KR20230028161A - Shape fitting mechanism and shape fitting device - Google Patents

Abstract

A shape fitting mechanism capable of outputting not only a curved shape but also a flat shape, and a shape fitting device having the mechanism are provided. The shape fitting mechanism includes a plurality of scissor mechanisms (12, 12c) having the same structure and connected in series, wherein each of the scissor mechanisms has a first link (18, 18c) and a second link (20, 20c) that are mirror-symmetric with each other, the first and second links have respective inflection points (A, D) to be bent at predetermined angles and rotatably connected to each other at the inflection points, and the lengths (a, b) from the inflection point to both ends of the link in each link are different from each other.

Description

Shape adaptation mechanism and shape adaptation device {SHAPE FITTING MECHANISM AND SHAPE FITTING DEVICE}

The present invention broadly relates to a shape adapting mechanism, and more particularly, to a shape adapting device applicable to applications in which flexible displays are installed on both flat and curved surfaces.

BACKGROUND ART [0002] In recent years, along with the increase in size and diversification of display devices, techniques are known in which a large-area and flexible thin-film electronic device such as an organic electroluminescence (EL) display is fixed to a curved surface such as a cylinder. As a prior art related to this, a technique of forming an annular display area by fixing a plurality of flexible display panels to the surface of a cylinder is disclosed (see Patent Document 1, for example).

In addition, a technique for fixing a flexible display to a curved surface without generating wrinkles or insulation has been proposed. For example, Patent Document 2 includes a substrate having flexibility and a plurality of light emitting elements disposed on the substrate, and the rigidity of a first region of a substrate located below the light emitting elements is defined as the first region of the substrate. An organic EL display panel that can be formed into a three-dimensional curved shape by increasing the rigidity of the other second regions is described.

Japanese Unexamined Patent Publication No. 2021-073504 Japanese Unexamined Patent Publication No. 2017-191138

BACKGROUND ART [0002] There is a demand for a technique for uniformly mounting a large-area and flexible thin-film electronic device such as an organic EL display on a curved surface (object) having a relatively large curvature. In order to realize this, research and development have been conducted on a device combining a shape adaptation mechanism capable of being deformed according to the curvature of an object and display holding means such as an electrostatic adsorption module provided in the shape adaptation mechanism.

In such a device, it is required that the discrepancy between the shape output by the device (ie, the shape of the display) and the shape of the object is within a predetermined tolerance. Here, although it is possible to give the holding means itself an error absorbing function, errors exceeding a certain amount cannot be absorbed by the holding means alone, making it difficult to properly mount the display.

In addition, regarding the shape adaptation mechanism, it is desired to be able to output not only a curved shape but also a perfect flat shape in order to be applicable to a wider range of applications.

One aspect of the present disclosure is a shape adaptation mechanism including a plurality of scissor mechanisms having the same structure and connected in series, each of the plurality of scissor mechanisms having a first link and a second link that are mirror-symmetric with each other, , Each of the first link and the second link has an inflection point bent at a predetermined angle, and is rotatably connected to each other at the inflection point, and the length from the inflection point to both ends of the link in each link is They are different shape adaptation mechanisms.

Another aspect of the present disclosure is a shape adapting device including the shape adapting mechanism according to the aspect, a plurality of gripping parts respectively gripping both ends of the shape adapting mechanism, and a movable part capable of changing a distance between the plurality of gripping units. .

According to the present disclosure, in a structure in which a plurality of scissor mechanisms composed of a pair of links are connected, the pair of links are mirror-symmetric with each other and the distances from the inflection point to both ends are different in each link, so that only the curved surface A shape adapting mechanism capable of outputting not only a complete linear shape, but also a shape adapting device having the shape adapting mechanism is provided.

1 is a schematic perspective view of a shape adapting device according to a first embodiment.
2 is a perspective view of a scissor mechanism constituting the shape adaptation device of FIG. 1;
3 is a schematic diagram of a scissor mechanism according to the first embodiment.
4 is a schematic diagram of a downwardly convex scissor mechanism.
5 is a schematic diagram of an upwardly convex scissor mechanism.
FIG. 6 is a schematic diagram of the scissor mechanism of FIG. 5 .
Fig. 7 is a diagram explaining motion analysis of the scissor mechanism of Fig. 3;
FIG. 8 is a diagram showing an example of output speed of a link based on the motion analysis of FIG. 7 .
Fig. 9 is a diagram showing an example of a curve output by a scissor mechanism that is convex downward and is curved downward.
Fig. 10 is a diagram showing an example of a curve output by a scissor mechanism that is both convex downward and curved upward.
Fig. 11 is a diagram showing an example of a curve output by a scissor mechanism that is both convex upward and curved downward.
Fig. 12 is a diagram showing an example of a curve output by a scissor mechanism that is upwardly convex and upwardly curved.
13 is a schematic diagram of a shape adaptation device according to a comparative example.
Fig. 14 is a schematic diagram of a scissor mechanism constituting the shape adapting device of Fig. 13;
Fig. 15 is a diagram explaining motion analysis of the scissor mechanism of Fig. 14;
FIG. 16 is a diagram showing an example of output speed of a link based on the motion analysis of FIG. 5 .
Fig. 17 is a diagram explaining interference between links in a scissor mechanism.
Fig. 18 is a schematic perspective view of a shape adapting device according to a second embodiment.
Fig. 19 is a perspective view of a scissor mechanism constituting the shape adapting device according to the second embodiment.
Fig. 20 is a schematic diagram of the scissor mechanism of Fig. 19;
FIG. 21 is a graph showing the relationship between the base length of the T-shaped link shown in FIG. 20 and the minimum output radius.
22 is a diagram showing an example in which the output radius is 200 mm in the shape adapting device according to the second embodiment.
23 is a diagram showing an example in which the output radius is the minimum in the shape adapting device according to the second embodiment.
Fig. 24 is a schematic diagram showing a shape adapting device according to a third embodiment.
Fig. 25 is a flowchart showing an example of processing for obtaining the distance between both ends of the shape adapting mechanism according to the third embodiment.
Fig. 26 is a diagram showing an example of an output shape of the shape adaptation device according to the third embodiment.
Fig. 27 is a diagram showing another example of the output shape of the shape adaptation device according to the third embodiment.
Fig. 28 is a schematic diagram showing an example in which a suction device is attached to a shape adaptor.
Fig. 29 is a schematic diagram showing a shape adapting device according to a fourth embodiment.
Fig. 30 is a schematic diagram showing a deformed state of the shape adaptation device of Fig. 29;
Fig. 31 is a schematic diagram of a basic mechanism according to a fourth embodiment.
Fig. 32 is a schematic diagram showing an example in which a plurality of basic mechanisms of Fig. 31 are provided.
Fig. 33 is a schematic diagram of a basic mechanism according to the fifth embodiment.
FIG. 34 is a schematic diagram showing a deformed state of the shape adaptation device of FIG. 33 .
Fig. 35 is a schematic diagram showing the basic concept of the basic mechanism according to the fifth embodiment.
Fig. 36 is a schematic diagram showing the basic concept of the basic mechanism according to the fifth embodiment.
Fig. 37 is a schematic diagram of a basic mechanism according to the fifth embodiment.
Fig. 38 is a schematic diagram showing an example in which a plurality of basic mechanisms of Fig. 37 are provided.
Fig. 39 is a graph showing the relationship between the distance between both ends of the device and the inner curvature radius in the first embodiment.
Fig. 40 is a graph showing the relationship between the distance between both ends of the device and the inner radius of curvature in the fourth embodiment.
Fig. 41 is a graph showing the relationship between the distance between both ends of the device and the inner curvature radius in the fifth embodiment.

