JP6941790B1

JP6941790B1 - Joint device

Info

Publication number: JP6941790B1
Application number: JP2020091797A
Authority: JP
Inventors: 守明田
Original assignee: NHK Spring Co Ltd
Current assignee: NHK Spring Co Ltd
Priority date: 2020-05-26
Filing date: 2020-05-26
Publication date: 2021-09-29
Anticipated expiration: 2040-05-26
Also published as: JP2021186902A

Abstract

【課題】ヒトを含む動物型のロボットの手に、当該動物の手の動作に近い動作をさせることができる関節装置を提供すること。【解決手段】本発明に係る関節装置は、二つの部材を接続して、二つの部材の曲げ角度を制御する関節装置であって、ばね部材と、一方がばね部材の一端に接続するとともに、他方が二つの部材のうちの一方の部材に接続する第１の接続部材と、ばね部材に当接する当てコマと、当てコマの、ばね部材に対する当接位置を制御するコマ位置制御部材と、を備える。【選択図】図１PROBLEM TO BE SOLVED: To provide a joint device capable of causing a hand of an animal-type robot including a human to perform a movement close to the movement of the hand of the animal. A joint device according to the present invention is a joint device that connects two members to control a bending angle of the two members, and connects the spring member and one to one end of the spring member. A first connecting member in which the other is connected to one of the two members, a contact piece that contacts the spring member, and a frame position control member that controls the contact position of the contact piece with respect to the spring member. Be prepared. [Selection diagram] Fig. 1

Description

本発明は、例えば、ロボットの関節部に用いられる関節装置に関する。 The present invention relates to, for example, a joint device used for a joint portion of a robot.

従来、例えば産業用のロボットや、ヒト又は動物を模したロボットには、アーム等を曲げるための関節装置が設けられる（例えば特許文献１を参照）。 Conventionally, for example, an industrial robot or a robot imitating a human or an animal is provided with a joint device for bending an arm or the like (see, for example, Patent Document 1).

特開２００７−１５２５２８号公報JP-A-2007-152528

ところで、例えばヒト型のロボットでは、当該ロボットの手に、ヒトの手のように動作させることが求められる。 By the way, for example, in a humanoid robot, the robot's hand is required to operate like a human hand.

本発明は、上記に鑑みてなされたものであって、ヒトを含む動物型のロボットの手に、当該動物の手の動作に近い動作をさせることができる関節装置を提供することを目的とする。 The present invention has been made in view of the above, and an object of the present invention is to provide a joint device capable of causing an animal-type robot's hand including a human to perform a movement similar to that of the animal's hand. ..

上述した課題を解決し、目的を達成するために、本発明に係る関節装置は、二つの部材を接続して、前記二つの部材の曲げ角度を制御する関節装置であって、ばね部材と、一方が前記ばね部材の一端に接続するとともに、他方が前記二つの部材のうちの一方の部材に接続する第１の接続部材と、前記ばね部材に当接する当てコマと、前記当てコマの、前記ばね部材に対する当接位置を制御するコマ位置制御部材と、を備えることを特徴とする。 In order to solve the above-mentioned problems and achieve the object, the joint device according to the present invention is a joint device that connects two members and controls the bending angle of the two members, and includes a spring member and a spring member. A first connecting member, one of which is connected to one end of the spring member and the other of which is connected to one of the two members, a contact piece that abuts on the spring member, and the contact piece of the contact piece. It is characterized by including a coma position control member for controlling the contact position with respect to the spring member.

また、本発明に係る関節装置は、上記発明において、一方が前記ばね部材の他端に接続するとともに、他方が前記第２のリンク部材に接続する第２の接続部材、をさらに備えることを特徴とする。 Further, the joint device according to the present invention is characterized in that, in the above invention, one further includes a second connecting member which is connected to the other end of the spring member and the other is connected to the second link member. And.

また、本発明に係る関節装置は、上記発明において、少なくとも前記第１の接続部材に進退自在に挿通されるワイヤー、をさらに備えることを特徴とする。 Further, the joint device according to the present invention is characterized in that, in the above invention, at least a wire that is freely inserted into the first connecting member is provided.

また、本発明に係る関節装置は、上記発明において、前記ばね部材は、形状回復性を有する板状の部材を湾曲してなる、ことを特徴とする。 Further, the joint device according to the present invention is characterized in that, in the above invention, the spring member is formed by bending a plate-shaped member having shape recovery property.

また、本発明に係る関節装置は、上記発明において、前記ばね部材は、ねじりばねを用いて形成される、ことを特徴とする。 Further, the joint device according to the present invention is characterized in that, in the above invention, the spring member is formed by using a torsion spring.

また、本発明に係る関節装置は、上記発明において、前記第１及び第２の接続部材には、前記当てコマが貫通する切欠き部がそれぞれ形成される、ことを特徴とする。 Further, the joint device according to the present invention is characterized in that, in the above invention, the first and second connecting members are formed with notches, respectively, through which the contact piece penetrates.

また、本発明に係る関節装置は、上記発明において、前記第１及び第２の接続部材には、前記ばね部材と接続する側と反対側において、球面ブッシュが設けられる、ことを特徴とする。 Further, the joint device according to the present invention is characterized in that, in the above invention, the first and second connecting members are provided with spherical bushes on the side opposite to the side connected to the spring member.

本発明によれば、ヒトを含む動物型のロボットの手に、当該動物の手の動作に近い動作をさせることができるという効果を奏する。 According to the present invention, the hand of an animal-type robot including a human can be made to perform a movement similar to that of the hand of the animal.

