JPH0111434Y2 - - Google Patents
Info
- Publication number
- JPH0111434Y2 JPH0111434Y2 JP1986041202U JP4120286U JPH0111434Y2 JP H0111434 Y2 JPH0111434 Y2 JP H0111434Y2 JP 1986041202 U JP1986041202 U JP 1986041202U JP 4120286 U JP4120286 U JP 4120286U JP H0111434 Y2 JPH0111434 Y2 JP H0111434Y2
- Authority
- JP
- Japan
- Prior art keywords
- chain wheel
- main body
- chain
- lateral part
- shoulder joint
- 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.)
- Expired
Links
- 210000002310 elbow joint Anatomy 0.000 claims description 15
- 230000005484 gravity Effects 0.000 claims description 10
- 210000000323 shoulder joint Anatomy 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 3
- 239000012530 fluid Substances 0.000 claims 1
- 238000000034 method Methods 0.000 description 7
- 210000000689 upper leg Anatomy 0.000 description 4
- 230000001447 compensatory effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Description
【考案の詳細な説明】
この考案は上膊部と下膊部を有する多関節形マ
ニピユレータに関するもので、さらに詳しくは上
記上膊部と下膊部を枢支する肘関節部で受ける下
膊部、及び下膊部の先に付く端機構等の重力によ
る1次モーメント力を反対方向の力を加えてでき
るだけ消去し、肘関節部を駆動する電気モータの
負荷を軽減せんとするものである。[Detailed description of the invention] This invention relates to a multi-jointed manipulator having a superior and inferior lateral part, and more specifically, an inferior lateral part that is supported by an elbow joint that pivotally supports the superior and inferior lateral parts. , and the end mechanism attached to the tip of the lower leg, etc., by applying a force in the opposite direction to eliminate as much as possible the primary moment force due to gravity, thereby reducing the load on the electric motor that drives the elbow joint.
ここにいう多関節形マニピユレータとは基本的
には側面から見た場合に第1図の如き構造のもの
を指しており、第1図にあげた実施例では床面等
に固定されるベース1に対し床面に垂直な軸周り
に回転する本体2が取付けられており、これに肩
関節部3を介して上膊部4が接続され、これに肘
関節部5を介して下膊部6が接続され、その先に
回動可能な把持機構等の端機構7が接続されてい
る。 The articulated manipulator referred to here basically refers to a structure as shown in Fig. 1 when viewed from the side, and in the embodiment shown in Fig. 1, a base 1 fixed to the floor etc. A main body 2 that rotates around an axis perpendicular to the floor surface is attached to the body 2, and an upper thigh part 4 is connected to this through a shoulder joint part 3, and a lower back part 6 is connected to this through an elbow joint part 5. is connected, and an end mechanism 7 such as a rotatable gripping mechanism is connected to the end thereof.
第1図において上膊部4は本体2に対して肩関
節部3においてそれを駆動する電気モータによつ
て矢印A方向に回転し、下膊部6は上膊部4に対
して肘関節部5においてそれを駆動する電気モー
タによつて矢印B方向に回転するが、これらの駆
動用の電気モータとその駆動機構は第1図では省
略されている。 In FIG. 1, the upper thigh part 4 is rotated in the direction of arrow A by an electric motor that drives it at the shoulder joint part 3 with respect to the main body 2, and the lower arm part 6 is rotated in the direction of the elbow joint with respect to the upper part 4. 5, it is rotated in the direction of arrow B by an electric motor that drives it, but these driving electric motors and their drive mechanism are omitted in FIG.
第1図の構成において、上膊部4および下膊部
6は静止状態でも肩関節部3および肘関節部5は
重力による時計方向の1次モーメント力をそれぞ
れを駆動する電気モータに与えており、運転状態
に入れば質量の2次モーメント力(慣性モーメン
ト力)の他に前述の1次モーメント力をも負荷さ
れるが、後者は無駄な負荷であるため前者だけを
駆動する場合に対して大きな出力を取り出せる電
気モータと駆動機構を使用せざるを得ず、製作費
用および駆動電力の無駄使いとなる。 In the configuration shown in FIG. 1, even when the upper and lower thighs 4 and 6 are stationary, the shoulder joints 3 and elbow joints 5 apply clockwise primary moment force due to gravity to the electric motors that drive them. , when it enters the operating state, in addition to the second-order moment force (moment of inertia force) of the mass, the first-order moment force mentioned above is also applied, but since the latter is a wasteful load, it is different from the case where only the former is driven. An electric motor and drive mechanism that can produce a large output must be used, which results in wasted manufacturing costs and drive power.
