bodies 500 and 501 are configured to be relatively rotatable about the axes S1 and S2.

  The arm mechanism 50 according to the present embodiment includes two arm bodies 500 and 501 as shown in FIGS. 2 (a) and 2 (b). Each arm body 500, 501 is formed in a box shape having a longitudinal direction in one direction. The two arm bodies 500 and 501 are connected so that relative rotation is possible around an axis S <b> 2 in which one end portion extends in another direction orthogonal to one direction. Therefore, in the arm mechanism 50 according to the present embodiment, one arm body (hereinafter referred to as a first arm body) 500 is connected to the base 40 and the other arm body (hereinafter referred to as a second arm body) 501 is operated. A tool 6 is attached. More specifically, in the arm mechanism 50 according to the present embodiment, one end of the first arm body 500 in the longitudinal direction is connected to the base 40 (sub-base 43), and the first arm body 500 is connected. The other end portion in the longitudinal direction of the second arm body 501 is connected to one end portion in the longitudinal direction of the second arm body 501 as a member on the distal end side. In the arm mechanism 50, the work tool 6 that is a member on the distal end side is connected to the other end of the second arm body 501.

  As shown in FIG. 3, the arm drive mechanisms 51 and 52 are housed in an arm body 500 that constitutes the arm mechanism 50. In the manipulator 5 according to the present embodiment, arm drive mechanisms 51 and 52 are housed in a first arm body 500 located on the most proximal side of the arm mechanism 50. More specifically, the manipulator 5 according to the present embodiment includes two sets of arm drive mechanisms 51 and 52, and one arm drive mechanism (hereinafter referred to as a first arm drive mechanism) 51 is the first arm body 500. The other arm drive mechanism (hereinafter referred to as the second arm drive mechanism) 52 is disposed on one end side (the base end side of the arm mechanism 50) of the first arm body 500. Is arranged on the tip side).

  The first arm drive mechanism 51 and the second arm drive mechanism 52 are arranged around one axis (longitudinal direction of the first arm body 500) with an interval and can rotate around an axis extending in the other direction orthogonal to the one direction. A pair of rotating bodies (hereinafter, one rotating body is referred to as a first rotating body 510, 520, and the other rotating body is referred to as a second rotating body 511, 521) 510, 520, 511, 521; Endless annular bodies (hereinafter referred to as drive belts) 512 and 522 spanned between the first rotary bodies 510 and 520 and the second rotary bodies 511 and 521, and screw shafts 513 and 523 that are rotationally driven by the drive motors M1 and M2. And sliders 514 and 524, which are screwed onto the screw shafts 513 and 523 and to which part of the drive belts 512 and 522 are fixed.

  The first arm driving mechanism 51 and the second arm driving mechanism 52 are configured to ensure that the rotational force of the driving belts 512 and 522 is transmitted to the first rotating bodies 510 and 520 and the second rotating bodies 511 and 521. , 522 is a toothed belt. Accordingly, toothed pulleys are adopted for the first rotating bodies 510 and 520 and the second rotating bodies 511 and 521. The first arm drive mechanism 51 and the second arm drive mechanism 52 employ trapezoidal screws as a screw structure for screwing the screw shafts 513 and 523 and the sliders 514 and 524 together. That is, the screw shafts 513 and 523 are formed with male screws made of trapezoidal screws, and the sliders 514 and 524 are formed with female screws made of trapezoidal screws.

  In the first arm driving mechanism 51 and the second arm driving mechanism 52, the second rotating bodies 511 and 521 are set to have a smaller diameter than the first rotating bodies 510 and 520. And the 1st arm drive mechanism 51 and the 2nd arm drive mechanism 52 are two opposing parts 512a and 512b between the 1st rotary body 510 and 520 of the drive belt 512,522 and the 2nd rotary body 511,521. , 522a and 522b, the outer peripheral side of one of the opposing portions 512a and 522a is wound around, and the amount of winding of the drive belts 512 and 522 around the first rotating bodies 510 and 520 is set to a half or more, so that the two opposing portions 512a and 512b. , 522a and 522b are provided with idlers (hereinafter referred to as first idlers) 515 and 525 that make them parallel or substantially parallel.

  The first arm driving mechanism 51 and the second arm driving mechanism 52 are configured so that the screw shafts 513 and 523 are parallel or substantially parallel to the facing portions 512a, 512b, 522a, and 522b, and the outer peripheral surfaces of the one facing portions 512a and 522a. Are arranged to face each other.

  In the first arm driving mechanism 51 and the second arm driving mechanism 52, the first rotating bodies 510 and 520 are disposed at the ends of the arm bodies 500 and 501, and the first rotating bodies 510 and 520 and the second rotating body 511 are disposed. , 521, the outer peripheral surface of the other facing portion 512b, 522b of the two facing portions 512a, 512b, 522a, 522b in the drive belts 512, 522 is wound around the first rotating body 510, 520. Other idlers (hereinafter referred to as second idlers) 516 and 526 that increase the amount of winding of the drive belts 512 and 522 are provided.

  Accordingly, the drive motors M1 and M2 are coupled so that the output shafts are concentric with the screw shafts 513 and 523, and connect between the centers of the first rotating bodies 510 and 520 at both ends of the arm body 500. They are arranged symmetrically with the screw shafts 513 and 523 of the arm drive mechanisms 51 and 52 on the opposite side with respect to an imaginary line (not shown).

  That is, in the manipulator 5 according to the present embodiment, the drive motors M1 and M2 of the different arm drive mechanisms 51 and 52 and the screw shafts 513 and 523 are arranged in a symmetrical region with respect to the virtual line. Therefore, in the present embodiment, the drive motor M1 of the first arm drive mechanism 51 drives the second arm drive mechanism 52 in the region on the other end side of the first arm body 500 where the second arm drive mechanism 52 is disposed. A first arm body 500 in which the first arm drive mechanism 51 is disposed is arranged symmetrically with the screw shaft 523 of the second arm drive mechanism 52 across the belt 522. Is disposed symmetrically with the screw shaft 513 of the first arm drive mechanism 51 with the drive belt 512 of the first arm drive mechanism 51 interposed therebetween.

  Here, each of the first arm driving mechanism 51 and the second arm driving mechanism 52 will be described in detail. The first arm driving mechanism 51 has an axis (the center of rotation of the first rotating body 510 (see FIG. 4)). (Hereinafter referred to as the first joint axis) S1. The first joint axis S1 connects the first arm body 500 and a base 40 (sub-base 43) that is a member on the base end side so as to be relatively rotatable. That is, the first arm body 500 and the base 40 (sub base 43) are connected via the first joint axis S1.

  More specifically, the first joint axis S <b> 1 extends in the other direction orthogonal to the longitudinal direction of the first arm body 500. The first joint shaft S1 is connected to a first rotating body 510 disposed in the first arm body 500, and is rotatable with respect to the first arm body 500 via a bearing (not numbered). While being pivotally supported, it protrudes outward from the first arm body 500 and is fixed to the base 40 (sub-base 43). That is, the first joint shaft S <b> 1 has a base end portion fixed to the base 40 (sub base 43) and extends outward, and is rotatably inserted into the side wall portion of the first arm body 500. In addition, the first rotating body 510 of the first arm drive mechanism 51 is concentrically connected to the distal end portion in the first arm body 500. Thus, the first arm drive mechanism 51 transmits the rotational force of the first rotating body 510 due to the rotation of the driving belts 512 and 522 to the base 40 (sub-base 43), and the arm bodies 500 and 501 are transmitted to the first joint. It is designed to rotate (tilt) around the axis S1.