図１は、本発明の実施の形態１に係る関節装置の構成を示す図（その１）である。FIG. 1 is a diagram (No. 1) showing the configuration of the joint device according to the first embodiment of the present invention. 図２は、本発明の実施の形態１に係る関節装置の構成を示す図（その２）である。FIG. 2 is a diagram (No. 2) showing the configuration of the joint device according to the first embodiment of the present invention. 図３は、図１に示す領域Ｒ₁における関節装置の構成を示す拡大図である。Figure 3 is an enlarged view showing the structure of a joint device in the region R ₁ shown in FIG. 図４は、本発明の実施の形態１に係る関節装置の構成を示す図であって、関節を曲げた状態を示す図（その１）である。FIG. 4 is a diagram showing the configuration of the joint device according to the first embodiment of the present invention, and is a diagram (No. 1) showing a state in which the joint is bent. 図５は、本発明の実施の形態１に係る関節装置の構成を示す図であって、関節を曲げた状態を示す図（その２）である。FIG. 5 is a diagram showing the configuration of the joint device according to the first embodiment of the present invention, and is a diagram (No. 2) showing a state in which the joint is bent. 図６は、本発明の実施の形態１に係る関節装置をヒト型のロボットの手に適用した図である。FIG. 6 is a diagram in which the joint device according to the first embodiment of the present invention is applied to the hand of a humanoid robot. 図７は、図６のＡ−Ａ線断面図である。FIG. 7 is a cross-sectional view taken along the line AA of FIG. 図８は、図７に示す指部を曲げた状態を示す図（その１）である。FIG. 8 is a diagram (No. 1) showing a state in which the finger portion shown in FIG. 7 is bent. 図９は、図７に示す指部を曲げた状態を示す図（その２）である。FIG. 9 is a diagram (No. 2) showing a state in which the finger portion shown in FIG. 7 is bent. 図１０は、図６に示す手の指部間の開き角度を変えた状態を示す図（その１）である。FIG. 10 is a diagram (No. 1) showing a state in which the opening angle between the fingers of the hand shown in FIG. 6 is changed. 図１１は、図６に示す手の指部間の開き角度を変えた状態を示す図（その２）である。FIG. 11 is a diagram (No. 2) showing a state in which the opening angle between the fingers of the hand shown in FIG. 6 is changed. 図１２は、図１０に示す領域Ｒ₂の構成を示す図（その１）である。FIG. 12 is a diagram (No. 1) showing the configuration of the _{region R 2 shown in FIG.} 図１３は、図１０に示す領域Ｒ₂の構成を示す図（その２）である。FIG. 13 is a diagram (No. 2) showing the configuration of the _{region R 2 shown in FIG.} 図１４は、図１０に示す領域Ｒ₃の構成を示す図（その１）である。FIG. 14 is a diagram (No. 1) showing the configuration of the _{region R 3 shown in FIG.} 図１５は、図１０に示す領域Ｒ₃の構成を示す図（その２）である。FIG. 15 is a diagram (No. 2) showing the configuration of the _{region R 3 shown in FIG.} 図１６は、図１４に示す領域Ｒ₄の構成を示す図である。FIG. 16 is a diagram showing the configuration of the _{region R 4 shown in FIG.} 図１７は、本発明の実施の形態１の変形例に係る関節装置の一部の構成を示す図である。FIG. 17 is a diagram showing a partial configuration of a joint device according to a modified example of the first embodiment of the present invention. 図１８は、本発明の実施の形態２に係る関節装置の構成を示す図（その１）である。FIG. 18 is a diagram (No. 1) showing the configuration of the joint device according to the second embodiment of the present invention. 図１９は、本発明の実施の形態２に係る関節装置の構成を示す図（その２）である。FIG. 19 is a diagram (No. 2) showing the configuration of the joint device according to the second embodiment of the present invention. 図２０は、本発明の実施の形態２に係る関節装置の構成を示す図であって、関節を曲げた状態を示す図（その１）である。FIG. 20 is a diagram showing the configuration of the joint device according to the second embodiment of the present invention, and is a diagram (No. 1) showing a state in which the joint is bent. 図２１は、本発明の実施の形態２に係る関節装置の構成を示す図であって、関節を曲げた状態を示す図（その２）である。FIG. 21 is a diagram showing the configuration of the joint device according to the second embodiment of the present invention, and is a diagram (No. 2) showing a state in which the joint is bent. 図２２は、本発明の実施の形態２の変形例に係る関節装置の構成を示す図（その１）である。FIG. 22 is a diagram (No. 1) showing the configuration of the joint device according to the modified example of the second embodiment of the present invention. 図２３は、本発明の実施の形態２の変形例に係る関節装置の構成を示す図（その２）である。FIG. 23 is a diagram (No. 2) showing the configuration of the joint device according to the modified example of the second embodiment of the present invention. 図２４は、本発明の実施の形態２の変形例に係る関節装置の構成を示す図であって、関節を曲げた状態を示す図（その１）である。FIG. 24 is a diagram showing a configuration of a joint device according to a modified example of the second embodiment of the present invention, and is a diagram (No. 1) showing a state in which the joint is bent. 図２５は、本発明の実施の形態２の変形例に係る関節装置の構成を示す図であって、関節を曲げた状態を示す図（その２）である。FIG. 25 is a diagram showing a configuration of a joint device according to a modified example of the second embodiment of the present invention, and is a diagram (No. 2) showing a state in which the joint is bent. 図２６は、本発明の実施の形態３に係る関節装置の構成を示す図（その１）である。FIG. 26 is a diagram (No. 1) showing the configuration of the joint device according to the third embodiment of the present invention. 図２７は、本発明の実施の形態３に係る関節装置の構成を示す図（その２）である。FIG. 27 is a diagram (No. 2) showing the configuration of the joint device according to the third embodiment of the present invention. 図２８は、本発明の実施の形態３に係る関節装置の構成を示す図であって、関節を曲げた状態を示す図（その１）である。FIG. 28 is a diagram showing the configuration of the joint device according to the third embodiment of the present invention, and is a diagram (No. 1) showing a state in which the joint is bent. 図２９は、本発明の実施の形態３に係る関節装置の構成を示す図であって、関節を曲げた状態を示す図（その２）である。FIG. 29 is a diagram showing the configuration of the joint device according to the third embodiment of the present invention, and is a diagram (No. 2) showing a state in which the joint is bent.

以下、添付図面を参照して本発明を実施するための形態（以下、「実施の形態」という）を説明する。なお、図面は模式的なものであって、各部分の厚みと幅との関係、それぞれの部分の厚みの比率などは現実のものとは異なる場合があり、図面の相互間においても互いの寸法の関係や比率が異なる部分が含まれる場合がある。 Hereinafter, embodiments for carrying out the present invention (hereinafter, referred to as “embodiments”) will be described with reference to the accompanying drawings. Note that the drawings are schematic, and the relationship between the thickness and width of each part, the ratio of the thickness of each part, etc. may differ from the actual ones, and the dimensions of each part may differ from each other. There may be parts with different relationships and ratios.

（実施の形態１）
図１及び図２は、本発明の実施の形態１に係る関節装置の構成を示す図である。関節装置１は、ばね部材１１、第１板１２、第２板１３、当てコマ１４、スクリューギア１５、及び、ステッピングモータ１６を備える。関節装置１には、第１リンク部材１０１及び第２リンク部材１０２が接続される。関節装置１及び第１リンク部材１０１には、二本のワイヤー１１０が配設され、ワイヤー１１０の引張り量に応じて、第２リンク部材１０２に対する第１リンク部材１０１の向きが変わる。この際、関節装置１は、第２リンク部材１０２に対する第１リンク部材１０１の曲げ角度を調整する関節部として機能する。図１において、関節装置１に接続される第１リンク部材１０１の長手軸Ｎ₁と、第２リンク部材１０２の長手軸Ｎ₂とは、互いに平行であり、かつ、各長手軸に沿って延びる直線が一致する。また、二つのワイヤー１１０は、リンク部材の長手軸を挟んで対向する位置に設けられる。
関節装置１を含む上記構成は、被覆部材１２０によって被覆される。被覆部材１２０は、例えば樹脂を用いて形成される。 (Embodiment 1)
1 and 2 are views showing the configuration of the joint device according to the first embodiment of the present invention. The joint device 1 includes a spring member 11, a first plate 12, a second plate 13, a contact piece 14, a screw gear 15, and a stepping motor 16. The first link member 101 and the second link member 102 are connected to the joint device 1. Two wires 110 are arranged on the joint device 1 and the first link member 101, and the orientation of the first link member 101 with respect to the second link member 102 changes according to the amount of tension of the wires 110. At this time, the joint device 1 functions as a joint portion for adjusting the bending angle of the first link member 101 with respect to the second link member 102. _{In FIG. 1, the longitudinal axis N 1} of the first link member 101 connected to the joint device 1 and _{the longitudinal axis N 2} of the second link member 102 are parallel to each other and extend along the respective longitudinal axes. The straight lines match. Further, the two wires 110 are provided at positions facing each other with the longitudinal axis of the link member interposed therebetween.
The configuration including the joint device 1 is covered by the covering member 120. The covering member 120 is formed by using, for example, a resin.

ばね部材１１は、板状の部材を湾曲させてなる。ばね部材１１は、形状回復性を有する。ばね部材１１は、一端に第１板１２が連結され、他端に第２板１３が連結される。 The spring member 11 is formed by bending a plate-shaped member. The spring member 11 has shape recovery property. The first plate 12 is connected to one end of the spring member 11, and the second plate 13 is connected to the other end.

第１板１２は、平板状の剛体を用いて形成される。第１板１２は、ばね部材１１の一端に連結するとともに、第１リンク部材１０１が接続される。第１板１２は、側部が湾曲されており、長手軸Ｎ₁方向からみたときにＵ字状をなす。第１板１２は、第１の接続部材に相当する。 The first plate 12 is formed by using a flat plate-shaped rigid body. The first plate 12 is connected to one end of the spring member 11, and the first link member 101 is connected to the first plate 12. The side portion of the first plate 12 is curved, and the first plate 12 has a U shape when viewed from the _{longitudinal axis N 1 direction.} The first plate 12 corresponds to the first connecting member.

第２板１３は、平板状の剛体を用いて形成される。第２板１３は、ばね部材１１の他端に連結するとともに、第２リンク部材１０２が接続される。第２板１３は、側部が湾曲されており、長手軸Ｎ₂方向からみたときにＵ字状をなす。第２板１３は、第２の接続部材に相当する。 The second plate 13 is formed by using a flat plate-shaped rigid body. The second plate 13 is connected to the other end of the spring member 11, and the second link member 102 is connected to the second plate 13. The second plate 13 has a curved side portion and has a U shape when viewed from the _{longitudinal axis N 2 direction.} The second plate 13 corresponds to the second connecting member.

図１において、第１板１２の主面と、第２板１３の主面とのなす角度は、９０°である。換言すれば、長手軸Ｎ₁と、長手軸Ｎ₂とのなす角度は９０°である。なお、第１板１２及び第２板１３は、所定の剛性を満たせば、上述したＵ字状に限らず、平板状又は棒状であってもよい。 In FIG. 1, the angle formed by the main surface of the first plate 12 and the main surface of the second plate 13 is 90 °. In other words, the angle between the _{longitudinal axis N 1} and the longitudinal axis N _{2 is 90 °.} The first plate 12 and the second plate 13 are not limited to the U-shape described above, but may be a flat plate shape or a rod shape as long as they satisfy a predetermined rigidity.

