JPH04112194A - Multiple articulated arm - Google Patents
Multiple articulated armInfo
- Publication number
- JPH04112194A JPH04112194A JP2230830A JP23083090A JPH04112194A JP H04112194 A JPH04112194 A JP H04112194A JP 2230830 A JP2230830 A JP 2230830A JP 23083090 A JP23083090 A JP 23083090A JP H04112194 A JPH04112194 A JP H04112194A
- Authority
- JP
- Japan
- Prior art keywords
- contraction
- extension
- connecting device
- members
- node members
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000008602 contraction Effects 0.000 abstract description 12
- 238000005452 bending Methods 0.000 abstract description 7
- 230000008878 coupling Effects 0.000 description 7
- 238000010168 coupling process Methods 0.000 description 7
- 238000005859 coupling reaction Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 239000013598 vector Substances 0.000 description 1
Landscapes
- Manipulator (AREA)
- Jib Cranes (AREA)
Abstract
Description
【発明の詳細な説明】
（産業上の利用分野）
この考案は、クレーン、高所作業車等の建設機械のジブ
やブームあるいは産業用ロボットの腕等に利用され、任
意の方向に折り曲げることの出来る多［ｉアームに関す
るものである。[Detailed description of the invention] (Field of industrial application) This invention is used for jibs and booms of construction machines such as cranes and aerial work vehicles, or arms of industrial robots, and can be bent in any direction. This is related to the i-arm.
（従来の技術）
従来のこの種の多関節アームは、第５図に示す如く、各
部材Ａｌ、Ａ２、・・・の先端部と次段位の部材Ａ２、
Ａ３、・・・を特定の一方向に屈曲自在で且つ捻転不能
な連結装置Ｂを介して多数連設すると共に、各部材と次
段位の部材間に、対応する連結装置の特定の一屈曲方向
に屈曲駆動する伸縮駆動装置Ｃを介装して構成している
。(Prior Art) As shown in FIG. 5, a conventional multi-joint arm of this type has a distal end portion of each member Al, A2, . . . and a next-stage member A2,
A3, . A telescopic drive device C is interposed for bending drive.
この様に構成した多関節アームは、各連結装置Ｂの屈曲
方向を異ならしておくことで、任意の伸縮駆動装置Ｃを
伸縮駆動して多関節アーム先端位置を、希望する空間位
置に移動させることができるものである。In the multi-joint arm configured in this way, by making the bending directions of each coupling device B different, any telescopic drive device C is driven to extend and contract, thereby moving the end position of the multi-joint arm to a desired spatial position. It is something that can be done.
しかしなから、上記従来の多関節アームは、各部材を連
結する連結装置Ｂか、特定の位置方向への屈曲を許容す
るものであるため、多関節アーム全体として滑らかな屈
曲のもとその先端部を所定の空間位置に位置させること
か出来ないという問題があった。However, since the conventional multi-joint arm described above has a connecting device B that connects each member or allows bending in a specific position direction, the multi-joint arm as a whole can be smoothly bent. There was a problem in that it was only possible to position the parts at predetermined spatial positions.
本発明は、簡単な構成のもと上記従来技術の問題点を解
決し、滑らかな屈曲状態でその先端部を任意の空間位置
に位置させることの出来る多関節アームを提供すること
を目的とするものである。An object of the present invention is to solve the above problems of the prior art with a simple configuration, and to provide a multi-jointed arm whose distal end can be positioned at any spatial position in a smoothly bent state. It is something.
（問題点を解決するための手段）
上記の目的を達成するため、本考案の多関節アームは、
次の如く構成する。(Means for solving the problem) In order to achieve the above purpose, the multi-joint arm of the present invention has the following features:
It is configured as follows.
（１）各部材の先端部と次段位の部材の基端部を、単一
の揺動中心を備え当該揺動中心回りであらゆる方向に屈
曲自在で且つ捻転不能な連結装置を介して連結すること
で、多数の部材を屈曲可能に連設すると共に、隣接関係
にある各一対の部材の一方の部材と他方の部材とにそれ
ぞれその両端部をあらゆる方向に揺動自在に連結され、
一方の部材に対して他方の部材を前記連結装置回りで異
なる方向に屈曲させる少なくとも二本の伸縮駆動装置を
介装してあることを特徴とする多関節アーム。(1) The distal end of each member and the proximal end of the next member are connected via a connecting device that has a single pivot center, is bendable in all directions around the pivot center, and is non-twistable. By this, a large number of members are arranged in a bendable manner, and both ends of each member are connected to one member and the other member of each pair of adjacent members so as to be swingable in all directions,
A multi-joint arm, characterized in that at least two telescopic drive devices are interposed between one member and the other member to bend the other member in different directions around the connecting device.