(First embodiment)

1 shows a schematic configuration of a shape adapting device 10 according to the first embodiment. The shape adapting device 10 includes a shape adapting mechanism including a plurality of scissor mechanisms 12 having the same structure and connected in series, and scissor mechanisms 12a and 12b at both ends of the plurality of scissor mechanisms 12 It is possible to change the distance between a plurality of (here two) gripping parts (robot hand, etc.) 14a, 14b each gripping each gripping part (the relative position of the gripping part 16b with respect to the gripping part 14a). It has movable parts (robot arms, etc.) 16a, 16b. In other words, the robot arms 16a and 16b act as active agents (corresponding to reference numeral 19 in FIG. 24 to be described later) that make the distance between the scissor mechanisms 12a and 12b variable.

The movable parts 16a and 16b may be possessed by one robot, or may be provided to two robots, respectively. The robots (not shown) having the movable parts 16a and 16b are controlled by a robot control device (not shown) equipped with a processor or the like.

FIG. 2 shows a structural example of each of the scissor mechanisms 12 of FIG. 1, and FIG. 3 schematically shows two adjacent scissor mechanisms 12 and 12c. The scissor mechanism 12 has a pair of links 18 and 20 (hereinafter also referred to as a first link 18 and a second link 20), and each link has a predetermined angle (obtuse angle in the illustrated example) , and the lengths a and b from the inflection point to both ends are different from each other (here a<b). The 1st link 18 and the 2nd link 20 are rotatably connected to each other by the rotation joint (joint) A in those inflection points. In addition, the end of the first link 18 is one of the pair of links 18c and 20c constituting the scissor mechanism 12c (hereinafter also referred to as the first link 18c and the second link 20c) ( Here, the ends of the link 20c are rotatably connected to each other by rotation pair B, and similarly, the ends of the link 20 are rotatably connected to each other by rotation pair C to the end of the link 18c. . Further, the links 18c and 20c are rotatably connected to each other at their inflection points by rotation counter D.

The first link 18 and the second link 20 have a mirror-symmetric (left-right symmetry) relationship, and specifically satisfy the following formula (1). However, as described above, a<b and |α|<β.

Fig. 4 is a diagram showing an example of the links 18 and 20 satisfying Expression (1), showing a case where α is positive (α > 0). Also as noted above, link 18 is symmetrical to link 20 . In this way, the scissor 12 that is symmetrical to each other and α>0 is referred to as a “downward convex scissor” here for convenience.

5 and 6 show a modified example of FIG. 4, and specifically show a scissor mechanism 12' composed of links 18' and 20' satisfying Expression (1). The scissor mechanism 12' differs from the scissor mechanism 12 in that the links 18' and 20' are bent at an acute angle, in other words, α is negative (α < 0), and other points may be the same. . The scissor 12', which is symmetrical to each other and α<0, is referred to as an "upward convex scissor" for convenience.

Here, motion analysis is performed for the downwardly convex scissor mechanism 12 using the screw theory, which represents the rotation and translational motion of a rigid body with a 6-dimensional vector. First, as shown in FIG. 7, a loop formed by four links 18, 20, 18c, and 20c and four rotations A to D, specifically, a clockwise loop 1 and a counterclockwise loop think 2

Here, as shown in Fig. 7, it is assumed that Daewoo D(Pe) is the reference point of the output section, and the output section speed is expressed as V _Pe (=(ωx ωy ωz vx vy vz) ^T ). In addition, the speed component ($ _{i, j} ) of each rotation (joint screw) is expressed by the following formula (2).

Next, in loop i, a reciprocal screw $R, _{i,j whose reciprocal product with the velocity component $i ,j} of each treatment is 0 is derived using the following equation (3). However, the number of reciprocal screws $ _R,i,j is the number obtained by subtracting the number of joint screws $ _i,j from 6.

$ _R,i,j obtained from the two loops represents the constraint of motion, and is specifically expressed as the following equation (4).

From equations (2) to (4), the results of motion analysis for loops 1 and 2 are as follows, respectively, in equations (5) and (6). In addition, m in Expression (5) is a coefficient for setting the norm of $ _R,1,4 to 1, and similarly, n in Expression (6) is a coefficient for setting the norm of $ _R,2,4 to 1.

