JPS61290212A - Curvable laminated member - Google Patents

Abstract

PURPOSE:To obtain a light and high operationability robot hand by freely bending the members laminated rollably in a space. CONSTITUTION:A member 7 for fixing a laminated member to the fixed wall is provided at one end of laminated member comprised of rollably laminated chips 3. At least three air-back type resiliently shrinkable members 15 are secured to at least one end of said member 7. Furthermore, said member 15 is engaged with respective chip 3 of the laminated member. With such arrangement, a light and high operationability robot hand can be obtained.

Description

Detailed Description of the Invention (Field of Industrial Application) The present invention is a bendable airbag type elastic body that expands and deforms in diameter by supplying and discharging pressurized fluid and generates a contraction force in the axial direction. It concerns a stack of objects.

(Prior Technology) The popularity of today's robot hands is remarkable. This is because, with the development of control devices and related equipment, it has become possible to mechanize or automate tasks that previously had to be done manually, and it has become possible to mechanize or automate tasks that previously had to be done manually. This is due to an increase in demands due to an environment where this is not possible.

One such robot hand is shown in FIG. This robot hand is constructed by overlapping a plurality of pieces 3 each having a Go stone-shaped swinging part 1 and a holding part 2 extending in the diameter direction of the swinging part. A wire 5 is inserted through at least three spaced apart through holes 4, one end of the wire 5 is fixed to a holding plate 6, and the other end is wound around a pulley of a motor attached to a fixing member 7.

This robot hand swings each piece by applying an electric signal to each motor 8 corresponding to each wire, causing the pulley 9 to rotate forward or backward, and winding or unwinding each wire 5 associated with each motor. The contact point of the moving part 1 is moved to curve the entire hand.

(Problem to be solved by the invention) However, since the robot hand with this configuration uses electric power, it cannot avoid the generation of sparks, so there is a problem that it cannot be used in an explosive atmosphere. Moreover, in order to operate each of the operation wires 5 individually, motors and deceleration devices are required depending on the number of wires used, which increases the weight of the robot hand, which also increases cost. There was also a problem. Such problems are the same even if hydraulic pressure is used.

The purpose of the present invention is to solve such problems and to
To provide a lightweight, easy-to-handle, inexpensive, and freely bendable stacked body suitable for a hand.

(Means for Solving the Problem) In order to achieve this object, the present invention includes a stack of pieces stacked one on top of the other so as to be able to swing freely, and a fixing member disposed at one end of the stack for fixing the stack to a fixed wall. , at least three elastic retractable bodies of the air bag type, one end of which is secured to the fixing member, the other end of which is secured to an end of the stack spaced apart from the fixing member, and which engages each piece of the stack; It will be equipped.

(Function) It is assumed that pressurized fluid at an initial set pressure is applied to each elastic contractile body, and the stack of pieces stacked on top of each other so as to be able to swing freely is held straight. When pressurized fluid is further supplied to one elastic contraction body and the pressurized fluid is discharged from the other elastic contraction body, the elastic contraction body to which the pressurized fluid has been supplied expands in diameter and contracts in the axial direction. , the elastic contractile body from which the pressurized fluid has been discharged contracts in diameter and expands in the axial direction. Therefore, the elastic contracting body that contracts in the axial direction is allowed to expand in diameter between adjacent pieces, thereby bringing the adjacent pieces closer together. On the other hand, each elastic contractile body extending in the axial direction prevents each piece engaged with the piece from shifting in a direction crossing the axis of the elastic contraction body, and allows each piece to move in the axial direction. .

Therefore, when the stack is held straight, the contact points of adjacent pieces that are located substantially in the central portion will move from the central portion toward the elastic contraction body whose diameter expands. Note that this amount of movement corresponds to the contraction force generated in each elastic contraction body, in other words, the pressure of the pressurized fluid applied to each elastic contraction body. For this reason, the stacked body that was straight,
The entire body curves with the elastic contraction inward due to the supply of pressurized fluid.

