JPWO2007069667A1 - Elastic joint device - Google Patents

Abstract

The elastic joint device 31 includes a pair of supports 1 and 2 and a connecting body 30 that connects the supports 1 and 2 to each other. The connecting body 30 includes one or a plurality of elastic bars 4a and 4b. , 4c and expansion / contraction devices 3a, 3b, 3c for driving the elastic rods 4a, 4b, 4c independently of each other and expanding / contracting in the axial direction thereof.

Description

  The present invention relates to an elastic joint device.

As a joint device for a robot joint or a ground moving body, a joint device using a linear motion is known.
For example, Japanese Patent No. 2995055 and Japanese Patent Application Laid-Open No. 2004-345503 include a pair of supports and a plurality of extendable bars, and these supports are fixed to the support via universal joints. Are connected to each other, and a telescopic rod is expanded and contracted in the axial direction, whereby a joint device is disclosed in which one support is rotated about a vertical axis or a horizontal axis with respect to the other support.
However, in these joint devices, the telescopic rod itself does not have elasticity, and therefore, if an external force acts on one support body, the external force may be transmitted to the other support body via the joint device. In addition, depending on the running state, the movement of the support may be restricted and smooth operation may not be obtained.
On the other hand, Japanese Patent Application Laid-Open No. 2005-59110 discloses a first elastic member whose root portion is fixed to a support member, a plurality of node members fixed to the first elastic member, and a node member positioned at the forefront. There is disclosed a joint device that includes a second elastic member having a distal end portion fixed thereto, and the joint portion bends when the root portion of the second elastic member is moved in a direction opposite to the distal end portion.
In this joint device, since the first elastic member and the second elastic member are formed of plate members, the external force in the bending direction can be absorbed by these elastic members. However, the external force in the direction perpendicular to the bending direction cannot be absorbed by the elastic member.

The present invention is based on the above-described prior art, and not only functions as a joint device having at least a degree of freedom of expansion and contraction, but also buffers the external force with elastic forces in the vertical, horizontal, expansion and contraction directions, and the support. An object of the present invention is to provide a joint device that can smoothly connect each other.
According to the present invention, in an elastic joint device, a pair of support bodies and a connecting body for connecting the support bodies to each other, wherein one or a plurality of elastic bars and the elastic bars are driven independently from each other. There is provided an elastic joint device including a connecting body including a telescopic device that expands and contracts in the axial direction.
According to the present invention, in the moving body, the plurality of moving modules and at least one connecting body for connecting a pair of adjacent moving modules to each other, each connecting body having one or more elastic members. There is provided a movable body including a rod and a coupling body including an elastic rod that is driven independently of each other to expand and contract in the axial direction.

  FIG. 1 is a diagram illustrating the configuration of an embodiment of the present invention, FIG. 2 is a detailed diagram of a telescopic device, FIGS. 3A, 3B and 3C are diagrams illustrating the configuration of another embodiment of an elastic coupling body, and FIGS. 6 is an operation explanatory diagram of the embodiment of FIG. 1, FIG. 7A is an operation explanatory diagram of a conventional example, FIG. 7B is an operation explanatory diagram of an embodiment according to the present invention, and FIG. 8 is a configuration of a ground mobile body to which the present invention is applied. FIG. 9 and FIG. 10 are explanatory diagrams of the configuration of another embodiment of the ground mobile body, FIGS. 11A to 11D are explanatory diagrams of the propulsion method of the ground mobile body, and FIG. 12 is another embodiment of the present invention. FIG. 13 is an explanatory diagram of the configuration, and FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Back support body 2 ... Front support body 3a, 3b, 3c, 3d, 3e, 3f ... Telescopic device 4a, 4b, 4c, 4d, 4e, 4f ... Elastic bar 5a, 5b, 5c, 5d, 5e, 5f ... Elastic member 20 ... ground moving body 21 ... rear module (rear vehicle)
22 ... Front module (front vehicle)
23a, 23b, 23c, 23d ... telescopic devices 24a, 24b, 24c, 24d ... elastic bar 30 ... elastic coupling body 31 ... elastic joint device 61 ... regulating member