The degree of freedom of the scissor mechanism is the number obtained by subtracting the number of independent $ _R,i,j from 6. Equations (5) and (6) indicate that the number of independent $ _R,i,j is 5, so the degree of freedom of the scissor mechanism is 1. That is, $ _R,1,1 (= $ _R,2,1 ), $ _R,1,2 (= $ _R,2,2 ) and $ _R,1,3 in equations (5) and (6). From the value of (=$ _R,2,3 ), the condition that ωx, ωy, and vz are all zero at the output section velocity V _Pe (=(ωx ωy ωz vx vy vz) ^T ) is obtained, which is denotes being in the xy plane. Also, $ _R,1,4 and $ _R,2,4 represent motion in the xy plane.

Next, the motion of the scissor mechanism in the xy plane is examined. For the output section velocity V _Pe (=(ωx ωy ωz vx vy vz) ^T ) of Daewoo D(Pe), the following equation (7) holds.

8 shows the speed of each output clause based on equation (7). From Equation (7) and FIG. 8, the output speed becomes a linear direction toward different points in each scissor while changing the relative posture between the links, and as the motion of the entire mechanism, it becomes a motion of one degree of freedom capable of outputting an arc shape. That is, in the mechanism shown in Fig. 1, when the distance between the scissors 12a and 12b at both ends (the distance between the hands 14a and 14b) is determined, an arc shape with a uniquely determined curvature is output. However, in the first embodiment, a curved line having an infinite curvature, i.e., a straight line shape as shown in FIG.

In addition, although the above analysis was performed for a downwardly convex scissor, it can be seen that circular arcs and straight lines can be output by the same analysis for an upwardly convex scissor.

9 to 12 explain variations of the shape adapting mechanism composed of a scissor mechanism. First of all, in the mechanism shown in FIG. 9, the above-described downwardly convex scissor 12 is bent downward, and a plurality of positions corresponding to Daewoo C of each scissor represent an arc 22 as an output shape. Similarly, in the mechanism shown in FIG. 10, the downwardly convex scissor 12 is bent upward, and a plurality of positions corresponding to pairs A and D of each scissor represent an arc 24 as an output shape.

In the mechanism shown in Fig. 11, the above-described upwardly convex scissor 12' is bent downward, and a plurality of positions corresponding to Daewoo C of each scissor represent an arc 22' as an output shape. Similarly, in the mechanism shown in Fig. 12, the above-described upwardly convex scissor 12' is bent upward, and a plurality of positions corresponding to pairs A and D of each scissor form an arc 24' as an output shape. indicates

Any of the mechanisms shown in Figs. 9 to 12 can output both straight and curved (arc) shapes regardless of convex or curved directions. In addition, any mechanism can output a circular arc having a variable center point, radius, and central angle by changing the distance between the scissors 12a and 12b in FIG. 1 (the distance between the robot hands 14a and 14b). .

13 shows a shape adapting device 100 capable of outputting a curved shape as a comparative example. The shape adapting device 100 grips a plurality of scissor mechanisms 102 having the same structure and arranged and connected in series, and scissor mechanisms 102a and 102b at both ends of the plurality of scissor mechanisms 102, respectively. It has robot arms 106a, 106b with robot hands 104a, 104b that do. Here, the robot arms 106a and 106b act as an active unit 109 that makes the distance Lin between the scissor mechanisms 102a and 102b variable.

14 schematically shows two adjacent scissor mechanisms 102 and 102c. The scissor mechanism 102 has a pair of links 108 and 110, and each link is bent at a predetermined angle (an obtuse angle in the illustrated example) at the center, and the lengths a and b from the center to both ends are equal to each other In addition, the shape and dimensions of the link 108 and the link 110 are mutually the same, and in their center (flexion point), they are rotatably connected to each other by a rotation joint (joint) A. Further, the end of the link 108 is rotatably connected to one end of a pair of links 108c and 110c constituting the scissor mechanism 102c (link 110c in this case) by a rotation pair B, , similarly, the ends of the link 110 are rotatably connected to each other by rotation Daewoo C to the end of the link 108c. Further, the links 108c and 110c are rotatably connected to each other at their centers (points of inflection) by a rotation counter D.

15 and 16 show motion analysis in the scissor mechanism 102 . Here, with Daewoo D(Pe) as the reference point of the output clause, the following equation (8) holds true for the output clause velocity V _Pe (=(ωx ωy ωz vx vy vz) ^T ).

Equation (8) indicates that the direction of the output speed of the pair D of the scissor mechanism 102 is expressed by a straight line L passing through the same point O, regardless of the attitude of the scissor mechanism 102. That is, in the scissor mechanism 102, as can be seen from the fact that ωz is zero, the output speed of the output section D is in the straight line direction passing through the same point regardless of the attitude of the mechanism, so the output shape of the output section is 1 It becomes a degree of freedom, more specifically, a circular arc within the xy plane, and a perfect straight line shape cannot be realized. Therefore, for example, when a gripping means such as a suction hand is provided at the position C of the scissor mechanism and the flexible display is gripped by the gripping means, even though the flexible display can be deformed into a curved surface, it is perfectly flat. Can't.

On the other hand, the shape adaptation device according to the first embodiment includes a structure in which ωz (relative angular velocity between links) is not zero (∵a<b) and mirror symmetry as shown in equation (7). As can be seen from this, in addition to any curved shape, a perfectly straight line shape can also be output. Therefore, for example, when a holding means such as a suction hand is provided at the position C of the scissor mechanism 12 in FIG. 9 and the flexible display is gripped by the holding means, the flexible display can be deformed into a curved shape. Yes, it can be perfectly flat. Therefore, according to the first embodiment, both ends of the display stacked on a plane are gripped by two robot hands, and the distance between the robot hands is changed to transform the display into a curved surface, and then installed on a cylinder or the like, for a wider range of uses. device can be provided.

