JP6730718B2 - Robot arm manufacturing method - Google Patents

Description

The present invention relates to a robot arm having an inflatable structure and a method for manufacturing the robot arm.

Conventionally, various robot arms having an actuator having an inflatable structure which is operated by using a fluid such as air as driving energy have been proposed. Since such a robot arm having an inflatable structure can be made lightweight by using a soft material, it is possible to ensure safety in contact with a human body or the like.

As a robot arm using such an inflatable structure, the present inventor has been able to prevent twisting between the first link and the second link in the joint and improve the positioning accuracy by using a plastic material. A first link formed in a bag-like structure capable of enclosing a fluid therein, a second link formed in a bag-like structure capable of enclosing a fluid in a plastic material, the first link and the second A robot arm comprising a joint portion connecting a link and a pair of fluid pressure actuators that are arranged antagonistically to the joint portion, wherein the joint portion is a first rigid member to which the first link is attached. And a robot arm having a second rigid member to which the second link is attached is proposed (for example, refer to Patent Document 1). In the robot arm of Patent Document 1, since the first link and the second link are attached to the first rigid member and the second rigid member, respectively, the joint portion is twisted between the first link and the second link. This can be prevented and the positioning accuracy can be improved.

No. 2015-166117

However, in the robot arm of Patent Document 1, since the rigid member is provided in the joint, the weight of the entire body increases and the joint is not flexible when contacted from the outside. Therefore, there is a possibility that a problem may occur in safety when contacting a person. Further, since the manufacturing process is complicated, it takes time to manufacture.

The present invention has been made in view of the above various problems, and an object of the present invention is to provide a robot arm that is easy to manufacture and is excellent in safety, and a method for manufacturing the robot arm. ..

In order to achieve the above object, a robot arm according to the present invention includes a first link portion formed of a plastic material in a bag-shaped structure capable of accommodating a fluid therein, and a bag capable of accommodating a fluid therein by a plastic material. A second fluid having a ring-shaped structure, and a first fluid disposed between the first and second link portions and bending the second link portion with respect to the first link portion. And a pressure actuator, wherein the first fluid pressure actuator is provided with a plurality of bag-shaped structures capable of accommodating a working fluid continuously provided therein by a plastic material. Are formed to communicate with each other so that the working fluid can flow therein, and the working fluid is supplied to expand the respective bag-shaped structures to cause the second link to the first link portion. The feature is that the part is bent.

Further, in the robot arm according to the present invention, the bag-shaped structure is formed such that the shape in a state where the working fluid is not supplied is substantially rectangular, and the first link portion and the first link portion are formed. The ratio of the length of the side in the horizontal direction parallel to the width direction of the two link portions and the length of the side in the vertical direction provided at a right angle to the side in the horizontal direction is 3:1 to 3:2. It has a feature.

Further, the robot arm according to the present invention is formed of a plastic material into a bag shape capable of containing a working fluid therein, and in order to bend and extend the second link portion with respect to the first link portion, It is characterized by comprising a second fluid pressure actuator which is arranged antagonistically with respect to the first fluid pressure actuator.

Further, the robot arm according to the present invention is formed of a plastic material in a bag-like structure capable of containing a fluid therein, and is opposite to one end edge portion of the second link portion located on the first link portion side. Is disposed between the third link portion provided on the other end edge portion side and the second link portion and the third link portion, and the third link portion is bent with respect to the second link portion. A third fluid pressure actuator to be operated, wherein the other end edge portion of the second link portion is closed in a direction different from the direction in which the one end edge portion is closed, The fluid pressure actuator has a plurality of bag-shaped structures which are made of a plastic material and can continuously store the working fluid therein. Each of the bag-shaped structures is formed so as to allow the working fluid to flow therein. When the working fluid is supplied and the bag-shaped structures expand, the third link portion moves in a direction different from the bending operation direction of the second link portion with respect to the second link portion. It is characterized by bending motion.

Further, the robot arm according to the present invention is formed of a plastic material into a bag shape capable of containing a working fluid therein, and in order to bend and extend the third link portion with respect to the second link portion, It is characterized in that a fourth fluid pressure actuator is arranged to be antagonistic to the third fluid pressure actuator.

The robot arm according to the present invention is formed of a plastic material into a bag-like structure capable of containing a fluid therein, and is fixed so as to be parallel to the first link portion at a predetermined distance from the first link portion. A base link part that is formed of a plastic material, and a connecting part that connects the first link part and the base link part, and the first link part in one direction around the base link part. A fifth fluid pressure actuator arranged at the connection for pivoting movement, and a fifth fluid pressure actuator at the connection for pivoting the first link in the other direction around the base link. A sixth fluid pressure actuator that is arranged antagonistically with respect to the fluid pressure actuator, wherein the fifth fluid pressure actuator has a plurality of bag-shaped structures in which a working fluid can be housed continuously made of a plastic material. The respective bag-shaped structures are provided so as to communicate with each other so that the working fluid can flow therein, and the working fluid is supplied to expand the respective bag-shaped structures. One link part is pivotally moved around the base link part in one direction, and the sixth fluid pressure actuator is provided with a plurality of bag-shaped structures capable of accommodating a working fluid made of a plastic material. The respective bag-shaped structures are formed so as to communicate with each other so that the working fluid can flow therein, and the first link portion is generated by the supply of the working fluid and the expansion of the respective bag-shaped structures. Is rotated about the base link portion in the other direction.

