JP6782892B2 - 3D shape expression device - Google Patents

Description

The present invention relates to a device for expressing a three-dimensional shape. More specifically, the present invention relates to a three-dimensional shape expression device that expresses a three-dimensional surface shape by displace a plurality of rods arranged in a grid pattern and supported so as to be displaceable in the length direction.

Conventionally, as a device for expressing a three-dimensional shape by raising and lowering a plurality of rods, a device of a method of forming a desired shape pattern by driving the rods with individual drive devices is known. For example, in Patent Document 1 (Japanese Unexamined Patent Publication No. 62-278587), linear displacement display devices having displacement bodies supported so as to be movable in one direction are arranged in a grid pattern, and the displacement bodies are arranged between the displacement bodies. A three-dimensional three-dimensional generator constructed by installing a surface material made of a material capable of following a movement is disclosed. Further, Patent Document 2 (Japanese Unexamined Patent Publication No. 2006-243307) describes a highly elastic sheet, a sheet undulating mechanism portion each equipped with a large number of telescopic rods that separately perform an expansion / contraction operation with an arbitrary stroke amount. A cubic curved surface representation device including at least a control mechanism unit capable of numerically controlling the expansion / contraction amount of each expansion / contraction rod of the seat undulation mechanism unit is disclosed.

As another type of device, after lifting the entire control rod, a part of the control rod is dropped to the bottom, and this is repeated to form a desired shape pattern, which is transferred to the memory rod. A device that expresses a three-dimensional shape is known. For example, in Patent Document 3 (Japanese Unexamined Patent Publication No. 2007-004529), a sheet having flexibility and elasticity and a sheet arranged in a matrix under the sheet for forming a desired shape on the sheet. Using a memory rod, a control rod arranged in a matrix below the memory rod and movable in a direction approaching and away from the memory rod based on an input control signal, and data from a computer. Disclosed is a shape-renewable three-dimensional surface creating device including means for controlling the position of each rod of the control rod.

As yet another type of device, there is known a device of a method in which a row of lifter pins is driven and the modeling pins are lifted for each row by the lifter pins to form a desired shape pattern. For example, in Patent Document 4 (Japanese Unexamined Patent Publication No. 2008-262124), a plurality of first three-dimensional shape display devices that display a three-dimensional shape based on predetermined data and are two-dimensionally arranged so as to be vertically movable. Correspondence is based on the modeling pin, a plurality of second modeling pins movably arranged vertically corresponding to each of the first modeling pins, the first data, and the second data different from the first data. A three-dimensional shape display device including the plurality of first modeling pins and a positioning mechanism for positioning the plurality of second modeling pins, respectively, is disclosed.

Japanese Unexamined Patent Publication No. 62-278587 JP-A-2006-243307 JP-A-2007-004529 Japanese Unexamined Patent Publication No. 2008-262124

In a device provided with a drive device for each rod as shown in Patent Document 1 and Patent Document 2, for example, as shown in FIG. 1 of Patent Document 1, the same number of drive devices as the number of rods is required. Therefore, there is a problem that the size of the entire device is large, the weight is heavy, and the distance between the rods cannot be reduced.

In the device of the method of releasing the lock and dropping it to the bottom when lowering the rod as shown in Patent Document 3, it is not possible to raise or lower a specific rod a little, so it is three-dimensional. Even if you want to change the shape slightly, you have to recreate it from the beginning, and you cannot change it in real time. In addition, the height difference that can be expressed cannot exceed the movable length of the elevator. In addition, orthogonal fluid tubes are used for the lock, which locks the entire vertical or horizontal row, so the lock cannot be released for any rod combination, which also takes time to update. This is a factor. In addition, gravity is used when lowering the unlocked rod, so the device cannot be installed sideways.

In a device of a type that drives rods in a row as shown in Patent Document 4, there is a problem that real-time performance is lacking because the entire rods cannot be moved all at once.

As described above, the conventional three-dimensional shape expression device is a large-scale one or lacks real-time performance. Therefore, the present invention provides a three-dimensional shape expression device that is compact and lightweight and has excellent real-time performance.

The present invention provides, in one aspect, a three-dimensional shape expressing device that expresses a three-dimensional surface shape. The three-dimensional shape expression device includes a plurality of rods, each of which can be displaced in the length direction and whose tip expresses a three-dimensional shape. Further, the three-dimensional shape expression device includes a support member composed of an immovable support member provided at a fixed position and one or a plurality of movable support members each of which can reciprocate in the length direction of the rod. Be prepared. Further, the three-dimensional shape expression device includes a movable support member driving unit that moves the movable support member. Each of the support members is provided with a fixing mechanism capable of fixing the rod to the support member at a position corresponding to each of the rods. When the movable support member is moving, each of the rods is fixed to the movable support member by the fixing mechanism corresponding to the rod provided in one of the movable support members, and the movement of the movable support member is accompanied by the movement of the movable support member. It is configured to be displaced or fixed to the immovable support member by the fixing mechanism corresponding to the rod provided in the immovable support member so as to be stationary.