(Second embodiment)

17 illustrates an example of interference between links in a scissor mechanism. When the mechanism including the scissors 12 and 12c is deformed so that the respective links 18 and 20 are overlapped, each link actually has a thickness and width as shown in FIG. 2, so that the part 26 Links interfere with each other in this case, and the desired output shape may not be obtained.

Therefore, in the second embodiment, instead of directly connecting the scissors 12 and 12c as in the first embodiment shown in Fig. 1, as in the shape adapting device 10' shown in Fig. 18, between adjacent scissor The T-shaped link mechanism 28 is placed there. Since other components of the shape adapting device 10' may be the same as those of the shape adapting device 10 of FIG. 1, the same reference numerals are assigned to the same components, and detailed descriptions are omitted.

18 and 19 show a specific structural example of the T-shaped link mechanism 28. The T-link mechanism 28 is rotatably connected to the end of the first link 18 of the scissor 12 (daewoo B) and the end of the second link 20c of the scissor 12c (daedae B'). Rotatably connected to the first plate-shaped link 30, the end of the second link 20 of the scissor 12 (daewoo C) and the end of the first link 18c of the scissor 12c (daewoo C'). The second plate-shaped link 32 and the rod-shaped link connected to the second plate-shaped link 32 to form a T-shaped link and displaceable in one direction (vertical direction in FIG. 20) with respect to the first plate-shaped link 30 (34).

The rod-shaped link 34 is preferably connected to the center of the second plate-shaped link 32 and extends toward the first plate-shaped link 30 in a direction perpendicular to a straight line C-C'. Furthermore, the rod-shaped link 34 is inserted into a hole provided in the first plate-shaped link 30 (preferably, the center of the first plate-shaped link 30), and is configured to be slidably movable in the hole. In addition, a groove or the like may be used instead of a hole, but the linear link 34 is configured to be movable only in a direction perpendicular to the straight line BB' with respect to the first plate-shaped link 30 .

In the second embodiment, by interposing the plate links 30 and 32 between the pair of scissors 12 and 12c, the pair B and B' are spaced apart from each other, and the pair C and C' are spaced apart from each other, so that Interference between links as described with reference to FIG. 17 can be prevented. On the other hand, since the movement direction of the T-link is defined as one direction, both circular arcs and straight lines can be output as the entire shape adapting mechanism, similarly to the first embodiment. In addition, although there is no particular restriction on the length l _h (see FIG. 20) of the direct-acting link 34, even if the distance between the plate-shaped links 30 and 32 is maximized, the rod-shaped link 34 does not fall out of the hole of the plate-shaped link 30. , l _h >(a+b).

Fig. 21 shows calculation results obtained by obtaining a relationship between the length l _p of the plate-shaped link 32 (the distance between Daewoo C and C') and the minimum radius of curvature of an arc as an output shape output by the shape adaptor 10'. it's a graph In addition, as a calculation condition, a, b, θ, and the number of scissors were set to 30 mm, 40 mm, (π/4), and 16, respectively, here.

21, it turns out that the minimum radius of curvature also becomes large, so that the length _lp of the plate-shaped link 32 is large. In addition, there is no particular restriction on _lp , and it is appropriately determined in consideration of the use as a shape adapting device and processing accuracy.

22 shows a state when outputting a circular arc having an inner curvature radius r _in of 200 mm when l _p is 20 mm in the shape adaptation device under the conditions used in the calculation of FIG. 21, and FIG. 23 shows, The state when the same shape adapting device is outputting a circular arc having a minimum inner curvature radius r _in (=52.9 mm) is shown. As described above, the shape adapting device according to the second embodiment can output circular arc shapes and linear shapes having variable curvatures as in the first embodiment, and also can prevent interference between links when the scissor mechanism is deformed. .

Further, in the illustrated example, the T-shaped link mechanism 28 is provided in all of the adjacent scissors, but the present embodiment is not limited to this. If there is at least one such T-link mechanism, there is a certain effect. For example, the T-link mechanism may be provided only between links that are likely to cause interference due to a change in the distance between the scissors at both ends (deformation of the shape adaptation mechanism). .

Also, when the shape adapting device 10' is used as an installation device for a flexible display, an adsorption means such as a chuck module holding the display can be installed at an arbitrary position of the scissor mechanism. However, it is preferable to provide, for example, on the lower surface of the second plate-shaped link 32 (opposite to the side where the rod-shaped link 34 is provided) from the viewpoint of ease of processing.

(Third Embodiment)

Both the first embodiment and the second embodiment described above can output both a curved shape and a straight shape, but the curved shape is basically a circular arc. So, below, a third embodiment capable of outputting a complex curved shape rather than a simple circular arc will be described.

Fig. 24 is a schematic diagram showing a shape adapting device 10" according to a third embodiment. The third embodiment, in the first embodiment shown in Fig. 1, includes at least one elastic translation element 40 Since other components of the shape adapting device 10" may be the same as those of the shape adapting device 10 in FIG. 1, the same reference numerals are assigned to the same components, and detailed descriptions are omitted.

The elastic translation element 40 is a cylinder disposed between the second position B of the scissor 12 and the second position B' of the scissor 12c adjacent to the scissor 12, and is displaceable only in the direction of straight line B-B'. A linear mechanism 42 such as a back, and an elastic member (for example, a spring) 44 that is connected to the linear mechanism 42 and can be elastically deformed in response to an external force acting on the scissor mechanism by the gripping parts 14a, 14b and the like. have Therefore, the distance between Daewoo B and B' is variable, and the distance is uniquely determined according to the external force acting on the shape adaptation device 10".

The degree of freedom F of the shape adaptation device 10" can be obtained from the following equation (9). In the equation, N is the number of links, J is the number of pairs, and f _i represents the degree of freedom of each link.

