JPH01205987A - Articulation mechanism - Google Patents
Articulation mechanismInfo
- Publication number
- JPH01205987A JPH01205987A JP2668988A JP2668988A JPH01205987A JP H01205987 A JPH01205987 A JP H01205987A JP 2668988 A JP2668988 A JP 2668988A JP 2668988 A JP2668988 A JP 2668988A JP H01205987 A JPH01205987 A JP H01205987A
- Authority
- JP
- Japan
- Prior art keywords
- leg member
- motor
- shaft
- joint mechanism
- leg
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 27
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 230000000694 effects Effects 0.000 description 2
- PEDCQBHIVMGVHV-UHFFFAOYSA-N Glycerine Chemical compound OCC(O)CO PEDCQBHIVMGVHV-UHFFFAOYSA-N 0.000 description 1
- 239000013585 weight reducing agent Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0241—One-dimensional joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は関節機構に係り、特に歩行機構における関節機
構に好適な関節機構に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a joint mechanism, and particularly to a joint mechanism suitable for a joint mechanism in a walking mechanism.
従来の関節機構は、特開昭６１−１７８２６９号公報も
しくは特開昭６１−２０５５６７号公報に記載のように
、多数の関節部を有する置部材で構成される脚部機構の
外部に、その駆動装置を配置している。As described in Japanese Patent Application Laid-open No. 61-178269 or No. 61-205567, conventional joint mechanisms have a leg mechanism that is configured with a mounting member having a large number of joints, and its driving mechanism is attached to the outside of the leg mechanism. The equipment is in place.
上記従来技術は、脚機構とその機構の駆動装置が独立に
構成されている。このため、駆動装置を含めた関節機構
が大型化、大重量となり構成も複雑となるという問題が
あった。In the above-mentioned conventional technology, the leg mechanism and the drive device for the mechanism are independently configured. For this reason, there was a problem that the joint mechanism including the drive device became large and heavy, and the structure became complicated.
本発明の目的は、／ＪＮ型軽量な関節機構を提供するこ
とにある。An object of the present invention is to provide a /JN type lightweight joint mechanism.
本発明の上記目的は、第１の部材を第２の部材に対して
回動可能に結合した関節機構において、前記第１の部材
を筒状イ本とし、この第１の部材内に、回転力を与える
モータと、このモータの回転力を直線移動変位に変換す
る変換部と、この変換部からの直線移動変位により直線
動する軸体とを設け、この軸体の端部をリンクを介して
前記第２の部材に連結することにより達成される。さら
に、前記の変換部はモータによって回転され、かつ軸方
向移動不可能に支持された筒状のモータ回転子と、この
モータ回転子の内側に設けた内ねじ部と、前記軸体の外
周面に設けられ、前記内ねじ部とかみ合う外ねじ部とで
構成されている。The above-mentioned object of the present invention is to provide a joint mechanism in which a first member is rotatably coupled to a second member, wherein the first member is a cylindrical piece, and the first member has a rotatable A motor that applies force, a conversion section that converts the rotational force of this motor into linear displacement, and a shaft that moves linearly by the linear displacement from this conversion section are provided, and the end of this shaft is connected via a link. This is achieved by connecting the second member to the second member. Furthermore, the conversion section includes a cylindrical motor rotor that is rotated by the motor and supported so as not to be able to move in the axial direction, an internal threaded section provided inside the motor rotor, and an outer circumferential surface of the shaft body. It is provided with an external threaded part that engages with the internal threaded part.
筒状の第１の部材内に設けたモータによって回転力を与
えられる変換部はその回転力を直線移動変位に変換する
。この変換部の直線移動変位は軸体に伝えられる。この
ため、軸体はその直線移動変位をリンクを介して第２の
部材に伝える。これにより、第２の部材は第１の部材に
対して回動変位する。このように、第２の部材を回動駆
動させるための駆動装置は第１の部材内に収納されてい
るので、関節機構を小型ｇ量に構成することができる。A converting section to which rotational force is applied by a motor provided within the cylindrical first member converts the rotational force into a linear displacement. The linear movement displacement of this converter is transmitted to the shaft body. Therefore, the shaft transmits its linear displacement to the second member via the link. As a result, the second member is rotationally displaced relative to the first member. In this way, since the drive device for rotationally driving the second member is housed within the first member, the joint mechanism can be constructed with a small g amount.
以下本発明の実施例を図面により説明する。 Embodiments of the present invention will be described below with reference to the drawings.
