JP2003069333A - Gimbal mechanism and joint mechanism - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a gimbal mechanism that can turn an object around a virtual turning axis passing through a point on an object face. SOLUTION: The gimbal mechanism is provided with at least three bearings 2a fitted to a rear side of an antenna 1, at least three rods 3, bearings 2b, 2c fitted to the rods 3, an inner face 5a fitted to the bearing 2b and having a turning shaft 4a, an outer frame 7a connected freely turnably to the inner frame 5a an inner frame 5b connected to the bearing 2c and having a turning axis X 4b, an outer frame 7b connected freely turnably connected to the inner frame 5b and having a turning axis Y 6b, a base 8 for supporting the outer frames 7a, 7b an X axis drive means for driving the frames around the X axis, a Y-axis drive means for driving the frames around the Y-axis, an X axis detection means for detecting the X-axis angle and a Y axis detection means for detecting the Y axis angle.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a gimbal mechanism for inclining an angle of an object such as an antenna around two rotation axes orthogonal to the plane of the object, and particularly to a virtual rotation axis of the object. The present invention relates to a gimbal mechanism improved so as to be provided on a predetermined surface of the.

[0002]

2. Description of the Related Art FIG. 17 shows, for example, Japanese Patent Laid-Open No. 05-20671.
It is explanatory drawing of the antenna pointing device as an example using the conventional general gimbal mechanism shown by the 3rd publication. FIG. 17
, 201 is an antenna, 202 is an azimuth axis, and 203
Is an azimuth servo motor, 205 is an elevation axis, 206 is an elevation bearing, and 207 is an elevation servo motor. The elevation bearing 206 is arranged on the back surface of the antenna 201.

Next, the operation will be described. The azimuth axis 202 is driven by the azimuth servomotor 203, and the antenna 201 rotates left and right around the azimuth axis 202. The elevation angle servomotor 207 drives the elevation angle axis 205, and the antenna 201 rotates up and down around the elevation angle axis 205 in FIG.

Since the conventional antenna directing device using the general gimbal mechanism is constructed as described above, the elevation bearing 206 is arranged on the back surface of the antenna 201, and the elevation shaft 205 is the center of the antenna 201. I have no choice but to pass through the rear, away from the center. Therefore, when the antenna 201 is turned up and down as shown in FIG. 17, it is unavoidable that the translational movement in the up and down direction occurs simultaneously.

Therefore, if there is an obstacle (not shown) such as a radome around the antenna 201, it is necessary to reduce the diameter of the antenna 201 so as not to interfere with the radome. There was a problem that it could not be taken large.

If a hole (not shown) is formed at the center of the antenna 201 and an obstacle such as a radiator (not shown) penetrates through the hole, a hole provided in the antenna 201 so as not to interfere with the radiator. Has to be increased, and there is a problem that the antenna area cannot be increased.

On the other hand, FIG. 18 shows, for example, Japanese Patent Laid-Open No. 05-108.
It is explanatory drawing of the pointing tracking device using the conventional general gimbal mechanism shown by the 159 publication. In FIG.
210 is an antenna, 211 is an azimuth axis (Az axis), 212
Is an elevation angle axis (El axis), and 213 is an elevation angle servomotor. The elevation axis 212 is configured to sandwich the antenna 210. Regarding the operation, Japanese Patent Laid-Open No. 05-206 of FIG.
This is almost the same as the example of Japanese Patent No. 713.

Since the conventional pointing tracking device using the gimbal mechanism is constructed as described above, the elevation axis 212 can be passed through the center of the antenna 210, but the elevation servomotors 213 and the unillustrated ones are provided on both sides of the antenna. Since an elevation bearing and the like are arranged and compared with the diameter of the antenna 210, and parts are arranged around the antenna 210, there is a problem that it is bulky.

FIG. 19 shows, for example, Japanese Patent Laid-Open No. 11-188668.
FIG. 11 is a front view showing an example of an arm structure of a conventional humanoid work robot shown in Japanese Patent Publication No. In FIG. 19, the twist joint 215, the bending joint 216, and the twist joint 217 are 1
It is a 3-DOF joint of the shoulder that intersects at points. The posture in which the first axis 218 and the third axis 219 are coaxial is a singular point. For example, the posture shown in FIG. 19 is a singular point, and in this posture, the elbow joint 220 cannot be moved in the direction perpendicular to the paper surface. In the arm structure of the conventional humanoid work robot, as shown in FIG. 19, the first shaft 218 is attached so as to face slightly above the horizontal so that the posture does not become a singular point in the posture in which normal work is performed. There is.

Since the arm structure of the conventional humanoid work robot is constructed as described above, there is a problem that the singular point cannot be completely eliminated. Also, since the cable has to pass through the outside of the joint, when the joint is bent, the cable will be pulled tight or slackened greatly, which will damage the cable and damage it or shorten the service life of the cable. There was a problem that

FIG. 20 shows, for example, Fuchigami: A robot-introduced production system, Nikkan Kogyo Shimbun, 1994, 104.
It is a perspective view of the conventional general 6-degree-of-freedom vertical articulated robot published on the page. In addition, FIG. 21 is a structural diagram of an example of a three-degree-of-freedom robot wrist in which the broken line H portion of FIG. 20 is enlarged. 20 and 21, the fourth shaft 224 twists the wrist 223 around the roll axis, the fifth shaft 225 bends the wrist 223 around the pitch axis, and the sixth shaft 226 indicates the wrist 22.
3 has a degree of freedom to twist about the roll axis, and by combining these, the wrist 223 can have any posture except the following cases.

Since the conventional general three-degree-of-freedom robot wrist is constructed in this way, the fifth shaft 225 is not bent, that is, the fourth shaft 224 and the sixth shaft 226 are set to 1.
In a straight line state, the fourth (sixth) shaft 224 (22
6) and the fifth axis 225, there is a problem that the wrist 223 cannot be bent around an axis (axis perpendicular to the paper surface of FIG. 21). For example, in the state of FIG. 21, the wrist 223 cannot be bent up and down. Such a state is called a singular point.

On the other hand, FIG. 22 shows, for example, Japanese Patent Laid-Open No. 58-155.
1 is a schematic diagram of a wrist device of an industrial robot shown in Japanese Patent Publication No. 198. In FIG. 22, 231 is wrists, 233, 2
34, 235, 236 are spherical bearings (ball joints), 237, 238, 239, 240 are pin joints, 241, 242, 243, 244, 245, 246.
Are links 249 and 250 are link drive shafts.

Next, the operation will be described. The operation is described as follows in JP-A-58-155198. When the drive shaft 249 is rotated, the link 243 is
Is tilted and the links 241 and 242 move up and down, respectively, so that the wrist 231 tilts around the axis connecting the spherical bearings 235 and 236. Further, when the drive shaft 250 is rotated, the link 246 tilts and the links 244 and 245 move up and down, respectively, so that the wrist 231 has the spherical bearing 233.
And 234 are tilted around the axis connecting them.

Now, consider a state in which the drive shaft 249 is rotated to tilt the link 243, move the links 241 and 242 up and down, and tilt the wrist 231 around the axis connecting the spherical bearings 235 and 236. At this time, the shaft connecting the spherical bearings 233 and 234 is tilted. On the other hand, the drive shaft 25
When the link 246 is tilted by rotating 0, the link 2
46 moves in a plane perpendicular to the drive shaft 250, and the link 246
Since the links 244 and 245 are connected by the pin joints 239 and 240,
The link 245 also moves at right angles to the drive shaft 250 in the plane containing the link 246. Therefore, spherical bearings 235 and 236
Also moves in the plane containing the link 246 at right angles to the drive shaft 250. However, the spherical bearings 235 and 236 try to move in a plane perpendicular to the axis connecting the spherical bearings 233 and 234. For this reason, when the axis connecting the spherical bearings 233 and 234 is tilted as described above, the surface perpendicular to the drive shaft 250 and including the link 246 is different from the surface perpendicular to the axis connecting the spherical bearings 233 and 234. Therefore, after all, the spherical bearing 235
And 236 cannot move. That is, JP-A-58-
The wrist device of the industrial robot disclosed in Japanese Patent No. 155198 does not operate.

FIG. 23 shows, for example, Japanese Patent Laid-Open No. 05-221311.
FIG. 7 is a front view showing an example of a conventional mobile inspection robot shown in Japanese Patent Publication and a platform used for it. In this device, the carts 261 and 262 move along rails 263, and a camera 266 is attached to a pan / tilt head 265 that can be swung and lifted up and down for inspection work. Trolley 261,262
A gate-shaped swivel frame 268 is rotatably attached to the gate-shaped swivel frame 268, and an elevation frame 269 is movably attached to the gate-shaped swivel frame 268.
Are provided in the dead spaces when the gate-shaped swivel frame 268 is swung and when the elevation frame 269 is elevated, respectively.

Since the conventional platform 265 is constructed as described above, the elevation frame 269 is provided on the side of the camera 266.
And its bearing, the swivel frame 26 above the camera 266.
Since 8 and the bearing thereof are arranged, there is a problem that the cross-sectional area of passage cannot be reduced.