For example, as shown in FIG. 24 , in a mechanism in which the number of links N and number J are 36 and 51, respectively, and one elastic translation element 40 is provided, the degree of freedom F is 3. This means that the degree of freedom of the distance Lin between the scissors at both ends and the direction (the position of the arm 16b relative to the arm 16a) is 2, and the degree of freedom of the elastic translation element 40 displaced in one direction is 1. Accordingly, the degree of freedom F changes according to the number of elastic translation elements 40 .

Fig. 25 is a flowchart showing an example of processing for obtaining the distance Lin for the force f _ex of the robot arm applied between the scissors at both ends. First, in step S1, based on the shape (curvature) to be output, the angle θ1 formed by the two links of the scissor 12 (see Fig. 24) is set.

Next, in step S2, the angle θ ₂ formed by the link including the linear motion direction of the linear motion mechanism 42 and the Daewoo B, and a vector γ expressed by the length l of the elastic translation element 40 (= (θ ₂ , l) ), the initial value γ ₀ (= (θ _{2, 0} , l ₀ )) is given.

In Steps S3 to S6, the input of the mechanism is continuously varied, a static dynamics analysis including virtual torque F _v (= (f _v , τ _v )) is performed, and a dynamic equilibrium shape at which F _v (γ) = 0 is obtained. save First, displacement analysis is performed in step S3, and the output shape of the mechanism when the angles θ ₁ and γ ₀ are input is derived. In the next step S4, a static dynamics analysis is performed on the shape, and the Daewoo action force and virtual torque F _v of each Daewoo are derived. Next, at step S5, it is determined whether or not the derived virtual torque F _v is less than a sufficiently small threshold value δF _v . Here, when F _v is greater than or equal to the threshold value δF _v , γ is changed by the arithmetic processing in step S6, and steps S3 onwards are repeated until F _v becomes less than δF _v . In this way, the mechanical equilibrium shape of the mechanism can be obtained.

Finally, in step S7, the distance Lin between the scissor (both arms) at both ends is derived from the value of each parameter in the equilibrium shape.

In the example of Fig. 24, the shape adapting device 10" outputs an output shape 46 formed by connecting two arcs with different curvatures in a parallel C. Accordingly, according to the third embodiment, an appropriate number of elastic translations are output. By arranging the element 40 at an appropriate position, a more complex curved shape can be output.

26 and 27 show examples of output shapes of the shape adapting device 10″ obtained by the arithmetic processing in FIG. 25 under the condition that the force f _ex applied from the robot arm to the mechanism is 5 N. Here, a , b, β when the shape adaptation mechanism outputs a linear shape (see FIG. 4, etc.), and n (the number of scissors) are set to 30 mm, 40 mm, (π/4), and 16, respectively, and l as a design variable. _n (natural length of the spring 44), k (spring constant), and n ₁ (a number representing the number of scissors in which the elastic translation element 40 is provided counting from the scissor 12a at one end) are used. did.

In FIG. 26, when θ ₁ , l _n , k, and n ₁ are 0.5deg, 30 mm, 6 N/mm, and 8, respectively, θ ₂ , l, and Lin are respectively 1.4deg, 29.9 mm, and 141 mm, and the output shape of the mechanism And, the input length at that time is derived. In FIG. 27 , when θ ₁ , l _n , k, and n ₁ are 0.7deg, 20 mm, 4 N/mm, and 4, respectively, θ ₂ , l, and Lin are 1.42 deg, 20.0 mm, and 458 mm, respectively. In this way, the output shape can be greatly changed according to the position and spring characteristics of the elastic translation element 40 .

Further, the features of the first to third embodiments described above may be appropriately combined. For example, a shape adaptation device including both the linear mechanism of the second embodiment and the elastic translation element of the third embodiment can be implemented, and there is no particular limitation on the number of the linear mechanism or the elastic translation element. Further, the linear mechanism and the elastic translation element may be provided in the same scissor mechanism.

FIG. 28 is a diagram schematically illustrating the shape adapting device 10 according to the present disclosure, showing a state in which an additional device 50 for work such as an electrostatic suction device is installed in the shape adapting device 10. In the above-described first to third embodiments, the inner dimension of the junction d1 between the shape adapting device 10 and the additional device 50 may change according to deformation of the shape adapting device 10 . Also, the size of the portion d2 (here, the front end of the additional device 50) offset by a predetermined distance from the joining portion d1 can also change according to deformation of the shape adapting apparatus 10. In this case, in the application of holding and holding the member to be held 52 such as a flexible film at the tip of the additional device 50 and sticking it to the predetermined site 54, the film ( When a tangential force is applied to 52, undesirable deformation such as elongation or compression of the film 52 may occur.

Therefore, in the embodiments described later, a mechanism in which tangential force does not substantially act on an article such as a film held by the device even when the shape adapting device is deformed will be described.

(Fourth embodiment)

Fig. 29 shows a schematic configuration of a shape adapting device 200 according to the fourth embodiment. The shape adapting device 200 has a shape adapting mechanism including a plurality of basic mechanisms 202 having the same structure as each other and connected in series. Also in the fourth embodiment, as in the first embodiment, the distance between the plurality of (here two) gripping parts (robot hands, etc.) each gripping the tools at both ends of the plurality of basic mechanisms 202 and the gripping parts is changed. It has possible movable parts (robot arms, etc.). Accordingly, the shape adaptation device 200 can output a straight line 218 as shown in FIG. 29 and a curved line 220 as shown in FIG. 30 .

FIG. 31 shows a structural example of each basic mechanism 202 in FIG. 29 . The basic mechanism 202 is a six-section mechanism having two closed circuits consisting of six links and seven parallels, and is a mechanism with one degree of freedom. Specifically, the basic mechanism 202 includes a first linear link 204 and a second linear link 206 rotatably connected to one end of the first link 204 by a first rotational pair B ₁ . ), and a third linear link 208 rotatably connected to the other end of the first link 204 by the second rotational pair B ₂ , and to the second link 206 by the third rotational pair A ₁ A fourth linear link 210 rotatably connected with respect to, a fifth linear link 212 rotatably connected with respect to the third link 208 by a fourth rotational line A ₃ , and a first link 204 ) With respect to the center of the sixth linear link 214 fixed to extend perpendicularly to the longitudinal direction of the first link 204, and the sixth link 214 with respect to the straight Daewoo connected displaceably in the longitudinal direction D ₁ and the straight line D ₁ are connected, and the fourth link 210 is rotatably connected by the fifth rotation Daewoo C ₁ , and the fifth link 212 is rotated by the sixth rotation Daewoo E ₁ . It has a linking member 216 that is possibly connected.

