Flexible robot arm

• US 5,174,168 A
• Filed: 05/07/1990
• Issued: 12/29/1992
• Est. Priority Date: 09/09/1987
• Status: Expired due to Fees

• Current Assignee: Kabushiki Kaisha Komatsu Seisakusho
• Original Assignee: Kabushiki Kaisha Komatsu Seisakusho
• Inventors: Nishi, Yozo, Takagi, Hiroaki
• Primary Examiner(s): Braun, Leslie A.
• Assistant Examiner(s): Laub, David W.
• Application Number:
  US07/465,243
• Time in Patent Office: 967 Days
• Field of Search: 74/89.21, 74/89.22, 74/109, 74/110, 74/422, 74/479, 74/500.5, 74/501.5 R, 74/89.2, 901/21
• US Class Current: 74/89.21
• CPC Class Codes: B25J 18/06 flexible
• CPC Class Codes: B25J 9/104 with cables, chains or ribbons
• CPC Class Codes: Y10T 74/1884 with sprocket wheel
• CPC Class Codes: Y10T 74/18976 Rack and pinion
• CPC Class Codes: Y10T 74/1967 Rack and pinion
• CPC Class Codes: Y10T 74/20207 Multiple controlling elements for single controlled element

Abstract

This invention relates to a flexible robot arm comprising a plurality of disc-shaped elements arranged in a series so as to consist of a flexible arm, both surfaces of each of the elements being formed in convex having an arched opposed single curve so as to form contact surfaces, and a plurality of wire-like actuating devices for allowing the flexible arm to curve or bend in a desired direction. The flexible robot arm of this invention is directed to make motors for driving the actuating devices compact in size and light in weight and also a drive unit section compact in size and light in weight. The flexible robot arm includes two drive units each interconnected to the proximal ends of respective pairs of actuating devices (e.g. 3a and 3c, and 3b and 3d) disposed oppositely to each other on the diagonal and driven through rotary members (5a, 5b, 9a, 9b or 12a, 12b, 12c, 12d) each being rotated by one of the motors (8a, 8 b) in both the clockwise and the anti-clockwise directions.

Claims

1. A flexible robot arm comprising:

a plurality of disc-shaped elements arranged in a series and each of which both surfaces having an arched opposed single-curve, respectively, being served as contact surfaces;

a plurality of wire-like actuating devices which penetrate said disc-shaped elements at locations positioned at a peripheral portion of each element and spaced apart from one another at a substantially equal distance, said plurality of wire-like actuating devices being connected at their respective leading ends to the most distal end element; and

a plurality of driving means mounted in a drive section and connected to respective proximal ends of said wire-like actuating devices, respectively, for selectively drawing and loosening said wire-like actuating devices to curve and bend or move a robot arm having the elements, wherein said driving means comprises two drive units mounted in the drive section so as avoid interference with each other, each of said driving means being connected to respective proximal ends of a pair of wire-like actuating devices out of said plurality of wire-like actuating device which are oppositely disposed on the diagonal line and being driven through a rotatable body rotated by means of a motor in the clockwise and the counter-clockwise directions, wherein each of said driving means comprises a pair of rack members mounted movably so as to be opposite to each other and to be directly connected to the respective proximal ends of said pair of wire-like actuating devices, respectively, and a pinion disposed between said pair of rack members so as to engage simultaneously with both the rack members and allowed to rotate by means of a motor in the clockwise and the counter-clockwise directions.