FIG. 1 is an explanatory diagram of a configuration of an embodiment of the present invention.
An elastic joint device 31 shown in FIG. 1 includes an anterior support 2 and a posterior support 1 and an elastic coupling body 30 that couples them. The elastic coupling body 30 includes one or a plurality of (three in this example) elastic rods 4 (4a, 4b, 4c) and a telescopic device 3 (each of which elastically expands and contracts directly in the axial direction). 3a, 3b, 3c). The front end of each elastic bar 4 is fixed to the front support 2, and the rear end of each telescopic device 3 is fixed directly to the rear support 1.
In the embodiment according to the present invention, each elastic rod 4 has a substantially circular cross section, and the whole is made of, for example, urethane rubber. Each elastic rod 4 may be hollow or solid.
On the other hand, each expansion / contraction device 3 includes a drive system that can independently control expansion / contraction of the elastic rod 4. That is, for example, as shown in FIG. 2, the telescopic device 3 includes a casing 51 that slidably accommodates the elastic rod 4, a bolt 52 that is rotatably accommodated in the casing 51 around a central axis, and a belt. A power transmission mechanism 53, an electric motor 54, and a nut 55 fixed to the hollow elastic rod 4 and screwed into the bolt 52. When the electric motor 54 is rotated, the bolt 52 is rotated, whereby the nut 55 and the elastic rod 4 are moved in the axial direction. In this case, the axial length of the elastic bar 4 itself does not change greatly.
Since each elastic bar 4 has elasticity by itself, it can be swung not only in a front-rear direction linear motion expansion / contraction, but also in a vertical / left / right curve.
Further, since the three elastic rods 4 have elasticity, that is, the pair of supports 1 and 2 are not connected by a rigid body, the elastic joint device 31 has a vertical swing direction (arrow a) with respect to its central axis C. ), External force or impact in all directions of the left-right swing direction (arrow b), the twisting operation direction (arrow c), and the telescopic operation direction (arrow d) can be reduced.
3A to 3C show another embodiment of the elastic coupling body 30. FIG.
FIG. 3A shows an example in which the elastic coupling body 30 between the front support body 2 and the rear support body 1 is constituted by one elastic bar 4a and its expansion / contraction device 3a. The elastic rod 4a is driven by the expansion / contraction device 3a, and a linear motion expansion / contraction operation is possible. Further, due to the elasticity of the elastic bar 4a, the impact in all directions of the up / down swing direction (arrow a), the left / right swing direction (arrow b), the twisting operation direction (arrow c) and the expansion / contraction operation direction (arrow d) is reduced. can do.
FIG. 3B shows an example in which the elastic coupling body 30 between the front support body 2 and the rear support body 1 is configured by two elastic rods 4a and 4b and respective expansion devices 3a and 3b. Also in this example, since the elastic rods 4a and 4b are independently driven by the expansion and contraction devices 3a and 3b, the left and right operation and the expansion and contraction operation are possible. Further, the impact in all directions of the up and down swing direction (arrow a), the left and right swing direction (arrow b), the twisting operation direction (arrow c), and the expansion and contraction operation direction (arrow d) can be reduced.
FIG. 3C shows an elastic coupling body 30 between the front support body 2 and the rear support body 1, and six elastic rods 4 a, 4 b, 4 c, 4 d, 4 e, 4 f and respective expansion devices 3 a, 3 b, 3 c, 3 d, The example which formed the Stewart platform which has 6 degrees of freedom by comprising by 3e, 3f is shown. In this example, the front ends of the elastic bars 4a, 4b, 4c, 4d, 4e, and 4f are directly fixed to the front support 2, and after the telescopic devices 3a, 3b, 3c, 3d, 3e, and 3f. The ends are fixed to the rear support 1 through elastic members 5a, 5b, 5c, 5d, 5e, and 5f. Also in this example, the elastic rods 4a, 4b, 4c, 4d, 4e, and 4f are independently driven by the expansion and contraction devices 3a, 3b, 3c, 3d, 3e, and 3f, so that the X, Y, and Z directions in FIG. In addition, movement in the α, β, and γ directions, that is, translation and rotation, each having three degrees of freedom, and a total of six degrees of freedom are possible. Further, since each elastic rod 4a, 4b, 4c, 4d, 4e, 4f has elasticity and the elastic members 5a, 5b, 5c, 5d, 5e, 5f are provided, the vertical swinging direction, the horizontal swinging, The impact in all directions of the moving direction, the twisting direction, and the expansion / contraction direction can be reduced.
Thus, the number of the elastic rods 4 of the elastic coupling body 30 may be one or plural. However, when at least three elastic rods 4 are provided, the elastic rods 4 are independently driven and controlled, so that the vertical movement, the horizontal movement, and the expansion and contraction are possible as a whole. It becomes possible to buffer.
FIG. 4 is an operation explanatory view of the elastic coupling body 30 including the three elastic rods shown in FIG.
As shown in FIG. 4, from the state of the three elastic rods 4a, 4b, 4c that are first extended to the same length, the elastic rod 4a is extended (arrow E) and the elastic rod 4b is shortened (see FIG. 4). Arrow S). Thereby, the elastic coupling body 30 can be rotated around the vertical axis V (arrow R). As a result, the front support 2 swings left and right with respect to the rear support 1.
FIG. 5 is another operation explanatory diagram of the elastic coupling body 30 including the three elastic rods shown in FIG.
From the state of the three elastic rods 4a, 4b, 4c initially extended to the same length, as shown in FIG. 5, the two elastic rods 4a, 4b positioned above are shortened (arrow S). Then, the elastic bar 4c positioned below is extended (arrow E). Thereby, the elastic coupling body 30 can be rotated around the horizontal axis H (arrow R). As a result, the front support 2 swings up and down with respect to the rear support 1.
FIG. 6 is still another operation explanatory view of the elastic coupling body including the three elastic rods shown in FIG.
As shown in FIG. 6, the three elastic rods 4a, 4b, 4c are extended by an equal length (arrow E). Thereby, the elastic coupling body 30 can be linearly moved forward (arrow F). As a result, the front support 2 is linearly expanded and contracted with respect to the rear support 1.
Next, with reference to FIGS. 7A and 7B, the elastic joint device according to the present invention will be described in comparison with a conventional joint device. Here, FIG. 7A shows a conventional joint device, and FIG. 7B shows a joint device of the present invention.
As shown in FIG. 7A, when the front and rear arms 11 and 12 are connected to each other by the joint portion 14 using a universal joint or other pivotal rotation structure and bent, the arm 11 at the joint portion 14 is indicated by an arrow K as shown by an arrow K. , 12 are angularly bent with respect to each other. For this reason, there exists a possibility that the foreign material etc. may be caught in the joint part 14, and the joint part 14 tends to break down.
On the other hand, in the elastic joint device of the present invention, as shown in FIG. 7B, the elastic rod 4 itself of the elastic coupling body 30 between the front support body 2 and the rear support body 1 has elasticity. By extending and contracting, as shown by the arrow G, the curve is smoothly made. Accordingly, foreign matter or the like is not caught at the bent portion, and it becomes difficult to break down, and the operation reliability is increased.
As described above, in the embodiment according to the present invention, the elastic coupling body not only functions as a joint device having at least a degree of freedom of expansion and contraction, but also cushions and supports the impact force by the elastic forces in the vertical and horizontal directions, the expansion and contraction, and the twisting direction. The bodies can be connected smoothly. In this case, since the elastic bar itself constituting the elastic coupling body is elastically curved, an effect of buffering an impact can be obtained by the curved elastic bar itself. For this reason, it is not necessary to newly provide a shock absorber for shock buffering, simplifying the structure, reducing costs, and smoothly bending the joint portion or the connecting portion, so that foreign matter is not easily caught and smooth operation. Can be obtained, and a joint device that is difficult to break down can be realized.