In order to achieve the above object, the method for manufacturing a robot arm according to the present invention is an actuator manufacturing region located in the middle of the rectangular first sheet member made of a plastic material in the long side direction, and a predetermined direction in the long side direction. A step of alternately forming mountain peaks and valley parts by alternately repeating mountain folds and valley folds in accordance with a fold line parallel to the short side direction that is provided with a plurality of intervals, and a pair of inclined parts forming the mountain parts. The opposite sides on both ends in the short side direction are welded or adhered to each other to form a plurality of bag-shaped structures capable of accommodating a working fluid therein continuously in the long side direction. A step of producing a first fluid pressure actuator having a plurality of bag-like structures capable of passing a fluid; an outer frame of a rectangular second sheet member made of a plastic material; and an actuator production area of the first sheet member. A first link part and a second link part, which are formed in a bag-like structure capable of accommodating a fluid inside, on both sides of the first fluid pressure actuator by welding or bonding with an outer frame except for It is characterized by including,.

In the method for manufacturing a robot arm according to the present invention, the ratio of the length of the fold line parallel to the short side direction and the length of the predetermined interval at which the fold line is provided is 3:1 to 3:2. It is characterized by that.

According to the robot arm of the present invention, the working fluid is housed inside by the plastic material between the first link portion and the second link portion which are formed in a bag-like structure capable of housing the fluid inside by the plastic material. A plurality of possible bag-shaped structures are continuously provided, and the respective bag-shaped structures are formed so as to communicate with each other so that the working fluid can flow therein, and the working fluid is supplied to the respective bag-shaped structures. Since the first fluid pressure actuator that bends the second link portion with respect to the first link portion by the expansion of the bag-shaped structure is arranged, only a simple soft structure is provided without providing a rigid body structure. The bending operation can be performed and the safety can be improved. Further, since the robot arm according to the present invention has a simple structure that does not use a rigid structure, it is easy to manufacture and the manufacturing cost can be reduced.

Further, according to the robot arm of the present invention, the bag-shaped structure is formed such that the shape in a state in which the working fluid is not supplied is substantially rectangular, and the first link portion and the The ratio of the length of the side in the horizontal direction parallel to the width direction of the second link portion and the length of the side in the vertical direction provided at a right angle to the side in the horizontal direction is 3:1 to 3:2. Since it is designed so that the torque for bending the second link portion can be efficiently transmitted, it is possible to suppress the occurrence of twist between the first link portion and the second link portion. You can

Further, according to the robot arm of the present invention, a plastic material is formed into a bag shape capable of accommodating a working fluid therein, and in order to bend and extend the second link portion with respect to the first link portion, Since the second fluid pressure actuator that is arranged antagonistically to the first fluid pressure actuator is provided, the second link portion is provided to the first link portion with a simple soft structure without providing a rigid body structure. It can be flexed and extended.

Further, according to the robot arm of the present invention, a plastic material is formed into a bag-like structure capable of accommodating a fluid therein and is opposite to the one end portion of the second link portion located on the first link portion side. Is disposed between the third link portion provided on the other end edge portion side and the second link portion and the third link portion, and the third link portion is bent with respect to the second link portion. A third fluid pressure actuator to be operated, wherein the other end edge portion of the second link portion is closed in a direction different from the direction in which the one end edge portion is closed, The fluid pressure actuator has a plurality of bag-shaped structures which are made of a plastic material and can continuously store the working fluid therein. Each of the bag-shaped structures is formed so as to allow the working fluid to flow therein. When the working fluid is supplied and the bag-shaped structures expand, the third link portion moves in a direction different from the bending operation direction of the second link portion with respect to the second link portion. Since the bending operation is performed, it is possible to bend the third link portion in a direction different from the bending operation direction of the second link portion with only a simple and flexible structure without providing a rigid structure. As a result, with the robot arm according to the present invention, it is possible to realize a multi-joint robot arm having different motion directions with only a simple soft structure.

Further, according to the robot arm of the present invention, a plastic material is formed into a bag shape capable of accommodating a working fluid therein, and in order to bend and extend the third link portion with respect to the second link portion, Since the fourth fluid pressure actuator that is arranged antagonistically to the third fluid pressure actuator is provided, the third link portion is bent and extended in a different direction from the second link portion with only a simple and flexible structure. Can be made.