FIG. 24 shows, for example, Japanese Patent Laid-Open No. 09-134251.
It is sectional drawing which shows the example of the conventional joystick type operation mechanism shown by the publication. In the mechanism shown in FIG. 24,
An operation shaft 275 penetrates through the center, and a grip 276 to be gripped by a hand is provided on the upper part of the mechanism.
There are 8,279.

Since the conventional operating mechanism is constructed as described above, the centers of the rotary shafts 278 and 279 are located away from the grip 276, so that the position of the hand moves when the angle is changed. There was a problem that it was difficult to intuitively understand the change in angle.

[0020]

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and rotates an object around a virtual rotation axis passing through a point on the object surface. A gimbal mechanism capable of being applied, particularly when applied to an antenna as an object, the antenna surface can be rotated around a virtual rotation axis passing through a point on the antenna surface,
The purpose of the present invention is to obtain a gimbal mechanism that can reduce the decrease in gain by maximizing the antenna area while avoiding the interference between the antenna and the radiator passing through the center of the antenna and the radome around the antenna.

[0021]

A gimbal mechanism according to the present invention is a gimbal mechanism for rotating an angle of an object about two rotation axes orthogonal to each other, and at least three gimbal mechanisms mounted on the back surface of the object. First spherical bearing, one end is first
At least three rods connected to the spherical bearing of
At least three second spherical bearings respectively attached to approximately the center of each of the three rods, and at least three third spherical bearings respectively attached to the other ends of each of the three rods.
Spherical bearing, which is connected to the three second spherical bearings, and has a first rotation axis X at approximately the center of the two opposite sides, a □ -shaped first inner frame, a first rotation shaft A first square-shaped first rotatably connected to the first inner frame via X, and having a first rotation axis Y orthogonal to the first rotation axis X substantially at the center of two opposite sides. Similarly to the outer frame and the first inner frame, the second rotation axis X is connected to the three third spherical bearings and is parallel to the first rotation axis X at the approximate center of the two opposite sides. Similarly to the second inner frame and the first outer frame having a square shape having □, it is rotatably connected to the second inner frame via the second rotation axis X, and the two opposite sides are substantially rotatably connected. A □ -shaped second outer frame, a first outer frame and a second outer frame having a second rotation axis Y parallel to the first rotation axis Y in the center. A base for supporting the first rotary shaft Y and the second rotary shaft Y via the first rotary shaft Y and the second rotary shaft Y, an X-axis driving unit for rotationally driving the first rotary shaft X or the second rotary shaft X, Y-axis drive means for rotationally driving the rotary axis Y or the second rotary axis Y, X-axis detecting means for detecting the angle of the first rotary axis X or the second rotary axis X, and A Y-axis detecting unit that detects an angle of the first rotation axis Y or the second rotation axis Y is provided, and the three rods are parallel to each other. The first rotation axis X and the first rotation axis Y, the second rotation axis X and the second rotation axis Y intersect at one point respectively, and the positions of the three first spherical bearings, the positions of the three second spherical bearings, and the three positions of the third spherical bearings. The figures formed by the respective three positions of the third spherical bearing have similar shapes to each other, and further, the positions of the three second spherical bearings, the first rotation axis X and the first rotation axis. Intersection position of Y The figure formed by the four positions and the figure formed by the four positions of the intersections of the positions of the three third spherical bearings and the second rotation axis X and the second rotation axis Y are similar to each other. .

Further, the first inner frame and the second inner frame are separated into two by separating the first rotation axis Y and the second rotation axis Y, and each of the two separated inner frames is separated. Independently rotate about the first rotation axis X and the second rotation axis X with respect to the first outer frame and the second outer frame, respectively.

The X-axis drive means is a first X-axis drive means for rotationally driving the first rotary shaft X and a second X-axis drive means for rotationally driving the second rotary shaft X. And the second X-axis drive means applies a torque in the opposite direction to the first X-axis drive means, and the Y-axis drive means rotates the first rotation axis Y to rotate the first Y-axis. A second shaft driving means and a second rotary shaft Y for rotationally driving the second rotary shaft Y.
Second Y-axis driving means, and the second Y-axis driving means applies torque in the opposite direction to the first Y-axis driving means.

Further, among the plurality of first, second and third spherical bearings, at least one predetermined spherical bearing is provided with a measure for eliminating backlash, and the remaining spherical bearings are not provided with a countermeasure for eliminating backlash.

Further, the object is an antenna or a reflecting mirror.

The base is fixed to the robot arm, and the object is the robot hand.

The object is a camera.

Further, the object is a reflection plate, a column is further provided penetrating the center of the reflection plate, and the inspection camera is attached to the tip of the column so as to face the reflection plate.

Further, the object is a grip, and the grip is operated to present the posture.

Furthermore, the joint mechanism according to the present invention is a joint mechanism used for the shoulders and wrists of a robot, and is a first base provided on the body side of the robot, and a standing base on the first base. First parallel rotating shafts, two first links that are rotatably supported by the first rotating shafts at their centers and are arranged in parallel to each other, and two first links. Two first rods that are rotatably connected between the links and are parallel to each other, a bearing block in which both ends on one side are rotatably connected to one ends of the two first rods, and a bearing block Both ends are rotatably connected to two second rods and two second rods, one ends of which are rotatably connected to the other ends of the other side and arranged to be parallel to each other. Two second links that are parallel to each other, standing in the center of the second link Two second pivot axis parallel to that,
A second base connected to the second rotating shaft,
Link, the first rod and the bearing block, and the bearing block, the second rod and the second link are parallel links, and the first rotation axis and the second rotation axis are substantially orthogonal to each other.

[0031]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiment 1. 1 is a perspective view showing a first embodiment of a gimbal mechanism of the present invention. Figure 1
In the gimbal mechanism of the present embodiment, the four first spherical bearings 2a whose only edges are attached to the back surface of the illustrated antenna 1 and the four rods whose one end is connected to the first spherical bearing 2a are described. 3 and 4, four second spherical bearings 2b provided outside the center of the four rods 3, and four third spherical bearings 2c provided at the other ends of the four rods 3 2 sets of rods 3 each of which fits 2
Is connected to one side through the spherical bearing 2b and the opposite side, and is orthogonal to the side of the square shaped first inner frame 5a and the side to which the second spherical bearing 2b of the first inner frame 5a is attached. It has a first rotation axis X4a provided at the center of each of the two sides.

Further, the gimbal mechanism further comprises a □ -shaped first outer frame 7 connected to the first inner frame 5a via the first rotation axis X4a and the two opposite sides thereof.
a, a first rotation axis Y6a that is attached to the center of each of two sides orthogonal to the side to which the first rotation axis X4a of the first outer frame 7a is attached and that is orthogonal to the first rotation axis X4a , 2 adjacent to each other, like the first inner frame 5a
The other end of each of the two pairs of rods 3 is connected to one side and the opposite side via the third spherical bearing 2c, the second inner frame 5b having a square shape, and the first rotation axis X4.
Similarly to a, the second rotation axis X4b attached to the center of each of two sides orthogonal to the side on which the third spherical bearing 2c of the second inner frame 5b is attached, and the first outer frame 7a. Similarly, it has a second inner frame 5b connected to the second inner frame 5b via the second rotation axis X4b and a second outer frame 7b having a square shape that is connected to the two opposite sides.

Furthermore, the gimbal mechanism has a first
2 of the second outer frame 7b, which is orthogonal to the side to which the second rotation axis X4b is attached, like the rotation axis Y6a of
A second rotation axis Y6b attached to the center of each side and orthogonal to the second rotation axis X4b, a first outer frame 7a
In addition, it has a base 8 that supports the second outer frame 7b via the respective first rotation axis Y6a and second rotation axis Y6b.

The gimbal mechanism is attached to the first outer frame 7a and drives the first rotating shaft X4a, which is not shown in the figure, and the detecting means for detecting the angle of the first rotating shaft X4a. No X-axis detecting means, Y-axis driving means (not shown) attached to the base 8 for driving the first rotation axis Y6a, and Y-axis detection means (not shown) for detecting the angle of the first rotation axis Y6a, and It has a control device (not shown).

Next, the positional relationship between the respective parts will be described. First, the four rods 3 are always parallel to each other. Further, the first rotation axis X4a and the second rotation axis X4b, and the first rotation axis Y6a and the second rotation axis Y6b are maintained in a mutually parallel relationship.

First axis of rotation X4a
Of the rotation axis Y6a of the second rotation axis and the second rotation axis X
The axis extending from 4b and the axis extending from the second rotation axis Y6b intersect each other at one point, and the first outer frame 7a, the first inner frame 5a, and the second outer frame 7 are crossed.
b and the second inner frame 5b each have a gimbal structure.

Four first spherical bearings 2a on the back surface of the antenna 1, four second spherical bearings 2b mounted on the first inner frame 5a, and four mounted on the second inner frame 5b. The quadrangles formed by the four positions of the three sets of spherical bearings of the third spherical bearing 2c are similar to each other.

