JP2831783B2 - Manipulator positioning device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Industrial application field) The present invention relates to a manipulator used for storing and storing an arm of a manipulator system constructed in outer space such as a satellite orbit. It relates to a positioning device.

(Prior Art) As is well known, in the field of space development, there is a concept of constructing a so-called space station in which humans can reside in outer space. In such a space station construction concept, a manipulator system using a manipulator that performs transportation of construction materials and the like on behalf of humans is considered to be effective. The manipulator used in this manipulator system must be lightweight because it can be transported to outer space, have sufficient strength to withstand the impact of launch into outer space, and have a long life. Requested.

FIG. 3 shows a conventional manipulator in which a shoulder joint 2 is fixed to a fixed base 1. This shoulder joint 2 first arm 3 is disposed rotatably in an arrow theta ₁ and theta ₂ direction,
This is the tip of the first arm 3 is mounted rotatably on the arrow theta ₃ direction the second arm 4 through a elbow joint 5, the second
A wrist joint 6 is attached to the tip of the arm 4. The wrist joint 6 is provided rotatably in the directions of arrows θ4, θ5, and θ6, and a grip portion 7 for work, for example, a gripper is provided at the tip thereof. For example, when the operator remotely operates an operation device (not shown), the drive motor (not shown) is driven by the shoulder joint 2, the elbow joint 5, and the wrist joint 6, and the driving force is transmitted via a speed reduction mechanism or the like. Thus, the first and second arms 3 and 4 and the grip 7 are operated to perform a desired operation.

However, with the above manipulator, it is difficult to transport it to outer space because of its large size. If it is applied, there is a risk of causing damage or the like.

Therefore, in such a manipulator system, the first and second arms are folded and accommodated at a desired angle for positioning during transportation or when not in use, thereby realizing simple transportation and also improving transportation. It has been considered to provide arm positioning means for preventing breakage of the arm.

As such an arm positioning means, there is a conventional method using a positioning bolt 8 as shown in FIG. That is, the second arm 4 to be positioned is provided with a projecting portion 9, and the projecting portion 9 is provided with a bolt insertion hole 9a in which the positioning bolt 8 is removably attached (see FIG. 4 (b)). On the other hand, the first arm 3 on the fixed side is provided with a positioning hole 3a into which the positioning bolt 8 is inserted so as to correspond to the folding angle. Thereby, the second arm 4 drives and controls the elbow joint 5 so that the bolt insertion hole 9a of the projection 9 corresponds to the positioning hole 3a of the first arm 3, and the positioning bolt 8 is inserted into the bolt insertion hole 9a. Let the positioning hole
By inserting the first arm 3a, it is folded and positioned at a desired angle with respect to the first arm 3.

However, in the above-described arm positioning means, it is difficult to drive control the elbow joint 5 so that the bolt insertion hole 9a of the second arm 4 corresponds to the positioning hole 3a of the first arm 3 due to the joint driving. Therefore, the mounting work is very troublesome. According to this, since the working environment is an outer space in an extremely severe thermal vacuum environment, there is a major problem in terms of workability.

(Oversubject to be Solved by the Invention) As described above, the conventional manipulator arm positioning means has a problem that the mounting operation is very troublesome.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a manipulator positioning device which has a simple configuration and can simplify an arm positioning operation.

[Constitution of the Invention] (Means for Solving the Problems) The present invention relates to a manipulator positioning device in which an arm movably provided via a joint is positioned at a predetermined position. A curved positioning hole formed concentrically around the joint in one of the supported bases, and a removably inserted one in the other of the base supporting the arm or the joint; And a pair of arm positioning members housed in the elongated hole and provided at both ends provided with a guide roller slidably contacting the inside of the elongated hole on at least one side.

(Operation) According to the above configuration, the arm is controlled to move by driving a joint in a state where one arm positioning member provided with the guide roller is inserted into the elongated hole, so that the one arm positioning member is elongated. Is moved in contact with one end of the long hole, and positioning in one end direction is performed. Thereafter, by inserting the other positioning member into the long hole, it is brought into contact with the other end of the long hole to perform positioning in the other end direction. Done. Therefore, the positioning of the arm at the folding accommodation position can be facilitated and performed reliably, and the positioning operation can be simplified as much as possible.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

FIG. 1 shows a manipulator positioning apparatus according to an embodiment of the present invention. The same parts as those in FIG. 6 are denoted by the same reference numerals, and description thereof will be omitted.