図面は本発明の関節機構の一実施例を示すもので、この
図において１は筒状の第１の脚部材、２は第１の脚部材
１の一方端にピン軸３により回転可能に装設された第２
の脚部材で、この第２の脚部材２はその基部付近に連結
用ブラケット４を備えている。５は第１の脚部材１に対
して第２の脚部材２を回転させるための直動軸で第１の
脚部材１内に配置されている。６は直動軸５の先端と第
２の脚部材２の連結用ブラケット４とにそれぞれピン７
．８により連結されたリンク部材、９は直動軸５を案内
する直動軸受で、この直動軸受９は第１の脚部材１の内
部に設けられている。１０は直動軸５の外ねじ部５Ａに
かみ合う内ねじ部１０Ａを有するモータ回転子で、この
モータ回転子１０は軸受１１，１２によって径方向力お
よび軸方向力を受けるように第１の脚部材１の内部に回
転可能に設けられている。１３はモータ回転子１０の外
周において、第１の脚部材の内面に設けたモータである
。The drawing shows one embodiment of the joint mechanism of the present invention, and in this drawing, 1 is a cylindrical first leg member, and 2 is rotatably mounted on one end of the first leg member 1 by a pin shaft 3. The second
This second leg member 2 is provided with a connecting bracket 4 near its base. Reference numeral 5 denotes a translation shaft for rotating the second leg member 2 with respect to the first leg member 1, and is disposed within the first leg member 1. 6 is a pin 7 at the tip of the linear motion shaft 5 and the connecting bracket 4 of the second leg member 2, respectively.
．． Link members 8 are connected to each other, and 9 is a translation bearing that guides the translation shaft 5. This translation bearing 9 is provided inside the first leg member 1. Reference numeral 10 denotes a motor rotor having an internal threaded portion 10A that engages with the external threaded portion 5A of the direct-acting shaft 5. It is rotatably provided inside the member 1. 13 is a motor provided on the inner surface of the first leg member on the outer periphery of the motor rotor 10.
次に上述した本発明の関節機構の一実施例の動 −作を
説明する。Next, the operation of one embodiment of the above-mentioned joint mechanism of the present invention will be explained.
モータ１３によってモータ回転子１０を回転させると、
モータ回転子１０の内側に設けた内ねじ部１０Ａと直動
軸５の外ねじ部５Ａとのかみ合いにより、モータ回転子
１０の回転が直動軸５の直 ・線移動に変換される。こ
の直動軸５の直線移動はリンク部材６を介して第２の脚
部材２にその回転力を加える。これにより、第２の脚部
材２は第１の脚部材に対して回動する。When the motor rotor 10 is rotated by the motor 13,
The rotation of the motor rotor 10 is converted into linear movement of the linear motion shaft 5 by the engagement between the internal threaded portion 10A provided inside the motor rotor 10 and the external threaded portion 5A of the linear motion shaft 5. This linear movement of the translation shaft 5 applies its rotational force to the second leg member 2 via the link member 6. This causes the second leg member 2 to rotate relative to the first leg member.
以上の如く第１の脚部材１に対する第２の脚部材２の駆
動装置を、第１の脚部材１内に収納しているので、関節
機構の駆動装置と脚部材の強度構造体を一体化すること
ができる。その結果、脚機構に適用すれば、その小形、
軽量化を図ることができる。As described above, since the drive device for the second leg member 2 relative to the first leg member 1 is housed within the first leg member 1, the drive device for the joint mechanism and the strength structure of the leg member are integrated. can do. As a result, if applied to the leg mechanism, its small size,
Weight reduction can be achieved.
なお、上述の実施例において、第１の脚部材に、これと
同様の脚部材を連結することも可能である。In addition, in the above-mentioned embodiment, it is also possible to connect a leg member similar to this to the first leg member.
これにより、多関節機構を構成することができる。Thereby, a multi-joint mechanism can be constructed.
本発明よれば、関節的に結合される一方の脚部材内に、
他の脚部材の駆動装置を収納するように構成したので、
小形かつ軽量な関節機構を提供することができる。According to the invention, in one of the articulated leg members,
Since it is configured to house the drive device of the other leg members,
A small and lightweight joint mechanism can be provided.
図面は本発明の関節機構の一実施例を示す縦断面図であ
る。
１・・・第１の脚部材、２・・・第２の脚部材、５・・
・直動軸、６・・・リンク部材、９・・・直動軸受、１
ｏ・・・モータ回転子、１１．１２・・・軸受、１３・
・・モータ。
特許出願人 工業技術院長 飯塚幸三
１１１．第１の脚部材
２−一゛り４Ｚの月？Ｐ饗酊不
ｆ３− モークThe drawing is a longitudinal sectional view showing an embodiment of the joint mechanism of the present invention. 1... First leg member, 2... Second leg member, 5...
・Linear motion shaft, 6...Link member, 9...Linear motion bearing, 1
o...Motor rotor, 11.12...Bearing, 13.
