JP2008023076A - Offset articulated structure having branch arm mechanism attachable and detachable by magnet - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a mechanism which can arrange multi-points at desired positions, and to moreover provide a structure which meets needs in various fields by providing a highly versatile and manually revisable structure. <P>SOLUTION: The offset articulated structure having a branch arm mechanism attachable and detachable by a magnet is characterized in that branch rotary joint mechanism units attachable and detachable by magnets where the arm end faces and rotation surfaces of offset joints are connected in attachable and detachable manner at a desired rotation angle by the magnet are connected with each other in multi-stages. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an offset multi-joint structure, and in particular, a multi-degree of freedom configuration can be set by manual connection and joint bending operation (rotation setting), which is a component of an offset multi-joint structure having a magnet attaching / detaching branch arm mechanism. The present invention relates to a specific structure of a multi-branch joint mechanism and a method of using an offset multi-joint structure having a magnet attaching / detaching branch arm mechanism.

  As shown in FIG. 14, an offset articulated robot is connected rotatably in such a manner that arms having flat end portions having an angle with respect to the central axis in the longitudinal direction slide on the end surfaces. A robot that has a joint of a robot arm, that is, a robot that has a mechanism that rotates around an axis having an angle γ with a certain direction with respect to the central axis in the longitudinal direction of the arm is called an offset robot. . The direction is referred to as an offset rotation axis direction, and the angle is referred to as an offset angle. The angle formed by both arms changes corresponding to the offset angle. A structure having a plurality of arms constituted by such offset joints is called an offset multi-joint structure. This offset multi-joint structure is characterized in comparison with other robot arms in that the joint motion can be realized by a two-dimensional bending operation of the arm only by rotation, and the rotation is set manually. .

  The present inventors previously applied for a basic technology related to a robot using an offset joint unit (Patent Document 1) and registered as Japanese Patent No. 3326472. As shown in FIG. 15, the multi-joint robot of the present invention has a multi-joint having at least a plurality of offset rotary joints in which the drive side arm 106 and the driven side arm 107 are rotationally driven around the offset rotary axis inclined with respect to the arm axis. In the robot, a joint rotation transmission mechanism 109 with a high reduction ratio is fixed to the front end of the drive side arm 106 at a predetermined offset angle γ, and the joint rotation transmission mechanism 109 is provided on the drive side of the stator unit and the driven side. A rotor portion, the stator portion is rotatably fixed to the stator housing 120, a cam surface is formed on the outer peripheral surface, a hollow rotary shaft that is driven to rotate by the motor 110, and an inner peripheral surface The cam working surface that engages with the cam surface 131 of the hollow rotary shaft is fixed to be elastically deformable with the outer peripheral surface being a tooth surface. The output gear member 137 includes a force gear member 132, and the rotor member is fixed to the rotor housing 130, the rotor housing 130, meshes with the input gear member 132 of the stator portion, and rotates on the same rotational axis as the hollow shaft. It is characterized by comprising an offset rotary joint by fixing the driven arm 107 to the rotor housing 130. Since this offset articulated robot can be composed of only motors and gears, the simple joint mechanism makes it possible to create anything from millimeter size to huge size. In general, it has the advantage that it can be kept lower than the multi-joint robot.

In addition, the present inventors provide a mechanism that allows a plurality of points to be arranged at desired positions and allows the respective points to perform appropriate movements, and further to use such a mechanism. Thus, for the purpose of providing a robot that can meet the needs in various fields, a patent application has been filed for the invention (Patent Document 2) called “offset articulated robot having a branch arm mechanism”. The present invention employs a configuration in which a multi-branch joint unit, in which a plurality of arms each capable of independent movement is coupled to one arm, is connected in multiple stages on the basis of the offset joint robot described above. The joint unit supports a pedestal so that the distal end portion of the base arm can rotate, and the pedestal includes a mechanism that supports a plurality of arms that can rotate around an axis that is different in direction from the rotation axis. In this embodiment, the present invention is applied to an effective display table installed in a show window, an interior decoration device, a stage equipment, a mannequin doll, and the like. However, some of these embodiments do not require dynamic operation as a robot, that is, some do not require driving of the joint once the desired form is taken. This invention using an articulated robot equipped with a motor is costly.
Japanese Patent Laid-Open No. 2001-138279 “Articulated Robot and its Control Method” Published May 22, 2001 Specification of Japanese Patent Application No. 2006-67301 “Offset Articulated Robot with Branch Arm Mechanism” JP-A-5-317145 “Joint structure of mannequin doll” Published on December 3, 1993

An object of the present invention is to provide a mechanism that enables multiple points to be arranged at desired positions, and further, to provide a structure having a high degree of freedom that can be manually changed, and is required in various fields. It is to provide a structure that can meet the requirements.
In addition, in the above-described various branch structures, a hollow structure in which wires and the like can be arranged in the internal spaces of the branches (arms) and joints, and further, a connection mechanism in which each part of the structure can withstand the weight is realized. There is.