In one embodiment, the fixing mechanism included in each of the support members may switch between a fixed state in which the corresponding rod is fixed to the support member and an open state in which the corresponding rod is released from the support member. It is a switching type fixing mechanism that can be used.

In one embodiment, the fixing mechanism provided by any one of the support members is a stationary fixing mechanism that always exerts a constant resistance force against the corresponding rod, and the support members other than the one of the support members are The fixing mechanism provided is a switching type fixing mechanism capable of switching between a fixed state in which the corresponding rod is fixed to the support member with a force stronger than the resistance force and a release state in which the corresponding rod is released from the support member. When any of the switching type fixing mechanisms corresponding to each of the rods is in the fixed state, the rod is fixed to the support member provided with the switching type fixing mechanism in the fixed state and corresponds to each of the rods. When all of the switching type fixing mechanisms are in the open state, the rod is configured to be fixed to a support member including a stationary type fixing mechanism. In one embodiment, the support member provided with the stationary fixing mechanism is an immovable support member.

In one embodiment, the stationary fixing mechanism fixes one end of the torsion spring to the support member and abuts the other end on the rod to generate a frictional force against the sliding rod, thereby producing a constant resistance. It is configured to have power. Further, in one embodiment, the switching type fixing mechanism fixes the rod to the support member by gripping the rod and releases the rod from the support member by releasing the grip of the rod. It is a gripping mechanism that can be used.

In one embodiment, the three-dimensional shape expression device includes only one movable support member. The fixing mechanism fixes the rod to the movable support member when the movable support member is moving in the same direction as the rod to be displaced, and releases the rod from the movable support member at other times. This causes the rod to be displaced to a desired position.

In one embodiment, the three-dimensional shape representation device comprises two movable support members configured to move in opposite directions at any time. The fixing mechanism displaces the rod in a desired position by fixing the rod in one movable support member that is moving in the same direction as the rod should be displaced and releasing the rod in the other movable support member. Let me.

In one embodiment, the three-dimensional shape expression device includes a plurality of the movable support members having different moving speeds.

In one embodiment, each of the movable support members is configured such that the movement distance of one reciprocating movement is a power of 2 of the unit length.

In one embodiment, each of the movable support members is configured to repeatedly move and stop. Switching between the fixed state and the released state of the fixing mechanism included in the movable support member is configured to be performed on the rod in a stationary state fixed to the immovable support member when the movable support member is stopped. Will be done.

In one embodiment, the three-dimensional shape representation device includes at least three movable support members whose reciprocating movement phases are different from each other. Switching between the fixed state and the released state of the fixing mechanism provided in each of the movable support members is a state in which the movable support member is fixed to another movable support member moving in the same direction when the movable support member is moving. It is configured to be performed on the rod. Further, in one embodiment, the three-dimensional shape expression device includes three movable support members whose reciprocating movement phases are different from each other by one-third cycle.

In one embodiment, the three-dimensional shape expression device further includes a control unit that controls the displacement of the rod so that the tip end portion of the rod expresses a three-dimensional shape according to the shape data based on the given shape data. ..

In one embodiment, the rods are arranged in a grid pattern.

In one embodiment, each of the support members is plate-shaped, has a hole through which the rod penetrates, and is provided parallel to each other so that the direction of the normal line coincides with the length direction of the rod.

In one embodiment, the three-dimensional shape expressing device further includes a sheet that deforms following the tip of the rod. In one embodiment, the three-dimensional shape representation device further comprises a projection unit that projects an image onto the sheet.

In one embodiment, the three-dimensional shape representation device further comprises a control mechanism, including a main microprocessor and a plurality of individual microprocessors, each of which controls a plurality of switchable fixation mechanisms. Each of the individual microprocessors continuously outputs a number of signals corresponding to the number of switching type fixing mechanisms controlled by the individual microprocessor based on a command from the main microprocessor, thereby performing switching type fixing. Control each of the mechanisms in real time.

