WO2017159188A1 - Articulated manipulator having gravity-compensation wire - Google Patents

Abstract

An articulated manipulator according to the present invention is provided with: a base; n (≥ 2) pitch axis joints; a plurality of links that are serially linked by the pitch axis joints and that are connected to the base; (n - i + 1) pulleys that are axially supported by the i-th (i = 1, 2, ..., n) pitch axis joint from the base; n wires, the i-th wire being wound, by at least one turn, onto the pulley axially supported by the i-th pitch axis joint from the first pitch axis joint; a plurality of actuators that are each connected to both ends of each of the wires, that are provided in the base, and that adjust the tension of the respective wires; a plurality of pitch-axis gravity-compensation pulleys that are axially supported by the respective pitch axis joints; a gravity-compensation wire that is wound, by at least one turn, onto each of the pitch-axis gravity-compensation pulleys and that is guided to the inside of the base; and a gravity-compensation-rod-equipped actuator that is connected to the gravity-compensation wire, that is provided in the base, and that adjusts the tension of the gravity-compensation wire.

Description

Articulated manipulator with self-weight compensation wire

The present invention relates to a multi-joint manipulator with a long and super-freedom of an elongated arm having a large hand output.

As a manipulator for remote operation to extract molten nuclear fuel at a nuclear power plant after a severe accident, an articulated manipulator with an ultra-long super multi-degree of freedom is required.

9 is a front view showing a first conventional articulated manipulator (see FIG. 1 (c) of Non-Patent Document 1). The articulated manipulator of FIG. 9 is a vertical (pitch axis) type and shows a horizontally extended posture that is most susceptible to the influence of gravity. In FIG. 9, a large number of links 101-1, 101-2,... (Only four are shown) are serially coupled to the base 103 by horizontal pitch axis joints 102-1, 102-2,. Has been. A pulley 104-1, 104-2, ... is fixedly attached to each pitch shaft joint 102-1, 102-2, .... Each link 101-1, 101-2,... Is an actuator (motor) provided in the base 103 with wires 105-1, 105-2,... Wound around pulleys 104-1, 104-2,. It is driven by driving (not shown). In this case, the joint torques τ ₁ , τ ₂ ,... At the pitch axis joints 102-1, 102-2,. Is proportional to the product of the radius of

10 is a perspective view showing a second conventional articulated manipulator (see FIG. 3 of Non-Patent Document 1). The multi-joint manipulator in FIG. 10 is a vertical (pitch axis) type, and shows a horizontally extended posture that is most susceptible to the influence of gravity. In FIG. 10, a large number of links 201-1, 201-2,... (Only three are shown) are serially connected to the base 203 by horizontal pitch axis joints 202-1, 202-2,. It is connected via a fixed link 201-0. Pulleys 204 (1, 1), 204 (1, 2), 204 (1, 3) are pivotally attached to the pitch shaft joint 202-1 and pulleys 204 (2, 2), 204 (2, 3) is attached to the shaft, and a pulley 204 (3, 3) is attached to the pitch shaft joint 202-3. In this case, the pulleys 204 (1, 1), 204 (2, 2), 204 (3, 3) are fixedly attached to the pitch shaft joints 202-1, 202-2, 202-3, and the pulleys 204 ( 1, 2), 204 (1, 3), 204 (2, 3) are slidably mounted on pitch shaft joints 202-1 and 202-2. The wires 205-1-1 and 205-1-2 are wound around the pulley 204 (1, 1) by one rotation in opposite directions, and the wires 205-2-1 and 205-2-2 are wound around the pulley 204 (1, 2). ), 204 (2, 2) are wound once in opposite directions, and the wires 205-3-1 and 205-3-2 are wound on the pulleys 204 (1, 3), 204 (2, 3), 204 (3). 3) is wound one turn in opposite directions. Further, in order to suppress an increase in the weight of the multiple links 201-1, 201-2,..., The wires 205-1-1, 205-1-2; Are actuators (motors) 206-1-1, 206-1-2; 206-2-1, 206-2-2,... For driving the links 201-1, 201-2,. The base 203 is provided. Thereby, a joint mechanism can be simplified.

In FIG. 10, for example, when the actuator 206-3-1 is driven to wind the wire 205-3-1 and the actuator 206-3-2 is driven to loosen the wire 205-3-2, the link 201 -1, 201-2, 201-3 rise simultaneously. Further, the actuators 206-2-2 and 206-1-2 are wound around the wires 205-2-2 and 205-1-2, and the actuators 206-1-1 and 206-2.
When -1 is driven to loosen the wires 205-1-1 and 205-2-1, only the link 201-1 is raised.