From the above relationship, the antenna 1, the first inner frame 5a, and the second inner frame 5b have a parallel link relationship, and the antenna 1 and the first outer frame 7 have a parallel link relationship.
a and the second outer frame 7b also have a parallel link relationship.

Further, the four second spherical bearings 2b mounted on the first inner frame 5a and the first rotating shaft X4.
a and the first rotation axis Y6a at five points, four third spherical bearings 2c mounted on the second inner frame 5b, a second rotation axis X4b, and a second rotation. The positions of the five points formed by the intersections of the axes Y6b are similar to each other, and the first rotation axis X4a and the first rotation axis are formed on the quadrangular surface formed by the four second spherical bearings 2b. The intersections of Y6a are separated by a predetermined distance d, and similarly, the second rotation axis X4 is provided with respect to a quadrangular surface composed of four third spherical bearings 2c.
The intersections of b and the second rotation axis Y6b are separated by the same distance d.

The movement will be briefly described with reference to FIGS. 2 and 3. 2 and 3 show an antenna 1 and spherical bearings 2a, 2
b, 2c, the rod 3, the first rotation axis X4a, the second rotation axis X4b, the first inner frame 5a, and the second inner frame 5b only, and the first rotation axis X4a and the first rotation axis X4a Two
It is the figure projected on the surface orthogonal to the rotation axis X4b of.

The second spherical bearing 2b and the first rotating shaft X4
The distance between a and the distance between the third spherical bearing 2c and the second rotation axis X4b are both d in the vertical direction of FIG. In the present embodiment, the distance between the first spherical bearing 2a and the surface of the antenna 1 is also set to d in the vertical direction of FIG. From the first spherical bearing 2a to the upper part d of FIG.
Let c be the point on the antenna 1 at which the distance is.

As shown in FIG. 3, the first inner frame 5
When a and the second inner frame 5b rotate about the first rotation axis X4a and the second rotation axis X4b, respectively,
The left and right rods 3 in the figure move without changing their postures to rotate the antenna 1. At this time, the center of rotation of the antenna 1 is c.
Becomes That is, the antenna 1 physically rotates about a virtual axis c where no bearing physically exists.

The above description is about the first rotation axis X4a and the second rotation axis X4b, but the same is true for the first rotation axis Y6a and the second rotation axis Y6b.

In the present embodiment, the virtual rotation axis c is set on the surface of the antenna 1, but the distance d
By changing, it is possible to set the rotation axis c on the surface of the antenna 1 regardless of the thickness of the antenna 1 and the size of the first spherical bearing 2a. D with respect to the distance between 2a and the virtual rotation axis c
By changing the
It can also be set inside the antenna 1.

Further, in the present embodiment, as shown in FIG. 2, four spherical bearings 2a, 2b,
2c are in the same plane, and the first rotation axis X4a and the second rotation axis X4 are located at positions separated from each other by a distance d.
Although b is set to be present, as described above, these may have similar positional relationships.

When the distance d is not 0, in the link of FIG. 2, for example, about the first rotation axis X4a,
Since the phase difference between the left and right second spherical bearings 2b in the figure is not 180 degrees, the link of FIG. 2 has the advantage that theoretically no dead point exists.

Next, the entire movement will be described with reference to FIGS. In FIG. 4, an X-axis driving means (not shown) rotationally drives the first inner frame 5a with respect to the first outer frame 7a. The first inner frame 5a is tilted around the first rotation axis X4a, and the second inner frame 5b is tilted while keeping parallel about the second rotation axis X4b.
Moves up and down in the figure, and the antenna 1 is moved around the imaginary rotation axis located at a distance d from the quadrangular surface formed by the four first spherical bearings 2a on the back side of the antenna 1.
Of the inner frame 5a and the second inner frame 5b.

In FIG. 5, the Y-axis driving means (not shown) rotationally drives the first outer frame 7 a with respect to the base 8. The first outer frame 7a rotates around the first rotation axis Y6a, and the second outer frame 7b rotates around the second rotation axis Y6b.
The rod 3 moves up and down in the figure while keeping parallel to the circumference, and the antenna 1 is located at a distance d from the quadrangular surface formed by the four first spherical bearings 2a on the back side of the antenna 1. The first outer frame 7a and the second outer frame 7b are tilted about the virtual rotation axis by the same angle.

In FIG. 6, the X-axis driving means (not shown) and the Y-axis driving means (not shown) operate simultaneously, so that the first outer frame 7a moves around the first rotation axis Y6a and the second outer frame 7b. Tilts around the second rotation axis Y6b while maintaining parallelism, and further, the first inner frame 5
a is tilted around the first rotation axis X4a and the second inner frame 5b is tilted while keeping parallel about the second rotation axis X4b, so that the rod 3 moves up and down in the figure, and the antenna 1
Is an imaginary line parallel to the first rotation axis Y6a and the second rotation axis Y6b, which are located at a distance d from the quadrangular surface formed by the four first spherical bearings 2a on the back side of the antenna 1. The first outer frame 7a and the second outer frame 7a
Is inclined by the same angle as the outer frame 7b of the antenna 1, and the antenna 1 further includes four first spherical bearings 2a on the back side of the antenna 1.
A first outer frame 7a and a second outer frame 7b that are separated by a distance d with respect to the quadrangular surface formed by
Around the virtual rotation axis parallel to the first rotation axis X4a and the second rotation axis X4b that are inclined by the same angle as that of the first inner frame 5a and the second inner frame 5b. Incline.

First rotation axis X4a and first rotation axis Y6a
Are driven by X-axis driving means (not shown) and Y-axis driving means, the angles thereof are detected by X-axis detecting means and Y-axis detecting means (not shown), and they are controlled by a control device (not shown), so that the antenna 1 can have a desired shape. It will be possible to turn to an angle.

Although four rods 3 are provided in the present embodiment, one of the four rods 3 may be omitted. The number of the first, second, and third spherical bearings should be at least three. Even in the configuration omitted in this way, each frame and the antenna 1 are supported at three points and positioned at a predetermined angle, and the first outer frame 7a is moved around the first rotation axis Y6a to the second rotation axis Y6a. The outer frame 7b rotates while keeping parallel to the second rotation axis Y6b, in which the first inner frame 5a is the first
The second inner frame 5b can be rotated about the rotation axis X4a while maintaining the parallelism about the second rotation axis X4b, so that the same effect can be obtained.

From the above, a gimbal mechanism for rotating the angle of the antenna 1 according to the present embodiment around two rotation axes orthogonal to each other, and at least three first gimbal mechanisms mounted on the back surface of the antenna 1. Spherical bearing 2a, one end of which is the first
At least three rods 3 connected to the spherical bearing 2a, and at least three second spherical bearings 2b respectively attached to substantially the center of each of the three rods 3, and each of the other three rods 3. A □ character having a first rotation axis X4a which is connected to at least three third spherical bearings 2c and three second spherical bearings 2b, which are respectively attached to the ends, and which has a first rotation axis X4a substantially at the center of two opposing sides. Mold first inner frame 5
a, the first inner frame 5 via the first rotation axis X4a
It is rotatably connected to a.
Connected to three third spherical bearings 2c in the same manner as the □ -shaped first outer frame 7a and first inner frame 5a having the first rotation axis Y6a orthogonal to the rotation axis X4a of The second inner frame 5b and the first outer frame 7a are shaped like a square and have a second rotation axis X4b parallel to the first rotation axis X4a substantially at the center of two opposite sides. , The first rotation axis Y is rotatably connected to the second inner frame 5b via the second rotation axis X4b, and the first rotation axis Y is located approximately at the center of the two opposite sides.
6a has a second rotation axis Y6b parallel to the square-shaped second outer frame 7b, the first outer frame 7a and the second outer frame 7b, the first rotation axis Y6a and the second rotation frame Y6b. X for rotationally driving the base 8, which is supported via the rotary shaft Y6b, the first rotary shaft X4a, or the second rotary shaft X4b.
Axial drive means, first rotary shaft Y6a or second rotary shaft Y
6b, Y-axis drive means for rotationally driving 6b, first rotational axis X4a
Alternatively, an X-axis detection unit that detects the angle of the second rotation axis X4b, and the first rotation axis Y6a or the second rotation axis Y6b.
Is equipped with Y-axis detection means for detecting the angle of the three rods 3
Are parallel to each other, and the first rotation axis X4a and the first rotation axis Y6a, and the second rotation axis X4b and the second rotation axis Y6.
b intersect at each one point, and the three first spherical bearings 2
The figures formed by the three positions of the position a, the position of the three second spherical bearings 2b, and the positions of the three third spherical bearings 2c are similar to each other, and further the three second Of the four spherical bearings 2b and the four positions of the intersections of the first rotation axis X4a and the first rotation axis Y6a, the positions of the three third spherical bearings 2c and the second rotation. The figures formed by the four positions of the intersections of the moving axis X4b and the second rotation axis Y6b are similar to each other.