In the three-dimensional shape expression device according to the present invention, since the rod is fixed by the fixing mechanism provided on the movable support member and is displaced as the movable support member moves, it is not necessary to provide a drive device for each rod. Therefore, a significant reduction in size and weight is achieved as compared with a device provided with a drive device for each rod as shown in Patent Document 1 and Patent Document 2. Further, unlike the device shown in Patent Document 3, the three-dimensional shape expression device according to the present invention can displace the rod over a plurality of reciprocations of the movable support member, so that the height difference that can be expressed is movable support. It is not limited by the length of the range of motion of the member. Therefore, it is possible to design the movable support member to shorten the range of motion without changing the ability of three-dimensional expression, and this point is also excellent in miniaturization.

Further, in the three-dimensional shape expression device according to the present invention, all the rods can be displaced at the same time by using the movable support member, and only the rods selected arbitrarily can be displaced at the same time. Compared with a device driven in each row as shown in Document 4, it is possible to express a desired shape overwhelmingly quickly, which is superior to real-time performance. In particular, in the embodiment including a plurality of movable support members, forward / backward / stationary can be arbitrarily selected for each rod and simultaneously performed, or the rods are continuously advanced and retracted beyond the range of motion length of the movable support members. Since it is possible to make it more excellent in real time.

It is a conceptual diagram of the whole structure of the three-dimensional shape expression apparatus by one Embodiment of this invention. It is a schematic diagram of the three-dimensional shape expression apparatus provided with only one movable support member. It is a process drawing of the method of displacing a rod using a movable support member. It is a timing diagram of the movement of the movable support member of the three-dimensional shape expression apparatus provided with two movable support members. It is a timing diagram of the movement of the movable support member of the three-dimensional shape expression apparatus including three movable support members. It is a process drawing of the method of switching the support member to which a rod is fixed. It is a timing diagram of the movement of the movable support member of the three-dimensional shape expression apparatus provided with a plurality of movable support members. It is a side view which shows the specific example of the structure of the movable support member drive part. It is a conceptual diagram which shows the structure of a gripping mechanism. It is a process drawing of the method of switching between the fixed state and the released state of the gripping mechanism.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. The present invention is not limited to these embodiments. In the following description, assuming that the three-dimensional shape expression device is installed so that the tip side of the rod faces directly upward, the length direction of the rod is expressed as the vertical direction, and the direction of the tip tip of the rod in the vertical direction is expressed. Expressed as upward. However, the three-dimensional shape expression device does not necessarily have to be installed so that the tip side of the rod faces directly upward.

FIG. 1 is a conceptual diagram of the overall structure of a three-dimensional shape expression device 1 (hereinafter, device 1) according to an embodiment of the present invention.

The device 1 includes a plurality of rods 2 extending in the vertical direction for expressing a three-dimensional shape at the tip portion. The rods 2 are preferably arranged regularly in a grid pattern, and particularly preferably arranged so as to form a quadrangular lattice, but the rods 2 are not limited to this and may be arranged so as to form, for example, a triangular lattice.

[Movable support member and immovable support member]
The device 1 includes a plurality of support members. One of them is an immovable support member 3 for supporting the rod 2 while keeping the position constant, and is provided at a fixed position in the device 1. The support members other than the immovable support member 3 are movable support members 4 for supporting the rod 2 while being displaced, and each of them can reciprocate in the vertical direction.

Each of the support members in the present embodiment has a substantially plate shape and has holes for passing the rod 2. Each of the holes is provided with a fixing mechanism 5, and the corresponding rod 2 can be fixed to the support member. Details of the fixing mechanism 5 will be described later. As a result, the rod 2 is maintained in position when it is fixed to the immovable support member 3, and is displaced as the movable support member 4 moves when it is fixed to the movable support member 4. From the viewpoint of miniaturization of the device 1, the support member preferably has a substantially plate shape, but even if it is not the case, any member that can support a plurality of rods 2 may be used.

[Number of movable support members and movement style]
In the device 1, in the initial state, all the rods 2 are displaced to the lowermost portion, and at this time, the tip portions of the rods 2 are aligned at a constant height to express a planar shape. When the three-dimensional shape represented by the tip portion 21 of the rod 2 is changed, the movable support member driving unit 6 is operated, whereby one or a plurality of movable support members 4 included in the device 1 are moved in the length direction of the rod 2. Move back and forth to. In that state, the fixing mechanism 5 included in the movable support member 4 is controlled to fix or release the rod 2 to the movable support member 4 over time, thereby displace the rod 2 to a desired position. When the rod 2 is fixed to the movable support member 4, the fixing mechanism 5 provided on the movable support member 4 and corresponding to the rod 2 is fixed. When the rod is released from the movable support member 4, the fixing mechanism 5 is released. When the rod is fixed or released from the immovable support member 3, the fixing mechanism 5 provided on the immovable support member 3 and corresponding to the rod 2 is similarly controlled. Various embodiments can be considered for the number of movable support members 4 and the mode of movement. Some of those embodiments will be described below.