The present invention can be applied to, for example, a joint device of a robot or a moving body connecting device that can move on the ground or in water.
FIG. 8 shows an application example of the present invention. FIG. 8 shows an example in which the present invention is applied to a connecting device for a ground mobile body. This ground moving body can be composed of an unmanned exploration device that enters an irregular terrain in a rubble after a disaster such as an earthquake and searches for a victim.
The ground moving body 20 includes a rear module 21, a front module 22, and an elastic coupling body 30 that couples these modules. In the example shown in FIG. 8, the rear module 21 and the front module 22 are connected in series along their traveling direction. Further, in the example shown in FIG. 8, the rear module 21 and the front module 22 are each composed of a vehicle provided with a crawler 26 for traveling driving so as to cover the entire surface of each.
The elastic coupling body 30 includes four elastic rods 24a, 24b, 24c, and 24d, and telescopic devices 23a, 23b, 23c, and 23d (23b, 23d) that individually control expansion and contraction of the elastic rods 24a, 24b, 24c, and 24d. Only 23d is shown). The front ends of the elastic bars 24a, 24b, 24c, and 24d are directly fixed to the front vehicle 22, and the rear ends of the telescopic devices 23a, 23b, 23c, and 23d are directly fixed to the rear vehicle 21. Note that the number of elastic rods constituting the elastic coupling body 30 is not limited to four, and may be three or other numbers.
According to the ground moving body 20 having the above-described configuration, the front vehicle 22 is connected to the rear vehicle 21 via the elastic connecting body 30, so that the above-described FIG. 1 to FIG. As in the case of, up / down, left / right, twisting and expansion / contraction operations are possible. Moreover, the impact with respect to these operation directions can be buffered elastically, vehicles can be connected by smooth operation | movement, the catch of rubble etc. can be eliminated, and a rough terrain can be drive | worked smoothly.
FIG. 9 shows another embodiment of the ground mobile body 20.
In the example shown in FIG. 9, the ground moving body 20 includes two moving modules 21 and 22, that is, a rear module 21 and a front module 22, and an elastic connecting body 30 that connects them. Also in the example shown in FIG. 9, the rear module 21 and the front module 22 are connected in series along their traveling direction. However, each module 21, 22 has a cylindrical shape, for example, and is not provided with a crawler or wheels.
The elastic coupling body 32 includes three elastic rods 24a, 24b, and 24c, and expansion devices 23a, 23b, and 23c that individually control expansion and contraction of the elastic rods 24a, 24b, and 24c. The front ends of the elastic bars 24 a, 24 b, 24 c are fixed to the front module 22, and the expansion / contraction devices 23 a, 23 b, 23 c are accommodated in the rear module 21.
Also in the ground moving body 20 shown in FIG. 9, the front module 22 is connected to the rear module 21 via the elastic connecting body 30, so that it is possible to perform up / down, left / right, twisting, and expansion / contraction operations, and the impact on these operation directions. Can be elastically buffered.
As shown in FIG. 10, three or more, for example, four moving modules 21, 27a, 27b, and 22 are provided, and these moving modules are connected in series along their traveling direction, and the moving modules adjacent to each other are elastic. It can also be made to connect by the connection body 30, respectively.
Therefore, in general terms, the moving body according to the present invention includes a plurality of moving modules and at least one connecting body that connects a pair of adjacent moving modules to each other.
Various methods are conceivable for propelling the ground moving body 20 shown in FIG. 9 or FIG. For example, at least the first moving module 21 and the last moving module 22 are provided with engaging claws, and these engaging claws are selectively engaged with the ground or the like, and the elastic coupling body 30 is expanded and contracted to move the ground. The body 20 can be propelled. In other words, the case where there are two moving modules will be described as an example. As shown in FIG. 11A, first, the engaging claws 22p of the front module 22 are engaged with the ground GR, for example. Next, as shown in FIG. 11B, the elastic coupling body 30 is contracted, whereby the rear module 21 is advanced. Next, as shown in FIG. 11C, the engaging claws 22p of the front module 22 are released from the ground GR, and the engaging claws 21p of the rear module 21 are engaged with the ground GR. Next, as shown in FIG. 11D, the elastic coupling body 30 is extended, thereby the front module 22 is advanced. These are repeated.
Alternatively, when the ground mobile body includes three or more mobile modules, the ground mobile body 20 can be propelled by a bending motion such as a snake or a scale insect.
In this way, there is no need to provide a drive device for propelling the ground mobile body 20.
FIG. 12 shows another embodiment of the present invention.
For example, in the ground moving body 20 shown in FIG. 9, when the weight of the front module 22 is large, if one elastic rod 24a is extended to move the front module 22 upward with respect to the rear module 21, FIG. As shown, the elastic bar 24a itself may be deformed undesirably and the front module 22 may not be moved upward.
Therefore, in another embodiment according to the present invention, as shown in FIG. 12, a regulating member 61 that regulates the movement of the elastic rods 24a, 24b, 24c is provided at an intermediate position between the pair of moving modules 21, 22. . In the example shown in FIG. 12, the regulating member 61 is composed of a plurality of, for example, two plate members 62 and 63. Each plate member 62a, 62b is provided with a receiving hole 64 for receiving the elastic rods 24a, 24b, 24c, respectively, and the elastic rods 24a, 24b, 24c pass through the corresponding receiving holes 64, respectively. The movement of the bars 24a, 24b, 24c is restricted.
Further, in another embodiment according to the present invention, as shown in FIG. 12, a bellows-like cover member 65 covering the elastic bars 24a, 24b, 24c between the pair of moving modules 21, 22 over the entire circumference. And the plate members 62 and 63 are supported by the cover member 65. In this way, the cover member 65 is deformed according to the vertical, horizontal, twisting, and expansion / contraction operations of the elastic rods 24a, 24b, and 24c, so that the plate members 62 and 63 can be continuously held in their normal positions. Regardless of the state of the elastic bars 24a, 24b, 24c, the movement of the elastic bars 24a, 24b, 24c can continue to be regulated.
One end of the cover member 65 is fixed to the front module 22 over the entire circumference, and the other end of the cover member 65 is fixed to the rear module 21 over the entire circumference. Accordingly, the elastic coupling body 30 is protected by the cover member 65, and foreign substances and the like are prevented from entering the gaps between the elastic bars 24a, 24b, 24c.
In view of the fact that the plate members 62 and 63 are supported by the cover member 65, it can be considered that the movement of the elastic bars 24 a, 24 b and 24 c is restricted by the cover member 65. Further, considering that the three elastic rods 24a, 24b, 24c are received in the receiving holes 64 provided in the plate members 62, 63, for example, the movement of the elastic rod 24a is restricted by the remaining elastic rods 24b, 24c. You can also see that Alternatively, the plate members 62 and 63 can be viewed as maintaining the distance between the elastic rods 24a, 24b, and 24c substantially constant.
According to the present invention, it not only functions as a joint device having at least a degree of freedom of expansion and contraction, but also buffers external force with elastic forces in the vertical, horizontal, expansion and contraction and twist directions, and smoothly connects the supports. An articulated device that can be provided can be provided.

