JP7243921B2 - robot equipment - Google Patents

Description

The present disclosure relates to robotic devices.

Conventionally, this type of technology includes a rod-shaped support member, a rod-shaped first support fixed to one end of the support member and extending perpendicularly to the longitudinal direction of the support member, and On the other hand, a disk-shaped second support that can rotate concentrically with the joint shaft, and a first disk-shaped support that is actuated by being supplied with fluid and is antagonistically driven to rotate the second support (joint shaft). , a second elastic expansion/contraction structure (artificial muscle), and an elastic actuator drive mechanism, which is a two-degree-of-freedom robot arm (see, for example, Patent Document 1). In this elastic actuator drive mechanism, the first and second artificial muscles each have one end fixed to the first support member and the other end fixed to the second support member.

WO 12/081197

In the robot apparatus described above, since the first and second artificial muscles are fixed to the first support and the second support, generally when fluid pressure is not acting on the first and second artificial muscles , first and second artificial muscles are curved. For this reason, the curved artificial muscle out of the first and second artificial muscles may come into contact with surrounding members such as a supporting member or another adjacent artificial muscle, which may affect the durability of the artificial muscle.

The robotic device of the present disclosure is primarily intended to suppress bending of artificial muscles when fluid pressure is not acting on the artificial muscles.

The robotic device of the present disclosure employs the following means in order to achieve the above main object.

A robot apparatus according to the present disclosure includes a first link, a second link rotatably supported by the first link via a joint, and a fluid supplied to operate the robot apparatus. and at least one artificial muscle that relatively rotates a second link, the gist of the robot apparatus comprising a biasing section that biases the artificial muscle away from the second link. do.

The robot apparatus of the present disclosure includes a biasing section that biases the artificial muscle away from the second link. Thereby, bending of the artificial muscle can be suppressed when the fluid pressure is not acting on the artificial muscle. As a result, it is possible to prevent the artificial muscle from coming into contact with surrounding members such as the support member and another adjacent artificial muscle, and affecting the durability of the artificial muscle.

1 is a schematic configuration diagram of a robot apparatus 10; FIG. FIG. 4 is an explanatory diagram for explaining the operation of the robot device 10; FIG. 4 is an explanatory diagram for explaining the operation of the robot device 10; 1 is a schematic configuration diagram of a robot device 10B; FIG. 1 is a schematic configuration diagram of a robot device 10C; FIG. 1 is a schematic configuration diagram of a robot device 110; FIG. 2 is a schematic configuration diagram of a robot device 210. FIG.

Next, embodiments for carrying out the invention of the present disclosure will be described with reference to the drawings.

FIG. 1 is a schematic configuration diagram of a robotic device 10 of the present disclosure. The robot device 10 is configured as a device that rotates an arm member 70 such as a robot arm around a rotation shaft 13 supported by a base member 11 via a support shaft 12 . As shown, the robot device 10 is rotatable by a base member 11 and a support shaft 12 as a first link, a rotation shaft 13 as a joint attached to the support shaft 12, and the rotation shaft 13. A pulley 14 as a second link to be supported, a wire 16 as a winding intermediate node wound around the pulley 14, and first and second links that apply tensile force (a force on the side away from the pulley 14) to the wire 16. 2. Actuators 20 and 30 as artificial muscles and a fluid supply device 60 for supplying working fluid to the actuators 20 and 30 are provided. Here, instead of the wire 16, a belt, a rope, a chain, or the like may be used as the winding joint. Hydraulic oil is used as the working fluid. It should be noted that liquid other than hydraulic oil, such as water, or gas, such as air, may be used instead of hydraulic oil. The arm member 70 is rotatably supported by the rotating shaft 13 and connected to the pulley 14 so as to rotate about the rotating shaft 13 together with the pulley 14 .

