JPS6119591A - Pliable flexible arm - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a flexible arm that can be bent into any shape.

2. Description of the Related Art Conventionally, a flexible arm having a structure in which the arm is curved by transmitting force using a wire and a pulley is known (see, for example, Japanese Patent Publication No. 13874/1987). However, these flexible arms are configured to wrap around the target object and grasp it.
The arm can be any shape, for example 0, regardless of the existence of an object.
It cannot be curved into any shape such as a letter or S-shape.

One problem to be solved by the present invention is that a flexible arm that uses a wire and a pulley as a power transmission means can be shaped into any shape with a simple configuration regardless of whether there is an object to be grasped or the like. The technical problem is to make it possible to curve the object and, if an object exists, to wrap it around the object in the middle of the curvature so that it can be gripped.

Means for Solving the Problems In order to solve the above-mentioned problems, in the present invention, a plurality of arm segments are connected by connecting shafts to form two axes orthogonal to each other in a small 1v.
The distal ends of two wires that are rotatably connected and can be wound alternately around a pulley provided on the connecting shaft of each arm segment, with the proximal end aligned with the drive motor. By pulling the wire, each boob rotates in the forward or reverse direction and is wrapped around it so that the whole is curved, forming an arm part, and a plurality of independently driven arm parts are connected in series. , a method is adopted in which a wire for driving the distal end side arm portion is passed through the proximal end side arm portion and introduced into the base body provided with the drive motor.

Function: In the flexible arm configured as described above, when a wire for transmitting force is wound up and pulled in the proximal direction, the wire will move around the pulley in the order in which it is wrapped around each bobbin due to the influence of frictional force. As a result, the arm segments in each arm portion rotate around each connecting axis in order from one end, thereby curving the arm portion. Therefore, by curving the plurality of arm parts constituting the flexible arm in the same direction, the entire flexible arm can be curved into an O-shape, and by curving them in the opposite direction, the entire flexible arm can be curved into an S-shape. to be curved into '5;°-,
'C kill. Furthermore, if the above-mentioned arm part comes into contact with an object on the sword while it is curving, the arm piece that came into contact with the object will stop rotating, and then the arm pieces that are closer to the tip will rotate in turn. Then, it stops when it sequentially comes into contact with an object, and as a result, the spear arm segment wraps around the object and grips it.

Effects of the Invention As described above, according to the present invention, a plurality of arm parts that are independently driven by wires are connected in series, so the whole can be curved into any shape with an extremely simple structure, and it can be wrapped around an object. Since it can be rotated and grasped, and the wire is passed through the inside of each arm section, the outer shape of the arm as a whole can be made simple.

Embodiment 1 Below, embodiments of the present invention will be described in detail with reference to the drawings.

FIG. 1 shows a flexible arm according to an embodiment of the present invention in a curved state in which a power transmission wire and a flexible tube for passing the wire are omitted, and FIG. 2 shows a proximal end portion of the flexible arm. is shown enlarged.

The flexible arm comprises a base 1, a first arm part 2A connecting a plurality of arm segments, and a second arm part 2B that is approximately the same as the first arm part and is slightly smaller than the first arm part 2A. They are connected in series, and each arm portion 2A, 2B is configured to be able to bend in any direction in a plane parallel to the paper plane of FIG. 1 and a plane perpendicular thereto, independently of each other by means of wires.

The base body 1 has four motors (not shown) for driving wires inside, and the base ends of a pair of wires are wound in opposite directions around the winding nail shafts of each of these motors. It is configured such that when the take-up shaft is rotated in one direction, winding of one wire and unwinding of the other wire are performed at the same time,
Further, a support frame 3 that fixes the base end portion of the first arm portion 2A
is installed protrudingly.

The first arm portion 2A includes a hollow frame 4a fixed to the support frame 3, and a first arm segment 11a having a pair of pulleys 5a and θa fixed to both left and right sides of the frame 4a. of,
It is rotatably attached by connecting shafts 13a, 13a. The first arm segment 11a includes a cylindrical portion 15 and two sets of opposing connecting plate portions 1e extending on the left and right side surfaces of the cylindrical portion 15.
a, IEib, and a pair of pulleys 5a by a pair of connecting plates 18a, 18a on the proximal end side.

The frame body 4a is sandwiched between the frame body 4a and the pulley 5a.

6a and the first arm segment 11a are made rotatable with respect to the frame 4a.

Further, on the distal end side of the first arm segment 11a, second arm segments 11b are arranged perpendicularly to each other via a hollow frame 4b, -J?
It is rotatably connected around two axes. Sokumine 2,”
A pair of 1" connecting plates 18b, 18b on the distal end side of the first arm segment 11a sandwich a frame 4b on which the pulleys 5b, 8b are fixed on the side, and connect them to a pair of connecting shafts 13b.
, 13b to rotatably connect the pulleys 5b, 8b and the frame 4b to the first arm segment 11a, and a pair of pulleys 7a, 8a on other both sides of the frame 4b.
The second arm segment 11b to which is fixed is rotatably supported. The second arm segment 11b has the same shape as the first arm segment 11a, but is rotated by 80 degrees, and has a pair of connecting plates le on its base end.
a, pulley 7a fixed to it with lea.

