JPS6048294A - Manipulator arm - Google Patents

Abstract

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

Description

[Detailed description of the invention] The present invention relates to a manipulator arm.

A conventional general manipulator arm is configured to combine movements in two directions in two joints whose movement permissible directions are perpendicular to each other and interlock movement in an arbitrary direction. Compared to conventional manipulator arms, this manipulator can move extremely flexibly in any direction, and can be configured into a combination.

One rotor arm is provided.

Hereinafter, an embodiment of the present invention will be described based on the attached illustrative drawings. 1 is an arm body, 2 is a base that supports the arm body 1, 6 is a first driving cable; 4, 1 is a second driving cable; 5 is an actuator for driving the first driving rope.

6 is an actuator for driving the second driving rope.

The arm body 1 includes four ball joint bodies 7 to 10, first to fourth, which fit together in a daisy chain, and a manipulator handle l' connected to the fourth ball joint body 10.
1, the base 2 and the third to third joint bodies 7 to
9 has a spherical seat ia protruding toward the tip member 11 side, and 7a to 9
a4: (A, each of these spherical seats 2a, 7a to 9a has an annular peripheral edge n7 on the inner end side of the first to fourth ball joint bodies 7 to 10.
b to 10F) are fitted to allow six swing movements in any direction of 360 degrees. The first drive cable 3 and the second drive cable 4 are respectively disposed on the base 2 side so as to sandwich the arm body 1 in a J-turn state, and the first drive cable 6 is disposed on the base 1 side.
and the X direction of the first to third ball joint bodies 7 to 9 (see Figure 2 I
RI) Passing through driving cable guides 12 protruding from both sides, both ends of the second driving cable 4 are connected to base members 13 on both sides in the CC fourth bulb segment 10X direction. and pass through the drive cable guides 14 protruding from both sides of the -th to third ball joint bodies 7 to 9 in the X direction (direction perpendicular to the X direction, see Figure 2 +l<I). Both ends are coupled to rope stoppers 15 on both sides of the Cf1N four-ball joint body 10 in the Y direction. Reference numeral 16.17 is a guide 1 sheave for guiding the U-turn portions of the +SilSil and -second drive cables 6, 4, and is pivotally supported at a constant threshold relative to the base 2. .6 are interposed near the U-turn portions of the first and second drive cables 3 and 4, respectively, and can pull these drive cables 3 and 4 individually in the opposite direction.

1' by the manipulator arm configured as described in
1. For example, by actuating the actuator 5 and pulling the first drive cable 3 in either the forward or reverse direction, the arm body 1
The robot swings in either the forward or reverse direction in the X direction from the neutral upright position shown by the solid line in Figure 1. Also, actuator 6
When the second driving cable 4 is pulled in either the forward or reverse direction by actuating the arm main body 1, the arm body 1 swings in either the forward or reverse direction in the X direction from the neutral upright position. This swinging motion of the arm body 1 is performed from the fourth ball joint body 10 at the tip to the third, second, and first gap joint bodies 9 to 7 in this order, as shown by the imaginary line in FIG. Interfacet joint bodies 7 to 10 are each hand 0:
The spherical seats 9a to 1 are connected to the gap segments 9 to 7 and the base 2.
As a result of the relative rotation around the centers of 7a and 2a, not only is the arm body 1 swinging relative to the base 2, but the arm body 1 itself is also bent in the same direction. Therefore, gap segment body 1
The greater the number of ~10, the more the arm body 1 will bend. However, depending on the application, the arm main body 1 may have a rigid structure capable of swinging only relative to the base 2. When the arm body 1 is oscillated in either the X direction or the Y direction, which are orthogonal to each other, only either the first driving cable 3 or the second driving cable 4 is moved by the actuator 5 as described above. However, when moving the arm body 1 in the combined direction of both the X and 7 directions, it is sufficient to drive both the first and second driving cables 6 and 4. For example, when moving the tip member 11 of the arm body 1 to the target position P (not shown in FIG. 2), move the tip member 11 of the arm body 1 to the
At the same time, the actuator 5 drives the first driving cable 3 by the amount of displacement ΔX in the direction, and at the same time
By driving the second driving cable 4 by the amount of displacement Δy in the JJ direction by the actuator 6, the main body 1
is oscillated by ΔX in the X direction by the first driving rope 6, and at the same time is oscillated by 6 in the Y direction by the second driving rope 4.
The tip member 11 reaches the target position P after 7 minutes of oscillating movement. In this way, the arm body 1 can be moved 360 degrees (18 degrees in any direction), and the tip member 11 can be moved 360 degrees in any direction with respect to the middle 17 position. .

When the arm body 1 is configured as in the embodiment, a biasing means (for example, a base plate) is used to press each gap joint 7 to 10 to the front base 2 and the gap joints 7 to 9. 2 and the first ball joint body 7 and between each of the gap joint bodies 7 to 10). Furthermore, although each drive cable 6.4 is configured to be pulled in any direction forward or reverse by one actuator 5, 6,
It is possible to use an actuator that pulls in the forward direction and an actuator that pulls in the opposite direction, so that when one actuator is actuated, the other actuator moves freely while providing an appropriate tensile resistance to the driving line. Any type of actuator may be used.

The manipulator arm of the present invention can be implemented as follows: an arm body supported by a spherical seat so as to be able to swing in any direction 360 degrees; The first drive cable is oscillated, the second drive cable is oscillated in another direction perpendicular to the direction of oscillation, and these ff1- and second drive cables are each driven separately. By driving both the 61st and second driving cables, the arm body is oscillated in the composite direction of the two directions perpendicular to each other. Compared to the conventional manipulator arm, which has two joints whose motion permissible direction is perpendicular to rg, it can be extremely flexibly lifted and lowered in any direction of 360 degrees, and is Compared to the case where two joints are arranged in series as described in 1.
It can be configured into 21 proteins.

[Brief explanation of the drawing]

FIG. 1 is a partially cutaway side view of IJ, and FIG. 2 is an IF plane view explaining the operation.

Claims (1)

[Claims] An arm body supported on a spherical seat so as to be able to swing in any direction through 360 degrees, a first driving cable that swings the arm body in one direction, and a first driving cable that is perpendicular to the i' swinging direction. A second driving rope that swings in the other direction, and an actuator that separately drives the first and second driving ropes, and by driving both the first and second driving ropes, the 011 whose arm bodies are orthogonal to each other
A manipulator arm capable of swinging in a composite direction of the above two directions.