According to the basic mechanism 202 of FIG. 31, the rotation angle of the 2nd link 206 with respect to the 1st link 204 and the rotation angle of the 3rd link 208 with respect to the 1st link 204 are always It becomes the same angle (θ in the illustrated example). Therefore, if the basic mechanism 202 is used, it is possible to realize a shape adapting device in which the output shape is a straight line or an arc and the dimension (length) is constant.

Fig. 32 shows an application example of the fourth embodiment. Here, a basic mechanism 202a having the same structure as the basic mechanism 202 is further provided, and specifically, the fourth straight line of the mechanism 202a is provided on the rotation table A ₂ provided in the center of the first link 204. The phase link 210a is rotatably connected. In this connection, the mechanism 202 has a sixth link 214' having a shape (bifurcated in the illustrated example) that does not interfere with the center of the link 210. Also, treatment A ₁ , A ₃ , B ₁ , B ₂ , C ₁ , D ₁ , and E ₁ of device 202 are treated A ₂ , A ₄ , B ₂ , B ₃ , C ₂ of device 202a, respectively. , corresponding to D ₂ and E ₃ .

Next, the output shape of the configuration in Fig. 32 will be described. Here, the mechanical constants are link lengths a, b, and c, and θ is a state variable representing the state of the mechanism. As described above, in this mechanism, since the links 206, 204, and 208 are connected in a rotational relationship with an equal relative rotation angle, B ₀ B ₁ , B ₁ B ₂ , B ₂ B ₃ , B ₃ B ₄ The inner dimension of the corresponding face is constant. Further, when the following equation (10) is satisfied, the mechanism passes through midpoints _{A 1} , A ₂ , A 3 , and _{A 4} of B ₀ B 1 , B 1 B ₂ , B _{2 B 3} , B ₃ B _{4 ,} respectively. forming an arc 220 .

Therefore, in the fourth embodiment, the arc 220 passing through A ₁ , A ₂ , A ₃ and A ₄ can be defined as an output curve, and its radius r _in is expressed by the following equation (11).

Further, the stroke length h of the straight-line treatment D ₁ can be expressed by the following expression (12) using the state variable θ.

Further, in this embodiment, the input displacement can be given by holding and operating both ends of the mechanism shown in FIG. 32 with a robot arm or the like. Here, if the number of basic mechanisms 202 and the like is n, the relationship between the distance L _in of both ends of the configuration composed of n basic mechanisms and the state variable θ can be expressed by the following equations (13) and (14).

According to the structure of FIG. 32, it is possible to output a linear shape or an arc shape in which the set size is constant and the relative rotation angles between the respective links are equal. In addition, by appropriately selecting the number of basic mechanisms, an output shape having a desired length can be obtained.

In the fourth embodiment, the size of the shape adaptation device is constant and it is possible to output both a straight shape and an arc. As shown in FIG. 28, an additional device such as an electrostatic adsorption device is added to the shape adaptation device. If the dimensions cannot be ignored, it is preferable that the dimensions of the output shape of the additional device, not the shape adapting device, be constant. Therefore, in the fifth embodiment to be described later, even if the shape adapting device is deformed, a mechanism in which tangential force does not substantially act on an article such as a film held by an additional device of the device will be described.

(Fifth embodiment)

Fig. 33 shows a schematic configuration of a shape adapting device 300 according to the fifth embodiment. The shape adapting device 300 has a shape adapting mechanism including a plurality of basic mechanisms 302 having the same structure as each other and connected in series, and on the lower surface side of the link 304 of the basic mechanism 302, there is electrostatic adsorption. An additional device 308 such as a device is provided. Also in the fifth embodiment, as in the first embodiment, the distance between the plurality of (here two) gripping parts (robot hands, etc.) each gripping the tools at both ends among the plurality of basic instruments 302 and the gripping parts is changed. It has possible movable parts (robot arms, etc.). Accordingly, the shape adapting device 300 can output a linear shape 342 as shown in FIG. 33 and a curved shape 344 as shown in FIG. 34 .

35 and 36 explain the basic concept of the fifth embodiment. Here, a mechanism in which electrostatic adsorption devices 308 and 310 having a height of H are installed on the links 304 and 306 is considered.

Here, the fact that the dimensions of the output shapes of the devices 308 and 310 are constant means that the tips 312 and 314 (surfaces formed by) of each device are connected by rotation relative to Q ₁ , and to realize this, Δl It is necessary to simultaneously perform the expansion motion of and the rotational motion of the angle φ, and also satisfy the following expression (15).

As a specific means for satisfying Expression (15), as shown in Fig. 36, a parallel link 316 that connects one end of the links 304 and 306 and the rotational stage Q ₁ can be considered. However, since the devices 308 and 310 are installed below the links 304 and 306, if the parallel link 316 is actually used, among the parallel links 316, the link 318 connected to the rotational zone Q ₁ is the device. (308 or 310) may interfere.

Therefore, in the fifth embodiment, a basic mechanism having no link or treatment is used on the side of the additional devices 308, 310 rather than the links 304, 306.