（２）前記各部材か、４個の頂点部を有する三角錐トラ
ス構造で構成されており、この三角錐トラス構造の二つ
の頂点部か前段および次段の構造部材に前記連結装置を
介して連結されており、他の二つの頂点部のそれぞれか
、隣接関係にある構造部材の対応する二つの頂点部に前
記二本の伸縮駆動装置を介して連結されていることを特
徴とする多関節アーム。(2) Each of the members is constructed of a triangular pyramidal truss structure having four apexes, and the two apexes of the triangular pyramidal truss structure are connected to the preceding and next structural members via the connecting device. The multi-joint is connected to each of the other two apex portions or to the corresponding two apex portions of adjacent structural members via the two telescopic drive devices. arm.
（作用）
上記の如く構成した本発明の多関節アームは、各部材の
先端部と次段位の部材の基端部を捻転不能に連結する連
結装置が、単一の揺動中心を備え当該揺動中心回りであ
らゆる方向に屈曲自在に構成されており、隣接関係にあ
る各一対の部材の一方の部材と他方の部材との間に、一
方の部材に対して他方の部材を前記連結装置回りで異な
る方向に屈曲させる少なくとも二本の伸縮駆動装置を介
装したので、各伸縮駆動装置をそれぞれ伸縮駆動するこ
とで、各部材を任意の方向に屈曲できるのである。この
ためこの発明の多関節アームは、全体として滑らかな屈
曲状態でその先端部を任意の空間位置に位置させること
か出来るものである。(Function) In the multi-joint arm of the present invention configured as described above, the connecting device that connects the distal end of each member and the proximal end of the next member in a non-twistable manner has a single pivot center, and the connecting device has a single pivot center. It is configured to be able to bend freely in all directions around the center of rotation, and between one member and the other member of each pair of adjacent members, one member is connected to the other member around the connecting device. Since at least two telescoping drive devices that bend in different directions are interposed, each member can be bent in any direction by driving each telescoping drive device to extend and contract. Therefore, the multi-jointed arm of the present invention allows the distal end portion to be positioned at any spatial position while maintaining a smooth bending state as a whole.
（実施例）
以下第１図〜″第４図に基づいて本発明め多関節アーム
の実施例を説明する。(Example) Hereinafter, an example of the multi-joint arm of the present invention will be described based on FIGS. 1 to 4.
第一１図〜第３図において、多関節アームは、各部材１
ａ、ｌｂ、・・・の先端部と次段位の部材１ｂ。In Figures 11 to 3, each member 1 of the multi-jointed arm is
The tips of a, lb, . . . and the next member 1b.
１０％・・・を単一の揺動中心Ｐを備え当該揺動中心Ｐ
回り゛であ゛らゆる方向に屈曲自在で且つ捻転不能な連
結装置２を介して連結することで、多数の部材を屈曲可
能に連設している。連結装置２には例えばユニバーサル
ジヨイント、が用いられる□。前記各部材１ａＳｌｂｓ
・・・の基端部にはミ当該部材から互いに６０度の間隔
をもって°放射状に延出したブラケット４ａ、４ｂが取
りつけられている。前記各連結装置２は、部材１ａｓ
ｌｂＳ ｌｃ・・・が−直線状になった状態では各部材
１ａ、ｌｂ、ｌｃ・・・の延出方向が同一方向となるよ
うな位相でもって、隣接する部材１ａとｌｂ、ｌｂとｌ
ｃ、・・・を連結している。上記の６０度の間隔は、こ
れを９０度に設定してもよいこと勿論である。10%... is provided with a single swing center P, and the swing center P
A large number of members are connected in a bendable manner by connecting them via a connecting device 2 which is rotatably bendable in all directions and cannot be twisted. For example, a universal joint is used as the coupling device 2 □. Each member 1aSlbs
Brackets 4a and 4b are attached to the base end portions of the members and extend radially from the member at a distance of 60 degrees. Each of the connecting devices 2 includes a member 1as
When lbS lc... is in a straight line, the adjacent members 1a and lb, lb and l are arranged in such a phase that the extending direction of each member 1a, lb, lc... is the same direction.
c,... are connected. Of course, the above-mentioned interval of 60 degrees may be set to 90 degrees.