The offset multi-joint structure having a magnet attachment / detachment branch arm mechanism according to the present invention connects a magnet attachment / detachment branch rotation joint mechanism unit in which the arm end surface and the rotation surface of the offset joint are detachably connected by a magnet at a desired rotation angle in multiple stages. It was supposed to be
In addition, a single-branch branch rotary joint mechanism unit type having two degrees of freedom including one precession motion mechanism and a support shaft rotary motion mechanism is presented as a configuration of the magnet attachment / detachment branch rotary joint mechanism unit.
As another form of the magnet attachment / detachment branch rotary joint mechanism unit, a double branch type branch rotary joint mechanism unit type having three degrees of freedom including left and right precession motion mechanisms and a support shaft rotary motion mechanism is presented.
Further, as another form of the magnet attaching / detaching branch rotary joint mechanism unit, a double branch having five degrees of freedom including a left and right precession motion mechanism, a rotation correction motion mechanism of the left and right precession motion mechanism, and a support shaft rotation motion mechanism. The type of branch rotary joint mechanism unit type is presented.
Further, as another form of the magnet attachment / detachment branch rotary joint mechanism unit, a correction with three degrees of freedom including any one of the left and right precession movement mechanisms, the rotation correction movement mechanism of the precession movement mechanism, and the support shaft rotation movement mechanism. A single-branch rotary joint mechanism unit type is presented.
Further, as another form of the magnet attachment / detachment branch rotary joint mechanism unit, a left and right precession motion mechanism connected in the support shaft direction, a rotation correction motion mechanism of the left and right precession motion mechanism, and a support shaft rotary motion mechanism are provided. A single-branch articulation unit with a degree of freedom is presented.

The offset articulated structure having a magnet attachment / detachment branch arm mechanism according to the present invention is a mechanism in which a magnet is detachably connected at a desired rotation angle by a magnet, and a flat plate ring-like magnetic body is divided radially and magnetized in the thickness direction of the flat plate. The ones that are arranged in a ring shape with the polarity reversed alternately are presented.
The offset articulated structure having a magnet attachment / detachment branch arm mechanism according to the present invention is a mechanism that is detachably connected by a magnet at a desired rotation angle, and a flat plate ring-like magnetic body is radially divided and magnetized in the radial direction. The thing which arranged the thing in a ring shape by reversing the polarity alternately is presented.
The offset multi-joint structure having a magnet attachment / detachment branch arm mechanism according to the present invention is a mechanism that is detachably connected by a magnet at a desired rotation angle. The magnetic path blocking slit having the same interval as that in FIG. 6 is cut, and a magnetic material having a hole in the center is attached.
The offset multi-joint structure having a magnet attachment / detachment branch arm mechanism according to the present invention has a ring-shaped magnet that is attached / detached by a magnet and / or a central portion of a magnetic body with a central portion provided for power supply. The connectors are arranged opposite to each other.

The offset multi-joint structure having a magnet attachment / detachment branch arm mechanism according to the present invention is combined with a magnet attachment / detachment branch rotation joint mechanism unit to form a tree shape, and presents that LED lighting and / or a lowering basket is arranged in the tree.
The offset multi-joint structure having a magnet attachment / detachment branch arm mechanism according to the present invention is presented as a rod type by combining a magnet attachment / detachment branch rotation joint mechanism unit, and a lighting fixture is disposed at the tip of the rod.
The offset multi-joint structure having a magnet attachment / detachment branch arm mechanism according to the present invention is a combination of a mannequin with a magnet attachment / detachment branch rotation joint mechanism unit in which the limbs such as the lower body, upper body, head, upper arm, lower arm, wrist are associated with the arm. Present to be a doll.

The offset multi-joint structure having a magnet attachment / detachment branch arm mechanism according to the present invention connects a magnet attachment / detachment branch rotation joint mechanism unit in which the arm end surface and the rotation surface of the offset joint are detachably connected by a magnet at a desired rotation angle in multiple stages. Therefore, it is possible to provide a mechanism that can arrange a plurality of points such as the tip of the arm and a joint part in the middle at a desired position without requiring a driving source such as a motor.
In addition, as a form of the magnet attachment / detachment branch rotary joint mechanism unit, a single branch type branch rotary joint mechanism unit type having two degrees of freedom with one precession movement mechanism and a support shaft rotary movement mechanism, left and right precession movements. Two-branch bifurcated rotary joint mechanism unit type with three degrees of freedom with a mechanism and a support shaft rotational motion mechanism, right and left precession motion mechanism, and rotation correction motion mechanism and support shaft of the left and right precession motion mechanisms Double-branch branch rotary joint mechanism unit type with 5 degrees of freedom with rotary motion mechanism, one of the left and right precession motion mechanisms, rotation correction motion mechanism of the precession motion mechanism, and support shaft rotational motion mechanism A single-branch branch rotary joint mechanism unit type with three degrees of freedom, and a right and left precession mechanism connected in the direction of the support shaft and a rotation correction movement mechanism of the left and right precession mechanisms When Having presented those Kataeda articulating the branch rotary joint mechanism unit type with six degrees of freedom having a lifting axis rotational motion mechanism, it is possible to freely implement the structure of various shapes in combination.

A mechanism that is detachably connected at a desired rotation angle by a magnet used in an offset articulated structure having a magnet attachment / detachment branch arm mechanism according to the present invention divides a flat plate ring-shaped magnetic body radially, and magnetizes it in the thickness direction of the flat plate. The ones that have been reversely reversed in polarity and arranged in a ring shape, or the flat ring-shaped magnetic material is radially divided and magnetized in the radial direction are alternately reversed in polarity and arranged in a ring shape Therefore, a stable and reliable arm connection is possible with a strong suction force. In addition, the flat ring-shaped magnetic material is radially divided and arranged in a ring shape with the polarity reversed alternately, so that the operator uses nerves to finely adjust the relative angles of the connected arms. Can be changed stepwise.
In addition, as a mechanism that is detachably connected by a magnet at a desired rotation angle, a slit having the same interval as the divided magnet interval is cut at the other arm end that is attached and detached by the magnet, and the center portion is opened. In the case where the body is attached, the magnetic circuit for each magnet divided by the presence of the slit is formed separately, so that a stronger attracting force can be obtained than when a magnetic body without a slit is used.
Further, the offset articulated structure having the magnet attaching / detaching branch arm mechanism of the present invention is for supplying power to the center of the magnet disposed in a ring shape and / or the magnetic body with the center portion detachable by the magnet. Since the connectors are arranged so as to face each other, it is possible to transmit electric power or the like between the arms connected without external wiring.

