JPH0593779U - Cord-type articulated manipulator - Google Patents

Abstract

(57) [Summary] [Purpose] To provide a cord-type multi-joint manipulator that does not require a plurality of motor units and has a simple arm mechanism, and is therefore highly economical and functional. A joint member in which one upper end of each adjacent arm and the lower end of the other arm are sequentially pivoted, one end is fixed to the upper end of the one arm, and the other end is loosely fitted to the lower end of the other arm. Idlers 7 and 12 loosely fitted to the horizontal shafts 5 and 10, respectively, and the horizontal shaft 15 of the uppermost joint member.
In addition, the fixed pulley 17 fixed to the lower end of the uppermost arm and the rear drive pulley 2 in which the upper end is fixed to the fixed pulley 17 and the lower end is sequentially wound around the lower idlers 12 and 7 in the same direction. It comprises a first wire 21 which is rotated and a second wire 21 whose lower end is sequentially wound around lower idlers 12 and 7 in opposite directions to the first wire 21 and then wound around a drive pulley 2. thing.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a rope-type articulated manipulator.

[0002]

[Prior Art]

 Conventionally, as a rope-type articulated manipulator applied to a work robot, for example, as shown in the side view of FIG. 4, a base bearing 02 protruding from the upper end of a drive unit 01 having a rectangular parallelepiped shape, A first arm 04 having a base end pivotally supported by a first joint member 03 provided at an upper portion thereof, and a second arm 06 having a base end pivotally supported by a second joint member 05 provided at a tip thereof. And a front end arm 08 and the like having a base end pivotally supported by a third joint member 07 provided at the distal end thereof. In such an apparatus, as shown in an enlarged vertical sectional view of FIG. 5 and a perspective view of FIG. 6, a push wire 09 and a pull wire 010 are respectively wound around idlers 011 and 012 to rotate each joint member. The pulleys 014 and 015 fixed to the intermediate shaft 013 (FIG. 6) are wound around in opposite directions, and the pulleys 016 and 017 fixed to one end of the intermediate shaft 013 are connected to the motor. The pulleys 019 and 020 fixed to the output shaft of the unit 018 and the wires 021 and 022 are connected to each other to be guided into the drive unit 01. That is, with this structure, each joint member is driven by being connected to the respective motor unit 018 by the push wire 09 and the pull wire 010. Further, a multi-joint type manipulator in which a motor unit is directly incorporated in each joint member is also known.

However, each of these devices has the following drawbacks. (1) In the rope type, since the motor unit 018 corresponding to each joint member is provided and the drive unit 01 for centrally storing these is required, the device and the arm are complicated, and the economical efficiency is reduced. . (2) In the motor-incorporated type, the size and weight of the arm increase, which limits the working range of the arm and thus reduces the functionality.

[0004]

[Problems to be solved by the device]

 The present invention has been proposed in view of such circumstances, and does not require a plurality of motor units and has a simple arm mechanism, and thus is economical and functional, and is a rope-type articulated manipulator. The purpose is to provide a Urator.

[0005]

[Means for Solving the Problems]

 For this purpose, the present invention has upper and lower ends of each arm sequentially pivotally attached to the lower and upper ends of the adjacent arms via joint members, respectively, and is formed by a wire extending longitudinally along each arm. In a cord-type articulated manipulator that is bent in a vertical direction, one upper end of each adjacent arm and the lower end of the other arm are sequentially pivoted, and one end is fixed to the upper end of the one arm and the other end is fixed. An idler pulley loosely fitted to the connecting shaft of the joint member loosely fitted to the lower end of the other arm, and a fixed pulley fixed to the lower end of the uppermost end arm as the connecting shaft of the uppermost joint member; The first wire is wound around the drive pulley after the upper end is fixed to the fixing pulley and the lower end is sequentially wound around the lower idler pulley in the same direction, and the lower end is sequentially lower. The respective first wire idler pulley, characterized in that comprising a second wire wound in the drive pulley after the I Kai over in the opposite direction.

[0006]

[Action]

 According to such a configuration, the following actions are performed. (1) Since a plurality of motor units are not required to rotate a plurality of arms and one pulley with a motor unit is sufficient, the drive unit and the like can be downsized. (2) Since a single wire or the like is not required to rotate a plurality of arms and a plurality of wires is required, the cross section of the arm can be downsized.

[0007]

【Example】

 An embodiment of the present invention will be described with reference to the drawings. First, in the vertical cross-sectional view of FIG. 1, 1 is a drive unit fixed to a foundation GL, which is composed of a lower pulley 2 with a motor unit and an upper first joint member 3. Is a first arm whose lower part is pivotally attached to the first joint member 3 via a horizontal shaft 5, 6 is a lock for the horizontal shaft 5 attached to the first joint member 3, and 7 is a shaft for the horizontal shaft 5. The idler 8 supported is a second joint member formed on the upper portion of the first arm 4. Reference numeral 9 is a second arm whose lower portion is pivotally attached to the second joint member 8 via a horizontal shaft 10, 11 is a lock for the horizontal shaft 10 attached to the second joint member 8, and 12 is a shaft support for the horizontal shaft 10. Idler, 13 is a front end joint member formed on the upper portion of the second arm 9, 14 is a front end arm whose lower portion is pivotally attached to the front end joint member 13 via a horizontal shaft 15, and 16 is attached to the front end joint member 13. A lock for the horizontal shaft 15 is provided, 17 is a pulley fitted to the horizontal shaft 15, and 18, 19 and 20 are position detectors for the respective joints that are in contact with the horizontal shafts 5, 10 and 15, respectively. Next, in the vertical sectional view of FIG. 2, one end of 21 is wound around one side of the pulley 2 with a motor unit in one direction, and the middle portion is wound around one side of the idlers 7, 12 in one direction. After that, it is wound around the pulley 17, then wound in the other direction on the other side of the idlers 12 and 7, and the other end is wound in the other direction on the other side of the pulley 2 with a motor unit. It is a wire for pushing and pulling. Here, the locks 6, 11 and 16 have the same structure, and the first joint member 3 and the first arm 4 and the first arm 4 are locked by locking the horizontal shafts 5, 10 and 15 by electric wiring (not shown). The two-joint member 8 and the second arm 9, and the front-end joint member 13 and the front-end arm 14 can be integrated, respectively, and by unlocking, the arms 4, 9, and 14 can be freely rotated. Yes, a friction brake can be used for lightly loaded manipulators.

