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WO2018173278A1 - Structure d'articulation de manipulateur - Google Patents

Structure d'articulation de manipulateur Download PDF

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Publication number
WO2018173278A1
WO2018173278A1 PCT/JP2017/012114 JP2017012114W WO2018173278A1 WO 2018173278 A1 WO2018173278 A1 WO 2018173278A1 JP 2017012114 W JP2017012114 W JP 2017012114W WO 2018173278 A1 WO2018173278 A1 WO 2018173278A1
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WO
WIPO (PCT)
Prior art keywords
rolling
joint structure
link
shaft
radius
Prior art date
Application number
PCT/JP2017/012114
Other languages
English (en)
Japanese (ja)
Inventor
裕行 高山
紀明 山中
Original Assignee
オリンパス株式会社
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by オリンパス株式会社 filed Critical オリンパス株式会社
Priority to PCT/JP2017/012114 priority Critical patent/WO2018173278A1/fr
Publication of WO2018173278A1 publication Critical patent/WO2018173278A1/fr

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  • the present invention relates to a joint structure of a manipulator.
  • the first member and the second member that swings relative to the first member are brought into rolling contact with the gears fixed to the two members, and the two axes of the two gears are connected to each other by a link.
  • a joint structure of a manipulator is known in which a pulley is arranged between the pulleys so as to meander a wire for driving the tip side mechanism (see, for example, Patent Document 1). ).
  • Patent Document 1 can suppress a change in the path length of the wire due to the swing of the second member relative to the first member
  • the rolling angle range of the two gears is the swing angle of the second member relative to the first member. Therefore, there is an inconvenience that it is difficult to ensure a large swing angle due to interference between the first member and the second member.
  • the present invention has been made in view of the above-described circumstances, and provides a joint structure for a manipulator that can secure a large swing angle while suppressing a change in path length of a wire for driving a distal end side mechanism. The purpose is that.
  • One embodiment of the present invention includes a first member provided with a first rolling portion, a second member provided with a second rolling portion, and n pieces between the second member and the first member.
  • First to n-th n parallel shafts in order from the side of the first member constituting the (n ⁇ 3) bending joint portion, and at least one end portion disposed so as to be swingable between the shafts.
  • the first to (n-1) th n-1 link members in order from the side of the first member provided with rolling portions, and pulleys that are rotatably supported by the shafts and over which the wires are passed.
  • the first rolling part is disposed so as to be in rolling contact with the rolling part of the second link member, and the second rolling part is the rolling of the (n-2) th link member.
  • the m-th (1 ⁇ m ⁇ n ⁇ 3) link member.
  • Rolling unit the m + 2 of the link member and the rolling portion and the rolling contact is so arranged by being Manipyure of - a joint structure of data.
  • the first to n ⁇ 1th link members disposed between the first member and the second member are The rolling portions provided in the link members are swung while being in rolling contact with the rolling portions of the adjacent link members, the first rolling portion, or the second rolling portion. That is, when the second member is swung by a predetermined angle with respect to the first member, it is sufficient that the link member between them is swung by a smaller angle, so that the relative link between adjacent link members is sufficient.
  • the swing angle is kept small and does not interfere with each other.
  • the second member can be swung with a large swing angle with respect to the first member.
  • a large swing angle can be secured while suppressing a change in the path length of the wire by meandering the wire around the pulley provided on each shaft.
  • n is an even number
  • the second member can be swung so as to be disposed at a position close to the first member without making a large turn with respect to the first member.
  • the radius of the rolling portion arranged around the j-th shaft.
  • the said rolling part may be a gear part and Rkj may be a pitch circle radius.
  • three bending joints are formed between the first member and the second member, and the length of the wire routed so as to meander to the adjacent pulley extends the joint structure. It is possible to prevent a change between the bent state and the curved state.
  • FIG. 1 is a partial front view of a manipulator including a joint structure according to a first embodiment of the present invention. It is a disassembled perspective view explaining the component of the joint structure of FIG. It is a front view which shows the joint structure of FIG.
  • FIG. 4 is a cross-sectional view taken along line AA in FIG. 3 showing a longitudinal section of the joint structure in FIG. 3.
  • FIG. 5 is a sectional view taken along the line CC of FIG. 4 of the joint structure of FIG.
  • FIG. 5 is a cross-sectional view taken along the line BB in FIG. 4 of the joint structure of FIG. 3.
  • FIG. 6 is a DD cross-sectional view of the joint structure of FIG. 3 in FIG.
  • FIG. 5 is a sectional view taken along the line CC in FIG.
  • FIG. 4 showing a state in which the joint structure of FIG. 3 is curved.
  • FIG. 5 is a cross-sectional view taken along the line BB in FIG. 4 showing a state in which the joint structure of FIG. 3 is curved.
  • FIG. 6 is a DD cross-sectional view in FIG. 4 showing a state in which the joint structure of FIG. 3 is curved.
  • FIG. 2 is a diagram showing a first group of the joint structure of FIG. 1 having n bent joints. It is a figure which shows the 2nd group of the joint structure of FIG. 1 which has n bending
  • FIG. 12 is a view showing a state in which wires are meandered and stretched over pulleys provided on each shaft of the joint structure of FIG. 11.
  • a joint structure 1 of a manipulator 100 according to a first embodiment of the present invention will be described below with reference to the drawings.
  • the joint structure 1 according to the present embodiment is disposed at a middle position in the longitudinal direction of a long manipulator 100 having a treatment portion 101 at the distal end, and is a first member on the proximal end side.
  • the second member 3 on the distal end side is bent about an axis perpendicular to the longitudinal axis of the manipulator 100.
  • the joint structure 1 includes a first member 2, a second member 3, and n parallel bending axes (shafts) constituting n bending joint portions 4 therebetween. 5, n ⁇ 1 link members 6, and a pulley 7 rotatably attached to each bending shaft 5.
  • reference numeral 8 is a collar for rotatably attaching the pulley 7 to each bending shaft 5
  • reference numeral 9 is a cap fixed to both ends of the bending shaft 5.
  • the first member 2 has a first gear portion (first rolling portion) formed in a part of the circumferential direction around the first bending shaft (shaft) 51 disposed at one end. 21 is provided.
  • the second member 3 is a second gear portion (second rolling portion) formed in a part of the circumferential direction around the third bending shaft (shaft) 53 disposed at one end. 31 is provided.
  • the first link member (link member) 61 is rotatably attached around the first bending shaft 51 and the second bending shaft (shaft) 52, and the second member.
  • a gear portion (rolling portion) 61a that meshes with the third second gear portion 31 is provided at one end.
  • the second link member (link member) 62 is rotatably attached around the second bending shaft 52 and the third bending shaft 53, and A gear portion (rolling portion) 62a that meshes with one gear portion 21 is provided at one end.
  • the first group 2 is rotated around the first bending axis 51 of the first group.
  • the pitch circle radius of the arranged first gear portion 21 is R11
  • the pitch circle radius of the gear portion 62a (of the second link member 62) provided around the second bending shaft 52 of the first group is R12. Call it.
  • the second bending shaft 52 of the second group is used.
  • the pitch circle radius of the gear portion 61a (of the first link member 61) provided around is R22
  • the pitch circle radius of the second gear portion 31 disposed around the third bending axis 53 of the second group Is called R23.
  • each of the pulleys 71, 72, 73 has a circumferential groove around which wires 10 a, 10 b for driving a mechanism disposed on the distal end side from the joint structure 1 are spanned. 11 is provided.
  • the number of the circumferential grooves 11 varies depending on the number of mechanisms arranged on the tip side.
  • one wire 10a is stretched so as to meander alternately in one of the circumferential grooves 11 of the three pulleys 71, 72, 73, and the other wire 10b is made of three wires.
  • the other circumferential grooves 11 of the wires 71, 72, 73 are suspended so as to meander alternately in the opposite direction to the one wire 10a.
  • the joint structure 1 of the manipulator 100 configured as described above will be described below.
  • the first member 2 is moved from the first member 2 side by one of two operation wires (not shown).
  • the second member 3 can be swung in two directions.
  • the second member 3 has a swing angle of the first link member 61 with respect to the first member 2 and a swing angle of the second link member 62 with respect to the first link member 61 with respect to the first member 2.
  • the second member 3 is swung by an angle obtained by adding up the swinging angle of the second member 3 with respect to the second link member 62.
  • the second member 3 can be swung with respect to the first member 2 at a large swing angle. That is, the second member 3 is largely swung with respect to the first member 2 while suppressing the swing angle between the adjacent first member 2, the link members 61, 62 or the second member 3 to avoid interference. There is an advantage that you can.
  • the wires meandering around the pulleys 71, 72, and 73
  • the path lengths of 10a and 10b need not be changed regardless of the swing angle of the second member 3 with respect to the first member 2.
  • R1 (n ⁇ 2) ⁇ ⁇ n ⁇ 2 R1 (n ⁇ 1) ⁇ ⁇ n ⁇ 1
  • R22 ⁇ ⁇ 2 R23 ⁇ ⁇ 3
  • R24 ⁇ ⁇ 4 R25 ⁇ ⁇ 5 ...
  • R2 (n ⁇ 1) ⁇ ⁇ n ⁇ 1 R2n ⁇ ⁇ n (3)
  • m is the smallest integer
  • the second member 3 can be swung so as to be closest to the first member 2.
  • Equation (4) Substituting equation (4) into equations (6) and (7), If n is an even number, R11 ⁇ R12, R13 ⁇ R14,..., R1 (m ⁇ 1) ⁇ R1m, R1n ⁇ R1 (n ⁇ 1), R1 (n ⁇ 2) ⁇ R1 (n ⁇ 3),..., R1 (m + 2) ⁇ R1 (m + 1), R23 ⁇ R24,..., R2 (m ⁇ 1) ⁇ R2m, R2 (n-2) ⁇ R2 (n-3),..., R2 (m + 2) ⁇ R2 (m + 1), If n is odd, R11 ⁇ R12, R13 ⁇ R14,..., R1 (m ⁇ 1) ⁇ R1m, R1 (n ⁇ 2) ⁇ R1 (n ⁇ 3),..., R1 (m + 2) ⁇ R1 (m + 1), R23 ⁇ R24,..., R2 (m ⁇ 1) ⁇ R2m, R2 (n) ⁇ R2 (n ⁇ 1),
  • the two members 3 can be swung so as to be closest to the first member 2.
  • the second member 3 is swung by the same angle with respect to the first member 2.
  • the distance between the first bending shaft 51 and the fifth bending shaft (shaft) 55 can be made sufficiently small, so that the second member 3 is replaced with the first member 2. It can be swung so as to be closest.
  • joint structure 12 according to a second embodiment of the present invention satisfies the following conditional expression instead of the conditional expression (1) in the joint structure 1 according to the first embodiment.
  • Equation 1 is satisfied, and there is an advantage that it is not necessary to change the path length of the wire 10 regardless of the swing angle.
  • condition that does not require changing the path length of the wire 10 at the time of swinging is expressed by the ratio of the pitch circle radii of the gear portions 6a, 21, 31 that mesh with each other as shown in the equation (1). That is, the relationship between the pitch circle radii of the meshing gear portions 6a, 21 and 31 (for example, R11 and R12, R13 and R14) affects the change in the path length of the wire 10 during swinging. In consideration of the ease of design, it is desirable that conditional expression (8) to conditional expression (11) for reducing the diameter are not included.
  • each of conditional expressions (8) to (11) is separated into two expressions as follows. Thereby, it becomes possible to design freely the relationship of the pitch circle radius of each gear part 6a, 21, 31 which meshes
  • the pitch circle radius design for preventing the wire 10 from changing the path length during swinging and the pitch circle radius design for reducing the diameter can be separately implemented.
  • n is an even number, R11 ⁇ R13 ⁇ R15 ⁇ ... ⁇ R1 (n ⁇ 1), R12 ⁇ R14 ⁇ R16 ⁇ ... ⁇ R1n, R23 ⁇ R25 ⁇ R27 ⁇ ... ⁇ R2 (n-1), R22 ⁇ R24 ⁇ R26 ⁇ ... ⁇ R2 (n-2), If n is odd, R11 ⁇ R13 ⁇ R15 ⁇ ... ⁇ R1 (n-2), R12 ⁇ R14 ⁇ R16 ⁇ ... ⁇ R1 (n-1), R23 ⁇ R25 ⁇ R27 ⁇ ... ⁇ R2n, R22 ⁇ R24 ⁇ R26 ⁇ ... ⁇ R2 (n-1) Meet the relationship.
  • gearwheel was illustrated as rolling part 6a, 21, 31, 61a, 62a, it is not limited to this,
  • the other rolling part which carries out rolling contact like a friction wheel is employ

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  • Manipulator (AREA)
  • Transmission Devices (AREA)

Abstract

La présente invention concerne une structure d'articulation (1), laquelle, afin d'assurer un grand angle d'oscillation tout en supprimant les changements dans la longueur du trajet d'un fil pour entraîner un mécanisme sur le côté de la pointe, comporte : un premier élément (2) qui est pourvu d'une première partie de roulement (21) ; un second élément (3) qui est pourvu d'une seconde partie de roulement ; (n) tiges parallèles les unes aux autres (51, 52, 53) qui constituent (n) unités d'articulation de flexion entre le second élément et le premier élément, et (n-1) éléments de liaison (61, 62) qui sont disposés entre les tiges afin d'être aptes à osciller et qui sont pourvus de parties de roulement respectives (61a, 62a) sur au moins une extrémité ; et une poulie qui est supportée en rotation par les tiges et par-dessus laquelle passe un fil. La première partie de roulement est disposée de manière à se trouver en contact de roulement avec la partie de roulement du second élément de liaison, la seconde partie de roulement est disposée de manière à se trouver en contact de roulement avec la partie de roulement du (n-2)ième élément de liaison, et la partie de roulement du (m)ième élément de liaison est disposée de manière à se trouver en contact de roulement avec la partie de roulement du (m+2)ième élément de liaison.
PCT/JP2017/012114 2017-03-24 2017-03-24 Structure d'articulation de manipulateur WO2018173278A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/JP2017/012114 WO2018173278A1 (fr) 2017-03-24 2017-03-24 Structure d'articulation de manipulateur

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2017/012114 WO2018173278A1 (fr) 2017-03-24 2017-03-24 Structure d'articulation de manipulateur

Publications (1)

Publication Number Publication Date
WO2018173278A1 true WO2018173278A1 (fr) 2018-09-27

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112809732A (zh) * 2021-01-28 2021-05-18 清华大学 一种基于复杂滚动接触曲面的刚柔耦合关节
US11745361B2 (en) 2017-06-21 2023-09-05 Olympus Corporation Manipulator and joint structure thereof

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61230891A (ja) * 1985-04-05 1986-10-15 株式会社神戸製鋼所 関節機構
JP2004122286A (ja) * 2002-10-02 2004-04-22 Hitachi Ltd マニピュレータ
JP2014217943A (ja) * 2013-05-07 2014-11-20 三星電子株式会社Ｓａｍｓｕｎｇ Ｅｌｅｃｔｒｏｎｉｃｓ Ｃｏ．，Ｌｔｄ． 連結装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61230891A (ja) * 1985-04-05 1986-10-15 株式会社神戸製鋼所 関節機構
JP2004122286A (ja) * 2002-10-02 2004-04-22 Hitachi Ltd マニピュレータ
JP2014217943A (ja) * 2013-05-07 2014-11-20 三星電子株式会社Ｓａｍｓｕｎｇ Ｅｌｅｃｔｒｏｎｉｃｓ Ｃｏ．，Ｌｔｄ． 連結装置

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11745361B2 (en) 2017-06-21 2023-09-05 Olympus Corporation Manipulator and joint structure thereof
CN112809732A (zh) * 2021-01-28 2021-05-18 清华大学 一种基于复杂滚动接触曲面的刚柔耦合关节

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