３ａは、隣接関係にある各一対の部材の一方（基端側）
の部材におけるブラケット４ａと他方（先端側）の部材
におけるブラケット４ａにそれぞれその両端部をあらゆ
る方向に揺動自在に連結５．６され、両ブラケット４ａ
’、４ａ間の間隔を変更する伸縮駆動装置である。また
、３ｂは、隣接関係にある各一対の部材の一方（基端側
）の部材におけるブラケット４ｂと他方（先端側）の部
材におけるブラケット４ｂにそれぞれその両端部をあら
ゆる方向に揺動自在に連結７．８され、両ブラケット４
ｂ、４ｂ間の間隔を変更する伸縮駆動装置である。伸縮
駆動装置３ａ、３ｂは、例えば複動型の油圧シリンダで
構成される。3a is one of each pair of adjacent members (base end side)
Both ends of the bracket 4a are connected to the bracket 4a of the member and the bracket 4a of the other (tip side) member so as to be swingable in all directions, and both brackets 4a
This is a telescopic drive device that changes the distance between ' and 4a. Further, 3b is connected to a bracket 4b on one (proximal end) member of each pair of adjacent members and to a bracket 4b on the other (distal end) member so as to be able to swing freely in all directions. 7.8 and both brackets 4
This is a telescopic drive device that changes the distance between b and 4b. The telescopic drive devices 3a and 3b are configured with, for example, double-acting hydraulic cylinders.
尚、この実施例の場合、伸縮駆動装置３ａ、３ｂの連結
６．８の揺動中心Ｑ、Ｒは、対応する節材の基端側の連
結装置２の揺動中心Ｐをとおり当該部材に直交する平面
（当該部材の両端部の連結装置２の揺動中心Ｐを結んた
直線に直交する平面）上に位置している。In the case of this embodiment, the pivoting centers Q and R of the connections 6.8 of the telescopic drive devices 3a and 3b pass through the pivoting center P of the coupling device 2 on the proximal end side of the corresponding joint, and connect to the corresponding member. It is located on a perpendicular plane (a plane perpendicular to a straight line connecting the swing centers P of the coupling device 2 at both ends of the member).
各伸縮駆動装置３ａ、３ａ、−３ｂ、３ｂ、・・・は、
ぞれそれ四方向三位置の油圧切り換え弁により伸縮制御
されるようになっている。Each telescopic drive device 3a, 3a, -3b, 3b,...
The expansion and contraction are controlled by hydraulic switching valves in three positions in four directions.
第３図に基端側の部材１ｂと先端側の部材１ｃ間に介在
され両部材を屈曲させるだめの伸縮駆動装置３ａおよび
３ｂの伸縮制御機構の一例を第３図に示す。第３図にお
いて、９は、あらゆる方向に傾動可能なように基台１０
に立設したジョイスティックレバーである。このジョイ
スティックレバー９には、当該レバー９の中立位置Ｏか
らの傾動を、ＰＱ力方向部材１ｂの基端側の連結装置２
の揺動中心Ｐと伸縮駆動装置３ａの揺動中心Ｑを結ぶ直
線の方向）成分と、ＰＲ方向（部材１ｂの基端側の連結
装置２の揺動中心Ｐと伸縮駆動装置３ ｂの揺動中心Ｒ
を結ぶ直線の方向）成分とにそれぞれ分解して出力する
ＰＱ成分出力手段１１およびＰＲ成分出力手段１２か取
りつけられている一レバーの傾動方向と量を二つのベク
トルに分解して出力するものは、既に一般のショイステ
イ・ンクレハーにおいて既に周知であるので、ここでは
その詳細の説明を省略する。ＰＱ成分出力手段１１の出
力端には、伸縮駆動装置３ａの伸縮制御用の四方向三位
置の油圧切り換え弁１３か関連連結されている。また、
ＰＲ成分出力手段１２の出力端には、伸縮駆動装置３ｂ
の伸縮制御用の四方向三位置の油圧切り換え弁１４か関
連連結されている。FIG. 3 shows an example of a telescopic control mechanism for telescopic drive devices 3a and 3b which are interposed between the proximal member 1b and the distal member 1c and which bend both members. In FIG. 3, reference numeral 9 denotes a base 10 which can be tilted in any direction.
It is a joystick lever installed vertically. This joystick lever 9 has a coupling device 2 on the base end side of the PQ force direction member 1b that controls the tilting of the lever 9 from the neutral position O.
The direction of the straight line connecting the swing center P of the member 1b and the swing center Q of the telescopic drive device 3a) and the PR direction (the direction of the swing center P of the connecting device 2 on the base end side of the member 1b and the swing of the telescoping drive device 3b). Center of motion R
The PQ component output means 11 and the PR component output means 12, which decompose the tilting direction and amount of an attached lever into two vectors and output them, respectively, , which is already well known in the general industry, so a detailed explanation thereof will be omitted here. The output end of the PQ component output means 11 is connected to a four-way, three-position hydraulic switching valve 13 for controlling the expansion and contraction of the telescoping drive device 3a. Also,
At the output end of the PR component output means 12, there is a telescopic drive device 3b.