The actuators 20, 30 are arranged parallel to each other. The actuators 20 and 30 are configured as McKibben artificial muscles and have the same specifications. The actuators 20, 30 include tubes 21, 31 that expand and contract under the pressure of the working fluid, and braided sleeves 22, 32 that cover the tubes 21, 31. As shown in FIG. The tubes 21 and 31 are cylindrically formed of an elastic material such as rubber, which has high resistance to fluids. The ends of the tubes 21 and 31 on the wire 16 side (pulley 14 side) are sealed by sealing members 23 and 33, and the ends on the side away from the wire 16 are sealed by sealing members (first and second shafts). part) 24 and 34 are sealed. The sealing members 23, 24, 33, 34 are formed in a columnar or tubular shape, and the sealing members 23, 24 are attached to the actuator 20 so as to extend in the axial direction of the actuator 20 (tube 21), The sealing members 33 and 34 are attached to the actuator 30 so as to extend in the axial direction of the actuator 30 (tube 31). One end 16 a of the wire 16 is fixed to the sealing member 23 , and the other end 16 b of the wire 16 is fixed to the sealing member 33 . The sealing members 24 and 34 are formed with ports 24a and 34a for the working fluid communicating with the tubes 21 and 31, respectively. The sealing members 24 and 34 are inserted through the through holes 11 a and 11 b formed in the base member 11 . The braided sleeves 22 and 32 are formed in a cylindrical shape by weaving a plurality of cords oriented in a predetermined direction so as to intersect each other, and are contractible in the axial and radial directions. As cords forming the braided sleeves 22 and 32, braided cords, high-strength fibers, metal cords made of ultrafine filaments, and the like are used. In such actuators 20, 30, when the working fluid is supplied from the fluid supply device 60 to the tubes 21, 31 through the inlets and outlets 24a, 34a and the pressure of the working fluid in the tubes 21, 31 increases, the tubes 21, 31 are , the braided sleeves 22, 32 expand radially and contract axially.

Bottomed cylindrical stopper members 25 , 35 are fixed to the distal ends of the sealing members 24 , 34 (ends on the side away from the tubes 21 , 31 ). The stopper members 25 and 35 are formed by circular or rectangular bottom portions (first and second extending portions) 26 and 36 and extending from the outer periphery of the bottom portions 26 and 36 in a direction orthogonal to the bottom portions 26 and 36. It has cylindrical tubular portions (first and second defining portions) 27 and 37 . The centers of the bottom portions 26 and 36 are fixed to axial end surfaces of the sealing members 24 and 34 so that the cylindrical portions 27 and 37 are closer to the base member 11 than the bottom portions 26 and 36 are. Therefore, the bottom portions 26, 36 extend in a direction perpendicular to the axial direction of the actuators 20, 30, and the cylindrical portions 27, 37 extend in the axial direction of the actuators 20, 30.

Springs (first and second elastic bodies) 28, 38 are arranged between the base member 11 and the bottoms 26, 36 of the stopper members 25, 35 so as to surround the outer peripheries of the sealing members 24, 34. . Coil springs, for example, are used as the springs 28 and 38 . The springs 28, 38 are compressed more than their free length, and bias the bottoms 26, 36 away from the base member 11 (right side in FIG. 1).

The fluid supply device 60 controls a tank that stores the working fluid, a pump that sucks and discharges the working fluid in the tank, an accumulator that stores the working fluid discharged from the pump, a plurality of solenoid valves, and a plurality of solenoid valves. Equipped with a controller.

In the robot apparatus 10 configured in this manner, the actuators 20 and 30 are in an assembled state in which no fluid (fluid pressure) is supplied from the fluid supply device 60 to the tubes 21 and 31 of the actuators 20 and 30, as shown in FIG. are free lengths, and the bottom portions 26, 36 of the stopper members 25, 35 are urged away from the pulley 14 by the elastic force of the springs 28, 38, so that the cylindrical portions 27 of the stopper members 25, 35 are pushed away from the pulley 14. , 37 are separated from the base member 11 .