  On the other hand, as shown in FIG. 5, the second arm drive mechanism 52 includes an axis (hereinafter referred to as a second joint axis S2) that serves as the rotation center of the first rotating body 520. The second joint axis S2 connects the first arm body 500 and the second arm body 501 that is a member on the distal end side so as to be relatively rotatable.

  More specifically, the second joint axis S <b> 2 extends in the other direction orthogonal to the longitudinal direction of the first arm body 500. That is, the second joint axis S2 extends in the same direction as the first joint axis S1. The second joint shaft S2 is concentrically connected to a first rotating body 520 disposed in the first arm body 500, and is rotatable with respect to the first arm body 500 (a center support shaft S2 ′ described later). While being pivotally supported, it protrudes outward from the first arm body 500 and is fixed to the second arm body 501 on the distal end side. That is, the second indirect shaft S2 has a proximal end fixed to the outer surface of the side wall of the second arm body 501 and extends outwardly, and is rotatably inserted into the side wall of the first arm body 500. Above, the 1st rotary body 520 of the 2nd arm drive mechanism 52 is concentrically connected with the front-end | tip part in the 1st arm body 500. FIG.

  The second joint shaft S2 according to the present embodiment is constituted by a hollow shaft, and a central support shaft S2 ′ having a proximal end fixed to the inner wall surface of the first arm body 500 is inserted concentrically, and a bearing (taken) is obtained. The center support shaft S2 ′ is rotatably supported by the center support shaft S2 ′. In the present embodiment, the first rotating body 520 of the second arm drive mechanism 52 connected to the second joint shaft S2 is also supported rotatably on the center support shaft S2 ′ via a bearing (not numbered). Has been. Thereby, the second arm drive mechanism 52 transmits the rotational force of the first rotating body 520 due to the rotation of the driving belt 522 to one end of the second arm body 501, and the first arm body 500, the second arm body 501, and the like. Is relatively rotated (tilted) around the second joint axis S2.

  The arm mechanism 50 according to the present embodiment is configured such that the first arm body 500 and the second arm body 501 overlap in a folded state. That is, the two arm bodies 500 and 501 (the first arm body 500 and the second arm body 501) constituting the arm mechanism 50 are arranged on the side surface of the distal end portion (the other end portion) of the first arm body 500. One end portion and the other end portion of both arm bodies 500, 501 are connected via a shaft (second joint axis S2) in a state where the side surfaces of the base end portion (one end portion) of 501 overlap each other. As a result, the arm mechanism 50 according to the present embodiment tilts (rotates) the first arm body 500 and the second arm body 501 with respect to the second joint axis S2, whereby both arm bodies 500, 501 are provided. Are arranged so as to overlap each other in the lateral direction (the direction in which the second joint axis S2 as the center of tilting extends).

  In the arm mechanism 50 according to the present embodiment, the posture in which both arm bodies 500 and 501 extend in the horizontal direction is set as the basic posture. Accordingly, the positions of the sliders 514 and 524 when the arm mechanism 50 is in the basic posture are set as the origins of the first arm driving mechanism 51 and the second arm driving mechanism 52. Accordingly, the first arm driving mechanism 51 and the second arm driving mechanism 52 each include a sensor C (hereinafter referred to as an origin sensor) C that detects the sliders 514 and 524 at the origin, as shown in FIG.

  As shown in FIG. 5, the manipulator 5 according to the present embodiment includes posture adjustment means 53 for maintaining the work tool 6 connected to the other end of the second arm body 501 in a predetermined posture. The posture adjusting means 53 is built in the second arm body 501. Here, the posture adjusting means 53 will be described in detail. The posture adjusting means 53 is a pair of rotating bodies (hereinafter, one rotating body is referred to as a third rotating body 530) disposed at both ends of the second arm body 501. The other rotating body is referred to as a fourth rotating body 531), 530, 531, the third rotating body 530 disposed at one end of the second arm body 501, and the second rotating body disposed at the other end of the second arm body 501. An endless annular belt (hereinafter referred to as a driven belt) 532 stretched around the four rotator 531, a sun gear 533 concentrically fixed to the fourth rotator 531, and the second arm body 501 A planetary gear 534 is provided so as to be rotatable around an axis (hereinafter referred to as a third joint axis) S3 provided at an end portion and meshed with the sun gear 533.

  The third rotating body 530 is rotatably supported with respect to the second arm body 501, and is fixed to the center support shaft S <b> 2 ′ fixed to the first arm body 500. That is, the center support shaft S2 ′ has a base end fixed to the inner surface of one side wall of the first arm body 500 and protrudes outward from the other side wall (opposite side wall) of the first arm body 500. After being inserted into the second arm body 501, the third rotating body 530 is fixed to the tip portion in the second arm body 501. The center support shaft S2 'supports the second joint shaft S2 via the bearing as described above. In other words, the center support shaft S2 ′ is supported by the third joint shaft S2 via the bearing, and is provided rotatably with respect to the second arm body 501 to which the third joint shaft S2 is coupled. .

  The fourth rotating body 531 is provided so as to be rotatable around a fixed axis S <b> 4 provided inside the other end of the second arm body 501. The fixed axis S4 is provided so as to be parallel to the second joint axis S2. Since the sun gear 533 is concentrically fixed with respect to the fourth rotating body 531 as described above, the sun gear 533 is rotatable around the fixed axis S4 like the fourth rotating body 531. The driven belt 532 employs a toothed belt in the same manner as the drive belts 512 and 522, and accordingly, the third rotating body 530 and the fourth rotating body 531 around which the driven belt 532 is stretched are provided. A toothed pulley is used.

  The planetary gear 534 is rotatably supported with respect to a connection base 60a (to be described later) of the work tool 6, while being rotatable about a third joint axis S3 fixed to the second arm body 501. Is provided. The third joint axis S3 is provided closer to the distal end side of the second arm body 501 than the fixed axis S4 that is the rotation center of the sun gear 533. The third joint shaft S3 has a proximal end fixed to the inner surface of one side wall of the second arm body 501 and extends outward from the other side wall (opposite side wall). After being rotatably inserted into the side wall of the base 60a, the base 60a is prevented from coming off in the connecting base 60a. The planetary gear 534 is fixed to the outer wall surface of the connection base 60a of the work tool 6 after being rotatably supported by the third joint shaft S3 via a bearing. In addition, the planetary gear 534 according to the present embodiment is concentrically connected with the planetary gear 534 and a cylindrical shaft portion (not numbered) through which the third joint shaft S3 is inserted, and the cylindrical shaft portion. Is fixed to the connection base 60a.