第１板１２及び第２板１３には、ワイヤー１１０を挿通する孔部が形成される。具体的には、第１板１２には、二つの孔部１２ａが形成され、各孔部１２ａにワイヤー１１０がそれぞれ挿通される。同様に、第２板１３には、二つの孔部１３ａが形成され、各孔部１３ａにワイヤー１１０がそれぞれ挿通される。 Holes through which the wire 110 is inserted are formed in the first plate 12 and the second plate 13. Specifically, two holes 12a are formed in the first plate 12, and a wire 110 is inserted into each of the holes 12a. Similarly, two holes 13a are formed in the second plate 13, and a wire 110 is inserted into each of the holes 13a.

また、各孔部には、ワイヤー１１０と接触して回転するローラーが設けられる。図３は、図１に示す領域Ｒ₁における関節装置の構成を示す拡大図である。例えば、図３に示す孔部１２ａには、ローラー１２ｂが設けられ、ワイヤー１１０と接触し、当該ワイヤー１１０の進退動作に連動して回転する。ワイヤー１１０の移動に連動してローラー１２ｂが回転することによって、ワイヤー１１０と第１板１２との間の摩擦を軽減することができる。図３では孔部１２ａに設けられるローラー１２ｂについて図示したが、孔部１３ａについても同様のローラー１３ｂが設けられる（図１参照）。 Further, each hole is provided with a roller that rotates in contact with the wire 110. Figure 3 is an enlarged view showing the structure of a joint device in the region R ₁ shown in FIG. For example, the hole 12a shown in FIG. 3 is provided with a roller 12b, which comes into contact with the wire 110 and rotates in conjunction with the advancing / retreating operation of the wire 110. The friction between the wire 110 and the first plate 12 can be reduced by rotating the roller 12b in conjunction with the movement of the wire 110. Although the roller 12b provided in the hole portion 12a is shown in FIG. 3, a similar roller 13b is provided in the hole portion 13a (see FIG. 1).

当てコマ１４は、スクリューギア１５に取り付けられ、該スクリューギア１５の回転軸Ｎ₁₀に沿って移動可能である。当てコマ１４は、回転軸Ｎ₁₀に対して傾斜した平面部１４ａ、１４ｂを有する。図１において、平面部１４ａ、１４ｂは、ばね部材１１に接触する。関節装置１では、スクリューギア１５における当てコマ１４の位置によって、当てコマ１４のばね部材１１へ接触位置が変わる。当てコマ１４のばね部材１１へ接触位置が変わると、ばね部材１１の湾曲態様が変化する。ばね部材１１の湾曲態様の変化によって、第１リンク部材１０１及び第２リンク部材１０２の曲げ角度を調整することができる。 The contact piece 14 is attached to the screw gear 15 and can move along _{the rotation axis N 10 of the screw gear 15.} The contact piece 14 has flat surface portions 14a and 14b inclined with respect to the _{rotation axis N 10.} In FIG. 1, the flat surfaces 14a and 14b come into contact with the spring member 11. In the joint device 1, the contact position of the contact piece 14 with the spring member 11 changes depending on the position of the contact piece 14 on the screw gear 15. When the contact position of the contact piece 14 with the spring member 11 changes, the bending mode of the spring member 11 changes. The bending angle of the first link member 101 and the second link member 102 can be adjusted by changing the bending mode of the spring member 11.

ここで、関節装置１には、当てコマ１４と、第１板１２及び第２板１３、並びに、第１リンク部材１０１及び第２リンク部材１０２との接触を回避させるための切欠き部が形成される。切欠き部には、当てコマ１４が貫通する。具体的には、第１板１２及び第１リンク部材１０１には、切欠き部１３１が形成される。切欠き部１３１は、第１板１２及び第１リンク部材１０１にそれぞれ形成された切欠き部分を重ねることによって形成される。また、第２板１３及び第２リンク部材１０２には、切欠き部１３２が形成される。切欠き部１３２は、第２板１３及び第２リンク部材１０２にそれぞれ形成された切欠き部分を重ねることによって形成される。 Here, the joint device 1 is formed with a notch portion for avoiding contact between the contact piece 14, the first plate 12 and the second plate 13, and the first link member 101 and the second link member 102. Will be done. The contact piece 14 penetrates through the notch. Specifically, a notch 131 is formed in the first plate 12 and the first link member 101. The notch portion 131 is formed by overlapping the notch portions formed on the first plate 12 and the first link member 101, respectively. Further, a notch portion 132 is formed in the second plate 13 and the second link member 102. The notch portion 132 is formed by overlapping the notch portions formed on the second plate 13 and the second link member 102, respectively.

スクリューギア１５は、ステッピングモータ１６の駆動によって、回転軸Ｎ₁₀のまわりに回転する。本実施の形態１において、スクリューギア１５の中心軸は、回転軸Ｎ₁₀と一致する。スクリューギア１５の回転によって、当てコマ１４が回転軸Ｎ₁₀方向に移動する。 The screw gear 15 is driven by a stepping motor 16 to rotate around _{a rotation shaft N 10.} In the first embodiment, the central axis of the screw gear 15 coincides with the _{rotation axis N 10.} The rotation of the screw gear 15 causes the contact piece 14 to move in the direction of the _{rotation axis N 10.}

ステッピングモータ１６は、図示しない制御装置（例えば後述する制御部２１０及びモータ制御部２１１）の制御のもと、スクリューギア１５に接続する軸を回転させる。ステッピングモータ１６は、入力されるパルス信号に基づいて所定の回転量（回転角度）で軸を回転させる。
また、ステッピングモータ１６は、ブラケット１６ａに保持される。ブラケット１６ａは、ばね部材１１における、屈曲への影響が小さい部分、例えば中央部に固定される。これにより、ばね部材１１とステッピングモータ１６との間の距離が固定される。なお、回転量を制御できれば、ステッピングモータに限らず、他の回転モータを用いることができる。
関節装置１では、スクリューギア１５及びステッピングモータ１６がコマ位置制御部材に相当する。 The stepping motor 16 rotates a shaft connected to the screw gear 15 under the control of a control device (for example, a control unit 210 and a motor control unit 211 described later) (not shown). The stepping motor 16 rotates the shaft by a predetermined amount of rotation (rotation angle) based on the input pulse signal.
Further, the stepping motor 16 is held by the bracket 16a. The bracket 16a is fixed to a portion of the spring member 11 that has a small effect on bending, for example, a central portion. As a result, the distance between the spring member 11 and the stepping motor 16 is fixed. If the amount of rotation can be controlled, not only the stepping motor but also other rotary motors can be used.
In the joint device 1, the screw gear 15 and the stepping motor 16 correspond to the frame position control member.

続いて、関節装置１の動作について、図４及び図５を参照して説明する。図４及び図５は、本発明の実施の形態１に係る関節装置の構成を示す図であって、関節を曲げた状態を示す図である。ワイヤー１１０が矢印Ｙ₁の方向に引っ張られると、第２リンク部材１０２に対する第１リンク部材１０１の角度が変わる。この際、当てコマ１４の位置を移動させて、ばね部材１１の湾曲態様が変えると、第１リンク部材１０１と第２リンク部材１０２とがなす角度（曲げ角度）が変わる。第１リンク部材１０１と第２リンク部材１０２との曲げ角度は、ワイヤー１１０の引張り量と、スクリューギア１５に対する当てコマ１４の位置とによって調整することができる。なお、図４に示す例は、当てコマ１４がばね部材１１から離間した状態、すなわち、当てコマ１４が、最もステッピングモータ１６側に移動し、切欠き部１３１、１３２に位置している状態を示している。この場合、ばね部材１１は、最も湾曲した状態となる。 Subsequently, the operation of the joint device 1 will be described with reference to FIGS. 4 and 5. 4 and 5 are views showing the configuration of the joint device according to the first embodiment of the present invention, and are views showing a state in which the joint is bent. When the wire 110 is _{pulled in the direction of the arrow Y 1} , the angle of the first link member 101 with respect to the second link member 102 changes. At this time, if the position of the contact piece 14 is moved to change the bending mode of the spring member 11, the angle (bending angle) formed by the first link member 101 and the second link member 102 changes. The bending angle between the first link member 101 and the second link member 102 can be adjusted by the amount of tension of the wire 110 and the position of the contact piece 14 with respect to the screw gear 15. In the example shown in FIG. 4, the contact piece 14 is separated from the spring member 11, that is, the contact piece 14 is most moved to the stepping motor 16 side and is located in the notches 131 and 132. Shown. In this case, the spring member 11 is in the most curved state.

