JPS6125509B2 - - Google Patents
Info
- Publication number
- JPS6125509B2 JPS6125509B2 JP14601079A JP14601079A JPS6125509B2 JP S6125509 B2 JPS6125509 B2 JP S6125509B2 JP 14601079 A JP14601079 A JP 14601079A JP 14601079 A JP14601079 A JP 14601079A JP S6125509 B2 JPS6125509 B2 JP S6125509B2
- Authority
- JP
- Japan
- Prior art keywords
- arm
- driven arm
- remote control
- driven
- driving arm
- 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
- 230000037431 insertion Effects 0.000 description 6
- 238000003780 insertion Methods 0.000 description 6
- 210000003811 finger Anatomy 0.000 description 5
- 210000003813 thumb Anatomy 0.000 description 4
- 238000007789 sealing Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
Description
【発明の詳細な説明】
［発明の技術分野］
この発明は遠隔操縦マニプレータに関するもの
である。DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] This invention relates to a remotely controlled manipulator.
［発明の技術的背景］
従来の遠隔操縦マニプレータの一例を第１図に
示す。遮蔽室Ａ上に覗き窓A′側に突き出るよう
に水平支持管ａを設け、この水平支持管ａ中に水
平支持杆ｂを回転自在に設ける。この水平支持杆
ｂの一端に形成したフオーク部b1には、遮蔽室Ａ
内にて従動腕Ｃが水平支持杆ｂを含む鉛直面ｎ
（第２図参照）内を回動できるように、またその
軸方向に昇降できるように支持する筒管C2を枢
支する。また水平支持杆ｂの他端のフオーク部b2
には、同じく水平支持杆ｂを含む鉛直面ｎ内にて
主動腕Ｂが回動できるように、また昇降できるよ
うに支持する支枠Ｆを枢支する。支枠Ｆは２本の
平行杆r′，r″を少くとも上下２個のブラケツト
s′，s″で結合して形成し、この２個のブラケツト
s′，s″により主動腕Ｂを昇降自在に設けるととも
に、支枠Ｆの上部のブラケツトs′はピンｅで水平
支持杆ｂに枢支する。主動腕Ｂの上端にはブラケ
ツトB1を形成し、このブラケツトB1にピンｆで
連杆ｇの一端を枢支し、他端を従動腕Ｃの上端に
形成したブラケツトC1にピンｈにて枢支してい
る。つまり水平支持杆ｂと連杆ｇと従動腕Ｂの上
部と、従動腕Ｃの上部、筒管C2とで、相対する
部分が互いに平行する「四辺形リンク機構」を形
成している。また主動腕Ｂの下端に設けられてい
る親指挿入部ｉと人差し指挿入部ｊとに親指と人
差し指とを各々挿入して掴み作用をすると、その
指の動きと同じ動きが従動腕Ｃの下端の一対の挾
持子ｋ，ｌに現われるようにしたものであり、さ
らに主動腕Ｂを昇降すると、従動腕Ｃも同じよう
に昇降するようにしたものである。ここでは親指
挿入部ｉと人差し指挿入部ｊとの挾持作動が一対
の挾持子ｋ，ｌに伝わる機構及び主動腕Ｂと従動
腕Ｃが同じように昇降する機構は、いずれもこの
発明に直接関係がなく、また周知でもあるので、
第３図に外観を示すのに止め、詳細な説明は省略
する。[Technical Background of the Invention] An example of a conventional remote control manipulator is shown in FIG. A horizontal support tube a is provided above the shielding chamber A so as to protrude toward the viewing window A' side, and a horizontal support rod b is rotatably provided in the horizontal support tube a. The fork part b1 formed at one end of this horizontal support rod b has a shielding chamber A.
In the vertical plane n, the driven arm C includes the horizontal support rod b.