··motor. Patent applicant: Director of the Agency of Industrial Science and Technology Kozo Iizuka 111. First leg member 2-1 4Z moon? P drunkenness f3- Mork
Claims (1)
た関節機構において、前記第１の部材を筒状体とし、こ
の第１の部材間に、回転力を与えるモータと、このモー
タの回転力を直線移動変位に変換する変換部と、この変
換部からの直線移動変位により直線動する軸体とを設け
、この軸体の端部をリンクを介して前記第２の部材に連
結したことを特徴とする関節機構。 ２、変換部は、モータによって回転され、かつ軸方向移
動不可能に支持された筒状のモータ回転子と、このモー
タ回転子の内側に設けた内ねじ部と、前記軸体の外周面
に設けられ、前記内ねじ部とかみ合う外ねじ部とで構成
したことを特徴とする請求項１記載の関節機構。[Scope of Claims] 1. In a joint mechanism in which a first member is rotatably coupled to a second member, the first member is a cylindrical body, and a rotatable member is provided between the first members. A motor that applies force, a conversion section that converts the rotational force of this motor into linear displacement, and a shaft that moves linearly by the linear displacement from this conversion section are provided, and the end of this shaft is connected via a link. A joint mechanism characterized in that the joint mechanism is connected to the second member. 2. The conversion unit includes a cylindrical motor rotor that is rotated by the motor and supported so as not to be able to move in the axial direction, an internal threaded part provided inside the motor rotor, and an outer circumferential surface of the shaft body. 2. The joint mechanism according to claim 1, further comprising an external threaded part that is provided and meshes with the internal threaded part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63026689A JP2545711B2 (en) | 1988-02-09 | 1988-02-09 | Joint mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63026689A JP2545711B2 (en) | 1988-02-09 | 1988-02-09 | Joint mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH01205987A true JPH01205987A (en) | 1989-08-18 |
| JP2545711B2 JP2545711B2 (en) | 1996-10-23 |
Family
ID=12200361
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63026689A Expired - Lifetime JP2545711B2 (en) | 1988-02-09 | 1988-02-09 | Joint mechanism |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2545711B2 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2807959A1 (en) * | 2000-04-21 | 2001-10-26 | Centre Nat Rech Scient | Actuator, for articulated structures such as walking robots, uses screw and nut mechanism with attached sliding block having lateral movement and able to rotate |
| JP2011098425A (en) * | 2009-11-09 | 2011-05-19 | Kawada Kogyo Kk | Leg for human type walking robot |
| WO2018112102A1 (en) * | 2016-12-15 | 2018-06-21 | Boston Dynamics, Inc. | Screw actuator for a legged robot |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57140995U (en) * | 1981-02-26 | 1982-09-03 | ||
| JPS5943107U (en) * | 1982-09-14 | 1984-03-21 | 「はし」 大吉 | Gutter block water collection hole forming device |
| JPS60167796A (en) * | 1984-02-03 | 1985-08-31 | 株式会社東芝 | Joint |
-
1988
- 1988-02-09 JP JP63026689A patent/JP2545711B2/en not_active Expired - Lifetime
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57140995U (en) * | 1981-02-26 | 1982-09-03 | ||
| JPS5943107U (en) * | 1982-09-14 | 1984-03-21 | 「はし」 大吉 | Gutter block water collection hole forming device |
| JPS60167796A (en) * | 1984-02-03 | 1985-08-31 | 株式会社東芝 | Joint |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2807959A1 (en) * | 2000-04-21 | 2001-10-26 | Centre Nat Rech Scient | Actuator, for articulated structures such as walking robots, uses screw and nut mechanism with attached sliding block having lateral movement and able to rotate |
| WO2001081791A1 (en) * | 2000-04-21 | 2001-11-01 | Centre National De La Recherche Scientifique | Actuator designed for articulated structures, such as walking robot limbs |
| JP2011098425A (en) * | 2009-11-09 | 2011-05-19 | Kawada Kogyo Kk | Leg for human type walking robot |
| WO2018112102A1 (en) * | 2016-12-15 | 2018-06-21 | Boston Dynamics, Inc. | Screw actuator for a legged robot |
| CN110072677A (en) * | 2016-12-15 | 2019-07-30 | 波士顿动力公司 | Screw jack actuator for legged robot |
| JP2021121462A (en) * | 2016-12-15 | 2021-08-26 | ボストン ダイナミクス，インコーポレイテッド | Screw actuator for legged robot |
| US11754155B2 (en) | 2016-12-15 | 2023-09-12 | Boston Dynamics, Inc. | Screw actuator for a legged robot |
| US12123481B2 (en) | 2016-12-15 | 2024-10-22 | Boston Dynamics, Inc. | Screw actuator for a legged robot |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2545711B2 (en) | 1996-10-23 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EXPY | Cancellation because of completion of term |