次に、関節装置１の適用例について、図６〜図１６を参照して説明する。以下、複数の関節装置１を配設したロボットの手の動作について説明する。図６は、本発明の実施の形態１に係る関節装置をヒト型のロボットの手に適用した図である。図７は、図６のＡ−Ａ線断面図である。本実施の形態１では、ヒト型のロボットの手の部分に関節装置を適用した例について説明するが、これに限らず、脚やその他関節を有する箇所に適用することが可能であり、又、ヒト以外の動物型のロボットの関節部分に適用することができる。 Next, an application example of the joint device 1 will be described with reference to FIGS. 6 to 16. Hereinafter, the hand movement of the robot in which the plurality of joint devices 1 are arranged will be described. FIG. 6 is a diagram in which the joint device according to the first embodiment of the present invention is applied to the hand of a humanoid robot. FIG. 7 is a cross-sectional view taken along the line AA of FIG. In the first embodiment, an example in which the joint device is applied to the hand portion of the humanoid robot will be described, but the present invention is not limited to this, and it can be applied to a leg or other portion having a joint, and also. It can be applied to the joints of animal-type robots other than humans.

ロボットの手２００は、手掌部及び手背部を構成する本体部２０１と、本体部２０１から延びる五本の指部とを有する。具体的には、手２００は、本体部２０１から延びる親指部２０２、人差し指部２０３、中指部２０４、薬指部２０５及び小指部２０６を有する。各指には、三つのリンク部材と、三つの関節部とを有する。例えば、親指部２０２には、指先側から順に、第１リンク部材１０１、第１関節部２０２ａ、第２リンク部材１０２、第２関節部２０２ｂ、第３リンク部材１０３、第３関節部２０２ｃが設けられる。第３関節部２０２ｃは、本体部２０１に接続する。人差し指部２０３、中指部２０４、薬指部２０５及び小指部２０６についても同様に、第１リンク部材１０１と第２リンク部材１０２との間に第１関節部２０３ａ〜２０６ａがそれぞれ設けられ、第２リンク部材１０２と第３リンク部材１０３との間に第２関節部２０３ｂ〜２０６ｂがそれぞれ設けられ、第３リンク部材１０３と本体部２０１との間に第３関節部２０３ｃ〜２０６ｃがそれぞれ設けられる。関節部は、本体部２０１の手掌部側に指部を折り曲げる。
なお、手２００は、上述した構成要素が外皮によって覆われる。 The robot's hand 200 has a main body 201 that constitutes the palm and the back of the hand, and five finger parts that extend from the main body 201. Specifically, the hand 200 has a thumb portion 202 extending from the main body portion 201, an index finger portion 203, a middle finger portion 204, a ring finger portion 205, and a little finger portion 206. Each finger has three link members and three joints. For example, the thumb portion 202 is provided with a first link member 101, a first joint portion 202a, a second link member 102, a second joint portion 202b, a third link member 103, and a third joint portion 202c in order from the fingertip side. Be done. The third joint portion 202c is connected to the main body portion 201. Similarly, for the index finger portion 203, the middle finger portion 204, the ring finger portion 205, and the little finger portion 206, the first joint portions 203a to 206a are provided between the first link member 101 and the second link member 102, respectively, and the second link The second joint portions 203b to 206b are provided between the member 102 and the third link member 103, respectively, and the third joint portions 203c to 206c are provided between the third link member 103 and the main body portion 201, respectively. The joint portion bends the finger portion toward the palm portion side of the main body portion 201.
In the hand 200, the above-mentioned components are covered with an outer skin.

第１関節部２０２ａ〜２０６ａ、及び、第２関節部２０２ｂ〜２０６ｂには、上述した関節装置１が設けられる。第１関節部２０２ａ〜２０６ａに設けられる関節装置１は、第１リンク部材１０１及び第２リンク部材１０２の間に介在する。第２関節部２０２ｂ〜２０６ｂに設けられる関節装置１は、第２リンク部材１０２及び第３リンク部材１０３の間に介在する。 The above-mentioned joint device 1 is provided in the first joint portions 202a to 206a and the second joint portions 202b to 206b. The joint device 1 provided in the first joint portions 202a to 206a is interposed between the first link member 101 and the second link member 102. The joint device 1 provided in the second joint portions 202b to 206b is interposed between the second link member 102 and the third link member 103.

第３関節部２０２ｃ〜２０６ｃには、関節装置１Ａが設けられる。関節装置１Ａは、上述した関節装置１において、ばね部材１１に代えてばね部材１１Ａを備え、かつ第２板１３を有しない構成である（後述する実施の形態３：図２６〜図２９を参照）。関節装置１Ａは、第１板１２が第３リンク部材１０３に連結し、ばね部材１１Ａの第１板１２と反対側の端部がステッピングモータ１６（又はブラケット１６ａ）に固定される。 Joint devices 1A are provided at the third joint portions 202c to 206c. The joint device 1A has a configuration in which the above-mentioned joint device 1 is provided with the spring member 11A instead of the spring member 11 and does not have the second plate 13 (see Embodiment 3: FIGS. 26 to 29 described later). ). In the joint device 1A, the first plate 12 is connected to the third link member 103, and the end of the spring member 11A opposite to the first plate 12 is fixed to the stepping motor 16 (or bracket 16a).

各指部には、ワイヤー１１０が挿通される。ワイヤー１１０は、一端が第１関節部の先端に固定され、他端が本体部２０１に接続される。 A wire 110 is inserted through each finger. One end of the wire 110 is fixed to the tip of the first joint portion, and the other end is connected to the main body portion 201.

また、各指部の第３関節部の間には、第４関節部２０７ａ〜２０７ｄが設けられる。具体的には、親指部２０２の第３関節部２０２ｃと、人差し指部２０３の第３関節部２０３ｃとの間には第４関節部２０７ａが設けられる。人差し指部２０３の第３関節部２０３ｃと中指部２０４の第３関節部２０４ｃとの間には第４関節部２０７ｂが設けられる。中指部２０４の第３関節部２０４ｃと薬指部２０５の第３関節部２０５ｃとの間には第４関節部２０７ｃが設けられる。薬指部２０５の第３関節部２０５ｃと小指部２０６の第３関節部２０６ｃとの間には第４関節部２０７ｄが設けられる。第４関節部２０７ａ〜２０７ｄには、関節装置１が設けられ、この関節装置１が第３関節部同士を連結する。 Further, the fourth joint portions 207a to 207d are provided between the third joint portions of each finger portion. Specifically, a fourth joint portion 207a is provided between the third joint portion 202c of the thumb portion 202 and the third joint portion 203c of the index finger portion 203. A fourth joint portion 207b is provided between the third joint portion 203c of the index finger portion 203 and the third joint portion 204c of the middle finger portion 204. A fourth joint 207c is provided between the third joint 204c of the middle finger 204 and the third joint 205c of the ring finger 205. A fourth joint portion 207d is provided between the third joint portion 205c of the ring finger portion 205 and the third joint portion 206c of the little finger portion 206. Joint devices 1 are provided in the fourth joints 207a to 207d, and the joint devices 1 connect the third joints to each other.

本体部２０１には、制御部２１０、モータ制御部２１１、及びＤＣモータ２１２〜２１６が設けられる。制御部２１０は、ＣＰＵ（Central Processing Unit）やハードディスク等を含むＰＣ（パーソナルコンピュータ）本体を備えたＰＣ等を用いて構成され、モータ制御部２１１及びＤＣモータ２１２〜２１６を制御する。 The main body 201 is provided with a control unit 210, a motor control unit 211, and DC motors 212 to 216. The control unit 210 is configured by using a PC or the like including a PC (personal computer) main body including a CPU (Central Processing Unit) and a hard disk, and controls the motor control unit 211 and the DC motors 212 to 216.

モータ制御部２１１は、制御部２１０の制御のもと、各関節部のステッピングモータ１６の駆動を制御する。具体的には、モータ制御部２１１は、各ステッピングモータ１６にパルス信号を送信して、ステッピングモータ１６を駆動させる。モータ制御部２１１は、ＣＰＵ等を用いて構成される。 The motor control unit 211 controls the drive of the stepping motor 16 of each joint portion under the control of the control unit 210. Specifically, the motor control unit 211 transmits a pulse signal to each stepping motor 16 to drive the stepping motor 16. The motor control unit 211 is configured by using a CPU or the like.

ＤＣモータ２１２〜２１６は、制御部２１０の制御のもと、ワイヤー１１０を巻き取ることによって、指部におけるワイヤー１１０の長さを調整する。 The DC motors 212 to 216 adjust the length of the wire 110 at the finger portion by winding the wire 110 under the control of the control unit 210.