Further, according to the robot arm of the present invention, a plastic material is formed into a bag-like structure capable of containing a fluid therein, and is parallel to the first link portion at a predetermined distance from the first link portion. A base link portion provided, a connection portion formed of a plastic material in a sheet shape and connecting the first link portion and the base link portion, and the first link portion in one direction around the base link portion. A fifth fluid pressure actuator arranged at the connection for pivoting movement, and a fifth fluid pressure actuator at the connection for pivoting the first link in the other direction around the base link. And a sixth fluid pressure actuator that is arranged antagonistically to the fluid pressure actuator, so that the first link portion can be swung around the base link portion with a simple and soft structure without providing a rigid body structure. Can be operated.

Further, according to the method of manufacturing the robot arm of the present invention, in the actuator manufacturing region located in the middle of the rectangular first sheet member made of the plastic material in the long side direction, a plurality of the plurality of arms are separated in the long side direction by a predetermined distance. A step of alternately forming mountain ridges and valley folds by alternately repeating mountain folds and valley folds according to a fold line parallel to the short side direction provided, and the short side direction of the pair of inclined parts forming the ridges The working fluid can be circulated internally by welding or adhering the opposite sides of each of the two sides to form a plurality of bag-shaped structures capable of accommodating the working fluid therein continuously in the long side direction. Of manufacturing a first fluid pressure actuator having a plurality of bag-shaped structures, and an outer frame of a rectangular second sheet member made of a plastic material and an outer frame of the first sheet member excluding the actuator manufacturing region By welding or adhering and forming a first link portion and a second link portion formed on both sides of the first fluid pressure actuator in a bag-like structure capable of containing a fluid therein. Since it is possible to manufacture a robot arm that bends the second link portion with respect to the first link portion by expanding each bag-shaped structure of the first fluid pressure actuator, without providing a rigid body structure, The bending operation can be performed with only a simple soft structure, and the safety can be improved. Further, according to the method of manufacturing the robot arm according to the present invention, since the manufacturing is easy without using the rigid body structure, the manufacturing cost can be reduced and the manufacturing efficiency can be improved.

Further, according to the method for manufacturing the robot arm of the present invention, the ratio of the length of the fold line to the length of the predetermined interval at which the fold line is provided is 3:1 to 3:2. It is possible to efficiently transmit the torque for the bending operation and suppress the occurrence of twist between the first link portion and the second link portion.

It is a schematic front view which shows an example of the robot arm which concerns on embodiment of this invention. FIG. 3 is a schematic front view showing an example of a basic structure for performing a bending operation of the robot arm according to the embodiment of the present invention, in which (a) shows a state before the bending operation and (b) shows the bending operation. Shows the state of. FIG. 6 is a schematic explanatory diagram for describing an example of a fold line in the method for manufacturing the basic structure of the robot arm according to the embodiment of the present invention. FIG. 6A is a schematic explanatory view for explaining an example of mountain fold valley fold production in the method for manufacturing the basic structure of the robot arm according to the embodiment of the present invention, and FIG. (B) has shown the state seen from the front. FIG. 6A is a schematic explanatory view for explaining an example of manufacturing the bag-shaped structure of the first fluid pressure actuator in the method for manufacturing the basic structure of the robot arm according to the embodiment of the present invention, and FIG. The state is shown, (b) has shown the state seen from the front. FIG. 6A is a schematic explanatory view for explaining an example of manufacturing the supply port of the first fluid actuator in the method for manufacturing the basic structure of the robot arm according to the embodiment of the present invention, and FIG. (B) shows a sectional view taken along the line AA. FIG. 4A is a schematic explanatory view for explaining an example of manufacturing the first link portion and the second link portion in the method for manufacturing the basic structure of the robot arm according to the embodiment of the present invention, and FIG. It shows a state as seen from the front before welding with the second sheet member, and (b) shows a state as seen from the bottom surface after the welding with the first sheet member and the second sheet member. It is a front schematic diagram showing an example of the bending extension structure of the robot arm concerning the embodiment of the present invention. It is a front schematic diagram showing other examples of the bending extension structure of the robot arm concerning the embodiment of the present invention. It is a front schematic diagram showing further another example of the bending extension structure of the robot arm concerning the embodiment of the present invention. It is a front schematic diagram showing an example of a motion direction change structure of a robot arm concerning an embodiment of the present invention. FIG. 9 is a schematic explanatory diagram for explaining an example of a method for manufacturing the movement direction changing structure of the robot arm according to the embodiment of the present invention. It is the BB sectional view taken on the line in FIG. FIG. 4A is a schematic explanatory view for explaining an example of a method for manufacturing a turning structure for a robot arm according to an embodiment of the present invention, in which FIG. 3B shows a state seen from a plane when the fluid pressure actuator is formed by using the sheet member.