この考案は、下膊部6の自重による1次モーメ
ント力を消去しようとするものである。この1次
モーメント力の消去方法としては空気圧、スプリ
ング等により重力と逆方向の補償力を加えるダイ
ナミツク・バランス方式と、関節部において重力
による1次モーメント力が殆んど発生しないよう
に質量分布を設計するスタテイツク・バランス方
式があるが、ここではダイナミツク・バランス方
式につき説明する。 This idea is intended to eliminate the first moment force caused by the weight of the lower leg 6. Methods for eliminating this first moment force include the dynamic balance method, which uses air pressure, springs, etc. to apply a compensating force in the opposite direction to gravity, and the other method, which uses mass distribution to minimize the first moment force caused by gravity at the joints. There is a static balance method for designing, but here we will explain the dynamic balance method.
さて、肘関節部5に働く1次モーメントは下膊
部6が水平の位置で最大となり、垂直の位置で零
となる。従つて、肩関節部3では本体2の上膊部
4のなす相対角度に応じて上膊部4が床面に水平
なとき最大となり、上膊部4が床面に垂直に上方
を向いたとき零となるような補償力を与えてやれ
ばほぼ満足な特性を持つダイナミツク・バラツス
方式を容易に実施できる。 Now, the first moment acting on the elbow joint 5 is maximum when the lower leg 6 is in a horizontal position, and becomes zero when it is in a vertical position. Therefore, in the shoulder joint part 3, depending on the relative angle formed by the upper part 4 of the main body 2, the angle reaches the maximum when the upper part 4 is horizontal to the floor, and the upper part 4 faces upward perpendicular to the floor. By providing a compensating force that becomes zero at some point, a dynamic variation system with almost satisfactory characteristics can be easily implemented.
しかしながら肘関節部5の場合は上膊部4自体
が床面に対しいかなる角度をとるが自由であるた
め上膊部4と下膊部6のなす相対角度に応じる補
償力では重力による1次モーメント力を消去する
ことができない。すなわち、肘関節部5でのダイ
ナミツク・バランスは床面に対する下膊部6の相
対角度に応じる補償力でなくてはならない。この
考案はこのような肘関節の1次モーメントのダイ
ナミツク・バランス方式を簡単な構成で、確実に
実現するものである。 However, in the case of the elbow joint part 5, the upper part 4 itself is free to take any angle with respect to the floor surface, so the compensating force corresponding to the relative angle formed by the upper part 4 and the lower part 6 is the first moment due to gravity. Power cannot be erased. That is, the dynamic balance at the elbow joint 5 must be a compensatory force that corresponds to the relative angle of the lower heel 6 to the floor. This invention reliably realizes such a dynamic balance method of the first moment of the elbow joint with a simple structure.
以下にこの考案になる多関節形マニピユレータ
の構造の詳細について説明する。第2図はこの発
明の一実施例を示したものである。なお、第2図
では上膊部4の1次モーメント力を消去する手段
については省略してある。第2図において第1の
鎖車8はその中心を肘関節部5の回転中心と一致
させ、下膊部6に固定されている。 The details of the structure of the multi-joint manipulator according to this invention will be explained below. FIG. 2 shows an embodiment of the present invention. In addition, in FIG. 2, the means for eliminating the first moment force of the upper arm portion 4 is omitted. In FIG. 2, the first chain wheel 8 is fixed to the lower leg part 6 with its center coincident with the rotation center of the elbow joint part 5.
また第2の鎖車9は前述第1の鎖車8と同一
径、同一ピツチであるがその中心を肩関節部3の
回転中心と一致させかつ自由回転するものであ
る。 The second chain wheel 9 has the same diameter and the same pitch as the first chain wheel 8, but its center coincides with the rotation center of the shoulder joint 3 and it rotates freely.
前述2個の鎖車8,9をこれらに適合するチエ
ーンあるいはタイミング・ベルト等の伝達機構1
0で連結することにより第2の鎖車9の回転は上
膊部4の床面に対する角度変化には全く無関係で
あるが、下膊部6の床面に対する角度変化に均等
な角度変化をなすようになる。 The aforementioned two chain wheels 8 and 9 are connected to a transmission mechanism 1 such as a chain or a timing belt that fits them.