In such a device, in order to rotate each arm, for example, in FIG. 2, in order to rotate the front end arm 14 in one direction, the lock 16 of the front end joint member 13 is loosened and the motor unit is attached. When the pulley 2 is rotated in one direction, the idlers 7 and 12 rotate, the left wire 21 is paid out in one direction 22, the right wire 21 is wound in the other direction 23, and the pulley 17 rotates. , The front end arm 14 fitted thereto rotates in one direction. To rotate the intermediate arm, for example, the second arm 9, loosen the lock 11 of the second joint member 8 and rotate the motor unit pulley 2 in one direction, so that the idlers 7 and 12 idle. As a result, the wire 21 on the left side is fed out in one direction 22, the wire 21 on the right side is pulled and wound in the other direction 23, and the second arm 9 rotates in one direction. In order to rotate each arm in the other direction, the pulley with motor unit 2 is rotated in the other direction. The above operation can be automated by the cooperation of the position detectors 18, 19, 20 and a control panel (not shown). Next, an overall side view of FIG. 3 shows a modification of FIG. 1, which includes a drive unit 1, a first joint member 3, a second joint member 8, a third joint member 13a, a fourth joint member 24, and a fifth joint member. 25, a front end joint member 26, a first arm 4, a second arm 9, a third arm 14a, a fourth arm 27, a fifth arm 28, and a front end arm member 29 are 6-joint type. It is substantially the same as that of FIG.

According to the devices of the embodiments and the modified examples, the following effects can be obtained. (1) Since a plurality of motor units are not required to rotate a plurality of arms and one pulley with a motor unit is sufficient, the drive unit and the like can be downsized, thus improving the economical efficiency of the device. . (2) Since a single wire or the like is not required to rotate a plurality of arms and a plurality of wires is required, the cross section of the arm is downsized, and thus the functionality of the device is improved.

[0010]

[Effect of the device]

 In short, according to the present invention, the upper and lower ends of the arms are sequentially pivoted to the lower upper ends of the adjacent arms via the joint members respectively, and the broken lines are formed by operating the wires extending longitudinally along the arms. In a cord-type articulated manipulator that is curved in a curved manner, one upper end of each adjacent arm and the lower end of the other arm are sequentially pivoted, and one end is fixed to the upper end of the one arm and the other end is fixed. Is an idler pulley loosely fitted to the connecting shaft of the joint member loosely fitted to the lower end of the other arm, and a fixing pulley fixed to the lower end of the uppermost end arm as the connecting shaft of the uppermost joint member. And a first wire whose upper end is fixed to the fixing pulley and whose lower end is sequentially wound around the lower idler pulley in the same direction and then wound around the drive pulley, and the lower end is sequentially Since each idler pulley has a second wire wound around the same drive pulley after being wound around the first wire in the opposite direction, it does not require a plurality of motor units, and The present invention is extremely useful in industry because it provides a cord-type articulated manipulator with a simple arm mechanism, and thus is highly economical and functional.

[Brief description of drawings]

FIG. 1 is a vertical sectional view showing an embodiment of the present invention.

FIG. 2 is a vertical sectional view of the winding and winding procedure of the wire around the pulley and the idler in FIG.

FIG. 3 is an overall side view showing a modified example of FIG.

FIG. 4 is an overall side view showing a known cord-type articulated manipulator.

5 is a partially enlarged view showing the drive unit 01 of FIG.

FIG. 6 is a partially enlarged perspective view showing how to wire the wire in FIG.

[Explanation of symbols]

 1 Drive Unit 2 Motorized Pulley 3 First Joint Member 4 First Arm 5 Horizontal Axis 6 Lock 7 Idler 8 Second Joint Member 9 Second Arm 10 Horizontal Axis 11 Lock 12 Idler 13 Front End Joint Member 13a Third Joint Member 14 Front End Arm 14a Third arm 15 Horizontal axis 16 Lock 17 Pulley 18 Position detector 19 Position detector 20 Position detector 21 Wire 22 One direction 23 Other direction 24 Fourth joint member 25 Fifth joint member 26 Front end joint member 27 Fourth arm 28 5th Arm 29 Front Arm GL Foundation

Claims (1)

[Scope of utility model registration request] 1. An upper and lower end of each arm is sequentially pivotally attached to a lower upper end of an adjacent arm via a joint member, and is bent in a fold line shape by operating a wire extending longitudinally along the arm. In the rope-type articulated manipulator, one upper end of each adjacent arm and the lower end of the other arm are sequentially pivoted, one end is fixed to the upper end of the one arm, and the other end is the other arm. The idler pulley loosely fitted to the joint shaft of the joint member loosely fitted to the lower end of the above, the fixed pulley that is the joint shaft of the uppermost joint member and fixed to the lower end of the uppermost arm, and the upper end The first wire, which is fixed to the fixing pulley and whose lower end is sequentially wound around the lower idler pulley in the same direction and then wound around the drive pulley, and the lower end is the lower idler The second wire wound around the same drive pulley after being wound around in the opposite direction to the first wire.
A cord-type multi-joint manipulator characterized by having a wire.