A four-way, three-position hydraulic switching valve 14 for controlling the expansion and contraction of the valve is connected.
伸縮駆動装置３ａおよび３ｂの伸縮制御機構のこのよう
な構成、即ち、単一のジョイスティックしバー９の傾動
方向が、部材の屈曲動に対応するよう当該単一のジョイ
スティックレノ＼−９に伸縮駆動装置３ａ、３ｂの一対
の伸縮制御装置（四方向三位値の油圧切り換え弁１３．
１．４）を関連連結した場合は、多関節アームの屈曲制
御を簡単に行いうるという効果がある。Such a configuration of the telescopic control mechanism of the telescopic drive devices 3a and 3b, that is, the telescopic drive is applied to the single joystick leno\-9 so that the tilting direction of the single joystick bar 9 corresponds to the bending movement of the member. A pair of telescopic control devices (four-way three-position hydraulic switching valve 13.
When 1.4) are connected in a related manner, there is an effect that the bending control of the multi-joint arm can be easily performed.
各部材１ａ、ｌｂ、ｌｃ、・・・を、４個の頂点部を有
する五角錐トラス構造で構成した例を第４図に略図で示
す。この場合、各部材は、五角錐トラス構造の二つの頂
点部か前段および次段の構造部材に前記連結装置２を介
して連結されており、他の二つの頂点部のそれぞれか、
隣接関係にある構造部材の対応する二つの頂点部に前記
二本の伸縮駆動装置３ａ、３ｂを介して連結されている
。このように構成した場合、各部材１ａ、ｌｂ、ｌｃ。FIG. 4 schematically shows an example in which each member 1a, lb, lc, . . . has a pentagonal pyramidal truss structure having four apexes. In this case, each member is connected to the two apexes of the pentagonal pyramidal truss structure or to the previous and next structural members via the connecting device 2, and each of the other two apexes,
It is connected to two corresponding apexes of adjacent structural members via the two telescopic drive devices 3a and 3b. When configured in this way, each member 1a, lb, lc.
・・・を軽量且つ頑強に製作でき、ひいては多関節アー
ム全体を軽量に製作できるという効果を持つものである
。... can be made lightweight and strong, and the entire multi-jointed arm can be made lightweight.
尚、上記の第１〜第２図および第４図に示した実施例に
おいて、各部材（両端部の連結装置２間）を捻転不能で
伸縮のみ可能に構成すると共にこれに伸縮駆動手段を取
りつけ、当該伸縮駆動手段と、前記伸縮駆動装置３ａ、
３ｂの併用で多関節アームを伸縮調節並びに屈曲調節で
きるようにした場合は、多関節アームの稼働範囲を更に
広げることができるものである。In the embodiments shown in FIGS. 1 to 2 and 4 above, each member (between the connecting devices 2 at both ends) is configured so that it cannot be twisted and can only be expanded and contracted, and an expansion and contraction drive means is attached to this. , the telescopic drive means, and the telescopic drive device 3a,
If the multi-joint arm is made to be able to extend, contract, and bend in combination with 3b, the operating range of the multi-joint arm can be further expanded.
次に作用を説明する。Next, the effect will be explained.
各隣接する部材１ａとｌｂ、ｌｂとｌｃ、・・・間の伸
縮駆動装置３ａを伸縮駆動すると、対応する連結装置２
の揺動中心Ｐと連結８の揺動中心Ｒを結ぶ直線す回りて
両部材１ａとｌｂ、ｌｂとＩＣが屈曲する。また、各隣
接する部材１ａと１ｂ、１ｂと１０、・・・間の伸縮駆
動装置３ｂを伸縮駆動すると、対応する連結装置２の揺
動中心Ｐと連結６の揺動中心Ｑを結ふ直線８回りて両部
材１ａとｌｂ、ｌｂとＩＣか屈曲する。従って、各伸縮
駆動装置３ａと３ｂをそれぞれ個別に或いは併用して伸
縮制御することで、多関節アームを任意の方向に滑らか
に屈曲することか出来るのである。When the telescopic driving device 3a between the adjacent members 1a and lb, lb and lc, . . . is telescopically driven, the corresponding connecting device 2
Both members 1a and lb, and lb and IC are bent around a straight line connecting the swing center P of the link 8 and the swing center R of the connection 8. Furthermore, when the telescopic drive device 3b between the adjacent members 1a and 1b, 1b and 10, etc. is telescopically driven, a straight line connecting the pivot center P of the corresponding coupling device 2 and the pivot center Q of the coupling 6 Turn around eight times and bend both members 1a and lb, and lb and IC. Therefore, by controlling the expansion and contraction of the expansion and contraction drive devices 3a and 3b individually or in combination, the multi-joint arm can be smoothly bent in any direction.
