Patent EP0136719A2 successfully refreshed from Google Patents.
EP0136719A2
Expired / Lapsed
EP
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Manipulator
Assignee: Hitachi Ltd
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Filing: 1984-10-04
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Granted: —
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Expires: 2004-10-04
Abstract
Abstract A manipulator suitable for tasks in remote places which are not easily accessible to operators comprises an arm composed of a series of arm modules (2a-2f) each having an articulate (12a-12f) and an address decoder (40a-40f) and being constructed by the arm modules of an indentical construction to attain an easy maintenance and high flexibility of the manipulator. The operation of the arm modules is controlled a control system (6) which has a plurality of articulate angular-position commanding circuits (85a-85g) and a time-sharing control circuit (86).
Inventors
- 👤 Masanori Suzuki
- 👤 Yoshiaki Ichikawa
- 👤 Nobuyoshi Iwatsuka
- 👤 Norihiko Ozaki
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-10-31 14:46
CPC Classifications
B; B25; B25J; B25J17/00; B25J17/02; B25J15/00; B25J15/02; B25J15/0253; B25J15/0266; B25J9/00; B25J9/06; B25J9/08
Claims Analysis
Total Claims: 20
Claim 1
Independent Claim
85 words
A manipulator comprising: an arm constituted by a plurality of arm modules articulated one another in series, each arm module having an articulate and an address decoder; a driving means for driving said arm; and a control system for controlling the operation of said arm; wherein said control system includes a plurality of articulate angular-position commanding circuits for commanding the operation of corresponding arm modules, and a time-sharing control circuit for delivering the command data from said articulate angular-position commanding circuits to corresponding arm modules.
Claim 2
Dependent Claim
85 words
A manipulator comprising: an arm constituted by a plurality of arm modules articulated one another in series, each arm module having an articulate and an address decoder; a driving means for driving said arm; and a control system for controlling the operation of said arm; wherein said control system includes a plurality of articulate angular-position commanding circuits for commanding the operation of corresponding arm modules, and a time-sharing control circuit for delivering the command data from said articulate angular-position commanding circuits to corresponding arm modules.
Claim 3
Dependent Claim
97 words
A manipulator according to claim l, wherein said driving means includes a driving source provided on one end of said arm and a drive shaft unit extending through said arm for transmitting the power of said driving source to said arm modules, said drive shaft unit being divided into sections accommodated by respective arm modules, each drive shaft section being connected through gears to the drive shaft section in adjacent arm module, a torque from said driving source being transmitted selectively to an articulate portion of said arm module through a clutch and a brake provided therein.
Claim 4
Dependent Claim
54 words
A manipulator according to claim 2, wherein each arm module is provided with an articulate control circuit, said control system being adapted to deliver control data to said address decoder and said articulate control circuit of each arm module so that said clutch and said brake are selectively operated by said articulate control circuit.
Claim 5
Dependent Claim
52 words
A manipulator according to claim 2, wherein said driving source is a motor the torque of which is transmitted to the drive shaft sections in respective arm modules through bevel gears and the amount of rotation of the output shaft of said motor is fedback to said control system through an encoder.
Claim 6
Dependent Claim
30 words
A manipulator according to claim 4, wherein the drive shaft section in each arm module is connected to the drive shaft sections of the adjacent arm modules through bevel gears.
Claim 7
Dependent Claim
127 words
A manipulator according to claim 5, wherein the distal end of each arm module is provided with an articulate portion through an articulate shaft for swinging thereabout, which extends perpendicularly to the axis of said drive shaft, said distal end further having an additional shaft swingably mounted on the distal end of said arm module and disposed coaxially with said articulate shaft, said additional shaft carrying a bevel gear meshing with bevel gears each fixed to the end of the drive shaft section of the adjacent arm module so as to transmit the power, said articulate shaft being drivingly connected through a clutch and a brake to a shaft provided on the distal end of said arm module extending perpendicularly to the axis of said drive shaft.
Claim 8
Dependent Claim
36 words
A manipulator according to claim 6, wherein the articulate of the distal end arm module is provided with a gripper having a pair of fingers adapted to be operated by the motor for driving arm module.