Subsequently, when the initial pressure is supplied from the fluid supply device 60 to the tubes 21, 31 of the actuators 20, 30, the actuators 20, 30 axially contract as shown in FIG. The initial pressure is determined such that the axial contractive force of the actuators 20,30 overcomes the elastic force of the springs 28,38. As the actuators 20 and 30 contract in the axial direction, the sealing members 24 and 34 and the stopper members 25 and 35 move toward the pulley 14 (left side in FIG. 2), and the actuators 20 and 30 axially move a predetermined amount (10 % to 20%), the tip surfaces of the stopper members 25 and 35 come into contact with the base member 11 . Thereby, the positions of the actuators 20 and 30 in the axial direction (horizontal direction in FIG. 2) are defined. Hereinafter, a state in which the actuators 20 and 30 are axially contracted by a predetermined amount is referred to as an "initial state". In other words, the initial pressure is the pressure of the fluid supplied within the tubes 21,31 to bring the actuators 20,30 to their initial state.

When the pressure of the fluid supplied from the fluid supply device 60 to the tubes 21, 31 of the actuators 20, 30 differs from each other, as shown in FIG. ) contract further in the axial direction, the wire 16 is pulled along with this, and the actuator (actuator 30 in FIG. 3) on the side where the pressure of the fluid is smaller expands in the axial direction. At this time, the pulley 14 over which the wire 16 is stretched and the arm member 70 connected to the pulley 14 rotate integrally around the rotation shaft 13 . Thus, the arm member 70 can be rotated around the rotation shaft 13 . In other words, the actuators 20 and 30 are antagonistically driven to rotate the pulley 14 relative to the base member 11 and the support shaft 12 .

Effects of the robot device 10 of the embodiment will be described. In the robot apparatus of the comparative form in which the sealing members 24 and 34 are fixed to the base member 11 without the stopper members 25 and 35 and the springs 28 and 38 of the robot apparatus 10, the actuators 20 and 30 are generally At least one of them is curved. For this reason, the curved actuators of the actuators 20 and 30 may come into contact with surrounding members such as the support shaft 12 and other actuators, affecting the durability of the actuators. It can also affect the durability of the buckling (bending) portion of the curved actuator. On the other hand, in the robot apparatus 10 of the embodiment, the bottom portions 26, 36 of the stopper members 25, 35 are urged away from the pulley 14 by the springs 28, 38, so that the stopper members 25, 35 are integrated with each other. Actuators 20 and 30 are biased away from pulley 14 . Accordingly, bending of the actuators 20 and 30 in the assembled state of the robot device 10 can be suppressed. As a result, it is possible to prevent the actuators 20 and 30 from contacting surrounding members such as the support shaft 12 and other actuators and affecting the durability of the first and second actuators 20 and 30 . In addition, it is possible to suppress the impact on durability due to buckling (bending) of the actuator. Furthermore, in the robot device 10 of the embodiment, the actuators 20 and 30 are urged away from the pulley 14 by the springs 28 and 38, so that the wires connected to the actuators 20 and 30 are pulled out when the robot device 10 is assembled. 16 can be prevented from becoming loose with respect to the pulley 14.例文帳に追加As a result, when the wire 16 is disconnected from the pulley 14 when the robot device 10 is assembled, or when the initial pressure is applied to the tubes 21 and 31 of the actuators 20 and 30 afterward, the initial rotation of the pulley 14 and the arm member 70 may occur. It is possible to suppress displacement of the movement position (displacement from the rotation position in FIG. 2).

In the embodiment, the initial pressure is supplied to the tubes 21 and 31 of the actuators 20 and 30 by the fluid supply device 60, and when the actuators 20 and 30 contract in the axial direction by a predetermined amount, the actuators 20 and 30 The tip surfaces of the cylindrical portions 27 and 37 of the stopper members 25 and 35 fixed to the attached sealing members 24 and 34 come into contact with the base member 11 . Thereby, the positions of the actuators 20 and 30 in the axial direction (horizontal direction in FIG. 2) can be defined.