図６及び図７に示す状態において、制御部２１０がＤＣモータを制御してワイヤー１１０をＤＣモータ内に引き込むと、関節部においてリンク部材間の曲げ角度が変化する。このリンク部材間の曲げ角度が変化すると、関節部において指部が曲がる。 In the state shown in FIGS. 6 and 7, when the control unit 210 controls the DC motor and pulls the wire 110 into the DC motor, the bending angle between the link members changes at the joint portion. When the bending angle between the link members changes, the fingers bend at the joints.

図８及び図９は、図７に示す指部（中指部２０４）を曲げた状態を示す図である。図７に示す状態において、ＤＣモータ２１４がワイヤー１１０を巻き取ると、関節部において指部が曲がる。ワイヤー１１０が巻き取り方向Ｙ₂に沿って移動すると、第１リンク部材１０１が引っ張られて、第１リンク部材１０１〜第３リンク部材１０３が本体部２０１側に動く。この際、関節部の当てコマ１４の位置を調整することによって、リンク部材の曲げ角度が調整される。例えば、ワイヤー１１０の巻き取り量が多く、当てコマ１４がステッピングモータ１６側にあるほど、リンク部材間の曲げ角度が大きく、中指部２０４の先端が本体部２０１（手掌部）に近付く（図８参照）。これに対し、ワイヤー１１０の巻き取り量が少なく、当てコマ１４がばね部材１１側にあると、リンク部材間の曲げ角度は小さい（図９参照）。この際、中指部２０４は、関節部における当てコマ１４の位置によって、曲がる関節部や、その角度が調整される。 8 and 9 are views showing a state in which the finger portion (middle finger portion 204) shown in FIG. 7 is bent. In the state shown in FIG. 7, when the DC motor 214 winds up the wire 110, the finger portion bends at the joint portion. When the wire 110 _{moves along the winding direction Y 2} , the first link member 101 is pulled, and the first link member 101 to the third link member 103 move toward the main body 201. At this time, the bending angle of the link member is adjusted by adjusting the position of the contact piece 14 of the joint portion. For example, the larger the winding amount of the wire 110 and the closer the contact piece 14 is to the stepping motor 16, the larger the bending angle between the link members, and the tip of the middle finger portion 204 approaches the main body portion 201 (palm portion) (FIG. 8). reference). On the other hand, when the winding amount of the wire 110 is small and the contact piece 14 is on the spring member 11 side, the bending angle between the link members is small (see FIG. 9). At this time, the bending joint portion and the angle of the middle finger portion 204 are adjusted according to the position of the contact piece 14 in the joint portion.

また、第４関節部２０７ａ〜２０７ｄの関節装置１を駆動することによって、指部間の開き角度を変更することができる。図１０及び図１１は、図６に示す手の指部間の開き角度を変えた状態を示す図である。第４関節部２０７ａ〜２０７ｄを駆動することによって、図１０及び図１１に示すように、全部又は一部の指部間の開き角度を変えることができる。 Further, the opening angle between the fingers can be changed by driving the joint device 1 of the fourth joint portions 207a to 207d. 10 and 11 are views showing a state in which the opening angle between the fingers of the hand shown in FIG. 6 is changed. By driving the fourth joints 207a to 207d, the opening angle between all or part of the fingers can be changed as shown in FIGS. 10 and 11.

まず、第４関節部２０７ａの動作について、図１２及び図１３を参照して説明する。図１２及び図１３は、図１０に示す領域Ｒ₂の構成を示す図である。具体的には、図１２及び図１３は、図６に示す親指部２０２と人差し指部２０３との間の構成を示す図である。親指部２０２と人差し指部２０３との間に位置する第４関節部２０７ａは、第１板１２が、球面ブッシュ１７を介して第３関節部２０３ｃに接続するとともに、第２板１３が、球面ブッシュ１８を介して第４リンク部材１０４に接続する。第４リンク部材１０４は、第２板１３と接続する側と反対側の端部が、第３関節部２０２ｃに接続する。第４リンク部材１０４は、ベアリング等を介して第３関節部２０２ｃに接続する。図１２及び図１３に示すように、第４関節部２０７ａの関節装置１における当てコマ１４の位置を変えることによって、ばね部材１１の曲げ態様を変えると、第４リンク部材１０４の変位によって、親指部２０２が、第３関節部２０２ｃの回転軸Ｎ₃のまわりに回転する。親指部２０２が、第３関節部２０２ｃの回転軸Ｎ₃のまわりに回転すると、親指部２０２と、人差し指部２０３との開き角度が変わる（例えば、図１０及び図１１を参照）。なお、回転軸Ｎ₃は、親指部２０２の長手軸が通過し、かつ、この長手軸に対して垂直な軸である。回転軸Ｎ₃の位置は、第３関節部２０２ｃの動作に影響しない位置であれば他の位置に配置してもよい。 First, the operation of the fourth joint portion 207a will be described with reference to FIGS. 12 and 13. 12 and 13 are diagrams showing the configuration of the _{region R 2 shown in FIG.} Specifically, FIGS. 12 and 13 are views showing a configuration between the thumb portion 202 and the index finger portion 203 shown in FIG. In the fourth joint portion 207a located between the thumb portion 202 and the index finger portion 203, the first plate 12 is connected to the third joint portion 203c via the spherical bush 17, and the second plate 13 is a spherical bush. It is connected to the fourth link member 104 via 18. The end of the fourth link member 104 on the side opposite to the side connected to the second plate 13 is connected to the third joint portion 202c. The fourth link member 104 is connected to the third joint portion 202c via a bearing or the like. As shown in FIGS. 12 and 13, when the bending mode of the spring member 11 is changed by changing the position of the contact piece 14 in the joint device 1 of the fourth joint portion 207a, the thumb is displaced due to the displacement of the fourth link member 104. The portion 202 rotates around _{the rotation axis N 3} of the third joint portion 202c. _{When the thumb portion 202 rotates around the rotation axis N 3} of the third joint portion 202c, the opening angle between the thumb portion 202 and the index finger portion 203 changes (see, for example, FIGS. 10 and 11). The rotation axis N ₃ is an axis through which the longitudinal axis of the thumb portion 202 passes and is perpendicular to the longitudinal axis. The position of the rotation axis N ₃ may be arranged at another position as long as it does not affect the operation of the third joint portion 202c.

続いて、第４関節部２０７ｂ〜２０７ｄの動作について、図１４及び図１５を参照して説明する。図１４及び図１５は、図１０に示す領域Ｒ₃の構成を示す図である。具体的には、図１４及び図１５は、図６に示す中指部２０４と薬指部２０５との間の構成を示す図である。中指部２０４と薬指部２０５との間に位置する第４関節部２０７ｃは、第１板１２が、球面ブッシュ１７を介して第３関節部２０４ｃに接続するとともに、第２板１３が、球面ブッシュ１８を介して第３関節部２０５ｃに接続する。図１４及び図１５に示すように、第４関節部２０７ｃにおける当てコマ１４の位置を変えることによって、ばね部材１１の曲げ態様が変わる。ばね部材１１の曲げ態様が変わると、中指部２０４と、薬指部２０５とが、それぞれの軸の周りに回動し、中指部２０４及び薬指部２０５の開き角度が変わる（例えば、図１０及び図１１を参照）。 Subsequently, the operation of the fourth joint portions 207b to 207d will be described with reference to FIGS. 14 and 15. 14 and 15 are diagrams showing the configuration of the _{region R 3 shown in FIG.} Specifically, FIGS. 14 and 15 are views showing the configuration between the middle finger portion 204 and the ring finger portion 205 shown in FIG. In the fourth joint portion 207c located between the middle finger portion 204 and the ring finger portion 205, the first plate 12 is connected to the third joint portion 204c via the spherical bush 17, and the second plate 13 is a spherical bush. It is connected to the third joint portion 205c via 18. As shown in FIGS. 14 and 15, the bending mode of the spring member 11 is changed by changing the position of the contact piece 14 in the fourth joint portion 207c. When the bending mode of the spring member 11 changes, the middle finger portion 204 and the ring finger portion 205 rotate around their respective axes, and the opening angles of the middle finger portion 204 and the ring finger portion 205 change (for example, FIGS. 10 and 10 and FIGS. 11).