As shown in FIG. 2, in the embodiment A1 which is an embodiment of the present invention, the device 1 includes only one movable support member 4. The movable support member 4 is configured to reciprocate up and down within its movable range. When the rod 2 is displaced upward, the rod 2 is released from the immovable support member 3 and fixed to the movable support member 4 while the movable support member 4 is moving upward. As a result, the rod 2 is displaced upward with the movable support member 4 moving upward. Similarly, when the rod is displaced downward, the rod is released from the immovable support member 3 and fixed to the movable support member 4 while the movable support member 4 is moving downward. When the rod is not displaced, the rod 2 is released from the movable support member 4 and fixed to the immovable support member 3 while the movable support member 4 is moving in any direction. At this time, since the immovable support member 3 is always fixed to the device 1, the rod 2 is stationary.

In the A1 embodiment, the support member to which the rod 2 is fixed is switched by temporarily stopping the movable support member 4 and switching between the fixed state and the released state of the fixing mechanism 5 during that time. More specifically, when the rod fixed to the immovable support member 3 and released from the movable support member 4 is released from the immovable support member 3 and fixed to the movable support member 4, the movable support member 4 is temporarily stopped. In this state, first, the rod 2 is fixed to the movable support member 4. As a result, the rod 2 is temporarily fixed to both the immovable support member 3 and the movable support member 4. Next, the rod is released from the immovable support member 3. After that, the movement of the movable support member 4 is restarted. In this way, there is no moment when the rod 2 is released from all the support members.

The vertical movement of the movable support member 4 is driven by the movable support member driving unit 6, which will be described later. The movable support member drive unit 6 includes, for example, a stepping motor 602, and can raise or lower the movable support member by an arbitrary distance.

FIG. 3 shows a specific example of a control method of the device 1 for displacing each of the rods 2 in the initial state to a desired position to reach the final state in which the target pattern is formed in the embodiment A1. This will be described with reference to a schematic diagram. In this embodiment, only two rods are shown for the sake of brevity. As shown in FIG. 3A, in the initial state, the two rods 2 (a) and 2 (b) are located at the lowest position. From this state, as shown in FIG. 3D, the left rod 2 (a) is displaced 1 cm upward from the initial state, and the right rod 202 is displaced 2 cm upward from the initial state to reach the final state. ..

First, as step 1, as shown in FIG. 3B, the rods 2 (a) and 2 (b) are switched to the fixed state by switching the fixing mechanisms 5 (4a) and 5 (4b) provided in the movable support member 4. ) Is fixed to the movable support member 4, and the rods 2 (a) and 2 (b) are released from the immovable support member 3 by switching the fixing mechanisms 5 (3a) and 5 (3b) to the released state. In this state, the movable support member 4 is raised by 1 cm. Then, the rods 2 (a) and 2 (b) rise as the movable support member 4 rises, and are displaced to a position 1 cm upward from the lowest position.

Next, as step 2, as shown in FIG. 3C, the rod 2 (a) is fixed to the immovable support member 3 by switching the fixing mechanism 5 (3a) to the fixed state, and then the fixing mechanism 5 The rod 2 (a) is released from the movable support member 4 by switching the (4a) to the released state. In this state, the movable support member 4 is further raised by 1 cm. Then, the rod 2 (b) further rises as the movable support member 4 rises, and is displaced to a position of 2 cm from the bottom to the top, while the rod 2 (a) moves 1 cm from the bottom to the top. It is stationary at the position of. As a result, the final state shown in FIG. 3D can be reached.

A step of lowering the movable support member 4 while restraining the rods 2 (a) and 2 (b) may be added between the step 1 and the step 2. Specifically, after step 1, the rods 2 (a) and 2 (b) are fixed to the immovable support member 3 by switching the fixing mechanisms 5 (3a) and 5 (3b) to the fixed state, and the fixing mechanism 5 The rods 2 (a) and 2 (b) are released from the movable support member 4 by switching the (4a) and 5 (4b) to the released state. In this state, the movable support member 4 is lowered to the initial position. Then, the movable support member 4 can be lowered while the rods 2 (a) and 2 (b) are stationary at a position 1 cm above the bottom. After that, step 2 can be performed to reach the final state. In this way, by moving the movable support member 4 while stopping the rod 2 on the way, the rod 2 is displaced and the three-dimensional shape is expressed without being restricted by the length of the range of motion of the movable support member 4. can do.