As shown in Fig. 37, the basic mechanism 302 is composed of a 4-bar parallel link mechanism and a 6-bar mechanism consisting of 6 links and 7 pairs. Specifically, the basic mechanism 302 includes a first linear link 304 and a second linear link 306 spaced apart from each other, and one end of the first link 304 by the first rotational pair B ₁ . With one end rotatably connected to one end of the second link 306 by the third linear link 322, one end rotatably connected to the second rotation unit A ₁ , the third rotation unit E A fourth linear link 324, the center of which is rotatably connected with respect to the center of the third link 322 by ₁ , and connected to the other end of the third link 322 by a fourth rotational F ₁ , In addition, a sixth linear link 328 rotatably connected to a fifth linear link 326 extending vertically from one end of the second link 306 by a fifth rotational pair J ₁ , and a sixth rotational pair It is connected to the other end of the fourth link 324 by D ₁ , and rotates to the seventh linear link 330 extending vertically from one end of the first link 304 by 7th rotation Daewoo C ₁ . It has an eighth straight link 332 connected possibly thereto.

According to the basic mechanism 302 of FIG. 37, the two links 304 and 306 can mutually rotate around the virtually set point _Q1 . Hereinafter, FIG. 38 shows an application example in which this basic mechanism can be applied to three or more links coupled in series. Here, a basic mechanism 202a having the same structure as the basic mechanism 302 is further provided, and a straight line treatment is provided between the basic mechanisms 302 and 302a. Specifically, the ninth linear link 334 rotatably connected to the fourth rotational stage F ₁ of the basic mechanism 302 and the rotatably connected to the sixth rotational stage D ₂ of the basic mechanism 302a, A tenth straight link 336 having the same length as the nine links 334 and an eleventh straight link fixed to extend perpendicularly to the longitudinal direction of the second link 306 with respect to the center of the second link 306. 338, and the straight pair L ₁ connected displaceably in the longitudinal direction with respect to the eleventh link 338, and the straight pair L ₁ are fixed, and the ninth link 334 and the tenth link 336 are It has connecting members 340 rotatably connected by the eighth rotation stage K ₁ and the ninth rotation stage N ₁ , respectively. In addition, treatment A ₁ , B ₁ , C ₁ , D ₁ , E ₁ , F ₁ and J ₁ of the device 302 are treated A ₂ , B ₂ , C ₂ , D ₂ , E ₂ of the device 302a, respectively. , corresponding to F ₂ and J ₂ .

Next, the output shape of the fifth embodiment will be described. Here, if the number of basic mechanisms is n, the mechanism constants are link lengths a, b, c, and d, and the state variable representing the state of the mechanism is θ, the relative positional relationship of each point is expressed in the following equations (16) to ( 18) is expressed as

Therefore, the intersection Qn of the straight line CnBn and the straight line JnAn is obtained from the following equations (19) and (20).

Therefore, since |Q _n -A _n |=|Q _n -B _n |=b, it can be seen that Q _n exists at a distance b from A _n and B _n regardless of θ. Further, from the geometric relationship, the following equations (21) to (23) are established.

From the above, |Q _{n + 1} - Q _n | is always constant regardless of θ, and as shown in FIG. 37 , a mechanism in which rotational versus Q ₁ exists can be realized. Therefore, when an additional device such as an electrostatic adsorption device is installed in the shape adaptation mechanism, the internal dimensions of the tips 312 and 314 of the additional device can always be kept constant. Further, when the following expression (24) is satisfied, the mechanism can form an arc passing through the midpoint of the plane where the inner dimension is constant, and this does not depend on the number of basic mechanisms.

In the example of FIG. 38 , an arc 344 passing through the midpoint of the plane having constant dimensions (the midpoint of Q ₁ Q ₂ in FIG. 38 ) can be defined as an output curve, and its radius r _in is given by the following equation (25 ) is expressed as

In addition, the stroke length h of the straight line treatment L ₁ can be expressed by the following expression (26) using the state variable θ.

In this embodiment, the input displacement can be given by holding and operating both ends of the mechanism shown in FIG. 38 with a robot arm or the like. Here, if the number of basic mechanisms 302 and the like is n, the relationship between the distance Lin at both ends of the configuration composed of n basic mechanisms and the state variable θ is the following equation ( 27) and (28).

When it is known as the distance input displacement of both ends of the mechanism, if equation (28) is used, the angular parameter θ in the corresponding mechanism is obtained, so the output shape at that time can also be obtained.

Further, when the output curve is manipulated by Lin, it is preferable that the shape of the mechanism by Lin is uniquely determined. As can be seen from equation (25), since the output radius r _in is uniquely determined with respect to θ, the above condition has the same meaning as that Lin is uniquely determined with respect to θ.

All of the above-described embodiments provide a shape adapting mechanism and a shape adapting device having a mechanism having a plurality of links connected by rotation, and capable of outputting not only curves (curved surfaces) but also perfect straight lines (flat surfaces). However, in the first to third embodiments, the inner dimension (d1 in Fig. 28) of the output part of the mechanism itself may change due to deformation of the mechanism, whereas d1 does not change in the fourth embodiment. On the other hand, in the fifth embodiment, although d1 can be changed, the internal dimension (d2 in Fig. 28) of the output portion (tip) of the additional device such as an electrostatic adsorption device installed in the mechanism does not change. In this way, each embodiment can be appropriately selected and used according to the purpose of the shape adaptation device.

Fig. 39 is a graph showing the result (theoretical value) obtained from kinematic analysis of the relationship between the distance L _in and the output radius r _in of both ends of the shape adaptation mechanism (the part held by the robot arm or the like) in the first embodiment. . In addition, the parameters a, b, _lp , and φ were set to 30 mm, 40 mm, 20 mm, and 7π/9, respectively, and the number of scissor mechanisms was set to 5.

Similarly, Figs. 40 and 41 are graphs showing the results (theoretical values) of the relationship between L _in and r _in obtained from kinematic analysis in the fourth and fifth embodiments, respectively. Parameters a, b, and c in Example 4 were set to 17 mm, 47 mm, and 0 mm, respectively, and the number of basic mechanisms was set to three. Parameters a, b, c, and d in Example 5 were set to 14.1 mm, 37.7 mm, 42 mm, and 7.5 mm, respectively, and the number of basic mechanisms was set to three.