(See Fig. 2) A cylindrical pipe C2 is supported so that it can rotate inside and move up and down in its axial direction. Also, the fork part b 2 at the other end of the horizontal support rod b
A supporting frame F is pivotally supported so that the driving arm B can rotate and move up and down within a vertical plane n that also includes the horizontal support rod b. The supporting frame F has two parallel rods r′ and r″ mounted on at least two upper and lower brackets.
s′, s″, and these two brackets
The driving arm B is provided to be movable up and down by s' and s'', and the bracket s' at the top of the support frame F is pivoted to the horizontal support rod b by a pin e.A bracket B1 is formed at the upper end of the driving arm B. One end of the connecting rod g is pivotally supported to this bracket B1 by a pin f, and the other end is pivotally supported to a bracket C1 formed at the upper end of the driven arm C by a pin h.In other words, the horizontal support rod b The connecting rod g, the upper part of the driven arm B, the upper part of the driven arm C, and the cylindrical tube C2 form a "quadrilateral link mechanism" in which opposing parts are parallel to each other. Furthermore, when the thumb and index finger are inserted into the thumb insertion part i and the index finger insertion part j provided at the lower end of the driving arm B, respectively, and a grasping action is performed, the same movement as the movement of the fingers is caused by the movement of the lower end of the driven arm C. It is arranged so that it appears on a pair of clamps k and l, and when the driving arm B is raised and lowered, the driven arm C is also raised and lowered in the same way. Here, the mechanism in which the clamping action between the thumb insertion part i and the index finger insertion part j is transmitted to the pair of clamps k and l, and the mechanism in which the driving arm B and the driven arm C are raised and lowered in the same way, are both directly related to this invention. Since there is no such thing and it is also well known,
The external appearance is shown only in FIG. 3, and detailed explanation will be omitted.
なお、従動腕Ｃが遮蔽室Ａの天井を貫通する部
分には、外気と遮蔽室Ａ内とを遮断する遮蔽室密
閉用筐体Ｄがあり、この筐体Ｄ内において水平支
持杆ｂのフオーク部b1は回転でき、従動腕Ｃは水
平支持杆ｂを含む鉛直面内を回動できるように、
球形ジヨイントｍ等を使用して構成されている
が、これまたこの発明に直接関係がないので詳細
な説明はこれを省略する。 In addition, in the part where the driven arm C penetrates the ceiling of the shielded room A, there is a housing D for sealing the shielded room that shuts off the outside air and the inside of the shielded room A, and within this housing D, the fork of the horizontal support rod b is The part b1 can rotate, and the driven arm C can rotate in a vertical plane including the horizontal support rod b.
Although it is constructed using a spherical joint m, etc., it is not directly related to this invention, so a detailed explanation thereof will be omitted.
また、第１図及び第２図において、ｐは密閉用
ブーツ取付用筐体、ｑは伸縮自在の密閉用蛇腹状
ブーツを各々示す。 Further, in FIGS. 1 and 2, p indicates a housing for attaching a sealing boot, and q indicates a retractable bellows-shaped sealing boot.
［背景技術の問題点］
このような遠隔操縦マニプレータは、主動腕Ｂ
を動かすと従動腕Ｃも全く同じように動き、主動
腕Ｂの下端の親指挿入部ｉと人差し指挿入部ｊと
の挾持運動は、従動腕Ｃの下端の一対の挾持子
ｋ，ｌの挾持運動を生じ、遠隔操縦マニプレータ
として危険物等の操作に極めて便利ではある。し
かしながら余り大きく取れない覗き窓A′から遮
蔽室Ａ内を覗きながら主動腕Ｂを操作する場合に
は下記の欠点があつた。[Problems in the background art] Such a remote control manipulator is
When you move , the driven arm C moves in exactly the same way, and the clamping motion between the thumb insertion part i and the index finger insertion part j at the lower end of the driving arm B is the clamping motion of the pair of clamps k and l at the lower end of the driven arm C. This makes it extremely convenient for operating dangerous objects as a remote control manipulator. However, when operating the driving arm B while looking into the shielded room A through the viewing window A' which is not very large, the following drawbacks occur.
今第４図において一点鎖線をもつて上述の従来
の遠隔操縦マニプレータとすると、主動腕Ｂを
の位置より点線で示すの位置に回動すると、遮
蔽室Ａ内において、従動腕Ｃは′の位置より
′の位置に回動する。このような場合、遮蔽室
Ａ外の操縦者の目Ｅは狭い覗き窓A′を通して
′の位置を見ていても、主動腕Ｂがの位置に
動く時は、操縦者の目Ｅは後退してE′の位置に
行くため、E′よりの視線は狭い覗き窓A′の下縁
でさえぎられ、従動腕Ｃの′の位置を確認でき
なくなつてしまうような欠点があつた。 Now, assuming that the above-mentioned conventional remote control manipulator is indicated by the dashed line in FIG. Rotate to the ' position. In such a case, even though the operator's eyes E outside the shielded room A are looking at the position ' through the narrow viewing window A', when the main drive arm B moves to the position, the operator's eyes E move back. Since the line of sight from E' is obstructed by the lower edge of the narrow viewing window A', the position of the driven arm C cannot be confirmed.
［発明の目的］
この発明は、従来の欠点を取り除くために成さ
れたもので、主動腕Ｂに対する従動腕Ｃの動きの
比率を変化させることのできる遠隔操縦マニプレ
ータを提供することを目的とする。[Object of the Invention] This invention was made to eliminate the drawbacks of the conventional art, and an object of the invention is to provide a remote control manipulator that can change the ratio of movement of the driven arm C to the driving arm B. .
［発明の実施例］
第５図に示す本発明の一実施例に基づいてその
構成を説明する。この遠隔操縦マニプレータは、
遮蔽室Ａ上に覗き窓A′側に突き出るように水平
支持管ａを設け、この水平支持管ａ中に水平支持
杆ｂを回転自在に設ける。この水平支持杆ｂの一
端に形成したフオーク部b1には、遮蔽室Ａ内にて
従動腕Ｃが水平支持杆ｂを含む鉛直面内を回動で
きるように、またその軸方向に昇降できるように
支持する筒管C2を枢支する。また水平支持杆ｂ
の他端には、水平支持杆ｂを含む鉛直面内を、主
動腕Ｂが遮蔽室Ａ外にて回動できるように、また
昇降できるように支持する支枠Ｆを枢支する。支
枠Ｆは２本の平行杆r′，r″を上下２個のブラケツ
トs′，s″で連結して形成し、この２個のブラケツ
トs′，s″に主動腕Ｂを昇降自在に設ける。[Embodiment of the Invention] The configuration will be described based on an embodiment of the present invention shown in FIG. This remote control manipulator is
A horizontal support tube a is provided above the shielding chamber A so as to protrude toward the viewing window A' side, and a horizontal support rod b is rotatably provided in the horizontal support tube a. The fork part b1 formed at one end of the horizontal support rod b has a structure that allows the driven arm C to rotate within the vertical plane including the horizontal support rod b in the shielded room A, and to move up and down in the axial direction. The cylindrical pipe C 2 is pivoted to be supported as shown in FIG. Also horizontal support rod b
At the other end, a supporting frame F is pivotally supported so that the driving arm B can rotate outside the shielding chamber A and can move up and down in a vertical plane including the horizontal support rod b. The support frame F is formed by connecting two parallel rods r', r'' with two upper and lower brackets s', s'', and the driving arm B is attached to these two brackets s', s'' so that it can be raised and lowered freely. establish.
さて主動腕Ｂの上端には連杆ｇの一端を枢支
し、他端は従動腕Ｃの上端に枢支した套管３に挿
通して少しく延長させておく。さらに主動腕Ｂに
おける連杆ｇの枢支点イと水平支持杆ｂの枢支点
ロとの間には、支枠Ｆの平行杆r′，r″に昇降自在
でかつ任意の位置に固定できるように設けた套管
４，４に一端を枢支した連杆ｔを設け、他端を従
動腕Ｃの嵌合する筒管C2の一部に枢支してあ
る。 Now, one end of a connecting rod g is pivotally supported at the upper end of the driving arm B, and the other end is inserted into a cannula 3 which is pivotally supported at the upper end of the driven arm C, and is slightly extended. Furthermore, between the pivot point a of the connecting rod g in the driving arm B and the pivot point b of the horizontal support rod b, there is a structure that can be moved up and down on the parallel rods r' and r'' of the support frame F and fixed at any position. A connecting rod t is provided with one end pivotally supported on the mantle tubes 4, 4 provided at the rear end, and the other end is pivotally supported on a part of the cylindrical tube C2 into which the driven arm C is fitted.
次に上記のように構成された遠隔操縦マニプレ
ータの作動について第４図を用いて説明する。図
に示すように、套管４，４を支枠Ｆの平行杆r′，
r″に沿つて４′の位置に向つて適宜移動させ、そ
の位置に固定することにより、主動腕Ｂをの位
置よりの位置に動かすと、従動腕Ｃの下端′
の位置は′の位置でなく1′まで拡大されて動
かされる。従つて操縦者の目Ｅからの視線が覗き
窓A′の下縁でさえぎられることがない。言い換
えれば、従動腕Ｃを′から′に動かすために、
主動腕Ｂをからまで動かす必要がないという
ことである。即ちからまでの距離より短い距
離で達成できることである。従つて操縦者は常に
正しい姿勢で絶えず挾持子ｋ，ｌの動作状態を覗
き窓A′から正確に確認できる。 Next, the operation of the remote control manipulator configured as described above will be explained using FIG. 4. As shown in the figure, the mantles 4, 4 are connected to the parallel rods r' of the support frame F,
By appropriately moving the driving arm B toward the position 4' along the direction 4' and fixing it at that position, when the driving arm B is moved to a position from the position 4', the lower end of the driven arm C
The position of is expanded to 1 ' and moved instead of the position of ′. Therefore, the line of sight from the operator's eyes E is not obstructed by the lower edge of the viewing window A'. In other words, to move the driven arm C from 'to',
This means that there is no need to move the active arm B all the way. In other words, it can be achieved at a distance shorter than the distance from to. Therefore, the operator can always maintain a correct posture and accurately check the operating status of the clamps k and l through the observation window A'.
なお以上の実施例では連杆ｔの一端を平行杆
r′，r″に昇降自在でかつ任意の位置に固定できる
套管４，４に枢支し、他端を套管C2の一部に枢
支した。しかしながら連杆ｔの一端は主動腕Ｂに
直接枢支し、他端を套管C2の外周で昇降自在で
かつ任意の位置に固定できる部材に枢支しても同
様な効果が得られることは言うまでもなく、さら
に連杆ｔの一端を套管４，４に枢支し、他端を套
管C2の外周に設けた部材、或いは従動腕Ｃに直
接枢支してもよい。なお連杆ｔを主動腕Ｂまたは
従動腕Ｃに直接枢支する場合、その枢支箇所を腕
の長手方向に沿つて調整可能としてもよい。 In the above embodiment, one end of the continuous rod t is a parallel rod.
r', r'' and can be fixed at any position, and the other end is pivoted to a part of the cannula C2 . However, one end of the connecting rod is attached to the drive arm. It goes without saying that the same effect can be obtained by directly pivoting to C and the other end to a member that can be raised and lowered on the outer periphery of cannula C 2 and fixed at any position. One end may be pivoted to the mantle tubes 4, 4, and the other end may be pivoted directly to a member provided on the outer periphery of the mantle tube C2 , or directly to the driven arm C.The connecting rod t may be connected to the driving arm B or the driven arm C2. When directly pivoted to C, the pivot point may be adjustable along the longitudinal direction of the arm.
［発明の効果］
この発明は主動腕の動きを比率を変えて従動腕
の動きとして伝達することができるので、一段と
操作し易い遠隔操縦マニプレータが得られる。[Effects of the Invention] Since the present invention can transmit the movement of the driving arm as the movement of the driven arm by changing the ratio, a remote control manipulator that is easier to operate can be obtained.
第１図は従来の遠隔操縦マニプレータの一部縦
断正面図、第２図は主動腕の部分の側面図、第３
図は全体の斜視図、第４図は作用の説明図、第５
図はこの発明にかかる遠隔操縦マニプレータの一
実施例の一部縦断正面図、第６図は主動腕の部分
の側面図を夫々示す。
Ａ……遮蔽室、Ｂ……主動腕、Ｃ……従動腕、
Ｆ……支枠、ａ……水平支持管、ｂ……水平支持
杆、ｇ……連杆、ｏ−ｏ……水平支持杆ａの中心
線、r′，r″……支枠Ｆの平行杆、s′，s″……プラ
ケツト、ｔ……連杆、３……套管。
Figure 1 is a partially longitudinal front view of a conventional remote control manipulator, Figure 2 is a side view of the active arm, and Figure 3 is a side view of the main arm.
The figure is a perspective view of the whole, Figure 4 is an explanatory diagram of the action, and Figure 5 is a perspective view of the whole.
The figure shows a partially longitudinal front view of an embodiment of the remote control manipulator according to the present invention, and FIG. 6 shows a side view of the active arm. A...shielded room, B...driving arm, C...driven arm,
F... Support frame, a... Horizontal support pipe, b... Horizontal support rod, g... Continuous rod, o-o... Center line of horizontal support rod a, r', r''... of support frame F. Parallel rods, s', s''...Pracket, t...Continuous rod, 3...Cannula.
Claims (1)
される筒管C2に昇降自在に支持される従動腕Ｃ
と、前記筒管C2にその一端が枢支され全体が前
記遮蔽室Ａ上に回転自在に載置される支持杆ｂ
と、この支持杆ｂの他端に枢支され前記従動腕Ｃ
とほぼ相似の構造の主動腕Ｂを昇降自在に支持す
る支枠Ｆと、前記支持杆ｂと略平行に配置され、
その一端が前記従動腕Ｃに直接、或いは前記筒管
C2を介して枢支され、その他端が前記主動腕Ｂ
に直接、或いは前記支枠Ｆを介して枢支される連
杆ｔとを具備し、前記主動腕Ｂの動きを前記従動
腕Ｃに伝達するようにした遠隔操縦マニプレータ
において、前記連杆ｔと前記従動腕Ｃ或いは前記
筒管C2との枢支箇所、または、前記連杆ｔと前
記主動腕Ｂ或いは前記支枠Ｆとの枢支箇所の少な
くとも一方を、前記主動腕Ｂまたは前記従動腕Ｃ
の長手方向に沿つて調整可能としたことを特徴と
する遠隔操縦マニプレータ。1 A cylindrical pipe C supported on the shielded chamber A via a spherical joint m 2 A driven arm C supported so as to be able to rise and fall freely
and a support rod b whose one end is pivotally supported by the cylindrical pipe C2 and whose entire body is rotatably placed on the shielding chamber A.
and the driven arm C is pivotally supported at the other end of the support rod b.
a supporting frame F that supports a driving arm B having a structure substantially similar to that of the main driving arm B in a vertically movable manner;
One end thereof is connected directly to the driven arm C or to the cylindrical pipe.
C2 , and the other end is connected to the driving arm B.
In the remote control manipulator, the remote control manipulator is equipped with a connecting rod t which is pivoted directly to or via the supporting frame F, and transmits the movement of the driving arm B to the driven arm C. At least one of the pivot point between the driven arm C or the cylinder tube C2 , or the pivot point between the connecting rod t and the drive arm B or the support frame F, is connected to the drive arm B or the driven arm. C
A remote control manipulator characterized by being adjustable along the longitudinal direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14601079A JPS5669089A (en) | 1979-11-13 | 1979-11-13 | Remote controlling manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14601079A JPS5669089A (en) | 1979-11-13 | 1979-11-13 | Remote controlling manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5669089A JPS5669089A (en) | 1981-06-10 |
| JPS6125509B2 true JPS6125509B2 (en) | 1986-06-16 |
Family
ID=15398044
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP14601079A Granted JPS5669089A (en) | 1979-11-13 | 1979-11-13 | Remote controlling manipulator |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5669089A (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58137577A (en) * | 1982-02-05 | 1983-08-16 | 株式会社日立製作所 | Articulated robot |
| JPH0612241B2 (en) * | 1987-01-26 | 1994-02-16 | 株式会社ニデツク | Sample inspection device |
-
1979
- 1979-11-13 JP JP14601079A patent/JPS5669089A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS5669089A (en) | 1981-06-10 |
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