Therefore, by setting an appropriate distance d as described above, it is possible to set two virtual orthogonal rotation axes passing through points on the antenna surface and the like, so that the antenna has these virtual axes. As shown in FIG. 7, it is possible to rotate around the rotation axis and to prevent interference between the antenna 12 and the radiator 12 having a structure that penetrates the hole formed in the center of the antenna, and the radome (not shown) around the antenna and the antenna. By avoiding this and taking the maximum antenna area, the decrease in gain can be reduced.

Incidentally, what is driven by the X-axis driving means is
The second rotation axis X4b may be used instead of the first rotation axis X4a, and the first rotation axis X4a may be driven by the Y-axis drive means.
The rotation axis Y6a may be the second rotation axis Y6b, or both may be driven.

The X axis detecting means may detect the second rotating axis X4b instead of the first rotating axis X4a, and the Y axis detecting means may detect the second rotating axis X4b. The second rotation axis Y6b may be used instead of the first rotation axis Y6a, or both may be detected.
The first, second and third spherical bearings may be replaced with universal joints.

Embodiment 2. FIG. 8 is a perspective view showing a second embodiment of the gimbal mechanism of the present invention. 8, in the gimbal mechanism of the present embodiment, in the link configuration of the first embodiment, the two inner frames are separated into two pieces, and the two separated inner frames are formed into outer frames. On the other hand, the link configuration is such that it independently rotates about the rotation axis X. And
A motor with a speed reducer is used as the driving means.

That is, the first inner frame 5a of the first embodiment is divided into the first a link 21a and the first b link 21b, and the second inner frame 5b is divided into the second a link 22a and the second b link 22b.

1a link 21a and 1b link 21
b is attached to the first outer frame 7a via the first rotation axis X4a and is rotatable. The second a link 22a and the second b link 22b are attached to the second outer frame 7b via the second rotation axis X4b and are rotatable.

1a link 21a and 1b link 21b
The second spherical bearing 2b and the third spherical bearing 2 are provided at both ends of the second a link 22a and the second b link 22b, respectively.
c is attached to the second spherical bearing 2b and the third spherical bearing 2b.
The point that the rod 3 is attached via the spherical bearing 2c is the same as in the first embodiment.

Furthermore, in the present embodiment, as shown in FIG. 8, the motor 2 with a speed reducer as the first X-axis driving means.
3a is a 1a link 21a via a first rotation axis X4a.
And the motor 23b with a speed reducer as the second X-axis driving means drives the second b-link 2 via the second rotation axis X4b.
2b is driven, and the motor with reducer 24a as the first Y-axis driving means drives the first outer frame 7a via the first rotation axis Y6a to reduce the speed as the second Y-axis driving means. The motorized motor 24b drives the second outer frame 7b via the second rotation axis Y6b.

The motor is driven, for example, as follows.
Drives the motor with reduction gear 23a to drive the first rotation axis X4a.
When the antenna 1 is rotated by applying a torque to the motor 23b, a small torque in the opposite direction is applied to the motor with reduction gear 23b.

In the gimbal mechanism of this embodiment, the first inner frame and the second inner frame have the first rotation axis Y.
6a and the second rotation axis Y6b are separated from each other into two, and each of the separated two inner frames 21a, 21.
b, 22a and 22b are respectively the first outer frame 7
a and the first rotation axis X with respect to the second outer frame 7b
4a and the second rotation axis X4b are independently rotated.
Therefore, it is possible to reduce the difficulty of assembling due to the dimensional error of the parts.

As the X-axis driving means, the first rotary shaft X4a is used.
Has a first X-axis driving means 23a for rotatively driving and a second X-axis driving means 23b for rotatively driving a second rotation axis X4b, and the second X-axis driving means 23b is the first A torque is applied in the opposite direction to the X-axis driving means 23a to rotate the first Y-axis driving means 24a and the second rotation axis Y6b, which rotate and drive the first rotation axis Y6a, as Y-axis driving means. And a second Y-axis driving unit 24b that is driven dynamically.
b applies torque in the opposite direction to the first Y-axis drive means 24a. Therefore, it is possible to reduce the play of the movement of the object with respect to the rotation of the rotation shaft.

That is, the gimbal mechanism of the present embodiment has the above-mentioned configuration, and even if the motor speed reducer has a backlash, the backlash is canceled by the reverse torque, so that the motor not shown is The rotation angle of the antenna is uniquely determined with respect to the rotation angle detected by the detector, and there is no play in the movement.

In the present embodiment, an example using a motor with a speed reducer is shown, but a motor such as a direct drive motor or an ultrasonic motor may be used. Also,
It may be driven by a spherical motor instead of the spherical bearing.

Third Embodiment FIG. 9 is an explanatory view showing the manner in which the backlash of the spherical bearing showing the third embodiment of the gimbal mechanism of the present invention is canceled. The configuration of this embodiment is
It is the same as the second embodiment, but with respect to the spherical bearing,
A part without play is used, and the remaining spherical bearing is used without play.

This will be described below with reference to FIG. For the sake of explanation, FIG. 9 shows only the spherical bearings and rods in a simplified manner. In FIG. 9, 31 is an inner frame or an outer frame in the first embodiment or a link in the second embodiment. Here, it is called a link. Three
Reference numeral 2 is a rotation axis X or a rotation axis Y. Here, it is called a rotation axis. 33, 34, 37, 38, 40 and 41 are spherical bearings. 35, 36, 42 and 43 are rods. Three
Reference numeral 9 denotes an antenna mounting surface, and the antenna is not shown.

The link 31 is rotatable about a rotation shaft 32 and is driven to rotate by a driving means (not shown). The opposite link (not shown) is subjected to torque in the opposite direction to the link 31 by another driving means, as in the case of the second embodiment.

Each spherical bearing has a housing attached to a link or an antenna mounting surface, and a sun sphere (a large sphere housed in the housing of the spherical bearing) attached to a rod. Housings 33a and 34a are attached to both ends of the link 31, respectively.

On the other hand, 33b and 34b are sun balls, which are attached to the rod 35 and the rod 36, respectively.
The spherical bearings 33 and 34 attached to the link are manufactured by leaving a play between the housing and the solar sphere,
A spherical bearing 37 mounted on the antenna mounting surface,
Nos. 38, 40 and 41 are produced without play.
The play is adjusted by adjusting the pressurizing force when assembling the spherical bearing, for example.

Next, the operation will be described. Consider a case where a clockwise torque is applied to the link 31 as indicated by an arrow as shown in FIG. At this time, since the spherical bearings 33 and 34 are loose, the housing 33a of the spherical bearing 33 moves downward in the figure with respect to the sun sphere 33b, and the housing 34a of the spherical bearing 34 moves upward in the figure with respect to the sun sphere 34b. Move to.

When this movement causes the housing to come into contact with the sun sphere, a downward force is exerted on the rod 35 attached to the sun sphere 33b as indicated by an arrow A in the figure, and a downward force is exerted on the rod 36 attached to the sun sphere 34b. An upward force in the figure is applied as indicated by an arrow B in the figure. Therefore, a moment is generated on the antenna mounting surface 39 in the clockwise direction in the figure.

On the other hand, since the opposite torque (not shown) is applied to the opposite link, the rod 42 has an upward force as indicated by an arrow C in the figure, and the rod 43 has an upward force as indicated by an arrow D in the figure. The downward force is applied to the figure. Here, spherical bearings 37, 3 mounted on the antenna mounting surface
8, 40 and 41 have no play, so the rotation shaft 32
The angle of the antenna mounting surface is uniquely determined with respect to the angle.

That is, in the gimbal mechanism of the present embodiment, at least one predetermined spherical bearing among the plurality of first, second and third spherical bearings is provided with a measure for eliminating play, and the remaining spherical bearing is Does not take measures to eliminate looseness, so even if there is a dimensional error during processing on the link or rod, the parts will be twisted or deformed during assembly,
It does not become difficult to assemble, the parts do not twist or deform even if the dimensions change due to temperature change, and the backlash of the spherical bearing is canceled, so the rotation angle detected by the motor detector On the other hand, the rotation angle of the antenna is uniquely determined, and even if there is rattling of the reducer, this is also erased, so the rotation angle of the antenna is unique to the rotation angle detected by the motor detector. Decided.

Fourth Embodiment FIG. 10 is a perspective view showing the joint mechanism of the present invention. The joint mechanism of the present embodiment is equivalent to the two-dimensional link mechanism of the first embodiment shown in FIG.
It is a structure in which a pair is made orthogonal to each other and is combined face-to-face.

In FIG. 10, 51 is the first base, 5
2 is a motor with a reduction gear (first rotation shaft), and 53 is a first rotation shaft. Motor 52 with reduction gear and first rotating shaft 5
3 are erected on the first base 51 in parallel. Reference numeral 54 denotes a first link, which corresponds to the inner frame 5 and the like in FIG. 2 of the first embodiment. The two first links 54 are attached to the motor 52 with a speed reducer and the first rotation shaft 53, and are in a parallel link relationship so as to be rotatable.