Another example of the control method of the device 1 in the embodiment A1 will be described. In this example, the reciprocating distance of the movement of the movable support member 4 is controlled to be a power of 2 (1 time, 2 times, 4 times, 8 times, ...) With respect to an appropriately set unit length. To. The upper limit of the magnification is also appropriately set, for example, up to 32 times. A more specific control method is as follows. First, the movable support member 4 is positioned at the lower end of the movable range. After that, the unit length is increased by 1 times and then lowered to the lower end. Next, the unit length is raised by twice and then lowered to the lower end again. This is similarly repeated up to the distance of the upper limit of the magnification. During that time, by controlling the state of each fixing mechanism 5 in a timely manner, each rod 2 can be raised by an arbitrary multiple of the unit length. For example, the rod 2 which is desired to be raised by 10 times the unit length is fixed to the movable support member 4 when the movable support member 4 is raised twice or 8 times the unit length, and is raised at other times. It may be fixed to the immovable support member 3 and kept stationary. More generally, when the rod 2 should be fixed to the movable support member 4 and raised is naturally determined by expressing in binary how many times the unit length of the rod 2 is desired to be raised. By this control method, when the upper limit of the magnification is set to 32 times, the rod 2 can be raised up to 63 (= 1 + 2 + 4 + 8 + 16 + 32) times the unit length. If it is desired to raise the rod 2 beyond 63 times the unit length, the movable support member 4 may be moved by a distance of 32 times the unit length as many times as necessary. Further, if the unit length is reduced without changing the distance that is the upper limit of the magnification, the height resolution can be improved with almost no sacrifice in the number of movements. In the above description, the movable support member 4 is moved in order from the smallest magnification, but the present invention is not limited to this, and any order may be used.

In another embodiment (A2), the device 1 comprises two movable support members 4. Each movable support member 4 reciprocates up and down in its movable range, but one movable support member 41 and the other movable support member 42 are configured to move in opposite directions at any time. FIG. 4 is a timing diagram of the movement of the movable support members 41 and 42 in the present embodiment, in which the horizontal axis represents time and the vertical axis represents the position of the movable support member. In the present embodiment, when the rod 2 is displaced upward, the rod 2 is fixed to one of the two movable support members 41 and 42 that is moving upward, and is released from the other and the immovable support member 3. As a result, the rod 2 is displaced upward with the movable support member 4 moving upward. Similarly, when the rod 2 is displaced downward, the rod 2 is fixed to one of the two movable support members 4 that is moving downward, and is released from the other and the immovable support member 3. When the rod 2 is not displaced, the rod is released from both movable support members 4 and fixed to the immovable support member 3. At this time, since the immovable support member 3 is always fixed to the device 1, the rod is stationary. The switching of the support member to which the rod 2 is fixed is performed while the movable support member 4 is temporarily stopped, as in the case of the embodiment A1. According to the present embodiment, when the movable support member 4 is moving, either of the movable support members 4 is always moving in a direction desired for each rod 2, so that the movable support member 4 is moved in the opposite direction as in the embodiment A1. It is not necessary to wait while moving, and therefore, the desired shape can be expressed in about half the time as compared with the embodiment A1.

In another embodiment (A3), the device 1 includes three movable support members 4. The three movable support members 4 are configured so that the phases of the reciprocating movements are different from each other by one-third cycle (that is, the timing of the reciprocating movements is shifted by one-third of the time required for one reciprocation). .. FIG. 5 is a timing diagram of the movement of the movable support members 41, 42, and 43 in the present embodiment, in which the horizontal axis represents time and the vertical axis represents the position of the movable support member. T on the horizontal axis represents one cycle of reciprocating movement. In this example, the movable support member 42 moves with a delay of one-third cycle from the movable support member 41, and the movable support member 43 moves with a delay of one-third cycle from the movable support member 42. .. The movable support member 41 moves with a delay of one-third cycle from the movable support member 43. In the present embodiment, the support member to which the rod 2 is fixed can be switched during the ascending and descending of the rod 2. For example, as shown in FIG. 6A, the rod 2 is fixed to the rising movable support member 41 and is raised. Since the movable support member 42 moves with a delay of one-third cycle from the movable support member 41, it starts to rise while the movable support member 41 is rising. That is, both the movable support member 41 and 42 are in a raised state from the time when the movable support member 42 starts to rise until the movable support member 41 finishes ascending. In this state, first, as shown in FIG. 6 (B), by fixing the fixing mechanism 5 (42), the rod 2 is temporarily fixed to both the movable support members 41 and 42 and rises. It will be in a state of being. Next, as shown in FIG. 6C, by releasing the fixing mechanism 5 (41), the rod 2 is released from the movable support member 41, but is fixed to the movable support member 42. , Continue to rise. In this way, by switching the support member to which the rod 2 is fixed while the rod is being raised, the rod 2 can be continuously raised without being stopped in the middle. The same applies when the rod 2 is lowered.