FIG. 11 is a perspective view showing a third conventional articulated manipulator (see Patent Document 1). The articulated manipulator in FIG. 11 is of a vertical (pitch axis) and horizontal (yaw axis) type, and shows a posture in which the second joint is extended horizontally that is easily affected by gravity. In FIG. 11, a plurality of four-node parallel link structures L 1, L 2,... (Only two are shown) are serially connected and coupled to the base 300. Each of the four-node parallel link structures L1, L2,... Is composed of frames 301 and 302 and parallel main links 303 and sublinks 304 provided between the frames 301 and 302, and α rotation around the pitch axis in the vertical direction. To do. Further, the frame 302 of the four-node parallel link structure L1 on the base 300 side and the frame 301 of the adjacent four-node parallel link structure L2 are vertically connected so as to rotate θ around the yaw axis. The actuators (motors) around the pitch axis and the yaw axis are provided in joints, that is, frames 301 and 302. Further, in FIG. 11, in order to compensate for the own weight of a large number of four-node parallel link structures L 1, L 2,..., Self-weight compensation double pulleys 305 and 306 are slidably provided on the frames 301 and 302. The compensating wires 307-1, 307-2,... Are wound from the small-diameter pulley of the self-weight compensating double pulley 306 (305) to the large-diameter pulley of the self-weight compensating double pulley 305 (306), and finally for self-weight compensation. The self-weight torque is canceled by pulling the small-diameter pulley of the double pulley 305 with the counterweight 308.

In FIG. 11, since the parallel link structures L1, L2,... Are employed, structural support is provided as the compressive force of the main link 303 and the sub link 304 even if the moment changes. As a result, the self-weight compensation can be performed with a constant torque without depending on the posture of the next parallel link mechanism.

FIG. 12 is a front view showing a fourth conventional articulated manipulator (see Non-Patent Document 2). The articulated manipulator in FIG. 12 is a vertical (pitch axis) type, and shows a horizontally extended posture that is most susceptible to the influence of gravity. In FIG. 12, a large number of links 401-1, 401-2,... (Only three are shown) are serially connected by a pitch axis joint 402-1, 402-2,. The links are connected via a link 401-0. A pulley (not shown) is fixedly attached to each pitch shaft joint 402-1, 402-2,. Each of the links 401-1, 401-2,... Is an actuator (motor) (not shown) provided with a wire (not shown) wound around these pulleys provided in the pitch axis joints 402-1, 402-2,. ). In this case, the joint torques τ ₁ , τ ₂ ,... At the pitch axis joints 402-1, 402-2,... Are proportional to the product of the tension of each wire and the pulley radius. Further, in FIG. 12, in order to compensate for the own weight of a large number of links 401-1, 401-2,..., Each of the pitch axis joints 402-1 402-2,. , 2,... Are slidably mounted, and one self-weight compensation wire 405 is fixed to the link at the tip, for example, 401-3, and rotates once to each self-weight compensation pulley 404-1, 404-2,. The self-weight torque is canceled by pulling the end portion 405a of the self-weight compensating wire 405 with the counterweight 406.

Shigeo Hirose, Ma Sone: Development of wire-interference-driven multi-joint manipulators, Proceedings of the Society of Instrument and Control Engineers, 26-11, 1291/1298 (1990) Tomoyuki Ishii, Yasuo Haishi, Shigeo Hirose: Explanation of self-weight compensation mechanism with wire and double pulley and performance evaluation of Float Arm V, 20th anniversary commemorative lecture of the Robotics Society of Japan, 2002

JP 2003-89090 A

In the first conventional articulated manipulator of FIG. 9, the joint torque τ _i of the pitch axis joint 102- _i is
τ _i = (n + 1−i) MgL + (1/2) (n + 1−i) ² mgL (1)
Where n is the number of joints, M is the mass of the arm tip, m is the mass of the link, L is the link length, and g is the gravitational acceleration. Here, the first term on the right side of equation (1) is the torque that supports the arm tip load Mg, and is proportional to the number of joints n on the base 103 side, and the second term on the right side of equation (1) is the arm. Is a torque that supports the weight of the joint, and is proportional to the square of the number of joints n when it comes to the base 103 side. As a result, as shown in FIG. 13A, the wire tension required to support each joint torque τ _i increases as the joint number i decreases, that is, toward the base 103 side. There is a problem that the (motor) becomes powerful and expensive, the weight of the link cannot be compensated, and the lengthening is difficult. 13A, the total length (arm length) and total weight of the links 101-1, 101-2,... Are 15 m and 96 kg, and the number of pitch shaft joints 102-1, 102-2,. n is 12.