An offset multi-joint structure having a magnet attachment / detachment branch arm mechanism of the present invention in which a magnet type attachment / detachment rotary joint mechanism unit is combined to form a tree type, and LED lighting and / or a lowering basket is arranged on the tree is Can also be used for exhibitions, and the shape and position can be easily changed, so it can be easily accommodated when you get bored or when you change what you put in the car. In addition, the shape such as the size can be easily adjusted by changing the number of units connected in accordance with the place where the structure is placed.
In addition, the offset articulated structure having the magnet attaching / detaching branch arm mechanism of the present invention in which the magnet attaching / detaching branch rotating joint mechanism unit is combined into a rod type and the lighting fixture is arranged at the rod tip is free as desired. Because it can take a high degree of shape, install as many lighting fixtures as necessary, and design and adjust freely so that light reaches the part you want to illuminate, and so that it does not interfere with surrounding objects can do.
In addition, the multi-offset mechanism having the magnet attachment / detachment branch arm mechanism of the present invention, which is a mannequin doll by combining the magnet attachment / detachment branch rotation joint mechanism unit in which the limbs such as the lower body, the upper body, the head, the upper arm, the lower arm, and the wrist correspond to the arm. Since the joint structure can be manually changed or temporarily removed from the bending angle and orientation of each limb body, it is possible to freely deal with the joint structure according to what to wear. In addition, by changing the posture from time to time, it is possible to display in various postures.
As described above, the offset articulated structure having the magnet attaching / detaching branch arm mechanism of the present invention can provide a structure that can meet the needs in various fields.

  The branch rotary joint mechanism unit of the offset multi-joint structure having the magnet attachment / detachment branch arm mechanism according to the present invention includes a single-branch branch rotary joint mechanism unit A type (two-degree-of-freedom type, Differential motion mechanism and rotation correction motion mechanism), double-branch branch rotational joint mechanism unit B type (three-degree-of-freedom type, left and right precession motion mechanism and support shaft rotation motion mechanism) as shown in FIG. Modified bifurcated branch rotation joint mechanism unit C type as shown (5 degrees of freedom type, left and right precession movement mechanism, rotation correction movement mechanism and support shaft rotation movement mechanism) and deformation C type (6 degrees of freedom type, Double-branch-type bifurcated rotary joint mechanism), modified single-branch-type bifurcated rotary joint mechanism unit D type as shown in FIG. 4 (3 degrees of freedom, one-side precession motion mechanism and its rotational correction motion mechanism and support shaft rotation) Motion mechanism), single-branch chain as shown in FIG. A tangential branch rotary joint mechanism unit E type (6-degree-of-freedom type, each stage of precession motion mechanism and its rotation correction motion mechanism and support shaft rotation motion mechanism) is prepared and combined appropriately to form a structure. .

First, the single-branch branch rotary joint mechanism unit (A type) shown in FIG. 1 will be described.
In the figure, reference numeral 1 denotes a cylindrical front arm, and a flat ring magnet 5 is disposed at the end thereof. Reference numeral 2 denotes a pedestal base. The pedestal base 2 has a flat ring-shaped magnetic body 6 magnetically coupled to the magnet 5 at its end, and the other end has a predetermined offset angle γ1 from the end. A flat ring-shaped magnet 5 is disposed on the surface thereof in the same manner as the end face of the front arm 1. The joint between the front arm 1 and the pedestal base 2 is a mechanism that is rotatable and detachable with its peripheral edges fitted to each other, and serves as a rotation correcting motion mechanism at the offset joint. The flat ring-shaped magnet 5 and the flat ring-shaped magnetic body 6 are opposed to each other, and the peripherally engaging and rotating magnetic coupling portion is a basic component in the present invention. This is simply called the magnetic coupling mechanism of the present invention. Reference numeral 4 denotes a next-stage arm, and an end of the next-stage arm 4 is provided with a flat ring-shaped magnetic body 6 magnetically coupled to the magnet 5 at the end of the pedestal base 2, and the arm shaft is connected to the end. The part is formed with a predetermined offset angle γ2, and a flat ring magnet 5 is disposed on the other end face. A combination of the front arm 1, the base 2 and the next arm 4 is a single-branch branch rotary joint mechanism unit type magnet having two degrees of freedom with one precession motion mechanism and a support shaft rotational motion mechanism. A detachable branch rotary joint mechanism unit is configured. The offset angle γ1 and the offset angle γ2 may generally be different values, but those shown in the figure are both shown as 45 degrees for convenience of use. In this case, in the unit A, the axis of the next-stage arm 4 is bent to 90 degrees with respect to the axis of the previous-stage arm 1, and the rotation direction can be freely set in a range of 360 degrees. 1A shows an elevational sectional view of units coupled in a linear direction, B is an exploded sectional view of a front arm 1, a pedestal base 2 and a next arm 4, and C is the center of the magnetic coupling mechanism of the present invention. It is an exploded view of the connector for electric power supply installed in a part. A female connector 71 on one side and a male connector 72 on the other side are fixed to the center of each end portion via a fixing member. The connector is connected and disconnected according to the attachment / detachment of both members. The front arm 1, the base base 2 and the next arm 4 each have a hollow structure, in which lead wires for power feeding and signals can be arranged, and each unit can be electrically connected via this connector. It has become.