In another embodiment (A4), the device 1 includes a plurality of movable support members 4, and each movable support member 4 moves in the same direction at different speeds at any time. FIG. 7 is a timing diagram of the movement of the movable support members 41 to 44 in the device 1 including four movable support members 41 to 44 as an example. The horizontal axis represents time and the vertical axis represents the position of the movable support members. Represent. In this example, the movable support members 41 to 44 move at one, two, three, and four times the unit speed, respectively. When the rod 2 is displaced, the rod 2 is fixed to any one of the selected movable support members 4, and the rod 2 is displaced as the movable support member 4 moves. The specific control method for displacing the rod 2 with the movement of the movable support member 4 is the same as the control method in the above-described embodiment A1. For the rod 2 having a small distance to be displaced, the movable support member 4 having a slow moving speed is selected, and conversely, for the rod 2 having a large distance to be displaced, the movable support member 4 having a high moving speed is selected. By doing so, it is possible to bring displacements of various distances to each rod 2 with one movement, and as a result, the time required to express the desired shape can be shortened.

[Movable support member drive unit]
As shown in FIG. 8, the movable support member driving unit 6 included in the device 1 as an embodiment includes the following mechanism. Female screw-shaped holes 401 are provided at the four corners of the movable support member 4, and four screw-shaped columns 601 provided in parallel with the rod 2 penetrate through the movable support members 4 so as to be screwed into each. The movable support member 4 is supported by the support column 601 and moves up and down by rotating the support column 601 synchronously. The columns 601 are connected by a single belt 603 at the lower end. By driving the belt 603 with the stepping motor 602, the column 601 rotates synchronously. In the embodiment shown in FIG. 8, since the device 1 includes two movable support members 4 and four columns 601 are provided for each movable support member 4, the device 1 as a whole has eight columns. It is provided with struts 601 (two are shown overlapping in the depth direction of the figure). In another embodiment relating to the movable support member drive unit 6, some of the columns 601 are screwed into the holes 401 as male-threaded columns to support the movable support member 4, and the other columns 601 are guides. The movable support member 4 may be configured to be able to move up and down as a simple rod-shaped support for use. In this case, it is sufficient to configure the stepping motor 602 to rotate only the male screw-shaped support. In one embodiment, it is desirable that the number of columns 601 included in the device 1 is four for each movable support member 4, but the number of columns 601 is not limited to this, and an appropriate number of columns 601 are provided according to the scale of the device and the like. Just design it.

[Fixing mechanism]
The fixing mechanism 5 provided in the support member will be described.

In one embodiment (Embodiment B1) relating to the fixing mechanism 5, the fixing mechanism 5 can switch between a fixed state in which the rod 2 is fixed to the support member and an open state in which the rod 2 is released from the support member. , A switching type fixing mechanism. More specifically, the rod 2 is fixed to the support member by gripping the rod 2 and the rod 2 is released from the support member by releasing the grip of the rod 2. It is a gripping mechanism that can be used. As shown in FIG. 9, the gripping mechanism includes an arm 520 shared by a plurality of gripping mechanisms, and a ratchet mechanism 510 composed of a solenoid 511 and a torsion spring 512 for each gripping mechanism.

The torsion spring 512 is arranged so as to penetrate the rod 2 into the loop 5121, and one end 5122 is fixed to the support member. When the torsion spring 512 is tightened, the inner diameter of the loop 5121 is narrowed, and the rod 2 is fixed to the support member by tightening and gripping the outer peripheral surface of the rod 2. On the contrary, when the torsion spring 512 is loosened, the inner diameter of the loop 5121 is widened and a gap is formed between the loop 5121 and the rod 2 to release the rod 2 from the support member.

When the solenoid 511 is not energized, the plunger 5111 protrudes, and as shown in FIG. 10E, the plunger 5111 comes into contact with the other end 5123 of the torsion spring, so that the torsion spring is tightened. Prevents 512 from loosening. When the solenoid 511 is energized, the plunger 5111 retracts and the other end 5123 of the torsion spring can pass by the solenoid 511 as shown in FIGS. 10B and 10C.