In the robot device 10 of the embodiment, the springs 28 , 38 urge the stopper members 25 , 35 and the actuators 20 , 30 away from the pulley 14 . However, the present invention is not limited to this. For example, as shown in the robot apparatus 10B of FIG. Mass bodies 42 and 52 may be connected via wires 41 and 51 wound around 40 and 50 . Here, the pulleys 40, 50 are arranged so that the wires 41, 51 extend from the stopper members 25, 35 in the axial direction of the actuators 20, 30 in the direction opposite to the pulley 14 and are wound around the pulleys 40, 50. . Even in this case, the stopper members 25 and 35 (actuators 20 and 30) can be urged away from the pulley 14 by the mass bodies 42 and 52, respectively. Thereby, it is possible to suppress bending of the actuators 20 and 30 in the assembled state of the robot apparatus 10B.

In the robot apparatus 10 of the embodiment, the stopper members 25 and 35 are formed in a tubular shape with a bottom, and when the initial pressure is supplied to the tubes 21 and 31 of the actuators 20 and 30, the tubular shape of the stopper members 25 and 35 The positions of the actuators 20 and 30 in the axial direction are defined by the contact of the tip surfaces of the portions 27 and 37 with the base member 11 . However, as shown in the robot apparatus 10C of FIG. 5, the grooves 45 and 55 formed on the side surfaces of the sealing members 24 and 34 on the tip side (right side in FIG. 5) relative to the base member 11 and the groove 45 due to the spring. , 55 side. The robot device 10C of FIG. 5 is different from the robot device 10B of FIG. 4 in that the stopper members 25 and 35 are replaced with grooves 45 and 55 and pressed members 48 and 58 . The grooves 45, 55 of the robot device 10C of FIG. and wall surfaces 47 and 57 extending in a direction orthogonal to the axial direction of the actuators 20 and 30 (vertical direction in FIG. 5). The robot device 10C is assembled as shown in FIG. Subsequently, when the initial pressure is supplied to the tubes 21 and 31 of the actuators 20 and 30 by the fluid supply device 60, the sealing members 24 and 34 move toward the pulley 14 as the actuators 20 and 30 contract in the axial direction. When the actuators 20 and 30 move to the left in FIG. 5 and contract axially by a predetermined amount, the end surfaces of the pressed members 48 and 58 on the side of the wall surfaces 47 and 57 come into contact with the wall surfaces 47 and 57 . Thereby, the positions of the actuators 20 and 30 in the axial direction (horizontal direction in FIG. 5) are defined. In the robot apparatus 10C of FIG. 5, the actuators 20 and 30 are urged away from the pulley 14 by the mass bodies 42 and 52 as in the robot apparatus 10B of FIG. Similarly, springs 28 and 38 may urge the bottoms 26 and 36 of the stopper members 25 and 35 and the actuators 20 and 30 away from the pulley 14 .

In the robot apparatus 10 of the embodiment, as shown in FIG. 1, a base member 11 and a support shaft 12 as a first link, a rotation shaft 13 as a joint, a pulley 14 as a second link, and a wire 16 and actuators 20 and 30 as first and second artificial muscles. However, as shown in a robot device 110 in FIG. 6, a link member (second link) 114 may be provided instead of the pulley 14 and wire 16 of the robot device 10 in FIG. In the robot apparatus 110 of FIG. 6, the same components as those of the robot apparatus 10 of FIG. 1 are denoted by the same reference numerals, and detailed description thereof is omitted.

In the robot apparatus 110 of FIG. 6, the arm member 70 is rotatably supported by the rotation shaft 13 and connected to the link member 114, and rotates around the rotation shaft 13 together with the link member 114. As shown in FIG. A center portion of the link member 114 in the longitudinal direction is rotatably supported by a rotation shaft 13 attached to the support shaft 12 . One end 114a in the longitudinal direction of the link member 114 is rotatably connected to the sealing member 23 attached to the actuator 20, and the other end 114b is rotatably connected to the sealing member 33 attached to the actuator 30. be done.

