JPH0650785U - Multipurpose gripping mechanism - Google Patents

Abstract

(57) [Abstract] [Purpose] An object of the present invention is to provide a multi-purpose gripping mechanism for preventing the working robot arm mounted on the spacecraft system from rocking when the rocket is launched. [Structure] Arm parts 12 and 1 of a robot arm 1 for work
4 and the base 50, the arm portions 12 and 14 to the base 50
Grip mechanisms 16, 19 for detachably gripping the
The members to be gripped 17 and 18 are provided. This gives, for example,
When launching a rocket equipped with a spacecraft system,
If the arm portions 12 and 14 of the work robot arm 1 are fixed to the base 50 by the grip mechanism 16 and the grasped members 17 and 18, the arm portions 12 and 14 swing due to a large vibration load when the rocket is launched. It can be prevented that the arm portions 12 and 14 are damaged. Further, the grip mechanism 16 enables various operations such as opening and closing a door and various experiments such as inserting a guide pin into an insertion hole in outer space.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 INDUSTRIAL APPLICABILITY The present invention is a multipurpose used for various purposes such as fixing a working robot arm mounted on a spacecraft system such as a satellite or a platform, opening and closing a door in the spacecraft system, and various experiments when launching a rocket. Regarding the gripping mechanism.

[0002]

[Prior art]

 For example, when launching a rocket, a large vibration load is applied to various devices such as a work robot mounted on the rocket. When such a large vibration load is applied, the work robot arm swings, causing the following problems.

[0003]

[Problems to be solved by the device]

 For example, when launching a rocket, a large vibration load applied to a work robot or the like may cause the work robot arm or the like to swing and damage the robot arm. It was hoped that a gripping mechanism that would prevent the work robot arm from shaking would be provided. On the other hand, in outer space, etc., it is necessary to substitute machines for work in areas where humans cannot enter, and it has been expected to provide devices that can smoothly perform such work. The present invention has been made in view of the above circumstances, and prevents the loaded robot arm from swinging at the time of launching a rocket, and a mechanism for preventing such swinging of the arm is provided by another mechanism. The purpose is to provide a multipurpose gripping mechanism that can be used for various purposes.

[0004]

[Means for Solving the Problems]

 In order to achieve the above object, the present invention provides a robot arm mechanism for performing various operations, a base for supporting the robot arm mechanism, and one of the robot arm mechanism and the base. The grip mechanism and a gripped member which is provided on the other of the robot arm mechanism and the base and is gripped by the grip mechanism.

[0005]

[Action]

 According to this invention, the grip mechanism is provided on one of the robot arm mechanism and the base, and the gripped member to be gripped by the grip mechanism is provided on the other of the robot arm mechanism and the base. When a rocket equipped with a spacecraft system is launched, if the grip mechanism grips the gripped member, it is possible to prevent the robot arm mechanism from swinging due to a large vibration load when the rocket is launched. Further, in this invention, the grip mechanism is provided at the arm tip of the robot arm mechanism so that the arm tip can be fixed to the base, and the grip mechanism opens and closes the door in outer space. It is possible to perform various operations such as, and various experiments such as inserting the guide pin into the insertion hole.

[0006]

【Example】

 An embodiment of the present invention will be described below with reference to FIGS. FIG. 1 shows an overall view of a work robot 1. The work robot 1 is fixed to a base 50 which is an outer surface of a spacecraft system 2 mounted on a rocket (not shown). Various operations are performed on the outer surface of the system 2. FIG. 2 is a perspective view (a) and a plan view (b) specifically showing the work robot 1 and peripheral devices 3 provided around the work robot 1. The peripheral device 3 is similar to the work robot 1. In addition to the first work device 4 and the second work device 5 that perform various work by being gripped, monitoring cameras 6 and 7 that monitor the work posture of the work robot 1 and the overall work content, and a fixing mechanism described later. 8 and the like.

As shown in detail in the perspective view of FIG. 3, the work robot 1 includes a base 10 fixed to a base 50 of the spacecraft system 2 and a two-axis rotary drive mechanism provided on the base 10. A shoulder joint portion 11 having a shoulder, a first arm portion 12 provided with a base end portion of the shoulder joint portion 11, and an elbow joint having a uniaxial rotation drive mechanism provided at a distal end portion of the first arm portion 12. Portion 13, a second arm portion 14 having a proximal end portion provided on the elbow joint portion 13, a wrist mechanism 15 having a triaxial rotation drive mechanism provided at a tip end portion of the second arm portion 14, and a wrist. The grip mechanism 16 is provided at the tip of the mechanism 15, and the gripped member 17 is provided at the elbow joint 13.

In the work robot 1, as shown by the solid line in the perspective view of FIG. 3, the shoulder joint 11 is driven to rotate the base 10 and the first arm 12 relative to each other, and the elbow joint 13 is rotated. The grip mechanism 16 is moved to a specific position by the relative rotation between the first arm portion 12 and the second arm portion 14 driven and the relative rotation between the second arm portion 14 and the grip mechanism 16 driven by the wrist mechanism 15. In addition, the grip mechanism 16 can be oriented at a specific angle, whereby the tip end of the grip mechanism 16 can be gripped by the gripped member 18. Further, as indicated by a broken line in the perspective view of FIG. 3, the gripping mechanism 16 provided with the grasped member 17 on the base 50 by the relative rotation of the base portion 10 and the first arm portion 12 driven by the shoulder joint portion 11. The grip mechanism 19 similar to the above can be gripped.

Then, at the position indicated by A1 in FIGS. 1 and 2B, the gripping mechanism 16 on the side of the work robot 1 grips the gripped member 18 of the base 50, and The grip mechanism 19 on the side of the base 50 grips the grasped member 17 on the side of the work robot 1 at the position indicated by A2 in (2), whereby the work robot 1 is fixed to the base 50.