On the other hand, in order to return this stack to its initial position, pressurized fluid is discharged from the elastic contraction bodies inside the curved stack, and pressurized fluid is supplied to the elastic contraction bodies located outside, so that each elastic contraction The pressure of the pressurized fluid acting on the body may be the same.

As is clear from the above, by adjusting the pressure of the pressurized fluid applied to each elastic contraction, the stack can be freely curved in space.

(Example) The present invention will be described in detail below with reference to the drawings.

Note that parts in the figure that are equivalent to those shown in FIG. 1 are given the same reference numerals.

FIG. 1 is a partial sectional view showing one embodiment of the present invention. The piece 3 consists of a rocking member 10 and a holding member 11 in the shape of a Go stone, forming a rocking part 1 and a holding part 2, respectively, and the holding member 11 is fitted onto the swinging member 11, as shown in FIG.
These two members shown in b) and (c) are fixed together with, for example, an adhesive and formed integrally.

As shown in FIG. 1(C), the holding member 11 is an annular member provided with a fitting hole 12 into which the swinging member 11 is fitted, and has a through hole 13a through which the elastic contractile body is inserted. It has a protrusion 13. The protrusions correspond to the number of elastic contraction bodies used, and are preferably provided at positions that equally divide the swinging member 11 in the circumferential direction. In this embodiment, the number of protrusions is four.

As shown in FIG. 1(a), a plurality of pieces 3 are arranged so that their axes are aligned on the same straight line, and the swinging parts of adjacent pieces are in contact with each other.

A fixing member 7 is disposed at one end of this stack of pieces stacked one on top of the other so as to be able to swing freely. This fixing member 7 is for fixing the stacked body to a fixing wall (not shown),
For example, a bolt (not shown) installed in the fixed wall is inserted into a through hole 7a provided in the fixed cotton material 7, and a nut is screwed to secure the fixed wall. Further, in this embodiment, a convex portion 14a forming a part of a spherical surface is provided on the end face of the fixing member 7 facing the stacked body, and the convex portion 14a is brought into contact with the swinging member at the end of the stacked body, so that the stacked body can be enlarged. Although it is made to be curved, the end face may be flat.

Further, a holding plate 6 for holding tools and the like is arranged at an end of the stacked body spaced apart from the fixing member 7.

It is preferable that the end face of this holding plate 6 facing the stacked body is also provided with a convex portion 14b forming a part of a spherical surface, similarly to the fixing member 7. Note that the reference numeral 6a is a threaded portion for screwing the tool onto the holding plate 6, for example.

Through hole 1 of each protrusion 13 provided in holding member 11
The elastic contraction body 15 is inserted through the elastic contraction body 3a, and each end of the elastic contraction body is fixed to the holding plate 6 and the fixing member 7, respectively. Note that the first
In Figure (a), only two elastic contraction bodies are illustrated for the sake of simplicity.

As such an elastic contractile body, an air bag type body shown in FIG. 2 is used, which is lightweight and can effectively convert the energy of the pressurized fluid into work.

In FIG. 2, reference numeral 16 is a braided reinforcement structure covering the outer periphery of the tubular body 17, 18 is a closing member at both ends, and 19 is a caulking cap.

The tubular body 16 is preferably made of rubber or an elastic material on rubber because of its air impermeability and flexibility, but it may also be made of a similar material, such as various plastic materials.

The braided reinforcement structure 17 has a so-called rest angle (54°44') when the tubular body 16 is deformed to its maximum diameter due to internal pressure filling.
It has a braided reinforcement structure that can reach up to 100%, and is compatible with organic or inorganic high-tensile fibers, such as aromatic polyamide fibers (Kepler: trade name), twisted or untwisted filaments such as ultra-fine metal wires, etc. do.

At least one of the closure members 18 has a connecting hole 21 communicating with the internal cavity 20 of the tubular body 16, into which a fitting 22 is attached. An operating pressure source (not shown), such as an air compressor, is connected to this fitting 22 by a conduit including a three-way valve, and the braided reinforcement structure is
7 rope braid angle θ. The expansion from to θ, that is, pantagra,
This movement causes an expansion of the tubular body 16 and a consequent axial contraction thereof, ie a reduction in the distance between the closure members 18 .