Hereinafter, a robot arm 1 according to an embodiment of the present invention will be described with reference to the drawings. The robot arm 1 is, for example, for gripping an object (not shown) and carrying it to a desired place, and as shown in FIG. 1, a bag capable of containing a fluid therein. -Shaped first link portion 6, a second link portion 7 formed in a bag-like structure capable of containing a fluid therein, and a bending operation of the second link portion 7 with respect to the first link portion 6. And a bending and extending structure 3 having a first fluid pressure actuator 8 and a second fluid pressure actuator 9, which are arranged to be antagonistic to each other between the first link portion 6 and the second link portion 7 for the extension operation. , Which is formed of a plastic material into a bag-like structure capable of containing a fluid therein, and is provided on the side of the other end of the second link part 7 opposite to the one end located on the side of the first link part 6 In order to cause the third link part 10 to be provided and the second link part 7 to perform a bending operation and an extension operation in a direction different from the bending operation direction of the second link part 7, the second link part 7 is provided. And a third fluid pressure actuator 11 disposed between the third link portion 10 and the third fluid pressure actuator 12 and a fourth fluid pressure actuator 12, and a motion direction conversion structure 4 and a plastic material capable of containing a fluid therein. A base link portion 13 which is formed in a bag-like structure, is provided to be parallel to the first link portion 6 at a predetermined distance from the first link portion 6, and has a lower end fixed to the base 30, and a sheet made of a plastic material. And a connecting portion 14 that is formed in a shape and connects the first link portion 6 and the base link portion 13 to each other and the connecting portion 14 that is antagonistic to each other in order to rotate the first link portion 6 around the base link portion 13. The swivel structure 5 having the fifth fluid pressure actuator 15 and the sixth fluid pressure actuator 16 arranged is provided. In the robot arm 1 shown in FIG. 1, the second fluid pressure actuator 9 is arranged so as to be hidden behind the first fluid pressure actuator 8, and the sixth fluid pressure actuator 16 is located behind the fifth fluid pressure actuator 15. In the state where the first link portion 6 is not turned, the second link portion 7 bends in the direction toward the back of the page or the front direction of the page in FIG. 1, and the third link 10 is It is configured to bend to the left or to the right.

The robot arm 1 includes a fluid pump 17 which is a supply source for supplying fluid to each part such as each fluid pressure actuator, and a tube 18 which is connected from the fluid pump 17 to a supply/discharge hole of each part. Further, in the robot arm 1, although not shown in detail, for example, the timing and the fluid pressure of the working fluid supplied from the fluid pump 17 to each fluid pressure actuator or the like can be appropriately controlled by a control means such as a computer (not shown). It is configured.

As shown in FIG. 2, a basic structure 2 for performing a basic bending operation of the robot arm 1 according to the embodiment of the present invention includes a first link part 6, a second link part 7, and a first link part. 6 and a first fluid pressure actuator 8 disposed between the second link portion 7 and the second link portion 7. Note that in FIG. 2, the tubes 18 and the like for supplying the fluid are omitted for convenience of description.

The first link portion 6 and the second link portion 7 are each formed of a plastic material into a bag-like structure capable of containing a fluid therein. As the plastic material used to form the first link portion 6 and the first link portion 7, for example, polyethylene (PE), polypropylene (PP), or the like can be used, and the plastic material can be manufactured at low cost.

As shown in FIG. 2, the first fluid pressure actuator 8 is provided with a plurality of continuous bag-shaped structures 81 made of a plastic material and capable of containing a working fluid therein. Each of the bag-shaped structures 81 is formed so as to communicate with each other at the base end side so that the working fluid supplied from the fluid pump 17 through the tube 18 can flow inside. As a result, in the first fluid pressure actuator 8, each bag-shaped structure 81 expands so as to rotate in a fan shape, so that as shown in FIG. 2 The link portion 7 is bent. As the plastic material forming the first fluid pressure actuator 8 as described above, for example, polyethylene (PE), polypropylene (PP), or the like can be used similarly to the first link portion 6 and the second link portion 7. Further, as the working fluid supplied to the first fluid pressure actuator 8, for example, a gas such as air can be preferably used, but the working fluid is not limited to this, and another fluid can be used. is there.

Such a basic structure 2 can be produced by using, for example, two first sheet members 19 and 20 made of a flexible plastic material formed in a rectangular shape. Hereinafter, an example of a method of manufacturing the basic structure 2 will be described with reference to the drawings. First, in the manufacturing method of the basic structure 2, as shown in FIG. 3, in the actuator manufacturing region S indicated by the chain double-dashed line located in the middle of the long side direction of the rectangular first sheet member 19 made of a plastic material. A plurality of fold lines 21 (21a, 21b) parallel to the short piece direction are formed at predetermined intervals L1 in the long side direction. Here, the actuator manufacturing region S is a part that finally constitutes the first fluid pressure actuator 8, and regions located on both sides of the actuator manufacturing region S are part of the first link portion 6 and the second link portion 8. Will be configured. The fold line 21a shown by the solid line in FIG. 3 is located at the mountain portion described later, and the fold line 21b shown by the alternate long and short dash line is located at the valley portion.

