US 4,865,514 AGranted

Manipulator system with small arm removably attachable at points along large arm

AssigneeHitachi, Ltd.

InventorsAkira Tsuchihashi, Naoya Ezawa

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Abstract

In this manipulator system, a small arm is coupled with an arm portion of a large arm excepting the tip, and the large arm and the small arm are independently controlled to operate. For coupling the small arm with the arm portion of the large arm, a capturing mechanism located at the tip of the large arm is actuated to be coupled with a capturing mechanism of the small arm. Another capturing mechanism of the small arm is moved to a capturing mechanism located on the arm portion of the large arm to be mechanically and electrically coupled therewith. When this coupling has been completed, the coupling between the capturing mechanism located on the tip of the large arm and the capturing mechanism of the small arm is released. As a result, the small arm can be branch-connected to the large arm, and expansion of the work range and complex work become possible.

Claims12

Dependent claims

A manipulator system comprising:

a large articulated arm having actuating-side capturing means on the end of said arm and having at least one actuated-side capturing means on an intermediate portion thereof:
a small articulated arm having at least one actuating-side capturing means and at least one actuated-side capturing means on the base of said small arm thereof:
and
control means disposed on the base portion of said large arm, said control means actuating said actuating-side capturing means disposed on the end of said large arm to connect to said actuated-side capturing means of said small arm, thereafter moving said actuating-side capturing means of said small arm toward said actuated-side capturing means of said large arm to be coupled therewith by using said large arm, after connecting said actuating-side capturing means of said small arm to actuated-side capturing means of said large arm supplying power and signals from said actuated-side capturing means of said large arm to said actuating-side capturing means of said small arm, and releasing the coupling between said actuating-side capturing means of said large arm and said actuated-side capturing means of said small arm.

1 more element

A manipulator system, comprising:

a first articulated manipulator arm having at least first and second capturing mechanisms;
a second articulated manipulator arm having at least third and fourth capturing mechanisms;
control means connected to said first manipulator arm for generating control commands for said first and second manipulator arms;
wherein said first manipulator arm is adapted to couple one of said first and said second capturing mechanisms with a respective one of said third and said fourth capturing mechanisms of said second manipulator arm to transmit said control commands for said second manipulator arm to said second manipulator arm through one of said first and said second capturing mechanisms and the respective one of said third and said fourth capturing mechanisms:
wherein said control means generates the following control commands sequentially:
a control command directed to said first manipulator arm to effect coupling of said first capturing mechanism with said third capturing mechanism of said second manipulator arm;
a control command directed to at least one of said first and second manipulator arms to effect coupling of said second capturing mechanism of said first manipulator arm with said fourth capturing mechanism of said second manipulator arm;
and
a control command directed to at least one of said first and second manipulator arms to effect release of said first capturing mechanism from said third capturing mechanism.

6 more elements

Dependencies are inferred from the claim text.

Facts

Application: 07/103,668Filed 2 Oct 1987
Priority: JP 61-2345673 Oct 1986
Granted: 12 Sep 1989
Term ends: Not estimatedThe source records don’t support an estimate.

Classification7 codes

G05B 19/39
Characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement…:…
B25J 9/009
Comprising a plurality of manipulators: being mechanically linked with one another at their distal ends
B25J 9/046
By rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type: revolute coordinate type
B25J 9/08
Program-controlled manipulators: characterised by modular constructions