Further, in the second conventional articulated manipulator of FIG. 10, the joint torque τ _i of the pitch axis joint 202- _i is
τ _i = MgL + (n + 1 / 2−i) mgL (2)
It can be expressed as Here, the first term on the right side of the equation (2) is a torque for supporting the arm tip load Mg, and is constant regardless of whether the joint number i becomes smaller, that is, toward the base 203 side, and (1) The second term on the right side of the equation is the torque that supports the weight of the arm, and is proportional to the number of joints n as the joint number i decreases, that is, toward the base 203 due to torque interference. As a result, as shown in FIG. 13B, the wire tension required to support each joint torque τ _i also decreases on the base 203 side, and the actuator (motor) 206-1-1 on the base 203 side. 206-1-2; 206-2-1, 206-2-2,... Are not strong, so that the manufacturing cost can be reduced. In FIG. 13B, the total length (arm length) and total weight are 15 m and 96 kg, and the number of joints n is 12. However, the actuators (motors) 206-1-1, 206-1-2; 206-2-1, 206-2-2;... Are still powerful and expensive and cannot compensate for their own weight. Therefore, there is also a problem that it is difficult to increase the length.

Further, in the third and fourth conventional articulated manipulators of FIGS. 11 and 12, the actuator (motor) is the frame 301, 302 or each pitch axis joint 402 as in the first conventional articulated manipulator. -1, 402-2,..., There is a problem that the joint mechanism becomes complicated. Further, since the weight of the parallel link structures L1, L2,... Or the links 401-1, 401-2,... Is compensated by the counterweight 308 or 406, the wire tension is small as shown in FIG. However, the actuator (motor) is still powerful and expensive, and there is a problem that it is difficult to increase the length. In FIG. 13C, the total length (arm length) and total weight are 15 m and 96 kg, and the number of joints n is 12. In addition, the counterweight 308 or 406 becomes too heavy, resulting in a problem that the articulated manipulator cannot be reduced in weight. For example, the total length (arm length) and the total weight of the parallel link structures L1, L2,... Or the links 401-1, 401-2,.
If it is 5 m and 96 kg, the weight of the counterweight 308 or 406 will be about 5600 kg. Further, as shown in FIGS. 11 and 12, the weight compensation torque is maximized in the case of a horizontally extended posture that is most susceptible to the influence of gravity, but in the case of a vertically extended posture, the weight compensation torque is Is zero. However, there is a problem that it cannot cope with such a change in the self-weight compensation torque.

In order to solve the above-described problems, an articulated manipulator according to the present invention includes a base, n (≧ 2) pitch axis joints, a plurality of serially connected pitch base joints, and a plurality of bases connected to the base. Link, (n−i + 1) pulleys attached to the i-th (i = 1, 2,..., N) pitch axis joints from the base, and n wires, The first wire is wound around at least one turn around a pulley pivotally attached to the i-th pitch shaft joint from the first pitch shaft joint, and is connected to both ends of each wire. A plurality of actuators for adjusting the tension of each wire, a plurality of pitch axis self-weight compensation pulleys pivotally attached to each pitch axis joint, and at least one turn around each pitch axis self-weight compensation pulley A self-compensation wire that is built and guided into the base. When connected to a weight compensation wires, provided in the base, it is to and a weight compensation actuator with rod for adjusting the tension of the weight compensation wire.

An articulated manipulator according to the present invention includes a base, n (≧ 2) pitch axis joints, and at least one first yaw axis joint provided between the n pitch axis joints, The second yaw axis joint provided outside the pitch axis joint on the most advanced side of the n pitch axis joints, and the pitch axis joint and the first and second yaw axis joints are serially connected to the base. A plurality of linked links, (n−i + 1) pulleys attached to the i-th (i = 1, 2,..., N) pitch axis joints from the base, and n wires. The i-th wire is connected to both ends of each wire wound around a pulley pivotally attached to the i-th pitch axis joint from the first pitch-axis joint, A plurality of actuators provided in the base for adjusting the tension of each wire A pair of pitch axis self-weight compensation pulleys slidably attached to each pitch axis joint and a pair of first yaw axis self-weight compensations slidably attached to the first yaw axis joint The pulley is wound at least once on one of a pulley, a second yaw axis self-weight compensation pulley slidably mounted on the second yaw shaft joint, and a pair of pitch axis self-weight compensation pulleys. And one of a pair of second yaw axis self-weight compensation pulleys, a second yaw axis self-weight compensation pulley, and at least one rotation on the other of each pair of pitch axis self-weight compensation pulleys. A self-compensation wire that is wound and spanned on a pair of second yaw axis self-weight compensation pulleys and led into two branches in the base, and is connected to the self-weight compensation wire. Actuator with self-weight compensation rod for adjusting the tension of the self-weight compensation wire It is intended to and a mediator.