In the robot apparatus 110 configured in this manner, the actuators 20 and 30 are in a free length as shown in FIG. In addition, the bottom portions 26, 36 of the stopper members 25, 35 are urged away from the pulley 14 by the elastic force of the springs 28, 38, so that the tip surfaces of the cylindrical portions 27, 37 of the stopper members 25, 35 are pushed away from the pulley 14. It is separated from the base member 11 . In the robot apparatus of the comparative form in which the sealing members 24 and 34 are fixed to the base member 11 without the stopper members 25 and 35 and the springs 28 and 38 of the robot apparatus 110, the actuators 20 and 30 are generally At least one of them is curved. For example, when the distance between the base member 11 and the one end portion 114a of the link member 114 is shorter than the distance between the base member 11 and the other end portion 114b of the link member 114, at least the actuator 20 among the actuators 20 and 30 bends. do. For this reason, the curved actuators of the actuators 20 and 30 may come into contact with surrounding members such as the support shaft 12 and other actuators, affecting the durability of the actuators. On the other hand, in the robot device 110 , as in the robot device 10 , the stopper member 25 is moved away from the link member 114 by urging the bottoms 26 , 36 of the stopper members 25 , 35 by the springs 28 , 38 . , 35 to urge the actuators 20 and 30 away from the link member 114 . As a result, bending of the actuators 20 and 30 in the assembled state of the robot device 110 can be suppressed. As a result, it is possible to prevent the actuators 20, 30 from coming into contact with surrounding members such as the support shaft 12 or other actuators, and affecting the durability of the actuators 30, 30.

Subsequently, when the initial pressure is supplied from the fluid supply device 60 to the tubes 21, 31 of the actuators 20, 30, the actuators 20, 30 contract in the axial direction. When the members 25 and 35 move toward the pulley 14 and the actuators 20 and 30 contract in the axial direction by a predetermined amount (approximately 10% to 20%), the tip ends of the cylindrical portions 27 and 37 of the stopper members 25 and 35 The surface comes into contact with the base member 11 to be in the initial state. In this way, the axial position of the actuators 20, 30 can be defined.

When the pressure of the fluid supplied from the fluid supply device 60 to the tubes 21 and 31 of the actuators 20 and 30 differs from each other, the actuator with the higher fluid pressure among the actuators 20 and 30 contracts further in the axial direction. Accordingly, the link member 114 and the arm member 70 rotate about the rotation shaft 13, and the actuator on the side where the fluid pressure is smaller expands in the axial direction. Thus, the arm member 70 can be rotated around the rotation shaft 13 . In other words, the actuators 20 and 30 are antagonistically driven to rotate the link member 114 relative to the base member 11 and the support shaft 12 .

The robot device 110 has the same configuration as the robot device 10 of FIG. However, the actuators 20 and 30 may be urged away from the link member 114 by a configuration similar to that of the robot apparatus 10B of FIG.

The robot device 110 has the same configuration as the robot device 10 of FIG. 1, and defines the axial positions of the actuators 20 and 30 when the initial pressure is supplied to the tubes 21 and 31 of the actuators 20 and 30. and However, a configuration similar to that of the robot apparatus 10C of FIG. 5 may be used to define the axial positions of the actuators 20 and 30 when the initial pressure is supplied to the tubes 21 and 31 of the actuators 20 and 30. .

As shown in FIG. 1, the robot apparatus 10 of the embodiment is provided with actuators 20 and 30 as first and second artificial muscles. However, as shown in the robot device 210 of FIG. 7, only one actuator 220 as an artificial muscle may be provided. In the robot apparatus 210 of FIG. 7, the same components as those of the robot apparatus 10 of FIG. 1 are denoted by the same reference numerals, and detailed description thereof is omitted.