In addition, in the first sheet member 19, the bag-shaped structure 81 of the first fluid pressure actuator 8 finally formed in the actuator production region S has a substantially rectangular shape in a state in which the working fluid is not supplied. And the ratio of the length of the side in the horizontal direction parallel to the width direction of the first link portion 6 and the second link portion 7 to the length of the side in the vertical direction provided at a substantially right angle to the side in the horizontal direction. Is 3:1 to 3:2, the ratio of the length of the fold line 21 (the length of the short side of the first sheet member 19) W1 to the length of the predetermined interval L1 at which the fold line 21 is provided is It is preferably designed to be 3:1 to 3:2. As a result, the torque for bending the second link portion 7 by the first fluid pressure actuator 8 can be efficiently transmitted, and twisting occurs between the first link portion 6 and the second link portion 7. This can be suppressed and the positioning accuracy can be improved. The length W1 of the fold line 21 and the predetermined interval L1 may be appropriately designed according to the length and shape of the first link portion 6 and the second link portion 7, and are not particularly limited.

Next, in the manufacturing method of the basic structure 2, as shown in FIG. 4, the mountain portion is formed in the actuator manufacturing region S by alternately repeating the mountain fold and valley fold according to the fold line 21 provided on the first sheet member 19. 22 and valleys 23 are formed alternately. Although FIG. 4 shows an example in which six ridges 22 are formed in the actuator manufacturing region S (finally six bag-shaped structures 81 are formed), the number of ridges 22 is The present invention is not limited to this, and may be set as appropriate according to the required condition such as the bending operation of the second link portion 7.

Next, in the method of manufacturing the basic structure 2, as shown in FIG. 4, the pair of inclined portions 24a and 24b forming the mountain portion 22 are opposed to each other on both sides in the short side direction of the first sheet member 19 in the sides 25a. , 25b are welded (the portions shown by hatching in FIG. 4A are welded). As a result, as shown in FIG. 5, a plurality of bag-shaped structures 81 capable of accommodating the working fluid inside are continuously formed in the first sheet member 19 in the long side direction of the first sheet member 19. The pair of inclined portions 24a and 24b forming the mountain portion 22 are adhered using an adhesive or the like instead of welding the sides 25a and 25b facing each other at both ends in the short side direction of the first sheet member 19 respectively. By doing so, a plurality of bag-shaped structures 81 may be formed.

Then, in the manufacturing method of the basic structure 2, for example, as shown in FIG. 6, a supply port for connecting the tube 18 below the base end side of the bag-shaped structure 81 so that the working fluid can flow therein. 26 is attached and the 1st fluid pressure actuator 8 is produced. In the first fluid pressure actuator 8, as shown in FIG. 6B, when the working fluid is supplied to the inside of the bag-shaped structure 81, the working fluid is prevented from leaking from the inside of the bag-shaped structure 81. A region T of a hatched outer frame portion located below the base end 82 of the bag-shaped structure 81 excluding the supply port 26 is welded and closed. In the area T of the outer frame portion, areas Ta and Tb shown by hatching in FIG. 3 are welded, and areas Tb and Td are welded. As a result, the first fluid pressure actuator 8 is configured so that the working fluid inside the bag-shaped structure 81 does not leak outside except through the supply port 26. Further, in the first fluid pressure actuator 8, as shown in FIG. 6, a communication space 83 for internally communicating with each bag-shaped structure 81 is provided below the base end 82 of the bag-shaped structure 81. As a result, the working fluid can flow inside. The structure for allowing the working fluid to flow inside the bag-shaped structure 81 is not limited to this. For example, a part of the adjacent bag-shaped structure 81 is welded and the welded portion thereof is The working fluid may be allowed to flow between the adjacent bag-shaped structures 81 by forming a communication hole in a part thereof.

Next, in the method of manufacturing the basic structure 2, for example, as shown in FIG. 7, the tube 18 is connected to the supply port 26. At this time, a seal tape (not shown) or the like is preferably attached to the connecting portion between the supply port 26 and the tube 18 so as to more reliably prevent the leakage of the working fluid. Then, a rectangular second sheet member 20 made of a plastic material is prepared, and the outer frame of the second sheet member 20 (area U shown by hatching) and the first fluid pressure actuator 8 of the first sheet member 19 are The first link portion 6 is formed on both sides of the first fluid pressure actuator 8 in a bag-like structure capable of accommodating a fluid therein by welding the produced outer region of the outer frame excluding the actuator production region S, and The second link portion 7 is produced. In this way, the basic structure 2 of the robot arm 1 in which the second link portion 7 bends with respect to the first link portion 6 can be manufactured by supplying the working fluid to the first fluid pressure actuator 8.