As shown in these graphs, when L _in is specified in each example, r _in is uniquely determined, and the gradient and shape of the graph differ considerably between the examples. Therefore, suitable embodiments or parameters can be appropriately selected according to the purpose of the shape adaptation device.

Application examples of the shape adaptation mechanism and the shape adaptation device according to the present disclosure are not limited to the display installation device described above. For example, if the above-mentioned suction chuck module is replaced with a brush or a wiper, it can be used as a cleaning device for cleaning a curved window or glass. Alternatively, if the above-mentioned suction chuck module is replaced with various sensors, it can be used as an inspection device for inspecting the state of the inner surface of a curved tunnel.

In addition, it is preferable that the suction means is provided on all of the plurality of scissor mechanisms, but if provided on at least two of the plurality of scissor mechanisms, a certain effect can be obtained for adapting (conforming) the display to the surface shape of the object.

10, 10', 10", 200, 300: conformal device
12, 12a, 12b, 12c: scissor mechanism
14a, 14b: grip part
16a, 16b: moving part
18, 18c, 20, 20c: link
22, 22', 24, 24', 36, 38, 46: output line
28: T-link mechanism
30, 32: plate link
34: rod link
40: elastic translation element
42: linear mechanism
44: elastic member
50: additional device
202, 302: basic mechanism

Claims (11)

A shape adapting mechanism that has a plurality of links connected by rotation and is capable of outputting both curved and flat surfaces. According to claim 1,
It includes a plurality of scissor mechanisms having the same structure as each other and connected in series,
Each of the plurality of scissor mechanisms has a first link and a second link that are mirror-symmetric with each other,
Each of the first link and the second link has an inflection point bent at a predetermined angle and is rotatably connected to each other at the inflection point,
In each link, the length from the inflection point to both ends of the link is different from each other. According to claim 2,
It has a T-shaped link mechanism disposed between adjacent scissor mechanisms, and the T-shaped link mechanism,
A first plate-shaped link connected between an end of a first link on one side of an adjacent scissor mechanism and an end of a second link on the other side of an adjacent scissor mechanism;
a second plate-shaped link connected between an end of a second link on one side of an adjacent scissor mechanism and an end of the first link on the other side of an adjacent scissor mechanism;
A shape adapting mechanism comprising a rod-shaped link connected to the second plate-shaped link and displaceable in one direction relative to the first plate-shaped link. According to claim 3,
The rod-shaped link,
It extends from the second plate-shaped link in a direction perpendicular to a straight line connecting the end of the first link on one side of the adjacent scissor mechanism and the end of the second link on the other side of the adjacent scissor mechanism, and is adjacent to the scissor mechanism. shape adaption configured to be relatively movable with respect to the first plate-shaped link in a direction perpendicular to a straight line connecting the end of the second link on one side and the end of the first link on the other side of the adjacent scissor mechanism. machine. According to claim 2,
An elastic translation element connected between the end of the second link on one side of the adjacent scissor mechanism and the end of the first link on the other side of the adjacent scissor mechanism, and capable of elastically changing the distance between the two ends, having, a shape adaptation mechanism. According to claim 5,
The elastic translation element,
A linear mechanism connected between an end of the second link on one side of the adjacent scissor mechanism and an end of the first link on the other side of the adjacent scissor mechanism and displaceable in one direction;
A shape adapting mechanism comprising an elastic member connected to the linear mechanism and elastically deformable in response to an external force. According to claim 1,
a first link;
A second link rotatably connected to one end of the first link by a first rotation step;
A third link rotatably connected to the other end of the first link by a second rotation step;
A fourth link rotatably connected with respect to the second link by a third rotation step;
A fifth link rotatably connected with respect to the third link by a fourth rotation step;
A sixth link fixed to the center of the first link so as to extend perpendicularly to the longitudinal direction of the first link;
With respect to the sixth link, a straight line pair is connected displaceably in its longitudinal direction, the straight line pair is connected, and the fourth link is rotatably connected by a fifth rotation pair, and the fifth link is connected to the third link. 6 A shape-adapting mechanism having a basic mechanism including a connecting member rotatably connected by a rotational treatment. According to claim 7,
A shape adapting mechanism comprising a plurality of the basic mechanisms, wherein the fourth link of the second basic mechanism is rotatably connected to a rotation table provided at the center of the first link of the first basic mechanism. According to claim 1,
A first link and a second link spaced apart from each other;
A third link, one end of which is rotatably connected to one end of the first link by a first rotational treatment;
A fourth link having one end rotatably connected to one end of the second link by a second rotational treatment and a center rotatably connected with respect to the center of the third link by a third rotational treatment;
A sixth straight line connected to the other end of the third link by a fourth rotational line and rotatably connected to a fifth linear link extending vertically from one end of the second link by a fifth rotation line. with link,
An eighth linear link connected to the other end of the fourth link by a sixth rotational treatment and rotatably connected to a seventh link extending vertically from one end of the first link by a seventh rotational treatment ( 332), a shape adaptation mechanism having a basic mechanism comprising. According to claim 9,
A ninth link having a plurality of the basic mechanisms and rotatably connected to the fourth rotational stage of the first basic mechanism;
a tenth link having the same length as the ninth link and rotatably connected to the sixth rotational stage of the second basic mechanism;
An eleventh link fixed to the center of the second link so as to extend perpendicularly to the longitudinal direction of the second link;
A straight Daewoo connected displaceably in the longitudinal direction with respect to the 11th link;
The shape adapting mechanism, wherein the straight step is fixed, and the ninth link and the tenth link have connecting members rotatably connected by an eighth rotation step and a ninth rotation step, respectively. The shape adaptation mechanism according to any one of claims 1 to 10;
a plurality of gripping parts respectively gripping both ends of the shape adapting mechanism;
A shape adapting device having a movable part capable of changing a distance between the plurality of gripping parts.

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