According to the present invention, each joint torque is reduced, so that the wire tension required to support the joint torque can be reduced. As a result, the length can be increased, and the actuator in the base becomes less powerful, thereby reducing the manufacturing cost. it can.

In addition, the actuator with a self-weight compensation rod can respond to changes in the self-weight compensation torque, and the weight of the actuator with the self-weight compensation rod is light, so the articulated manipulator can be lightened.

The 1st Example of the articulated manipulator which concerns on this invention is shown, (A) is a top view, (B) is a front view. The 1st modification of the pneumatic actuator of FIG. 1 is shown, (1) is a top view, (2) is a front view. The 2nd example of a change of the pneumatic actuator of Drawing 1 is shown, (1) is a top view and (2) is a front view. It is a figure which shows the air compressor and electropneumatic regulator which exist in the front | former stage of the pneumatic actuator of FIG. It is a graph which shows the wire tension of FIG. It is a flowchart which shows operation | movement of the control unit of FIG. FIG. 6 is a diagram for supplementarily explaining the flowchart of FIG. 5. The 2nd Example of the articulated manipulator which concerns on this invention is shown, (A) is a top view, (B) is a front view. It is a figure which shows the nuclear reactor system to which the articulated manipulator based on this invention was applied. It is a front view which shows the 1st conventional articulated manipulator. It is a perspective view which shows the 2nd conventional articulated manipulator. It is a perspective view which shows the 3rd conventional articulated manipulator. It is a front view which shows the 4th conventional articulated manipulator. It is a graph which shows the wire tension of FIG.9, FIG.10, FIG.11 and FIG.

FIG. 1 shows a first embodiment of an articulated manipulator according to the present invention, in which (A) is a top view and (B) is a front view. The multi-joint manipulator in FIG. 1 is a vertical (pitch axis) type, and shows a horizontally extended posture that is most susceptible to the influence of gravity.

1, n links 1-1, 1-2,..., 1-n are serially connected by horizontal pitch axis joints 2-1, 2-2,. Combined with

4 (1, 1), 4 (1, 2),..., 4 (1, n) are attached to the pitch axis joint 2-1, and the pitch axis joint 2-2 includes ( n-1) pulleys 4 (2, 2), 4 (2, 3),..., 4 (2, n) are axially attached. The same applies to the following, and one pulley 4 (n, n) is attached to the last pitch shaft joint 2-n. In this case, the pulleys 4 (1, 1), 4 (2, 2),..., 4 (n, n) are fixedly attached to the pitch shaft joints 2-1, 2-2,. On the other hand, pulleys 4 (1, 2),..., 4 (1, n); 4 (2, 3), 4 (2, 4), ..., 4 (2, n); 1, n) are slidably mounted on the pitch shaft joints 2-1, 2-2, ..., 2- (n-1).

The wire 5-1 is wound around the pulley 4 (1, 1) by being rotated and guided into the base 3, and both ends of the wire 5-1 are actuators (motors) 6-1-1 in the base 3. 6-1-2. The wire 5-2 is wound around the pulleys 4 (1, 2), 4 (2, 2) by being rotated once and guided into the base 3, and both ends of the wire 5-2 are connected to the actuator ( Motor) 6-2-1 and 6-2-2. The same applies hereinafter, and the last wire 5-n is wound around the pulleys 4 (1, n), 4 (2, n),. In addition, both ends of the wire 5-n are connected to actuators (motors) 6-n-1 and 6-n-2 in the base 3.

.., 2-n have their own weight compensating pulleys 7-1, 7-2,..., 7-n slidably mounted on the pitch shaft joints 2-1, 2-2,. The self-weight compensation wire 8 is wound around each of the self-weight compensation pulleys 7-1, 7-2,..., 7-n, and is a single rod cylinder type comprising a pneumatic cylinder and a piston in the base 3. It is fixed to a rod 9a coupled to the piston of the pneumatic actuator 9 via a pulley 9b. In this case, the self-weight compensation wire 8 is the wire 5
-1, 5-2,..., 5-n, and therefore the maximum tension of the self-weight compensating wire 8 is increased.