At that time, in the manufacturing method of the basic structure 2, the tube 18 for supplying the working fluid to the inside of the first fluid pressure actuator 8 is provided so as to pass through the inside of the first link portion 6 to the outside, and A supply port 27 for connecting a tube 18 for inflating the first link portion 6 and the second link portion 7 is attached to the first link portion 6 side. In the basic structure 2, the tube 18 may be directly connected to the first fluid pressure actuator 8 from outside without passing through the inside of the first link portion 6. Further, in the basic structure 2, as shown in FIG. 7B, in order to facilitate the bending motion and the extending motion of the second link portion 7 with respect to the first link portion 6, for example, the first hatched portion is hatched. It is preferable to weld and close the region V of the end edge portion 71 on the base end side of the second link portion 7 that does not overlap the supply port 26. In the basic structure 2, the supply port 27 for connecting the tube 18 for supplying the working fluid is not provided inside the first fluid pressure actuator 8, and the supply port 27 provided in the first link portion 6 is used. The first fluid pressure actuator 8 may be driven by supplying a working fluid. Further, the first link portion 6 and the second link portion 7 are prepared in advance so as to accommodate air therein, and the working fluid is supplied to the inside of the first fluid pressure actuator 8 without providing the supply port 27. You may comprise so that only the supply port 26 for connecting the tube 18 may be provided. The manufacturing method of the basic structure 2 is not limited to this, and the first link portion 6, the second link portion 7, and the first fluid pressure actuator are formed by sheet members made of different plastic materials. The basic structure 2 may be formed later by welding or bonding. Further, in the basic structure 2, an example in which only one first fluid pressure actuator 8 is formed on the first sheet member 19 is shown, but the link portion and the first fluid pressure actuator 8 are formed in the long side direction by the same method. It is also possible to manufacture so as to add continuously.

In the bending and extending structure 3 of the robot arm 1, such a basic structure 2 is applied so that the second link portion 7 is bent and extended with respect to the first link portion 6. As the bending extension structure 3, for example, as shown in FIG. 8, the structure for bending the second link portion 7 with respect to the first link portion 6 is similar to the basic structure 2. The same components as those of the basic structure 2 are designated by the same reference numerals, and detailed description thereof will be omitted.

In the bending and extending structure 3, as shown in FIG. 8, the working fluid can be housed in the second sheet member 20 as well as the first fluid pressure actuator 8 is formed in the first sheet member 19. A plurality of bag-shaped structures 91 are continuously formed to form a second fluid pressure actuator 9, and the second fluid pressure actuator 9 is configured to be arranged antagonistically with respect to the first fluid pressure actuator 9. There is. Accordingly, in the bending and extending structure 3, the working fluid is supplied to the second fluid pressure actuator 9 to the second link portion 7 that is bent by the first fluid pressure actuator 8, and the bag-shaped structure 91 turns into a fan shape. By expanding so as to move, it is possible to return the second link portion 7 to the original state by performing an extension operation, and also to perform a bending operation in a direction opposite to the bending operation by the first fluid pressure actuator 8. You can The robot arm 1 according to the present embodiment uses such a bending and extending structure 3 as shown in FIG. In the flexion extension structure 3, the second fluid pressure actuator 9 is formed by using the second sheet member 20, but it is not always necessary to form it by the second sheet member 20, and the second fluid may be formed by another plastic material. A structure similar to that of the pressure actuator 9 may be arranged so as to be competitive with the first fluid pressure actuator 8 of the basic structure 2.

FIG. 9 shows another example of the flexion and extension structure. In the flexion-extension structure 3a, as shown in FIG. 9, two basic structures 2, 2a are used so that the second link portion 70 can perform a bending operation and an extension operation with respect to the first link portion 60. ing. The bending and extending structure 3a is configured such that the second fluid pressure actuator 9a of the basic structure 2a is antagonistically arranged with respect to the first fluid pressure actuator 8 of the basic structure 2. Further, since the flexion extension structure 3a is configured by using the two basic structures 2 and 2a, the first link portion 60 includes the first link portion 6 of the basic structure 2 and the first link portion of the basic structure 2a. 6a is formed as a united body. Similarly, the second link portion 70 of the flexural extension structure 3a is formed as a combination of the second link portion 7 of the basic structure 2 and the second link portion 7a of the basic structure 2a. Although not shown in detail, in the flexion and extension structure 3a, the first link portion 6 of the basic structure 2 and the first link portion 6a of the basic structure 2a, and the second link portion 7 of the basic structure 2 and the basic structure 2a are included. The second link portion 7a has a first link portion 60 and a second link portion 70, for example, whose outer periphery is covered with a cylindrical sheet or the like made of a plastic material. In such a bending and extending structure 3a, the bag-shaped structure 91a is rotated like a fan by supplying the working fluid to the second fluid pressure actuator 9a with respect to the second link portion 70 that is bent by the first fluid pressure actuator 8. The second link part 70 can be returned to the original state by expanding so as to move, and at the same time, perform the bending motion in the direction opposite to the bending motion by the first fluid pressure actuator 8. You can

FIG. 10 shows still another example of the flexion and extension structure. As shown in FIG. 10, the bending and extending structure 3b is secondly antagonistically against the first fluid pressure actuator 8 of the basic structure 2 for bending the second link portion 7 with respect to the first link portion 6. The fluid pressure actuator 9b is arranged. In this flexion extension structure 3b, instead of providing the second fluid pressure actuator 9 in which a plurality of bag-shaped structures 91 capable of accommodating working fluid are continuously provided, as in the flexion extension structure 3 shown in FIG. The second fluid pressure actuator 9b, which is formed of a plastic material different from that of the first sheet member 19 and the second sheet member 20 and is formed in a bag shape, is provided so as to straddle the first link portion 6 and the second link portion 7. The fluid pressure actuator 8 is arranged in an antagonistic manner. As a result, in the bending and extending structure 3b, the second link portion 7 bent by the first fluid pressure actuator 8 is supplied with the working fluid to the second fluid pressure actuator 9b to be expanded, thereby causing the extension operation. The 2 link part 7 can be returned to the original state. Unlike the case where the second fluid pressure actuator 9 as in the bending and extending structure 3 shown in FIG. 8 is provided, such a bending and extending structure 3 does not have a plurality of bag-shaped structures 91. It is possible to reduce interference with an object when performing a bending operation to grip the object.