In this embodiment, each elastic contractile body is fixed to the holding plate 6 and the fixing member 7 through the through holes formed in alignment with the through holes 13a of the holding member 11, as shown in FIG. 1(a). The caulking caps 19 at both ends of the elastic contracting body are inserted into the holes 6b and 7b, respectively, to prevent the elastic contraction body from bending at the fixed parts with the holding member and the fixing member, and the connecting pin hole 23 provided in the closing member is protruded. Then, the bolt 24 was inserted into the bottle hole and screwed onto the holding plate 6 and the fixing member 7. However, the present invention is not limited to this, and it goes without saying that the caulking kibbuts 19 may be fixed with bolts through the connecting pin holes 23 without inserting them into the respective through holes.

In order to curve the stacked body constructed in this way as shown by the dashed line in FIG.
It is sufficient to supply pressurized fluid through the elastic contracting body to contract the elastic contracting body in the axial direction.

Note that if the pressurized fluid is discharged from the other elastic contracting body, the stacked body will curve even more.

In this embodiment, the swinging member 10 and the holding member 11 are formed separately, but they may be formed integrally in advance by plastic injection molding or the like.

FIGS. 3(a) and 3(b) are diagrams showing pieces constituting the stack of the present invention. It should be noted here that neither of the pieces requires a separate holding member for engaging the elastic contraction body as shown in FIG. 1(C), and that at least three Through-holes are provided, and an elastic contraction body is inserted into each through-hole, so that the piece and the elastic contraction body are directly engaged with each other.

(Effects of the Invention) As described in detail above, the device of the present invention allows at least three airbag-type elastic contracting bodies to be stacked one on top of the other so as to be able to swing freely by appropriately adjusting the supply and discharge of pressurized fluid to and from at least three airbag-type elastic contracting bodies. Since the combined stacked bodies are configured to curve freely within the space, there is no need for a speed reducer or servo motor, and the device is lighter in weight and cheaper than conventional devices. In addition, there is no risk of heat generation even if an overload is applied to a motor, etc., and even if the curved stacked body comes into contact with the human body, it is safe because the driving means is composed of a rubber tubular body and absorbs the energy of the collision. Highly sexual.

Moreover, it does not generate sparks, so it can be used even in explosive atmospheres, so it has a wide range of uses.

[Brief explanation of the drawing]

FIG. 1(a) is a partial sectional view showing a preferred embodiment of the present invention; FIGS. 1(b) and (C) are views showing pieces of the apparatus shown in FIG. 1(a); FIG. 2 is a partial sectional view showing an elastic contractile body suitable for the device of the present invention, FIGS. 3(a) and (b) are views showing pieces suitable for the device of the present invention, and FIG. 4 is a conventional device. FIG. 1 Swinging part 2 Holding part 3 Piece 4.6b, 7b, 13a,
25 Through hole 5 Wire 6 Holding plate 6a...Threaded part 7, Fixing member 8/Motor 9 Pulley 10/Swinging member
11 Holding member 12 Fitting hole 13
Projections 14a, 14b - Convex portion 15 Elastic contraction body 16 Tubular body 17 Braided reinforcement structure 18 Closing member 19 Caulking cap 2
0 Internal cavity 21- Connection hole 22 Fitting 23 Connecting pin hole 24 Bolt Figure 1 (a) Figure 1 (b) Figure 1 (C)

Claims (1)

[Claims] 1. A fixing member for fixing the stack to a fixed wall is provided at one end of the stack of pieces stacked on top of each other so as to be able to swing freely,
the stacked body, in which one end of each of at least three elastic contracting bodies that expand and deform in diameter and generate a contraction force in the axial direction by supplying and discharging pressurized fluid is fixed to the fixing member, and each other end is spaced apart from the fixing member; Each piece is fixed to the other end, and an elastic contracting body is engaged with each piece of the stacked body, and the stacked body is curved by supplying and discharging pressurized fluid to each of the elastic contracting bodies. A bendable stacked body featuring: