JPS6021185Y2 - Master arm in power manipulator system - Google Patents

Description

[Detailed description of the invention] This invention is a control stick (hereinafter referred to as a master arm) in a power manipulator system.

) regarding. The purpose of this invention is to provide a master arm in an improved sita power manibrake system with a brake lock mechanism for each joint that can individually adjust the weight and weight of the joint movement with a single touch, and has a configuration with good operability. It is in.

What is important when using the master arm in a power manipulator system is that each joint is well balanced, moves lightly, and follows the operator's maneuvers well.

However, if the joints move too lightly, 1. Even a slight imbalance such as when the operator leaves the master arm may cause the master arm to fail to maintain its posture, or the master arm joints may move due to the slight force of accidentally touching the master arm, causing the master arm to become unstable. There is a danger that the manipulator controlled by the robot will start moving.

Furthermore, when operating the manipulator with the master arm, only some joints may be moved, but if each joint moves too lightly, other joints than the one you are trying to operate will move with a small amount of force, resulting in poor operability. There was a problem with it being bad.

Many conventional technologies to deal with this problem do not have a brake lock mechanism for controlling the joint movement of the master arm appropriately, and even if a brake lock mechanism is provided, the braking force is not applied once. Once the size is set, the braking force cannot be adjusted with a single touch, and the adjustment takes time, which has the disadvantage that it is not easy to make adjustments suitable for the job.

This invention was made for the purpose of solving the above-mentioned drawbacks of the prior art.

The gist of this invention lies in a master arm in a power manipulator system in which a brake lock mechanism that can adjust the braking force is installed at each joint.

According to the structure of this invention, the brake lock mechanism that can adjust the braking force is one that can adjust the braking force from release to full braking with one touch.

Next, an example of this invention will be described.

FIGS. 1 and 2 show the configuration of a master arm, which is an embodiment of this invention, in relation to a human arm.

In the figure, reference numeral 1 denotes a horizontal joint of the shoulder that rotates as indicated by arrow B, and the base end of a lever 27 on the fixed side, which is one of the joint members, is fixed to the fixation system 5.

In the figure, reference numeral 6 denotes a side swing joint of the shoulder that rotates as indicated by an arrow X1, and is connected to the horizontal joint 4 by a connecting lever 28 that is one of the joint members.

In the figure, 7 is the back and forth swinging joint of the shoulder that rotates as shown by the arrow Y□, and the support frame 30 to which the side swinging joint 6 is attached
serves as one of the joint members, and the counterweight 1 is configured to perform a balancing action against the movement of the back-and-forth swing joint 7, particularly against the action of its own weight moment.

In the figure, 8 is a rotary joint of the elbow that rotates as shown by arrow X2, and 9 is a bending joint of the elbow that rotates as shown by arrow Y2.

In this bending joint 9, counterweights 2, 3 are also constructed so as to have a counterbalancing effect against the action of the self-weight moment.

In the figure, reference numeral 10 denotes a rotational joint of the wrist that rotates as indicated by an arrow X3, and this is supported by a bracket 31a of one joint member 31 of the elbow bending joint 9.

In the figure, reference numeral 10' denotes a bending joint of the wrist that rotates as indicated by an arrow 4, and is connected to the rotary joint 10 of the wrist via one of the joint members 32.

In the figure, 10'' indicates a finger 33 that opens and closes as shown by arrow Z3.
34, and is connected to the swinging joint 10' via one of the joint members 35.

Next, FIG. 3 shows a cross-sectional view of the brake lock mechanism installed at the horizontal joint portion 4 of the shoulder in the master arm configured as described above.

In the figure, 22 is a housing fixed to a connecting lever 28 which is one joint member, and the fixed lever 27 which is the other joint member is rotatable by upper and lower bearings 26 and 26 installed in the housing 22. Supported joint axis 2
It is connected via 3.

The lever 27 is inserted into the housing 22 through a notch-shaped opening 22a provided in the housing 22 so as to be rotatable by a predetermined rotation angle.

The joint shaft 23 and the lever 27 are fixed to each other and rotate integrally.

a flange 12a formed on the outer end of the hollow shaft 12 and concentrically and rotatably fitted into the hollow portion of the joint shaft 23;
A brake lining 13 is interposed between a flange 23a formed at the upper end of the joint shaft 23, and these flanges 12a, 23a and the brake lining 13 are attached to a cover 21 fixed to the upper end of the flange 22 with bolts 24 and 24. covered by.

The head of the set screw 25 screwed into the flange 12a of the hollow shaft 12 is inserted into the countersunk hole 21 hollowed out in the cover 21.
b, so that the hollow shaft 12 is fixed to the connecting lever 28, which is a joint member, through the cover 21 and the housing 22.

Further, the screw shaft portion 11a of the adjuster 11 is screwed into a screw hole 21a provided in the center of the cover 21, and its tip is connected to the upper end of a compression coil spring 14 inserted into the hollow portion of the hollow shaft 12. The coil spring 14 is configured to come into contact with it and press the coil spring 14 downward.

The lower end of the coil spring 14 is in contact with the bottom 12b of the hollow shaft 12.

Therefore, when the lever 27 and the connecting lever 28, which are a pair of joint members constituting the horizontal joint part 4 of the shoulder, perform a horizontal joint movement (rotation), the joint shaft 23 and the hollow shaft 12
The flanges 23a and 1 are rotated relative to each other.
2a performs a rotational sliding motion across the brake lining 13, which naturally causes a slight tremor, and the magnitude of the tremor force determines the weight and weight of the joint movement.

For example, when the adjuster 11 is turned and screwed in, it strongly compresses the coil spring 14, so the spring force is transferred to the flange 12.
a acts as a force that strongly presses the brake lining 13, the pressing force becomes large, and the joint movement becomes heavy.

Conversely, when the adjuster 11 is loosened, the joint movement becomes lighter.

In this way, by simply turning the adjuster 11, the weight or weight of the joint movement can be adjusted over a wide range with one touch.

Note that it is also possible to fundamentally change the adjustment range of the braking force by replacing the coil spring 14 itself.

The brake lock mechanism having the above-mentioned configuration is applied to the shoulder horizontal joint portion 4 of the master arm shown in FIGS. 1 and 2.
but also the side swing joint 6 and front and back swing joint 7 of the shoulder, the rotation joint 8 and bending joint 9 of the elbow, the rotation joint 10 and swing bending joint 10' of the wrist, and the swing joint 10' of the hand and fingers. The opening/closing joints 10'' are individually applied and installed.

When installing it, the adjuster 11 of the brake lock mechanism should be installed so that it does not interfere with the operator's operation of the master arm, so that it faces away from the point where the human arm and the master arm come into contact. be done.

Therefore, the weight and weight of the joint movements of each joint in the master arm can be appropriately adjusted individually to achieve the best operability.

Next, the effects of this invention will be explained.

As mentioned above, this design has a brake lock mechanism installed at each joint that can adjust the lightness and weight of the joint movement, so each brake lock mechanism can be adjusted in one touch by simply turning the adjuster. This can be done extremely easily, and by making appropriate adjustments, the operability of the master arm can be improved.

Therefore, the master arm can closely follow the operator's operation, and the master arm can maintain its posture even if there is a slight imbalance.

This has the effect of preventing the danger and malfunction of the manipulator, which is caused by the slight force that accidentally touches the master arm, causing the joints of the master arm to move and the manipulator operated by the master arm to follow suit.

[Brief explanation of drawings]

1 and 2 are a plan view and a front view showing a master arm, which is an embodiment of this invention, in relation to a human arm;
FIG. 3 is a sectional view showing the configuration of the brake lock mechanism. 4...Horizontal joint of the shoulder, 6...Side swing joint of the shoulder, 7...Anteroposterior swing joint of the shoulder, 8
...Rotating joint of the elbow, 9...Bending joint of the elbow, 10...Rotating joint of the wrist, 10'.
...Wrist bending joint, 10''...
Opening/closing joint of finger, 27... lever (joint member), 28... connecting lever (joint member), 23.
...Joint axis, 23a...Flange, 12
...Hollow shaft, 12a...Flange, 1
3... Brake lining, 14...
Coil spring, 11...Adjuster.

Claims (1)

[Scope of utility model registration request] A pair of joint members constituting a joint part are rotatably connected around a joint shaft, and one joint member is integrally fixed to the joint shaft, and a flange formed at one end of the joint shaft is concentric with the joint shaft. A brake lining is interposed between a flange formed at the outer end of a hollow shaft that is rotatably fitted to the shaft and fixed to the other joint member, and the flange of the hollow shaft is inserted into the hollow part of the hollow shaft. A master arm in a power manipulator system characterized by a configuration in which a brake locking mechanism is provided at each joint, which is a spring that presses against a brake lining and an adjuster that can adjust the strength of the spring.