As shown in FIGS. 1 and 11, the movement direction changing structure 4 is formed of a plastic material into a bag-like structure capable of containing a fluid therein, and is located on the first link part 6 side of the second link part 7. The third link portion 10 provided on the other end edge portion 72 side opposite to the end edge portion 71 of the second link portion 7, and the third link portion 10 with respect to the second link portion 7, the bending operation direction of the second link portion 7. A third fluid pressure actuator 11 and a fourth fluid pressure actuator 12 which are arranged antagonistically between the second link portion 7 and the third link portion 10 in order to perform a bending motion and an extension motion in different directions from the above. doing. Note that, in FIG. 11, for convenience of description, the first fluid pressure actuator 8 and the second fluid pressure actuator 9 that are arranged antagonistically between the first link portion 6 and the second link portion 7 and the fluid are The tubes 18 and the like for supplying are omitted in the drawing.

In this movement direction changing structure 4, as shown in FIG. 11, the second link portion 7 is arranged in a direction different from the direction in which the one end edge portion 71 located on the first link portion 6 side is closed by welding. The edge portion 72 is closed by welding. Then, in the movement direction changing structure 4, the third link portion 10 is formed continuously from the end edge portion 72 of the second link portion 7, and the third link portion 10 is formed between the second link portion 7 and the third link portion 10. The three-fluid pressure actuator 11 and the fourth fluid pressure actuator 12 are arranged so as to be antagonistic to each other. The robot arm 1 is provided with such a movement direction changing structure 4, so that the working fluid is supplied to the third fluid pressure actuator 11 or the fourth fluid pressure actuator 12 via the tube 18 (not shown), and thus the third link is formed. The part 10 can be bent and extended in a direction different from the bending direction of the second link part 7.

Hereinafter, an example of a method of manufacturing the movement direction changing structure 4 will be described with reference to FIG. In the method of manufacturing the movement direction changing structure 4, for example, as shown in FIGS. 12A and 12B, when the second link portion 7 is formed, one of the ones positioned on the first link portion 6 side is formed. The other edge 72 is closed by welding in a direction different from the direction in which the edge 71 is closed by welding.

Next, in the method of manufacturing the movement direction changing structure 4, as shown in FIG. 12B, in order to form the third link portion 10, the end edge portion 101 on the front end side of the third link portion 10 is moved to the second side. The link portion 7 is closed in the same direction as the edge portion 72. Then, between the second link portion 7 and the third link portion 10, a plurality of bag-shaped structures 111 capable of accommodating a working fluid therein are continuously provided by a plastic material. The movement direction changing structure 4 is manufactured by arranging the fourth fluid pressure actuators 12 in which a plurality of bag-shaped structures 121 capable of accommodating a working fluid are continuously provided inside. The manufacturing method of the movement direction changing structure 4 is not limited to this, and by using the same manufacturing method as the basic structure 2, the third link portion 10, the third fluid pressure actuator 11 and the fourth fluid The pressure actuator 12 may be integrally formed. Further, the movement direction changing structure 4 shows an example in which the third link portion 10 is bent and extended in a direction different from the bending movement direction of the second link portion 7 by 90 degrees, but the end of the second link portion 7 is shown. It is also possible to appropriately set the bending operation direction of the third link portion 10 by adjusting the closing direction of the edge portion 72. In the movement direction changing structure 4, instead of either the third fluid pressure actuator 11 or the fourth fluid pressure actuator 12, the plastic material used in the bending and extending structure 3b of FIG. 10 is formed into one bag shape. The second fluid pressure actuator 9b may be arranged.

As shown in FIGS. 1 and 13, the swivel structure 5 is formed of a plastic material into a bag-shaped structure capable of containing a fluid therein, and is separated from the first link portion 6 by a predetermined distance and parallel to the first link portion 6. A base link portion 13 having a lower end fixed to the base 30; a connecting portion 14 formed of a plastic material in a sheet shape to connect the first link portion 6 and the base link portion 13; In order to pivot the link part 6 around the base link part 13, the connection part 14 has a fifth fluid pressure actuator 15 and a sixth fluid pressure actuator 16 which are arranged to be antagonistic to each other.

The fifth fluid pressure actuator 15 is provided with a plurality of bag-shaped structures 151 that can contain the working fluid therein, and the bag-shaped structures 151 each allow the working fluid to flow therein. It is formed in communication. Similarly to the fifth fluid pressure actuator 15, the sixth fluid pressure actuator 16 is also provided with a plurality of bag-shaped structures 161 that can contain a working fluid therein, and each bag-shaped structure 161 is internally formed. The working fluid is formed so as to communicate therewith.

Since the robot arm 1 is provided with such a turning structure 5, for example, by supplying the working fluid only to the fifth fluid pressure actuator 15 and expanding the bag-shaped structure 151 so as to rotate in a fan shape, The first link portion 6 can be swung counterclockwise in FIG. When the first link portion 6 is swung in the clockwise direction in FIG. 13, the working fluid is supplied only to the sixth fluid pressure actuator 16 so that the bag-shaped structure 161 turns in a fan shape. Just inflate it. Such a swivel structure 5 is configured by, for example, separately manufacturing the base link portion 13, the connection portion 14, the fifth fluid pressure actuator 15, and the sixth fluid pressure actuator 16 and then welding or bonding them. You can do it.

On the other hand, as another example of a method of manufacturing the turning structure 5, the turning structure 5 can be manufactured by using two sheet members 28 made of a plastic material having a shape as shown in FIG. 14A. Is. The sheet member 28 includes a base link part manufacturing region 281 for forming a part of the base link part 13 of the swivel structure 5, connection part manufacturing regions 282a, 282b for forming a part of the connection part 14, It has a fluid pressure actuator production region 283 for forming a fluid pressure actuator and a first link portion production region 284 for forming a part of the first link portion 6.

In the manufacturing method of the swivel structure 5, for example, using such a sheet member 28, as shown in FIG. 14B, a method similar to the manufacturing method of the first fluid pressure actuator 8 of the basic structure 2 is used. The fifth fluid pressure actuator 15 is formed in the actuator production region 283 of the sheet member 28, and the sixth fluid pressure actuator 16 is formed in the actuator production region 283 of the other sheet member 28. Then, in the manufacturing method of the swivel structure 5, the two sheet members 28 are provided outside the base link part manufacturing region 281 so that the fifth fluid pressure actuator 15 and the sixth fluid pressure actuator 16 are arranged antagonistically with each other. The frames are welded to each other to form the base link portion 13, the connection portion production regions 282a and 282b are welded to form a sheet-like connection portion 14, and the outer frames of the first link portion production region 284 are welded to each other. The swivel structure 5 is manufactured by forming the first link portion 6. In the sheet member 28 of FIG. 14( a ), the upper part of the first link part manufacturing region 284 is omitted in order to explain an example of the manufacturing method of the turning structure 5, but the second link part is shown. 7 and a region for forming the first fluid pressure actuator 8 and the like.

As described above, the robot arm 1 according to the present invention can be entirely configured with only a simple soft structure without providing a rigid body structure, so that it is possible to improve the safety when it comes into contact with a person. It is possible to reduce the manufacturing cost.

It should be noted that the embodiment of the present invention is not limited to the above-described embodiment, and can be appropriately modified without departing from the scope of the idea of the present invention.

1 Robot arm 6, 60 1st link part 7, 70 2nd link part 8 1st fluid pressure actuator 81 Bag-shaped structure 9, 9a, 9b 2nd fluid pressure actuator 91 Bag-shaped structure 10 3rd link part 11 3 Fluid pressure actuator 111 Bag-shaped structure 12 4th fluid pressure actuator 121 Bag-shaped structure 13 Base link part 14 Connection part 15 5th fluid pressure actuator 151 Bag-shaped structure 16 6th fluid pressure actuator 161 Bag-shaped structure 19 1st sheet member 20 2nd sheet member 21 Crease line 22 Mountain part 23 Valley part 24a, 24b A pair of inclined parts 25a, 25b Side S Actuator production area

Claims (2)

In the actuator manufacturing region located in the middle of the long side direction of the rectangular first sheet member made of a plastic material, a plurality of mountain fold valley fold lines are formed in accordance with a fold line parallel to the short side direction, which is provided by being separated by a predetermined distance in the long side direction. A step of alternately forming a mountain portion and a valley portion by repeatedly performing,
A pair of slanted portions forming the mountain portion are welded or adhered to each other on opposite sides on both sides in the short side direction, and a bag-like structure capable of containing a working fluid therein is continuously formed in the long side direction. A plurality of bag-shaped structures capable of circulating the working fluid therein by forming a plurality of the first fluid pressure actuators;
By welding or adhering the outer frame of the rectangular second sheet member made of a plastic material and the outer frame of the first sheet member excluding the actuator manufacturing region, fluid is internally provided on both sides of the first fluid pressure actuator. And a step of producing a first link portion and a second link portion formed in a bag-like structure capable of accommodating the robot arm. The robot arm according to claim 1 , wherein a ratio of a length of the fold line parallel to the short side direction and a length of the predetermined interval at which the fold line is provided is 3:1 to 3:2. Manufacturing method.

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