As shown in FIG. 9, one end of the arm 520 is connected to the rotation mechanism 522 via the crank mechanism 521, and the arm 520 reciprocates in the left-right direction in FIG. The tip of the other end 5123 of the torsion spring is engaged with the hole 523 provided in the arm 520, and when the arm 520 moves to the right, the arm 520 pulls the other end 5123 of the torsion spring to the right. Tighten the torsion spring 512 by

A method of switching between the open state and the fixed state of the gripping mechanism will be described with reference to FIG. First, a method of switching the gripping mechanism from the released state to the fixed state will be described. FIG. 10A shows a gripping mechanism in the released state. The arm 520 has moved to the left in FIG. 10, and the plunger 5111 of the solenoid 511 protrudes. First, as shown in FIG. 10B, the solenoid 511 is energized to retract the plunger 5111 (the plunger 5111 shown by the broken line in FIGS. 10B and 10C is in the retracted state. Represents). Next, the arm 520 is moved to the right as shown in FIG. 10 (C). Then, the other end 5123 of the torsion spring is pulled by the arm 520 and exceeds the position of the plunger 5111. In this state, as shown in FIG. 10D, the energization of the solenoid 511 is stopped and the plunger 5111 is projected. Finally, the arm 520 is returned to the left as shown in FIG. 10 (E). Then, the other end 5123 of the torsion spring comes into contact with the protruding plunger 5111, so that it does not return to the original position. At this time, the inner diameter of the loop 5121 of the torsion spring is narrowed, and the rod 2 (omitted in FIG. 10) is tightened and fixed. Through the above steps, the gripping mechanism can be switched from the released state to the fixed state.

On the contrary, a method of switching the gripping mechanism from the fixed state to the released state will be described. This may be done by tracing the states of FIGS. 10 (A) to 10 (E) in the reverse direction. FIG. 10 (E) shows a gripping mechanism in a fixed state. The arm 520 has moved to the left in the figure, and the plunger 5111 of the solenoid 511 protrudes. First, the arm 520 is moved to the right as shown in FIG. 10 (D). Then, the other end 5123 of the torsion spring is pulled by the arm 520 and separated from the plunger 5111, so that the plunger 5111 can move. In this state, as shown in FIG. 10C, the solenoid 511 is energized to retract the plunger 5111. Next, the arm 520 is returned to the left side as shown in FIG. 10 (B). Then, the other end 5123 of the torsion spring exceeds the position of the plunger 5111 and returns to the released position. At this time, the inner diameter of the loop 5121 of the torsion spring is expanded, a gap is formed between the loop 5121 and the rod 2, and the rod 2 is released. Finally, as shown in FIG. 9A, the energization of the solenoid 511 is stopped and the plunger 5111 is projected. By the above steps, the gripping mechanism can be switched from the fixed state to the released state.

In another embodiment (Embodiment B2) relating to the fixing mechanism 5, the fixing mechanism 5 included in one of the support members is a stationary fixing mechanism, and the fixing mechanism 5 included in the other support members is the embodiment B1. It is a switching type fixing mechanism similar to the above. The stationary fixing mechanism is a mechanism in which the switching type fixing mechanism always tries to fix the rod 2 to the support member with a constant resistance force weaker than the force for fixing the rod 2. In a state where the rod 2 is not fixed to another support member by the switching type fixing mechanism, the rod 2 is fixed to the support member provided with the stationary type fixing mechanism by the resistance force of the stationary type fixing mechanism. On the other hand, in a state where the rod 2 is fixed to another support member by the switching type fixing mechanism, the rod 2 is relative to the support member provided with the stationary type fixing mechanism against the resistance force of the stationary type fixing mechanism. Will move.

More specifically, the stationary type fixing mechanism is constant by fixing one end of the torsion spring to the support member and bringing the other end into contact with the rod 2 to generate a frictional force with respect to the sliding rod 2. It is configured to have the resistance of.

In the second embodiment, it is preferable that the immovable support member 3 is provided with a stationary fixing mechanism and the movable support member 4 is provided with a switching type fixing mechanism.

The embodiment of the present invention is not limited to these, but the embodiments A1 to A4 relating to the movable support member 4 and the embodiments B1 to B2 relating to the fixing mechanism 5 are arbitrarily combined. Can be done.

[Control mechanism]
The device 1 includes a control mechanism including a microprocessor that controls the three-dimensional shape represented by the device 1 based on the input shape data. Specifically, the control mechanism processes the shape data, finds the position where each rod 2 should be displaced, and calculates the amount to be moved from the current position. Further, the control mechanism operates the movable support member driving unit 6 to change the state of the switching type fixing mechanism in a timely manner to displace each rod 2 to a desired position and express a three-dimensional shape. Further, the control mechanism expands or contracts, translates, or rotates the portion of the shape data represented by the device 1 based on the input from the user of the device 1 or other external input signals. The position to be displaced of each rod 2 can be recalculated according to the result of such processing, and the three-dimensional shape to be expressed can be changed in real time based on the recalculation. Further, the device 1 can be provided with a height sensor for measuring the position of each rod 2, in which case the control mechanism corrects the position of each rod 2 in response to an input from the height sensor. Can be moved like this. Further, the device 1 can be provided with a haptic feedback mechanism, in which case the control mechanism can control the haptic feedback mechanism.