ここで、第３関節部と第４関節部との接続について、図１６を参照して説明する。図１６は、図１４に示す領域Ｒ₄の構成を示す図である。図１６は、第４関節部２０７ｃにおける、第３関節部２０５ｃとの接続について示しているが、他の部分についても同様である。球面ブッシュ１８は、球状体１８１と、保持部材１８２と、延在部１８３とを有する。保持部材１８２は、球状体１８１を回転自在に保持し、例えばねじ止めによって第２板１３に固定される。延在部１８３は、例えばねじ止めによって、一端が球状体１８１に固定されるとともに、他端が第３関節部２０５ｃのブラケット１６ａに固定される。これにより、第４関節部と第３関節部との間において、一方の関節部の動きに伴う他方の関節部への負荷が軽減される。 Here, the connection between the third joint portion and the fourth joint portion will be described with reference to FIG. FIG. 16 is a diagram showing the configuration of the _{region R 4 shown in FIG.} FIG. 16 shows the connection of the fourth joint portion 207c with the third joint portion 205c, but the same applies to the other portions. The spherical bush 18 has a spherical body 181, a holding member 182, and an extending portion 183. The holding member 182 rotatably holds the spherical body 181 and is fixed to the second plate 13 by, for example, screwing. One end of the extending portion 183 is fixed to the spherical body 181 and the other end is fixed to the bracket 16a of the third joint portion 205c by screwing, for example. As a result, the load on the other joint portion due to the movement of one joint portion between the fourth joint portion and the third joint portion is reduced.

以上説明した本発明の実施の形態１によれば、リンク部材を連結する関節部において、ばね部材１１の湾曲態様を当てコマ１４に調整することによって、リンク部材間の曲げ角度を変化させるようにしたので、単純にリンク部材同士を接続する回転軸のまわりに回転させる場合と比して、関節部における曲げ角度を一層ヒトの指の動きに近付けることができる。本実施の形態１によれば、ヒトを含む動物型のロボットの手に、当該動物の手の動作に近い動作をさせることができる。 According to the first embodiment of the present invention described above, in the joint portion connecting the link members, the bending angle between the link members is changed by adjusting the bending mode of the spring member 11 to the contact piece 14. Therefore, the bending angle at the joint can be made closer to the movement of a human finger as compared with the case where the link members are simply rotated around a rotation axis connecting the link members. According to the first embodiment, the hand of an animal-type robot including a human can be made to perform a motion similar to that of the animal's hand.

（実施の形態１の変形例）
次に、上述した実施の形態１の変形例について、図１７を参照して説明する。図１７は、本発明の実施の形態１の変形例に係る関節装置の一部の構成を示す図である。上述した実施の形態１では、ローラー１２ｂが配設された孔部１２ａに、ワイヤー１１０が挿通されて移動する例について説明したが、図１７に示すように、ローラーを有しない孔のみの孔部１２ｃとしてもよい。 (Modified Example of Embodiment 1)
Next, a modified example of the first embodiment described above will be described with reference to FIG. FIG. 17 is a diagram showing a partial configuration of a joint device according to a modified example of the first embodiment of the present invention. In the first embodiment described above, an example in which the wire 110 is inserted into the hole portion 12a in which the roller 12b is arranged and moves is described. However, as shown in FIG. 17, a hole portion having only a hole having no roller It may be 12c.

（実施の形態２）
次に、上述した実施の形態２について、図１８〜図２１を参照して説明する。図１８及び図１９は、本発明の実施の形態２に係る関節装置の構成を示す図である。関節装置１Ｂは、ばね部材１１Ｂ、第１板１２、第２板１３、当てコマ１４、スクリューギア１５、及び、ステッピングモータ１６を備える。関節装置１Ｂは、上述した関節装置１のばね部材１１に代えてばね部材１１Ｂを備える構成である。ばね部材１１Ｂ以外の構成は、上述した関節装置１と同様である。 (Embodiment 2)
Next, the above-described second embodiment will be described with reference to FIGS. 18 to 21. 18 and 19 are views showing the configuration of the joint device according to the second embodiment of the present invention. The joint device 1B includes a spring member 11B, a first plate 12, a second plate 13, a contact piece 14, a screw gear 15, and a stepping motor 16. The joint device 1B is configured to include a spring member 11B in place of the spring member 11 of the joint device 1 described above. The configuration other than the spring member 11B is the same as that of the joint device 1 described above.

関節装置１Ｂには、第１リンク部材１０１及び第２リンク部材１０２が接続される。関節装置１Ｂ及び第１リンク部材１０１には、ワイヤー１１０が配設され、ワイヤー１１０の引張り量に応じて、第２リンク部材１０２に対する第１リンク部材１０１の向きが変わる。この際、関節装置１Ｂは、第２リンク部材１０２に対する第１リンク部材１０１の曲げ角度を調整する関節部として機能する。図１８において、関節装置１Ｂに接続される第１リンク部材１０１の長手軸Ｎ₁と、第２リンク部材１０２の長手軸Ｎ₂とは、互いに平行であり、かつ、各長手軸に沿って延びる直線が一致する。
また、関節装置１Ｂ、第１リンク部材１０１及び第２リンク部材１０２は、被覆部材１２０によって被覆される。 The first link member 101 and the second link member 102 are connected to the joint device 1B. A wire 110 is arranged on the joint device 1B and the first link member 101, and the direction of the first link member 101 with respect to the second link member 102 changes according to the amount of tension of the wire 110. At this time, the joint device 1B functions as a joint portion for adjusting the bending angle of the first link member 101 with respect to the second link member 102. _{In FIG. 18, the longitudinal axis N 1} of the first link member 101 connected to the joint device 1B and _{the longitudinal axis N 2} of the second link member 102 are parallel to each other and extend along the respective longitudinal axes. The straight lines match.
Further, the joint device 1B, the first link member 101 and the second link member 102 are covered with the covering member 120.

ばね部材１１Ｂは、ねじりばね１１ａ、１１ｂと、板状部材１１ｃと、ピン１１ｄ、１１ｅとを有する。板状部材１ｃは、剛性を有し、ねじりばね１１ａ、１１ｂを境界として三つに分割されてなる。ピン１１ｄは、ねじりばね１１ａのコイル内部に挿通されるとともに、板状部材１１ｃのねじりばね１１ａ側の境界を接続する。同様に、ピン１１ｅは、ねじりばね１１ｂのコイル内部に挿通されるとともに、板状部材１１ｃのねじりばね１１ｂ側の境界を接続する。板状部材１１ｃは、ねじりばね１１ａ、１１ｂによって、両端部が互いに近付く方向に付勢される。 The spring member 11B has torsion springs 11a and 11b, a plate-shaped member 11c, and pins 11d and 11e. The plate-shaped member 1c has rigidity and is divided into three with the torsion springs 11a and 11b as boundaries. The pin 11d is inserted into the coil of the torsion spring 11a and connects the boundary of the plate-shaped member 11c on the torsion spring 11a side. Similarly, the pin 11e is inserted into the coil of the torsion spring 11b and connects the boundary of the plate-shaped member 11c on the torsion spring 11b side. The plate-shaped member 11c is urged by the torsion springs 11a and 11b in a direction in which both ends approach each other.

続いて、関節装置１Ｂの動作について、図２０及び図２１を参照して説明する。図２０及び図２１は、本発明の実施の形態２に係る関節装置の構成を示す図であって、関節を曲げた状態を示す図である。ワイヤー１１０が矢印Ｙ₅の方向に引っ張られると、第２リンク部材１０２に対する第１リンク部材１０１の角度が変わる。この際、スクリューギア１５における当てコマ１４の位置によって、ばね部材１１Ｂの湾曲態様が変わる。具体的には、当てコマ１４の板状部材１１ｃへの接触位置の変化に応じて板状部材１１ｃの形状が変形する。具体的には、当てコマ１４がばね部材１１Ｂに近いほど、板状部材１１ｃは広がり、当てコマ１４がステッピングモータ１６側に近付くほど板状部材１１ｃが湾曲する。当てコマ１４が切欠き部１３１、１３２に貫通すると、当てコマ１４と板状部材１１ｃとの接触が解除され、板状部材１１ｃが最も湾曲した状態となる（図２０参照）。ばね部材１１Ｂの湾曲態様が変わると、第１リンク部材１０１と第２リンク部材１０２との曲げ角度が変わる。第１リンク部材１０１と第２リンク部材１０２との曲げ角度は、ワイヤー１１０の引張り量と、スクリューギア１５に対する当てコマ１４の位置とによって調整することができる。 Subsequently, the operation of the joint device 1B will be described with reference to FIGS. 20 and 21. 20 and 21 are views showing the configuration of the joint device according to the second embodiment of the present invention, and are views showing a state in which the joint is bent. When the wire 110 is _{pulled in the direction of arrow Y 5} , the angle of the first link member 101 with respect to the second link member 102 changes. At this time, the bending mode of the spring member 11B changes depending on the position of the contact piece 14 on the screw gear 15. Specifically, the shape of the plate-shaped member 11c is deformed according to the change in the contact position of the contact piece 14 with the plate-shaped member 11c. Specifically, the closer the contact piece 14 is to the spring member 11B, the wider the plate-shaped member 11c is, and the closer the contact piece 14 is to the stepping motor 16 side, the more the plate-shaped member 11c is curved. When the contact piece 14 penetrates the notches 131 and 132, the contact between the contact piece 14 and the plate-shaped member 11c is released, and the plate-shaped member 11c is in the most curved state (see FIG. 20). When the bending mode of the spring member 11B changes, the bending angle between the first link member 101 and the second link member 102 changes. The bending angle between the first link member 101 and the second link member 102 can be adjusted by the amount of tension of the wire 110 and the position of the contact piece 14 with respect to the screw gear 15.