  The bifurcated branch rotary joint mechanism unit (B type) shown in FIG. 2 is a three-degree-of-freedom type equipped with left and right precession motion mechanisms and a support shaft rotary motion mechanism. A in the figure is an elevational sectional view, and B is a plan view seen from above. The front arm 1 is the same as the previous unit A, but the pedestal base 2 coupled to the front arm 1 has a bifurcated structure with two left and right offset rotation surfaces. The step arm 4 is connected by the magnetic coupling mechanism of the present invention. The left and right rotation planes may generally have different angles with respect to the central axis of the front arm 1, but those shown in the figure are shown as 45 degrees that are both axially symmetric for convenience of use. In this case, the unit B is bent up to 90 degrees on the basis of the left and right offset rotation surfaces whose axes of the left and right next stage arms 4 are 180 degrees different from the axis of the previous stage arm 1, and the rotation direction is in the range of 360 degrees. The form can be set freely. The front arm 1, the pedestal base 2, and the left and right next arms 4 are hollow structures, and are connected to each other by the magnetic coupling mechanism of the present invention. The unit A is similar to the unit A in that each unit can be electrically connected via the.

The correction bifurcated branch rotary joint mechanism unit (C type) shown in FIG. 3 is a five-degree-of-freedom type consisting of a left and right precession movement mechanism, each rotation correction movement mechanism, and a support shaft rotation movement mechanism. A in the figure is an elevational sectional view, and B is a plan view seen from above. The front arm 1 is the same as the previous units A and B, but the pedestal base 2 coupled to the front arm 1 has a substantially rectangular shape and has two left and right rotation surfaces parallel to the axial direction of the front arm 1. ing. Planar ring-shaped magnets 5 are disposed on the left and right rotation surfaces, and the pedestal main body 3 is connected to each of the magnetic coupling mechanisms of the present invention. At the other ends of the left and right pedestal main bodies 3, there are formed rotational surfaces having offset angles (shown in this figure are 45 degrees with respect to the axial direction of the front arm 1 and are symmetrical with respect to the left and right). Are connected by the magnetic coupling mechanism of the present invention to the next-stage arm 4 formed with an offset angle γ2 (45 degrees in this example). This unit C is a double-branch type consisting of six constituent members comprising a front arm 1, a pedestal base 2, left and right pedestal bodies 3, and left and right next-stage arms 4, each of which has a hollow structure, The units A and B are connected by the magnetic coupling mechanism of the present invention, and lead wires for power feeding and signals can be arranged inside the units, and the units can be electrically connected through the connector. It is the same. The left and right rotation surfaces of the pedestal base 2 serve as a rotation correcting motion mechanism at the offset joint, and the first arm 4 has a function of directing the next stage arm 4 in a desired direction without being influenced by the bending angle. Greatly different from unit B.
The unit C has a rectangular parallelepiped base 2 on the opposite side of the connecting surface with the front arm 1 as a terminal surface, but this surface is shown in the portion surrounded by the one-dot chain line A in FIG. A deformable unit C is proposed in which a flat ring-shaped magnet 5 is arranged in the magnetically connectable structure of the present invention. This deformation unit C is characterized in that the next stage unit can be connected to the end surface of the base 2. That is, it is a 6-degree-of-freedom unit that can branch out on both sides in addition to the extension of the trunk. When the next-stage unit is not connected to the end surface portion of the pedestal base portion 2, the end portion can be covered with a cap 9.

  The corrected single-branch branch rotary joint mechanism unit (D type) shown in FIG. 4 is a three-degree-of-freedom unit including a one-side precession movement mechanism, its rotation correction movement mechanism, and a support shaft rotation movement mechanism. In the figure, A is an elevational sectional view, B is a side view from the left, and C is a side view from the right. FIG. A is a cross-sectional view taken along line A-A ′ of FIG. This unit corresponds to the above-described deformation unit C which has a structure with only one branch on the left and right sides. That is, the front arm of 1 is the same as the previous unit C, and the pedestal base 2 coupled to the front arm 1 has a substantially rectangular shape, and has two left and right rotation surfaces parallel to the axial direction of the front arm 1. Yes. A planar ring-shaped magnet 5 is disposed on the left and right rotating surfaces, so that the magnetic coupling mechanism of the present invention can be taken. The pedestal body 3 is connected to only one and the other is covered with a cap 9. Has been. A rotating surface having an offset angle (45 degrees with respect to the axial direction of the front arm 1) is formed at one end of the pedestal body 3, and the arm shaft and a predetermined offset angle γ2 (in the example of this figure) 45 degrees) is connected to the next stage arm 4 by the magnetic coupling mechanism of the present invention. This unit D is a single-branch type consisting of four components consisting of a front arm 1, a pedestal base 2, one pedestal body 3 and a next-stage arm 4. Each of these members has a hollow structure, and lead wires for power feeding and signals can be disposed therein, and members connected by the magnetic coupling mechanism of the present invention and units can be electrically connected. Is the same as the previous unit. The previous unit is provided in that the rotation surface of the base 2 serves as a rotation correcting motion mechanism in the offset joint and has a function of directing the next stage arm 4 in a desired direction without being influenced by the bending angle. C and deformation C are the same. Further, in this unit D, the surface on the opposite side of the coupling surface with the front arm 1 of the pedestal base 2 has the structure capable of magnetic coupling according to the present invention, like the deformation unit C, but this is not used and the cap 9 Is put on.