The frame body 4b is sandwiched between the frame body 4b and the frame body 4b is pivotally supported by a pair of connecting shafts 14a, 14a, and the pulleys 7a, 8a and the second arm segment 11b are connected to the frame body 4b by the connecting shaft 13.
It is connected so as to be rotatable around an axis perpendicular to b.

Further, on the distal end side of the second arm segment 11b, a configuration similar to that in which the second arm segment 11b is attached to the first arm segment 11a is provided, so that the third arm segment 11c is aligned with two axes A9 orthogonal to each other. , are rotatably connected around, and in the same manner as above, the fifth
It connects the arm segments of.

[1-1iE1. The leading edge of each of the connecting shafts is shaved off so that it also functions as a rotation amount regulating rod against which the cylindrical portion of the arm arm abuts.

The first arm portion 2 is constructed by repeating the connection of such arm segments. The arm segment 11m at the tip of A functions as the base of the second arm portion 2B.
Similarly to the above, attach the second arm 6 part 2B to a.
The arm segments 21a, 21b, . . . , 21n are sequentially and rotatably connected.

The second arm portion 2B is configured to be smaller than the first arm portion 2A, and therefore, the first arm segment 21a of the second arm portion 2B is different from the first line portion 2A. For connection, a connecting shaft 23a on the proximal end side.

23a and a pulley fixed to the base end side frame body 18a? m, 8
m.

As the connecting shafts 24a, 24a, etc., the first arm portion IA
Large ones, such as those used in exports, are used. Thus, the first arm segment 21a has the first [[
Arm segment 21a configured in a small size in the same manner as part IA
, 21b, * *, 21n are sequentially connected rotatably around two orthogonal axes via frames 18b, e, 18n, and pulleys 25b, 26 are connected to these frames.
b, 27b.

Pulleys 25a, 28a, 27a, 28a, and fists are respectively fixed to the proximal end sides of the arm segments 21a, 21b, .

Fix 28n. The tip member 28 connected to the connecting shafts 24n, 24
Rotation amount regulating rods 30, 30 are provided on both left and right side surfaces of the tip member 28, and the edges thereof are shaved off in the same manner as the respective connecting shafts.

In the first and second arm portions 2A and 2B, each of the arm segments and the tip member rotates around each of the seven connecting shafts, but the amount of rotation depends on the connecting shaft or the tip of the rotation amount regulating rod 30. The angle is regulated to a predetermined angle (for example, 30°) by the contact between the arm segment and the end surface of the cylindrical portion 15, thereby preventing each wire described below from being extremely curved.

;1f. As shown in Figures 1 and 2, the first arm portion 2
A) Fix the block-shaped flexible pipe support to the frame bodies 4a, 4b, ... at their predetermined side positions, and place the frame and arm joints between the base l and each support. As shown in FIG. 3A, on one side of the first arm portion 2A, which supports the flexible pipe that has passed through it in an appropriately curved state, flexible pipe supports 32a, 32b, φ. Between the first and second supports 32b, the first and fourth supports 32a, 3
A flexible pipe 38 is provided between the 2d, 3rd and 6th supports + 6 tools 32c and 12f, and a series of wires 37 are inserted through these flexible pipes 38 as shown in FIG. , 7b, Φ·, and the tip of the wire is fixed to the final pulley.

In addition, on the opposite side of the first arm portion 2A, a flexible tube support and a flexible tube (both not shown) are provided symmetrically to FIG. 3A, and a wire is also pushed through. .

Furthermore, on the other side of the first arm portion 2A, as shown in FIG.
5a, 35b.

φ, and a flexible pipe 36 is provided between the base 1 and the support 35b, between the pair of supports 35a and 35d, and between 35c and 3'5f, and a series of wires are connected to these flexible pipes as shown in FIG. 38 and pulleys 8a and 8b between each flexible pipe 36.
, -Wrapped around the tack. Further, on the opposite side of the first arm portion 2A, a flexible tube support and a flexible tube (not shown) are provided symmetrically to FIG. 4A, and wires are similarly inserted therethrough.

The wires wound around the pulleys on the pair of opposing surfaces of the flexible arm are wound as a set around the winding shaft of the drive motor in opposite directions, thereby causing the motor to rotate in the forward and reverse directions. One wire is wound up and the other wire is fed out.

On the other hand, on each side of the second arm portion 2B, the first
As in the arm portion 2A, a flexible pipe support and a flexible pipe are provided, and a wire is inserted through them.

For example, on one side of the second arm portion 2B (this-j, the flexible tube support 42 provided on the base 1 and the frame 18c)
b and q: □$a, flexible tube support 42a provided on the frame 18b
A flexible pipe is provided in a curved state between the support member 42d and the flexible pipe support 42d provided on the frame body 18e. Therefore, these second arm portions 2
Each wire inserted through B is independently wound around the winding shaft of the drive motor, regardless of the wire inserted through first arm portion 2A.