The control unit 10 controls the actuators 6-1-1, 6-1-2; 6-2-1, 6-2-2;...; 6-n-1, 6-n-2 and the pneumatic actuator 9. For example, a microcomputer.

Since the pulley 9b is positioned on the rod 9a of the pneumatic actuator 9, the bending moment of the rod 9a indicated by the arrow is generated by the tension of the self-weight compensation wire 8. As shown in FIG. 2A, the self-weight compensation wire 8 is branched into two branch portions 8-1 and 8-2 on the rod 9a of the pneumatic actuator 9, and pulleys 9b-1 on both sides near the rod 9a, It can be folded back through 9b-2 and fixed to the tip of the rod 9a. In this case, the tension of the self-weight compensating wire 8 is parallel to the rod 9a at the branch portions 8-1 and 8-2, and the bending moment of the rod 9a is canceled and does not occur. As shown in FIG. 2B, the self-weight compensation wire 8 is branched into two branch portions 8-1 and 8-2 on the rod 9a of the pneumatic actuator 9, and a pulley 9b-1 positioned in front of the rod 9a. , 9b-2 can be fixed to the tip of the rod 9a without being folded back. In this case as well, the tension of the self-weight compensation wire 8 is parallel to the rod 9a at the branch portions 8-1 and 8-2, and the bending moment of the rod 9a is not generated, so that the cylinder of the pneumatic actuator 9 Since the sliding resistance does not increase and only a pure tensile force is applied to the rod 9a, the control characteristics of the self-weight compensating wire 8 can be improved. However, in the case of FIG. 2B, there is no need to branch the self-weight compensation wire 8. In either case, the tension of the self-weight compensation wire 8 can be controlled by adjusting the pneumatic pressure of the pneumatic actuator 9.

Further, as shown in FIG. 3, in practice, for example, an air compressor 9c and an electropneumatic regulator 9d are provided upstream of the pneumatic actuator 9. The electropneumatic regulator 9d adjusts the supply air pressure from the air compressor 9c to the pneumatic actuator 9 with high accuracy in accordance with an input signal from the control unit 10. Therefore, the control unit 10 controls the pneumatic actuator 9 via the electropneumatic regulator 9d. In this case, the electropneumatic regulator 9d has a built-in pressure sensor. The air compressor 9c and the electropneumatic regulator 9d can also be provided inside the base 3.

Figure 4 is wire 5-1 and 5-2 required to support the joint torque tau _i in the pitch axis joint 2-i in FIG. 1, ..., is a graph showing the tension of 5-n. In FIG. 4, the arm length is 15 m and the number of joints n is 12. As shown in FIG. 4, the tensions of the wires 5-1, 5-2,..., 5-n are the first, second, third, and third tensions shown in FIGS. This is smaller than the wire tension of the conventional articulated manipulator 4. Therefore, the actuators (motors) 6-1-1 and 6-1-2; 6-2-1 and 6-2-2;...; 6-n-1 and 6-n-2 do not need to be strong. Therefore, the manufacturing cost can be reduced, and therefore the lengthening is facilitated. Further, in order to produce a force equivalent to the counterweights 308 and 406 of about 5600 kg in FIGS. 11 and 12, the diameter of the pneumatic actuator 9 needs to be about 300 mm if the pneumatic pressure of the air compressor 9c is 0.8 MPa. The weight of the pneumatic actuator 9 is about 212 kg. Therefore, the articulated manipulator can be reduced in weight.

FIG. 5 is a flowchart showing the operation of the control unit 10 of FIG.

First, in step 501, posture angles θ ₁ , θ ₂ ,... Of pitch axis joints 2-1, 2-2,... Shown in FIG.

Next, at step 502, based on the posture angles θ ₁ , θ ₂ ,... Determined at step 501, the arm tip load Mg and the pitch axis joints 2-1 and 2- shown in FIG. In order to support the own weights m ₁ g, m ₂ g,..., The joint torques τ ₁ , τ ₂ ,. At this time, dynamics may be considered.

Next, in step 503, the maximum value of the tension of the wires 5-1, 5-2,... Generated by the actuator (motor) corresponding to the joint torques τ ₁ , τ ₂ ,. The tension of the wires 5-1, 5-2,... And the tension of the self-weight compensation wire 8 are calculated so as to be the smallest.