By connecting at 0, the rotation of the second chain wheel 9 is completely unrelated to the angle change of the upper arm part 4 with respect to the floor surface, but makes an angular change equal to the angle change of the lower arm part 6 with respect to the floor surface. It becomes like this.
いま、本体2の一部に掛金11を設け、これと
肩関節部3の回転中心を結ぶ直線12に対して第
2図の如く下膊部6が床面に水平で相対角度零の
場合に第2の鎖車9自体あるいはそれに連結した
部分に前述回転中心を通り前述直線に直角な線上
に掛金13を設け、前述2個の掛金11,13間
にこの位置関係で下膊部6の重力による1次モー
メントをほぼ消去できる力を発生するスプリング
14を取付ける。 Now, a latch 11 is provided on a part of the main body 2, and when the lower leg part 6 is horizontal to the floor surface and the relative angle is zero to the straight line 12 connecting this and the rotation center of the shoulder joint part 3 as shown in FIG. A latch 13 is provided on the second chain wheel 9 itself or a part connected thereto on a line passing through the rotation center and perpendicular to the straight line, and the gravity of the lower leg part 6 is set between the two latch 11 and 13 in this positional relationship. A spring 14 is installed that generates a force that can almost eliminate the first moment caused by the force.
下膊部6が床面に対し上方向または下方向で垂
直な相対角度をとつた場合は第2の鎖車9は第2
図の状態より反時計方向に90゜または時計方向に
90゜回転して掛金13は直線12上に来るためス
プリング14の引張力は第2の鎖車9に対して何
らのトルクも作用させることはない。 When the lower leg part 6 takes a relative angle perpendicular to the floor surface in an upward or downward direction, the second chain wheel 9
90° counterclockwise or clockwise from the state shown in the diagram.
Since the latch 13 is now on the straight line 12 after being rotated through 90 degrees, the tensile force of the spring 14 does not exert any torque on the second chain wheel 9.
第2図の位置関係での相対角度を零と定義し、
スプリング14は常に直線12に平行に一定の力
で掛金13を引張ると仮定すると第2の鎖車9に
作用するスプリング14のトルクは余弦函数とし
て変化するが、一方、下膊部6が第2の鎖車9に
作用させる重力による1次モーメント力も余弦関
数として変化するので、この理想状態では肘関節
部5に加わる重力の1次モーメント力を完全に補
償できることとなる。 Define the relative angle in the positional relationship shown in Figure 2 as zero,
Assuming that the spring 14 always pulls the latch 13 parallel to the straight line 12 with a constant force, the torque of the spring 14 acting on the second chain wheel 9 changes as a cosine function. Since the first-order moment force of gravity acting on the chain wheel 9 also changes as a cosine function, in this ideal state, the first-order moment force of gravity applied to the elbow joint 5 can be completely compensated for.
現実にはスプリング長が有限であるため引張力
は一定とならず、かつ掛金13を直線12に対し
て平行に引くことはできないため、前述理想状態
からは若干離れざるを得ないが、実用には支障の
ない1次モーメント力の軽減方式を得ることがで
きる。 In reality, since the length of the spring is finite, the tension force is not constant, and the latch 13 cannot be pulled parallel to the straight line 12, so it has to deviate slightly from the ideal state described above, but in practice can obtain a method of reducing the first moment force without any problems.
なお、以上の実施例ではスプリングを使用した
が、一定の空気圧により作動する空気シリンダー
機構により同一の機能を実現することも可能であ
る。 Although a spring is used in the above embodiment, it is also possible to achieve the same function using an air cylinder mechanism operated by constant air pressure.
以上、要するにこの考案によれば肘関節部での
重力による1次モーメント力を軽減することがで
き、肘障節部を駆動する電気モータの負荷を大巾
に軽減できる多関節形マニピユレータを得ること
ができる。 In summary, this invention provides a multi-joint manipulator that can reduce the primary moment force due to gravity at the elbow joint and greatly reduce the load on the electric motor that drives the elbow joint. I can do it.