7 includes a base member 11 and a support shaft 12 as a first link, a rotation shaft 213 as a joint, a support member 214 as a second link, an actuator 220, a stopper member 25, A spring 28 and a weight 230 are provided. The support shaft 12 is rotatably supported by a rotation shaft 213 attached to a support member 214 . The sealing member 23 attached to the actuator 220 is rotatably connected to the support member 214 . The weight 230 is attached to the end of the support shaft 12 of the base member 11 opposite to the through hole 11a.

In the robot apparatus 210 configured in this manner, the actuator 220 is free-length as shown in FIG. In addition, the bottom portion 26 of the stopper member 25 is urged away from the support member 214 by the elastic force of the spring 28, and the distal end surface of the cylindrical portion 27 of the stopper member 25 is separated from the base member 11. In addition, due to the weight of the base member 11, the support shaft 12, the actuator 220, the weight 230, etc., these are rotated more clockwise (to the right in FIG. 7) than the vertical direction with respect to the support member 214. As shown in FIG. In the robot device 210 as well as in the robot devices 10 and 110 , the bottom portion 26 of the stopper member 25 is urged away from the support member 214 by the spring 28 , thereby moving the actuator 220 integrally with the support member 214 . is biased away from the This can prevent the actuator 220 from bending when the robot device 210 is assembled. As a result, it is possible to prevent the actuator 220 from coming into contact with surrounding members such as the support shaft 12 or another actuator and affecting the durability of the actuator 220 .

Subsequently, when an initial pressure is supplied from the fluid supply device 60 to the inside of the tube 21 of the actuator 220, the actuator 220 contracts in the axial direction, and accordingly the sealing member 24 and the stopper member 25 move toward the support member 214 side. When the actuator 220 moves and contracts axially by a predetermined amount (approximately 10% to 20%), the tip surface of the cylindrical portion 27 of the stopper member 25 comes into contact with the base member 11 and enters the initial state. In this way, the axial position of the actuator 220 can be defined.

When a pressure higher than the initial pressure of the fluid is supplied from the fluid supply device 60 to the inside of the tube 21 of the actuator 220, the actuator 220 further contracts in the axial direction. Actuator 220 and the like rotate counterclockwise in FIG. 7 with respect to support member 214 . In other words, the actuator 220 rotates the support member 214 relative to the base member 11 and the support shaft 12 .

In the robot device 210, the actuator 220 is biased away from the support member 214 by the same configuration as the robot device 10 of FIG. However, the actuator 220 may be biased away from the support member 214 by a configuration similar to that of the robot apparatus 10B of FIG.

The robot device 210 has the same configuration as the robot device 10 of FIG. 1, and defines the axial position of the actuator 220 when the initial pressure is supplied to the tube 21 of the actuator 220 . However, the configuration similar to that of the robot apparatus 10C of FIG. 5 may be used to define the axial position of the actuator 220 when the initial pressure is supplied to the inside of the tube 21 of the actuator 220 .

In the above-described embodiment, the actuators 20 and 30 as artificial muscles consist of tubes 21 and 31 that radially expand and axially contract when a working fluid is supplied, and a braided sleeve 22 that covers the tubes 21 and 31. , 32, but is not limited to this. For example, the actuators 20 and 30 include an inner tubular member made of an elastic material, an outer tubular member made of an elastic material and coaxially arranged outside the inner tubular member, and an inner tubular member. It may be an axial fiber reinforced actuator (see, for example, Japanese Unexamined Patent Application Publication No. 2011-137516) having a fiber layer disposed between the outer cylindrical member. Actuators 20, 30 may also be fluid cylinders having a cylinder and a piston.

[Summary of this embodiment]
As described above, the robot apparatus of the present disclosure includes the first links (11, 12) and the second robot rotatably supported by the first links (11, 12) via the joints (13, 213). Two links (14, 114, 214) are supplied with fluid to operate and rotate the second link (14, 114, 214) relative to the first link (11, 12). a robotic device (10, 10B, 10C, 110, 210) comprising at least one artificial muscle (20, 30, 220), said artificial muscle (20, 30, 220) being connected to said second link (14 , 114, 214) are provided.