Hereinafter, the details of the grip mechanisms 16 and 19 will be described with reference to FIGS. 4A and 4B, and the details of the grasped member 18 will be described with reference to FIGS. 5A to 5C. First, the grip mechanisms 16 and 19 will be described in detail with reference to FIGS. The grip mechanisms 16 and 19 are provided on a motor 21 for rotating the lead screw 20, a nut 22 screwed onto the lead screw 20 and vertically moved up and down by the rotation of the lead screw 20, and the nut 22. The link mechanism 23 is driven by the vertical movement of 22 and the gripper 24 is connected to the link mechanism 23 to grip a grasped member 18 described later.

As shown in FIG. 4A, the link mechanism 23 includes a plurality of links 25A to 25C, a connecting pin 26 that rotatably connects these three links 25A to 25C, and a link 25C. It is composed of a connecting pin 27 that is rotatably connected to the nut 22, a connecting pin 28 that rotatably connects the link 25B to the gripper 24, and a fixing pin 30 that rotatably connects the link 25A to the grip mechanism body 29. It is a thing. Further, the gripper 24 connected to the link 25B of the link mechanism 23 via the connecting pin 28 is rotatably supported by the fixing pin 31 with respect to the grip mechanism main body 29. It should be noted that such a grip mechanism 16 is provided one by one around the lead screw 20 as shown in FIG.

In the grip mechanism 16 configured as described above, when the nut 22 is lowered by the motor 21, the link mechanism 23 is arranged as shown by the solid line and the pair of grippers 24 is closed. Becomes Further, when the nut 22 is raised by the motor 21, the link mechanism 23 is arranged as shown by the chain double-dashed line and the pair of grippers 24 are opened. Then, with the gripper 24 opened in this way, the gripping mechanism 16 approaches the gripped member 18 shown in FIG. 5 and further closes the gripped member 18 to close the grip 24, The grip 24 holds the member 18 to be held.

On the other hand, the grasped member 18 is arranged in a casing 32 having an open upper portion as shown in FIGS. 32A is formed. In the casing 32 configured in this way, the gripper 24 of the grip mechanism 16 can be inserted in an open state by the overhanging portion 32A formed inside, and the gripper 24 is further inserted into the casing 32. In this state, by closing the grip 24, the grip member 24 can be gripped by the grip 24. Further, as the grasped member 17, as shown in FIG. 3, only the grasped member 18 shown in FIGS. 5A to 5C is attached to the elbow joint 13 of the work robot 1.

It should be noted that in the above embodiment, the gripped member 18 is held by the grip 24 of the grip mechanism 16, but the present invention is not limited to this, and as shown in FIG. Work such as opening and closing the door 40 can be performed in outer space.

As described in detail above, according to the multipurpose gripping mechanism shown in the present embodiment, the robot arms 12 and 14 can be detachably attached to the arms 12 and 14 and the base 50 of the work robot 1. Since the grip mechanisms 16 and 19 for gripping and the members to be gripped 17 and 18 are provided, for example, when launching a rocket equipped with a spacecraft system, these grip mechanisms 16 and 19 and the gripped members 17 and 18 are held. If the arms 12 and 14 of the work robot 1 are held by the base 50 by the members 17 and 18, it is possible to prevent the arms 12 and 14 from swinging due to a large vibration load when launching the rocket. The effect of preventing breakage of 12 and 14 can be obtained. Further, in this multipurpose gripping mechanism, by providing the gripping mechanism 16 at the tip end portions of the arms 12 and 14, the tip end portions of these arms 12 and 14 can be gripped by the base 50. Various experiments such as opening and closing doors and inserting guide pins into insertion holes can be performed in outer space.

[0016]

[Effect of device]

 As is apparent from the above description, according to the present invention, the grip mechanism is provided on one of the robot arm mechanism and the base, and the grip mechanism is held on the other of the robot arm mechanism and the base. Since the gripped member is provided, for example, when launching a rocket equipped with a spacecraft system, if the gripping member holds the gripped member, the robot arm mechanism will not work due to the high vibration load when the rocket is launched. It is possible to prevent swinging. Further, in this invention, the grip mechanism is provided at the arm tip of the robot arm mechanism so that the arm tip can be fixed to the base, and the grip mechanism opens and closes the door in outer space. It is also possible to obtain the effect that various works such as the above and various experiments such as inserting the guide pin into the insertion hole can be performed.

[Brief description of drawings]

FIG. 1 is a perspective view showing a work robot provided in a spacecraft system.

FIG. 2 is a perspective view (a) and a plan view (b) showing an arrangement of a work robot 1 and a peripheral device 3.

FIG. 3 is a perspective view showing the work robot 1 in detail.

FIG. 4 is a grip mechanism 1 provided in the work robot 1.
6A and 6B are a front view and a side view, respectively.

FIG. 5 is a plan view (a) showing a grasped member 18 provided on a base 50, and a cross-sectional view taken along the line (b)-(b) of the plan view (a). Sectional drawing which follows the (c)-(c) line of a top view (a).

FIG. 6 is a plan view showing a door opening / closing operation.

[Explanation of symbols]

 1 Work Robot 12 First Arm Part 14 Second Arm Part 16, 19 Grip Mechanism 17, 18 Gripping Member 50 Base

Claims (1)

[Scope of utility model registration request] 1. A robot arm mechanism for performing various operations, a base for supporting the robot arm mechanism, a grip mechanism provided on one of the robot arm mechanism and the base, and the robot arm mechanism. And a member to be grasped which is provided on the other of the bases and is grasped by the grip mechanism.