That is, the first arm 3 is provided with a curved positioning long hole 10 formed concentrically with the center of the elbow joint 5 in correspondence with the folding and accommodating position of the second arm 4 (second position).
FIG. (A)). A projection 11 is formed on the second arm 4 corresponding to the elongated hole 10, and the projection 11 has a pair of first and second through holes 12 and 13 corresponding to both ends of the elongated hole 10. Thus, they are formed with a predetermined interval (see FIG. 1 (b)). The first and second through holes 12, 13 correspond to the width dimension of the long hole 10,
The first and second arm positioning members 14, 15 are removably inserted (see FIGS. 2 (b) and 2 (c)). This first
And the second arm positioning members 14 and 15
A guide roller 14a slidable in the elongated hole 10 is fitted to the arm positioning member 14, and each is fitted to the first and second through holes 12, 13 and the elongated hole 10.

In the above configuration, when folding the second arm 4,
First, the elbow joint 5 is driven and controlled to be substantially folded and accommodated in the first arm 3, and the first through-hole 12 of the second arm 4 is provided.
Then, the first arm positioning member 14 is inserted. Then, the first arm positioning member 14 is connected to the first arm
The first arm 3 is inserted through the through hole 12 of the first arm 3. Here, the elbow joint 5 is driven again, and the second arm 4
Is rotated in the direction of arrow A until the first arm positioning member 14 comes into contact with one end of the long hole 10, and positioning in the direction of arrow A is performed. Next, the second arm 4 is provided with the second through hole 13.
, The second arm positioning member 15 is inserted. here,
The second arm positioning member 15 is inserted into the second through hole 13 and abuts on the other end of the elongated hole 10 to perform positioning in the direction of arrow B, where the second arm 4 is moved to the first position. It is positioned and accommodated at a predetermined angle with respect to the arm 3.

When the positioning is released in the positioning and accommodation state of the second arm 4, the first and second arm positioning members 14, 15 are connected to the first and second through holes 12, 12 of the second arm 4. 13. The second arm 4 is released from the positioning by releasing from the long hole 10 of the first arm 3.

Thus, the positioning device for the manipulator,
The first arm 3 on the fixed side is provided with a long hole 10 for concentric positioning around the elbow joint 5, and the second arm 4 on the side to be positioned has first and second through holes 12, 13. The slot 10
The elbow joint 5 is driven by driving the elbow joint 5 in a state where the first arm positioning member 14 provided with the guide roller 14a is inserted into the elongated hole 10 through the first through hole 12 and provided at both ends of the arm. The first arm positioning member 14 is brought into contact with one end of the long hole 10 to perform positioning in the direction of the arrow A, and then the second arm positioning member 15 is inserted through the second through hole 13 to form the long hole 10. , The second arm positioning member 15 is configured to abut on the other end of the elongated hole 10 to perform positioning in the direction of arrow B. According to this, since the position control of the second arm 4 by the high-precision drive control of the elbow joint 5 as in the related art is not required, the positioning of the second arm 4 to the folding accommodation position can be easily performed. Can be
The positioning operation can be simplified as much as possible. This can be expected to have a useful effect particularly in a work environment such as outer space where the work environment is severe.

In the above-described embodiment, the second arm 4 is configured to be positioned on the first arm 3 on the fixed side. However, the present invention is not limited to this, and may be configured.

In the above embodiment, the first arm positioning member 14
Although the guide roller 14a is provided only on the guide roller 14a, the present invention is not limited to this. By providing the guide roller on at least one of the guide rollers 14, substantially the same effect can be expected.

Further, in the above-described embodiment, the curved elongated hole 10 is formed in a concave shape. However, the present invention is not limited to this.

Therefore, it is needless to say that the present invention is not limited to the above-described embodiment, and that various modifications can be made without departing from the scope of the present invention.

[Effects of the Invention] As described above in detail, according to the present invention, it is possible to provide a manipulator positioning device that has a simplified configuration and can simplify an arm positioning operation.

[Brief description of the drawings]

FIG. 1 is a view showing a positioning device for a manipulator according to an embodiment of the present invention, FIG. 2 is a view showing a state in which first and second arm positioning members are inserted into elongated holes in FIG. 1,
3 and 4 are views for explaining a conventional manipulator positioning device. DESCRIPTION OF SYMBOLS 1 ... Support base, 2 ... Shoulder joint, 3 ... First arm, 4
... second arm, 5 ... elbow joint, 6 ... wrist joint, 7
... gripping part, 10 ... elongated hole, 11 ... projecting part, 12, 13 ... first and second through-holes, 14, 15 ... first and second arm positioning members, 14a ... guide roller.

Claims (1)

(57) [Claims] 1. A manipulator positioning device for positioning an arm movably provided through a joint at a predetermined position, wherein the joint is centered on one of the arm and a base supporting the joint. A guide hole which is detachably inserted into the concentric curved positioning hole and the other of the arm or the base on which the joint is supported, and at least one of the guides slides in the long hole. A pair of arm positioning members that are housed in the elongated holes provided with rollers and positioned at both ends.