The robot apparatus of the present disclosure includes a biasing section that biases the artificial muscle away from the second link. Thereby, bending of the artificial muscle can be suppressed when the fluid pressure is not acting on the artificial muscle. As a result, it is possible to prevent the artificial muscle from coming into contact with surrounding members such as the support member and another adjacent artificial muscle, and affecting the durability of the artificial muscle.

In the robotic device of the present disclosure, a defining portion (27, 37, 47, 48) defining the position of the artificial muscle (20, 30, 220) when the initial pressure acts on the artificial muscle (20, 30, 220) , 57, 58). This makes it possible to define the position of the artificial muscle when the initial pressure acts on the artificial muscle.

In the robot apparatus of the present disclosure, the artificial muscle (20, 30, 220) is fixed to the end of the side away from the second link (14, 114, 214) and the artificial muscle (20, 30, 220) ) extending in the axial direction of the first link (11, 12) and inserted through insertion holes (11a, 11b) formed in the first links (11, 12); extension portions (26, 36) extending in a direction orthogonal to the axial direction at positions spaced from the artificial muscles (20, 30, 220) more than the first links (11, 12) of , the urging portions (28, 38) are arranged between the first links (11, 12) and the extension portions (26, 36) and move the extension portions (26, 36) to the It may have an elastic body (28, 38) that biases the first link (11, 12) away from the first link (11, 12). By doing so, the artificial muscle can be biased away from the second link by the biasing force of the elastic body.

In this case, when the artificial muscle (20, 30, 220) is extended from the extension portion (26, 36) to the first link (11, 12) side and the initial pressure acts on the artificial muscle (20, 30, 220), the first link A regulating portion (27, 37) that abuts against (11, 12) and regulates the position of the artificial muscle (20, 30, 220) may be further provided. With this configuration, when the initial pressure acts on the artificial muscle, the defining portion can abut against the first link to define the position of the artificial muscle.

In the robotic device of the present disclosure, the artificial muscles (20, 30, 220) may have tubes (21, 31) that expand radially and contract axially when supplied with fluid.

Although the embodiments for carrying out the present disclosure have been described above, the present disclosure is not limited to such embodiments, and can be implemented in various forms without departing from the gist of the present disclosure. Of course.

INDUSTRIAL APPLICABILITY The present disclosure is applicable to the robot device manufacturing industry and the like.

Claims (4)

a first link;
a second link rotatably supported by the first link via a joint;
at least one artificial muscle that is actuated by being supplied with fluid and rotates the second link relative to the first link;
A robotic device comprising
an urging portion that urges the artificial muscle to move away from the second link ;
a defining portion that defines the position of the artificial muscle when the initial pressure acts on the artificial muscle;
A robotic device comprising: a first link;
a second link rotatably supported by the first link via a joint;
at least one artificial muscle that is actuated by being supplied with fluid and rotates the second link relative to the first link;
A robotic device comprising
an urging portion that urges the artificial muscle to move away from the second link ;
a shaft fixed to the end of the artificial muscle on the side spaced from the second link, extending in the axial direction of the artificial muscle, and inserted through an insertion hole formed in the first link;
an extending portion extending in a direction orthogonal to the axial direction at a position spaced from the artificial muscle more than the first link of the shaft portion;
with
The biasing portion has an elastic body disposed between the first link and the extension portion and biasing the extension portion away from the first link.
robotic device. The robot device according to claim 2 ,
a defining portion extending from the extending portion toward the first link and abutting against the first link to define the position of the artificial muscle when an initial pressure is applied to the artificial muscle;
A robotic device further comprising: The robot device according to any one of claims 1 to 3 ,
The artificial muscle has a tube that expands radially and contracts axially when supplied with fluid.
robotic device.

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