  The posture adjusting means 53 configured as described above has a third rotating body fixed to a support shaft S2 ′ fixed to the first arm body 500 when the first arm body 500 and the second arm body 501 rotate relatively. As a result of the change in the position where the driven belt 532 is wound around 530, the driven belt 532 imparts a rotational force to the fourth rotating body 531, and the sun gear 533 fixed to the fourth rotating body 531 rotates. Thereby, the planetary gear 534 rotates in conjunction with the rotation of the sun gear 533, and the work tool 6 to which the planetary gear 534 is fixed rotates around the third joint axis S3. The posture adjusting means 53 according to the present embodiment appropriately sets the movement (rotation) amount of the driven belt 532 corresponding to the rotation of the second arm body 501 and the gear ratio of the sun gear 533 and the planetary gear 534. The posture of the work tool 6 can be interlocked with the posture of the second arm body 501, and in this embodiment, a virtual line connecting the proximal end portion of the first arm body 500 and the distal end portion of the second arm body 501. On the other hand, the second arm body 501 is arranged so that the work center line of the work tool 6 (in this embodiment, a gripping center line of the object to be grasped because a robot hand described later is adopted as the work tool 6) is at a right angle. It is set to change the posture of the work tool 6 in conjunction with the posture.

  The work tool 6 according to the present embodiment employs a robot hand configured to be able to grip an object to be gripped.

  As shown in FIG. 6, the robot hand 6 includes two or more gripping bodies 61... That are arranged at equal intervals or substantially equal intervals around an object-positioning target position A where objects to be grasped are arranged. A first drive unit 62 that moves the bodies 61 toward the center of the object placement planned position A, and a second drive unit 63 that rotates the grip bodies 61 around the object placement planned position A. .

  The robot hand 6 according to this embodiment includes two grip bodies 61. Therefore, the gripping bodies 61 are arranged so as to face each other. As described above, the rescue robot 1 according to the present embodiment is intended to open the door in a disaster area, so that each gripping body 61 has an arcuate cross section so that a circular door knob can be gripped. It is formed to make. Further, on the outer peripheral surface of each gripping body 61..., A connecting rib 610 for connecting a rotation lever 66 and a link 68 described later of the first drive unit 62 is projected. Each of the connecting ribs 610 is formed in the shape of a piece and extends straight in a direction perpendicular to the bending direction of the gripping bodies 61 (the bending center direction of the gripping bodies 61).

  The first drive unit 62 includes a slide shaft 64 extending in the direction of the center of the gripping body 61, slide means 65 for reciprocating the slide shaft 64 in the axial direction, and an axis extending in a direction perpendicular to the slide shaft 64. A rotation lever 66 provided to be rotatable about S5 (hereinafter referred to as a support shaft) and operatively connecting the gripping bodies 61 and the slide shaft 64, and the rotation lever 66 in a direction orthogonal to the slide shaft 64 And a support body 67 that is rotatably supported around the extending support shaft S5 and is rotatably provided around one end of the slide shaft 64 in a state of being positioned at a predetermined position.

  The slide shaft 64 has an endless annular groove 642 formed on the outer periphery of one end portion disposed outside the casing 60 b constituting the exterior of the robot hand 6. Specifically, the slide shaft 64 according to the present embodiment includes a large-diameter portion 640 formed at one end portion, and a small-diameter shaft portion 641 that is connected to the large-diameter portion 640 and has a smaller diameter than the large-diameter portion 640. And. The slide shaft 64 according to the present embodiment has a male screw body 650 that constitutes one configuration of the slide means 65 with respect to the other end of the small diameter shaft portion 641 opposite to the one end where the large diameter portion 640 is connected. A small diameter shaft portion 641 is concentrically provided.

  The large-diameter portion 640 is formed in a circular shape when viewed from the axis (axial center) direction of the slide shaft 64, and an endless annular groove 642 is formed on the outer periphery. The groove 642 is formed so as to accommodate a base end portion (a roller 662 described later) of the rotation lever 66. The small-diameter shaft portion 641 according to this embodiment is formed in a stepped shaft shape. Specifically, the first drive unit 62 according to this embodiment includes a coil spring 643 that is externally fitted to the small-diameter shaft portion 641 of the slide shaft 64 and a spring receiving member 644 through which the small-diameter shaft portion 641 of the slide shaft 64 is inserted. And. One end of the coil spring 643 is received by the stepped portion 645 of the small diameter shaft portion 641, and the other end of the coil spring 643 is received by the spring receiving member 644.

  The spring receiving member 644 cannot move to the other end side of the slide shaft 64 (on the side opposite to the one end side where the large-diameter portion 640 exists) in relation to the slide shaft 64, but moves to one end side of the slide shaft 64. It is provided as possible. That is, the spring receiving member 644 is provided with a positioning pin 647 inserted into a slit 646 formed so as to extend in the axial direction with respect to the outer periphery of the slide shaft 64 (small-diameter shaft portion 641). Alternatively, the positioning pin 647 interferes with the inner surface of the end portion on the other end side of the slit 646 while receiving the slightly bent coil spring 643.

  Thereby, even if the spring receiving member 644 and the slide shaft 64 are biased in opposite directions by the coil spring 643, the spring receiving member 644 and the slide shaft 64 do not move in the opposite directions, but the slide shaft 64 When a force (a force that bends the coil spring 643) is applied to the other end side, the step 645 of the slide shaft 64 urges (bends) the coil spring 643. Can be moved to the other end side.

  The slide shaft 64 is supported by a casing 60b (or a support member fixed to the casing 60b) constituting the exterior of the robot hand 6 so that the slide shaft 64 can move (slide) in the axial direction.

  The slide shaft 64 has a non-through hole (hereinafter referred to as a non-through hole) 648 that is open on one end surface (the end surface of the large diameter portion 640) formed along the axis. That is, the slide shaft 64 is formed with a non-through hole 648 on one end side for interior of an image sensor (CCD camera) 69 and a light source 70 described later.

  The slide means 65 includes a male screw body 650 that is connected to the slide shaft 64, a screwing member 651 that is screwed into the male screw body 650, and the screwing member 651 that rotates about the axis of the male screw body 650. And a slide drive unit 652 to be moved.

  As described above, the male screw body 650 is connected to the other end of the small-diameter shaft portion 641 of the slide shaft 64 so as to be concentric with the slide shaft 64. And the said screwing member 651 is via a bearing (this embodiment bearing) with respect to the casing 60b (or support member fixed to the casing 60b) so that it can rotate around the external thread body 650. As shown in FIG. It is attached. That is, the screwing member 651 is pivotally supported directly or indirectly with respect to the casing 60b so that it can rotate at a fixed position.

  The slide drive unit 652 includes a motor (hereinafter referred to as a first drive motor) M3 as a drive source and a transmission mechanism (hereinafter referred to as a first transmission mechanism) that transmits the rotation of the first drive motor M3 to the screwing member 651. 653). In the present embodiment, a DC motor is employed as the first drive motor M3, and the output shaft thereof is disposed so as to be parallel or substantially parallel to the slide shaft 64 (male screw body 650).

  The first transmission mechanism 653 spans an endless annular belt between the motor output shaft and the screwing member 651 (or a shaft connected thereto), and outputs the first drive motor M3 to the screwing member 651. In this embodiment, a gear mechanism is employed as the first transmission mechanism 653. Accordingly, gears are attached to the output shaft of the first drive motor M3 and the screwing member 651, and these gears are meshed directly or indirectly via an intermediate gear. As a result, the output of the first drive motor M3 is transmitted to the screwing member 651 via the gear mechanism (first transmission mechanism 653), and the screwing member 651 rotates around the male screw body 650. The male screw body 650 that is screwed to the screwing member 651 that rotates in the above manner moves in the axial direction.