[0008]
According to the ground moving body 20 having the above-described configuration, the front vehicle 22 is connected to the rear vehicle 21 via the elastic connecting body 30, so that the above-described FIG. 1 to FIG. As in the case of, up / down, left / right, twisting and expansion / contraction operations are possible. Moreover, the impact with respect to these operation directions can be buffered elastically, vehicles can be connected by smooth operation | movement, the catch of rubble etc. can be eliminated, and a rough terrain can be drive | worked smoothly.
FIG. 9 shows another embodiment of the ground mobile body 20.
In the example shown in FIG. 9, the ground moving body 20 includes two moving modules 21 and 22, that is, a rear module 21 and a front module 22, and an elastic connecting body 30 that connects them. Also in the example shown in FIG. 9, the rear module 21 and the front module 22 are connected in series along their traveling direction. However, each of the modules 21 and 22 has, for example, a cylindrical shape and is not provided with a crawler or wheels.
The elastic coupling body 32 includes three elastic rods 24a, 24b, and 24c, and expansion devices 23a, 23b, and 23c that individually control expansion and contraction of the elastic rods 24a, 24b, and 24c. The front ends of the elastic bars 24 a, 24 b, 24 c are fixed to the front module 22, and the expansion / contraction devices 23 a, 23 b, 23 c are accommodated in the rear module 21.
Also in the ground moving body 20 shown in FIG. 9, the front module 22 is connected to the rear module 21 via the elastic connecting body 30, so that it is possible to perform up / down, left / right, twisting, and expansion / contraction operations, and the impact on these operation directions. Can be elastically buffered.
As shown in FIG. 10, three or more, for example, four movement modules 21, 27a, 27b, and 22 are provided, and these movement modules are connected in series along their traveling direction, and adjacent movement modules are connected.