第1図は一般的な多関節形マニピユレータの主
要部分を示す概略側面図、第2図は第1図の多関
節形マニピユレータにこの考案を実施した場合の
一実施例を示すための概略側面図である。
1はベース、2は本体、3は肩関節部、4は上
膊部、5は肘関節部、6は下膊部、7は端機構、
8,9は鎖車、10は伝達機構、11は本体の掛
金、13は鎖車の掛金、14はスプリング。
Fig. 1 is a schematic side view showing the main parts of a general multi-joint manipulator, and Fig. 2 is a schematic side view showing an example in which this invention is applied to the multi-joint manipulator shown in Fig. 1. It is. 1 is the base, 2 is the main body, 3 is the shoulder joint, 4 is the upper leg, 5 is the elbow joint, 6 is the lower leg, 7 is the end mechanism,
8 and 9 are chain wheels, 10 is a transmission mechanism, 11 is a latch of the main body, 13 is a latch of the chain wheel, and 14 is a spring.
Claims (1)
された下膊部よりなる腕を備えた多関節マニピユ
レータにおいて、上記上膊部と下膊部を枢支する
肘関節部において上記下膊部に固定した第1の鎖
車、上記本体と上膊部とを枢支する肩関節部にお
いて自由回転する第2の鎖車を設け、上記2個の
鎖車を同一角度回転するようにチエーンあるいは
タイミングベルト等の伝達機構にて連結するとと
もに、一端が本体側に固定され、他端が上記肩関
節部の上記第2の鎖車あるいはそれに連結する部
分に接続されて上記下膊部が重力方向に対し水平
方向のとき上記第2の鎖車の回転中心と上記一端
とを結ぶ直線に対してほぼ垂直な方向に上記他端
が位置するよう設けられ、垂直方向のとき上記第
2の鎖車の回転中心と上記一端とを結ぶ直線上に
上記他端が位置するよう設けられたスプリングあ
るいは流体圧で一定力を発生するシリンダー機構
を設けてなる多関節形マニピユレータ。 A multi-joint manipulator comprising an arm consisting of a superior lateral part pivotally supported by the main body and an inferior lateral part pivotally supported by the superior lateral part, and an elbow joint part pivotally supporting the superior lateral part and the inferior lateral part; A first chain wheel is fixed to the lower leg part, and a second chain wheel is provided which freely rotates at the shoulder joint part that pivots the main body and the upper leg part, so that the two chain wheels are rotated by the same angle. The lower leg part is connected to the second chain wheel of the shoulder joint part by a transmission mechanism such as a chain or a timing belt, and one end is fixed to the main body side and the other end is connected to the second chain wheel of the shoulder joint part or a part connected thereto. When the chain wheel is horizontal to the direction of gravity, the other end is located in a direction substantially perpendicular to the straight line connecting the rotation center of the second chain wheel and the one end, and when the second chain wheel is in the vertical direction, the second chain wheel An articulated manipulator comprising a cylinder mechanism that generates a constant force using a spring or fluid pressure, the other end of which is positioned on a straight line connecting the center of rotation of a chain wheel and one end.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP1986041202U JPH0111434Y2 (en) | 1986-03-20 | 1986-03-20 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP1986041202U JPH0111434Y2 (en) | 1986-03-20 | 1986-03-20 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS61163181U JPS61163181U (en) | 1986-10-09 |
JPH0111434Y2 true JPH0111434Y2 (en) | 1989-04-03 |
Family
ID=30550804
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP1986041202U Expired JPH0111434Y2 (en) | 1986-03-20 | 1986-03-20 |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH0111434Y2 (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5148898B2 (en) * | 2007-02-27 | 2013-02-20 | 茂樹 遠山 | Wearable robot arm support |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5014084A (en) * | 1973-06-06 | 1975-02-14 | ||
JPS546142A (en) * | 1977-06-16 | 1979-01-18 | Combustion Unltd Inc | System for keeping pilot gas for flare stack |
-
1986
- 1986-03-20 JP JP1986041202U patent/JPH0111434Y2/ja not_active Expired
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5014084A (en) * | 1973-06-06 | 1975-02-14 | ||
JPS546142A (en) * | 1977-06-16 | 1979-01-18 | Combustion Unltd Inc | System for keeping pilot gas for flare stack |
Also Published As
Publication number | Publication date |
---|---|
JPS61163181U (en) | 1986-10-09 |
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