  The rotating lever 66 is provided so as to be rotatable with respect to a support 67 (a large-diameter annular portion 670 described later) via the support shaft S5. The rotation lever 66 according to the present embodiment has a rotation center (support shaft S5) located radially outward of the large diameter portion 640, and a first extension extending from the rotation center to the large diameter portion 640 side. A portion 660 and a second extending portion 661 extending forward from the center of rotation are provided. That is, the rotary lever 66 is formed in a substantially L shape in a side view by connecting the first extending portion 660 and the second extending portion 661 so as to form a substantially right angle, and the first extending portion 660 and the second extending portion 661 are formed. The rotation center is set at the connecting position of the protruding portion 661.

  In the rotation lever 66 according to this embodiment, a roller 662 that can rotate around an axis (not numbered) extending in the same direction as an axis (support shaft S5) serving as a rotation center is provided at the tip of the first extending portion 660. It is attached to the part. In other words, the first extension portion 660 has a roller 662 that is rotatable around an axis extending in a tangential direction with respect to the outer periphery of the large-diameter portion 640 at the tip end portion. The roller 662 is disposed in an endless annular groove 642 formed on the outer periphery of the large diameter portion 640. In addition, the roller 662 has an outer periphery in contact with a pair of opposed surfaces (a pair of opposed surfaces opposed to each other with an interval in the axial direction of the slide shaft 64) defining an endless annular groove 642 formed in the large-diameter portion 640. The outer diameter is set so as to be substantially in contact.

  On the other hand, the tip of the second extending portion 661 is gripped so as to be rotatable about an axis (not numbered) extending in the same direction as the support shaft S5 that is the rotation center of the rotary lever 66. 61 (connected to the connecting rib 610).

  The support 67 is formed in a stepped cylindrical shape, and the slide shaft 64 is inserted into the support 67 with one end positioned outside the casing 60b and the other end positioned inside the casing 60b. . Specifically, the support 67 is disposed outside the casing 60 b, and has a large-diameter annular portion 670 that covers the outer periphery of the large-diameter portion 640 of the slide shaft 64, and is concentrically connected to the large-diameter annular portion 670. And a small-diameter annular portion 671 that covers the outer periphery of the small-diameter shaft portion 641 of the slide shaft 64. The support 67 has a small-diameter annular portion 671 supported by the casing 60b via a bearing (in this embodiment, a bush), and is provided concentrically with the slide shaft 64 at a predetermined position. That is, the support 67 is provided so as not to move in the axial direction of the inserted slide shaft 64, and is provided so as to be rotatable concentrically with the slide shaft 64 at a fixed position.

  The support 67 is inserted into the casing 60b with the small-diameter annular portion 671 having the slide shaft 64 inserted therein. The large-diameter annular portion 670 is formed with a recess 672 for interposing a rotation lever 66 and a parallel movement link 68 described later. That is, the large-diameter annular portion 670 is formed with a recess 672 extending from one end surface toward the other end in accordance with the arrangement of the rotary levers 66. The concave portion 672 has a surface facing the outside of the support 67, an outer peripheral surface and an inner peripheral surface forming an open portion, and the first extending portion 660 of the rotary lever 66 can be introduced into the groove 642 of the slide shaft 64, In addition, the first extending portion 660 is formed to allow rotation (movement). Then, both ends of the shaft for pivotally attaching the support shaft 5 and the link 68 for supporting the rotation lever 66 are supported on a pair of opposing surfaces so as to define the recess 672.

  In the support 67, the large-diameter annular portion 670 is disposed on the outer surface side of the casing 60b, while the small-diameter annular portion 671 is inserted through the casing 60b.

  The robot hand 6 according to the present embodiment is parallel in order to maintain the posture of the gripping bodies 61 when moving the gripping bodies 61 toward the gripping center of the object to be gripped (substantially translate). A moving link 68 is provided. The link 68 is arranged in parallel to the second extending portion 661 of the rotation lever 66, and extends in the same direction as the support shaft S5 serving as the rotation center of the rotation lever 66 (not numbered). ) Is rotatably connected to the large-diameter annular portion 670 (support portion), and another shaft (taken in the same direction as the support shaft S5 serving as the rotation center of the rotary lever 66). The other end is rotatably connected to the gripping body 61... (Connecting rib 610).

  Thereby, in the slide means 65 according to the present embodiment, when the slide shaft 64 moves in the axis line (axial center) direction, the roller 662 disposed in the endless annular groove 642 of the large-diameter portion 640 has the slide shaft 64. As a result of the movement in the moving direction (axial direction), the rotating lever 66 rotates, and the gripping bodies 61 connected to the tip of the second extending portion 661 move corresponding to the rotation of the rotating lever 66. It has become. Further, since the slide means 65 according to the present embodiment includes the link 68, when the gripping body 61 is moved in accordance with the rotation of the rotary lever 66, the gripping body 61 is in a certain posture (inwardly facing). (A posture in which the curved surface is directed to the center side of the position A of the object to be grasped) is maintained.

  The second drive unit 63 includes a second drive motor M4 as a drive source, and a transmission mechanism (hereinafter referred to as a second transmission mechanism) 630 that transmits the output of the second drive motor M4 to the support 67. Yes.

  The second drive motor M4 employs a DC motor and is arranged so that the output shaft is parallel to the slide shaft 64. Based on this assumption, the second transmission mechanism 630 according to the present embodiment has two shafts arranged in a row so as to be parallel to the slide shaft 64 between the second drive motor M4 and the slide shaft 64. (Hereinafter, these two shafts are referred to as a first connecting shaft 631 and a second connecting shaft 632) 631, 632, a torque guard 633 operatively connecting the first connecting shaft 631 and the second connecting shaft 632, First transmission means 634 for transmitting the output of the second drive motor M4 to the first connection shaft 631 and second transmission means 635 for transmitting the rotation of the second connection shaft 632 to the support 67 are provided.

  Both the first transmission means 634 and the second transmission means 635 are constituted by a gear mechanism. Specifically, the first transmission mechanism 653 includes a gear connected to the output shaft of the second drive motor M4 and a gear connected to the first connection shaft 631 so as to mesh with the gear. . On the other hand, the second transmission means 635 includes a gear coupled to the second coupling shaft 632 and a gear coupled to the support 67 (small-diameter annular portion 671) so as to mesh with the gear. . The gear connected to the support 67 of the second transmission means 635 is formed in a donut disk shape to form a hole for inserting the slide shaft 64 and teeth are formed on the outer periphery.

  Thereby, the second drive unit 63 according to the present embodiment transmits the output of the second drive motor M4 to the support body 67 via the first connection shaft 631, the second connection shaft 632, and the torque guard 633, and supports it. The body 67 can be rotated endlessly without rotational directionality. Further, since the second drive unit 63 is configured to transmit the output of the second drive motor M4 to the support body 67 via the torque guard 633, for example, the gripping object 61. When the rotation of the support 67 is hindered, even if the second drive motor M4 is continuously driven (rotated), the load of the second drive motor M4 does not increase and the rotation state of the support 67 (rotation limit) Position).

  Then, the manipulator 5 according to the present embodiment includes an image pickup device (CCD camera) 69 that shoots the current state (shoots with a moving image in the present embodiment) in order to confirm the situation of the disaster site and the position of the object to be grasped. I have. In the manipulator 5 according to the present embodiment, a CCD camera 69 is disposed in a non-through hole 648 formed in the large-diameter portion 640 of the slide shaft 64. The CCD camera 69 is arranged so that the photographing center coincides with or substantially coincides with the axis (axis line) of the slide shaft 64.