以上説明した本発明の実施の形態２によれば、リンク部材を連結する関節部において、ばね部材１１Ｂの湾曲態様を当てコマ１４に調整することによって、リンク部材間の曲げ角度を変化させるようにしたので、単純にリンク部材同士を接続する回転軸のまわりに回転させる場合と比して、関節部における曲げ角度を一層ヒトの指の動きに近付けることができる。本実施の形態２によれば、ヒトを含む動物型のロボットの手に、当該動物の手の動作に近い動作をさせることができる。 According to the second embodiment of the present invention described above, in the joint portion connecting the link members, the bending angle between the link members is changed by adjusting the bending mode of the spring member 11B to the contact piece 14. Therefore, the bending angle at the joint can be made closer to the movement of a human finger as compared with the case where the link members are simply rotated around a rotation axis connecting the link members. According to the second embodiment, the hand of an animal-type robot including a human can be made to perform a motion similar to that of the animal's hand.

（実施の形態２の変形例）
次に、上述した実施の形態２の変形例について、図２２〜図２５を参照して説明する。図２２及び図２３は、本発明の実施の形態２の変形例に係る関節装置の構成を示す図である。関節装置１Ｃは、ばね部材１１Ｃ、第１板１２、第２板１３、当てコマ１４、スクリューギア１５、及び、ステッピングモータ１６を備える。関節装置１Ｃは、上述した関節装置１Ｂのばね部材１１Ｂに代えてばね部材１１Ｃを備える構成である。ばね部材１１Ｃ以外の構成は、上述した関節装置１、１Ｂと同様である。 (Modified Example of Embodiment 2)
Next, a modified example of the second embodiment described above will be described with reference to FIGS. 22 to 25. 22 and 23 are views showing the configuration of the joint device according to the modified example of the second embodiment of the present invention. The joint device 1C includes a spring member 11C, a first plate 12, a second plate 13, a contact piece 14, a screw gear 15, and a stepping motor 16. The joint device 1C is configured to include a spring member 11C instead of the spring member 11B of the joint device 1B described above. The configuration other than the spring member 11C is the same as that of the joint devices 1 and 1B described above.

関節装置１Ｃには、第１リンク部材１０１及び第２リンク部材１０２が接続される。関節装置１Ｃ及び第１リンク部材１０１には、ワイヤー１１０が配設され、ワイヤー１１０の引張り量に応じて、第２リンク部材１０２に対する第１リンク部材１０１の向きが変わる。この際、関節装置１Ｃは、第２リンク部材１０２に対する第１リンク部材１０１の曲げ角度を調整する関節部として機能する。図２２において、関節装置１Ｃに接続される第１リンク部材１０１の長手軸Ｎ₁と、第２リンク部材１０２の長手軸Ｎ₂とは、互いに平行であり、かつ、各長手軸に沿って延びる直線が一致する。
また、関節装置１Ｃ、第１リンク部材１０１及び第２リンク部材１０２は、被覆部材１２０によって被覆される。 The first link member 101 and the second link member 102 are connected to the joint device 1C. A wire 110 is arranged on the joint device 1C and the first link member 101, and the direction of the first link member 101 with respect to the second link member 102 changes according to the amount of tension of the wire 110. At this time, the joint device 1C functions as a joint portion for adjusting the bending angle of the first link member 101 with respect to the second link member 102. _{In FIG. 22, the longitudinal axis N 1} of the first link member 101 connected to the joint device 1C and _{the longitudinal axis N 2} of the second link member 102 are parallel to each other and extend along the respective longitudinal axes. The straight lines match.
Further, the joint device 1C, the first link member 101 and the second link member 102 are covered with the covering member 120.

ばね部材１１Ｃは、ねじりばね１１ｆと、ピン１１ｇと、板状部材１１ｈ、１１ｉとを有する。ピン１１ｇは、ねじりばね１１ｆのコイル内部に挿通され、板状部材１１ｈ、１１ｉを回転可能に支持している。ばね部材１１Ｃは、板状部材１１ｈが第１板１２に連結し、板状部材１１ｉが第２板１３に連結する。板状部材１１ｈ、１１ｉは、ねじりばね１１ｆによって、両端部が互いに近付く方向に付勢される。 The spring member 11C has a torsion spring 11f, a pin 11g, and plate-shaped members 11h and 11i. The pin 11g is inserted into the coil of the torsion spring 11f and rotatably supports the plate-shaped members 11h and 11i. In the spring member 11C, the plate-shaped member 11h is connected to the first plate 12, and the plate-shaped member 11i is connected to the second plate 13. The plate-shaped members 11h and 11i are urged by the torsion spring 11f in a direction in which both ends approach each other.

続いて、関節装置１Ｃの動作について、図２４及び図２５を参照して説明する。図２４及び図２５は、本発明の実施の形態２の変形例に係る関節装置の構成を示す図であって、関節を曲げた状態を示す図である。ワイヤー１１０が引っ張られると、第２リンク部材１０２に対する第１リンク部材１０１の角度が変わる。この際、スクリューギア１５における当てコマ１４の位置によって、ばね部材１１Ｃの湾曲態様が変わる。具体的には、ピン１１ｇに対する板状部材１１ｈ、１１ｉの回転位置が変化する。具体的には、当てコマ１４がばね部材１１Ｃ側に近いほど、板状部材１１１ｈ、１１ｉは互いに離れる方向に変位し、当てコマ１４がステッピングモータ１６側に近付くほど板状部材１１ｈ、１１ｉが互いに近付く方向いうに変位する。当てコマ１４が切欠き部１３１、１３２に貫通すると、当てコマ１４と板状部材１１ｈ、１１ｉとの接触が解除され、板状部材１１ｃが最も屈曲した状態となる（図２４参照）。ばね部材１１Ｃの湾曲態様が変わると、第１リンク部材１０１と第２リンク部材１０２とのなす角度が変わる。第１リンク部材１０１と第２リンク部材１０２との曲げ角度は、ワイヤー１１０の引張り量と、スクリューギア１５に対する当てコマ１４の位置とによって調整することができる。 Subsequently, the operation of the joint device 1C will be described with reference to FIGS. 24 and 25. 24 and 25 are views showing the configuration of the joint device according to the modified example of the second embodiment of the present invention, and are views showing a state in which the joint is bent. When the wire 110 is pulled, the angle of the first link member 101 with respect to the second link member 102 changes. At this time, the bending mode of the spring member 11C changes depending on the position of the contact piece 14 on the screw gear 15. Specifically, the rotational positions of the plate-shaped members 11h and 11i with respect to the pin 11g change. Specifically, the closer the contact piece 14 is to the spring member 11C side, the more the plate-shaped members 111h and 11i are displaced from each other, and the closer the contact piece 14 is to the stepping motor 16 side, the more the plate-shaped members 11h and 11i are displaced from each other. Displace in the approaching direction. When the contact piece 14 penetrates the notches 131 and 132, the contact between the contact piece 14 and the plate-shaped members 11h and 11i is released, and the plate-shaped member 11c is in the most bent state (see FIG. 24). When the bending mode of the spring member 11C changes, the angle formed by the first link member 101 and the second link member 102 changes. The bending angle between the first link member 101 and the second link member 102 can be adjusted by the amount of tension of the wire 110 and the position of the contact piece 14 with respect to the screw gear 15.

本変形例においても、上述した実施の形態２と同様に、ヒトを含む動物型のロボットの手に、当該動物の手の動作に近い動作をさせることができる。 In this modification as well, similarly to the second embodiment described above, the hand of an animal-type robot including a human can be made to perform a movement similar to the movement of the hand of the animal.