Finally, in step 504, actuators (motors) 6-1-1, 6-1-2; 6-2-1, 6-2-2;... To generate the wire tension calculated in step 502. 6-n-1 and 6-n-2 are driven, and the electropneumatic regulator 9d is driven to generate the self-weight compensation wire tension calculated in Step 503.

FIG. 7 shows a second embodiment of the articulated manipulator according to the present invention, in which (A) is a top view and (B) is a front view. The articulated manipulator in FIG. 7 is of a vertical (pitch axis) and horizontal (yaw axis) type, and shows a horizontally extended posture that is most susceptible to gravity.

7, pitch axis joints 2-1, 2-3,..., 2-n are vertical pitch axes, while yaw axis joints 2′-2, 2′-4,. (N + 1) is the horizontal yaw axis. In this case, the pitch axis joints 2-1, 2-3,..., 2-n and the yaw axis joints 2'-2, 2'-4, ..., 2 '-(n + 1) are alternately arranged. However, it is only necessary to provide at least one yaw axis joint between the pitch axis joints 2-1, 2-3,... On the other hand, one yaw axis joint 2- (n + 1) is provided outside the pitch axis joint 2-n on the most distal side.

In FIG. 7, the yaw shaft joints 2′-2, 2′-4,..., 2 ′-(n−1) include a pair of self-weight compensating pulleys 7′-2-1, 7′-2-2. 7′-4-1, 7′-4-2;... 7 ′-(n−1) -1, 7 ′-(n-1) -2 are slidably mounted on the shaft. In this case, the yaw axis joint, for example, 2'-2 is fixed to the link 1-2 and is rotatable with respect to the link 1-1. On the other hand, one self-weight compensation pulley 7 '-(n + 1) is slidably attached to the tip yaw shaft joint 2'-(n + 1). The self-weight compensation wire 8 'branches into two systems, and each pair of self-weight compensation pulleys 7-1-1, 7-3-1, ..., 7-n-1; 7-1-2, 7-3- 2,..., 7-n-2 can be wound around at least one turn, and self-weight compensating pulleys 7'-2-1, 7'-2-2; 7'-4-1, 7'-4-2 ; ...; 7 '-(n + 1). Further, the pneumatic actuator 9 shown in FIGS. 2A and 2B is used. That is, as shown in FIG. 2A, the two systems of self-weight compensation wires 8 ′ are parallel to the rod 9 a of the pneumatic actuator 9, so that the bending moment of the rod 9 a is canceled by turning back. Alternatively, as shown in FIG. 2B, the two systems of self-weight compensation wires 8 ′ are directly parallel to the rod 9 a of the pneumatic actuator 9 without being folded back. Other components are the same as those in FIG.

FIG. 8 is a view showing a nuclear reactor system to which the articulated manipulator according to the present invention is applied.

In FIG. 8, an articulated manipulator 802 is mounted on the movable carriage 801, and an investigation or actual work for taking out the molten fuel rod 813a from the pressure vessel 813 of the containment vessel 812 in the reactor building 811 after a severe accident is assumed. To do. In this case, a hole 812a having a diameter of about 0.3 m is previously opened below the pressure vessel 813 of the storage container 812, and the movable carriage 801 is fixed in the vicinity of the hole 812a. Next, the articulated manipulator 802 is extended into the pressure vessel 813 through the hole 812a, and investigation and actual work are performed. In this case, if the lower diameter D of the storage container 812 is 18 m, for example, the total arm length of the articulated manipulator 802 is about 14 m. Reference numeral 814 denotes a pressure suppression pool.

In the above-described embodiment, the pitch axis joints 2-1, 2-2 (2-2 '), ..., 2-n, 2'-(n + 1) are constant regardless of the distance from the base 3. However, the pitch axis joints 2-1, 2-2 (2-2 ′),..., 2-n, 2 ′-(n + 1) can be reduced according to the distance from the base 3. Thereby, the tension of the wires 5-1, 5-2,..., 5-n can be further reduced, and therefore the actuators 6-1-1, 6-1-2; 6-2-1, 6-2-2. ; 6-n-1 and 6-n-2 do not need to be stronger and can further reduce the manufacturing cost, and the tension of the self-weight compensating wires 8 and 8 'can be reduced. The pneumatic actuator 9 can also be reduced in weight.

Also, the pneumatic actuator in the above-described embodiment can be replaced with another actuator such as a hydraulic actuator, a hydraulic actuator, a ball screw, a motor equipped with a rod-type reduction gear with a large reduction ratio, such as a worm gear.