  That is, the CCD camera 69 matches or substantially matches the center of the object-to-be-held placement position A set between the gripping bodies 61 to allow the gripping bodies 61 to grip the object to be gripped and the imaging center (imaging center). It arrange | positions in the non-through-hole 648 so that. In the present embodiment, since the rescue robot 1 used at the disaster site is targeted, the LED 70 is mounted on the robot hand 6 as a light source so that the photographing by the CCD camera 69 can be surely performed.

  In the present embodiment, the light source 70 is disposed in the non-through hole 648 of the slide shaft 64 (large diameter portion 640), like the CCD camera 69. As described above, since the CCD camera 69 and the light source 70 (LED 70) are arranged in the non-through hole 648 of the slide shaft 64 (large diameter portion 640), the manipulator 5 of this embodiment is a CCD camera. In order to protect 69 and the light source 70, a transparent protective plate 71 is disposed at the opening end of the non-through hole 648.

  The robot hand 6 includes a connection base 60a connected to the arm mechanism 50 (second arm body 501). The connection base 60a is connected to the outer surface of the casing 60b in which the first drive unit 62, the second drive unit 63, the slide shaft 64, and the slide means 65 are housed.

  In the robot hand 6 according to the present embodiment, the casing 60b is provided so as to be swingable within a predetermined range with respect to the connection base 60a. That is, when the gripping body 61... Grips the object to be gripped, the robot hand 6 swings and grips the casing 60 b when the gripping center of the gripping body 61. The center deviation can be absorbed. The coupling structure that couples the casing 60b and the coupling base 60a includes a rubber damper (not shown) having elasticity, and the casing 60b maintains a normal posture by the elasticity of the rubber damper in a normal state. When this occurs, the rubber damper is elastically deformed to allow the casing 60b to swing.

  The rescue robot 1 according to the present embodiment has the above-described configuration. Next, the operation of the rescue robot 1 will be described.

  The rescue robot 1 according to the present embodiment is operated by remote operation (wireless control), and during normal travel (when traveling to the work position), as shown in FIG. Is in a folded state (basic position). Then, the rescue robot 1 according to the present embodiment has a center line (of the CCD camera 69) of the robot hand 6 with respect to a virtual line connecting the proximal end portion of the first arm body 500 and the distal end portion of the second arm body 501. Since the posture of the robot hand 6 is maintained so that the (photographing center) forms a right angle, the photographing surface of the CCD camera 69 is in the state of the traveling carriage 2 when the arm mechanism 50 is folded (the basic posture) as described above. It will turn to the front. Accordingly, the worker causes the rescue robot 1 to travel by remote control while confirming an image transmitted from the CCD camera 69 (wireless transmission) on the monitor.

  Then, based on the image from the CCD camera 69, the operator remotely operates the arm mechanism 50 so that the robot hand 6 is arranged so that the object to be grasped can be grasped. At this time, the first arm driving mechanism 51 and the second arm driving mechanism 52 built in the arm bodies 500 and 501 tilt the first arm body 500 on the proximal end side and the second arm body 501 on the distal end side. become.

  Specifically, as shown in FIG. 3, in the first arm drive mechanism 51 and the second arm drive mechanism 52, the drive motors M1 and M2 rotate the screw shafts 513 and 523 to one side in the circumferential direction, and accordingly Thus, the sliders 514 and 524 moving in the axial line (axial center) direction of the screw shafts 513 and 523 move (rotate) the drive belts 512 and 522 in the circumferential direction. As a result, the first rotating bodies 510 and 520 and the second rotating bodies 511 and 521 around which the driving belts 512 and 522 are wound rotate, and the rotational force of the first rotating bodies 510 and 520 is connected to the first arm body 500. Is transmitted to the members 501, 40.

  Accordingly, the first rotating body 510 in the first arm drive mechanism 51 causes the rotational force around the axis (first joint axis S1) extending in the other direction to act on the base 40 (sub base 43), and the second The first rotating body 520 in the arm drive mechanism 52 causes the second arm body 501 to apply a rotational force around an axis (second joint axis S2) extending in the other direction. As a result, as shown in FIGS. 2A and 2B, the first arm body 500 and the second arm body 501 tilt and the folded arm mechanism 50 extends.

  Then, the robot hand 6 is moved by changing the posture of the arm mechanism 50 or causing the traveling carriage 2 to travel so that the grasped object is positioned between the grasping bodies 61. Adjust the placement of That is, the posture of the arm mechanism 50 is changed so that the position of the robot hand 6 (robot hand 6) is adjusted so that the center of the object to be gripped is positioned at the center of the image from the CCD camera 69. At this time, if the arrangement of the robot hand 6 (gripping body 61...) Is not a preferable arrangement for gripping the object to be grasped only by tilting the arm mechanism 50 or traveling by the traveling carriage 2, the second driving unit 63 holds the grasping body. If 61 ... is rotated around the slide shaft 64, the arrangement of the gripping bodies 61 ... can be brought into a preferable state.

  And after a to-be-held object arrives at the to-be-held object arrangement | positioning position A between the holding bodies 61 ..., the to-be-held object is hold | gripped by moving each holding body 61 ... to the to-be-held object side. Specifically, as shown in FIG. 6, the screwing member 651 is rotated to one side around the male screw body 650 by the driving of the first driving motor M3 of the first driving unit 62, and the screwing member 651 is screwed. The slide shaft 64 is moved (slid) to the other end side in the axial direction together with the male screw body 650 that has been moved. Then, as a result of the roller 662 accommodated in the groove 642 of the large-diameter portion 640 being pulled to the other end side of the slide shaft 64, the rotation lever 66 is rotated and the gripping body 61 is moved to the gripped object side. .

  When each gripping body 61 ... comes into contact with the object to be gripped, it looks as if it was gripped in appearance, but if the gripping force (contacting force) is not exerted on the object to be gripped, the object to be gripped is lifted. In this embodiment, a predetermined gripping force is exerted after the gripping bodies 61 abut against the object to be gripped.

  Specifically, in the robot hand 6 according to the present embodiment, a coil spring 643 is externally fitted to the small diameter shaft portion 641 of the slide shaft 64, and one end of the coil spring 643 is received by the step portion 645 of the small diameter shaft portion 641. Since the other end of the coil spring 643 is received by the spring receiving member 644, when the slide shaft 64 tries to move to the other end side (when a pulling action is generated on the shaft), the gripping body 61 is gripped. Until the object is gripped, the coil spring 643 opposes the pulling action without being greatly elastically deformed. As a result, the spring receiving member 644 moves together with the slide shaft 64 to the other end.

  When the gripping bodies 61 abut against the object to be gripped, resistance is generated with respect to the pulling operation with respect to the slide shaft 64, and the slide shaft 64 and the spring receiving member 644 stop moving. The gripping force on the object to be grasped is not exhibited only by the movement of the gripping bodies 61 (rotation of the rotation lever 66) being hindered. That is, immediately after the gripping bodies 61 abut against the object to be gripped, the appearance of the gripping bodies 61 seems to grip the object to be gripped, but the gripping bodies 61 are simply in contact with the object to be gripped. In this state, the gripping force (contact force) for the object to be gripped is not sufficiently exhibited.