  The single-branch articulated branch rotary joint mechanism unit (E type) shown in FIG. 5 is a 6-degree-of-freedom unit including a precessing motion mechanism, a rotational correction motion mechanism, and a support shaft rotational motion mechanism. In the figure, A is an elevational sectional view, and B is a planar surface viewed from above. This unit corresponds to a structure in which the previous unit D is stacked in two stages. That is, in the previous unit D, the second pedestal base 2 is further connected to the surface of the pedestal base 2 that is covered with the cap 9 on the side opposite to the coupling surface with the front arm 1, and the second pedestal base 2 is connected to the second pedestal base 2. Is connected to the next stage arm 4 formed with a predetermined offset angle γ2 (45 degrees in this example) by the magnetic coupling mechanism of the present invention. Similarly to the first pedestal base 2, the second pedestal base 2 is provided with two left and right rotation surfaces parallel to the axial direction of the front arm 1, and the left and right rotation surfaces have a flat ring-shaped magnet 5. Is arranged so that the magnetic coupling mechanism of the present invention can be taken, but the base body 3 is connected to only one and the other is covered with a cap 9. This unit E is a one-branch articulated type composed of seven constituent members including a front arm 1, two pedestal bases 2, two one pedestal main bodies 3, and two next-stage arms 4. Each of these members has a hollow structure, and lead wires for power feeding and signals can be disposed therein, and members connected by the magnetic coupling mechanism of the present invention and units can be electrically connected. Is the same as the previous unit. The previous unit is provided in that the rotation surface of the base 2 serves as a rotation correcting motion mechanism in the offset joint and has a function of directing the next stage arm 4 in a desired direction without being influenced by the bending angle. The same as C, deformations C and D. Further, in this unit E, the surface of the second pedestal base 2 on the side opposite to the coupling surface with the first pedestal base 2 is similar to the first pedestal base 2 of the unit D and has a structure capable of magnetic coupling according to the present invention. However, it is not used here and a cap 9 is put on, and the trunk is terminated.

Next, FIG. 6 shows one embodiment employed in the magnetic coupling mechanism of the present invention. The magnet attachment / detachment joint mechanism in each branch rotary joint mechanism unit is an attachment / detachment mechanism using a manual type magnet. A magnet 5 shown in FIG. 6A is obtained by dividing a flat plate ring-shaped magnetic body radially and magnetizing it in the thickness direction of the flat plate (divided magnet 5a) and alternately arranging the polarities in a ring shape (one side) It is a perspective view of a multipolar type magnet with a hole). As shown in the perspective view D of FIG. 6, the divided magnets 5a are accommodated in a ring shape by alternately inverting poles in a cylindrical magnetic holder 5b having a U-shaped cross section. At this time, a slight gap is formed between the inner and outer peripheral surfaces of the cylindrical magnetic holder 5b and the magnet side surfaces. FIG. 6B is a perspective view of a flat ring-shaped magnetic body 6 with slits 6a arranged so as to face the single-sided multipolar holed magnet. As shown in FIG. 6C, this magnetic coupling passes through the flat ring-shaped magnetic body 6 facing the magnetic field lines from the divided magnet 5a and enters the adjacent divided magnet 5a. The magnet 5 adsorbs the magnetic body 6 in such a form that the direction of the magnetic force lines passing through the flat ring-shaped magnetic body 6 is separated to the left and right across the slit 6a that performs the magnetic path blocking function. The configuration at this time is shown in a perspective view in E of FIG.
The mechanism that is detachably coupled by a magnet at a desired rotation angle is not limited to the flat ring-shaped magnetic body 6 with the slit 6a, but a flat ring-shaped magnet 5 is opposed to each other as shown in FIG. Form may be sufficient. The flat ring-shaped magnet 5 may be a magnet 5a divided at the same pitch angle and stored in a ring shape by alternately inverting poles in a cylindrical magnetic holder 5b having a U-shaped cross section. Naturally, this will increase the attractive force of magnetic coupling. Of course, since the opposite poles of the magnets facing each other are attracted to each other, it is possible to manually select connection at a rotation angle with the pitch angle of the divided magnet as one step.