Further, 55 is a first rod and 56 is a shaft. The two first rods 55 are rotatably attached to both ends of the first link 54 via shafts 56 to form parallel links. In the first link 54, the line connecting the shafts 56 at both ends of the link and the first rotation shaft 53
And are separated by a distance d. Reference numeral 57 denotes a bearing block, which corresponds to the antenna 1 in FIG. 2 of the first embodiment and is connected to the tip of the first rod 55 via the shaft 56.

With this structure, the bearing block 57 rotates around the virtual rotation center c with respect to the first base 51 and is parallel to the motor 52 with the reduction gear, the first rotation shaft 53, the shaft 56, and the like. Turn to.

On the other hand, on the opposite side of the bearing block 57,
Similar links are attached to the first link 54 and the first rod 55 such that the planes that move are orthogonal or substantially orthogonal. Two second rods 58 are rotatably attached to the bearing block 57. Two second
There are two second links 59 between the rods 58 of the shaft 60.
The second rod 58 and the second link 59 are mounted rotatably around and form a parallel link.
A motor 61 with reduction gear (second rotation shaft) and a second rotation shaft 62 are attached to the central shaft of the second link 59, respectively, and the motor 61 with reduction gear and the second rotation shaft are attached. The reference numeral 62 stands parallel to the base 63.

With this structure, the second base 63 is moved around the virtual rotation center c with respect to the bearing block 57,
It rotates about an axis parallel to the motor 61 with a reduction gear, the second rotation shaft 62, the shaft 60, and the like.

With the above structure, the second base 63 provided on the opposite side of the first base 51 is vertically and horizontally about the virtual rotation center c, that is, orthogonal to the longitudinal direction of the arm. It is rotatable about its axis. Since the bearing block 57 can have a hollow structure, a cable or the like (not shown) can be passed therethrough. In addition, if the distance d is not 0, the parallel link formed by the first link 54 and the first rod 55 and the parallel link formed by the second link 59 and the second rod 58 have a dead point in principle. There is an advantage of not doing it.

Next, FIG. 11 is an explanatory view when the joint mechanism of FIG. 10 is applied to a shoulder joint of a humanoid robot. Elements 51 to 63 of each part in the figure are the same as those in FIG. In the figure, 65 is a humanoid robot's body, 66
Is an elbow and 67 is a second arm (forearm).

The first base 51 is fixed to the shoulder of the robot. The motor 52 with a reduction gear (not shown) and the first rotation shaft 53 in FIG. 10 are fixed to the shoulder of the robot in parallel with the horizontal direction. The two first links 54 are attached to the motor 52 with a speed reducer and the first rotation shaft 53, and are driven to rotate in a vertical plane with respect to the shoulder of the robot by the motor 52 with a speed reducer and move up and down. . At this time, the movement of the first link 54 is transmitted to the bearing block 57 by the two first rods 55, and the bearing block 57 is moved in the vertical plane around the virtual rotation center inside the bearing block 57. Move up and down. The bearing block 57 has a hollow structure inside, and allows the cable 64 to penetrate therethrough.

Two second rods 58 are rotatably attached to the bearing block 57 in a horizontal plane. Two
Between the second rods 58 of the book there is a vertical axis 60
A pair of second links 59 are rotatably mounted in the horizontal plane. The center of the two second links 59 is attached to the motor 61 with a speed reducer and the second rotation shaft 62. The motor 61 with a reduction gear and the second rotation shaft 62 are attached to the second base 63 vertically and in parallel. The first base 51 to the second base 63 form the first arm (upper arm) of the humanoid robot. When the second link 59 is rotationally driven in the horizontal plane by the reduction gear motor 61, the second base 63 moves around the virtual rotational center inside the bearing block 57 in the horizontal plane with respect to the bearing block 57. The robot turns back and forth as seen from the robot.

By the above movement, the first humanoid robot
The arm is rotatable around an imaginary center of rotation inside the bearing block 57 as viewed from the top and bottom and front and rear of the robot, that is, about an axis orthogonal to the longitudinal direction of the arm. Since the humanoid robot according to the present embodiment is configured as described above, it has an advantage that there is no singular point regarding the posture of the shoulder unlike the conventional humanoid robot.

Further, since the bearing block 57 can be hollow, there is an advantage that the cable 64 can be passed through here. Also, since the bearing block 57 has a virtual center of rotation and a cable can be passed in the vicinity thereof, when the shoulder joint is bent or extended, the cable can be pulled tight or greatly sagged. Since there is less and the load on the cable can be reduced, there is an advantage that the cable is less likely to be damaged and the service life of the cable is not shortened.

Although the axis for moving the first arm up and down is arranged on the body side and the axis for moving the first arm forward and backward is arranged on the arm side, the reverse order is also possible. Further, the two axes may not be the vertical direction and the front-back direction with respect to the body, but may be directions in which the respective axes are rotated around the longitudinal axis of the arm, and the two axes are not orthogonal but substantially orthogonal. May be. In addition, the first link 5 on the side closer to the bearing block 57 is the shaft driven by the motor with reduction gear.
Although the fourth and second links 59 are used, the links may be on the far side, or may be both the far side and the near side. Further, the drive source may be a motor of another type such as a direct drive motor or an ultrasonic motor instead of the motor with a speed reducer.

From the above, the joint mechanism of the present embodiment is a joint mechanism used for the shoulders and wrists of the robot, and is the first base 5 provided on the body side of the robot.
1, two parallel first rotary shafts 52 and 53 which are erected on the first base 51, and centrally rotatably supported by the first rotary shafts 52 and 53 to be parallel to each other. The two first links 54 arranged in such a manner that the two first links 54 are rotatably connected to each other and the two first rods 55 that are parallel to each other, and the two ends on one side are two A bearing block 57 rotatably connected to one end of a first rod 55 of
One end is rotatably connected to both ends of the bearing block 57 on the other side, and the two ends are arranged in parallel with each other.
Two second rods 58, two ends of which are rotatably connected to the two second rods 58, respectively, and two second links 59 that are parallel to each other and are erected at the centers of the second links 59. The two parallel second rotary shafts 61 and 62, and the second base 63 connected to the second rotary shafts 61 and 62,
The first link 54, the first rod 55, and the bearing block 57, the bearing block 57, and the second rod 5.
8, the second link 59 is a parallel link, and the first link 54 and the first rotary shafts 52 and 53, and the second rotary shaft 6
1, 62 and the second link 59 are substantially orthogonal to each other.

Therefore, the singular point of the joint can be eliminated, and the center of rotation of the joint for two axes orthogonal to the arm longitudinal direction can be placed inside or near the bearing block at any position, and the parallel link Since there is no dead point, it is possible to pass a cable or the like near the center of rotation of the joint inside the bearing block.

Embodiment 5. FIG. 12 is an explanatory diagram when the gimbal mechanism according to the fifth embodiment of the present invention is applied to the wrist of a robot arm. Further, FIG. 13 is an explanatory view showing the vicinity of the second arm in an enlarged manner. In this embodiment,
In a 6-DOF vertical articulated robot arm that is often used in the industrial field, of the degrees of freedom of the wrist, the axis that swings the wrist up and down and the axis that swings left and right are realized using the gimbal mechanism described in the first embodiment. is doing. The degree of freedom in twisting the wrist is realized by placing a motor and a speed reducer on the surface of the antenna 1 in the first embodiment. The virtual center of rotation of the gimbal mechanism is placed in the grip portion of the robot hand.

12 and 13, reference numeral 71 is a robot base, 72 is a robot body, 73 is a first arm, and 7 is a robot body.
Reference numeral 4 is a second arm. The robot base 71 to the second arm 74 have the same structure as a normal 6-DOF vertical articulated robot arm.

Reference numeral 75 is a motor with a speed reducer for swinging the robot wrist to the left and right.
Or corresponds to 24b. 76 is an outer frame,
It is rotationally driven by a motor 75 with a speed reducer,
And 7b. Reference numeral 77 is a motor with a reducer for swinging the robot wrist up and down, and corresponds to the motor with a reducer 23a or 23b in FIG.

Reference numeral 78 denotes an inner frame, which is rotatably driven by a motor 77 with a speed reducer around an axis orthogonal to the outer frame, and 4a and 4b in FIG. 1 or 21 in FIG.
a and 21b and 22a and 22b. Reference numeral 79 is a rod, which corresponds to the rod 3 in FIG. 80
Is a motor with a speed reducer, which is mounted on the mounting surface of the antenna 1 in FIG. 1 and rotationally drives the twist shaft of the wrist.

Further, 81 is a robot hand, which is attached to the mounting surface of the antenna 1 in FIG.
A work (not shown) is gripped. 82 is a cable,
Specifically, it is a cable of the motor 80 with a speed reducer and an air tube for opening and closing the robot hand 81. Further, c is a virtual rotation center, which corresponds to c in FIG. 2, and the work (not shown) held by the hand can be rotated around this point.

As described above, in the gimbal mechanism of this embodiment, the base is fixed to the robot arm and the object is the robot hand. Therefore, the singular point of the joint can be eliminated, and an arbitrary point outside the joint can be set as a rotation center for two axes orthogonal to the arm longitudinal direction.