  Therefore, in the manipulator 5 according to the present embodiment, the first drive motor M3 continues to drive even when the gripping bodies 61 are in contact with the object to be gripped, so that the slide shaft 64 is contracted while the coil spring 643 is contracted. When the coil spring 643 is moved to the other end side and the coil spring 643 is contracted by a predetermined amount, the drive of the first drive motor M3 is stopped based on the detection result of a sensor (not numbered) that detects the position of the slide shaft 64. ing. By doing so, the reaction force of the force contracted by the coil spring 643 (elastic force of the coil spring 643) acts as a torque to rotate the rotary lever 66, and the gripping body 61. As a result of acting as a force (abutting force), gripping of the object to be gripped is ensured.

  Then, the gripping body 61... Grips the object to be gripped (actually the elastic force of the coil spring 643), and the resistance force (that is, gripping by the gripping body 61...) Toward the one end side in the axial direction is released. In the robot hand 6 according to the present embodiment, since the male screw body 650 and the screwing member 651 are screwed together with a trapezoidal screw, the robot hand 6 according to the present embodiment has the first driving motor M3. Even if the drive is stopped and the output shaft becomes free, the movement of the slide shaft 64 is prevented. As a result, the gripping bodies 61... Maintain the gripping of the object to be gripped while exhibiting a predetermined gripping force. That is, the robot hand 6 (manipulator 5) according to the present embodiment maintains the state in which the object to be grasped is grasped by the grasping bodies 61, without providing a brake mechanism.

  On the other hand, when releasing the gripping of the object to be gripped by the robot hand 6 or increasing the interval between the gripping bodies 61..., The screwing member 651 is moved in the other direction around the male threaded body 650 by driving the first drive motor M3. The slide shaft 64 is moved (slid) to one end side in the axial direction together with the male screw body 650 screwed with the screwing member 651.

  In the robot hand 6 according to the present embodiment, the coil spring 643 contracts in a state where the gripping body 61 holds the object to be gripped in order to exert a gripping force on the object to be gripped. When the shaft 651 is rotated in the other direction, the coil spring 643 returns to a natural length or a slightly bent state as the slide shaft 64 moves in one direction, and then the spring receiving member 644 moves together with the slide shaft 64 at one end side. Will be moved to. Then, as a result of the roller 662 housed in the groove 642 of the large-diameter portion 640 being pushed toward one end of the shaft, the rotation lever 66 rotates and the gripping bodies 61 are separated from the object to be gripped. The gripping of the object to be gripped by ... is released.

  Therefore, the rescue robot 1 (manipulator 5) according to the present embodiment tilts the arm mechanism 50 or causes the traveling carriage 2 to travel with the robot hand 6 gripping the foreign object when the object to be gripped is a foreign object. Then, the foreign object (object to be grasped) can be moved or removed by grasping and releasing the object to be grasped by the grasping body 61.

  As shown in FIG. 2, when the object to be grasped is the door knob N, that is, when the closed door D is opened, the robot hand 6 (gripping body 61... The arm mechanism 50 is tilted or traveled by the traveling carriage 2 based on the image of the CCD camera 69 so as to correspond to the arrangement of the door knob N, and then the robot hand 6 holds the door knob. The operation up to this point is the same as when moving or removing foreign matter, but when unlocking the door D (when rotating the doorknob), the robot hand 6 (gripping body 61...) Grips the doorknob N. In this state, the gripping bodies 61 are rotated around the slide shaft 64.

  Specifically, as shown in FIG. 6, the second drive motor M4 is driven while the slide shaft 64 is moved and positioned in a state where the object to be grasped is grasped by the grasping bodies 61. Then, the rotation of the second drive motor M4 is transmitted to the first connection shaft 631, the torque guard 633, and the second connection shaft 632 via the transmission mechanism (first transmission means 634: gear mechanism), and the rotation of the second connection shaft 632 is performed. Is transmitted to the support 67 through a transmission mechanism (second transmission means 635: gear mechanism). As a result, the support 67 rotates around the slide shaft 64, and the rotation lever 66 and the link 68 supported by the support 67 are also integrated with the support 67 and around the slide shaft 64 (axis). Will rotate.

  In the manipulator 5 according to this embodiment, since the end portion (roller 662) of the rotation lever 66 is accommodated in the endless annular groove 642 formed in the large diameter portion 640, the support body 67 is attached to the slide shaft as described above. When rotating around 64, the end (roller 662) of the rotating lever 66 moves in the circumferential direction within the endless annular groove 642. Accordingly, the gripping bodies 61 attached to the rotary lever 66 and the tip of the link 68 also rotate around the slide shaft 64.

  If the second drive motor M4 is continuously driven, the support 67, the rotation lever 66, and the gripping body 61 ... will continue to rotate around the slide shaft 64. In the present embodiment, Since the connecting shaft 631 and the second connecting shaft 632 are connected via the torque guard 633, when a predetermined load is applied, only the predetermined torque is applied to the second connecting shaft 632 even if the second drive motor M4 continues to rotate. It will be transmitted to.

  Therefore, even if the door knob N gripped by the gripping bodies 61... Is rotated to the rotation limit, the door knob N is not rotated any further, so that the door knob N is not damaged and the door D cannot be opened. That is, since the rotation limit of the doorknob N and the rotation range in which the lock is released vary depending on the manufacturer, if the rotation range of the gripper 61 is set to a certain range, excessive torque is applied to the doorknob N at the rotation limit. Although the door knob N may be damaged or the amount of rotation of the door knob N may be insufficient and the lock may not be released, the robot hand 6 according to this embodiment can rotate the gripping body 61. Since the torque management of the body 61 is performed, the door knob N of any manufacturer can be opened without being damaged.

  And although the rescue robot 1 which concerns on this embodiment can rotate the holding body 61 ... which hold | gripped the doorknob N, it can open the door D by making the traveling carriage 2 back. Since the suction device V is provided in the manipulator unit 3, the door D can be opened by backing the traveling carriage 2 while sucking the door D with the suction device V. Thus, pulling the door D with the suction device V located at a position lower than the robot hand 6 makes it difficult for a large bending action to occur in the upwardly extending arm mechanism 50. As a result, the arm mechanism 50 (arm bodies 500 and 501). Even if it is made compact or slim, it becomes difficult to break.

  Then, after the door D is opened, the screwing member 651 is rotated around the axis to the other side by driving the first drive motor M3, and the slide shaft 64 is moved to one end side, as in the case of releasing the gripping of the foreign matter. By moving, the rotating lever 66 (roller 662) is pushed to one end side, the gripping bodies 61 are separated from the doorknob N, and the gripping on the doorknob N is released. The manipulator 5 according to the present embodiment has a configuration in which the gripping bodies 61 can rotate around the slide shaft 64 without limitation. Therefore, the gripping bodies 61 are removed from the doorknob N from the state in which the doorknob N is rotated as described above. Even if they are separated from each other, it is not necessary to return the origin of the gripping bodies 61 in the next operation, and the next target (object to be gripped) can be gripped and rotated from that state.