Another form employed in the magnetic coupling mechanism of the present invention is shown in FIG. In FIG. 7, A is a magnet 5 (peripheral multipolar hole) in which a flat ring-shaped magnetic body is radially divided and magnetized in the radial direction (divided magnet 5a) is alternately reversed in polarity and arranged in a ring shape. B is a perspective view of a cylindrical magnetic body 6 with a slit having an L-shaped cross section, and C is a coupled state of the magnet (peripheral multipolar type magnet with a hole) 5 and the cylindrical magnetic body 6 with a slit. FIG. 4 is a perspective view showing the magnetic field lines and D is a diagram showing the lines of magnetic force at that time. In this magnet attachment / detachment joint mechanism, as can be seen from A, since the magnet of this form is magnetized in the radial direction, not in the axial direction, the magnetic body 6 to be coupled must have a cylindrical surface. Therefore, the magnetic body 6 of this form is a cylindrical body having an L-shaped cross section as shown in B, and the cylindrical surface is provided with slits 6a that perform a magnetic path blocking function having the same pitch width as the divided magnets 5a. A hole is opened in the center. The magnetic coupling by the outer peripheral multipolar holed magnet 5 is in such a positional relationship that the cylindrical magnetic body 6 covers the ring-shaped divided magnet 5a from the outside as shown in FIG. 7C. At this time, the lines of magnetic force from the magnet 5 pass through the opposing cylindrical magnetic body 6 and enter the adjacent divided magnet 5a. The magnet 5 adsorbs the magnetic body 6 in such a manner that the direction of the magnetic lines of force passing through the cylindrical magnetic body 6 is separated into both with the slit 6a serving as a magnetic path blocking function in between. The form at this time is shown in FIG.
The magnet attachment / detachment joint mechanism (single-sided multipolar type, outer peripheral multipolar type) can be supplied in a product size from several millimeters to several tens of centimeters. Moreover, each magnet attachment / detachment joint mechanism can be properly used as needed.

  In any of the above forms, the magnetic coupling mechanism of the present invention is provided with a through-hole in the center portion of the magnet 5 arranged in a ring shape that can be attached and detached by the magnet and the magnetic body 6 with the center portion open. The female connector 72 and the male connector 72 shown in FIG. 1C are fixed to each other through a fixing member. This connector can be used for power supply or signal line connection. Both members are coupled in a desired positional relationship with the connector 7 as a center. At this time, electrical connection between the two members is achieved at the same time. However, both members to be magnetically coupled must be connectors that do not depend on the insertion angle so that the positional relationship can be changed by 360 degrees.

The feature points of the offset articulated structure having the magnet attaching / detaching branch arm mechanism according to the present invention are summarized as follows.
(1) The bending joint mechanism is a combined configuration of an offset rotation mechanism unit and a rotation correction mechanism unit, and holds both mechanism units with a magnetic attraction force by a magnet.
(2) The ability to support the load is determined by the fitting accuracy of the casing, the fixing force between the magnet and the attracting magnetic body, and the magnetic attracting force of the magnet and the attracting magnetic body.
(3) Since the joint mechanism and operation are based on the action of the bearing and the magnet magnetic attraction force, the joint can be easily connected.
(4) Since rotational positioning is set in an analog manner by visual observation, an expensive positioning sensor (encoder) like a conventional offset robot is not required.
(5) The multi-branch joint mechanism that can be provided is capable of dealing with multi-degree-of-freedom function settings in a multi-branch configuration (1 branch model to 5 branch model), so it expresses and provides original and complex shaped objects (monuments) I can do it.
(6) It can be created from mini size to large size.
(7) For the above reasons, an inexpensive product can be provided.
(8) Responding to various needs, standardization (product lineup) is easy.
(9) The power line or the signal line can be easily housed in the arm, and the arms can be easily connected by providing a power supply connector (male plug and female plug).
(10) The bending motion range of the arm is determined by the offset angle (maximum 90 degrees / one joint), and it is possible to provide a joint mechanism that can set a variety of angles.

  An embodiment using an offset articulated structure having a magnet attaching / detaching branch arm mechanism according to the present invention will be described. 8 and FIG. 9 are examples of an offset multi-joint structure in which a magnet attachment / detachment branch rotation joint mechanism unit is combined into a tree form, and LED lighting and / or a lowering basket are arranged on the tree. For example, an LED decoration only for display, a display window for displaying small items with only a lower basket, or a combination of LED lighting and a lower basket as shown in the figure for a display window This is an example. As the illumination tree, the magnet attachment / detachment branch rotary joint mechanism unit (single-sided multipole type, outer peripheral multipole type) according to the present invention is appropriately combined, and the relative angular position of each magnetic coupling mechanism part of the present invention is appropriately set and combined. By doing so, a desired tree can be formed. The tree is based on the base 20, and the LED 10 is attached to an appropriate joint or branch tip via an LED connector 11. The power supply unit for the LED is disposed in the base 20, and a lead wire connected to each unit by the connector 7 supplies power to each LED 10 to emit light. Because it is simple with a single color, multiple emission colors are used, a multicolored light emitting group is attached to one tip, or a model such as a bird or petal made of a material that transmits light, such as glass, is attached to the light emitting member. Take a form. The movement of multiple light points in a dimly lit room creates a fantastic atmosphere that can soften the viewer's heart. Further, as a modification, it is possible to provide a decorative device for indoor use in which light emission is not limited to simple light emission and is synchronized with music. In addition to moving various light points in a dimly lit room, the light intensity of the light emitting member or the movement of the light emitting member is changed in conjunction with the rhythm and / or strength of music. And deepen the enjoyment of viewers. In this example, the LED is shown as the light emitting member, but the present invention is not limited to this, and a miniature light bulb can also be adopted.

In order to place the lower basket 13 on the tree, a member to which the hook 12 is fixed is attached to an appropriate joint or branch tip, and the lower basket 13 is put on the hook 12. Appropriate accessories are put in the lowering basket 13 for display. Effective display can be performed by arranging small items at appropriate three-dimensional positions. In the illustrated example, the lowering basket 13 is used, but it may be replaced with an exhibition table as an application example. In the case of installation in a show window or the like, considering the customer's perspective, it is reasonable to take a position where the front table is low and the rear table is high. A rotary drive table is attached to the end effector. It is desirable that the table mounting portion includes an attitude adjustment mechanism.
When it is lonely to simply place small items on the lower basket 13 or the table, the mixed arrangement with the LED 10 as shown in the figure is an effective display for the customer's eyes.