Further, even if the posture of the object grasped by the robot hand is changed, it is not necessary to move the axes other than the wrist of the robot arm, which has the advantage of simplifying the teaching.

Since the central portion of the gimbal mechanism has a space as shown in the description of the first embodiment and FIG. 7, the motor 80 with a speed reducer for the wrist twist shaft as shown in FIG. It has an advantage that the cable 82 such as a cable or an air tube for opening and closing the robot hand can be passed. Furthermore, since a cable or the like can be passed near the virtual center of rotation c, when the wrist is bent or extended, the cable is less likely to be pulled tight or slackened greatly, and the load on the cable is reduced. Therefore, there is an advantage that the cable is less likely to be damaged and the service life of the cable is not shortened.

Although an example has been described in which the outer frame 76 realizes left / right rotation and the inner frame 77 realizes upper / lower rotation, conversely, the outer frame 76 makes up / down rotation and the inner frame 77 makes left / right rotation. May be Further, although the example applied to the 6-DOF vertical articulated robot is shown here, it may be applied to a robot arm having another articulated structure such as a horizontal articulated robot. Further, although the example applied to the wrist of the robot is shown, it may be applied to other joints such as the axis of the shoulder of the robot. Also,
An example of attaching a robot hand to the wrist and passing an air tube etc. for opening and closing the robot hand through the central part of the gimbal mechanism was shown, but it is applied to a painting robot and a spray gun for painting is attached to the wrist, The tube may be threaded through a gimbal mechanism. In this case, the motor can be arranged at a distance from the spray gun, which is effective for explosion protection.

Furthermore, it is applied to a welding robot or a soldering robot, and a torch or soldering iron is attached to the wrist,
The power cable may be passed through the gimbal mechanism. In this case, if the tip of the torch or soldering iron is made to coincide with the virtual center of rotation c of the gimbal mechanism, it is not necessary to change the posture or move the other axes of the robot arm, which simplifies teaching. Has the advantage that

Sixth Embodiment FIG. 14 is a perspective view of a gimbal mechanism according to a sixth embodiment of the present invention when applied to a platform. The camera platform of the present embodiment has a structure in which a camera is attached to a portion corresponding to the antenna of the first embodiment or the like and the head of the camera is shaken.

In FIG. 14, 101 is a camera,
It faces upward in the figure. The gimbal mechanism of the present embodiment is connected to the frame body 112 to which the camera 101 is attached, the four first spherical surface bearings 102a attached to the four corners of the frame body 112, and one end to the first spherical surface bearing 102a. Four rods 103, four second spherical bearings 102b attached to substantially the center of the four rods 103, and four third spherical bearings 102c attached to the other ends of the four rods 103 have.

Further, the gimbal mechanism is attached to the centers of the square-shaped first outer frame 107a and the first outer frame 107a, which are connected to the substantial centers of the four rods 103 via the second spherical bearings 102b. The first rotation axis Y106a, the first rotation axis Y106a, the first rotation axis Y106a, the first rotation axis Y106a, The first rotation axis X104a attached to the surface orthogonal to the rotation axis Y106a, and the first rotation axis X104a through the first rotation axis X104a.
It has a base 108 to which the inner frame 105a of FIG.

Further, the gimbal mechanism is attached to the centers of the □ -shaped second outer frame 107b and the first outer frame 107b which are connected to the other ends of the four rods 103 via the third spherical bearing 102c. The second inner frame 105b and the second inner frame 105b which are rotatable with respect to the second outer frame 107b via the second pivot Y106b and the second pivot Y106b. It has a second rotation axis X104b attached to a surface orthogonal to the rotation axis Y106b.

The gimbal mechanism is attached to the base 108 and drives the first inner frame 105a around the first rotating shaft X104a (not shown) and the angle of the first rotating shaft X104a. Is attached to the first inner frame 105a or the first outer frame 107a, which is not shown in the drawings, and detects the first inner frame 1 around the first rotation axis Y106a.
05a to drive the first outer frame 107a, not shown Y-axis driving means, and the first rotation axis Y106
It has Y-axis detection means for detecting the angle of a and a control device (not shown).

Next, the positional relationship between the respective parts will be described. In the first embodiment and the like, the base is provided outside, the outer frame is provided inside the base, the inner frame is provided inside the base, and the rod is attached to the inner frame. However, in the present embodiment, conversely, the base is provided inside. There is an inner frame outside the base, and an outer frame outside the base, and a rod is attached to the outer frame. With this structure, a large space can be secured on the frame for mounting the camera.

The four rods 103 are always parallel to each other. Further, the first rotation axis X104a and the second rotation axis X104b, and the first rotation axis Y106a and the second rotation axis Y106b maintain a parallel relationship.

The first rotation axis X104a and the first rotation axis Y
106a, the second rotation axis X104b and the second rotation axis Y106b intersect at one point respectively, and the first outer frame 107a and the first inner frame 105a, and the second outer frame 107b and the second outer frame 107b. Inner frame 105
Each b has a gimbal structure.

The four spherical bearings 102a of the frame body 112,
Four second spherical bearings 102b attached to the first outer frame 107a, the second outer frame 107b
3 of the four third spherical bearings 102c mounted on the
The four positions of the spherical bearings of the set are similar to each other.

From the above relationship, the frame 112, the first inner frame 105a, and the second inner frame 105b are in a parallel link relationship, and the frame 112, the first outer frame 107a, and the second outer frame are also connected. 107b also has a parallel link relationship.

Furthermore, four second spherical bearings 102b attached to the first outer frame 107a, five points consisting of the intersections of the first rotation axis X104a and the first rotation axis Y106a, and the second point Third spherical bearings 102c mounted on the outer frame 107b and the second rotation axis X1
The positions of 5 points, which are the intersections of 04b and the second rotation axis Y106b, are similar to each other, and the four second spherical bearings 1
The first rotation axis X104a for the figure made up of 02b
The intersection of the first rotation axis Y106a and the first rotation axis Y106a is separated by a predetermined distance d, and the second rotation axis X104b and the second rotation axis X104b with respect to the figure composed of the four lower third spherical bearings 102c. The intersections of the rotation axes Y106b are separated by the same distance d.

Similarly, a point c is the same distance from the figure consisting of the upper four spherical bearings 102a. The description of the movement is the same as the description of the first embodiment with reference to FIGS. Finally, the camera 101 and the frame 112
Rotates around a virtual rotation center c.

As described above, in the gimbal mechanism of this embodiment, the object is the camera 101. for that reason,
The principal point of the lens of the camera 101 can be made to coincide with the center of pan and tilt rotation, and parallax does not occur when panning and tilting and the screen is not distorted, so that a beautiful panoramic image can be obtained.

The pan head thus realized is used by being attached to a place where inspection or monitoring is required,
As shown in FIG. 23, a mobile inspection robot that can be used by being attached to a mobile inspection robot capable of continuous inspection work while the carriage is moving along a rail, or inspecting the inner wall of the pipe while moving inside the pipe. It can be attached to and used.

Since it is not necessary to dispose a frame or a bearing for supporting and rotating the camera on the side or above and below the camera, it is possible to reduce the passage cross section when applied to a mobile inspection robot. There is.

Further, in the lens of the camera, there is a point called a principal point through which all the light passes. This point corresponds to a pinhole if it is a pinhole camera. If this principal point coincides with the point c, the camera will have a virtual rotation center c.
Shake around pan (horizontal) and tilt (vertical), and the principal point does not move in translation. By rotating the camera in this manner, parallax does not occur, so that an ideal panoramic image can be obtained.

If a cable for a camera or the like is inserted through the inside of the base 108 and connected to the camera 101, there is an effect that the cable is not overloaded due to the cable mounting.

A camera may be attached to the portion of the antenna 1 of FIG. 1 of the first embodiment, and the same effect is obtained.
On the contrary, the antenna 1 of the first embodiment may be attached to the frame 112 of FIG. 14 of the present embodiment.

Seventh Embodiment FIG. 15 is a side view of the gimbal mechanism according to the seventh embodiment of the present invention when applied to an inspection camera apparatus. In the inspection camera device of the present embodiment, the antenna of the first embodiment and the like is used as an upward reflecting plate, a camera is installed so as to face the reflecting plate, and the surroundings can be monitored by shaking the reflecting plate around two axes. It is composed.

In FIG. 15, 121 is a reflecting plate whose upper surface reflects, 122 is a spherical bearing, 123 is a rod, and 124 is.
Is a rotation axis X, 125 is an inner frame, 126 is a rotation axis Y, 127 is an outer frame, 128 is a base, 129 is a camera mounted downward, and 130 is a column for mounting the camera.

The square-shaped outer frame 127 is the base 1
28 is rotatably attached about a rotation axis Y126, and the square-shaped inner frame 125 is attached to the outer frame 127 rotatably about a rotation axis X124. A rod 123 is attached to the inner frame 125 via a spherical bearing 122, and a reflecting mirror 121 is attached to the tip of the rod 123 via the spherical bearing 122.