  When the arm mechanism 50 is folded, the arm mechanism 50 is remotely operated so that the arm bodies 500 and 501 are substantially horizontal. At this time, the two sets of arm driving mechanisms 51 and 52 housed in the arm bodies 500 and 501 tilt the first arm body 500 on the proximal end side and the second arm body 501 on the distal end side. Specifically, in each of the arm drive mechanisms 51 and 52, the drive motors M1 and M2 rotate the screw shafts 513 and 523 to the other side in the circumferential direction, and accordingly move in the axial direction of the screw shafts 513 and 523. Sliders 514 and 524 move (rotate) the drive belts 512 and 522 in the circumferential direction. As a result, the first rotating bodies 510 and 520 and the second rotating bodies 511 and 521 around which the driving belts 512 and 522 are wound rotate, and the rotational force of the first rotating bodies 510 and 520 is connected to the first arm body 500. Transmitted to the selected member.

  Accordingly, the first rotating bodies 510 and 520 in the arm driving mechanisms 51 and 52 on one end side of the first arm body 500 receive the rotational force around the first joint axis S1 (axis) extending in the other direction based on the base 40 (sub The first rotating bodies 510 and 520 in the arm driving mechanisms 51 and 52 on the other end side of the arm bodies 500 and 501 are made to act on the base 43) around the second joint axis S2 (axis) extending in the other direction. Is applied to the second arm body 501. As a result, the two arm bodies 500 and 501 tilt around the axes S1 and S2, respectively, and when the sliders 514 and 524 reach the origin position (the origin sensor C detects the sliders 514 and 524), the drive motor The driving of M1 and M2 is stopped, and the two arm bodies 500 and 501 are tilted to return to the overlapped posture.

  As described above, according to the robot hand 6 having the above-described configuration, the two gripping bodies 61 arranged at equal intervals or substantially equal intervals around the target object arrangement planned position where the target object is arranged, and each grip A first drive unit 62 that moves the bodies 61 toward the center of the object to be gripped arrangement position A, and a second drive unit 63 that rotates the grip bodies 61 around the object to be gripped arrangement position A. The first drive unit 62 includes a slide shaft 64 extending in one direction and a first drive motor M3 as a drive source. The slide reciprocates the slide shaft 64 in the axial direction by the output of the first drive motor M3. Means 65, a rotary lever 66 having a gripping body 61 connected to the tip, and a rotary lever 66 rotatably supported about an axis S5 extending in a direction orthogonal to the slide shaft 64, and positioned at a predetermined position. Slide The second drive unit 63 includes a second drive motor M4 as a drive source, and a second drive motor M4. The support 67 is rotatably provided around the large-diameter portion 640 that is one end of the shaft 64. And a second transmission mechanism 630 that rotates the support 67 around the slide shaft 64, and the slide shaft 64 has a base end portion of the rotary lever 66 supported by the support 67. Since the endless annular groove 642 that accommodates the first end portion is formed on the outer periphery of the one end portion, the slide shaft 64 is rotated by sliding the slide shaft 64 with the output of the first drive motor M3 of the first drive portion 62 (slide means 65). The grip body 61 connected to the tip of the rotary lever 66 can be moved by rotating the lever 66 forward and backward around the support shaft S5. Therefore, after the object to be grasped is arranged at the planned object arrangement position A (between the grasping bodies 61 and 61) and the grasping object 61 is moved, the grasping object 61. It is possible to switch to a state in which gripping of the object to be gripped is released.

  Further, according to the robot hand having the above-described configuration, the second drive motor M4 of the second drive unit 63 is operated in a state where the gripping body 61 holds the object to be gripped or releases the gripping of the object to be gripped. Then, the output of the second drive motor M4 is transmitted to the support 67 through the second transmission mechanism 630, and when the support 67 tries to rotate around the slide shaft 64, the rotation lever 66 supported by the support 67 is obtained. Is moved in the circumferential direction within an endless annular groove 642 of one end portion (large diameter portion 640) of the slide shaft 64, and the rotation lever 66 and the gripping body 61 together with the support body 67 are moved around the slide shaft 64. Can be rotated indefinitely. As described above, the robot hand 6 having the above-described configuration is fixed to the support 67 that rotates any of the drive sources (the first drive motor M3 and the second drive motor M4) of the first drive unit 62 and the second drive unit 63. It is necessary to provide a rotary joint (contact point) that causes a failure of the robot hand 6 in the shape of the energy supply line without twisting the electric wire (energy supply line) that supplies electric power. Absent.

  The slide shaft 64 is formed with a non-through hole 648 that is an open hole on one end surface, and a CCD camera 69 that is an image pickup element is built in the non-through hole 648. Is provided so as to coincide with or substantially coincide with the center of the object-to-be-held-arranged planned position A, an image with a clear arrangement relationship between the object to be grasped and the grasping body 61 can be obtained. The object to be grasped can be easily grasped on the basis of the above image. Further, when grasping the object to be grasped, the image of the object to be grasped (image from the CCD camera 69) can be moved to the center of the monitor, and the situation can be easily grasped.

  Further, the first drive unit 62 includes a male screw body 650 provided continuously with the other end of the slide shaft 64, a screwing member 651 screwed into the male screw body 650, and a first drive motor as a drive source. M3 and a first transmission mechanism 653 that transmits the output of the first drive motor M3 to the screwing member 651 and rotates the screwing member 651, so that it is screwed by the output of the first drive motor M3. By reversing the member 651 forward and backward, the slide shaft 64 can be moved together with the male screw body 650 to one end side and the other end side in the axial direction. Therefore, since the slide shaft 64 connected to the male screw body 650 can be moved in the axial direction, as described above, the gripping body 61 can be moved to smoothly switch between gripping and releasing the object to be gripped. .

  In addition, the second transmission mechanism 630 of the second drive unit 63 includes a torque guard 633 that transmits the output torque of the second drive motor M4 as a drive source to the support 67 with a predetermined torque or less, so that the object to be grasped It is possible to prevent the gripping body 61 from being rotated more than necessary when it is attempted to rotate the gripping body 61 after gripping.

  Thus, for example, when the door D is opened by operating the door knob N, only a predetermined torque is transmitted to the support 67 even if the drive source (motor) continues to rotate, and the grip 61 is gripped. Even if the door knob N is rotated to the rotation limit, the door knob N is not further rotated and damaged, and the door D cannot be opened. That is, the rotation limit of the doorknob N and the rotation range in which the lock is released vary depending on the manufacturer. Therefore, when the rotation range of the gripping body 61 is set to a certain range, excessive torque is applied to the doorknob N at the rotation limit. N may be damaged, or the amount of rotation of the doorknob N may be insufficient and the lock may not be released. However, according to the above configuration, the gripping body 61 can rotate indefinitely and torque management of the gripping body 61 can be performed. As a result, the door knob N of any manufacturer can be opened without being damaged.

  In addition, this invention is not limited to the said embodiment, Of course, it can change suitably in the range which does not deviate from the summary of this invention.

  In the above-described embodiment, the case where the robot hand 6 is employed in the rescue robot 1 has been described as an example. However, the robot hand 6 is not limited to that employed in the rescue robot 1, and for example, in the manufacturing field Of course, it may be mounted on a manipulator 5 such as an industrial robot introduced into the medical field or a medical robot introduced into the medical field.

  In the above embodiment, two grip bodies 61 are provided. However, the present invention is not limited to this. For example, three or more grip bodies 61 are provided, and these are arranged at regular intervals or approximately around the planned object placement position A. You may arrange | position at equal intervals. In this case, it goes without saying that the rotation lever 66 is also arranged at regular intervals or substantially regular intervals in accordance with the arrangement of the gripping body 61 and is rotatably supported by the support 67.