FIG. 10 shows an embodiment of an offset multi-joint structure in which a magnet type attachment / detachment branch rotary joint mechanism unit according to the present invention is combined into a rod type and a lighting fixture is arranged at the tip of the rod. In this example, the lighting fixture employs LEDs, but other lighting fixtures may be used. As shown in A of the figure, without using a branch unit, multiple articulated joints are connected in a columnar form, and as shown in B and C, the relative angular position of each magnetic coupling mechanism of the present invention is appropriately set and coupled. By doing so, a desired bending angle and direction can be selected. As a result, it is possible to illuminate from a desired position and angle by a lighting fixture installed at the tip.
As shown in FIG. 11, this luminaire can also take a form in which the luminaire is installed at the tips of two offset articulated structures that are articulated in a columnar shape implanted in the base 20. Moreover, as shown in FIG. 12, it is also possible to adopt a form in which a branching unit is used to branch into a plurality of units and a lighting fixture is attached to the tip portion thereof. A lighting device having a high luminance in which a plurality of LEDs are arranged can also be used, and the design can be made freely.

An embodiment in which an offset articulated structure having a magnet attaching / detaching branch arm mechanism according to the present invention is applied to a mannequin doll will be described with reference to FIG. The lower body 23, upper body 24, head 25, upper arm 26, lower arm 27, and wrist 28 of the mannequin are made to correspond to the arms, and the unit A of the present invention, that is, the magnet attaching / detaching branch rotary joint mechanism unit, supports one precession mechanism. Each member is connected by a single-branch branch rotary joint mechanism unit having two degrees of freedom with a shaft rotary motion mechanism. The upper body 24 has a lower body as a base, a head 25 with respect to the upper body 24, left and right upper arms 26, a lower arm 27 with respect to the left and right upper arms 26, and a wrist 28 with respect to the lower arm 27, respectively. In addition, the bending angle up to twice the offset angle and an independent position in the direction of 360 degrees can be taken. Unlike a conventional mannequin with a fixed posture, the bending angle and direction of each limb can be manually changed or temporarily removed, so that it is possible to freely deal with depending on what to wear. In addition, by changing the posture from time to time, it is possible to display in various postures, and to handle heavy coats such as fur. If the base 20 is provided with a rotation mechanism, observation from a 360-degree viewpoint can be provided.
Of course, the mannequin doll is not limited to this shape, and as a variation, the ankle, lower leg, and upper leg are separate members, one ankle is placed on the base, and the ankle, lower leg, and upper leg are unit A offset articulated structure of the present invention. It is also possible to provide a form that connects with.
Conventionally, a mannequin doll having a variable angle of the joint part of the mannequin doll and capable of forming a mannequin doll whose pose changes is disclosed in Patent Document 3. This connects one joint member and the other joint member so that they can be bent by a pivot, and an eccentric shaft parallel to the rotation shaft is projected through the rotation member on the rotation shaft of the motor fixed to one joint member. A pair of linear edges, on which the eccentric shaft is fitted to the other joint member, are provided so as to be parallel to the pivot shaft, and the rotation of the eccentric shaft by the start of the motor causes the other joint member to A configuration in which the angle changes around the pivot axis is adopted. Due to the complexity of the mechanism, driving is cumbersome and expensive. Compared with that, since the hand and the leg can be easily attached and detached according to the present invention, it is easy to change clothes, and the work of adjusting to a desired posture can be easily performed manually.

The offset articulated structure having the magnet attaching / detaching branch arm mechanism according to the present invention is not limited to the above example, and (1) various shaped objects (monuments), (2) interior, (3) toys, (4) It can be used in a wide range of fields for ikebana, (5) stage equipment and other objects.

It is a figure which shows the single branch type branch rotation joint mechanism unit A type used for the offset articulated structure which has the magnet attachment / detachment branch arm mechanism which concerns on this invention. It is a figure which shows the bifurcated branch rotation joint mechanism unit B type used for the offset multi joint structure which concerns on this invention. It is a figure which shows the correction | amendment bifurcated type branch rotation joint mechanism unit C type and deformation | transformation C type used for the offset multi joint structure based on this invention. It is a figure which shows the correction single-branch type branch rotation joint mechanism unit D type used for the offset multi joint structure based on this invention. It is a figure which shows the branch rotation joint mechanism unit E type of the single branch articulation type used for the offset multi joint structure which concerns on this invention. It is a figure which shows one form of the magnetic coupling mechanism employ | adopted as the offset articulated structure which has the magnet attachment / detachment branch arm mechanism which concerns on this invention. It is a figure which shows the other form of the magnetic coupling mechanism employ | adopted as the offset articulated structure which has the magnet attachment / detachment branch arm mechanism which concerns on this invention. It is a figure which shows the Example which used the offset articulated structure body which has a magnet attachment / detachment branch arm mechanism concerning this invention as a tree form, and is used for decoration and display. It is a figure which shows the Example which made the offset articulated structure body which has a magnet attachment / detachment branch arm mechanism which concerns on this invention into a different tree form, and was used for decoration and display. It is a figure which shows the Example of the offset articulated structure which made the magnet attachment / detachment branch rotation joint mechanism unit which concerns on this invention a rod form, and has arrange | positioned the lighting fixture to the rod front-end | tip part. It is a figure which shows the Example which made the magnet attachment / detachment branch rotation joint mechanism unit which concerns on this invention into the some rod form, and has arrange | positioned the lighting fixture to the rod front-end | tip part. It is a figure which shows the Example which made the magnet attachment / detachment branch rotation joint mechanism unit which concerns on this invention into the some rod form using a branch unit, and has arrange | positioned the lighting fixture at the front-end | tip part. It is a figure which shows the Example which applied the offset articulated structure which has a magnet attachment / detachment branch arm mechanism which concerns on this invention to the mannequin. It is a figure explaining the basic mechanism of an offset articulated robot. It is a figure explaining the articulated robot developed previously and its control method.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Front stage arm 2 Base base 3 Base body 4 Next stage arm 5 Flat ring-shaped magnet 5a Split magnet 5b Cylindrical magnetic holder 6 Flat ring-shaped magnetic body 6a Magnetic path blocking slit 7 Connector 71 Female connector 71 Male connector 9 Cap 10 LED element 11 LED connector 12 鈎 13 Lower basket 20 Base 23 Mannequin lower body 24 Mannequin upper body 25 Mannequin head 26 Mannequin upper arm 27 Mannequin lower arm 28 Mannequin wrist