Furthermore, the present invention can be applied to any change in the obvious range of the above-described embodiment.

1-1, 1-2, ..., 1-n: Links 2-1, 2-2, ..., 2-n: Pitch shaft joints 2'-2, 2'-4, ..., 2 '-(n + 1) : Yaw axis joint 3: Base 4 (1, 1), 4 (1, 2), ... 4 (1, n); 4 (2, 2), 4 (2, 3), ..., 4 (2 , N); ...; 4 (n, n): pulleys 5-1, 5-2, ..., 5-n: wires 6-1-1, 6-1-2; 6-2-1, 6-2 -2; ...; 6-n-1, 6-n-2: Actuator (motor)
7-1, 7-2, ..., 7-n; 7-1-1, 7-1-2, 7-2-1, 7-2-2, ..., 7-n-1, 7-n- 2; 7′-2, 7′-4,..., 7 ′-(n + 1): Pulley for compensating own weight 8, 8 ′: Wire for compensating own weight 9: Pneumatic actuator
9a: Rod 9b: Pulley 9c: Air compressor 9d: Electro-pneumatic regulator 10: Control unit
101-1, 101-2, ...: Links 102-1, 102-2, ...: Pitch shaft joint 103: Bases 104-1, 104-2, ...: Pulleys 105-1, 105-2, ...: Wire 201-0: fixed links 201-1, 201-2, ...: links 202-1, 202-2, ...: pitch axis joint 203: bases 204 (1, 1), 204 (1, 2), 204 ( 1, 3); 204 (2, 2), 204 (2, 3), 204 (3, 3): pulleys 205-1, 205-2, 205-3, ...: wires 206-1-1, 206- 1-2; 206-2-1, 206-2-2; ...: Actuator (motor)
L1, L2: Four-node parallel link mechanism 300: Base 301, 302: Frame 303: Main link 304: Sub link 305, 306: Self-weight compensation pulleys 307-1, 307-2, ...: Self-weight compensation wire 308: Counterweight 401-0: Fixed links 401-1, 401-2, ...: Links 402-1, 402-2, ...: Pitch shaft joint 403: Bases 404-1, 404-2, ...: Self-weight compensation pulley 405: Self-weight compensation wire 405a: End 406: Counterweight 801: Moving carriage 802: Articulated manipulator 811: Reactor building 812: Containment vessel 812a: Hole 813: Pressure vessel 813a: Fuel rod 814: Pressure suppression pool

Claims (16)