In one embodiment, the control mechanism is for controlling the state of each of a plurality of (eg, 4 or 8) switchable fixation mechanisms in addition to the main microprocessor for controlling the entire device. It has a separate microprocessor. In this embodiment, each of the individual microprocessors controls each of the switching fixed mechanisms in real time by continuously outputting a number of signals corresponding to the number of switching fixed mechanisms to be controlled. It is composed. Further, in one embodiment, the main microprocessor and the individual microprocessors can be connected by serial communication, and the main processor has a unique identifier (that is, a unique identifier given to each of the individual microprocessors). , Address) can be specified to identify one of the individual processors and transmit data, thereby sending commands to the individual processors.

[Expression of three-dimensional shape]
The device 1 can further include a sheet 8 that expresses a three-dimensional surface shape that deforms following the tip of the rod 2. The device 1 may further include a projection unit including a projector 9 capable of projecting an image on the sheet 8 above the sheet 8. In another embodiment, the three-dimensional shape expression device may not include the sheet 8. In this case, the displaced rod 2 itself expresses a three-dimensional shape. In this embodiment, the tip of the rod 2 may emit light, or an image may be projected from the projector 9 onto the rod 2.

1 Three-dimensional shape expression device 2 Rod 21 Tip 3 Immovable support member 4 Movable support member 401 Hole 5 Fixing mechanism 510 Ratchet mechanism 511 Solenoid 5111 Plunger 512 Torsion spring 5121 Torsion spring loop 5122 Torsion spring end 5123 Torsion spring other end 520 Arm 521 Crank mechanism 522 Rotation mechanism 6 Movable support member Drive unit 601 Strut 602 Stepping motor 603 Belt 8 Seat 9 Projector

Claims (6)

It is a three-dimensional shape expression device that expresses a three-dimensional surface shape.
Multiple rods, each of which can be displaced in the length direction and whose tip expresses a three-dimensional shape,
A support member composed of an immovable support member provided at a fixed position and a plurality of movable support members each individually reciprocating in the length direction of the rod.
A movable support member driving unit that moves the movable support member,
With
Each of the support members is provided with a fixing mechanism capable of fixing the rod to the support member at a position corresponding to each of the rods.
When the movable support member is moving, each of the rods is fixed to the movable support member by the fixing mechanism corresponding to the rod provided in one of the movable support members, and the movable support member moves. It is configured to be displaced in accordance with the above, or to be fixed to the immovable support member by the fixing mechanism corresponding to the rod provided in the immovable support member and to stand still.
Three-dimensional shape expression device. The two movable support members configured to move in opposite directions at any time are provided.
The rod is fixed by the fixing mechanism in one of the movable support members moving in the same direction as the rod to be displaced, and by releasing the rod in the other movable support member. Was configured to displace the
The three-dimensional shape expression device according to claim 1 . The three-dimensional shape expression device according to claim 1 , further comprising the plurality of movable support members having different moving speeds. With at least three of the movable support members having different phases of reciprocating movement,
The switching between the fixed state and the released state of the fixing mechanism provided in each of the movable support members is fixed to another movable support member moving in the same direction when the movable support member is moving. Configured to be performed on said rod in the state of being
The three-dimensional shape expression device according to claim 1 . The three-dimensional shape expression device according to claim 4 , further comprising the three movable support members whose reciprocating movement phases differ from each other by one-third cycle. It is a three-dimensional shape expression device that expresses a three-dimensional surface shape.
Multiple rods, each of which can be displaced in the length direction and whose tip expresses a three-dimensional shape,
A stationary support member provided in a fixed position, each consisting of a variable rotation support member reciprocally movable in the longitudinal direction of the rod individually, a supporting member,
A movable support member driving unit that moves the movable support member,
With
Each of the support members is provided with a fixing mechanism capable of fixing the rod to the support member at a position corresponding to each of the rods.
When the movable support member is moving, wherein each of the rod, the movement of the movable support member is fixed relative to said movable support member by the fixing mechanism corresponding to the rod the movable support member comprises It is configured to be displaced with it, or to be fixed and stationary with respect to the immovable support member by the fixing mechanism corresponding to the rod provided in the immovable support member .
The movable support member is configured such that the moving distance of one reciprocating movement is a power of 2 of the unit length.
Three-dimensional shape expression device.

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