Claim 9
Dependent Claim
111 words
A manipulator according to claim 3, wherein each arm module accommodates an address line and a data line, said address line and said data line being connected to terminals provided on the distal end and proximal end of said arm module, said terminals being constructed so as to engage with each other when said arm module is connected to adjacent arm modules, said address line and said data line being connected to said control system, and wherein in each arm module said address line and said address decoder, said data line and said articulate control circuit, and said address decoder and said articulate control circuit are connected to each other, respectively.
Claim 10
Dependent Claim
24 words
A manipulator according to claim 6, wherein two adjacent arm modules are so connected that the articulate shafts thereof extend orthogonally to each other.
Claim 11
Dependent Claim
64 words
A manipulator according to claim 6, wherein said arm consists of at least two arm module groups each group including a plurality of arm modules each of which is so connected to two adjacent arm modules that the articulate shafts extend in parallel with one another, and wherein the articulate shafts of one group extend orthogonally to the articulate shafts of the adjacent groups.
Claim 12
Dependent Claim
165 words
A manipulator comprising: an arm constituted by a plurality of arm modules connected in series, each arm module having an articulate and an address decoder; a driving means for driving said arm; and a control system for controlling the operation of said arm; wherein said control system includes a plurality of articulate angular-position commanding circuits for commanding the operation of corresponding arm modules, and a time-sharing control circuit for delivering the command data from said articulate angular-position commanding circuits to corresponding arm modules, and wherein said driving means includes motors provided in respective arm modules and adapted to drive the articulates of respective arm modules, said driving means further including drivers mounted within respective arm modules and adapted to control the operation of said motors, said control system being adapted to deliver control data to said address recorders and said drivers in said arm modules so that said driver in each arm module controls the operation of said motor in accordance with said control data.
Claim 13
Dependent Claim
165 words
A manipulator comprising: an arm constituted by a plurality of arm modules connected in series, each arm module having an articulate and an address decoder; a driving means for driving said arm; and a control system for controlling the operation of said arm; wherein said control system includes a plurality of articulate angular-position commanding circuits for commanding the operation of corresponding arm modules, and a time-sharing control circuit for delivering the command data from said articulate angular-position commanding circuits to corresponding arm modules, and wherein said driving means includes motors provided in respective arm modules and adapted to drive the articulates of respective arm modules, said driving means further including drivers mounted within respective arm modules and adapted to control the operation of said motors, said control system being adapted to deliver control data to said address recorders and said drivers in said arm modules so that said driver in each arm module controls the operation of said motor in accordance with said control data.
Claim 14
Dependent Claim
37 words
A manipulator according to claim 11, wherein the amount of rotation of output shaft of said motor in each arm module is fed back to said control system and said driver through an encoder and a buffer.
Claim 15
Dependent Claim
44 words
A manipulator according to claim 11, wherein the distal end of each arm module is provided with an articulate portion through an articulate shaft for swinging thereabout, and wherein said articulate portion is to be driven by rotating said articulate shaft by a motor.
Claim 16
Dependent Claim
23 words
A manipulator according to calim 13, wherein said arm modules are so connected that the articulate shafts thereof extend orthogonally to each other.
Claim 17
Dependent Claim
23 words
A manipulator according to calim 13, wherein said arm modules are so connected that the articulate shafts thereof extend orthogonally to each other.
Claim 18
Dependent Claim
63 words
A manipulator according to claim 13, wherein said arm consists of at least two arm module groups each group including a plurality of arm modules each of which is so connected to two adjacent arm modules that the articulate extend in parallel with one another, and wherein the articulate shafts of one group extend orthogonally to the articulate shafts of the adjacent groups.
Claim 19
Dependent Claim
25 words
A manipulator according to claim 13, wherein the articulate of the distal end arm module is provided with a gripper having a pair of fingers.
Claim 20
Dependent Claim
131 words
A manipulator according to claim 12, wherein each arm module accommodates an address line and a data line which are connected to terminals provided on the proximal and distal ends of said arm module, said terminals being so constructed as to engage with the terminals of adjacent arm modules when each arm module is connected to the adjacent arm modules, said address line and said data line being connected to said control system, and wherein in each arm module said address line and said address decoder, said data line and said driver, said driver and said motor, said encoder and said buffer, and said address decoder and said buffer are connected to each other, respectively, further wherein said buffer and a line connecting said data line to said driver are connected.
References Cited (Backward Citations)
No citation records indexed.
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