There is a hole in the center of the reflecting mirror 121,
A pillar 130 stands on the base 128, extends through the hole of the reflecting mirror 121 and extends upward similarly to the radiator of FIG. 7, and a camera 129 is attached to the tip thereof. Each of the outer frame 127 and the inner frame 125 is rotationally driven by a rotation unit (not shown), and the angle thereof is detected by an angle detection unit (not shown) and controlled by a control device (not shown).

Since the geometrical configuration of each component of this embodiment is the same as that of the first embodiment and so on, the reflector 12
Reference numeral 1 is rotatable about an imaginary center of rotation on the upper surface of the center.

The camera 129 takes an image of the reflection plate 121. The reflector 121 has a rotating shaft X124 and a rotating shaft Y.
When the camera 129 is tilted 45 degrees with respect to the plane formed by 126, the camera 129 can shoot in the horizontal direction (direction parallel to the rotation axis X124 etc.). Therefore, with this inspection camera device, a hemispherical field of view above the device can be obtained. This device may be installed so as to be suspended from the ceiling in the opposite direction for monitoring.

That is, in the gimbal mechanism of the present embodiment, the object is the reflection plate 121, and the reflection plate 121
A column 130 penetrating the center of the column 130 is further provided, and an inspection camera 129 is attached to the tip of the column 130 so as to face the reflection plate 121. Therefore, a hemispherical field of view can be obtained by rotating the reflecting plate 121 about two axes.

Eighth Embodiment 16 is a perspective view of the gimbal mechanism according to the eighth embodiment of the present invention when applied to an operating mechanism. In the operation mechanism of the present embodiment, the grip corresponding to the antenna in Embodiment 1 or the like is provided with a hand and the angle is presented by inclining the grip about two axes.

In FIG. 16, 141 is a grip, 142 is a spherical bearing, 143 is a rod, 144 is a rotation axis X, 14
Reference numeral 5 is an inner frame, 146 is a rotation axis Y, 147 is an outer frame, 148 is a base, and 149 is a frame. Also,
c is a virtual center of rotation inside the grip 141.
In addition, angle detection means (not shown) for detecting the angle between the rotation axis X144 and the rotation axis Y146 is attached to the base 148, the inner frame 145 or the outer frame 147. Further, there is provided a control device (not shown) that takes in the angle detected by the angle detection means and outputs a command value to another robot or computer.

The dimensional relationship of the links of this operating mechanism, the configuration,
Since the movement is almost the same as that of the tripod head of the sixth embodiment, the description thereof will be omitted. In the operation mechanism of the present embodiment, a human grasps 1
By gripping the portion 41, the rotation axis X144 and the rotation axis Y146
By tilting the wrist, an angle around an axis parallel to is given around point c. Since the center of rotation c is inside the grip 141, a person tilts the angle of what is in his / her hand around the two axes.
Since it does not move, it has the advantage that the operation is intuitive and easy to understand.

Further, this operation mechanism may be attached to a human arm in an exoskeleton shape so as to detect the angle of the wrist.
Furthermore, a ring-shaped bearing is attached to the frame body 149, and the grip 141 is configured to rotate inside the frame body 149 to detect the rotation angle around the rotation axis Z orthogonal to the rotation axis X144 and the rotation axis Y146. You may allow it.

Incidentally, in FIG. 16, the base 1 is the same as in FIG.
48 inside and rod 143 outside frame 147
However, as shown in FIG. 1, the base may be outside and the rod may be inside.

In FIG. 16, the human arm is arranged inside the operation mechanism, but the operation mechanism is placed on a desk or the like,
A human may grasp the grip from above.

Although the angle between the rotation axis X144 and the rotation axis Y146 is detected, a motor may be further attached to these axes so that the operation reaction force can be returned to a human.

[0132]

The gimbal mechanism according to the present invention is a gimbal mechanism for rotating an angle of an object about two rotational axes orthogonal to each other, and includes at least three first gimbal mechanisms mounted on the back surface of the object. Spherical bearing, at least three rods each having one end connected to the first spherical bearing, at least three second spherical bearings attached to substantially the center of each of the three rods, and each of the three rods At least three third spherical bearings each mounted on the other end of
Connected to the three second spherical bearings, and having a first rotation axis X at substantially the center of the two opposite sides, a □ -shaped first inner frame, and a first rotation axis X. A □ -shaped first outer frame rotatably connected to the first inner frame and having a first rotation axis Y orthogonal to the first rotation axis X substantially at the center of two opposite sides, Like the first inner frame, it has a second rotation axis X which is connected to three third spherical bearings and has a second rotation axis X parallel to the first rotation axis X substantially at the center of two opposite sides. Similar to the character-shaped second inner frame and the first outer frame, the second inner frame is rotatably connected to the second inner frame via the second rotation axis X, and the first portion is provided substantially at the center of the two opposite sides. The first rotation of the □ -shaped second outer frame, the first outer frame and the second outer frame having the second rotation axis Y parallel to the rotation axis Y of Y and a base supported via the second rotation axis Y, X-axis drive means for rotationally driving the first rotation axis X or the second rotation axis X, the first rotation axis Y or the first rotation axis Y or the second rotation axis Y. Y-axis drive means for rotationally driving the two rotation axes Y, X-axis detection means for detecting the angle of the first rotation axis X or the second rotation axis X, and the first rotation axis Y or The three rods are parallel to each other and include Y-axis detecting means for detecting the angle of the second rotation axis Y, and the first rotation axis X, the first rotation axis Y, and the second rotation axis. The axis X and the second rotation axis Y intersect each other at one point, and the positions of the three first spherical bearings, the positions of the three second spherical bearings, and the positions of the three third spherical bearings. The figures formed by the respective three positions are similar to each other, and further, there are four positions of the positions of the three second spherical bearings and the intersections of the first rotation axis X and the first rotation axis Y. Formed The figure and the figure formed by the three positions of the third spherical bearings and the four positions of the intersection points of the second rotation axis X and the second rotation axis Y are similar to each other. Therefore, the object can be rotated around a virtual rotation axis that passes through a point on the surface of the object.

Further, the first inner frame and the second inner frame are separated into two with the first rotation axis Y and the second rotation axis Y being separated from each other, and each of the two separated inner frames is separated. Independently rotate about the first rotation axis X and the second rotation axis X with respect to the first outer frame and the second outer frame, respectively. Therefore, it is possible to reduce the difficulty of assembling due to the dimensional error of the parts.

The X-axis driving means is the first X-axis driving means for rotationally driving the first rotary shaft X and the second X-axis driving means for rotationally driving the second rotary shaft X. And the second X-axis drive means applies a torque in the opposite direction to the first X-axis drive means, and the Y-axis drive means rotates the first rotation axis Y to rotate the first Y-axis. A second shaft driving means and a second rotary shaft Y for rotationally driving the second rotary shaft Y.
Second Y-axis driving means, and the second Y-axis driving means applies torque in the opposite direction to the first Y-axis driving means. for that reason,
It is possible to reduce the play of the movement of the object with respect to the rotation of the rotation shaft.

Of the plurality of first, second and third spherical bearings, at least one predetermined spherical bearing is provided with a measure for eliminating play, and the remaining spherical bearings are not provided with a measure for eliminating play. Therefore, the backlash of the movement of the object with respect to the rotation of the rotation shaft can be reduced, and the assembly process can be facilitated.

The object is an antenna or a reflecting mirror. Therefore, the antenna surface can be rotated around a virtual rotation axis that passes through a point on the antenna surface, and the antenna area can be reduced by avoiding interference between the antenna and the radiator passing through the center of the antenna and the radome around the antenna. By taking the maximum value, the decrease in gain can be reduced.

The base is fixed to the robot arm, and the object is the robot hand. Therefore, a singular point of the joint can be eliminated, an arbitrary point outside the joint can be set as a rotation center for two axes orthogonal to the arm longitudinal direction, and a cable or the like can be passed through the joint.

The object is a camera. for that reason,
The principal point of the lens of the camera can be made to coincide with the center of pan and tilt rotation, and when pan and tilt are performed, parallax does not occur and the screen is not distorted, so that a beautiful panoramic image can be obtained.

Further, the object is a reflecting plate, a column is further provided penetrating the center of the reflecting plate, and the inspection camera is attached to the tip of the column so as to face the reflecting plate. Therefore, a hemispherical field of view can be obtained by rotating the reflector about two axes.

The object is a grip, and the grip is operated to present the posture. Therefore, a virtual center of rotation can be placed inside the grip, and an intuitive angle presentation operation can be performed.