（実施の形態３）
次に、上述した実施の形態３について、図２６〜図２９を参照して説明する。図２６及び図２７は、本発明の実施の形態３に係る関節装置の構成を示す図である。関節装置１Ｄは、ばね部材１１Ｄ、第１板１２、当てコマ１４、スクリューギア１５、及び、ステッピングモータ１６を備える。関節装置１Ｂは、上述した関節装置１のばね部材１１に代えてばね部材１１Ｂを備え、第２板１３を有しない構成である。ばね部材１１Ｄ以外の構成は、上述した関節装置１と同様である。 (Embodiment 3)
Next, the above-described third embodiment will be described with reference to FIGS. 26 to 29. 26 and 27 are views showing the configuration of the joint device according to the third embodiment of the present invention. The joint device 1D includes a spring member 11D, a first plate 12, a contact piece 14, a screw gear 15, and a stepping motor 16. The joint device 1B has a configuration in which the spring member 11B is provided in place of the spring member 11 of the joint device 1 described above, and the second plate 13 is not provided. The configuration other than the spring member 11D is the same as that of the joint device 1 described above.

関節装置１Ｄには、第１リンク部材１０１及び第２リンク部材１０２Ａが接続される。関節装置１Ｄ及び第１リンク部材１０１には、ワイヤー１１０が配設され、ワイヤー１１０の引張り量に応じて、第２リンク部材１０２Ａに対する第１リンク部材１０１の向きが変わる。この際、関節装置１Ｄは、第２リンク部材１０２に対する第１リンク部材１０１の曲げ角度を調整する関節部として機能する。図２６において、関節装置１Ｄに接続される第１リンク部材１０１の長手軸Ｎ₁と、第２リンク部材１０２Ａの長手軸Ｎ₂とは、互いに平行である。
また、関節装置１Ｄ、第１リンク部材１０１及び第２リンク部材１０２Ａは、被覆部材１２０によって被覆される。 The first link member 101 and the second link member 102A are connected to the joint device 1D. A wire 110 is arranged on the joint device 1D and the first link member 101, and the direction of the first link member 101 with respect to the second link member 102A changes according to the amount of tension of the wire 110. At this time, the joint device 1D functions as a joint portion for adjusting the bending angle of the first link member 101 with respect to the second link member 102. _{In FIG. 26, the longitudinal axis N 1} of the first link member 101 connected to the joint device 1D and _{the longitudinal axis N 2} of the second link member 102A are parallel to each other.
Further, the joint device 1D, the first link member 101 and the second link member 102A are covered with the covering member 120.

ばね部材１１Ｄは、板状の部材を湾曲させてなる。ばね部材１１Ｄは、形状回復性を有する。ばね部材１１Ｄは、Ｃ字状をなし、一端が第１板１２に連結し、他端が第２リンク部材１０２Ａに連結される。ばね部材１１Ｄは、第１板１２と接続する側と反対側の端部が、第２リンク部材１０２Ａと接続する。 The spring member 11D is formed by bending a plate-shaped member. The spring member 11D has shape recovery property. The spring member 11D has a C shape, one end of which is connected to the first plate 12, and the other end of which is connected to the second link member 102A. The end of the spring member 11D on the side opposite to the side connected to the first plate 12 is connected to the second link member 102A.

続いて、関節装置１Ｄの動作について、図２８及び図２９を参照して説明する。図２８及び図２９は、本発明の実施の形態３に係る関節装置の構成を示す図であって、関節を曲げた状態を示す図である。ワイヤー１１０が引っ張られると、第２リンク部材１０２Ａに対する第１リンク部材１０１の角度が変わる。この際、スクリューギア１５における当てコマ１４の位置によって、ばね部材１１Ｄの湾曲態様が変わる。ばね部材１１Ｄの湾曲態様が変わると、第１リンク部材１０１と第２リンク部材１０２Ａとのなす角度が変わる。第１リンク部材１０１と第２リンク部材１０２Ａとの曲げ角度は、ワイヤー１１０の引張り量と、スクリューギア１５に対する当てコマ１４の位置とによって調整することができる。 Subsequently, the operation of the joint device 1D will be described with reference to FIGS. 28 and 29. 28 and 29 are views showing the configuration of the joint device according to the third embodiment of the present invention, and are views showing a state in which the joint is bent. When the wire 110 is pulled, the angle of the first link member 101 with respect to the second link member 102A changes. At this time, the bending mode of the spring member 11D changes depending on the position of the contact piece 14 on the screw gear 15. When the bending mode of the spring member 11D changes, the angle formed by the first link member 101 and the second link member 102A changes. The bending angle between the first link member 101 and the second link member 102A can be adjusted by the amount of tension of the wire 110 and the position of the contact piece 14 with respect to the screw gear 15.

以上説明した本発明の実施の形態３によれば、リンク部材を連結する関節部において、ばね部材１１Ｄの湾曲態様を当てコマ１４に調整することによって、リンク部材間の曲げ角度を変化させるようにしたので、単純にリンク部材同士を接続する回転軸のまわりに回転させる場合と比して、関節部における曲げ角度を一層ヒトの指の動きに近付けることができる。本実施の形態３によれば、ヒトを含む動物型のロボットの手に、当該動物の手の動作に近い動作をさせることができる。 According to the third embodiment of the present invention described above, in the joint portion connecting the link members, the bending angle between the link members is changed by adjusting the bending mode of the spring member 11D to the contact piece 14. Therefore, the bending angle at the joint can be made closer to the movement of a human finger as compared with the case where the link members are simply rotated around a rotation axis connecting the link members. According to the third embodiment, the hand of an animal-type robot including a human can be made to perform a motion similar to that of the animal's hand.

ここまで、本発明を実施するための形態を説明してきたが、本発明は上述した実施の形態によってのみ限定されるべきものではない。例えば、上述した実施の形態では、ワイヤー１１０によってリンク部材を変位させる例について説明したが、ばね部材の形状回復性と、第１板（又は第２板）の剛性とによって、リンク部材の変位が制御できれば、ワイヤー１１０を有しない構成であってもよい。 Although the embodiments for carrying out the present invention have been described so far, the present invention should not be limited only to the above-described embodiments. For example, in the above-described embodiment, an example in which the link member is displaced by the wire 110 has been described, but the displacement of the link member is caused by the shape recovery of the spring member and the rigidity of the first plate (or the second plate). If it can be controlled, the configuration may not have the wire 110.

このように、本発明はここでは記載していない様々な実施の形態等を含みうるものであり、特許請求の範囲により特定される技術的思想を逸脱しない範囲内において種々の設計変更等を施すことが可能である。 As described above, the present invention may include various embodiments not described here, and make various design changes and the like within a range that does not deviate from the technical idea specified by the claims. It is possible.

以上説明したように、本発明に係る関節装置は、ヒトを含む動物型のロボットの手に、当該動物の手の動作に近い動作をさせるのに好適である。 As described above, the joint device according to the present invention is suitable for causing the hand of an animal-type robot including a human to perform a motion similar to that of the animal's hand.

１関節装置
１１、１１Ａ〜１１Ｄばね部材
１１ａ、１１ｂ、１１ｆねじりばね
１１ｃ、１１ｈ、１１ｉ板状部材
１１ｄ、１１ｅ、１１ｇピン
１２第１板
１３第２板
１４当てコマ
１５スクリューギア
１６ステッピングモータ
１７、１８球面ブッシュ
１０１第１リンク部材
１０２、１０２Ａ第２リンク部材
１０３第３リンク部材
１０４第４リンク部材
１１０ワイヤー
１２０被覆部材
１３１、１３２切欠き部 1 Joint device 11, 11A to 11D Spring member 11a, 11b, 11f Torsion spring 11c, 11h, 11i Plate-shaped member 11d, 11e, 11g Pin 12 First plate 13 Second plate 14 Reliable piece 15 Screw gear 16 Stepping motor 17, 18 Spherical bush 101 1st link member 102, 102A 2nd link member 103 3rd link member 104 4th link member 110 Wire 120 Covering member 131, 132 Notch

Claims

A joint device that connects two members and controls the bending angle of the two members.
With spring members
A first connecting member, one of which is connected to one end of the spring member and the other of which is connected to one of the two members.
A contact piece that abuts on the spring member and
A top position control member that controls the contact position of the contact piece with respect to the spring member, and
At least a wire that is freely inserted into the first connecting member and
A joint device comprising.

A second connecting member, one of which is connected to the other end of the spring member and the other of which is connected to the other of the two members.
The joint device according to claim 1, further comprising.

The spring member is formed by bending a plate-shaped member having shape recovery property.
The joint device according to claim 1 or 2.

The spring member is formed by using a torsion spring.
The joint device according to claim 1 or 2.

Notches through which the contact piece penetrates are formed in the first and second connecting members, respectively.
The joint device according to claim 2.

The first and second connecting members are provided with spherical bushes on the side opposite to the side connecting to the spring member.
The joint device according to claim 2.