Claims (13)

  An offset articulated joint having a magnet attaching / detaching branch arm mechanism characterized in that a magnet attaching / detaching branch rotating joint mechanism unit in which an arm end surface and a rotating surface of an offset joint are detachably connected by a magnet at a desired rotation angle is connected in multiple stages. Structure.   The magnet attachment / detachment branch arm according to claim 1, wherein the magnet attachment / detachment branch rotation joint mechanism unit is a single-branch branch rotation joint mechanism unit type having two degrees of freedom with one precession mechanism and a support shaft rotation movement mechanism. An offset articulated structure having a mechanism.   The magnet attachment / detachment branch arm according to claim 1, wherein the magnet attachment / detachment branch rotation joint mechanism unit is a double-branch branch rotation joint mechanism unit type having three degrees of freedom including a left and right precession mechanism and a support shaft rotation mechanism. An offset articulated structure having a mechanism.   Magnet branch attachment / detachment rotary joint mechanism unit is a bifurcated branch rotary joint mechanism with 5 degrees of freedom, including a left / right precession mechanism, a rotation correction motion mechanism of the left / right precession mechanism, and a support shaft rotational motion mechanism. The offset multi-joint structure having a magnet attaching / detaching branch arm mechanism according to claim 1 which is a unit type.   A single-branch type of bifurcated rotation with three degrees of freedom, with a magnet attachment / detachment branch rotary joint mechanism unit comprising either one of the left and right precession motion mechanisms, a rotation correction motion mechanism of the precession motion mechanism, and a support shaft rotation motion mechanism. 2. An offset multi-joint structure having a magnet attaching / detaching branch arm mechanism according to claim 1, which is a joint mechanism unit type.   A 6-degree-of-freedom piece comprising a left and right precession mechanism in which a magnet attaching / detaching branch rotary joint mechanism unit is connected in the support axis direction, a rotation correcting movement mechanism of the left and right precession movement mechanism, and a support shaft rotation movement mechanism. 2. An offset multi-joint structure having a branch arm mechanism for attaching / detaching a magnet according to claim 1, which is of a branch articulation type branch rotary joint mechanism unit type.   The mechanism that is detachably connected by a magnet at a desired rotation angle is a ring-shaped magnetic body that is divided radially and magnetized in the thickness direction of the flat plate, with the polarity reversed alternately and arranged in a ring shape An offset articulated structure having a magnet attaching / detaching branch arm mechanism according to claim 1.   A mechanism that is detachably connected by a magnet at a desired rotation angle is a structure in which a flat plate ring-shaped magnetic body is radially divided and magnetized in the radial direction and alternately reversed in polarity and arranged in a ring shape. An offset articulated structure having the magnet attaching / detaching branch arm mechanism according to claim 1.   The other arm end that is attached and detached by the magnet has a magnetic path blocking slit having the same interval as the divided magnet interval, and a magnetic body having a hole in the center is attached. An offset articulated structure having the magnet attaching / detaching branch arm mechanism according to claim 7 or 8.   10. A power supply connector is disposed opposite to a magnet disposed in a ring shape that can be attached and detached by a magnet and / or a central portion of a magnetic body having a central portion open. An offset articulated structure having the magnet attachment / detachment branch arm mechanism described in 1.   11. An offset multi-joint structure having a magnet attachment / detachment branch arm mechanism according to any one of claims 1 to 10, wherein the magnet attachment / detachment branch rotation joint mechanism unit is combined to form a tree shape, and LED lighting and / or a lowering basket are arranged on the tree. .   The offset multi-joint structure having a magnet attaching / detaching branch arm mechanism according to any one of claims 1 to 10, wherein a magnet attaching / detaching branch rotating joint mechanism unit is combined into a rod type, and a lighting fixture is disposed at a rod tip.   11. The mannequin doll according to any one of claims 1 to 10, wherein a mannequin doll is formed by combining a detachable rotary joint mechanism unit that attaches and detaches a limb such as a lower body, upper body, head, upper arm, lower arm, and wrist. An offset articulated structure having the magnet attaching / detaching branch arm mechanism described.

Images