The base,
n (≧ 2) pitch axis joints;
A plurality of links connected serially by the pitch axis joint and connected to the base;
(Ni + 1) pulleys pivotally attached to the i-th (i = 1, 2,..., N) pitch axis joints from the base;
n wires, wherein the i-th wire is wound at least once around a pulley attached to the i-th pitch axis joint from the first pitch-axis joint;
A plurality of actuators connected to both ends of each wire, provided in the base, and for adjusting the tension of each wire;
A plurality of pitch axis weight compensation pulleys pivotally attached to each joint;
A self-weight compensating wire wound around each pitch axis self-weight compensating pulley at least once and led into the base;
An articulated manipulator that is connected to the self-weight compensation wire and is provided in the base and includes an actuator with a self-weight compensation rod for adjusting the tension of the self-weight compensation wire. The multi-joint manipulator according to claim 1, wherein the self-weight compensating rod actuator adjusts the tension of the self-weight compensating wire by a bending moment of the rod. 2. The self-weight compensation wire is bifurcated in the vicinity of a rod of an actuator with a self-weight compensation rod, and the bifurcated portion is made parallel to the rod to cancel the bending moment of the rod. The articulated manipulator described. The multi-joint manipulator according to claim 1, wherein the self-weight compensating wire is parallel to the rod in front of the rod of the actuator with a self-weight compensating rod. further,
An air compressor,
2. An electropneumatic regulator provided between the air compressor and the actuator with a self-weight compensation rod for adjusting a supply air pressure from the air compressor to the actuator with a self-weight compensation rod. The articulated manipulator described. The multi-joint manipulator according to claim 1, wherein the pitch axis joint becomes smaller according to a distance from the base. further,
The posture angle of each pitch axis joint is determined according to the object, and is generated at each pitch axis joint to support the tip load of the articulated manipulator and the weight of each pitch axis joint based on the posture angle. The power pitch axis joint torque is calculated, and the tension of each wire and the self-weight compensation wire are adjusted so that the maximum value of the tension of each wire generated by each actuator corresponding to each pitch axis joint torque is minimized. Control for calculating tension, driving each actuator to generate each tension of the wire with respect to each joint torque, and driving the actuator with its own weight compensation rod to generate tension of the own weight compensation wire The articulated manipulator according to claim 1, further comprising a unit. further,
At least one first yaw axis joint provided via a link between two adjacent pitch axis joints of the n pitch axis joints;
A second yaw axis joint provided via a link outside the pitch axis joint on the most distal side of the n pitch axis joints;
A pair of first yaw axis self-weight compensation pulleys slidably provided on the first yaw axis joint;
A second yaw axis self-weight compensation pulley slidably provided on the second yaw axis joint;
Comprising
Each of the pitch axis self-weight compensation pulleys includes a pair of pitch axis self-weight compensation pulleys,
The self-weight compensation wire is branched into a first system and a second system, and the first system is wound around one of the pair of pitch axis self-weight compensation pulleys at least once and wound. The second system is wound around the other of the pair of pitch shaft self-weight compensation pulleys and is wound around at least one rotation of the pair of pitch-shaft weight compensation pulleys, and the pair of yaw shaft self-weight compensation pulleys. 2. The multi-joint manipulator according to claim 1, wherein the multi-joint manipulator is connected to the other side, and the first and second systems are connected to the second yaw axis self-weight compensation pulley. 9. The first and second systems into which the self-weight compensation wire is branched are made parallel in the vicinity of the rod of the actuator with the self-weight compensation rod to cancel the bending moment of the rod. Articulated manipulator. The articulated manipulator according to claim 8, wherein the first and second systems into which the self-weight compensation wire is branched are parallel to each other in front of the rod of the self-weight compensation rod-equipped actuator. The multi-joint manipulator according to claim 8, wherein the pitch axis joint and the yaw axis joint become smaller according to a distance from the base. The base,
n (≧ 2) pitch axis joints;
At least one first yaw axis joint provided between the n pitch axis joints;
A second yaw axis joint provided outside the pitch axis joint on the most distal side of the n pitch axis joints;
A plurality of links connected serially by the pitch axis joint and the first and second yaw axis joints and coupled to the base;
(Ni + 1) pulleys pivotally attached to the i-th (i = 1, 2,..., N) pitch axis joints from the base;
n wires, wherein the i-th wire is wound at least once around a pulley attached to the i-th pitch axis joint from the first pitch-axis joint;
A plurality of actuators connected to both ends of each wire, provided in the base, and for adjusting the tension of each wire;
A pair of pitch axis weight compensation pulleys slidably attached to the pitch axis joints;
A pair of first yaw axis self-weight compensation pulleys slidably mounted on the first yaw axis joint;
A second yaw axis self-weight compensation pulley that is slidably attached to the second yaw axis joint;
At least one rotation of the pair of pitch axis self-weight compensation pulleys is wound around and one of the pair of second yaw axis self-weight compensation pulleys, and the second yaw axis self-weight compensation And is suspended around the other pair of pitch axis self-weight compensation pulleys by at least one rotation and suspended on the pair of second yaw axis self-weight compensation pulleys. A self-weight compensation wire branched and led into
An articulated manipulator that is connected to the self-weight compensation wire and is provided in the base and includes an actuator with a self-weight compensation rod for adjusting the tension of the self-weight compensation wire. The multi-joint manipulator according to claim 12, wherein the two branched self-weight compensating wires are made parallel in the vicinity of the rod of the actuator with the self-weight compensating rod to cancel the bending moment of the rod. The multi-joint manipulator according to claim 12, wherein the two branched self-weight compensating wires are made parallel in front of the rod of the self-weight compensating rod-equipped actuator. The multi-joint manipulator according to claim 12, wherein the pitch axis joint and the first and second yaw axis joints become smaller according to a distance from the base. further,
The posture angle of each pitch axis joint is determined according to the object, and is generated at each pitch axis joint to support the tip load of the articulated manipulator and the weight of each pitch axis joint based on the posture angle. The power pitch axis joint torque is calculated, and the tension of each wire and the self-weight compensation wire are adjusted so that the maximum value of the tension of each wire generated by each actuator corresponding to each pitch axis joint torque is minimized. Control for calculating tension, driving each actuator to generate each tension of the wire with respect to each joint torque, and driving the actuator with its own weight compensation rod to generate tension of the own weight compensation wire The articulated manipulator according to claim 12, comprising a unit.

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