Further, the joint mechanism according to the present invention is a joint mechanism used for the shoulders and wrists of a robot, and includes a first base provided on the body side of the robot, and a standing base provided on the first base. First parallel rotating shafts, two first links that are rotatably supported by the first rotating shafts at their centers and are arranged in parallel to each other, and two first links. Two first rods that are rotatably connected between the links and are parallel to each other, a bearing block in which both ends on one side are rotatably connected to one ends of the two first rods, and a bearing block Both ends are rotatably connected to two second rods and two second rods, one ends of which are rotatably connected to the other ends of the other side and arranged to be parallel to each other. Two second links that are parallel to each other, standing in the center of the second link Two second pivot axis parallel to that,
A second base connected to the second rotating shaft,
Link, the first rod, and the bearing block, and the bearing block, the second rod, and the second link are parallel links, and the first link, the first rotation shaft, and the second rotation shaft And the second link are substantially orthogonal to each other. Therefore, the singular point of the joint can be eliminated, and the center of rotation of the joint for the two axes orthogonal to the arm longitudinal direction can be placed inside or near the bearing block, and the dead point of the parallel link can be reduced. The cable can be passed near the center of rotation of the joint inside the bearing block.

[Brief description of drawings]

FIG. 1 is a perspective view showing a first embodiment of a gimbal mechanism of the present invention.

FIG. 2 is an explanatory diagram for explaining the movement of the gimbal mechanism.

FIG. 3 is an explanatory diagram for explaining the movement of the gimbal mechanism.

FIG. 4 is a perspective view illustrating the entire movement of the gimbal mechanism.

FIG. 5 is a perspective view illustrating the overall movement of the gimbal mechanism.

FIG. 6 is a perspective view illustrating the overall movement of the gimbal mechanism.

FIG. 7 is a perspective view of a gimbal mechanism showing a state in which a radiator that penetrates a hole formed in the center of the antenna is provided.

FIG. 8 is a perspective view showing a second embodiment of the gimbal mechanism of the present invention.

FIG. 9 is an explanatory view showing a manner in which the backlash of the spherical bearing showing the third embodiment of the gimbal mechanism of the present invention is canceled.

FIG. 10 is a perspective view showing a joint mechanism of the present invention.

FIG. 11 is an explanatory diagram when the joint mechanism of FIG. 10 is applied to a shoulder joint of a humanoid robot.

FIG. 12 is an explanatory diagram when the gimbal mechanism of the fifth embodiment of the present invention is applied to a wrist of a robot arm.

FIG. 13 is an enlarged view showing the vicinity of the second arm of the robot arm shown in FIG.

FIG. 14 is a perspective view of a gimbal mechanism according to a sixth embodiment of the present invention when applied to a platform.

FIG. 15 is a side view of the gimbal mechanism according to the seventh embodiment of the present invention when applied to an inspection camera device.

FIG. 16 is a perspective view of the gimbal mechanism according to the eighth embodiment of the present invention when applied to an operation mechanism.

FIG. 17 is an explanatory diagram of an antenna pointing device as an example using a conventional general gimbal mechanism.

FIG. 18 is an explanatory diagram of a pointing tracking device using a conventional general gimbal mechanism.

FIG. 19 is a front view showing an example of an arm structure of a conventional humanoid work robot.

FIG. 20 is a perspective view of a conventional general 6-DOF vertical articulated robot.

21 is a structural diagram of an example of a three-degree-of-freedom robot wrist in which a broken line H portion of FIG. 20 is enlarged.

FIG. 22 is a schematic view of a wrist device of a conventional industrial robot.

FIG. 23 is a front view showing an example of a conventional mobile inspection robot and a platform used therein.

FIG. 24 is a sectional view showing an example of a conventional joystick type operation mechanism.

[Explanation of symbols]

1 antenna, 2a first spherical bearing, 2b second spherical bearing, 2c third spherical bearing, 3 rod, 4
a first rotation axis X, 4b second rotation axis X, 5a first inner frame, 5b second inner frame, 6a
1st rotation axis Y, 6b 2nd rotation axis Y, 7a 1st outer side frame, 7b 2nd outer side frame, 8 base, 51 1st base, 52 Reducer motor (1st rotation) Moving shaft), 53 first rotating shaft, 54 first link, 55 first rod, 57 bearing block, 58
2nd rod, 59 2nd link, 61 Reducer motor (2nd rotation shaft), 62 2nd rotation shaft, 63
Second base.

   ─────────────────────────────────────────────────── ─── Continued front page    F term (reference) 3C007 BT09 BT16 CX01 CY04 HS27                       HT12                 5J021 AA01 BA01 DA02 DA04 DA05                       DA06 DA07 GA02 HA05 HA07                       HA08 HA09                 5J046 AA01 KA01 KA03 NA01                 5J047 AA01 BB05 BB23

Claims (10)

[Claims] 1. A gimbal mechanism for rotating a target object around two rotation axes orthogonal to each other, wherein at least three first spherical bearings mounted on the back surface of the target object, one end of which is the first spherical bearing. At least 3 connected to 1 spherical bearing
Rods, at least three second spherical bearings respectively attached to substantially the centers of the three rods, at least three third spherical bearings attached to the other ends of the three rods, respectively. A spherical inner bearing, a first inner frame of a square shape, which is connected to the three second spherical bearings and has a first rotation axis X substantially at the center of two opposite sides; The first inner frame is rotatably connected to the first inner frame via a moving axis X, and the first frame is provided at substantially the center of two opposite sides.
A □ -shaped first outer frame having a first rotation axis Y orthogonal to the rotation axis X of, and connected to the three third spherical bearings in the same manner as the first inner frame. , The first at approximately the center of the two opposite sides
A second inner frame of a square shape having a second rotation axis X parallel to the rotation axis X of the second rotation axis X, similar to the first outer frame.
Is rotatably connected to the second inner frame via, and has a second rotation axis Y parallel to the first rotation axis Y at approximately the center of the two opposite sides. Two outer frames, a base that supports the first outer frame and the second outer frame via the first rotation axis Y and the second rotation axis Y, the first rotation axis X or X-axis driving means for rotationally driving the second rotational axis X, Y-axis driving means for rotationally driving the first rotational axis Y or the second rotational axis Y, the first Axis detecting means for detecting the angle of the rotation axis X or the second rotation axis X, and Y axis detection for detecting the angle of the first rotation axis Y or the second rotation axis Y. Means, the three rods are parallel to each other, the first rotation axis X, the first rotation axis Y, and the second rotation axis X. The second rotation axes Y intersect at one point, and the positions of the three first spherical bearings, the positions of the three second spherical bearings, and the three third spherical bearings are intersected. The figures formed by the respective three positions are similar to each other, and further, the intersections of the positions of the three second spherical bearings and the first rotation axis X and the first rotation axis Y. The figure formed by the four positions and the figure formed by the four positions of the intersections of the positions of the three third spherical bearings and the second rotation axis X and the second rotation axis Y are A gimbal mechanism that features a similar shape. 2. The first inner frame and the second inner frame are separated into two by separating the first rotation axis Y and the second rotation axis Y, and each of the separated pieces is separated. The two inner frames are independently rotatable about the first rotation axis X and the second rotation axis X with respect to the first outer frame and the second outer frame, respectively. The gimbal mechanism of claim 1, wherein the gimbal mechanism is a gimbal mechanism. 3. The X-axis drive means includes first X-axis drive means for rotationally driving the first rotational axis X and second X-axis for rotationally driving the second rotational axis X. Axis drive means, the second X-axis drive means applies torque in a direction opposite to that of the first X-axis drive means, and the Y-axis drive means rotates the first rotation axis Y. A first Y-axis driving unit that is driven dynamically and a second Y-axis driving unit that rotationally drives the second rotating shaft Y;
The gimbal mechanism according to claim 1 or 2, wherein the second Y-axis driving means applies torque in a direction opposite to that of the first Y-axis driving means. 4. Among the plurality of first, second and third spherical bearings, at least one predetermined spherical bearing is provided with a measure for eliminating play, and the remaining spherical bearings are not provided with a measure for eliminating play. The gimbal mechanism according to any one of claims 1 to 3, wherein. 5. The gimbal mechanism according to claim 1, wherein the object is an antenna or a reflecting mirror. 6. The gimbal mechanism according to claim 1, wherein the base is fixed to a robot arm, and the object is a robot hand. 7. The gimbal mechanism according to claim 1, wherein the object is a camera. 8. The object is a reflection plate, and a column is further provided that penetrates through the center of the reflection plate, and an inspection camera is attached to the tip of the column so as to face the reflection plate. The gimbal mechanism according to any one of Items 1 to 4. 9. The gimbal mechanism according to claim 1, wherein the object is a grip, and the grip is operated to present a posture. 10. A joint mechanism used for a shoulder or a wrist of a robot, comprising: a first base provided on the body side of the robot; and two parallel firsts standing on the first base. Rotating shafts, two first links rotatably supported in the center by the first rotating shafts and arranged in parallel to each other, and rotating between the two first links. Two first rods movably connected to each other and parallel to each other; a bearing block whose one end portions are rotatably connected to one ends of the two first rods; and the other side of the bearing block. One end of each of which is rotatably connected to both ends of the
Second rod, two second links rotatably connected to both ends of the two second rods and parallel to each other, and erected at the center of the second link Two parallel second
Rotating shaft, and a second base connected to the second rotating shaft, the first link, the first rod, and the bearing block, the bearing block, the second The joint mechanism, wherein the rod and the second link are parallel links, and the first rotation axis and the second rotation axis are substantially orthogonal to each other.