  In the above embodiment, the image pickup device (CCD camera) 69 is built in the hole 648 of the slide shaft 64 so that the image pickup center coincides with or substantially coincides with the center of the object placement planned position A. However, the present invention is not limited to this. Instead, for example, the image pickup element 69 may be provided so that the image pickup center of the image pickup element 69 is shifted from the center of the object to be grasped arrangement position A. In other words, the imaging element 69 may be mounted in the hole 648 of the slide shaft 64 so that the imaging center is shifted from the center of the object-to-be-held-placement planned position A, or is mounted in a configuration other than the robot hand 6. May be. Needless to say, it is not necessary to provide the hole 648 in the slide shaft 64 when the imaging element 69 is mounted in a configuration other than the robot hand 6 as described above. However, in order to clearly grasp the arrangement of the grasping body 61 and the object to be grasped, the imaging center of the image sensor 69 is made to coincide with the center of the object to be grasped arrangement position A as in the above embodiment. It goes without saying that it is preferable.

  In the above embodiment, the slide shaft 64 is provided with the non-through hole 648 as a hole in order to house the imaging element 69 in the slide shaft 64, but the hole 648 for interior of the imaging element 69 is limited to the non-through hole. It may not be a thing but the thing which penetrated the slide shaft 64 may be sufficient. That is, the slide shaft 64 may be formed in a hollow shaft shape over the entire length.

  In the above embodiment, the arm mechanism 50 is constituted by the two arm bodies 500 and 501, and the robot hand 6 is connected to the distal end portion of the arm body (second arm body) 501 on the distal end side. Instead, the robot hand 6 may be attached to the distal end portion of the arm mechanism 50 including one or more arm bodies 500.

  Moreover, in the said embodiment, although the torque guard 633 was interposed in the 2nd drive part 63 so that the rotational force with respect to a to-be-held object might not become large, it is not limited to this, The 2nd drive motor M4 Of course, it is possible to recognize the load state from the current value and prevent the rotational force for rotating the support 67 (rotational force for rotating the object to be gripped) from becoming too large.

  In the above embodiment, the DC motor is adopted as the drive source M3 of the first drive unit 62 and the drive source M4 of the second drive unit 63. However, the present invention is not limited to this, and as described above, the drive source is rotated. When adopting what is output, the drive source may be various electric motors such as a pulse motor and a stepping motor, or may be an air motor driven by compressed air. Moreover, in the said embodiment, although the 1st drive part 62 was comprised so that the output of the drive source M3 might be transmitted to the screwing member 651, and the external thread body 650 may be moved to an axial direction, it is not limited to this. For example, an actuator such as an electric cylinder or an air cylinder is adopted as the drive source M3 (slide means 65) of the first drive unit 62, and these rods are directly or indirectly concentric with the slide shaft 64. May be connected to each other.

  In the above embodiment, the output of the second drive motor M4 that is a drive source is transmitted to the second transmission mechanism 630 (first connection shaft 631, second connection shaft 632, torque guard 633), first transmission means (gear mechanism) 634. Although the transmission is made to the support 67 via the second transmission means (gear mechanism) 635, the present invention is not limited to this. For example, the output (rotation) from the drive source via the single gear mechanism. May be transmitted to the support 67.

  DESCRIPTION OF SYMBOLS 1 ... Rescue robot, 2 ... Running cart, 3 ... Manipulator unit, 4 ... Base, 5 ... Manipulator, 6 ... Work tool (robot hand), 20 ... Chassis frame, 21 ... Running device (crawler), 22 ... Driving wheel, DESCRIPTION OF SYMBOLS 23 ... Crawler belt, 40 ... Base, 41 ... Main base, 42 ... Connecting shaft, 43 ... Sub base, 50 ... Arm mechanism, 51 ... First arm drive mechanism (arm drive mechanism), 52 ... Second arm Drive mechanism (arm drive mechanism), 53 ... posture adjusting means, 60a ... connection base, 60b ... casing, 61 ... gripping body, 62 ... first drive part, 63 ... second drive part, 64 ... slide shaft, 65 ... slide Means 66: Rotating lever 67 ... Supporting body 68 ... Link 69 69 CCD camera 70 Light source 71 Protection plate 500 First arm body (arm body) 01 ... Second arm body (arm body), 510, 520 ... First rotating body (rotating body), 511, 521 ... Second rotating body (rotating body), 512, 522 ... Driving belt (endless annular body), 512a , 512b, 522a, 522b ... facing part, 513, 523 ... screw shaft, 514, 524 ... slider, 515, 525 ... first idler (idler), 516, 526 ... second idler (idler), 530 ... third rotation Body (rotating body), 531 ... Fourth rotating body (rotating body), 532 ... Driven belt (belt), 533 ... Sun gear, 534 ... Planetary gear, 610 ... Connecting rib, 630 ... Second transmission mechanism, 631 ... 1st connecting shaft, 632 ... 2nd connecting shaft, 633 ... Torque guard, 634 ... 1st transmission means (gear mechanism), 635 ... 2nd transmission means (gear mechanism), 640 ... Large diameter part, 641 Small diameter shaft portion, 642 ... groove, 643 ... coil spring, 644 ... spring receiving member, 645 ... step portion, 646 ... slit, 647 ... positioning pin, 648 ... non-through hole, 650 ... male screw body, 651 ... screwing member , 652... Slide driving unit, 653... First transmission mechanism, 660... First extension part, 661... Second extension part, 662 .. roller, 670 ... large diameter annular part, 671 ... small diameter annular part, 672. Recessed portion, A ... Planned object arrangement position, M1, M2 ... Drive motor, M3 ... First drive motor, M4 ... Second drive motor, S1 ... First joint axis (axis), S2 ... Second joint axis (axis ), S2 '... support shaft, S3 ... third joint shaft, S4 ... fixed shaft, S5 ... support shaft, V ... suction device

Claims (4)

  Two or more gripping bodies arranged at equal or substantially equal intervals around the planned object placement planned position where the target object is placed, and each gripping body is moved toward the center of the planned gripping object placement position A robot hand that includes a first drive unit and a second drive unit that rotates each gripping body around a planned object placement position, and is attached to an arm mechanism of a manipulator, wherein the first drive unit is unidirectional A slide shaft extending in the direction of the shaft, a slide means for reciprocating the slide shaft in the axial direction by the output of the drive source, a rotary lever having a gripping body connected to the tip, and the rotary lever as a slide shaft And a support body rotatably provided around one end of the slide shaft in a state of being positioned at a predetermined position. The drive And a transmission mechanism that rotates the support around the slide shaft, and the slide shaft has an endless annular groove that accommodates the base end of the rotary lever supported by the support. A robot hand formed on an outer periphery of one end.   The slide shaft has a hole that is open on one end surface, and an image sensor is built in the hole, and the image sensor is provided so that the center of photographing coincides with or substantially coincides with the center of the position where the object is to be held. The robot hand according to claim 1.   The first drive unit includes a male screw body connected to the other end of the slide shaft, a screwing member screwed into the male screw body, a motor as a driving source, and a screwing member that outputs the motor. The robot hand according to claim 1, further comprising: a transmission mechanism that transmits the screw and rotates the screwing member.   The robot hand according to any one of claims 1 to 3, wherein the transmission mechanism of the second drive unit includes a torque guard that transmits an output torque of a motor as a drive source to a support body at a predetermined torque or less.

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