In the above embodiment, the first and second arm portions 2A,
Although the case where 2s are connected is shown, any number of arm parts can be connected as necessary. Further, it is effective to cover the outside of the first and second arm portions 2A and 2B with a protective tube (not shown) made of a flexible rubber material or the like.

Next, the operation of the flexible arm configured as described above will be explained.

In the first or second arm portion 2A, 28 of the flexible arm,
Then connect one of the pair of wires to the motor inside the base. Therefore, when it is wound up, the other side 11 flil
j is extended, and as a result, the first or second arm portions 2A, 2B begin to curve in any direction from the proximal end along one of the two mutually orthogonal planes, and in this case, the target If an object exists, wrap it around and grasp it.

That is, for example, in FIGS. 3A and 3H, the wire 37
If you wind it up and pull it toward the proximal end, the pulling force will be applied to a set of pulleys on the proximal end. a.

7b, and the second and third arm segments 11b, llc are connected to the first and second arm segments 11a (frame body 4b), 1 l
It rotates to the right around the connecting shafts 14a and 14b with respect to b. If the wire 37 is further wound after these arm segments have rotated to the rotation limit, the wire 37 will be connected to the pulleys 7a, ? b, and the tensile force is transmitted to the fourth and fifth pulleys 7c and 7d.
The arm segments lid and lie rotate around the connecting shafts 14c and 14d, and this movement is further transmitted toward the distal end, causing each arm segment to be in a curved state.

As shown in FIG. 1, if there are objects 41 to be gripped 1 and 2 on the way, the wire nails "7" are wound up so that they can be grasped sequentially from the proximal arm segment. It attempts to rotate and curve, but when the arm segment contacts the object 41, the arm segment is unable to rotate, and after that, the tensile force of the wire 37 is transmitted to the tip side, and the tensile force causes the arm segment to bend. The arm segments on the distal end side rotate and wrap around the object 41 one after another.

Further, in the first arm portion 2A, the wire 37.3
8 can be wound up at the same time, thereby allowing the first arm portion 2A to simultaneously curve along a plane parallel to the paper plane of FIG. 1 and curve along a plane perpendicular to the paper plane.

Further, it goes without saying that the second arm portion 2B operates in substantially the same manner as the first arm portion 2A.

The bending of the first and second arm portions 2A, 2B is performed independently of each other, so that the first and second arm portions 21A',
The flexible arm formed by the series connection of r2B is connected to the space "Ni;
1, curve 1 into O shape or S shape or any other shape (
11.

In each arm portion 2A, 2B of the flexible arm, the order in which the wires are wound around the bobbles in each row may be reversed from the above embodiment, and the order in which the wires are wound around the bobbles located on the distal end side may be changed. can be curved from the tip side.

For example, in the first arm portion 2A, as shown in FIG. 5A, a flexible pipe support 44 and a flexible pipe 46 are provided, and the flexible pipe 48
The wire 47 may be wound around the pulley in sequence starting from the pulley on the distal end side as shown in FIG.

Accordingly, when the wire 47 is pulled in the proximal direction, each arm segment of the arm portion is sequentially curved from the tip due to the pulling force.

Further, in the first and second arm portions 2A and 2B, the above-mentioned
In other words, if the winding of the wire of the type is used in combination, for example, the pulley rows connected to the opposite sides of the μ pair in the first and second arm portions 2A and 2B will be curved from the end side. If you use the method for winding, and use the method for winding that curves from the tip side for the pulley row connected to the other opposing side,
The first and second arm portions 2A, 2B may have different curvatures on each surface.

[Brief explanation of drawings]

FIG. 1 is a plan view of an embodiment of the present invention in a bent state with a part of the structure omitted, FIG. 2 is a partial perspective view of the extended state, and FIG.
Figures A and 4A are a plan view and a side view showing how the flexible tube is supported in the first arm of the above embodiment, and Figures 3B and 4 are
FIG. B is an explanatory view showing how the wires are wound around the row of bouquets, and FIGS. 5A and 5B are plan views and explanatory views showing different examples of how the flexible pipes are supported and how the wires are wound. 2A, 2B-・Arm part, 11a, llb, a e, 21a, 21b, e *
, ＊ *Archial segment, 3B, 46 ・・Serpentine tube, 37
, 38, 47...wire. Designated Agent Keiji Takahashi-A, Director of Product Science Research Institute, Agency of Industrial Science and Technology

Claims (1)

[Claims] 1. A plurality of arm segments are rotatably connected around two mutually orthogonal axes by a connecting shaft, and the proximal end is alternately wound around a pulley provided on the connecting shaft of each arm segment using a drive motor. The arm part is constructed by wrapping the tip sides of two wires that can be removed in such a way that each pulley rotates in the forward or reverse direction when the wires are pulled, causing the entire pulley to curve. A plurality of the arm parts to be driven are connected in series, and a wire for driving the distal arm part is passed through the proximal arm part and introduced into the base body provided with the drive motor. Flexible flexible arms.