Claims (11)

In an elastic joint device,
A pair of supports;
A connecting body for connecting these supports to each other, and including a single or a plurality of elastic bars, and a telescopic device that drives the elastic bars independently of each other to expand and contract in the axial direction;
An elastic joint device comprising: The elastic joint device according to claim 1, wherein the pair of supports are not connected by a rigid body. The elastic joint device according to claim 1, wherein the coupling body includes at least three elastic rods. The elastic joint device according to claim 1, further comprising a regulating member that regulates the movement of the elastic rod at an intermediate position between the pair of supports. The elastic joint device according to claim 4, wherein the regulating member includes a plate member having a receiving hole for receiving an elastic rod. The elastic joint device according to claim 4, further comprising a cover member that covers an entire circumference of the elastic rod between the pair of supports, and the restriction member is supported by the cover member. The elastic joint device according to claim 1, wherein a cross-sectional shape of the elastic rod is substantially a circle. The elastic joint device according to claim 1, wherein the expansion and contraction device is directly fixed to one support body. The elastic joint device according to claim 1, wherein the expansion and contraction device is fixed to one support body through an elastic member. In the moving body,
Multiple movement modules,
At least one connecting body for connecting a pair of adjacent moving modules to each other, each connecting body driving one or a plurality of elastic bars and the elastic bars independently from each other to expand and contract in the axial direction A connecting body comprising an expansion device;
A moving body comprising: The moving body according to claim 10, wherein the plurality of moving modules are connected in series along their traveling direction.

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