Machine element or mechanism – Mechanical movements – Reciprocating or oscillating to or from alternating rotary
Patent
1990-05-07
1992-12-29
Braun, Leslie A.
Machine element or mechanism
Mechanical movements
Reciprocating or oscillating to or from alternating rotary
74109, 74422, 74479, 901 21, F16H 2702, G05G 1100
Patent
active
051741687
DESCRIPTION:
BRIEF SUMMARY
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a flexible robot arm which comprises a plurality of elements arranged in a series so as to engage with each other at their respective contact surfaces each formed in an arched opposed single-curve and actuating devices arranged to operate between the elements adjacent to each other or to actuate the elements for generating and/or transmitting power, thereby supporting and/or manipulating a tool or the like connected to the leading end of the robot arm.
TECHNICAL BACKGROUND OF THE INVENTION
Heretofore, this kind of a flexible robot arm has been known as disclosed in Japanese Patent Publication No. Sho 59-21756 (U.S. Pat. No. 4,393,728).
The prior art flexible robot arm disclosed in the publication is provided with a plurality of disc-shaped elements each of which both the top and the bottom surfaces thereof having arched opposed double-curve are formed as contact surfaces, respectively, and at a peripheral portion of each disc-shaped element, a plurality of actuating devices (for example, four devices) each comprising a length of cable, etc., are allowed to penetrate the element at plural spots (for example, four spots) spaced apart from one another at an equal distance in the peripheral direction of the disc-shaped element. Respective leading ends of the actuating devices are independently connected to an element arranged at the most distal end, while respective base ends of the actuating devices are connected to a plurality of drive units (for example, four unit) mounted independently of one another. Each of the drive units serves as selectively drawing or loosening the actuating device interrelating to each other. Such as, for example, a drum unit allowed to bidirectionally rotate by means of a motor, a hydraulic cylinder unit allowed to extrude and retract, etc. are preferably used.
Such a prior art flexible robot arm as described above is adapted to be constructed so as to bend or move in a direction such that at least one of the actuating device is drawn.
Further, as is clearly understood from the foregoing description, in the aforesaid prior art flexible robot arm, the actuating devices are respectively actuated by the drive units mounted independently of one another. Accordingly, when a moving stroke of each actuating device is defined as L, the maximum extruding or retracting length is required at more than 2L in case, for example, of the hydraulic cylinder unit as a drive unit. Therefore, a drive unit section of the flexible robot arm where the same numbers of hydraulic cylinder units as those of actuating devices are mounted thereat requires a large space and hence becomes a remarkably heavy weight. In particular, in order to deal with works to be performed at an area where is further away and extends in wider range, there is provided such a flexible robot arm as connecting a plurality of flexible arms in a series through their respective drive units. In this flexible robot arm, the durability of itself remarkably deteriorate because of a heavy weight of each of the drive units which are respectively connected between the respective flexible arms adjacent to each other.
Further, since a space occupied by the drive section becomes large as mentioned above, the flexible robot arm must be formed in a big size. As a result, it has a further disadvantage such that the work site where the big sized flexible robot arm is used must be limited.
SUMMARY OF THE INVENTION
The present invention has been made in view of the above-mentioned circumstances in the prior art, and has for its aims to provide a flexible robot arm in which a motor for driving each of actuating devices can be made in a light weight and a small capacity, and therefore a drive section thereof can be made in a small size and a light weight.
In order to achieve the above-mentioned aim, according to a first aspect of the present invention, there is provided a flexible robot arm comprising: a plurality of disc-shaped elements arranged in a series and each of which both
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Nishi Yozo
Takagi Hiroaki
Braun Leslie A.
Kabushiki Kaisha Komatsu Seisakusho
Laub David W.
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