（効果）
以上の如く構成し作用する本発明の多関節アームは、極
めて簡単な構成でありなから、滑らかな屈曲状態でその
先端部を任意の空間位置に位置させることの出来るので
ある。(Effects) Since the multi-joint arm of the present invention constructed and operated as described above has an extremely simple construction, the distal end portion can be positioned at any spatial position in a smoothly bent state.
第１図〜第３図は、本発明の多関節アームの実施例を示
し、第１図は側面図、第２図は第１図のＸ−Ｘ断面図、
第３図は、伸縮駆動装置３ａおよび３ｂの伸縮制御機構
の説明図である。
第４図は、
他の実施例を示す。
第５図は、
従来の多関節アー
ムの説明図である。
第２図
図面の浄書
第１図
第３の
第４図
手
続
卒爾
正
書
（方式）
％式％
発明の名称
３゜
補正をする者
事件との関係1 to 3 show an embodiment of the multi-joint arm of the present invention, FIG. 1 is a side view, FIG. 2 is a sectional view taken along line XX in FIG. 1,
FIG. 3 is an explanatory diagram of the telescopic control mechanism of the telescopic drive devices 3a and 3b. FIG. 4 shows another embodiment. FIG. 5 is an explanatory diagram of a conventional multi-joint arm. Figure 2 Engraving of the drawings Figure 1 Figure 3 Figure 4 Procedure formalities (formula) % formula % Name of the invention 3゜Relationship with the case of the person making the amendment
Claims (2)
の揺動中心を備え当該揺動中心回りであらゆる方向に屈
曲自在で且つ捻転不能な連結装置を介して連結すること
で、多数の節材を屈曲可能に連設すると共に、隣接関係
にある各一対の節材の一方の節材と他方の節材とにそれ
ぞれその両端部をあらゆる方向に揺動自在に連結され、
一方の節材に対して他方の節材を前記連結装置回りで異
なる方向に屈曲させる少なくとも二本の伸縮駆動装置を
介装してあることを特徴とする多関節アーム。(1) The tip of each knot and the base end of the next knot are connected through a connecting device that has a single pivot center, can be bent in all directions around the pivot center, and is non-twistable. By connecting, a large number of knots can be arranged in a bendable manner, and both ends of each pair of adjacent knots can be freely swung in all directions. connected to
A multi-joint arm, characterized in that at least two telescopic drive devices are interposed to bend one joint material and the other joint material in different directions around the connecting device.
ス構造で構成されており、この三角錐トラス構造の二つ
の頂点部が前段および次段の構造部材に前記連結装置を
介して連結されており、他の二つの頂点部のそれぞれが
、隣接関係にある構造部材の対応する二つの頂点部に前
記二本の伸縮駆動装置を介して連結されていることを特
徴とする多関節アーム。(2) Each of the joints has a triangular pyramid truss structure having four apexes, and the two apexes of the triangular pyramid truss structure are connected to the preceding and next structural members through the connecting device. and each of the other two apex portions is connected to the corresponding two apex portions of the adjacent structural members via the two telescoping drive devices. articulated arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP23083090A JP3083312B2 (en) | 1990-08-31 | 1990-08-31 | Articulated arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP23083090A JP3083312B2 (en) | 1990-08-31 | 1990-08-31 | Articulated arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH04112194A true JPH04112194A (en) | 1992-04-14 |
| JP3083312B2 JP3083312B2 (en) | 2000-09-04 |
Family
ID=16913947
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP23083090A Expired - Fee Related JP3083312B2 (en) | 1990-08-31 | 1990-08-31 | Articulated arm |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3083312B2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0985653A (en) * | 1995-09-28 | 1997-03-31 | Agency Of Ind Science & Technol | Robot manipulator |
| JP2019517928A (en) * | 2016-05-23 | 2019-06-27 | ゼネラル・エレクトリック・カンパニイ | Machining and manufacturing system and method of operation thereof |
-
1990
- 1990-08-31 JP JP23083090A patent/JP3083312B2/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0985653A (en) * | 1995-09-28 | 1997-03-31 | Agency Of Ind Science & Technol | Robot manipulator |
| JP2019517928A (en) * | 2016-05-23 | 2019-06-27 | ゼネラル・エレクトリック・カンパニイ | Machining and manufacturing system and method of operation thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3083312B2 (en) | 2000-09-04 |
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| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |