JPS6141717B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a manipulator, and more particularly to a manipulator equipped with a wrist portion that can be used in a nuclear facility or under relatively low water pressure.

In general, manipulators are used for work in harsh environments, work with hazardous materials, or work in spaces so narrow that workers cannot directly enter them.

In this specification, the term "manipulator" has a function similar to that of a human upper limb, and includes two or more functional parts such as rotation, bending/extending, left/right movement, and turning, and is used to control objects. It is used to mean something that is moved spatially by grasping or holding. Therefore, the meaning of the word "industrial robot" is included in the meaning of the word "manipulator." Moreover, "rotation" means a rotational movement centered on the axial direction without changing the direction of the shaft, and "swivel" means a movement that attempts to change the axial direction. In the case of human hands,
Twisting the wrist is rotation, and bending the wrist is rotation.

In the structure of the manipulator described above, since the shoulder portion and the portion corresponding to the elbow are not close to the object to be handled, relatively large dimensions are allowed in terms of design. Therefore, a motor and a speed reducer that directly drive the joints of the shoulder and elbow portions can be disposed at these joints.

The shoulder and elbow portions are provided with the manipulator power source housed in the main body, and power is supplied from this power source to the shoulder and elbow portions via a wrapping medium such as a wire rope, metal tape, or chain. It is also possible to transmit this and thereby drive the joints of the shoulder and elbow portions.

On the other hand, compared to the shoulder and elbow portions, the wrist and finger portions of the manipulator have a restriction that their external shapes must be small in order to obtain good work performance.

Therefore, under these constraints, if a structure is adopted in which a power source consisting of a motor and a speed reducer for directly driving the joints of the wrist and fingers is placed at these joints, the related The drawback was that the degree of freedom had to be reduced.

In addition, under the above constraints, a power source consisting of a motor and a speed reducer is placed in a part other than the joints of the wrist and fingers, and this power source passes through the above-mentioned winding power transmission mechanism to the wrist and fingers. If a structure in which the joints are driven is adopted, this winding power transmission mechanism becomes extremely complicated. Moreover, since the winding intermediate joint is likely to stretch or loosen, there is a drawback that the operation of the wrist and finger portions of the manipulator becomes uncertain.

For example, the above-mentioned winding power transmission mechanism is also used in master slave manipulators (commonly known as magic hands) that are often used in nuclear facilities. In the case of this master slave manipulator, relatively delicate movements are required at the fingertips. However, the power for moving the fingertips is transmitted from the power source housed in the main body to the wire rope metal tape or chain, which tends to stretch or loosen, and is easily damaged. Since the signal is transmitted to the hand of the master slave manipulator through the joints corresponding to the shoulder and elbow, the operation of the hand may become uncertain due to stretching or loosening of the wrapping medial joint. Accidents have occurred in which the above-mentioned winding intermediate joint has been severed due to wear and tear, resulting in an inability to operate the hands.

Furthermore, in the case of the master slave manipulator, the wrist joint is required to pivot and rotate, so the wrist inevitably has a small outer diameter. Therefore, it is extremely difficult to improve the mechanical strength of the wrist portion of the master slave manipulator more than before.

On the other hand, in the master slave manipulator mentioned above, the mechanical strength of the wrist part is improved because the outer shape of the wrist part is large, and the wrist part can pivot, rotate, and perform other movements. requires great operating force, and
The delicate movements of the Master Slave Manipulator's fingertips become impossible.

An object of the present invention is to provide a manipulator with a wrist portion that is easy to work with and maintainable. According to the manipulator of the present invention that achieves this object, the power for rotating the hand and opening/closing the fingers is mediated by a torque transmission system consisting of a chain of gears, shafts, and shaft couplings; Power for turning is mediated by a linkage mechanism.

Further, according to the manipulator, the members constituting the wrist joint are assembled in such a manner that one member always overlaps the other member in the axial direction, regardless of whether there is relative movement between the members. A rubber seal ring is provided between each member.

Another object of the present invention is to provide a manipulator having a wrist portion that has a relatively high mechanical strength but is small in external size and has excellent workability. According to a manipulator that achieves this purpose, a motor for rotating the hand and opening/closing the fingers, and a linear actuator for rotating the wrist are disposed at a location other than the wrist, and the wrist has two inner and outer parts. The fingers can be opened and closed using a separate torque transmission system, and the hand can be rotated. The inner torque transmission system is not a wrapping mechanism, but a shaft,
It consists of a universal joint, a spline joint, and a reduction gear device, and opens and closes the fingers. On the other hand, the outer torque transmission system is also not a winding mediating mechanism, but is composed of a gear system, a shaft, and a universal joint, and rotates the hand part. Further, the outer torque transmission system is supported by the arm portion of the manipulator by a frame capable of turning with two degrees of freedom.

Hereinafter, a first preferred embodiment of the present invention will be described in detail with reference to the accompanying FIGS. 1 to 4.

The arm shell 1 of the manipulator shown in FIG. 1 functions as a housing as well as a skeleton, and its rear end side (the left end side in the figure) is slidable on the elbow joint of the manipulator (not shown). are connected in a state of

On the inner surface of the tip side (right end side in the figure) of arm shell 1,
First inward flange 2 and second inward flange 3
is formed. The first inward flange 2 is provided at a position farther back from the distal end of the arm shell 1 than the second inward flange 3.

Hereinafter, the overall configuration of the above manipulator includes a wrist rotation mechanism, a hand attachment/detachment mechanism, a finger opening/closing mechanism,
The wrist rotating mechanism and the wrist sealing mechanism will be explained separately.

Wrist Rotation Mechanism A first motor 4 is fixed to the first inward flange 2 . The first motor 4 has a reversible output shaft gear 5 that outputs continuous rotation. 1st
The motor 4 includes, for example, a wrist portion 60 and a hand portion 22.
The motor is constructed so that it can reliably maintain its stopped position even if it receives a reaction force due to an unbalanced load or the like.

A hollow drive shaft 7 is supported on the second inward flange 3 by a pair of regular ball bearings 6 spaced apart. A reduction gear 8 is rigidly connected to the hollow drive shaft 7 at its rear end. This reverse speed gear 8 meshes with the output shaft gear 5.

A yoke 9 is formed at the tip of the hollow drive shaft 7. A first annular joint fitting 10 is fitted inside the yoke 9 . The yoke 9 and the first joint fitting 10 are connected by a pair of pivot pins 11.

A hollow wrist intermediate shaft 13 has a yoke 12 at its rear end disposed in a direction perpendicular to the yoke 9.
It is connected to the first joint fitting 10 by a pair of pivot pins 14 .

The hollow drive shaft 7, the first joint fitting 10, and the wrist intermediate shaft 13 constitute an outer universal joint 15.

The wrist intermediate shaft 13 has a cylindrical shaft portion 13a at its intermediate portion, and is supported by the wrist rotation frame 31 at the cylindrical shaft portion 13a by a normal ball bearing 13b.

A hemispherical joint body portion 16 is formed at the distal end of the wrist intermediate shaft 13. The joint main body portion 16 is slidably supported by a second joint fitting 17 having a hemispherical shell shape. The joint body part 16 and the second
The joint fitting 17 is coupled with a pair of pivot pins 18 .

The second joint fitting 17 and the hollow wrist shaft end 20 are coupled by a pair of pivot pins 19 disposed in a direction perpendicular to the pair of pivot pins 18 .

A universal joint 21 is formed by the joint body portion 16 of the wrist intermediate shaft 13, the second joint fitting 17, and the wrist shaft end 20.
is configured.

The hand portion 22 is attached to and detached from the wrist shaft end 20.

The inside of the hollow drive shaft 7, the hollow wrist intermediate shaft 13, and the hollow wrist shaft end 20 are connected by a hook-shaped inner universal joint 23 to a rotary shaft 2 for opening and closing the finger part.
4 and an extendable finger opening/closing operation end shaft 25 extend vertically.

The rotary shaft 24 is supported on the hollow drive shaft 7 by a pair of normal ball bearings 26 on the rear end side, and the finger opening/closing operation end shaft 25 is supported at the wrist shaft end by a normal ball bearing 27 on the distal end side. It is supported by 20 people.

A first bushing 28 having a spherical outer surface is fitted onto an intermediate portion of the rotating shaft 24 . The first bushing 28 is held inside the first fitting 10 and is slidable in all directions relative to the first fitting 10.

Similarly, a second bushing 29 which is the same as the first bushing 28 is provided in the middle part of the finger opening/closing operation end shaft 25.
is inserted externally. This second bush 29 is
It is held inside a ring 30 fixed to the wrist intermediate shaft 13, and is slidable in all directions with respect to this ring 30.

In this way, due to the mounting structure of the rotating shaft 24 and the finger opening/closing operation end shaft 25 to the outer universal joint 15 and the universal joint 21, these universal joints 15 and 21
The hand part 22 can be in a state in which it is aligned in a straight line with respect to the arm shell 1 as shown in FIG. Even when maintaining the rotation axis 2
4 and the finger opening/closing operation end shaft 25 can be rotated independently by the first motor 4.

Hand Attachment and Detachment Mechanism A spline shaft 2 forming the tip of the finger opening/closing operation end shaft 25 extends from the center of the tip of the wrist shaft end 20.
5a protrudes in the axial direction of the wrist shaft end 20, and a plurality of steel balls 33 are attached to the inner and outer peripheral surfaces of the hand holding ring 32 around the spline shaft 25a. It is held so that it can freely protrude or retreat and not fall off from the hand holding ring 32.

On the other hand, the rear end side of the hand portion 22 (FIGS. 1 and 3)
(see figure) is formed with a hand hollow shaft 34 that is inserted into the hand holding ring 32. An annular groove 35 with a rectangular cross section is formed on the outer circumferential surface of the hollow hand shaft. By locking the steel ball 33 to the wall surface forming the annular groove 35, the hand portion 22
is attached to the wrist shaft end 20 in a non-removable manner.

An axially long stop groove 36 is also formed on the outer circumferential surface of the hand hollow shaft 34 at a portion closer to the distal end side than the annular groove 35.

A fixing ring fitting 37 is provided around the hollow hand shaft 34 and is slidable in the axial direction of the hollow hand shaft 34.
is installed. The fixing ring fitting 37 is prevented from falling off the hand hollow shaft 34 by stop pins 38 which are driven in the lateral direction of the fixing ring fitting 37 and are stopped at both ends of the stop groove 36.

A compression coil spring 40 is disposed between the fixing ring fitting 37 and the hand main body 39, and the compression coil spring 40 elastically biases the fixing ring fitting 37 toward the rear of the hand hollow shaft 34. has been done.

An annular outer circumferential groove 41 is formed on the outer circumferential surface of the fixing ring fitting 37. A U-shaped remote control terminal device (not shown) can be attached to this outer circumferential groove 41 .

An inner circumferential groove 42 is formed on the protruding inner circumferential surface of the fixing ring fitting 37 at a position facing the outer circumferential groove 41 . Therefore, on the inner circumferential surface of the fixing ring fitting 37, the steel balls 33 are placed in a position closer to the tip than the inner circumferential groove 42, with the steel balls 33 protruding into the inside of the hand holding ring part 32. A land portion 43 for pressing the ball 33 is formed. A groove side wall 44 extending from the land portion 43 to the inner circumferential groove 42 is inclined.

Due to the structure of the hand holding ring 32 of the wrist shaft end 20 and the fixing ring fitting 37 of the hand 22, the hand 22 is fixed to the wrist shaft end 20, as shown in FIG. In this case, the fixing ring fitting 37 is
The land portion 43 and the steel ball 33 are slid rearward so as to engage with each other. On the other hand, when the hand portion 22 is removed from the wrist shaft end 20, the fixing ring fitting 37 is The land portion 43 is slid toward the distal end of the hollow shaft 34, thereby releasing the engagement between the land portion 43 and the steel ball 33. FIG. 2 shows the hand part 22.
FIG. 3 shows the state of the hand 22 after it has been removed from the wrist shaft end 20.

Finger Opening/Closing Mechanism As shown in FIG. 3, a worm 45 is disposed at the axis of the hand 22.
5 has a pair of normal ball bearings 4 at both ends thereof.
6 and 47, the hand hollow shaft 34 and the hand main body 3
It is supported by 9. At the axis of the worm 45,
A spline hole 48 is formed into which the finger opening/closing operation end shaft 25 is spline-fitted.

A pair of worm gears 49 mesh with the worm 45 at opposing positions in the lateral and axial directions. Two links 51 of parallel-moving fingers 50 are rigidly connected to these worm gears 49, respectively. Therefore, the pair of fingertips 52 of the finger portion 50 are driven to approach each other while maintaining a parallel relationship by the forward rotation of the worm 45, and on the other hand, the pair of fingertips 52 of the finger portion 50 are driven to approach each other while maintaining a parallel relationship by the reverse rotation of the worm 45. At the same time, they are driven closer to each other.

A rotary shaft 24 that transmits torque to the worm 45 via the universal joint 23 and the finger opening/closing operation end shaft 25 is spline-coupled to an output shaft 54 of a second motor 53 for driving the hand opening/closing. This output shaft 54 outputs both continuous forward rotation and continuous reverse rotation, thereby opening and closing the finger portion 50.

A stator 55 of the second motor 53 is rigidly connected to the reduction gear 8, and an annular power supply slip ring 56 and a ring 57 are rigidly connected to the stator 55. A pair of current collecting members 58a and 58b of a pair of lead wires 58 are in contact with these power supply slip rings 56 and 57.

Due to the mounting structure and power supply method of the second motor 53, the second motor 53 can open and close the finger 50 even when the hand 22 is stopped rotating at any angle or is rotating. Fully operational.

Wrist Swivel Mechanism As shown in FIG. 1, in addition to the first motor 4, a plurality of linear actuators are fixed to the first inward flange 2. The many plater of this embodiment has two linear actuators, one of which is the linear actuator 5.
9 is used for vertical rotation, and the other linear actuator (not shown) is used for left and right rotation. These linear actuators can be constituted by hydraulic cylinders, rotary motor driven pole screws or pinion driven racks.

As shown in FIG. 4, the one linear actuator 59 and the other linear actuator are connected to a wrist rotating frame 31 having an annular cross section.
are spaced at approximately 90° angular intervals about the center of the cross section. If the angular spacing between the two linear actuators is set at an angle of approximately 50° to 130°, the force required for pivoting the wrist portion 60 will not be directed in a direction that would be inconvenient for operation. It doesn't take on any color.

The configuration and operation of one linear actuator 59 will be described below. This explanation also applies to the other linear actuator.

A swing operation end member 63 is coupled to the barrel end of the rod 61 of one of the linear actuators 59 by a pivot pin 62. A retaining ring 64 is formed at the tip of this swing operation end member 63. A third bush 65 having a spherical outer surface is housed in this retaining ring 64 so as to be slidable in all directions. This third bush 65 is connected to a groove 66 formed in the lower part of the inner surface of the wrist rotation frame 31.
It is externally fitted onto a pivot pin 67 installed in a transverse direction. Since the width of the groove 66 leaves a sufficient margin for the thickness of the swing operation end member 63, the wrist swing frame 31 is not interfered with when turning left and right.

The wrist rotation frame 31 is connected to the center A of the outer universal joint 15 by one linear actuator 59, the other linear actuator, and the wrist intermediate shaft 13.
It is supported so that it can freely rotate in any direction with the center of rotation at . For example, when the wrist rotation frame 31 is rotated in the left-right direction by the other linear actuator, the first joint fitting 10 rotates around the first bushing 2 with the pair of pivot pins 11 as support axes.
It rotates while sliding on the spherical outer surface of 8.

The wrist rotation frame 31 is rotated around the center A. Therefore, the finger opening/closing operation end shaft 25 is
The hand intermediate shaft 13 rotates about the center B of the inner universal joint 23 .

Since the center B is located at a position slightly shifted from the center A toward the tip end of the manipulator, the rotation angular velocity of the finger opening/closing operation end shaft 25 is greater than the rotation angular velocity of the wrist rotation frame 31. Therefore, the second shaft rotates integrally with the finger opening/closing operation end shaft 25.
The bush 29 slides on the inner surface of the ring 30 while changing its attitude with respect to the ring 30, which rotates integrally with the wrist rotation frame 31.

As mentioned above, the rotation angular velocity of the finger opening/closing operation end shaft 25 is greater than the rotation angular velocity of the wrist rotation frame 31, so even if the wrist rotation frame 31 is gently rotated by a small amount, the finger opening/closing operation end shaft 25 Can be turned quickly and in large quantities. This simplifies the coupling structure between the wrist rotation frame 31 and the arm shell 1, and allows the use of a linear actuator with a smaller stroke.

Further, by changing the center-to-center distance between the center A and the center B, the magnification of the rotation angular velocity of the finger opening/closing operation end shaft 25, that is, the hand portion 22, relative to the rotation angular velocity of the wrist rotation frame 31 can be arbitrarily changed.

A linear actuator for rotating the wrist rotation frame 31 in all directions is a linear actuator for rotating the wrist rotation frame 31 in all directions.
Three pivoting operation end members may be arranged so that they push and pull the wrist pivoting frame 31 at each vertex of an equilateral triangle inscribed in the circle of one cross section. By appropriately controlling these three linear actuators, the wrist rotation frame 31 can be rotated with ideally equal force in all directions.

Further, when two or more linear actuators are arranged, the turning moment required for turning the wrist turning frame 31 can change depending on the turning direction by selecting the angular interval between each linear actuator. . Therefore, a linear actuator arrangement structure that actively utilizes the directionality of this turning moment may be adopted.

Wrist Seal Mechanism As shown in FIGS. 1 and 2, the outer surface 31a of the wrist rotation frame 31 is formed to form a part of a spherical surface, while the tip of the arm shell 1 A first O-ring 68 that slidably contacts the outer surface 31a of the wrist rotation frame 31 is fitted on the inner surface.

Annular end plates 31, 31b are fixed to the tip of the wrist rotation frame 31, and the end plates 31
b and the cylindrical shaft portion 13a of the wrist intermediate shaft 13,
A second O-ring 69 is fitted to provide a sliding seal between the end plate 31b and the cylindrical shaft portion 13a.

Further, there is no gap between the wrist rotation frame 31 and the end plate 31b through which dust or water droplets can enter.

The second O-ring 69 is subjected to a slight radially inward compressive force over almost the entire circumference of the circular cross section by the end plate 31b, the cylindrical shaft portion 13a, and the ball bearing 13b.

Therefore, the intrusion of dust or water droplets into the wrist rotation frame 31 from between the end plate 31b and the cylindrical shaft portion 13a is prevented.
Prevented.

A third O-ring 70 is fitted onto the outer circumferential surface of the distal end of the joint body 16 of the wrist intermediate shaft 13, and this third O-ring 70 provides a sliding seal between the joint body 16 and the second joint fitting 17. be done.

On the inner circumferential surface of the wrist shaft end 20, the fourth O-ring 71 is used in the form of a pupil, similar to a gasket, at a portion that contacts the outer circumferential surface of the second joint fitting 17.

As shown in FIGS. 1 and 2, a fifth O-ring 72 for sealing the rotating finger opening/closing operation end shaft 25 is provided on the inner peripheral surface of the central part of the tip side of the wrist shaft end 20. A boss 73 is formed that fits into the. The ball bearing 27 disposed within this boss 73
The fifth O-ring 72 is lightly pressed by the front and rear surfaces of the fifth O-ring 72 and the tip 73a of the boss 73.

As described above, the spherical outer surface of the wrist rotation frame 31, the outer surface shape of the wrist intermediate shaft 13, and the first, second,
The 3, 4 and 5 O-rings 68, 69, 70, 71 and 72 completely seal the wrist 60 from external dust and water droplets.

Other Embodiments of the Invention A second preferred embodiment of the invention is shown in FIGS.
As shown in the figure. In the description of this example,
The same reference numbers are used for the same mud parts as in the first embodiment.

In the second embodiment, the wrist portion 75 is configured in such a way that the center A of the outer universal joint 15 and the center B of the inner universal joint 23 in the first embodiment can be considered to be completely aligned. The shaft end 76 is directly attached to the wrist rotation frame 31 so as to rotate integrally therewith.

A finger opening/closing operation end shaft 77 having a spline extends vertically through the axis of the wrist shaft end 76 . This finger opening/closing operation end shaft 77 is not a telescopic shaft.

A yoke 78 is formed at the rear end of the wrist shaft end 76, and this yoke 78 is connected to a yoke 9 formed at the tip of the hollow drive shaft 7 with an annular fourth joint fitting 79 and an angular interval of 90 degrees. They are connected by four pins 80 arranged with. These yokes 78 and 9, the fourth joint fitting 79, and the pin 80 constitute an outer universal joint 81.

The rotating shaft 24 and the finger opening/closing operation end shaft 77 , which are connected by the hook-shaped inner universal joint 23 , extend vertically through the inside of the outer universal joint 81 . Inner universal joint 23
The center of the outer universal joint 81 completely coincides with the center of the outer universal joint 81.

Further, as shown in FIG. 5, the wrist rotation frame 31 is restricted in its maximum rotation angle by coming into contact with the second inward flange 3.

According to the present invention, which has been explained in detail with reference to the embodiments above, the members constituting the wrist joint are all hollow structures having open ends only in the axial direction, and if there is relative movement between each member, Regardless of whether or not one member is assembled with the other in the axial direction, each member is assembled with a seal ring, so the inside of the wrist is protected from dust and water droplets. Almost completely sealed. Such a wrist seal structure facilitates radiation cleaning work, especially when the manipulator is used in a radiation environment such as a nuclear facility. That is, the maintainability of the wrist portion of the manipulator is significantly improved.

Further, due to the overlapping structure of each member, the mechanical strength of the wrist portion is maintained relatively high.

Furthermore, according to the present invention, the power source for turning, rotating, and opening/closing the finger is housed in a location other than the wrist, and dual internal and external torque is transmitted from this power source to the hand and fingers. Since the system was constructed from a shaft, a universal joint, a gear system, and a spline joint without using a wrapping mechanism, a manipulator having a wrist portion with a small external shape was obtained, and the hand and finger portions of this manipulator were can perform dexterous movements due to the reliable torque transmission of the torque transmission system.

Further, according to the present invention, by connecting the hollow drive portion and the wrist shaft end through two sets of universal joints, the wrist intermediate shaft can be connected to the wrist shaft end even if a small stroke linear actuator is used. You can get a big turn.

Further, according to the present invention, various hand parts such as a fingered hand part or a fingerless hand part can be easily attached and detached, and this easy-to-attach and detach structure prevents loss of torque transmission from the wrist shaft end to the hand part. do not have.

Further, according to the present invention, the second motor for opening and closing the finger part, whose stator rotates when the hand part rotates, is
Since power is supplied through the power supply slip ring, the hand part is capable of continuous forward rotation and continuous reverse rotation, regardless of whether the wrist part is in a pivoted or non-swiveled position.
This makes it easy to attach and detach screws, in particular.

[Brief explanation of the drawing]

FIG. 1 is a longitudinal cross-sectional view of the wrist and hand of a manipulator according to a first preferred embodiment of the present invention, with the wrist being pivoted downward to the maximum extent possible.
FIG. 2 is a longitudinal sectional view of the wrist portion of the manipulator, showing a state in which the axes of the wrist portion are aligned in a straight line.
In FIG. 2, the hand has been removed from the wrist. FIG. 3 is a longitudinal sectional view of the hand section of the manipulator removed from the wrist section.
FIG. 4 is a cross-sectional view taken along the line -- in FIG. 2 of the wrist rotation frame. FIG. 5 is a longitudinal cross-section of the wrist portion of the manipulator according to the second preferred embodiment of the present invention, showing the wrist portion in a state in which the wrist portion is pivoted downward to the maximum extent. FIG. 6 is a sectional view taken along the - line in FIG. 5. However, FIG. 6 shows a cross-section of the wrist portion along the - line at a position where the wrist rotation frame is not rotated. DESCRIPTION OF SYMBOLS 1... Arm shell, 4... First motor, 7... Hollow drive shaft, 13... Wrist intermediate shaft, 15... Outer universal joint, 20... Wrist shaft end, 22... Hand part, 23...
Inner universal joint, 24... Rotating shaft, 25... Finger opening/closing operation end shaft, 48... Spline hole, 50... Finger, 53... Second motor, 55... Stator, 5
6 and 57...Power supply slip ring, 59...Linear actuator, 60...Wrist part, 68,6
9, 70, 71 and 72... O-ring, 76...
Wrist shaft end, 77... Spline shaft, 81... Outer universal joint.

Claims (1)

[Scope of Claims] 1. A wrist rotation frame 31 rotatably disposed inside the tip of the arm shell 1, and a wrist rotation frame 31 disposed at a portion other than the wrist portion 60 or 75 for rotating the hand portion 22. A first motor 4 and a second motor 53 for opening and closing the finger portion 50
, at least two linear actuators 59 for giving two degrees of freedom of rotation to the wrist rotation frame 31, and gear devices 5 and 8 by the first motor 4.
A hollow drive shaft 7 is rotatably driven to rotate the hand portion 22 via the hollow drive shaft 7, and is connected to the hollow drive shaft 7 by an outer universal joint 15, and is rotatable together with the wrist pivot frame 31. The hollow wrist intermediate shaft 13 is rotatably supported with respect to the hollow wrist intermediate shaft 31 that is rotatably supported, and the wrist intermediate shaft 1 is connected by the universal joint 21.
3 and a hollow wrist shaft end 20 that is directly connected to the hand part 22, a rotating shaft 24 that is rotationally driven by a second motor 53 directly or through a gear device, and a finger opening/closing operation end shaft 25. In the manipulator, the wrist rotation frame 31 has a continuous spherical outer surface,
The wrist intermediate shaft 13 has a wrist shaft end 20 and a universal joint 21.
The arm shell 1 and the wrist pivot frame 31, the wrist pivot frame 31 and the wrist intermediate shaft 13, and the wrist intermediate shaft 13 and the wrist shaft end 20 are always at their respective ends. A manipulator characterized in that it is assembled so as to fit with another. 2. In the manipulator according to claim 1, the hollow portion of the wrist intermediate shaft 13 has both open ends only in the axial direction of the wrist intermediate shaft 13, and the hollow portion of the wrist shaft end 20 has both open ends at the wrist shaft end. It has both open ends only in the axial direction of the arm shell 1 and the wrist pivot frame 31, between the wrist pivot frame 31 and the wrist intermediate shaft 13, and between the wrist intermediate shaft 13 and the wrist shaft end 20. A manipulator characterized in that the space between the wrist shaft end 20 and the finger opening/closing operation end shaft 25 is sealed by seal rings 68, 69, 70, 71 and 72. 3. In the manipulator according to claim 1 or 2, the finger opening/closing operation end shaft 2
A spline is formed in a part of the wrist shaft end 20 that protrudes from the wrist shaft end 20, and the hand portion 22 having a spline hole 48 that fits with the spline can be attached to and removed from the wrist shaft end 25. A manipulator that does this. 4. A wrist rotation frame 31 rotatably disposed inside the tip of the arm shell 1, and a first motor 4 for rotating the hand 22 disposed at a portion other than the wrist 75;
a second motor 53 for opening and closing the finger portion 50; at least two linear actuators 59 for giving two degrees of freedom of rotation to the wrist rotation frame 31;
A hollow drive shaft 7 which is rotatably driven by the first motor 4 via the gear devices 5 and 8 to rotate the hand part 22 and is freely rotatable together with the wrist rotation frame 31;
An outer universal joint 81 is constructed between a hollow wrist shaft end 76 that is rotatably supported by the wrist rotation frame 31 and directly connected to the hand portion 22, and a second motor 53. In the manipulator, the inner universal joint 23 is configured between the rotary shaft 24 and the finger opening/closing operation end shaft 77, which is rotatably driven directly or through a gear device. A manipulator characterized in that the manipulator is integrated into the manipulator in a rotatable state. 5. In the manipulator according to claim 4, the wrist rotation frame 31 has a continuous spherical outer surface, and the hollow portion of the wrist shaft end 76 extends only in the axial direction of the wrist shaft end 76. having both open ends, between the arm shell 1 and the wrist rotation frame 31;
A manipulator characterized in that seal rings 68 and 69 seal between the wrist rotation frame 31 and the wrist shaft end 76, and between the wrist shaft end 76 and the finger opening/closing operation end shaft. 6. In the manipulator according to any one of claims 4 and 5, the wrist shaft end 76 is a part of the finger opening/closing operation end shaft 77.
A manipulator characterized in that a spline is formed in a portion protruding from the spline, and a hand portion 22 having a spline hole 48 that fits with the spline can be attached to and removed from a wrist shaft end 77. 7 A wrist rotation frame 31 rotatably disposed inside the tip of the arm shell 1, a first motor 4 for rotating the hand 22 disposed at a portion other than the wrist 60 or 75, and a finger section. 50, a second motor 53 for opening and closing;
At least two linear actuators 5 for giving two degrees of freedom of rotation to the wrist rotation frame 31.
9, a hollow drive shaft 7 which is rotatably driven by the first motor 4 via the gear devices 5 and 8 to rotate the hand part 22, and a wrist rotation frame 31, which can freely rotate together with the wrist rotation frame 31; The hand portion 22 is rotatably supported on the wrist rotation frame 31.
an outer universal joint 15 or 81 configured between the hollow wrist shaft end 20 or 76 that is directly coupled to the outer universal joint 15 or 81;
The rotating shaft 24 and the finger opening/closing operation end shaft 2 are rotationally driven by the second motor 53 directly or via a gear device.
Inner universal joint 23 configured between 5 or 77
In the manipulator consisting of a second motor 5
3, whose stator 55 is rigidly coupled to the hollow drive part 7 and has power supply slip rings 56 and 57.
A manipulator characterized in that it is powered via a.